*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/secure" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Dock" *n code=0012 name="Config/Sample" *n code=0013 name="Config/workSite" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Estimation" *n code=0016 name="Config/Servo" *n code=0017 name="Config/Simulator" *n code=0018 name="Config/Derivation" *n code=0019 name="Config/logger" *n code=001A name="Config/vehicle" *n code=001B name="Config/Navigation" *n code=001C name="Config/BIT" *n code=001D name="Config/Science" *n code=001E name="Config/Control" *n code=001F name="Config/Battery" *n code=0020 name="VerticalControl" *n code=0021 name="HorizontalControl" *n code=0022 name="SpeedControl" *n code=0023 name="LoopControl" *n code=0024 name="DepthRateCalculator" *n code=0025 name="PitchRateCalculator" *n code=0026 name="SpeedCalculator" *n code=0027 name="YawRateCalculator" *n code=0028 name="ElevatorOffsetCalculator" *n code=0029 name="AHRS_M2" *n code=002A name="BackseatComponent" *n code=002B name="BackseatComponent ThreadHandler" *n code=002C name="LcmUniversalReporter" *n code=002D name="BPC1" *n code=002E name="DAT" *n code=002F name="DAT ThreadHandler" *n code=0030 name="DataOverHttps" *n code=0031 name="DataOverHttps ThreadHandler" *n code=0032 name="Depth_Keller" *n code=0033 name="DropWeight" *n code=0034 name="NAL9602" *n code=0035 name="Onboard" *n code=0036 name="Onboard ThreadHandler" *n code=0037 name="Power24vConverter" *n code=0038 name="Radio_Surface" *n code=0039 name="Radio_Surface ThreadHandler" *n code=003A name="RDI_Pathfinder" *n code=003B name="Sonardyne_Nano" *n code=003C name="TrnDataBridge" *n code=003D name="TrnDataBridge ThreadHandler" *n code=003E name="DeadReckonUsingMultipleVelocitySources" *n code=003F name="NavChart" *n code=0040 name="UniversalFixResidualReporter" *n code=0041 name="SBIT" *n code=0042 name="IBIT" *n code=0043 name="CBIT" *n code=0044 name="BuoyancyServo" *n code=0045 name="ElevatorServo" *n code=0046 name="DockingStepper" *n code=0047 name="MassServo" *n code=0048 name="RudderServo" *n code=0049 name="ThrusterServo" *n code=004A name="CTD_Seabird" *n code=004B name="CTD_Seabird ThreadHandler" *n code=004C name="PAR_Licor" *n code=004D name="WetLabsBB2FL" *n code=004E name="WetLabsBB2FL ThreadHandler" *n code=004F name="WetLabsUBAT" *n code=0050 name="WetLabsUBAT ThreadHandler" *n code=0051 name="MissionManager" *n code=0052 name="Reporter" *n code=0053 name="NavChartDb" *n code=0054 name="NavChartDb ThreadHandler" *n code=0055 name="DefaultWithUndock" *n code=0056 name="DefaultWithUndock:A.Wait" *n code=0057 name="DefaultWithUndock:LeaveDock" *n code=0058 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0059 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=005A name="DefaultWithUndock:LeaveDock:A." *n code=005B name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005C name="DefaultWithUndock:SurfaceDefault" *n code=005D name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0065 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0066 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0067 name="DefaultWithUndock:D" *n code=0068 name="DefaultWithUndock:E.Execute" *n code=0069 name="keepstation" *n code=006A name="keepstation:NeedComms" *n code=006B name="keepstation:NeedComms:A" *n code=006C name="keepstation:NeedComms:B.GoToSurface" *n code=006D name="keepstation:NeedComms:C" *n code=006E name="keepstation:NeedComms:C:A_Timeout" *n code=006F name="keepstation:NeedComms:C:A_Timeout:A" *n code=0070 name="keepstation:NeedComms:D" *n code=0071 name="keepstation:NeedComms:D:A_Timeout" *n code=0072 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0073 name="keepstation:NeedComms:E" *n code=0074 name="keepstation:NeedComms:E:A_Timeout" *n code=0075 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0076 name="keepstation:B" *n code=0077 name="keepstation:StandardEnvelopes" *n code=0078 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0079 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=007A name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=007B name="keepstation:D" *n code=007C name="keepstation:E" *n code=007D name="keepstation:BackseatDriver" *n code=007E name="keepstation:BackseatDriver:A.BackseatDriver" *n code=007F name="keepstation:PowerOnly" *n code=0080 name="keepstation:PowerOnly:A" *n code=0081 name="keepstation:PowerOnly:B" *n code=0082 name="keepstation:PowerOnly:C" *n code=0083 name="keepstation:PowerOnly:D" *n code=0084 name="keepstation:PowerOnly:E.Wait" *n code=0085 name="keepstation:H.Pitch" *n code=0086 name="keepstation:StartingMission" *n code=0087 name="keepstation:TransitToStation" *n code=0088 name="keepstation:TransitToStation:A.Buoyancy" *n code=0089 name="keepstation:TransitToStation:B.Pitch" *n code=008A name="keepstation:TransitToStation:C.SetSpeed" *n code=008B name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=008C name="keepstation:OnStation" *n code=008D name="keepstation:KeepStation" *n code=008E name="keepstation:KeepStation:A" *n code=008F name="keepstation:KeepStation:B.Pitch" *n code=0090 name="keepstation:KeepStation:C.KeepStation" *n code=0091 name="keepstation:KeepStation:D.Wait" *n code=0092 name="lineCaptureHoming" *n code=0093 name="lineCaptureHoming:Science" *n code=0094 name="lineCaptureHoming:Science:A" *n code=0095 name="lineCaptureHoming:Science:B" *n code=0096 name="lineCaptureHoming:Science:C" *n code=0097 name="lineCaptureHoming:Science:D" *n code=0098 name="lineCaptureHoming:Science:E" *n code=0099 name="lineCaptureHoming:Science:F" *n code=009A name="lineCaptureHoming:Science:Read_Oil" *n code=009B name="lineCaptureHoming:Science:OceanCurrent" *n code=009C name="lineCaptureHoming:Science:OceanCurrent:A." *n code=009D name="lineCaptureHoming:Science:PeakDetectChl" *n code=009E name="lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=009F name="lineCaptureHoming:Science:PeakDetectChl:B" *n code=00A0 name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=00A1 name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=00A4 name="lineCaptureHoming:Science:PeakDetectNO3:B" *n code=00A5 name="lineCaptureHoming:Science:PeakDetectOil" *n code=00A6 name="lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=00A7 name="lineCaptureHoming:Science:PeakDetectOil:B" *n code=00A8 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=00A9 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00AA name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=00AB name="lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=00AC name="lineCaptureHoming:Science:PeakDetectFDOM:B" *n code=00AD name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=00AE name="lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=00AF name="lineCaptureHoming:Science:PeakDetectSalinity:B" *n code=00B0 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=00B1 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=00B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth" *n code=00B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B" *n code=00B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00B6 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth" *n code=00B7 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B" *n code=00B8 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00B9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth" *n code=00BA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B" *n code=00BB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00BC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth" *n code=00BD name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B" *n code=00BE name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00BF name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00C0 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00C1 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00C2 name="lineCaptureHoming:StandardEnvelopes" *n code=00C3 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00C4 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C5 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C6 name="lineCaptureHoming:C" *n code=00C7 name="lineCaptureHoming:D" *n code=00C8 name="lineCaptureHoming:E" *n code=00C9 name="lineCaptureHoming:NeedComms" *n code=00CA name="lineCaptureHoming:NeedComms:A" *n code=00CB name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00CC name="lineCaptureHoming:NeedComms:C" *n code=00CD name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00CE name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00CF name="lineCaptureHoming:NeedComms:D" *n code=00D0 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00D1 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00D2 name="lineCaptureHoming:NeedComms:E" *n code=00D3 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00D4 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D5 name="lineCaptureHoming:G" *n code=00D6 name="lineCaptureHoming:H" *n code=00D7 name="lineCaptureHoming:MicromodemComms" *n code=00D8 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00D9 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00DA name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00DB name="lineCaptureHoming:J" *n code=00DC name="lineCaptureHoming:LineCapture" *n code=00DD name="lineCaptureHoming:LineCapture:A" *n code=00DE name="lineCaptureHoming:LineCapture:B" *n code=00DF name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00E0 name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00E1 name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00E2 name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00E3 name="lineCaptureHoming:LineCapture:D" *n code=00E4 name="lineCaptureHoming:LineCapture:E" *n code=00E5 name="lineCaptureHoming:LineCapture:F" *n code=00E6 name="lineCaptureHoming:LineCapture:G" *n code=00E7 name="lineCaptureHoming:LineCapture:H" *n code=00E8 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00E9 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00EA name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00EB name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00EC name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0113 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0114 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0115 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0116 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0117 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0118 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0119 name="lineCaptureHoming:LineCapture:M" *n code=011A name="lineCaptureHoming:L" *n code=011B name="lineCaptureHoming:M" *n code=011C name="lineCaptureHoming:N" *n code=011D name="lineCaptureHoming:O" *n code=011E name="lineCaptureHoming:P" *n code=011F name="lineCaptureHoming:Q" *n code=0120 name="lineCaptureHoming:U" *n code=0121 name="lineCaptureHoming:TrackAC." *n code=0122 name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0123 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0124 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0125 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0126 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0128 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0129 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=012A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=012B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=012C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=012D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=012E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=012F name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=0130 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=0131 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=0132 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0133 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0134 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0135 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0136 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0137 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0138 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0139 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=013A name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=013B name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=013C name="lineCaptureHoming:restartDHCP" *n code=013D name="lineCaptureHoming:restartDHCP:A" *n code=013E name="lineCaptureHoming:restartDHCP:B.Execute" *n code=013F name="lineCaptureHoming:StartingMission" *n code=0140 name="lineCaptureHoming:Z" *n code=0141 name="lineCaptureHoming:BA.Execute" *n code=0142 name="lineCaptureHoming:InitialDive" *n code=0143 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0144 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0145 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0146 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0147 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0148 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0149 name="lineCaptureHoming:RepeatHack" *n code=014A name="lineCaptureHoming:RepeatHack:A" *n code=014B name="lineCaptureHoming:Lap" *n code=014C name="lineCaptureHoming:Lap:A" *n code=014D name="lineCaptureHoming:Lap:B" *n code=014E name="lineCaptureHoming:Lap:C" *n code=014F name="lineCaptureHoming:Lap:D" *n code=0150 name="lineCaptureHoming:Lap:E" *n code=0151 name="lineCaptureHoming:Lap:Docked" *n code=0152 name="lineCaptureHoming:Lap:Docked:A" *n code=0153 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=0154 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0155 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0156 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0157 name="lineCaptureHoming:Lap:Docked:C" *n code=0158 name="lineCaptureHoming:Lap:Docked:D" *n code=0159 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=015A name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=015B name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=015C name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=015D name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=015E name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=015F name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=0160 name="lineCaptureHoming:Lap:Docked:Detach" *n code=0161 name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=0162 name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0163 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=0164 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0165 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0166 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0167 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0168 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0169 name="lineCaptureHoming:Lap:Docked:Drift" *n code=016A name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=016B name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=016C name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=016D name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=016E name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=016F name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=0170 name="OnDock" *n code=0171 name="OnDock:StandardEnvelopes" *n code=0172 name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=0173 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=0174 name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=0175 name="OnDock:B" *n code=0176 name="OnDock:C" *n code=0177 name="OnDock:D" *n code=0178 name="OnDock:E" *n code=0179 name="OnDock:BackseatDriver" *n code=017A name="OnDock:BackseatDriver:A.BackseatDriver" *n code=017B name="OnDock:PowerOnly" *n code=017C name="OnDock:PowerOnly:A" *n code=017D name="OnDock:PowerOnly:B" *n code=017E name="OnDock:PowerOnly:C" *n code=017F name="OnDock:PowerOnly:D" *n code=0180 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type=FF size=0000 fl=04 *a code=1163 owner=0205 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1164 owner=0205 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=1165 owner=0206 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1166 owner=0206 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1167 owner=0206 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1168 owner=0206 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1169 owner=0206 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=116A owner=0206 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=116B owner=0206 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=116C owner=01E7 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=116D owner=01EA element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=116E owner=01ED element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 n> nbBottom track data is 6.5 s old, using for 20.0 s. nNusing accuracyPremultiplier from config?nn;49nT?n;4Yn inVn8?nnz8nn?n^?n;n@nj;4?n nlB?nn{3wJ:_J:^J8J8J: :J:d9J8J8J::J::J:':J:(:,ʹAWill construct direction to contact in vehicle frame from tetrahedron phase data.D?Y @@7 9c=yH> I̸?@r?~,?&? s,?@?ɨD?k;騉y9=UCi5>I5V>% )I$i  !$Is I:٢rl T=9=Q %>!! G٣y"= > bBottom track data is 6.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;49T?;4Y iE7AEJ8EE?^?<@j;4MB MxBU\EllHBlL=1QlUGIU̒8 UɚUiQI:i)A Will construct direction to contact in vehicle frame from tetrahedron phase data. I IM vfGm rQ=ByO ?N3w,EJδAjHbH<H >I C III V=&I.I6I #<:I ^FvWill construct direction to contact in vehicle frame from tetrahedron phase data.ѡ?Yq @.:9=yH D?`h?`E?E`̺? ?ɨѡ?V;騑y)=CI0 IN:٢ "=9NJ=Q >q uG٣qy}(; }> bBottom track data is 7.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;49T? ;4Y[ i7$8<??E<@j;4 zB%YEllllzlzKe.KKek9KaKeKeY aeGIa iɚmfiqIu^];i)Will construct direction to contact in vehicle frame from tetrahedron phase data.աiա  $?I D ʃ:G<B!O}>\3w,/δAJ`JUJMJJ:J>9J 4JJ:J:JQ:JQ:s?YB @.9s#>yH#=7? V?@@?t?β?ǫ?ɨs?";5Cy </B%Will construct direction to contact in vehicle frame from tetrahedron phase data.I IB:٢ H=9Q M>IQ UG٣QyU_; U> ebBottom track data is 7.7 s old, using for 20.0 s. eNusing accuracyPremultiplier from configY;49]jT?;4Y]о i]Ⱦ78?]B?];]@]Ok;4 BllllzlY Y]GIY YɚeӷiaI/;i)DG']?;BOI> Will construct direction to contact in vehicle frame from tetrahedron phase data.) ?A  I! T3w,IδAz?YzZ @zNV{9zPN>yzHw@ZX??@+r`%?e?*?.K?ɨz?z},;xyލ<ޕCJAAJ@A % % EM MM  M M MlʡEƿw/ԿMM-2M馾 I)IYM/$?\(\Ͽ"~j?yM1>MzMS=MlB MB)MBIIMyMBI]%I]9HIC IDIM>I&I.I6I<:IAF٢eA:= e'=9m5OQ m>ii uG٣qyue< u> Nusing accuracyPremultiplier from config;49T?;4Y i1T:>0;r??H? ;;%|;4 BWill construct direction to contact in vehicle frame from tetrahedron phase data.l)l)l)l1zl1]m>]m>]mf@]m5? =GI ɚ iI;i)DŃ:}&~G  Y y AzK ULK 89K K K RK ?JK >E m Will construct direction to contact in vehicle frame from tetrahedron phase data. I G]!BqO?/$3w,/jδA?Yn @B=9%>yH VM@?@? u)z?@=?@5}?ɨ?N;騉y}f= DIS,I&:٢%m= %;=9%X~>Q %>II MG٣IyUQ= U> ]Nusing accuracyPremultiplier from configYJ 4K4 K0KK"KJaJRJLJJ:JS29J4JJ7;J:;JR<:JT<:;49]T?;4Y]{ i]T[??]?]<]<]s;4Will construct direction to contact in vehicle frame from tetrahedron phase data. rBllllzl9]Q]Q]Q]Ui0? } (>GI ɚZiIѡ3w,δA] @Y(@-=9b>yH[`_@%L?<#?Џ K?8@;t?`f?ɨ] @T;yܜ=u@DI$IJ:٢%= #=9&Q > G٣y^= > 5Nusing accuracyPremultiplier from config)5;49-T?=;4Y-ϴ i-㽾9=?=?-j@-:-:-n;4 hBlllZH?ARH?AH>I IDI=I&I.I6I<:I?FlAzlAWill construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]];?i m>uGIq qɚuKiI%+8:D;D ́:Em ԅ=' TFailed to parse incomplete device message.G AB O >3w, >δArRU?Yr2 @r9ra>yrH Bk ~?z*?@`?@뺂?V?9?ɨrRU?}Will construct direction to contact in vehicle frame from tetrahedron phase data.rv;r7CyލH=ލ~DII?; I٢%= -T=9Q >L?L? G٣y9 > Nusing accuracyPremultiplier from config;49T?;4Yı i),??@:q:;4A E[BEVElllJubJuSJuRJqJu:Juy69JuA4JqJu ;Ju ;Ju|C:Ju~C:lzl- Will construct direction to contact in vehicle frame from tetrahedron phase data.] ] ] ] ʍ? /6 >隥 GI ɚ i I X3w,RδA%?Y%V| @%r9%=y%H@`K:#?@??Mtu?@)n?b??ɨ%?%/X;!y==EDWill construct direction to contact in vehicle frame from tetrahedron phase data.I I:٢?; 3=9Q > G٣yG7 > Nusing accuracyPremultiplier from config qIq;49CT?;4Y% i'??@==;4B YBUEllllzl]i]i]i]m/z?   GI  ɚ ؾi I uI  I CI JK=I U=&I .I 6I <:I OF Will construct direction to contact in vehicle frame from tetrahedron phase data.)) D h:)  @AE=zKeKK9KKKGBO?e+3w,CδAR<@YR7@R|O9Rj+ yRHWfrcr?e{@ ?%`J?ɨR<@Rn<;PyfB=f:D=Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I ]@] ]@] ]@]  ]@] ]K7A`ſJ +?Cl绿]+]H=];߽ Y)YI]Mb@Mb@Mb@i]‰]©]] ]YvB)]IY]y]\vBI+ I7:Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ #  <9 <) ) - G٣- 1Gy5 b= 5 g>  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config9  ;49= T? ;4Y=  i= \ +:  ; ޒ? ?= @= 9== N?= ;4 hB lAlAlAlIzlIq u>uGIq qɚ}iyI}6GBO7?3w,d<ϴAJZaJZTJZPJXJZ:JZ:9JZ^4JXab@ab@ab@ab@jHM<bHM<HQIQ IUaDIU=IQ&IQ.IQ6IU<:IUKFBIJIRIZIV=bIV=jI 5eWill construct direction to contact in vehicle frame from tetrahedron phase data.@Y<@;^99t>yH@G:??{?`+hP??ɨ@H;騍6Cye=eZDdSBD MO Status=0, MOMSN=46738, MT Status=0, MTMSN=0.No messages in MT queueI I :٢< =9%{!! %G٣!y-0= > UbBottom track data is 1.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI];49MU?];4YM iM,=] :Y:_?%?Mo)@MGi B O>|3w,-ϴA}%@Y}D@}7)=Will construct direction to contact in vehicle frame from tetrahedron phase data.9}!>y}HN[? e? p/p?<@?`?ɨ}%@}x@;}7Cy5|=5mDI]2 I]":٢U= U#=9U8>Q U>YY ]G٣]1Gye7= e> bBottom track data is 1.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;49 U?;4Y i99:֔??2@*;s?;4 YBll) l1 l1 zl1 ) - =>- GI) 1 ɚ5 i1 I5 G>GyBO ?Z3w, QϴAJJcJHJJRJHJJ:JHJJA4JHH5>I1 I1I1I1&I1.I16I5<:I5DFm?Ym @m:<9mK>ymH|H`dF?`? l? >?,?ɨm?m;iy}=;DEWill construct direction to contact in vehicle frame from tetrahedron phase data.         @ @ @   @  )\(Mb@5^I ڿGabо )IMb@Mb@Mb@i {B)Iy{BI:IW:٢lg "=9Q > G٣yҽ > bBottom track data is 2.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;49|U?;4Y ih#9:܎??M<@d*;@;4! %hB!l9l9l9lzl r >GI ɚiI) i Ii 03w,jϴAv?Y @=9Gl>yH`@? ? P0? @.?J?ɨv?;5CyޥP=ޥCIoIr:٢E+ E=9E=Q M? G٣1GynR ? 5bBottom track data is 2.7 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=;49-U?=;4Y- i-V=99Ev:EƎ?E?-A@-);-*@-;4 tBRElalalalizli X+>隕GI ɚy%iIqK3w,qϴA2@Y2r@2<922=y2H F``?`6?T ?59?`?ɨ2@2z;26CbWill construct direction to contact in vehicle frame from tetrahedron phase data.ynG AIA MG٣y= > 5bBottom track data is 3.1 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config=;49~U?=;4Yٙ iڽEo9AEG:E?E?H@<{D@;4 Bllllzl GI ɚ2iI(w:JbJ_JIJJ:J=h9JF4JHYIY I]/DI]M=IY&IY.IY6I]j<:I]FGqBO~>uWill construct direction to contact in vehicle frame from tetrahedron phase data.) CM }Gm xA Y xAy =AP3w,ϴA2@Y26@2692+>y2HIJy?_7?tX?@#3?п?@?ɨ2@2C;27Cyn G٣yF= > -bBottom track data is 3.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-;49%@U?5;4Y%' zKu< LKu9KqKuKui%tB9!:o??%P@%P<% ]@% ;4 Bl!l!l!l!zl)Will construct direction to contact in vehicle frame from tetrahedron phase data.Y e*=eGIa aɚe>iIxvG B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.z3w,ϴA@@Y@9Z>yH@N`?Al? m?s?? ?ɨ@@;5Cy=ޝCI I;:٢=†= =?=9EQ E>AI MG٣IyU > bBottom track data is 3.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;49U?;4Y< i&9:??W@*;7w@;4) -{B)llllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.i 1I1 AEGII ɚ~LiI;G B J J ZJ LJ J J S9J 4J O >3w,ϴAH.>I, I,I,I.V=&I,.I,6I.,<:I.gFWill construct direction to contact in vehicle frame from tetrahedron phase data.E)@YG@zGV92Ղ>yHl@l ?m? @tQ? j?6-??ɨE)@q6;7Cy%t=%1/D         @ @ @  @ ףp= ?Mbп(\?>z> )IMb@Mb@Mb@i'TFailed to parse incomplete device message.CB .B)IyBI|IXT:٢FP= =9 ;>Q  >! ! % G٣% 1Gy- - > 5 bBottom track data is 4.5 s old, using for 20.0 s. 5 Nusing accuracyPremultiplier from config} Will construct direction to contact in vehicle frame from tetrahedron phase data.)  <49- %U? <4Y-  i- h: 8  9 ? ?- c@- D<- R@- <4 B  jB QE I l l l l zl 0>隽 GI ɚ Qi I =i )A D% ,r:-Will construct direction to contact in vehicle frame from tetrahedron phase data.E=GBO? 3w,ϴAf?Yfg@f <9frl>yfHlX@ۦ?z?`/? EԖqI?$?ɨf?f";f5Cy]D=]CI60 II:٢` P=9M=Q M>QQ UG٣Qy] ]> ebBottom track data is 4.9 s old, using for 20.0 s. eNusing accuracyPremultiplier from configY<49])U?<4Y] i]d<89O??]^k@]<]@]<4 uBllllzl y}GIy ɚiI=i)D q:Will construct direction to contact in vehicle frame from tetrahedron phase data.EuY> 9I9GABQOmx>i4w, дAjH<bH<H>I IHDI=I&I.I6I<:I3FbI?Ybk @bZkm9bRM>ybH/ a?@?`%!?`*? ]s?eN?ɨbI?bv;b4CynGK=nCIvw Iv|:٢-; -V=95_`Q 5>11 5G}Will construct direction to contact in vehicle frame from tetrahedron phase data.٣=1Gyx[ > bBottom track data is 5.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49.U?<4Y` i =8Q]9]?]?r@<Y@<4i mtBqllllzl %R+>%GI! ɚiIĽ=i)Do:Em'>GBO%>zKiKm9KiKmKm- Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY ( 4w,.дA2?Y2ό @292H>y2Hc4@"?&? µ???zQ?ɨ2?2਋;28CybFC=f%CIz1 Iz/:٢ C=9/Q > G٣y@ > bBottom track data is 5.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from configJ}cJ}]J}MJyJ}:J}_9J} 4JyJ};aJ};aJ}:aJ}:a<492U?<4Y i$=8a9w??<4 uB NEll!l!l!zl! >GI  ɚ i I v=i)2DtA*DtAuWill construct direction to contact in vehicle frame from tetrahedron phase data.D%2n:E- h`0>G= tAG= sAGA BQ Om >- Will construct direction to contact in vehicle frame from tetrahedron phase data.!(4w, IдA hIjtfU?YU@U9U>yUH[P0=?@? \? CX???ɨU?Ut9;U6CymzF=mC 5 5 55 ==  = = =~jt?l?V-¿=>=>=h 9)9Y= rhA`"˿"~ʿy=C=Y=S= =B)=BI=`B=y=3BHI IDI#>IU=&I.I6IӰ<:I FBIYJIYRIYZI]U=bIYjI]Ÿ5IMIM% :٢޷: =9 =Q  > G٣y#= > Nusing accuracyPremultiplier from config<49s8U?<4Yn iT:>2;.??S@2<92<<4 tBMWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzl]5>]5>]5݁@]5ƃ@ :|+>GI ɚiI#=i)D= k:EU 6>Gi Bq O >p4w,fcдAzKRKKȱ9KKKyې=$2D) mWill construct direction to contact in vehicle frame from tetrahedron phase data.I% I%L:٢}= }=9Q ?    G٣ 1Gy ? I Nusing accuracyPremultiplier from config<49g;U?<4YӅ i?&YY]?@d<?<W"<4a miBillll zl ]a]a]a]a GI ɚiI(=i)D-j:J)J-UJ-JJ)J)J->9J-4J)J-;J)J-Q:J-Q: Will construct direction to contact in vehicle frame from tetrahedron phase data.E5 >G B OM >4w,3}дAQB?Y @Z9z>yH Ѡ?@?y@{? O?Pu?1?ɨQB?NJ;7Cyޕ!=ޝCBAI=>I=8:٢E MN=9Q > G٣yQ > -Nusing accuracyPremultiplier from config5<49]?U?5<4Y iN153?5?Ղ@<</<4A EyBAlYlYlYlYzlY]]]]U@ \ >隍GI ɚiI8k.=i)Will construct direction to contact in vehicle frame from tetrahedron phase data.Di: $?IEU` >GB!OE>*J= C="J= p=H >I  I I I &I .I 6I <:I VFq%4w,AдA64)?Y6"3 @6+964>y6Hӆ `@I??#K֢?ߴ?m?e?ɨ64)?6;4bWill construct direction to contact in vehicle frame from tetrahedron phase data.yf$=fCInEIn:٢; V=9{Q > G٣y) > Nusing accuracyPremultiplier from config<49CU?<4Y iq}"?}?@<<>=<4 xBllllzl]]]]@  GI  ɚiI14=i)D%h:E)E)*E)"E)zKKK9KKK RK?JK?uWill construct direction to contact in vehicle frame from tetrahedron phase data. I G B O >'+4w,^дAZ?Y5 @9A=yH`ϵp@ܺ?@? b? E? $??ɨZ?;6Cy5{<5CJ`JJLJJ:JJ4JJ:J:JJQ:I8IF:٢= ===9E=Q E>AI MG٣M1GyM M> Nusing accuracyPremultiplier from config<49IU?<4YԂ i羙{ ??@::OL<4) 5B1lIlIWill construct direction to contact in vehicle frame from tetrahedron phase data.lIlzl]]]]@q }90>}GIy yɚyiyI};=i)Dfg:GBOc>u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq y Iy 24w,дAf2?Yf- @f ׻9f&>yfH@@eM9?s?@Q?z?-?` ?ɨf2?fT;f7Cyޭ<ޭPC }@} }@} }@}  @ }}$> y)yI}Mb@Mb@Mb@i}‰}©}y }NB)}BI}}y}BI̺I!:H%>I! I%DI%=I%W=&I%$D.I!6I%ϰ<:I%F٢jf =9tf=Q > G٣y= > =bBottom track data is 0.5 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1=<495qPU?E<4Y5 i57E+:AE;E' ?E?5@5);5?5C[<4Will construct direction to contact in vehicle frame from tetrahedron phase data. BKEllllzl}G)A uYqyu.B GI ɚ! i! I% ,pD=i! )) 2D1 *D1 D .e:G Bq O > 94w,дAR7?YR$+ @RE19RdYl>yRHV e^? I?&??7? "?ɨR7?R;R6CyUv隅GI ɚiIv+I=i)JubJqJuJJqJu:JqJu4JqJu ;Ju ;JqJqDd:G B e Will construct direction to contact in vehicle frame from tetrahedron phase data.O} >S0?4w,ддA2_i?Y28@2_/ڽ92}X>y2Hȫ@@??`U&?8???ɨ2_i?2T;27CybH=b CIj Ijݗ:٢%= -c=9-Q ->11 5G٣51Gy5 =? bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49WU?<4Y id?9:??@&;}?i<4Y ]tBYlqlllzla aeGIa aɚaiaImOM=i)Dmb:Will construct direction to contact in vehicle frame from tetrahedron phase data. IEQ(>G B O >jH bH 4<H >I  I DI w>I &I #D.I 6I <:I .F} Will construct direction to contact in vehicle frame from tetrahedron phase data.Q,F4w,TѴA21o?Y2!V @2+Ⴝ92ZWw>y2H`^?@?`XO[?KY?-??ɨ21o?2p;25CyjL{=jDIvFIv+z:٢}< B=9=Q > G٣yVa= > bBottom track data is 1.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49=\U?<4Y iZm9im:m?m?@<n?=o<4y }nByl l l lzl />隽GI ɚiIS=i ) Da:Ed>G?G>GBOc>zKLKKKKWill construct direction to contact in vehicle frame from tetrahedron phase data. ImaL4w,3ѴAbl?Yb>y @b#]9bU>ybHJ`ib? A?r%?}? ??ɨbl?b蟉;b7Cyn =rxCIz Iz:٢ H=9 >Q > G٣y= > bBottom track data is 2.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49`U?<4Y@~ itu9quy:u?u?@!<]@6t<4Will construct direction to contact in vehicle frame from tetrahedron phase data. %}B!llllzl! %YB>隥GI ɚiIZ=i)D`:EM p > Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G B O >YS4w, NѴAyEzF=ECIMAJ;4K3 K;0K3K3"K3JJVJMJJJB9J 4Ja@a@a@a@HqIq IuHDIu=IuV=&Iq.Iq6Iu<:IuAF - - -- --  - -  -@- -@5 5@5  5@5 -MbX?A`"^I +?-J>-Y-X9> )))I-Mb@Mb@Mb@i)))) -zB)-BI))y-BIK IЃ:٢7= =9Q >!! %G٣%1Gy% -> 5bBottom track data is 2.6 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=<4EWill construct direction to contact in vehicle frame from tetrahedron phase data.9-gU?<4Y-*} i-o9J:?-@-<-k%@-y<4 tBllllzl 隕GI ɚiIc=i!)!D- l^:EM S<>GY Bi O >גY4w,'hѴA2sv?Y2Y@2k92}Ͻ=y2H)ۻ??}D?to?`6?Y?ɨ2sv?2;25Cy=qDzKLK+9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.IT IP:٢bV= =9>5Q ? 9I9QQ UG٣Qy]!0 ]? mbBottom track data is 2.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configam<49ekU?u<4Yem| ieLB9#: ??eg@e隕GI ɚiI3Ch=i!)!DL]:EmF>GBO%>- Will construct direction to contact in vehicle frame from tetrahedron phase data.c`4w,QѴAj?Yj. @jse9j=yjH €Y?:?І@?S?e?ɨj?jҊ;j7Cy}f= DI%E I%:٢uѐ }M=9}Dd;Q }> G٣y^= > bBottom track data is 3.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49gpU?<4Y\{ i9:??Ә@8=<O@]~<49 =pBEHEllllzl9 EH`3>EGIA ɚiIn=i)mWill construct direction to contact in vehicle frame from tetrahedron phase data. !I!D-+\:E% B>J aJ RJ GJ J :J S29J c4J ZHE @ARHE AAHM >II  IM aDIM =IM U=&II .II 6IM <:IM FBIJIRIZIV=bIjIɲu5Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.f4w,`ѴA2?Y2 @2{92: =y2H }i=?ά?a` G٣1GyE > bBottom track data is 3.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49uU?<4Y8z ip8u9u?u?Q@E<j@<4y uBllllzl! GI ɚiI Ht=i)BD%?:D% ?DZ:EE}7>GB ]Will construct direction to contact in vehicle frame from tetrahedron phase data.Oew>zK:KKk9KKK  I]l4w,ѴAv?Yv @vs 9va@>yvH`C``??@@?@??`>R?ɨv?v;v6CyD3=vCI5m I5m:٢ D=9GQ > G٣QyUd< U> ebBottom track data is 4.1 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm<49]zU?m<4Y]"y i]m8Will construct direction to contact in vehicle frame from tetrahedron phase data.i94??]@](<]@][<4 vBlQlQlQlQzlY GI ɚiIM;z=i)D}ZY:E Will construct direction to contact in vehicle frame from tetrahedron phase data.Eu S3> I G B O >s4w,4ѴArà?Yrn @rL9ri>yrH`@@q?@m?`9?Ȕ??"?ɨrà?r;;pyz =zPCJ1J5VJ5LJ1J1J5B9J54J1HI IDI=IV=&I.I6I<:I.F m m mm mm  m m m ףp= ?MbX9ܿmB mƆB)iIimym BI>I}M:٢ #=9/=Q > G٣yD< > Nusing accuracyPremultiplier from config<49xvU?<4Yq iT:#?=:E?E?@<z<I<4I M|BIWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzl]E>>]E>>]Ey!?]E}@Q Uj=>UGI ɚiI=i)DW:EE*E"EG9 BI Ou >b1z4w,ѴA^Will construct direction to contact in vehicle frame from tetrahedron phase data.zK~LK~ŷ9K|K~K~E?Yq @ YIesf9̈>yH p#X?ह?-@? rӟ??`?ɨE?LNJ;7Cyޅ=ޅCAI<I:٢ <  |=9 n=Q   ?) iq uG٣qyu }? Nusing accuracyPremultiplier from configy<49}sU?<4Y};l i}a??}@}n<}br<}<4B yB GEllllzl]a]a]a]e2|@ GI ɚiI_=i)D%V:GB!O=r>mWill construct direction to contact in vehicle frame from tetrahedron phase data.4w,ҴA2?Y2ߡ@2 92L}>y2H !`?@e ? u(?`/A?`mU? ?ɨ2?23;0yN=N]$DIZd IZb:٢-= -Z=9-S11 5G٣51Gys? > Nusing accuracyPremultiplier from config<49pU?<4YCf iB??ܴ@~<~<(<4! %kB)lAlAlAlIzlI]]]]y@9 9=GI9 9ɚ9iAIE=iA)IWill construct direction to contact in vehicle frame from tetrahedron phase data. QIQDU`U:GBO=>J5 `J5 WJ5 HJ1 J5 :J5 G9J5 Ժ4J1 jH bH H >I  I I I &I .I 6I <:I F) U &~Gi } Will construct direction to contact in vehicle frame from tetrahedron phase data. Y y VBC4w,ywҴA2w?Y2{Z @2*92?>y2H`gH?4?@9г?s??Um?ɨ2w?2;0yNI=NCIVy IVN:٢" K=9%8Q %>!! -G٣)y-~< -> Nusing accuracyPremultiplier from config<49GmU?<4Y_ i??@::9<4 sBJEl)l)l)lzl]]]]C2z@! !%GI! ɚiIJ=i)DmS:GABQOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data. AIIzKMLKM@9KIKMKM  k4w,J8ҴAy<=EC) I  I :=Will construct direction to contact in vehicle frame from tetrahedron phase data.٢}t }6=9Q > G٣y > Nusing accuracyPremultiplier from config<49IiU?<4YX i~?P@::<4i uuBqllllzl]i]i]i]i GI ɚiIn=i)BDe?:De>DR: Will construct direction to contact in vehicle frame from tetrahedron phase data.E 3> 9 I9 G B O >9S4w,$RҴAynd=n DJJAAH9I9 I9I9I9&I9.I96I=<:I=;FUw/?+A`"U?UUY Q)QYU/$?S˿99 =G٣=1GEWill construct direction to contact in vehicle frame from tetrahedron phase data.y9 e> mNusing accuracyPremultiplier from configiu<49mdU?u<4Ym\Q imj}X?}:}?}?m@m;m]= >] ӟ@]U? UG>GI ɚiIq=i)!DiP:E|<>G B O >}4w,lҴARWill construct direction to contact in vehicle frame from tetrahedron phase data. pIrrfyvu=vCI~I~:zK}RLK}9KyK}K} BK:K٢gu =9Q ? G٣y ? Nusing accuracyPremultiplier from config<49`U?<4YL i􄿙?1@i&<;<4 B xB IElalalalazla]]]] GI ɚiIg=i)DO:JeJ[JJJ\:JW9JJJ;aJ;aJ|:aJ|:aE=>UWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>e4w,܅ҴA2?Y2q@292rMG>y2H`y߿:@0? ?` ߿-?Q?@'?VO?ɨ2?2Ή;28Cy>tt vG٣tyz z> Nusing accuracyPremultiplier from configx%<49z]U?%<4YzF iz!%?%?z@z;zo;z<41 5B1lilililizli]]]]C? s98>GI ɚiIG]=i)DN:Will construct direction to contact in vehicle frame from tetrahedron phase data.EB> $?IGGGBO >ZH) RH- ?AH= >I9  I= DI= M>I9 &I9 .I9 6I= <:I= ZF] Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,亟ҴA2?Y2ٚ@2Wd<92|>y2H@=D?@s?P߿@ a?^L?@?ɨ2?2z;2:CyNLQ z> %G٣%1Gy-%= 5> ]Nusing accuracyPremultiplier from configYm=49]7ZU?u=4Y]j@ i]Jn??]@]<]<]=4uB oBl!l!l!l!zl!]a]a]a]e7L? a>隕GI ɚiIX"=i)DL: IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KKKRK?JK>E,G>G B O- >J `J YJ J J :J [O9J J J :J :J {n:J }n:4w,ҴA2Y?Y25@26 <92o>y2H 2߿@Wz?@?@޿J? `?M?ɨ2Y?22l;27Cy>zN=BCIJ IJ0:٢v= vJ=9~!! %G٣!y%R׼ -> 5Nusing accuracyPremultiplier from config)5=49-VU?]=4Y-+: i-PY]?e?-T@-9;-;-w=4i m[Billllzl]]]]CI?Will construct direction to contact in vehicle frame from tetrahedron phase data.! !%GI! !ɚ)i)I-~=i))1DK:ENM>GBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.ȡ4w,mҴA6?Y6Ni@6ݠ966>y6H޿~ %??@I޿_?`c?@?H|?ɨ6?67;66CyBt=B1/D 5@5 5@5 5@5  5@] 5w/?~jt}?5^I࿹155M 1)1I5Mb@Mb@Mb@i5‰5©51 5\B)5I55y5\BImsIm&0;٢h9= A=9ԽQ > G٣yLh > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49SU?=4Y|3 iN+::??@0;z>j=4 QBl9l9l9l9zlA aCL>隅GI ɚiI=i)H>I IDI=IU=&I.I6I<:IBIJIRIZIbIjIO4D%J:=Will construct direction to contact in vehicle frame from tetrahedron phase data.E&]>G?G>GBO>˺4w,HҴA $I$:?Y:b@:G<BWill construct direction to contact in vehicle frame from tetrahedron phase data.9:%#>y:H Z޿``n?#? ݿ2ȸ?EJY?i?ɨ:?:Q(;:5CyR)=RCIZJV IZ:٢ff fW=9f>=Q j>hh jG٣j1Gy~ ~>  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config=49UQU?=4Yy- i5= :9=e:=`?=?@e;fO?##=4MtB M_BIllllzlzKLK@9KKK Zd>GI ɚiI=i ) DI:E[>GBO (>JJTJGJJJ:9Jc4JJJJJ:JJ:=Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,$ӴA2@M?Y2)E@29.^;92d>y2HgT߿8R?F?`x޿v?kZ?q4?ɨ2@M?2;26Cy> =BxCIJq IJ:٢r̼ rI=9r9PQ r>tt vG٣tyzF = > %bBottom track data is 1.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-=49%+NU?-=4Y% ' i%Y59159:5?5?%eA%p3;%ʛ?%*=4Y edBeLEllllzl  RX>GI ɚiI8=i)D]G: 1I5qfWill construct direction to contact in vehicle frame from tetrahedron phase data.EU L>GesAGerAG1B9OU>jHbH<HI IDI=IV=&I.I6I,<:IgFE Will construct direction to contact in vehicle frame from tetrahedron phase data.4w, ӴA6C?Y6v@6k&Y96~>y6H@^޿@`=?z?4޿ִ?@!?i?@?ɨ6C?6U;68CyBT=BDIJi IJ0:٢O= H=9 Q >    G٣ y䢼 > =bBottom track data is 1.6 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E=49=KU?M=4Y= i=BM9IM:M?M?=NA=t2;=_?=0=4y }ZByllllzl F>GI ɚiI"=i )2D*DD3F:ET>GBO> !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.zK$7LK9KKKJ lJ UJ NJ J <5:J >9J |4J a @a @a @a @I 4w,:ӴA>?Y>j@>$f9>W>y>H`޿`q`Y?^?@޿@z?%ی?`F?(J?ɨ>?>T;>7CyNd=N DIV2S IV9:٢bF!< bN=9f=Q f>dd fG٣j1GyzVW ~> 5bBottom track data is 2.0 s old, using for 20.0 s. =Nusing accuracyPremultiplier from configE=49FHU?M=4YP iu9qu9u?u?5 Ai<@5=4 XBllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.9 =1^>=GI9 AɚAiAIE=iA)ID-D:E5۠X>G)B1OM> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,TӴA6?Y6 @6bma=96 >y6HD6޿6@ ?'?`fݿ@,? * ?`?ɨ6?6;68CyN8=N^C         @ @ @  @ V-?w/Ŀl?h=&> )IMb@Mb@Mb@i zB) BIy8BI` I.:٢=̼ :=9H!>Q > G٣y:X > bBottom track data is 2.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%=49oEU?%=4Yx iԔ-o9)-9-?-?f Af;9@9=4Y ]]BYHyIy I}zDI}J=I}U=&Iy.Iy6I}<:I}DFlilllzlJJ?A 3u>GI ɚiI=i)!}G E{YAyMBDebC: Will construct direction to contact in vehicle frame from tetrahedron phase data.Em[>GI BQ O} >  I 94w,%nӴA2Will construct direction to contact in vehicle frame from tetrahedron phase data.y~HS=~DIU#I;٢%Ŏ< -V=9-Q ->11 5G٣1y= => MbBottom track data is 2.8 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU=49EBU?U=4YEr iEUB9Q}9y}?EAE;E5@E==4 YBKEllllzlIzKULKUS9KQKUKU quGIq qɚqiyI}L=iy)BD?:D1?DuA:Ee?e>GABIOe4>J`JRJFJJ:JS29J4JWill construct direction to contact in vehicle frame from tetrahedron phase data.4w,'kӴA6ƴ?Y6x@6961?=y6H+ݿ ?;?޿Cy?`)?%?ɨ6ƴ?6ً;67CyNv&=RCIZMIZ+:٢f fQ=9fQ j>hh jG٣n1Gy~¹ >  bBottom track data is 3.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config=49@U?=4Y+ i9=9=_?=?A2;N@?=4A E_BIlylylylzl :>GI ɚiI=i) IpfD@:uWill construct direction to contact in vehicle frame from tetrahedron phase data.E5/0v>GBO5>HyIy I}/DI}M=I}V=&Iy.Iy6I}<:I}F*J"J=% Will construct direction to contact in vehicle frame from tetrahedron phase data.z,4w,|HӴA6B?Y6@6u{96oVY>y6H߿ ok? Y?i߿=?`?`? C?ɨ6B?6܊;4yB;B:٢~ G=9>Q >    G٣ yK= > EbBottom track data is 3.6 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M=49=+=U?M=4Y= i=斿U8QUR9U?U?=A=PB;=Ii@=A=4y qBllllzl }db> GI  ɚ i I f=i1)9D->:Es\l>GBO%> I}Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKK}9KKK +4<FP2V4w,!ӴA2?Y2@2C̵92K˨>y2H[ݿx}? P?`{Oܿ?v?`? F?ɨ2?2=;0yR=RXDI^I^:٢=J> EF=9E0=Q E> G٣yΤ >Will construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 4.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49:U?=4Y iK8*9@??QAv<؃@C=4 HBlylyllzl 隝GI ɚiIE=i)2D*D }$?IyD0=:EsAEtA Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ E <>G B O >>4w,ӴA2?Y2 @2=923r>y2H`Mݿa?^?]ڿn?1?m ?ɨ2?2;2:CyB=BI IHDI=IU=&I.I6I<:I6Fu  u }  }@} }@} }@}  }@} }p= ף~jt?I +}}<}94 y)yI}Mb@Mb@Mb@JaJTJJJJ:J:9J4JJ7;aJ:;aJaJaiyyyy }2~B)}Iyyy}3~BIMW IM:٢]b= ]-=9]d>Q e>aa eG٣e1GyF > bBottom track data is 4.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49Z7U?=4Y i󟿑8 9 ? ?w!AXD<<@'E=4 :Blqlqlqlqzlq ~>GI Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚ5i!I%n=i!))D<:E ;>G B O a Ia h4w,ӴA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:v?Y:Ð@:F*R=9:F>y:HP޿a?@ ?0ݿ`"?`UB C??ɨ:v?:#;:8Cyr=rDIz& Izj:٢E͘ Et=9Er6Q M?II MG٣IyUh= U? bBottom track data is 4.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=494U?=4Yu i#889??$A1;@F=4sB JElYlalalizlizK MK+9KKKYaeegb_ZXSONIDB<875/,,+)($## ! BK:K 2t>I ɚiI=i)!D::E}>>GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.O5w, ԴA6ϻ?Y6o|@6l96^F>y6H`ܿre? ?,ܿe?`j-??If?ɨ6ϻ?6H;4ybK=bDIr7 Ir(:٢5; 5K=9%Q > G٣y > bBottom track data is 5.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config I=492U?=4Y i_ [8  8 ? ?(AK<@G=4Q ]8BYlililqlzl A;_>%GI! !ɚ%i!I% =UWill construct direction to contact in vehicle frame from tetrahedron phase data.i))qDM?9:E%uk>G-tAG-tAGB O%M>HI I/DIM=IV=&I.I6I<:I[FBIJIRIZIbIU=jI4JԺ4K4 Kt0KK"KJeJWJHJJ\:JG9JԺ4JJ;J;J&`:J(`: Will construct direction to contact in vehicle frame from tetrahedron phase data.z5w,ޏ#ԴA6?Y6@6+963>y6Hnۿ@c`??WYۿ ?Ks?1V? ~?ɨ6?6{Ջ;69CyBs=BXCIJSIJ:٢pQ L=9%+Q ->)) -G٣-1Gy5 5> bBottom track data is 5.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=491U?=4Y iꤿ188??,A7<@G=4 5bB9lIlIlIlzl GI  IɚUiQIUE=iY)aD8: IofEE0ƀ>GB)OEQ>]Will construct direction to contact in vehicle frame from tetrahedron phase data.aiazK* NK9KKK RK ?JK>F5w,fi=ԴA>8?Y>:@>f9>B\>y>H`ڿp$ 0'?@?`@ۿR?J=? :?`'?ɨ>8?>~w;>:CyN=RCIZs IZ8:٢}{W< }D=9}0Q > G٣yͼ >Will construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 6.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49/U?==4Y/ igE8AEm8E?E?s0AӺ<@UH=4I M_BUMEllllzlI US>UGIQ QɚUJiYI]-3=iY)aDmw6: IEz>G?G ?m Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >T5w,JEWԴA6)?Y69?6M96ʆ>y6H@TڿR#?!? ^ڿb?త? ?p?ɨ6)?6e;65CyN=N`CH>I IDI=I&I.I6I:I        l?㥛 ?|?5^?==? )Y"~ҿ }|B){BIBy3BIMD IM:J}`J}SJyJyJ}:J}y69JyJyJ}:J}:J}|C:J}C:٢Y 9=9h G٣y[ > Nusing accuracyPremultiplier from config=495U?=4YH i昿T:>;?2A;; X=4 bBJEl)l)lilqzlq]?]?]R@]=@ H]>GI )ɚ-ͷi)I-_[=i1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.DEV5:E/0v>GBOj> I V5w,qԴAWill construct direction to contact in vehicle frame from tetrahedron phase data.:?Y:?:i9:v>y:H+xڿ` ?3? ڿ?tW?Sq??ɨ:?:M;:7CyVFC=Z%CIjIj":٢v2= vj=9vWQ v?xx zG٣z1Gy~Y< =? MNusing accuracyPremultiplier from configAM=49EZ:U?U=4YE iEQU"?Eb4AE5GABIOu7>Will construct direction to contact in vehicle frame from tetrahedron phase data. "5w,ԴAJY?YJ?JZҽ9J.>yJH{ؿ6""&?b?/ٿ Ҧ??@Q? ?ɨJY?J_;J8Cy^Y=^DIfy If: aIa٢mU< mB=9mq;Q u>qq G٣y > Nusing accuracyPremultiplier from config=49>U?=4Y i~?z6A(<O)<r=4 XB!lylylylyzl]]]]Lh@MWill construct direction to contact in vehicle frame from tetrahedron phase data. UGIQ QɚUIiQIU=iY)aDm|2:ZHRH@AH>I I/DIM=)1 1IU=&IER>|GGJ bJ XJ GJ J :J 5K9J c4J J ;J ;J Pg:J Sg: G ] Ya ye B.I6I+<:IeFG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.(5w,ԴAFc?YFsU?F9F*>yFHֿP2TR??`!׿4? ?@>S?ɨFc?F;F:Cy^0=^CIfC If_:٢Ҽ %O=9%)) -G٣)y- u> }Nusing accuracyPremultiplier from configq=49uXCU?=4Yu iuw?ux8Au7MGII IɚM|iIIM=iQ)QBD]?:D]> M$?IIDe0:EY>GBOM>UWill construct direction to contact in vehicle frame from tetrahedron phase data.zK "KK 9K K K .5w,ٱԴAynI=nCIv Iv :٢v< E=9Q > G٣1Gy >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config=49GU?=4Y ic?:A;& ;?=4 EZBAllllzl]]]]! imGIi qɚuiqIu3=iy)D/: 9I9Emb>GI BQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.O >N55w,XԴA6z?Y6*?6 }96e>y6HԿrVo?`.? >տ,!?1?2l?`#?ɨ6z?6n;68CyB(=BCHe>Ia IeDIe=IeV=&Ia.Ia6Ie*<:IedF @ @ @  @ ʡE?MbؿZd;?o?þ~> )IMb@Mb@Mb@i‰© FB)FBIyGBJYJ]AAI ژ I q:٢> *=9=Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49 MU?=4Y\ iJ+::?=4I M^BQllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data. m>GI ɚaiI%=i9)AD-:EQ>GBO> ) I- pf<5w,hԴAWill construct direction to contact in vehicle frame from tetrahedron phase data.:f?Y:?:ؽ9:|sQ>y:H@տLN@9??L7ֿ??(?ɨ:f?:0;:7CyRFA}*;}M?} =4 eBGEllll9zl9 wV>GI ɚɸiI=i)2D*DzK:KK 9KKKD ,:J}aJ}RJ}HJyJ}:J}S29J}Ժ4Jya@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.ER>GB O% >B5w,C մA68?Y6H?6ͽ96Kc>y6H@VTտO-D??L>ֿq ??`.?ɨ68?6n<;66Cy>X=BDIJY IJ: `I`٢ψ= J=9%K!! -G٣)y-4; -> }bBottom track data is 1.2 s old, using for 20.0 s. }Nusing accuracyPremultiplier from config1=495&UU?=4Y5 i5 '9:?5r@A51<5ҙ?5_=4 XBHEllllzl9Y ]`>]GIa aɚeeiaIe:=ii)i5Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm+:He>Ia IaIaIa&Ia.Ia6Ie<:Ie@FE}T>GIBY*JmR="Jm4=O}> Will construct direction to contact in vehicle frame from tetrahedron phase data.I5w,&մA2?Y2,?2s|92>y2H eտ~>? %? 7_տ@?C?`s1? ?ɨ2?2O;2:CyR!=RCIZ"IZC{:٢ %J=9%=Q %>)) -G٣-1Gy-]@ 5> }bBottom track data is 1.6 s old, using for 20.0 s. }Nusing accuracyPremultiplier from config1=495YU?=4Y5 i59x:?5lBA5g;5?5u=4 _BlIlIlQlzl I Ѷp>GI ɚiI=i)D*:E[>EWill construct direction to contact in vehicle frame from tetrahedron phase data.GyBO_>zK LK ж9K K K  $J `J XJ GJ J :J 5K9J c4J @O5w,?մA2?Y2?2[92G#>y2Hҿ@c]_?`H? ӿ"W?^??'?ɨ2?2hU;27Cy>Q=BDIFy IFH:٢ <  L=9 Q > ]G٣Yy]^н e> mbBottom track data is 2.0 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau=49ef^U?u=4Will construct direction to contact in vehicle frame from tetrahedron phase data.Ye ie?=99=I:=v=?emDAe""E%p= IM Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM AEm ɔ]>GY Bi O >`(V5w,YմA2%?Y2b?2܈92=>y2H4ӿ@u ?u[? F=ԿUuQ??a?ɨ2%?2K̊;29Cy^,=^CH>I IDI,>I&I.I6Iְ<:I#FBIJIRIZIbIV=jIp4 e e em mm  m m  m@m m@m m@m  m@m m~jt?~jtx?ʡEmd?m;m- i)iImMb@Mb@Mb@iiiii mB)m{BIiiymBIIX:٢" -=9?nQ >!! %G٣%1Gy-0= -> ubBottom track data is 2.5 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}=49mcU?}=4Ym imǾo9#:?mFAm +;m@m=4 ^Bllll!zl) 隕GI ɚ0iIJ^=i)Will construct direction to contact in vehicle frame from tetrahedron phase data.DA':E:f>GyBO> $?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.`\5w,)sմA^!?Y^1)?^aÕ9^hy&>y^H $Կ@CH?@H?hԿc'??``~?ɨ^!?^^̊;\y=CI-dz I-:٢ f=9Q > G٣yI< > bBottom track data is 2.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49sfU?=4Y ivB9:?uHA);k5@=49 =aB9lQlQlQlQzl GI ɚ#iI=i ) zKLK@9KKK BK:KDM&:J-cJ-SJ)J)J-:J-y69J)J)Will construct direction to contact in vehicle frame from tetrahedron phase data.EUAG1 BY Ou >+:c5w,3մA I6;?Y6K?6פ96">y6Hҿ1 8?4?@ҿ`# D?`?w?ɨ6;?6{;67CyNA=R-CIZ IZ:٢v< vW=9vQ v>x| =G٣9y= E> MbBottom track data is 3.2 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU=49EiU?U=4YE iEvU99ݜ?ETJAE+sI IDI">I&I.I6I<:I1FGaGesAG1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data.Sei5w,hմAyA=CI] I]:٢mrܼ uB=9uQ > G٣y > bBottom track data is 3.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49mU?%=4Y i%8!%9!%?qLA>+;[i@=4q aBllllzl I1 隍GI ɚ<=iI=i)DmG#:GABIOm5>%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%AzK% [4LK% U9K! K% K% RK9 JK= ?Je aJe XJe IJa Je :Je 5K9Je F4Ja TOp5w,LմA>?Y>T?>ؽ9>\F`>y>H`yӿy?@rB?@Կt ?ͧ??ɨ>?>Ҋ;>8CyNpp vG٣v1GyvW= v> =bBottom track data is 4.0 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E=495qU?E=4Y5 i5M8IuWill construct direction to contact in vehicle frame from tetrahedron phase data.9ܓ?5RNA5D><5i@5E=4I UhBUEElalalalizl9 tf>隍GI ɚXJiI=i)D}!: I GqBO]>% Will construct direction to contact in vehicle frame from tetrahedron phase data.vv5w,մA6?Y6\?6ǽ96X>y6Hsbп@`;I?@?tѿ-O?4??ɨ6?6;67CHTIT IVDIV6>IT&IT.IT6IV<:IV,Fyn$=vC G)A uYqyuvB % % %% %%  % - -$C?L7A`堿333333?->-+-= )))Y-+?> ףp=ʿ rȿy-v^?-Q-C-?B -B))I)-y-BIu$Iu;٢= '=9ވ G٣y߽ > Nusing accuracyPremultiplier from config=49nU?=4Y( i-T:-i?-h:-?5?cUAB2<1<g=49 =^B=HEWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzl]j ?]j ?]5@]q?   GI  ɚQiI=i)Dv :GM>GM>GB)OMt> I= Will construct direction to contact in vehicle frame from tetrahedron phase data.|5w,4մA2f?Y2v?2=y92T>y2H)Ͽ!(`\?`e?п1갿z?0?@2?ɨ2f?2;2:Cy^Ks=^DIf If:٢ r=  }=9 Q  ? G٣y=  = ? ENusing accuracyPremultiplier from configAM=49EklU?M=4YE iEFIU?U?EZAE:E:E=4 TBllllzl]]]]s?  GI1 9ɚ9i9I=G>iA)AD-U:G BO5 >zKE}KKE@9KAKEKEBKQ:KQWill construct direction to contact in vehicle frame from tetrahedron phase data. I 5w,ִA2/?Y2l?2D92s.7>y2H@#\п U=?@W??ѿ\$G=? z?"II MG٣M1GyM= U> ]Nusing accuracyPremultiplier from configYe=49]jU?e=4Y] i]tim?m?]_A]:]:]=4urB u_BGEllllzl]]]]\? !%GI! !ɚ!i!I%C>i)))Will construct direction to contact in vehicle frame from tetrahedron phase data.D:jH<bHp<H>I IDIJK>I&I.I6I!<:I^FEp>JMbJMWJIJIJM:JMG9JIJIJIa]JIa]JM&`:aeJM(`:aeGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ﲉ5w,.(ִA>*r?Y>:?>9> E>y>HͿ^?@?пd%?bT?`\?ɨ>*r?>6É;>8CyNـ=NuDIbIbc:٢jX= nQ=9Q  >   G٣y͖ => MNusing accuracyPremultiplier from configAU=49EhU?}=4YEK iEIy}Y?}?EeAE;E;E=4 QBllllzl]]]]?9 9EGIA AɚAiAIM>iI yI}of)2D*DDm{:Sending 73 bytes from file Logs/20250108T182924/Courier0009.lzmaEMdh>G!B)OE0>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK &KK K9K K K 5w,BִAN?YN?N{L9ND(>yNHnTο@]y Κ?`?`όп:@??l@?ɨN?N;N:CyzF=CI-I-}:mWill construct direction to contact in vehicle frame from tetrahedron phase data.٢  @=9t]:Q > G٣y< > Nusing accuracyPremultiplier from configM>49fU?M>4Y ivy??kA3<<< >49 =YB9llllzl B*** querying acoustic contact ***j j ]Y]Y qInf]Y]]K? 隕GI ɚiI$>i)D: Will construct direction to contact in vehicle frame from tetrahedron phase data.  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.E 1e>Gy B O >rŖ5w,f\ִAH I  I"@EI"tU>I &I .I 6I"<:I"FR4?YRDZ?RP9R6>yRHο-aB?,?Zп`B^?`M?;?ɨR4?RT;PyZw.=^CbX9?B`"ѿ?EV?َ< )YZd;O?/$V-y~J?m NB)BIByBJJ@AJJVJHJJJB9JԺ4JJJJX:JX:IMI|:٢-a -@=9U;=Q U>QY ]G٣]1Gy]; ]> eNusing accuracyPremultiplier from configam>49ebU?>4Yem ie,L?:??eDqAe;e;eT>4qB [BFEllllzl]^>]^>]?]d@) IMGII QɚQiQIUy2>iY)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.m*DAT read: user:755> uBDAT read: Tx time:19:34:48.8116 u$Ping request sent.u xMoved sent file to Logs/20250108T182924/Courier0009.lzma.bak $SBD MOMSN=23885950 Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:19:34:48.8108 % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2518105w,?vִA6?Y6?6܁ʽ96>>y6H f̿? ?pSο`ME??@JK?ɨ6?6;68CyNw=NGD)T TIZ3 IZ :٢v.= va=9z=Q z>x| G٣y] %> -Nusing accuracyPremultiplier from config!->49%T_U?5>4Y% i%15M?5?%uA%n:%O;%'>4a eHBallllzl]]]]f d@ =dx>=GI9 9ɚEiAIEQz>iA)IBDu?:Du?D-:G BO5 >zKKK 9KKK  uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502785 e $?Ia ֣5w,ִA2D?Y2T??2w@92C>y2Hʿ`9?=7?D̿@a?H?Y?ɨ2D?2U;29CyR{=R}DIZ IZ:٢f,\= fL=9j=Q j>hl nG٣|y~~ >  Nusing accuracyPremultiplier from config >49 \U?>4Y is??{Ae:":4>49 ==BAlylylylyzly]]]]c@ n>GI ɚGiI[>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756116DU:GiBqO>HAIA IE EIE_>IEU=&IA.IA6IE<:IE=FBI JI RI ZI bI jI 5*J"J=JaJ\JGJJ:J[9Jc4JJ7;J:;J:J: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827 5w,&ִAFÃ?YF?F N;9Ff>yFH@ʿO "?N?ɿ%?i ?2?ɨFÃ?F;F:Cy^D=^HDIjCIjr:٢R G=9 y(>Q  >   G٣1Gy5L 5> ENusing accuracyPremultiplier from config9E>49=XU?M>4Y= i=ֱIM?M?=A=:=&:=bC>4q }HByllllzl]] I]][Ud@  5 >5GI9 9ɚ=ɷi9I= >iA)AD5;: enManaging dock network, ignoring radio surface power offGBO- >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258864zK LK k9K K K 5w,ִA2E?Y2܂?2R!926q>y2H%Cɿ`q@@?cX?ɿ? )???ɨ2E?2i;28CyBu=B9DJ8Not Powering down - fast GPSIJiNNNRRR R)VIViVVVZZ ^)bEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511893IvIvE:٢q A=9̽Q > G٣y- e> Nusing accuracyPremultiplier from config>49MUU?>4Y i ??A@<K<S>4epB eJBmEElylylylzl]]]]iI)Q2DY*DY ImfD%: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768317E wf>G B O >5w,ִAH}>Iy I}EI}s>Iy&Iy.Iy6I}<<:I}rFJ3?YJp?JҶ9Jx\>yJH`/ſK?@j?Oǿ꫿?:?@?ɨJ3?JrU;J7CyfG=f&pDJK 4 K .KK"KJbJUJHJJ:J>9JԺ4JJ ;J ;JQ:JQ: @ @ @  @  rh(\?SÿC .> )IMb@Mb@Mb@i‰© |B)Iy|BI} I}:٢>= -=96Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config>49RU?>4YF i4+:!%W:%>?-?҅AQ<j>_>41 5?B1eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018817lylyllzl Ev>隭GI ɚ.OiI(>i)Da:E}}p>GQBYOuz> I Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271131b=5w,ִA2Nf?Y2]?2c92?>y2HQĿS?S? #ǿ@$ `?k?.?ɨ2Nf?2;29Cy>v=>=DIFB IF:٢r r=9rQ r?tt vG٣v1Gyz⤼ z? %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%>49vQU?->4Yכ i- :)-.:-?-?ȇA*;B?f>4Y ]IBYlilqlqlqzlq GI ɚ4{iI>i) DI:E6>GBO>'ETFailed to parse incomplete device message.}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524218 I BK rA:K tA,)5w,s״A6?Y6?6tA9653>y6HMſ@}`"?? ɿธÿ _??`?ɨ6?6N;68Cy>L{=BDIJFIJй9٢V VM=9VAQ Z>XX ^G٣\y^< ^> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j>49b^OU?j>4Yb ibj9hn :n#?n?bOAbb:;b“?b%n>4p rQBrHEl|l|l|l|zl) -]>-GI) 1ɚ5Ki1I= &>i9)AD  :Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775993)I MC;GjH%<bH%<H1I1 I5"EI5#>I5V=&I5$D.I16I5;<:I5pF c2Yy,BE>GsAGtAGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026810 Q5w,ZE+״AyGK=CI-#SI-O:٢= =B=9EQ E>AA EG٣IyM M> YIY ebBottom track data is 1.6 s old, using for 20.0 s. eNusing accuracyPremultiplier from configQm>49U&MU?m>4YU iUu9qu9qu?UAUzD;U?U}t>4oB VBGEllllzl zf>GI ɚ3iIO>i)Do:E0ƀ>GBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278876J% aJ! J% GJ! J% :J! J% c4J! a- @a- @a- @a- @zKu LKq Kq Ku Ku   65w,E״AMWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534248ym4=unCI I:٢ML U;=9yQ >)) 5G٣51Gy1 5> mbBottom track data is 2.0 s old, using for 20.0 s. mNusing accuracyPremultiplier from config9u>49=JU?u>4Y= i=򃾑}9y}9?=A=-<=@=,z>4 YBllllzl  GI ɚ˸iIx>i) aIelfD :*E ="E =ES^>GBOn>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782652H I  I /EI M>I &I #D.I 6I I<:I {Fa5w,^״A2Ks?Y2Z?2 ½923>y2H 2z¿`x??``Ŀ`7Q?9?@]?ɨ2Ks?2p;2:Cy>t=>E*DDFA - - -- 55  5 5 5S㥛?L7A`пQ?5$>5+5? 1)1Y5Clѿkt? +οy5ߏ5 0=5v5B 5̀B)5}|BI15y5BI I;:٢w= S=9j|>Q > G٣y >  Nusing accuracyPremultiplier from config 5>49 GIU?=>4Y  i =T:=о>=;=޿=? A ~; ; >4A MMBIlalalalazli]ӈ?]ӈ?]}-@]9@  >GI ɚiI>i)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.034826DU : aIaE^1_>Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2875505w,ux״AZ}?YZ?Za9Z >yZH`]@*?[?`3@?M?)?ɨZ}?Zǔ;Z7CynG=ruDIz Iz5:٢ i=  X=9 u=Q  > G٣y' => ENusing accuracyPremultiplier from configAM>49EGU?M>4YEL iE侙IUܿU?EAEu:E:E#>4Y ]=BYlqlqlqlqzl]i]i]i]m@ 隥GI ɚiI^>i)D~ :Emb>J_JSJHJJ :Jy69JԺ4JzKe{kLKe9KaKeKe-#   RKm?JKm>GqByO;>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.540219 I II *v5w,״A6 `?Y6?6Kü96 >y6H?TP&? L? jh??љ?ɨ6 `?6;6:Cy^y=^SeDIf If:٢r rL=9r=Q v>tt vG٣v1Gyz > Nusing accuracyPremultiplier from config%>49wFU?%>4YI i )-ܿ-?}AP:P:>41 5AB9lIlIlIlIzlq]]]]s@ GI ɚ iI>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790890D:E->GBO>ZHyRHyH>I IEIi>I&I.I6IѰ<:IF] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042679)5w,״A2?Y2R?2Vr<928W>y2Hp@P c?`?`Z{?p`?H?ɨ2?2%;0yN=RrDIZۤIZ#u: pIp٢zGM< ~J=9=Q > G٣yü > Nusing accuracyPremultiplier from config>49pDU?>4Y i"ῑ?A:.:>4 >BlIlIlIlIzlI]]]]@y 隅GI ɚiI>i)BD?:D6?D/:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294727E- 8j>G1 G5 sAG B O- >J `J XJ J J :J 5K9J J ' TFailed to parse incomplete device message.ք5w,^״A-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.549435?Y;?9?>>yHQ_`??tF`?Q? lo?ɨ?$;騝9Cy޵=޵ۅD I e@e e@e e@  @ eX9v?~jt rпes>eDe a)aIeMb@Mb@Mb@ie‰e©ee elB)eIeBeye8BI*I:٢Ԝ< =9`Q > G٣yڽ > MbBottom track data is 0.5 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM>49EbAU?U>4YEg iEAU+:QU:U&近U?EAE*;E?E>4BKmsA:KmsApB :BHEllllzlY GI ɚ)&iI! >i)Du:EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798842H >I C I DI ,>I U=&I .I 6I <:I YFBIAJIARIAZIAbIAjIE4G B O >5w, ״AF3?YFp?FA9Fӂ>yFH 2i?c?򱵿ȴ???ɨF3?Fa7;F:CyvA=v-0DI%b I%:٢-  5=9]RQ ]?aa eG٣e1Gye= m? bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configi>49m@U?>4Yml im0U ::㿑?mUAm`;mP?mF>4 LBllllzl j>GI ɚiI>i))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051522D:GBO*> YI]mf} Will construct direction to contact in vehicle frame from tetrahedron phase data.y i} A checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303714 5w,#״A64?Y6CM?6"96Q!>y6H$@E? O?gc¿^ͨ .??`?ɨ64?6륉;4yNL G٣y2> > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config>49t>U?>4Yq i.p9  : ݿ ?BAd*;?>49 =jB9llllzl)  >隕GI ɚiI>i)JuaJuWJqJqJu:JuG9JqJqD=:zKe4NKe 9KaKeKeGBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554784 Q IQ v6w,شA2 ?Y2/*?2WQ92hi>y2Hu4?`a?¿ @ (?@p?` ?ɨ2 ?26;0y>`=B DIJ,IJg:٢r= rK=9rK=Q r>tt vG٣tyv: z> %bBottom track data is 1.6 s old, using for 20.0 s. %Nusing accuracyPremultiplier from configx%>49z4Yz- izu-9)-u:-俑-?zAz6;z?z>4Y ]TBYlilqlqlqEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.808653zlq GI ɚiIr!>i) D :GBH>I IDI">IV=&I$D.I6I'<:I`FO-,>*Jq"Ju%= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059533 9 IA  6w,.شA2o ?Y2~J?2+Jo92B>y2H] 9@?b?N@??`K?_?ɨ2o ?21;2@=>5CIJMIJ|:٢Ɯ H=9Q >    G٣ 1Gy— > EbBottom track data is 2.0 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M>49=:U?M>4Y=* i=bM9IMF:Mg俑M?= A=*;=@=>4Y ]XBYlqlqlqlqzl GI ɚ?iI%ڃ >i!))Dc:EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.310803E>GtAGGiByO>zK YLK s9K K K RK% >JK% ?6w,ZHشARWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.565718]?Y]?]9]V=y]H 鞿22? ?䚿@4?@??ɨ]?]w];]7Cym =mGC $?I         @ @ @  @ 1Zd?M¿uV?">nr> )IMb@Mb@Mb@i zB)IyzBI}I}f:٢Ѽ =9l`=Q > G٣y > UbBottom track data is 2.5 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config]>497U?e>4Y imo9im :m:忑m?:A<#@>4 _Bllllzl)q y}GIy yɚ}gַiyI}%">i)BD ?:D2?D}e9EyEy*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.814984 G) A m Yq yu $BH >I  I DI M>I U=&I #D.I $D6I &<:I ^FG B OU >06w,YbشAJiJiJiJiJiJiJiJiJm7;a}Jm:;a}Jm&`:a}Jm(`:a}yޅ =ޅCI Im:٢< =9Q  ? G٣y  ? -bBottom track data is 2.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config5>49+6U?=>4Y; iW=B99=:AE?A;6@^>4i m\Billllzly y}GIyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067520 ɚtiI$>i)D%9 IGBO-N>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318798V6w,u!|شAZe?YZt?Z9ZY=yZH໡_?@?t@? I? ?ɨZe?ZC;Z:Cyr͹rA}Iz~ Iz:٢E}Խ EW=9Eʰ:Q E>II MG٣IyU[= U> bBottom track data is 3.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy>49}4U?>4Y} i}\99 ߿?}˚A}*;} O@}>4Q UpBYlilililizl HI ɚiIu%>i) D9GBO&>zKLK9KKKBK):K)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570674 I=%6w,شA2h?Y2w?2z@ 92?>y2H ;EB??öS)?`?@(?ɨ2h?2;2;Cyv׌ G٣1Gy%tm= %> -bBottom track data is 3.6 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)5>49-2U?5>4Y- i-¿=8AE9EῑE?-A-Z;-Fh@->4I MgBIlalalalazli 隕GI ɚI?iI'>i)2D*DsAWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823308D9GBO>ZHRHH>I IHDI=IV=&I$D.I6Io<:IFJ]`J]UJ]IJYJ]:J]>9J]F4JYJ]:J]:J]Q:J]Q: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075328 I g+6w,կشAJ??YJN?Jj9Jq2>yJHj@p /?? Ŷ?~? ?ɨJ??J;J:CyVhh nG٣lyrQ r> zbBottom track data is 4.0 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz>49v/U?~>4Yv ivο~8|~9?vAv/>;vˀ@v>4  dB KElalililizli GI ɚLŷiI5x(>i)D-B9G BO- >%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326628R26w,ӽشAzK.KK59KKFWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.581271KRKR ?JKR? 9I9y =7C        ʡE?L7A`?Mb?]?+=? )Y5^I ?ףp= ÿzG?y? W> ̀B) BIByBI I;٢@< !=9Q > G٣1Gy > MNusing accuracyPremultiplier from configAU>49E6U?]>4YE iE]T:]&?]:]?]?EAE,4 _BHEl1l1l1lYzla]>]>]t@]8@! )-GI) 1ɚ5Ni1I]g*>iY)aBD?:D?D9GG5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831304GiBqO>H >I  I I I &I #D.I %D6I 9<:I nFz86w,شA: ?Y:R?:w;9:WQ>y:HrD?`??} ?JT?ɨ: ?:L;:9CyZl=ZDIfm If:٢n-= n=9nq>Q n?pp rG٣pyvԄ v? zNusing accuracyPremultiplier from configx~?49z:U?~?4Yz iz|??zAzS;zS;z?4  SB J)J-SJ)J)J)J-y69J)J)J)J)J-|C:J-~C:lAlAlAlIzlI]a]a]a]enM@q y}GIy yɚ}EiyI9+>i)D9GiByWill construct direction to contact in vehicle frame from tetrahedron phase data.>6w,qشA2 ?Y2J?2l92Iy2H ⠿bmy`?w:zj?`>?ɨ2 ?2/;2:CyNL{=NDIVzIV1;٢^< bL=9b6Q b>`d fG٣dyfǠ f> nNusing accuracyPremultiplier from confighn?49j,?U?r?4YjӖ ijԭpr/?r?jAj;jq:j?4t zQBxllllzl]]]]G@ GI ɚxiI&->i ) D;9GBO=zKuKKu9KqKuKuBK:KWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IE6w,[BٴA6B?Y6Q?6d96y6Hy[sY? ƭ@'G?M}?ɨ6B?6;4yfE;=fMClnAAI=CI=$:٢U UB=9UWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received-    G٣ yu= u> Nusing accuracyPremultiplier from configy?49}BU??4Y}Џ i}ҝ~??}A}T:}:} ?4oB XBGEllllzljH)bH)H5>I5C I5DI5s=I1&I1.I16I5D<:I5wFBICJICRIZIbIjIu4]Y]Y]Y]]y@ 隍GI ɚ3iI.>i)D9GYBaO]>J9J=[J=JJ9J9J=W9J=4J9J9J9J=|:J=|: Will construct direction to contact in vehicle frame from tetrahedron phase data. I lfʵK6w,1ٴA>_)?Y>nf?>49>y>H@`?@Hhw ?r ?ɨ>_)?>e!;>\\ ^G٣b1Gyfmh= f> jNusing accuracyPremultiplier from confighn?49jEU?n?4Yjc ijprϳ?r?jSAj;j%;j-?4t vdBtllllzl ]!]!]!]%W$@1 15GI1 9ɚ=ﭸi9I=/>iA)ID=9GIBYO=Will construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power offўR6w,JٴA2Will construct direction to contact in vehicle frame from tetrahedron phase data.zK2:KK29K0K2K2B6?YBs?Bߝ9B>yBH`Н??xn@_??A?ɨB6?B$;B;Cyz G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49JU??4Y i+::??pA88;u>k9?4 llllzl! !!I! )ɚ5+ȸiI1>i)D\9GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.H- >I)  I- DI- =I) &I) .I) 6I- X<:I- FX6w,8dٴANp?YN)?N7g9N>>yNH'  ?`J?`dU)<`? ??ɨNp?Nn;LyrC+=rCIe Iec:JyJ}ZJ}FJyJyJ}S9J}4JyJyJyJ}u:J}u:٢O= L=9R=Q > G٣y"μ > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49PU??4YM} ijw :V:??lAw9;V?B?4 ZBDEllllzl GI ɚWiI3>i)!D-9mWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5 > I Will construct direction to contact in vehicle frame from tetrahedron phase data.^6w,~ٴA6?Y6 9?6ᗻ96"Ȃ>y6H%X? Y?@m@ڊj? M?`?ɨ6?6;69Cyb =fxCIn,In/:٢v vV=9zQ z>|| G٣1Gy=ν > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config ?49 VU??4Y kw i b9%-:%?%? LA 8; v? I?4) -_B)lAlAlAlAzlAq GI ɚiIw4>i)D9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKK9KKK   yIyAA MG٣IyU U> ebBottom track data is 1.6 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe?49]q\U?m?4Y] q i]Jm9im :im?]SA]!*;]?]O?4y }bByllllzl GI ɚ iIu5>)F= %C%Will construct direction to contact in vehicle frame from tetrahedron phase data.G .Yy Bi)I]@]PAH>I IDI,>I&I.I6IB<:IxFDeg9G9BIOm5>*JC="Jp= Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iq l6w,@hٴA6&?Y65?6l96 :>y6H h`/?"?糿@׭k?? k?ɨ6&?6‹;6;CybDxx zG٣xyz1= ~> bBottom track data is 2.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config ?49eaU? ?4Yj i599h???AX);@T?4%nB !%CEl9lAlAlAzlAa imGIi iɚm@iiImn7>iq)yD9G?G>GBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data.JKԺ4 KS/KK"KJE cJE WJE GJA JE :JE G9JE c4JA a} @a} @a @a @r6w,DٴA6?Y6?6796->y6Hx'`u`b?`B? G٣1Gy5ν > bBottom track data is 2.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49@hU??4Yc io99o??A< @TY?4 \Bllllzl 隭GI ɚY$iI9>i)D9GBOe>5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1H >I  I DI w>I &I .I 6I Ӱ<:I Fy6w,ٴA6?Y6.?6r96Z!=y6HK??Ǩ`pzQ? :?@?ɨ6?6i;4yN=NpCIVʣIVM<:٢) f=9 =Q >    G٣ y > =bBottom track data is 2.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E?49= mU?M?4Y=5^ i= MB9IM9M?M?=CA=*;=6@=\?4y }^Byl1l1l9l9zl9 GI ɚ0iIy:>i)Will construct direction to contact in vehicle frame from tetrahedron phase data. ID d9GBO*>E Will construct direction to contact in vehicle frame from tetrahedron phase data. 6w,7ڴA6K?Y6ӈ?6.96=y6H 밿 D?@~?\ "@?]+??ɨ6K?67`;4y> <>DCIFfIFQ:٢6 H=9%Q %>!) -G٣)y-,= -> =bBottom track data is 3.2 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E?495qU?E?4Y5W i5쾑M9IMr9M?U?5CA5];56P@5^?4y }dB}@Ellllzl GI ɚZi )D #9GBJ _J YJ HJ J  :J [O9J Ժ4J O% >Will construct direction to contact in vehicle frame from tetrahedron phase data. IzKLK}9KKKc+6w,nڴAJ}?YJ?Jȩ49J8>yJHJYX?`? ` Y?i?Gs?ɨJ}?J;JII MG٣M1GyM+= u> }bBottom track data is 3.7 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configy?49}vU??4Y}EQ i}8D9??}KA}*;}Lj@}`?4 cBWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzlA IMGII qɚu#IiqIug>>iy)yDM9jHybH}<HI IDIM>IU=&I.I6I-<:IgFG!B)OM> Will construct direction to contact in vehicle frame from tetrahedron phase data. I S6w,F3ڴA2?Y2 L?2tl92w>y2H`qn ??o? ڂ`@a?f??ɨ2?20;0y>tt vG٣tyzF z> %bBottom track data is 4.0 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-?49{U?-?4Y"K im-8)-9-ݦ?-?:Ay);@b?4mB aBllllzl1y y}GIy ɚQiIG?>i)D9GaBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J= aJ= \J= JJ9 J= :J= [9J= 4J9 :6w, MڴA 0I06Will construct direction to contact in vehicle frame from tetrahedron phase data.F?YF?F9Ft>yFHb!`W??,H }?? ?ɨF?F-;F;Cy^$=^CzK=LK=59K9K=K= RKE?JKE? e e ee ee  e e  e@e e@e e@e  e@e e@5^I ?1Zd?~jt?eb>e"=e< a)aIeMb@Mb@Mb@iaaaa a)e0BIaayeWBI{ I:٢= 1=9BQ > G٣y& > bBottom track data is 4.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49U??4YC i#S%8!%9%?-?A=@)d?4) 5XB1lalalilizli 隕GI ɚiIlA>i)DC9GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.Hu >Iq  Iu DIu ">Iu V=&Iq .Iq 6Iu 6<:Iu nFBI5CJI5CRI1ZI1bI1jI5q5d6w,=egڴA:u?Y:?:H9:y:HnQ$@? .?ʋ?u??@?ɨ:u?:;:9CyvP=vCI g I :٢mA< ma=9u=Q u> G٣1GyB: > bBottom track data is 4.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49HU??4Y9> i2 88 ??QA<w@-e?4 SB!llllzl) U$?IUjf Y]GIY aɚaiaIeB>uWill construct direction to contact in vehicle frame from tetrahedron phase data.ii)D9GaBqO;>% Will construct direction to contact in vehicle frame from tetrahedron phase data.qL6w,@ڴAyn}f=n DIv9 IvԂ:٢e<  Q=9 Q  > G٣y ]> ebBottom track data is 5.3 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm?49]U?m?4Y]8 i]4u[8qu8qu?]FA]1;]@]f?4 PBllllzl! !%GI! !ɚ)i)I--[D>i))QDUz9J`JUJHJJ:J>9JԺ4JG)B1OU> AIA}Will construct direction to contact in vehicle frame from tetrahedron phase data.zKRLK9KKKBK:Kw6w,K!ڴA:?Y:?:&9::=y:Hx@ļ??S"?{??ɨ:?:;:>Cy^u=bCIj3 Ij:٢K2 J=9 -b=Q  > 5G٣9y=`l => MbBottom track data is 5.7 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM?49EU?U?4YE1 iEu<u18qu8u?}?EAAE;E@Ef?4 YBi)ZHRH?AHI IDI#>I&I.I6I <:IMFDO9GBO> ) I5 if Will construct direction to contact in vehicle frame from tetrahedron phase data.~6w,@ڴA2늭?Y2?292!=y2H@v ƺ? ?  D???ɨ2늭?20ŋ;2:Cy^P=^CIf If̪:٢r< vL=9v-Q v>xx zG٣z1Gy~') >  bBottom track data is 6.1 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config?49UU??4Y+ i)==89=]8=?=?+A;_@bg?4ElB ERBIllllzl GI ɚiIG>i)Dػ9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) 6w,YڴA"Will construct direction to contact in vehicle frame from tetrahedron phase data.b@?Yb}?bn9b ">ybH`_І " D??5\f?_$?ʼn?ɨb@?bJ;bߏO )YMbp?S㥛y;lB )BIUBy BI I:٢ /=9=Q > G٣yB< > Nusing accuracyPremultiplier from config?49U??4YG+ iT:?:D/@?A;;w?4  VB l!l!l!l!zlA]?]?]ͬ@]?t@ GI ɚiIBI>i)D9GyBO<>e-Gy  YyRBWill construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I DI =I U=&I .I $D6I J<:I zF-6w,2ڴA>?Y>4?>e19>4z>y>H`^`(??Q僠*??`7?ɨ>?>w;>:CyNFC=R%CJ`JbJbGJ`J`Jb9Jbc4J`Jb:anJb:arJb[;avJb\;avIzIzbv:٢MG< Mh=9U]=Q U> G٣y= >  Nusing accuracyPremultiplier from config ?49U??4Y+ il15>@5?A;;Ä?4A ESBIllllzl IMWill construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]]rXt@ 隵GI ɚiI|J>i)D9GBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,L۴Ay%z=%?jDI5I5r:٢]g= eI=9eQ e>ii mG٣m1Gym m> Nusing accuracyPremultiplier from configq?49uU??4Yu* iu?uGAu/;u+;u:?4 Ei)D 9GBO!> I]Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5LK5U9K1K5K56w,l۴A25$?Y2Da?2J}<92>y2H"u?~??˃?`?? ޏ?ɨ25$?2;28Cy^=bKgDIzr Izت:٢%A %N=9-s>Q ->11 5G٣1y=9 => ENusing accuracyPremultiplier from configAM?49EڈU?M?4YE* iER5IUGU?EAE:E;E#?4Y ]=BYlqlqlqlqzly]]]]r@ 隭GI Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚ@iIM>i)H>I IzDIJ=IW=&I$D.I%D6I~<:IFDʰ9GBO>*J"J4=JJTJHJJJ:9JԺ4JJ:J:JJ:JJ: Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.R6w,@6۴A2V>?Y2e{?2Av92rI>y2H `@Q ?`?+` ??@+S?ɨ2V>?20;2;CyB=B6DIJIIJ k:٢bL fP=9fEQ f>hh jG٣hyj",= n> vNusing accuracyPremultiplier from configpv?49r}U?z?4Yr* irBhxz4@z?rAr:r:rԭ?4 GBllllzl]]]]i!s@ GI ɚNƷiI~O>i)D-i9G9G9GBO- >Will construct direction to contact in vehicle frame from tetrahedron phase data. I o6w,P۴A"Will construct direction to contact in vehicle frame from tetrahedron phase data.RD9?YRSv?R]~9Rxv >yRH!`N#|??>Nհ ?{6?N?ɨRD9?RA;PybE;=bMC U@U U@U U@U  U@U UQ?EԸV-?Uµ>UƽU= Q)QIUMb@Mb@Mb@iU‰U©UU UurB)UIUBUyUBIm  Imo:٢q~ ?=9Q > G٣1Gy= > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49U??4Y* i(+::)@?aAS*;>?4 UBzKKK9KKKllllzlq 隽GI ɚ iIQ>i)D9GiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.iH>IC IaDI=IV=&I#D.I6I<:IAF6w,i۴AF?YFS?Fu-9F=yFH``@p^?@? wnb?S?`?ɨF?F̌;F:CJVaJVYJVJJTJV:JV[O9JV4JTJV7;JV:;JV{n:JV}n:y=C+==CIMx IMZ:٢e mL=9m:=Q m>qq uG٣qyuz }> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49fU??4Y) i ::'@?A;;T??4 WBllllzl GI ɚVHiI dR>i ) $?ID5Ƨ9eWill construct direction to contact in vehicle frame from tetrahedron phase data.G BO- > Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,Ӄ۴A2?Y2?2aw92 l=y2H/?@53:?b?@|?P ?`I?`?ɨ2?2S;0y:=:CIF IF֌:٢NK NX=9RK=Q R>PT VG٣TyV= V> ^bBottom track data is 1.2 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb?49ZZU?b?4YZ) iZÿf9dfY:f'@f?ZAZOF;Z?Z ?4h jYBhltltltltzlx %GI! !ɚ%yi!I%!T>i)))Dt9GBO= I eWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMKKM9KIKMKM v6w,۴AFE?YF?F19FY=yFH 3Lj? X`i? ?J3{?Ժ@!?nο? ϸ?ɨFE?F1g;F G٣1Gy > %bBottom track data is 1.6 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-?49%~U?5?4Y%\) i%+߿=99E0:E/@E?%A%4;%l?%h?4Y e]BallllzlWill construct direction to contact in vehicle frame from tetrahedron phase data. GI ɚ}iIU>i)ZHYRH]AAHaIa IeHDIe=IeU=&Ia.Ia6IeN<:IeFBIJIRIZIbIjI€C5D!9GBO=JJJJJJJJJJJJ Im Will construct direction to contact in vehicle frame from tetrahedron phase data.>6w,۴A6r?Y6?6򺇽96_o>y6H?`!?@?@Ő|@0?`s? <?ɨ6r?6;6=CyN=NIDIV+IVd:٢b> bO=9f_nQ f>dd jG٣hyj< j> rbBottom track data is 2.0 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv?49nzU?v?4Yn( inv9tz:z65@z?nKAn);nc@n;?4y }CByllllzl GI ɚiI QW>i)D9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. =nManaging dock network, ignoring radio surface power off I %6w,Ab۴A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:,?Y:*i?:0o9:u+>y:HS_? A ?[?@^ |`&f??@|2?ɨ:,?:,^;:QQ G٣y >  bBottom track data is 2.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config5?49sU?=?4Y( i- =o99=9=<@=?A;@?4A MPBIzKUMnLKUH9KQKUKUllllzl GI ɚRiIX>i)BD'?:D"?Dp9GBO'>Will construct direction to contact in vehicle frame from tetrahedron phase data.HU>IQ IUDIU=IQ&IQ.IQ6IU<:IUFP6w,JD۴A:?Y:?:9:C>y:Hq? C`x?d?@3( d?? ?ɨ:?:;:8CyJ =JCIVIV7:٢ZN* ^T=9bfQ b>`` fG٣dyfG/ f> nbBottom track data is 2.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr?49jgoU?r?4Yj' ijrB9pr9v.@v?j\Ajf9;j 5@j?4x zXBzBEl lllzl9 9=GI9 9ɚEǷiAIE,Z>iA)I yIyD5B9GIBQWill construct direction to contact in vehicle frame from tetrahedron phase data.O== Will construct direction to contact in vehicle frame from tetrahedron phase data.67w,rܴA2?Y2 #?2~92"oE>y2H Ƞ?@d .??$? x?Iv? S?ɨ2?2n2;2dd fG٣f1Gyj` j> 5bBottom track data is 3.2 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from configl=?49nlU?E?4Ynw' in"E9AE9E-@E?nAnfi)Dݗ9JbJWJGJJ:JG9Jc4Ja@a@a@a@G)B1OU> iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKK#9KKKBK:K) G! 9 0d7w,iܴA .Y,y. B:?Y:ռ?:xq-9:=y:Hnf? /9?T??Q(`?<? ?ɨ:?:;:;CyBE;=FMCIVz IV:٢b|; bJ=9fʘ=Q f>hh nG٣lynP n> vbBottom track data is 3.6 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz?49rjU?z?4Yr!' irC0z8x~u9~I)@~?rAr:;rh@rB?4 UBllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbHp<H I  I HDI =I V=&I .I 6I <:I 5F! !%GI! )ɚ-JiQIUT]>iY)YDe9GABIOm> QIQ Will construct direction to contact in vehicle frame from tetrahedron phase data.0 7w,8ܴA>?Y>Y?>9>ϳ=y>H#.? ,-7? ?@S?)?ֱ?`=?ɨ>?> ;pp rG٣pyvC v> ~bBottom track data is 4.0 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx~?49ziU??4Yzo& iz=8F9A??z'Az8;zp@z?4 DBl)l1l1l1zl1Y Y]GIY Yɚe{iaIej^>ia)iDM9GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.J cJ UJ IJ J :J >9J F4J A IA _r7w,RܴA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:r?Y:?:zL9:3>y:H[?S@??`׌?z?l?`ǖ?ɨ:r?:;8yr =re"D u u uu uu  u u  }@} }@} }@}  }@} u|?5^?tV?I +uM?ur>u94 q)qIuMb@Mb@Mb@iqqqq u7B)qIqqyu8BIѯI=:٢ >=9>Q > G٣1Gy= > bBottom track data is 4.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?49VfU??4Y& iK8!9,@?qA7;.@v?4 KBllllzl! )-GI) )ɚ-旸i)I- Q`>zKKK}9KKKRK>JK?i)D9GBO )>Will construct direction to contact in vehicle frame from tetrahedron phase data.HI ICIJK=IU=&I.I6I<:IVFќ7w,'lܴA2n?Y2?2927y>y2Ht?4??Z˲?I㤿s??`w ?ɨ2n?2D;2:٢^Go< bZ=9b)=Q b>dd fG٣dyf j> pIp vbBottom track data is 4.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from confighz?49jpbU?~?4Yj% ijW}8y}9}9<@}?jAjxi)D9uWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.!7w,t^ܴA6?Y6.?696'W>y6H,?rC` |?`*?@?@@ ?(?w?ɨ6?6z;6;CyRB=R5DIZ1IZ6:٢bV; bJ=9b_rQ f>dd jG٣hyj!< n> rbBottom track data is 5.3 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv?49r^U?z?4Yr% irdz[8xz8z&"@z?r:Ar0;r@rk?4  GB ll!l!l!zl!A IMGII IɚMɸiIIUk7c>i)JK 4KK4 KK+0KCKC"KCJ}bJ}YJ}NJyJ}:J}[O9J}|4Jy $?ID I9GBO (>}Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- "KK- ۵9K) K- K- '7w,9ܴAF5P?YFD?F\@9F>yFH ?@T}-? j]?@XѢ?`_ȿ@?q?d?ɨF5P?F{;F9CyR@=RU&DIZBIZ9٢vj vH=9v1Q v>xx zG٣z1Gyz< ~> -bBottom track data is 5.7 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5?49%\\U?]?4Y%# i%r]18Y]8] @e?%A%,;%|@%,?4iH>I IDI6>I&I.I6I%<:I`F JBllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data. GI ɚ.iItd>i)DM9G!B1Om5>*J}a="J}R= I Will construct direction to contact in vehicle frame from tetrahedron phase data.+-7w,ܴA6?Y6O?6o-96 >y6H`???@ ?OTƿ@b? ?`\9?ɨ6?6;6:CyBzF=BCIN IN[:٢%/ -G=9]5=Q ]>Ya eG٣ayey= e> ubBottom track data is 6.1 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi?49mYU??4Ym" imy88 @?m Am;m@m?4 SBllllzl  GI 1ɚ=i9I=ae>i9)ADM9G}>G}G>GIBQOm>Will construct direction to contact in vehicle frame from tetrahedron phase data.J J SJ IJ J J y69J F4J I 47w,EܴA"Will construct direction to contact in vehicle frame from tetrahedron phase data.6F?Y6U?6n!96>y6H`W?mI???cſ R!?`P?` ;?ɨ6F?6zf;6 1)1Y5V-?v/?zGếy5>5x=5 ׽5?B 1)5BI15y5 BIMp IMc:٢O= 6=9 G٣y > Nusing accuracyPremultiplier from config?49NVU??4zKmKKm9KiKmKm   Y iT:?:H??A<<o?4 ABllllzl]Mgc?]Mgc?]MY?]MF@Y YeGIa ɚ' iIpg>i)D}9GYBaO}Y>H>IC IEIs>IV=&I$D.I6I+<:IbFBIaJIaRIaZIeU=bIeU=jIeg%4Will construct direction to contact in vehicle frame from tetrahedron phase data.iA:7w,ܴA $I$Bv ?YBH?B[9B>yBH`ߺ?Ì¥??@:ݲ?̿;?3?`?ɨBv ?B!;B:Cyb=bDIjC Ij:٢%= %d=9- Q ->)1 5G٣51Gy5 5> eNusing accuracyPremultiplier from configam@49eTU?m@4Ye ie6im{?u?e`Ae0;eA;e@4 .Bllllzlq]]]]/@ GI ɚiI g>i)UWill construct direction to contact in vehicle frame from tetrahedron phase data.D/|9GBO&> Will construct direction to contact in vehicle frame from tetrahedron phase data.A7w,ݴAR?YR8?R9R(=yRHyQ?@_{?@s?? &Ŀ!>?ų? &?ɨR?Ro;RQ ->)1 5G٣1y] ]> eNusing accuracyPremultiplier from configam@49eQU?m@4Ye ieim?u?e Ae:eL:e@4y };Byllllzl]]]]@  GI  ɚ Ci I< i>i) 1I=hfDw9GBO%>eWill construct direction to contact in vehicle frame from tetrahedron phase data.zK ;LK 9K K K H7w,Z!ݴA:?Y:)?:9: @>y:H Y?`OQ?*c?y?ſa?`??ɨ:?:ʊ;8yJ=J=,DI^ I^Ѥ:٢|  K=jH5<bH5<H9I9 I=@5EI=b>I9&I9.I96I=<:I=,F9M2Q M>QQ UG٣Yye! e> }Nusing accuracyPremultiplier from configq@49unOU?@4Yu iuWill construct direction to contact in vehicle frame from tetrahedron phase data.??uAuiQ)YDp9GBO!> IJU`JUQJUJJQJU:JU-.9JU4JQJU:aeJU:aeJU'5:aeJU*5:ae] Will construct direction to contact in vehicle frame from tetrahedron phase data.3(N7w,`;ݴAyn{=ntDIvIv>:٢= %J=9%Q %>!) -G٣-1Gy- -> }Nusing accuracyPremultiplier from config1@495'MU?@4Y5 i5?5_A5}0;5;5$.@4 :Bllllzl] ] ] ] A AEGIA AɚEqiAIMk>iI)QDUFl9G!B1OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.  I {U7w,=UݴAWill construct direction to contact in vehicle frame from tetrahedron phase data.:e?Y:sӵ?:5벽9:V>y:H@.?Ƚ?`DŽ?@p?@uV?[?-?ɨ:e?:w;8yN=NWdD E@E E@E E@E  E@E ERQ?+?uV?E?E=Er> A)AIEMb@Mb@Mb@iE‰E©EE E)EBIAEyEBI}I}y:٢Ec 5=9@>Q > G٣yTj > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49JU?@4Y i+::B??AA;> ;@4 =BllllzlzKKK9KKKuG YyB GI !ɚ%iA)A2DI*DMtADe9GBO-p>H9I9 I=;EI=w>I9&I9.I96I=<:I=.FWill construct direction to contact in vehicle frame from tetrahedron phase data. I @9[7w,IoݴAJaJTJIJJ:J:9JF4JJ7;J:;JJ:JJ:Z&Η?YZ4 ?Z2̽9Z4=yZH@?e_?i?;?R x?9?k?ɨZ&Η?Z;Z:CyrGK=rCIzQ Iz:٢ B  g=9 AQ  > G٣yP# => MbBottom track data is 0.8 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU@49EIU?U@4YE iEU :y}:}?}?EAE;EN?E)C@4 RBllllzl   GI  ɚ iID]n>i)5Will construct direction to contact in vehicle frame from tetrahedron phase data.D&a9GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.55b7w,BݴA2s?Y2+?2.92h=y2H`?`?[B??J??`?ɨ2s?2m;2;CyZ=Z wDIfՌ If:٢n= rJ=9rXQ r>tt vG٣v1Gyvv > %bBottom track data is 1.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-@49HU?-@4Y? ijU9QUY:U`?U?cAa;-?J@4Y ]9BYl1l1l1l1zl1 qIq 隥GI ɚiIo>i)D[9GBO!>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK FKK K K K BK :K tAs]h7w,ݴA6ct?Y6q?696>y6H.?`%i`Y?@"t?V?4T?a?@p?ɨ6ct?67;4ZH\RH^?AHb>I` Ib@EIb~>I`&I`.I`6Ibǰ<:IbFyj=n7lDIrIrH9uWill construct direction to contact in vehicle frame from tetrahedron phase data.٢m# >=9R G٣qyu~= }> bBottom track data is 1.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy@49}vFU?@4Y}+ i}ԁ90:??}>A}2 <}?}jQ@4 ;Bl!lIlIlIzlIA AEGIA IɚMTiIIMEq>iQ)Q aIaDmU9J%`J%WJ%GJ!J%:J%G9J%c4J!J%:J%:J%&`:J%(`:G9BIOeU>- Will construct direction to contact in vehicle frame from tetrahedron phase data.n7w,2ݴA2tb?Y2?2 g92 ?>y2H3?E@ ?_?a_?8ſ`F|?:~?`u?ɨ2tb?25;0yBی=B9-DIJPrIJ49٢~ꆽ ~W=9Q >  G٣ y Ŧ<  > bBottom track data is 2.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%@49DU?%@4YW i%9!-:-?-?Ab6;@U@41 5GB5CElQlQlQlQzlQy y}GI ɚlķiICr>i)D`Q9GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. QI]gf= Will construct direction to contact in vehicle frame from tetrahedron phase data.Rmu7w,;ݴA6x ?Y6]?6&96W>y6HV?@/+? +?Ŀ?Aȿ?k? ?ɨ6x ?6;6:CyR=R.nD 5 5 55 55    uV?S㥛Ŀgfffff⿹r>$3 )Y%C?v/|?5^ҿyZd?xi!B B)BIy BI8RIk:٢+v= >=9$Q > G٣1Gyr > Nusing accuracyPremultiplier from config@49IU?@4Y iT:Rp?b:??A;;d@4 :Bl l l l zl]-?]-?]-n>]-(?A IMGII IɚMSiIIM2s>iQ)YDmJ9zK KK U9K K K   GIBQOu>HI I/EIM>I&I.I6I<:I2FWill construct direction to contact in vehicle frame from tetrahedron phase data. A IA J1 J5 AAJ9 J= XJ9 J9 J9 J= 5K9J9 J9 J9 J9 J= Pg:J= Sg:-{7w,nݴAB*ʕ?YB8?B9Bv3\>yBH"?@\ :?@&? R~?ƿ`??@?ɨB*ʕ?B<;B>Cy^=^ DIf! If:٢~y= X=96=Q  >    G٣ yD > =Nusing accuracyPremultiplier from config9E@49=OU?E@4Y= i=AM̲?M?=A=7:=7:=0r@4Q U.Bqllllzl]]]]V-?  GI  ɚ i)DE9Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO% > Will construct direction to contact in vehicle frame from tetrahedron phase data.M7w,ly ޴A6F?Y6T?6W 96\>y6H@?`~`?"?ذ? ƿ?@?`?ɨ6F?6`;6:CyB{=B}DIJ0IJ4h:٢j, jM=9nܓpp rG٣tyv v> zNusing accuracyPremultiplier from configx~@49zTU?~@4YzQ izñ??zAz;z;z@4 iB 6B ?El!l!l)l)zl)]A]A]A]E?Q Y]GIY Yɚ]NyiYI]|u>ii)i ID}?9GiByO=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKe ;LKa Ka Ke Ke 7w,}[$޴AjH2<bH24<H:>I8 I:HEI:>I:U=&I8.I86I:<:I:SFBI%CJI%CRI!ZI%V=bI%V=jI%~4eWill construct direction to contact in vehicle frame from tetrahedron phase data.ymx=u{[DII':٢ >=9Q > G٣1Gy > Nusing accuracyPremultiplier from config@49ZU?@4Y iO?A:C:@4 =Bllllzl] ] ] ] ) 15GI1 9ɚ=i9I=bTw>i9)AD5:9GABQOm> Iff*JR="J=JbJVJIJJ:JB9JF4JJ ;J ;JX:JX: Will construct direction to contact in vehicle frame from tetrahedron phase data.Xӎ7w,.>޴A63 ?Y6@H?6[B96@W>y6H1?Eo?)??^̿-&?O? ?ɨ63 ?66;4y^J=bLDIfLIf2:٢nl= rX=9r Q r>tt vG٣tyv^ z> ~Nusing accuracyPremultiplier from configx@49z`U?@4Yz iz??zAz;z;z:@4 1Bl)l)l1l1zl1]I]I]I]Mip? GI ɚ%iI]x>i)D 49GGGBOM>uWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,+X޴AF?YF#?FxQ>9FW>yFH? `>a??)?̿.?:??ɨF?F;F 9)9I=Mb@Mb@Mb@i=‰=©== =lB)=BI9=y=BIU%_IUV:٢eݗ eB=9eOii mG٣iyun u> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy@49}hU?@4Y} i}h+:7:??}A}j;}>},@4 6BllllzlY aeGIa aɚejɸiaIey>ii)qDM/9G!B)zKELKE}9KAKEKEOU>Hm>Ii ImAEIm>Ii&Ii.Ii6Im<:Im=FuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuA I E7w,q޴A2`?Y2띩?2O_925>y2H`d?M'?WN?@9?Ͽ"? ?`?ɨ2`?21;2?CyN=N|DIZs IZ :٢z zR=9~Q ~> G٣1Gy*  > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config @49 KpU?@4Y  tIi % :!%:%ި?%? A A; ]P? @4-hB -5B5;ElIlIlIlIzlIy y}GIy yɚ}iIz>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.DE(9G) 5nManaging dock network, ignoring radio surface power offB9Om> Will construct direction to contact in vehicle frame from tetrahedron phase data.Y͢7w,޴A6w?Y6?6S96)>y6H@?@4?sf? &?8ο`D? ɥ??ɨ6w?6;;6=CyN=NDIV5KIV9٢^vA; bN=9bdh jG٣hyj8; n> rbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv@49rxU?v@4Yr$ irz9xz9z¨?z?rAr\(;r?r}@4| 4Blll AIEeflzl GI ɚxi I [{>i )JJWJGJJJG9Jc4Ja@a@a@a@D ,$9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.)= !CY y zY y @BzK :KK K K K   ZHQ RHQ H] >IY  I] @NEI] >I] V=&IY .IY 6I] ˰<:I] F7w,s+޴A^w?Y^Ѩ?^*9^6D>y^Hu?c?X?og?Fʿ@?`?@?ɨ^w?^;;^:CyfG=fuDIrrIrP9٢v( zC=~Will construct direction to contact in vehicle frame from tetrahedron phase data.9F=Q > G٣ y   > bBottom track data is 1.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%@49VU?%@4Y6 iÑ%9!%9%?-?A*(;?̾@41 56B1lIlIlIlIzlI 隽GI ɚ4 iIp|>i)D9GBO= IdfWill construct direction to contact in vehicle frame from tetrahedron phase data., 7w,q޴A6'5?Y64r?6C96`>y6HP?@?V?@Q?*οS?@U^??ɨ6'5?6 ;6>Cyz=z wDIUIP:٢5: 5K=9=^xQ =>II MG٣M1GyU0ټ U> ubBottom track data is 2.0 s old, using for 20.0 s. uNusing accuracyPremultiplier from configau@49e]U?}@4Ye ieJ}99d??eAebp;eh@e@4gB 5B:Ellllzl GI ɚiI}>i)D9GBO= >]Will construct direction to contact in vehicle frame from tetrahedron phase data. %$?I!J% J% ZJ% SJ! J% M:J% S9J% 5J!  Will construct direction to contact in vehicle frame from tetrahedron phase data.C7w,M޴AɎ?Y?=h9O9>yHc?b?zS?`9? lsп/?`~?@N?ɨɎ?;騝 G٣yAx= > %bBottom track data is 2.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-@49U?5@4Y i5o99=9=p?=?CA4o;@H@4A AE7ElYlYlYlYzla 隉I ɚY$iI~>i)BD?:D7?D%9GaBiO:>zKLKж9KKKHI IZEI>IU=&I.I6I:I]Will construct direction to contact in vehicle frame from tetrahedron phase data.  I Y37w,E,޴A2e(?Y2re?2j92R>y2H F??@n?7??Lпl??N?ɨ2e(?2{;2:CyN=NDIZ0IZ{/:٢b< b<9bQ b?dd fG٣dyj j? rbBottom track data is 2.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv@49nU?v@4Ynx ingvB9tzN9z?z?nAn);n4@n@4| ~*B|llllzl 隽GI ɚ/iI>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9GIBQO}>m Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,l ߴA: ?Y:G?:͂9:B)>y:H?`` ?? ? Oҿ?f?@%?ɨ: ?:u;:V=DIb4 Ib:٢9= F=9 XQ  >  G٣yqƽ => EbBottom track data is 3.2 s old, using for 20.0 s. ENusing accuracyPremultiplier from configAM@49EQU?M@4YEn iE:U9QU'9U ?U?EmBE;EO@E@4}fB  Bl1l1l9l9zl9 隥sGI ɚ=iIxd>iJhJYJHJJ(:J[O9JԺ4J)DM9GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK K9K K K   BK :K sAH >I  I @gEI >I V=&I .I 6I <:I ,F`E7w,&ߴA2~?Y2ܻ?2F?92T.>y2H@4?^ ?@6??F?cӿ@Y? ?ye?ɨ2~?2LJ;2;CWill construct direction to contact in vehicle frame from tetrahedron phase data.y]=]DI\I9٢ $7  ;=9 92Q >9A EG٣E1GyM" M> bBottom track data is 3.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy@49}U?@4Y}d i}ږ89??}B};}Rl@}@4 *Bllllzli quGIq qɚuIiqIuՀ>iy)y $?IcfD_9GBO?>Will construct direction to contact in vehicle frame from tetrahedron phase data.k-7w,@ߴA24p?Y2@?2~92>y2Hm?@?1v?u?@(ӿ?`xJ?k~?ɨ24p?2;2:Cy>=BDIFdIF9٢r. r_=9rüQ r>tt vG٣tyzG= z>  bBottom track data is 4.0 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config @49ZU?@4Y\ iA88&??nBH;m@w@4! %,B%4Ellllzl! !%GI! !ɚ%Qi)I-3>iY)YDut8=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO'> IJkF4Kk#4 Kk0KcKc"KcJ`J_JKJJ:J=h9J(4J Will construct direction to contact in vehicle frame from tetrahedron phase data.7W7w,BZߴAJ?YJҥ?J[U9JW >yJH`?]e?`$ ??@Ϳ@ ?? ?ɨJ?J;J;Cy^H=^yD         @ @ @  @ NbX9?ףp= ӿHzG?%?=> )IMb@Mb@Mb@i 7B)zBIỳBI-u]I-:m:٢] ]5=9e>Q e>ai mG٣m1Gym= m> bBottom track data is 4.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49ÿU?@4YfQ i88X??!B*;@@4 3Bllllzl GI ɚiIrˁ>i)))D8GBOK>H>I I EI_>IU=&I.I6Iΰ<:IFBIyJIyRIyZI}U=bI}U=jI}N4zK=g3LK=9K9K=K=RKM ?JKM>=Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iq Z7w,qstߴA2W?Y2ʔ?2 AT92T>y2Hҋ?6OX?@?j?c8пW? ??ɨ2W?2V;2:Cy^t>^YDIf'If:٢۵=  c=9 7;Q  > G٣y > EbBottom track data is 4.9 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM@49E U?U@4YEH iEU8QU8U ?U?EyBE;E@E @4eB !B3Ellllzl  yGI  ɚ i I =>Will construct direction to contact in vehicle frame from tetrahedron phase data.i)D|8GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data. Y I] bf/o7w,gߴA6(?Y648?6΂96q>y6H?-?`?@^?ӿz,?@? ?ɨ6(?6';6>CyJE)>J*DIR[IRm:٢5.= =G=9=Q =>9A EG٣AyE E> bBottom track data is 5.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49QU?@4Y? i[8i8m?? B2<@@4dB B0El1l1l1l1zl1) )-VGI) )ɚ1i1I5ĸ>i1)9D-?8GBOM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I @EI t>I &I .I 6I <:I F7w,+ߴAzKKK59KKK :h?Y:?::p9: x>y:H? >?@e??ֿ@?X? v?ɨ:h?:Ȋ;::CyRV>R"EI^MI^W9٢ = N=9%Will construct direction to contact in vehicle frame from tetrahedron phase data.Q > G٣y > EbBottom track data is 5.7 s old, using for 20.0 s. ENusing accuracyPremultiplier from configu@49%U?u@4Y25 iϚu18qu=8}?}? B<@@4 B $?IlAlAlAlAzlA )GI ɚiI>i)D c8*J"Jp=JJUJGJJJ>9Jc4JJ:aJ:aJQ:aJQ:aGBOMS>Will construct direction to contact in vehicle frame from tetrahedron phase data.|7w, ߴAy~J[>~EI ^I 9٢%-< %I=9-Q ->)) 5G٣51Gy5 ]> mbBottom track data is 6.1 s old, using for 20.0 s. mNusing accuracyPremultiplier from configam@49eU?u@4Ye+, ie88?e Bei)D8 IGyBO`> Will construct direction to contact in vehicle frame from tetrahedron phase data.c7w,"ߴA6Ņ?Y6?6U撾96v=y6Hp?"͟?@MF??yӿ?@$?_w?ɨ6Ņ?6;4yv7>vDHG `Yy?B         @ @% %@%  %@% S? )IMb@Mb@Mb@i B)BIyI"Ij9٢ǒ (=9>=Q >9A EG٣Ayu< u> bBottom track data is 6.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy@49}U?@4Y}Y i}a77??} B};}@}@4 B,Ellllzl9HM>II IM@EIM>II&II.II6IM<:IM?F HGI9 9ɚEηiAIE>iA)IzKKK9KKKDz8EWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIGBO5> $?IafJ J @AJ aJ WJ JJ J :J G9J 4J J 7;J :;J &`:J (`:7w,QߴA2S?Y2?292] =y2H u?գ &6@|?s? Կ ?@J?`=?ɨ2S?2D;2>CyRKe>R EIZ?TIZ}3:٢r> v=9vͽQ v ?xx zG٣xyzE ~? bBottom track data is 6.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49%U?@4Y iZ77??Bt;@7@4 Bllllzla amGIi iɚmiiIm)>iq)qWill construct direction to contact in vehicle frame from tetrahedron phase data.DU8G1B9OU>e Will construct direction to contact in vehicle frame from tetrahedron phase data. I 8w,_A2?Y2P?2>92).=y2H?6~? ?r?`ֿz? D??ɨ2?23{;2BEIJ% IJ[:٢&= H=9 nQ  >  G٣1Gy=l< > EbBottom track data is 7.3 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M@49=V?M@4Y= i= U7QU7UY?U?=B=);=@=@4bB B+El1l1l1l1zl9y y}FIy ɚHiIv>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.D8GGtAGBO>jHE <bHE <HM >II  IM EIM ?II &II .II 6IM <:IM +F 8w,V)AzKz؞KKzs9KxKzKz Will construct direction to contact in vehicle frame from tetrahedron phase data.i?Yuأ?09u>yH^b? @?J ?`+? 5ֿ u?j? (?ɨi?;>CyUB>U*EIeIe:٢uX = uC=9}$=Q }>yy G٣y< > bBottom track data is 7.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49 V?@4Y& iw77i)GB!OM1>JbJpJGJJ:J^9Jc4JJ ;J ;J:J:Will construct direction to contact in vehicle frame from tetrahedron phase data. 8w,KCA6!:?Y6-w?6i96O;>y6Hv?-??@?1~׿@a?`z??ɨ6!:?6<;6BQEIJ{IIJN:٢j)> jV=9jT#Q n>YY ]G٣Yye e> mbBottom track data is 8.1 s old, using for 20.0 s. uNusing accuracyPremultiplier from configiu@49mV?@4Ym imH7U7??mBmri)-Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O-,> M$?II Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,#]Ay=F>E^E         @ @ @  @ @ i|?5?X9vK7?1?}> )IMb@Mb@Mb@i )IiI]lIR:٢>= 8=9Q > %G٣%1Gy% %> EbBottom track data is 8.5 s old, using for 20.0 s. ENusing accuracyPremultiplier from config1E@495 V?M@4Y5 i5YM"7IM-7IM?5<B5+;5qA5,@4Y ]BYlqlqlqlqzly 隝FI ɚ=iIg>i)G>G>GBO>H>I I`EIA*?IV=&I.I6I<:IFzK<LK9KKK8v*ao: <(]onJ0|unhfb`^=Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I=_fJ aJ RJ HJ J :J S29J Ժ4J J 7;J :;J R<:J T<: 8w, wAV*x?YV6?VP˾9V:)>yVH ?`??@/(?ڿ ?}?@?ɨV*x?V;Ty>JwEI%H8 I%:٢5= 5Y=9=Q =>99 =G٣AyEҟ E> UbBottom track data is 8.9 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]@49M)V?]@4YM iMo]7Y] 7]?e?MBMf9;MoAMM@4maB mBm'Ellllzl 隵mFI ɚiI>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=E Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! A$8w,ݐAyv}>vEIWI9٢-2= -K=9-Q ->11 5G٣1y= => EbBottom track data is 9.3 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM@49E4V?M@4YEv iEuU6QU6QU?E&BE+;EAEi@4e`B eBe$Ellllzl 隭MFI ɚ5HiIͅ>i)2D*DBD:DG1B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH @AH >I  I EI C?I &I .I 6I <:I FBIJIRIZIbIV=jIʖ40*8w,ӽABx?YB?B9BN\EIVIV:٢^~= ^Q=9bTQ f>hh jG٣j1GynY; n> rbBottom track data is 9.7 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpv@49rM?V?v@4Yr irz6xz6zL?z?rBzK~OK|K|K~K~YVPJFDA>>=:8;820/--..--+,,./-++(%%!""! " Will construct direction to contact in vehicle frame from tetrahedron phase data.r*;r1Ar@4 {Bl1l1l1l1zl $?I 4FI ɚȷiI>i)G1G1GBO5=Will construct direction to contact in vehicle frame from tetrahedron phase data.f18w,AF1?YF<*?F7ξ9F]=yFH?j?uI? ؿ &??.h?ɨF1?F];F:CyR?REI^%I^Z9٢f$> fI=9fB=Q j>hh jG٣hyn,= n> UdBottom track data is 10.1 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configtm@49v_JV?u@4Yv% ivӕ66??vBvڦiY)a-Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOm> I^fJJZJMJJJS9J 4Ja@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data.FB78w,*rAy?E         @ @ @  @ x&?zG?Mb7I? >@ )IMb@Mb@Mb@i )IiI`I:٢m[> m3=9mQ u>qq uG٣qy} }> dBottom track data is 10.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49VV?@4Y ib6q6?Bu;(A@4 &B Ellllzl EI ɚiIi)GBO- >H>I I0FI>g?I&I.I6I<:IF=Will construct direction to contact in vehicle frame from tetrahedron phase data. IzK+NKs9KKK  J J AAk=8w,IAJe?YJp˜?J۾9J>yJH8?@.qs?^?`n?)ܿK?@j?m?ɨJe?Jwq;J>Cy z6?hEI%I%9٢Eu> M_=9]Q ]>aa eG٣e1Gye1 m> }dBottom track data is 10.9 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq@49uaV?@4Yu iuV76C6??u4Bu ?;u.Au@4 Bllllzl &EI ɚiIi)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=M Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I SD8w,#A6?Y6?6A96L=y6H?ބ㌡:T??ۿ@A??@~?ɨ6?6;6 bS=9bۼQ f>hh jG٣hyn< n> dBottom track data is 11.3 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configp@49rkV?@4YrG ir6%6%?%?rBrI  I p-FI ?I U=&I .I 6I m<:I F~J8w,),A2E?Y2?2Lݾ92M͊=y2HϪ?` +?@?`ڿ@?`y?`I?ɨ2E?2zʊ;0yRP?RaFIjb7Ijm9٢r= rH=9vtx zG٣xyz= z>~Will construct direction to contact in vehicle frame from tetrahedron phase data.  dBottom track data is 11.7 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config@49vV?@4 !I%]fY֨ iu%5!-6-^?-?*!B;;A@4=^B =BEElQlQlQlYzlYzKu]FMKu 9KqKuKu  隍DI ɚ1i1I1i9)9G BOU=*J"Ja=Will construct direction to contact in vehicle frame from tetrahedron phase data.JeQ8w,EA٪?Y?39W>yH?@p`F]?F?ݿ`ԙ?Y.?`?ɨ٪?̊;yEc?M1 FIa,InK:٢u)> u4=9}ňQ > G٣1Gy< > dBottom track data is 12.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49V?@4Y# in55T??"B&;BA@4  B l!l!l!l)zl) 隕pDI ɚiIi)GG $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>J`JSJIJJ:Jy69JF4J Will construct direction to contact in vehicle frame from tetrahedron phase data.W8w,=_AJՅ?YJ?J;9J{>yJH2? i? !?%?߿;}???ɨJՅ?J ;HyR4{?VwF         Zd;O?`"/$ÿj< )YI +?&1MbX9y9?P.B ĎB)2qBIByšBII9٢t> W=9Q > G٣yÌ > Nusing accuracyPremultiplier from config@49OV?@4Y izT:sE?:??#B;F;@4 gBllllzl ]%)?]%)?]%>>]%?1 9=DI9 9ɚ9i9IAiA)AGBO>H5>I1 I5IFI5?I1&I1.I16I5V<:I5F I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai!zKLK9KKK]8w,ڐyA2)?Y24:?2j92T>y2H?^6?:A? m?ԅ?@?ɨ2)?2$ъ;2;CyR?R'FIj|_Ij9٢z f> zX=95Q >    G٣ y M;  > Nusing accuracyPremultiplier from config}@49V?@4YÏ ik??%%B}h<h<@4]B ;Bllllzl]]]]m? CI ɚiIi)}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO5= I % Will construct direction to contact in vehicle frame from tetrahedron phase data.Zd8w,|AFM?YF?F19F R=yFH ?  s? O?@7? Tº?`;?ɨFM?Fݔ;DyN)?R0FIZ#PIZ:٢b=> bM=9fQ f>dd jG٣j1Gyj\ n> rNusing accuracyPremultiplier from configlrA49nwV?vA4Yn/ inbtvO?v?nY&Bn:n:nA4z\B ~ B~El l l lzl]1]1]1]5O?A AMCII IɚIiIIIiQ)QGIBYOu=JdJQJJJJ<:J-.9J4J}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H! I!  I% kFI% ڿ?I! &I! .I! 6I% <:I% Fj8w,GA6?Y6y6H@ T?@~1  ^L=rWill construct direction to contact in vehicle frame from tetrahedron phase data.9-Q ->11 5G٣1y5ɼ 5> ENusing accuracyPremultiplier from configAMA49EAV?MA4YEB iEYIM?U?E'BE:E7:EA4Y ]BYlqlqlqlqzlq]]]]? 隭=CI ɚiI^>i)zK LKKKKGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.+q8w,2AU{?YU?U@ 9U >yUH?F%1??}?!t?L?`V(?ɨU{?UO;Qyޕ?ޝWIF] r?ˡEĿzG?]C>]'] = Y)YY]Dl?Zd;Oտ#~j?y]O>]~]=]B ]B)]cBI]BYy]̥BI}jI}:٢C> 0=92ϼQ > G٣y[׼ > Nusing accuracyPremultiplier from config-A494V?-A4Y i-K>-:-Cx>-?V(B<i<AA49 =͐B9lQlQlQlQzlQ m$?Iq]CC>]CC>]u@]T> BI ɚiIF>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO (> Will construct direction to contact in vehicle frame from tetrahedron phase data.w8w,A:@?Y:~?:k 9:(>y:H ϖ?@Y+ ?^?!\ ??B?ɨ:@?:;8yF?F>WFIR IR9٢V> Zo=9ZQ Z?X\ ^G٣^1Gy^OP b? fNusing accuracyPremultiplier from config`fA49bV?jA4YbF~ iblnh>n?b(Bb>;b;?;b9+A4p vBvEllllzl]]]]zaL>) 5 Y>5BI1 1ɚ1i1I5>i9)AGB!O==HI IFID?IV=&I.I6I<:IFBIJIRIZIbIU=jI4 aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMغKKM9KIKMKMJ cJ SJ LJ J :J y69J 4J J ;a J ;a J |C:a J C:a [ ~8w,AJ9{?YJ?J1 9JK'/>yJHΓ? tg?;U?k?s?@?ɨJ9{?J\$;J>Cyj?jfFIv= Iv]9٢q> 5C=9=Q E>II MG٣Qy]< ]> Nusing accuracyPremultiplier from configiA49mV?A4YmR} im׏xV>?m)Bm;mG;m:A4 mBllllzl]9]9]9]=;>UWill construct direction to contact in vehicle frame from tetrahedron phase data.q qu"BIq qɚqiyI}>iy)GBO> M $?II  Will construct direction to contact in vehicle frame from tetrahedron phase data.a8w,A6Dw?Y6,?6pT 96!>y6Ht?JN@v?@?Dv?@>?`?ɨ6Dw?6;4yb?btFIjqIjFi9٢rra> rN=9v=Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|A49~V? A4Y~| i~Ǎ  G> ?~:*B~:~:~GA4 ABEl1l1l1l1zl1]I]I]I]M E&>a aeAIa iɚiiiIm7>ii)qGBO=eWill construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I ȖFI 7?I U=&I .I 6I v<:I F 9 IA @8w,C.A2Xw?Y27?2924$>y2H?@=]@?.r?@ޓH9?M?BO?ɨ2Xw?28;2=CyB?BF^Will construct direction to contact in vehicle frame from tetrahedron phase data.IJIJl9٢j-Z> jK=9jll nG٣r1Gyr r> vNusing accuracyPremultiplier from configtzA49vV?zA4Yv{ ivD>?v*Bv qAI ɚiIޅ>i)zKUKKU9KQKUKUBK]tA:K]rAJk4Kc KkJ0KcKc"KcJ`JWJJJJ:JG9J4JJ:J:J&`:J(`:E=>GE?GE#?GB!O=r>uWill construct direction to contact in vehicle frame from tetrahedron phase data.8w,{HA5L 95 >y5HLb?]Dz?a?cu??/?ɨ5?EFCl?A`"~jt?d?ٽ> )Yp= ף?:vK7A`?y%?Խ>YB )`mBICyBIiI9٢-]> -6=9-Q 5>11 5G٣1y=Χ; => ENusing accuracyPremultiplier from configAeA49EJV?eA4YEx iEm;?m:mS?m?E+BEƾ;E';EmeA4q }Byllllzl]=]=]iaW=]? AI ɚi $?IIׅ>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.E3>GBO$> ;G! 9 m xڿYi ym Au Will construct direction to contact in vehicle frame from tetrahedron phase data.1,8w,IGbAVv?YVʘ?VY9V+x>yVH'c?'B5 ? &S?`hR? i ?"?ɨVv?Vj2;Tyf?fFInInf9٢vr> vb=9vQ z>xx zG٣xy~\ ~> Nusing accuracyPremultiplier from config A49V? A4YFu iwM??7,BH:H:rA4 B%El1l1l1l9zlA]Y]Y]Y]]N?i im@Ii qɚqiqIuDž>iy)yEtAEtAH>IC IHFI@I&I.I$D6I<:IFEC> I[fGYBaOY>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKK9KKK   J J J aJ VJ MJ J :J B9J 4J J 7;J :;J X:J X:U8w,|A2ts?Y2?2 X92>y2H`C?*۵z?Q?q?YȽ?N?ɨ2ts?2a;0yz?z@FI <I 9٢_q> H=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config)5A49-yV?=A4Y-Tr i-ig9=F?E?-,B- ;- ;-fA4I MpBIlalalalazla]]]]P? v>)@I ɚiIu>i)EE*E"E}Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOeU> I% Will construct direction to contact in vehicle frame from tetrahedron phase data.>8w,A2WXp?Y26i?2z92=y2H?@6? W?` JSh?`W3?A?ɨ2WXp?2{;2 RR=9V)dQ V>TX ZG٣Z1GyZN Z> bNusing accuracyPremultiplier from config\bA49^OW?fA4Y^o i^WdfC?f?^o-B^j:^:^A4j[B n;Blltltlxlxzlx]Q]Q]Q]UQ? 隥?I ɚiI >i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I FI ),@I W=&I .I %D6I ~<:I F I Ch8w,wدA2;Wm?Y2?2 92O=y2HdS?6¿x??Mѱ?vL??ɨ2;Wm?2?̌;2@Cy> @>FIFIIF9٢N> RK=9R߼Q R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXbA49Z@W?bA4YZm iZ2G`b&B?f?Z.BZ;Z;ZA4jZB jBj ErWill construct direction to contact in vehicle frame from tetrahedron phase data.lxl|l|l|zl|]]]]?) )-S?I) 1ɚ1i1I5/\>i1)9GqByzKDRLKh9KKK O=*Ja"JaJiJiJmJJiJiJiJm4JiJiJm9;JiJmX:Will construct direction to contact in vehicle frame from tetrahedron phase data.U8w,Afmi?Yf ?f 9f\>=yfH?ޘĿ;~??2+?U?a?ɨfmi?f ;dy@IFOn?zG?L7A`?x? =+= )Y$C?Mb?Q?y:?@=µ>B FB)vhBIyWBI{IJ(9٢|> 8= 5$?I19M?Q M>IQ UG٣QyU6 U> eNusing accuracyPremultiplier from configYeA49]W?mA4Y]h i](2mvO?m:mc?m?].B];]K;](A4q }̎Byllllzl]>]>]sW@][@ >I ɚiI+>i)GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.`z8w,6A6}e?Y6?696=y6H@?M]@ƿ d??@?? ?ɨ6}e?6u;6?Cyn@r Y=9D1    G٣ 1GyX* > Nusing accuracyPremultiplier from config-A49W?-A4Yte i!)-m?-?F/B[0;}0;ʸA49 =B9lQlQlQlQzlY]q]q]q]uV@ 隅T>I ɚiIQ>i)H!I%C I%`FI%>@I%U=&I!.I!6I%˰<:I%F )I)E*b>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.AiOn>zKE LKE ͼ9KA KE KE J5 bJ5 SJ5 LJ1 J5 :J5 y69J5 4J1 J5 ;J5 ;J5 |C:J5 C:䣾8w,gA>c?Y>?>9>=y>H`BW? &ɿ [?CE?}@X?ꢬ?H ?ɨ>c?>8;>@CyJq"@JFIReIR9٢Z> ZP=9Z'J\\ ^G٣\yb^м b> jNusing accuracyPremultiplier from configdrA49fW?vA4Yfa ifxz5?z?f/Bf;f*;fA4y }GBllllzl]]]]q@ %=I! )ɚ)i)I-݄>]Will construct direction to contact in vehicle frame from tetrahedron phase data.ia)aEMhsy>G)B9OU> I Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,CA6b?Y6 ?6e96b99=y6Hj?`nO˿ ^? O%?W"Tu?? ?ɨ6b?6PE;6>CyR+*@RFFIZIZ bI=9b;Q b>dd fG٣dyj* j> nNusing accuracyPremultiplier from configlrA49n$W?vA4Yn] in~tvȗ?v?n0BnL?;n?;nA4x ~ B|llllzl]1]1]1]5S@A AE]=IA IɚIiIIM>iQ)QmWill construct direction to contact in vehicle frame from tetrahedron phase data.EEєv>GB!O=r>jH bH H% >I% C I% GI% T@I% V=&I! .I! 6I% <:I% FBICJICRIZIbIV=jIɉb5  I Ƶ8w,1AbWill construct direction to contact in vehicle frame from tetrahedron phase data.y3@FI-I-W9٢=> EB=9EQ E>IQ UG٣U1GyU U> eNusing accuracyPremultiplier from configYeA49])W?mA4Y]Y i]+Կiim?]+1B]:]:]rA4q }Byllllzl]]]] i)qEyEy*E"EzKMFKKM9KIKMKMGBOMt>}Will construct direction to contact in vehicle frame from tetrahedron phase data. 8w,JA6Hh?Y6 a?6 96<@BF=S㥛?-˿zGế=$?=5^= ׽ 9)9Y=Q?Zd;O?ףp= ÿy=\o?=j<==B =B)9I=C9y=WBIU$1IU69٢e4> eH=9m Q m>ii uG٣qyuY= u> Nusing accuracyPremultiplier from configyA49}5W?A4Y}Q i}r?_:J??}2B}w;};}A4 $?IZf tB Ellllzl]>]>]0?]T? l>4i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.JYJ]{J]NJYJYJ]-9J]|4JYae@ae@ae@ae@ Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,@dA6vk?Y6?67#96CyNNF@NFIVIIV9٢^> bU=9bԻQ b>dd fG٣dyfD= j> nNusing accuracyPremultiplier from confighrA49j,@W?rA4YjI ijǨpr?r?j3Bj ;jP:jA4zYB z&BzElIlIlIlIzlQ]]]]J? ;I ɚiI4>i)GM?GM>G BOE=H >I IPGIRl@IU=&I.I6I<:IF IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K K   #8w,~A2X^l?Y27l?2q$923=y2H95?@rʿSP??@ /?{?`?ɨ2X^l?2WY;2 vH=9vzTQ v>xx zG٣z1Gy~=< ~> Nusing accuracyPremultiplier from config B49>KW? B4YUA iݑ  ??95B::c B4 Bl1l1l1l9zl9]]]]5? ;I ɚiI>i!)!=Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBYOu= yIy Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,;ANk?YN?N%9N뱄=yNHC? ȿ`^3?T?`GN?p? ~w?ɨNk?N;N?CybCX@fGIrIrT9٢vڹ> zJ=9z@Q z>|| ~G٣|y/ >  Nusing accuracyPremultiplier from config B49 !VW?B4Y 9 i u?? 6B : ; B4! %B%El9l9l9l9zlA]Y]Y]Y]]?q qu{:Iq yɚyiyI}k΃>i)J%aJ%TJ%MJ!J%:J%:9J% 4J!) ,CG xݿYyAUWill construct direction to contact in vehicle frame from tetrahedron phase data.EBv>GBO l>ZHRH?AH >I  I `GI @I V=&I .I 6I Ұ<:I F m $?Ii 8w,,eA6 i?Y6 ?6so'96=y6H?@4ƿ??.x?@̱?jL?ɨ6 i?6ڋ;6BCy>`@B" GIF[IF~89RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢r> rK=9r}Q r>tt vG٣tyzx z> ~Nusing accuracyPremultiplier from config|B49~`W?B4Y~0 i~G? ?~7B~m ;~ ;~)B4 SBlilililizli]]]]G? 9I ɚiI啃>i)Ebm>zKmKKm]9KiKmKm   GBO>UWill construct direction to contact in vehicle frame from tetrahedron phase data.8w,?A2g?Y2?2{)92^s=y2H`?7ſ^?–?*۫?z?@0?ɨ2g?2"S;2?CyNj@RG Im?B`"۹+?m ?mνm> i)iYmx&1?oʡſ{Gztym!?m-mףmB mB)m^BImCiymBI;<I 9٢(> ?=9Q > G٣1Gy¼ > Nusing accuracyPremultiplier from configB49mnW?B4Y, ij;'?:N??8BI;;8B4WB BEllllzl]@E>]@E>]ζ@]OwU? !Mb>%^9I! !ɚ!i!I%Y>i)))E=tAE=tAWill construct direction to contact in vehicle frame from tetrahedron phase data.E}#*l>GYBiO{>J9J=YJ=NJ9J9J=[O9J=|4J9e Will construct direction to contact in vehicle frame from tetrahedron phase data.08w,A2yd?Y2H?2,92>y2H ? Ŀ|?a?@??t?ɨ2yd?2Ȋ;0yRs@RGIZfIZ9٢bA> fY=9fDؼQ f>hh jG٣hyj j> rNusing accuracyPremultiplier from configpvB49rXzW?zB4Yr( irxzsL?~?r9Br[O;rP;rEB4 B Ellll!zl!]9]9]9]=W?I IM8IQ QɚQiQIU>i)H>IC I -GI@IW=&I.I6IӰ<:IFE \c>GB $?IYfO >Will construct direction to contact in vehicle frame from tetrahedron phase data.zK ^LK 9K K K RK- ?JK- ?J9 J9 ?8w,4Afuc?Yf?f.9f>yfH`"?X@ZĿ0>?q?:+?@Px?^?ɨfuc?f6;f>Cyv|@vkGI I E9٢x> E=9%üQ %>!! -G٣)y-a -> 5Nusing accuracyPremultiplier from config1=B495rW?EB4Y5$ i5AEJ?E?5:B57 ;5 ;54TB4I MqBQlalalalizli]]]]X? 隝38I ɚiIڂ>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.Eb> IGBOl> Will construct direction to contact in vehicle frame from tetrahedron phase data.(9w,tA6nb?Y6~t?6?096° >y6H+?๐Ŀ d??@`]?'?ju?ɨ6nb?61;6=Cyz@~ GI%BI%9٢E> MH=9UQ U>YY ]G٣e1Gye e> }Nusing accuracyPremultiplier from configyB49}W?B4Y}q i}o-*I??}k;B}-;};}bB4 ,BEllllzl]]]]#W?JbJVJJJ:JB9JJ 7I ɚiIk>i!)!E-E-*E)"E)%Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOb>jHU<bHU<HI I;GI%@IV=&I.I6I<:IF I Q 9w,3A2]a?Y2?2192* >y2H??@߆Qſ?s?``?ޡ? BX?ɨ2]a?2v;2 ZT=9ZvlQ ^>\\ bG٣`yb1 b> fNusing accuracyPremultiplier from configdjB49fW?jB4Yf ifXlnG?n?f:7I ɚiII>i)GBO=*JC="J%=zK%KK!K!K%K%5Will construct direction to contact in vehicle frame from tetrahedron phase data.:9w,MA 6$?I4fI`?Yfa?f)39f{u >yfH[?zſ?%? ?h?C?ɨfI`?f<%;f?Cyn @r:,G%C?J +S㥫?Zd?Ƚ/]= )Y/$?/$Q?y1(?(>B )fBIyBI EI 9٢ > 9=9^Q > G٣y` > Nusing accuracyPremultiplier from configB49W?B4Y i \> .? : W? ?]MB>]M@E@]MÇ@Y ae~6Ia aɚaiaIe>ii)iGiByWill construct direction to contact in vehicle frame from tetrahedron phase data.O=M Will construct direction to contact in vehicle frame from tetrahedron phase data. d9w,EcgAN^?YNp?N39Nj >yNH?@_i|ƿ ?V?@t$?Z?8?ɨN^?ND;;N@Cyre@r2GI~),I~9٢C> X=9Q %>!! -G٣-1Gy-z 5> ENusing accuracyPremultiplier from configAMB49EW?UB4YE iE>QUU?]?E=BE;E;EB4i m@BmEllllzl]]]]$@ 5HE>IA IEIGIE@IA&IA.IE&D6IE<:IEFBI5CJI1RI1ZI5V=bI1jI5C@5I ɚiIN>i) YIaGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.աiաJ% `J% TJ% OJ! J% :J% :9J% 4J! J% :a5 J% :a5 J% J:a5 J% J:a5 zK] &KK] S9KY K] K] Fz}wskjd`\WPNJG@91.*&%#"  L 9w,>A2 a]?Y2?21492->y2H ?Snǿ ?1?` @? ? .?ɨ2 a]?2繊;0yB@B8GIJs#IJ%9٢m> mE=9m1Q m>qq uG٣qy}[ }> Nusing accuracyPremultiplier from configB49W?B4Y i$?T??J>BU::&B4 Bllllzl]]]]Z@ >5I ɚiIg>iWill construct direction to contact in vehicle frame from tetrahedron phase data.) AIAEYG1BAOew> Will construct direction to contact in vehicle frame from tetrahedron phase data.v&9w,iA6 5\?Y6W?6f496>y6H`?3=vȿ`w?_G? ?,m?K#?ɨ6 5\?6;6=CyR@R>GIZaIZ8٢b> bU=9b,Q f>dd fG٣dyj3D j> nNusing accuracyPremultiplier from configlrB49nW?rB4Yn inZ?pvS?v?n>Bn ;n2:nB4zUB zBzEl l l l zl]]]]$@ 4I ɚiI,>i)E `Y>GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH9RH9HM>II IMXGIMI@IMX=&II.II6IM<:IMF 5 $?I1 m,9w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6[?Y6?6jX696=y6H?K+ɿW???? ?ɨ6[?6U;6 rH=9vdTQ v>tt vG٣z1Gyzû z> Nusing accuracyPremultiplier from config B49WW? B4YR i?  S? ??Bn::ζB4 [BEl1l1l1l1zl1]I]I]I]Mq@a ae 4Ia iɚiiiIm̀>ii)qJaJXJPJJ:J5K9J^4JJ7;J9;JPg:JRg:zK]LNK]H9KYK]K]  E]۠X>G9BYO}z>Will construct direction to contact in vehicle frame from tetrahedron phase data.  I% Xf39w, A>h+[?Y>҉?>79>/=y>H?k@ʿ 4?@?p%h?̵?s?ɨ>h+[?>ϊ;>@CyF@FKGn?B`"ɿL7A`?V?N+= )YK7?V-X9v?yIL?m= B )aBI!CyBI5I5z8٢EI> EE=9E{Q E>II MG٣IyU} U> ]Nusing accuracyPremultiplier from configYeB49]GW?mB4Y] i]?mO?m:mTq?m?]y@B]3;];]RB4y }Byllllzl]>]>]wi ?]o? 6N>]3I ɚiIw>i)EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.GYBaOZ>EHGa ݿYyA% Will construct direction to contact in vehicle frame from tetrahedron phase data.99w,GA:"jZ?Y:r?:99:#=y:H>?̿) ?[M?E3:?&?`?ɨ:"jZ?:|;:ACyJ@JQGIZIZ8٢ > M=9͉Q >!! %G٣!y- -> =Nusing accuracyPremultiplier from config9EB49=W?MB4Y=  i=i?IMp?M?=QAB=>;=+;=JB4a eBalylllzl]]]]I? 隵2I ɚiI">i)H>I IiGI@IW=&I.I6I۰<:IF $?IGBO=}Will construct direction to contact in vehicle frame from tetrahedron phase data.Jk|4Kk!4 KkQ0KcKc"KcJ J WJ TJ J J G9J 5J J J J %`:J (`:zK ؐLK ͼ9K K K @9w,σA2kX?Y2?2+;92U=y2Hd?IͿ ? ?9]?7ܳ??ɨ2kX?2 ;2=Cy:2@:XG B=Bp=IJIJq8٢Z> ZQ=9ZqQ Z>\\ ^G٣^1Gybz{ b> fNusing accuracyPremultiplier from configdjB49fW?jB4Yf if)?hjn?n?f"BBf :f:fB4p rRBpllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.] ] ] ] /? 1I ɚiI>i)GBO> I Will construct direction to contact in vehicle frame from tetrahedron phase data.eF9w,0bA6V?Y6^?6<96=y6H/9? +^ο ?_?=`j? 6P??ɨ6V?6Պ;6>CyRI@R^GIZIZD8٢bU> bI=9bM^Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrB49nW?rB4Yn\ in.@tvl?v?nBBn;n.:nB4x zBzEllllzl])])])]-?A AEV1IA IɚIiIIM~>iI)QGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<H>I IzGII@IX=&I%D.I6Iݰ<:IF IL9w,>?6A"Will construct direction to contact in vehicle frame from tetrahedron phase data.BS?YBg'?B=9BpC=yBH`?kϿ`yo?O?A ??v?ɨBS?B;@yj@jteGIvIv%8٢~> ~G=9ZQ > G٣ y oּ  > Nusing accuracyPremultiplier from configB49X?%B4Y i@!%i?%?CBw;;|B4) -B1lAlAlAlIzlI]]]]? 隥0I ɚiI)~>i)JJUJUJJJ>9JJ5JJJJQ:JQ:EAY>zKMKKػ9KKKG?G>GBOg>Will construct direction to contact in vehicle frame from tetrahedron phase data. I S9w, PA2sP?Y2E?2^?92=y2H@t?Asп,?P? C5?@Ӳ?V?ɨ2sP?2l;0yf@flGll}V-?I +?Mb?}h1?}94<}< y)yY}On?I +?ʡE?y}8?}94<}-=}qB }B)}^BI}yy}kBII8٢@> @=9PcQ > G٣1Gy > Nusing accuracyPremultiplier from configC492X?C4Ye i#@9?:"??DB5;(4;\ C4 LBllllzlB*** querying acoustic contact ***jj]=]=]/3]8@! -8C>-/I) )ɚ)i)I-b}>i)UWill construct direction to contact in vehicle frame from tetrahedron phase data. ]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.EN>GBO'> Will construct direction to contact in vehicle frame from tetrahedron phase data. *DAT read: user:756>  BDAT read: Tx time:19:35:48.8123  $Ping request sent. ?`? ?ɨ=J?=,;=@CH >I IfGI@IW=&I.I'D6I<:IFyޭ@ޭjsG $?II߹I8٢Ei> EA=9EQ E>II MG٣IyU~w m> }Nusing accuracyPremultiplier from configyC49}X?C4Y} i}3@??}kEB}:}:}TC4SB BEll l lzl])])])]-׋@Y aeB/Ia aɚaiaIë́|>i)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250507EM>GBO>J J @AzK KK ]9K K K   RK% ?JK% ?`9w,˃ArG?Yr3?r?E9r%=yrH ? rҿ jQ?`?Y@P?`^n? ?ɨrG?r~@;r>Cy @ zGI%I%8٢5? 5]=9=ڼQ =>9A EG٣AyEx E> MNusing accuracyPremultiplier from configIUC49MvX?UC4YMD iMG@@Y]?]?MFBM ;M: ;M(C4a eBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504010l!l!l)l)zl1]i]i]i]ma@ 隝.I ɚiI{>i)EcF>GiBqO> Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754341}g9w,ANlE?YN}?N%G9NK=yNH?` ӿ? ?@AH`u?>?`?ɨNlE?N~C;N?CyVr@ZʀGIb/Ibv8٢j> jQ=9jkQ j>ll nG٣lyr;̼ r> zNusing accuracyPremultiplier from configtzC49v&X?~C4YvV ivN@??vFBv!;v{!;v5C4  U-IQ YɚYiYI]z>ia)aJJZJTJJJS9J5Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862EB>GBOe>ZHqRHqHyI}C I}0GI}=@I}V=&Iy.Iy6I}<:I}FBIAJIECRIAZIEW=bIEW=jIEǛ5 IWfAm9w,|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258464B3oD?YBG|?BH9BW<=yBH`G?yԿ?F ?7`?,;?C?ɨB3oD?Bw;@y@%GI56I5m8٢ET> MB=9M\Q M>YY ]G٣]1Gy]S e> mNusing accuracyPremultiplier from configauC49e0/X?uC4Ye) ie]@qu*?}?eGBeA;e;eDC4 Bllllzl]]]]+ɉ@ )-I ɚiIz>i)E2>GG?GBO>*JR="Jp=zK5"LK59K1K5K5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513795 $?I >$t9w,^A6DC?Y6X2|?66NI965=y6H? տ? P?? ?A?V?ɨ6DC?6^;6@CyN@RLJG e@e e@e e@e  e@e e@e e㥛 ?Qſ rh?eU?e(eC > a)aIeMb@Mb@Mb@ie‰e©ee e)eIaeieI}}I}3_8٢U> G=9ܻQ > G٣y޻ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configC497X?C4Y il@+:l:~??HHB|n;>PC4 BEllllzl   e,I  ɚ iI6y>i)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763342E]a9>G1BAOew>JbJUJWJJ:J>9J 5J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014461Pz9w,|DARC?YR.|?RMI9Rz,=yRH?I%C I%,GI%@I%W=&I!.I!6I%ΰ<:I%F٢=7> =O=9=Q =>AA EG٣AyE3 M> ]bBottom track data is 0.8 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configIeC49M?X?eC4YM7 iMd{@e :am?:m#?m?MHBM a;MN?M%YC4 yIy 'Bl l!l!l!zl! 隥+I ɚiIMx>i)EE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266607G1B9OY~69w,LAzK&KK&H9K$K&K&>8D?Y>|?>SBJ9>)Ƅ=y>H?u@Pտ@?^?e?PX?Zy?ɨ>8D?>o;>BCyJ.@JŎGIRdoIRoE8٢Z> ZS=9^Q ^>\\ bG٣b1Gyb ; b> jbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdnC49fGX?nC4Yff if˄@n9pr:r?r?fIBf:;fϘ?fT`C4t vЄBtllllzl ) )-*I) 1ɚ1i1I5w>i1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518435G9BQOm= qIuVfM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770552`9w,A)0 4fUGp| -Y)y- Be)D?Ye>}?eqJ9e =yeH&?̀phտ \?I?# ?*?@Ar?ɨe)D?e+;e>CJaJXJ[JJ:J5K9J5Jyޕ_@ޕGI_rIJ8٢> ;=9%Q > G٣yfc; > bBottom track data is 1.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configC49VPX?C4Y iҌ@99??sJBq|;?fC4 mBEl l l l zl  隝4*I ɚiIv>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022404jH<bH<H%>I! I%GI%AI!&I!.I!6I%<:I%F ]$?IY] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2744299w,8A2D?Y2x}?2J92^9=y2H`K?iտ`~?$$?B ?ҩ?zi?ɨ2D?2;2?CyZ@ZGIbsIbK8٢j? jY=9nHQ n>ll nG٣lyr; r>-VExceeded connection timeout, disconnecting. bBottom track data is 2.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from configtC49vWX?C4Yvb iv@99??vKBvXD;v@v~kC4RB BEllllzl \)I ɚiIu>i)!G!B1OM=zKKKͼ9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528647 9 I9 `r9w,RA2D?Y2 w}?25J92e=y2H@?\Կ??|b@?W?3c?ɨ2D?2;2ACyN@R(G - - -- --  - -  -@- 5@5 5@5  5@5 55 -Cl?S㥛RQ?-O?-/ݼ-= )))I-Mb@Mb@Mb@i)))) ))-A[BI))y-=[BIM4rIMlJ8٢Uk> C=9Q > G٣1Gy_ > bBottom track data is 2.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configC49`X?%C4Y iě@%o9!%9%?%?KB;@oC4) 5B1lalalilizli  />(IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778789 !ɚ!i!I%Kt>i))GBO>JbJWJeJJ:JG9J:5J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030627՜9w,8lA:vD?Y:|?:J9:@ֱ=y:H A?YԿ ??z?`-?b?ɨ:vD?:.;:=CyFAF7GINqINI8٢V? ? VV=9Z:Q Z>XX ZG٣\Hb>IbC IbGIb+ AIbX=&I`.Ib&D6Ibv<:IbF pIpyv v> ~bBottom track data is 2.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|C49~UhX? C4Y~r i~@ B9  9 ~? ?~LB~:;~/4@~rC4 =Bl)l)l1l1zl1Y Y]'IY aɚaiaIes>ia)iGqBO=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282538 nManaging dock network, ignoring radio surface power offg9w,]A6ږC?Y6|?6ClJ96[=y6Hn? Xӿ? ?ŎU?  D=9 ~;Q > G٣yV > 5bBottom track data is 3.2 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=C49-pX?=C4Y-k i-+@E9AEX9E}?E?-IMB)-zN@-muC4I M߂BMElalalalizli}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534477 隝'I ɚiI2 s>i)GBO= I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786526v9w,7A6 fB?Y6 z?6I96@=y6H"?iӿ?@ޣ? [? kR? q?ɨ6 fB?6߉;4yNARGIZkIZ>8٢f ? fO=9f;Q f>hh jG٣j1Gyn@ n> bBottom track data is 3.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| C49~ yX? C4Y~ i~u@8/9|??~MB~*;~g@~wC4 sBllllzl) QUB&IY YɚYiYI]$r>ia)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038823E8> $?IZHRHAAHI ILGIAIY=&I.I'D6Ir<:IFGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290777٭9w,A6@?Y6.my?6zH96=y6Ho?ӿ ̺??~?{??ɨ6@?6G;6?Cy>F A> GIJkIJ2?8٢R? RM=9V TT ZG٣XyZh Z> fbBottom track data is 4.0 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`jC49bkX?jC4Yb ib@j8hj9jtz?n?bNBb8;b@b3yC4p r Bpl|l|l|l|zl) )-n%I) 1ɚ1i1I5Vq>i9)9E51>G BO==JuaJuXJudJqJu:Ju5K9Ju75JqJu6;a}Jqa}JuOg:aJuRg:azKLK9KKK      Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547184 I Ĵ9w,PA:H??Y:(w?:%G9:A=y:Ht?kӿ@c?` ?`a? ea? `?ɨ:H??:ʉ;:@CyJ AJG % % %% %%  % %  %@% %@% %@%  %@% %NbX9?:v?~jt%E?%T<% !)!I%Mb@Mb@Mb@i!!!! !)%jYBI!!y%fYBI=jI==8٢M:> M@=9UQY ]G٣Yy]_z ]> mbBottom track data is 4.4 s old, using for 20.0 s. mNusing accuracyPremultiplier from configauC49eX?}C4Yex ie{@}8y}8}x?}?eyOBeT;eK@ezC4 Bllllzl $I ɚiIpp>i)*E="E=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794496E->GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0468089w,A (I(HF>ID IFGIFjAID&ID.ID6IFL<:IFwFBI-CJI-CRI)ZI-X=bI-X=jI-x58=?YNv?aF9}=yHa!?srӿ6? DF?m8m?`/D?`?ɨ8=? ;y5A5GIEmIEaA8٢U? UJ=9]N-aa eG٣e1Gym m> }bBottom track data is 4.8 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configqC49uPX?C4Yu iu@88w??u5PBuuI;u=@u{C4QB ;BEllllzl #I ɚiI1o>i)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299114E/>GBOJ J AAJ `J UJ eJ J :J >9J :5J J :J :J Q:J Q:9w,A6b;?Y6vSt?6|E96=y6HE?@IC^Կ@?Ռ?@JS?? )?ɨ6b;?6l;6?CyRARGTVBAIZDjIZZ<8٢fg? fS=9f<hh jG٣hynӓ n> vbBottom track data is 5.2 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzC49rЛX?zC4Yr ir@z[8xz8zu?z?rPBr';zK~LK~ͼ9K|K~K~RK ?JK >r@r|C4PB ׀BEl)l)l)l)zl1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550436  #I ɚiIn>i)E!E!*E%"E% 5$?I=UfGBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802336 9w,!A6#:?Y6r?6D96Ah=y6H ?`@Կt??;?α??ɨ6#:?6Չ;6@CyNANGIV+fIV58٢^X> bK=9b#dd fG٣dyf f> nbBottom track data is 5.6 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighrC49jΤX?rC4Yj ij@v18tvt8vt?v?jQBj;;ju@jf}C4x ztB l)l)l)l)zl)Q Y]G"IY YɚYiYI]]n>ia)aGyGyGqByO=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.055567 !I!jHybH}<HI I>GI2!AIZ=&I.I6I_<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306370`(9w,a;A2?;8?Y2Rp?2C92䞼=y2H=? >տ?8$?`\$?W? ?ɨ2?;8?2hω;2>CyrAr{GI~cI~!18٢ >  E=9 G٣1Gyt > -bBottom track data is 6.1 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5C49%/X?5C4Y% i%@=89=F8=Zr?=?%hRB%G;%@%~C4A EBIlYlYlalazla 隍{!I ɚiI1m>i)GqBO=*JA"JAJUbJQJUhJQJU:JQJU~D5JQJU ;JU ;JQJQuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558452zK[BLK9KKK   "3CLU^Z I 9w,6UAZLy6?YZ`n?ZB9Z0I=yZHÏ?,տ+?@c?` _ ?w??ɨZLy6?Z;Z?Cy>AaG         @ @ @  @ Zd;O?Sÿ&1?j?= )IMb@Mb@Mb@i )SBIySBIu`I*8٢> ?=9;Q > G٣y܃ > bBottom track data is 6.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configC49X?C4Y~ i3@7 8p??2SB;g@~C4 PBߵEllllzlA AE IA IɚIiIIM[l>iI)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811344GqByO=q YyA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063388  I 89w,QoAH>I IGI(AIY=&I.I6I<:IFB4?YB)m?BB9B%=yBHq?`@տ?`?7<`?@?@?ɨB4?B:;@yr ArGIz]Iz@&8٢% ? -U=9-Q;Q ->11 5G٣1y5є 5> bBottom track data is 6.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configC497X?C4Y i]@78 o??SB};1@~C4 y~Bllllzl !%I! !ɚ!i!I%wk>i)))GE>GE ?G1B9O]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314435Ju cJu gJu iJq Ju :Ju 9Ju G5Jq Ju ;Ju ;Ju f:Ju g:"9w,A23?Y2zk?2B92u=y2H ? @$4ֿ!p??],9?J%? ?ɨ23?2E;0y>#A>%GIF\IF`$8٢R> RS=9RBQ V>TT VG٣V1GyZ! Z> bbBottom track data is 7.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\fC49^X?fC4Y^ i^ @f7dj7jZm?j?^TB^C*;^@^5C4l n}Bplxlxlxlxzl|! !-I) )ɚ)i)I-j>i1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566582)I'TFailed to parse incomplete device message.GQBYOu= $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818365K9w,:ˢA2\N1?Y2pi?2B92=y2HUP?apIRֿU??`5*@_??@{?ɨ2\N1?2i;2>CyRr&ARGIZ|YIZ8٢bE> fH=9fGQ f>hh jG٣hyj儼 j> rbBottom track data is 7.7 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpvC49rX?vC4Yr ir_@zw7xz7zk?z?r`UBrq';r @rwC4 }B ܵEl!l!l!l!zl)I IMcII QɚQiQIU1j>iY)YGYBaO}=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.070435 IZH!RH!H)I) I-bGI-0AI)&I).I-(D6I-<:I-F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322426w9w,-A2P/?Y2ch?2,C92=y2H|?`VBֿ`7?H ? $?h ?4 ?ɨ2P/?2S;2@CyN)ANGIV\IV#8٢^l? bK=9bQ b>dd fG٣dyf f> }bBottom track data is 8.1 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configqC49uX?C4Yu iuAH77i??u(VBu*;uWAuC4 0|Bllllzl I ɚiIi)GGGBO=J5895K5,5 K5M2K1K1"K1J]aJ]ZJ]mJYJ]:J]S9J]T5JYJ]6;J]9;J]u:J]u:UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574362zKMKKKK qIq^9w,8Ay~ -A~G         @ @ @  @ @  ףp= ?&1Zd;?QX?P~> )IMb@Mb@Mb@i )IiIYI[8٢{>  7=9 Q  > G٣1Gy > %bBottom track data is 8.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-C49%X?-C4Y%ڍ i%A5"715`715?%VB%<;;%'A%C4=NB EZ{BAlalalalazla 隍I ɚiI%gh>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.826812GBO=e Will construct direction to contact in vehicle frame from tetrahedron phase data.e    G٣ y  > bBottom track data is 8.9 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-C49X?-C4YU i"A-715575f?5?WBf;AC49 EuzBEٵElQlQlQlYzlY 隅I ɚiIlg>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.Or:w,B A2m+?Y2c?2B92м=y2H .? ׿@=?x?: ???ɨ2m+?2cg;2ACyNK3ANGIVqPIV8٢v> vK=9v;Q z>xx ~G٣|y~i" >  bBottom track data is 9.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config Will construct direction to contact in vehicle frame from tetrahedron phase data.%C49 lX?%C4Y  i  A%6!-7-e?-? ^XB Έ; A C41 5yB1lIlIlIlIzlQq y}-Iy yɚyiIf>i)zK LKͼ9KKKBK:KG>G> IGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received- 8٢uZ> uB=9uQ u>yy }G٣}1Gy > bBottom track data is 9.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from configC49Y?C4Y iA66?%YB9;;A1C4 xBllllzl  YI  ɚ i I f>i)GB)OM=-Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I HI IGIS@AI&I.I6I)<:IQFBIJIRIZIZ=bIY=jIg4 Will construct direction to contact in vehicle frame from tetrahedron phase data.P:w,=A:K*?Y:$b?:@9:'H=y:H`-? @2׿? ?*?`Lo? F?ɨ:K*?:ɉ;:@Cyb9AbGInLIn`8٢vE? vS=9vҪxx zG٣xy~< ~> dBottom track data is 10.1 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config C49(Y?C4Y~ iA66d??YB1;l!ACC4! %&xB!l9l9l9l9zlAi imIi qɚqiqIu\e>i)GBO5==Will construct direction to contact in vehicle frame from tetrahedron phase data. IzKm}KKmý9KiKmKmr:w,WAB)?YBIb?B ?9B#=yBH @?`h ׿*??4t??g?ɨB)?Bv;BACy^ =A^GbAbA         @ @ @  @ m?{Gz?y&1|n?#=` )IMb@Mb@Mb@i )IiI~MIZ 8٢,> >=9_ G٣yw > dBottom track data is 10.5 s old, using for 20.0 s. UNusing accuracyPremultiplier from configUC49Y?]C4Yz iA]b6Y]6]d?]?ZBK<(ASC4a mTwBmֵElylllzlWill construct direction to contact in vehicle frame from tetrahedron phase data. I ɚiId>i)GGGBO>JeJmJuJJ\:J&9J^n5JE Will construct direction to contact in vehicle frame from tetrahedron phase data. I H I  I JGI DHAI Y=&I &D.I 6I <:I @FT:w,qA2:)?Y2a?2z=92q=y2HC ?׿] G٣1Gy% %> -dBottom track data is 10.9 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)]C49-"Y?]C4Y-v i-$A]76Y]}6]c?e?-f[B-;-.A-_C4i mvBillllzl I ɚiIWc>i!)!G)B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.J! J% @A{":w,9~A2(?Y2`?2r;92Q=y2HQ? Z`ֿK?&?Q9wo? b?I?ɨ2(?2;2>CyBkCABUGIJJIJ8٢R> RO=9V7TT ZG٣XyZ Z> bdBottom track data is 11.3 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\fC49^i,Y?fC4Y^)s i^Aj6hjL6jb?j?^$\B^2*;^4A^hC4l nuBpWill construct direction to contact in vehicle frame from tetrahedron phase data.lYlYlYlazla $?I 隽%I ɚiI2c>i)zK5KK5S9K1K5K5 Bitke_[UMHB?;73/*&%''&#BKA:KEtAGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.) 5 GI a ӿY y BA ? CAS(:w,.XA6ԍ'?Y6`?6:963|=y6H`?@zֿ`BS?Z?`5O?ϰ? ?ɨ6ԍ'?6;6@CyBFABAGIJwJIJ8٢j> jG=JrbJrTJrvJpJr:Jr:9Jrq5Jp9nZSxx ~G٣|y~* >  dBottom track data is 11.7 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configC497Y?C4Y"o i+!A5&6%a?%?\BZ;K;ApC4-LB -tB-ҵElAlAlAlAzlI !%XIY aɚaiaIeb>ii)iG>G?GiByO= Will construct direction to contact in vehicle frame from tetrahedron phase data. iIqHm>Ii ImGIm PAIi&Ii.Im)D6Im+<:ImNF Will construct direction to contact in vehicle frame from tetrahedron phase data./:w,1AJ*D&?YJ=^?J$e99J=yJH?@dֿ RR?@?~3?k6?@H?ɨJ*D&?JG";J?CyVJAVGIbKIb8٢j? jJ=9n7pp vG٣v1GyvRM v> ~dBottom track data is 12.1 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configxC49ztAY?C4Yz7k iz$A5 6 j`? ?z]Bz9;zAAzwC4 tBl)l)l)l1zl9Y Y]{Ia aɚaiaIeia>ii)iGqBO=*Ja="J4=Will construct direction to contact in vehicle frame from tetrahedron phase data. YI]SfzKNK9KKK   "05;98:;864200++'# 5:w, A6|$?Y6\?6 >=9 G٣yx > Nusing accuracyPremultiplier from configC49NY?C4Yf iW(AT:G?:fg??^B; ;C4  XsBl)l)l)l1uWill construct direction to contact in vehicle frame from tetrahedron phase data.zl1]+:>]+:>]`?] h?i quIq qɚqiqIusa>iy)yGIBQOm>JudJuXJuxJqJu<:Ju5K9Jux5Jq- Will construct direction to contact in vehicle frame from tetrahedron phase data. M $?II He >Ia  Ie HIe WAIe Z=&Ia .Ia 6Ie -<:Ie KF|#<:w,A2"?Y2![?2Z792õ=y2H?m -ֿ24?@F? ?(V?`?ɨ2"?2 ;2ACyRuPAR.HIZOHIZ*8٢b? bZ=9f;Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrC49nYY?rC4Yna inr+Atv}e?v?n_BnL:n ;nC4Y ]{rB]ϵElqlqllzl]]]]? I ɚiIV`>i)GGGBO%=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉ C:w,L A61 ?Y6DY?6PE796O=y6H`J? SԔֿS?d?` d?R??ɨ61 ?6;6@Cy>SABHIJGIJ7٢R> RL=9V;Q V>TX ZG٣XyZˣ Z> bNusing accuracyPremultiplier from config\bC49^eY?fC4Y^\ i^.Adfbc?f?^{`B^:^ :^C4 pIpvWill construct direction to contact in vehicle frame from tetrahedron phase data.x zqBxl l l lzl])])])]-o;?A AE8IA AɚIiIIMw_>iI)QGBO=zKMKKKK Will construct direction to contact in vehicle frame from tetrahedron phase data. 5I:w,#&A:?Y:W?: 79:=y:H` ?`- ֿ?`Q??3g??ɨ:?:I;8yF\VAFHIN2HIN7٢V? VJ=9VU;Q Z>\\ bG٣b1GybB f> jNusing accuracyPremultiplier from configdjC49f{rY?nC4Yf3X if72Aln]a?n?fkaBf ;fh;fƸC4t vqBv̵Ellllzl ]!]!]!]%iI)IGQBO= $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHH >I C I g HI s_AI [=&I .I 6I ӯ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.WP:w,{@A6?Y6U?6>696+V=y6HPE?@ <׿7?@?~@?@b??ɨ6?6;6>CyBYABHINGIN7٢VJ> VJ=9ZB:Q Z>XX ^G٣\y~ќ >  Nusing accuracyPremultiplier from config C49UY?C4YjS i5AY_?%?^bBR;kS;&C4) -4pB)lalalilizli]]]]7?a imIi ɚiIF^>i)GG?GBJaJVJ}JJ:JB9J5JJaUJa]JX:aeJX:aeO> IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK- LK- 9K) K- K- J; -: (nJV:w,0dZA:=?Y:P S?:s79:=y:H`^h?r׿@"??D ? -?`D?ɨ:=?:!G;:CCyZ[\A^HK7?S㥛?J +?I?$>= )Y)\(?v/?Gz?yGA?xi=p=>̣B zB)rDBIOCyGBIFIG7٢> :=9Q > G٣yҔ > Nusing accuracyPremultiplier from configC49pY?C4Y]O i:AG?:}h? ?%cB;;aC4JB ~oB˵El)l)l)l)zl1]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]A]uz=]uz=]u_@]uB@ 隥I ɚiI]>i)GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.H! I% C I% HI% fAI! &I! .I! 6I% <:I% :FBIJIRIZIbIZ=jIQN5Tq\:w,<0tA:?Y:+Q?:-79:P=y:H2?^׿`(?V9?@t???ɨ:?:;:@Cy^_Ab HIjBIj_7٢r? rZ=9v\Q v>tx zG٣z1Gyz z> Nusing accuracyPremultiplier from config|C49~Y?C4Y~K i~=A!%f?%?~cB~:;~̳;~XC49 EnBEȵElilililqzlq]]]]@y 隅I ɚiI=X]>i)GBO=eWill construct direction to contact in vehicle frame from tetrahedron phase data.J bJ WJ {J J :J G9J ـ5J J ;J ;J %`:J '`:Yc:w, A &$?I$>>/?Y>RO?>;I79>T=y>H@6?`&ؿ? h?TZ?`G??ɨ>>/?>; 5E=9=ԺQ E>QY eG٣iymSf m> }Nusing accuracyPremultiplier from configqC49uY?C4YuH iu1BAe??udBu;u;uC4 mBllllzl]]]]c@ eI ɚiI\>i)G G GBO=zKUjOKUH9KQKUKU;  #CNG?70+)$! +6&aY"uWill construct direction to contact in vehicle frame from tetrahedron phase data.i:w,SA6?Y6MN?6fS796 =y6H@U?cl{ؿIj??);@?`޶??ɨ6?6:݊;4yRjeAR HIbK<Ib7٢j{> nP=9r ϹQ r>tt vG٣tyz_ }> Nusing accuracyPremultiplier from configD49Y?D4Y\D iXFAd??IeB;(;0D4 :mBlll l zl ]A]A]A]Ew@q q}Iy yɚyiyI}9\>i) 9I=RfGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O>H>IC IHIanAI\=&I.I6IQ<:IaF Will construct direction to contact in vehicle frame from tetrahedron phase data.Snp:w,A2z?Y2&M?2`792 =y2H?`@ ؿ`6V?`?I?<??ɨ2z?2Ɗ;2ACyNdhANHIjB:Ij7٢rk> rI=9rQ r>tt vG٣v1Gyz6 z> Nusing accuracyPremultiplier from config D49Y? D4Y@ iOJA c??eB:; D4 {lBl1l1l1l1zl9]Q]Q]Q]U;@  I ɚiI`v[>i)G9BiJeJ_J~JJ\:J=h9J5JJ;J;J:J:O% > IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK MK ý9K K K ,=A=7.'"!    (v:w,rARp?YR]K?R69R=yRH`??hٿe>?G??Mk?!?ɨRp?RW(;R>CyZwkAZH]333333?jt?J +?]y?] >Y Y)YY]"~j?7A`?Pn?y]Sc?]>]>]B ]B)]BBI]Yy]WBIu?9Iu7٢4> A=9|;Q > G٣yÆ > Nusing accuracyPremultiplier from configD49Y?D4Y(; iNAh?i:%??fBo;$o;D4 kBŵEMWill construct direction to contact in vehicle frame from tetrahedron phase data.HG ˿YyPAlIlIlIlQzlQ]A=]A=]bP@]J@ " I ɚiIZ>i)G->G->GBO-,> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I ,HI uAI [=&I .I *D6I <:I F|:w,zAFg5?YF{J?FB69Fu=yFH(? `ؒٿ8?.? K?ׯ??ɨFg5?Fm;FACyfnAfHIn8In7٢v ? vT=9z;Q z>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config D49Y? D4Y6 i3SA҂??gB::)D4 %jB!l1l1l9l9zlA]Y]Y]Y]]㄂@i imN Iq qɚqiqIu;:Z>iy)GyBO=EWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J cJ XJ J J :J 5K9J J5J J ;J ;J Og:J Rg: I QfC:w,VA6k?Y6I?6 696ݥ=y6HT?@Nٿ`2?@G?ท?a?@,*?ɨ6k?6 fL=9jS;Q j>hh nG٣n1Gyn$ n> vNusing accuracyPremultiplier from configpvD49r[Y?zD4Yr0 irWAxzd?z?rhBr:r:r7D4y })jBllllzl]]]]f@  I ɚiIY>i ) GBO=zK5~MK5=9K1K5K5BK9:K9UWill construct direction to contact in vehicle frame from tetrahedron phase data.щ:w,/)AJ?YJI?J59J=yJH3+?  "ٿP+?`Z?&`?ߍ?K3?ɨJ?JĊ;J@CyntArpHI~6I~/7٢=> F=9H;Q >!! %G٣)y- -> =Nusing accuracyPremultiplier from config1ED495^Y?ED4Y5+ i5!\AAE?E?5iB5;5~:5nFD4UGB UeiBUEllllzl]!]!]!]%VL@1 15 I9 9ɚ9i9I= X>iA)AGQGQ $?IG)B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.Hm>Ii ImHImw}AIm\=&Ii.Ii6Im<:ImF] Will construct direction to contact in vehicle frame from tetrahedron phase data.:w, CAJ?YJH?J*59Jܩ=yJHA? `ٿ !?j?|d??y;?ɨJ?J B;JACyVwAVJHI^45I^7٢f> fO=9f;Q f>hh jG٣hyn r> vNusing accuracyPremultiplier from configtzD49vY?zD4Yv% ivs`A|~W?~?vjBvy;v;v8TD4 hB lAlAlAlAzlA]a]a]a]e92@y y} Iy yɚiIPaX>i)GBO =*JR="J%= IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKe H LKe 9Ka Ke Ke   5>ABBJTUX[]XPKF?<RKm ?JKm >_:w,\ABc?YB F?B49BiV=yBH@\? ٿ?;?g`?.?@B?ɨBc?B߻;@y^{A^dH =@= E@E E@E  E@E =&1?Q~jt?=p?=u=D= 9)9I=Mb@Mb@Mb@i=‰=©== =)=?BI9=y=?BIm4Im7٢$> >=9V;Q > G٣1Gy~; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configD49Y?D4Y! i eA+:=:??kB:;v>T`D4 gBllllzl : I ɚiIW>Will construct direction to contact in vehicle frame from tetrahedron phase data.i!)GBO>JdJUJJJ<:J>9JX5Ja@a@a@a@ iIq Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I HI AI &I .I 6I <:I F:w,vA2 ?Y2(}E?2m492s=y2Hy?|@Jٿ?@ڢ?Wa?`~?I?ɨ2 ?2k;0y>}ABHIJ4IJ87٢R> VZ=9V4;Q V>XX ZG٣XyZk ^> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config`fD49bY?fD4Yb% ib8iAj :hj:j?j?blBb!*;bN?bhD4p rgBrElxl|l|l|zl|y 隅I ɚiI51W>i)G>G?GBO=%Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia >:w,nA6a ?Y6C?6+496f=y6H`?`_ٿ??I%? c? N?ɨ6a ?67Y;6@CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yJlANHIV-4IV7٢^> ^I=9^ ;Q b>`` bG٣`yf" f> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighrD49jZ?rD4Yj ijmAr9pr9r}?v?jmBj8;j#?jzpD4x zWfBxllllzl9 AEIA AɚAiAIEՖV>iI)IGIBYOu=zKeMKe9KaKeKe960'   : cI0wBKi:Ki-Will construct direction to contact in vehicle frame from tetrahedron phase data. :w,yAJu5K5 K1KK"KJ6eJ6ZJ6J4J6\:J6S9J65J4n ?Yn3B?nk49nͦ=ynH?.Eٿ6? X?`C౳?[{?M?ɨn ?n,r;n?CyAHI-2I-k7٢M> MA=9U:Q U>YY ]G٣]1Gy]z e> ubBottom track data is 1.6 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configi}D49mZ?}D4Ym+ imHrA99'|??mnBm=R;m_?mvD4FB eBEllllzl I ɚiIU>i) $?IPfGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH)RH-@AH1I1 I5<%HI5[AI1&I1.I16I5~<:I5zFBICJICRIZI\=bI\=jIe4= Will construct direction to contact in vehicle frame from tetrahedron phase data.l:w,PA2?Y2P@?2;*492c=y2H`?=%@ڿ?i?;??J?ɨ2?2c;2ACyFAJ!HIZX2IZw7٢b#> bT=9b%Q f>hh jG٣hynF n> vbBottom track data is 2.0 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzD49rZ?zD4Yr irvA~9|]9]#z?e?roBriy)yGGGiBqO> IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK NK K K K mb_ZRJ9:?JIA<4/+)$"!".ESSMD?==>=;2/.'((&&&$   |1:w,+AVl ?YV>?V}H49V=yVH`t?@=ڿK??3?`u?`1G?ɨVl ?V;V@CynAru#HWill construct direction to contact in vehicle frame from tetrahedron phase data.iA         @ @ @    @  v/?㥛 ?L7A`?xI?=+= )IMb@Mb@Mb@i(B );BIynBI1IN7٢-e> -5=95aQ 5>99 =G٣9y= ~ E> MbBottom track data is 2.5 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAUD49E(Z?UD4YE@ iEk{A]o9Y]9]Dx?]?EpBEU9;E$@ED4a edBillllzl n&>I ɚiIT>i)G)B9OU>JcJWJJJ:JG9JJ5J $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.H) I)  I- )HI- AI) &I) .I) 6I- :<:I- CF_:w,wA:V?Y:ipp rG٣r1Gyv+ v> ~bBottom track data is 2.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx~D49z#3Z?D4Yz iz^A B9  U9 $v??zqBzُ;z\5@zD4 4cBEl1l1l1l9zl9Y YeIa aɚaiaIes2T>ii)iGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I C:w,XA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:V??Y:i:?:,49:rn=y:H|0?ಹ ڿ B?@`g? `>??@G?ɨ:V??:UD;:@CyFAF['HIN.IN7٢V> VN=9Zz8Q Z>XX ZG٣\y-M 5> =bBottom track data is 3.2 s old, using for 20.0 s. ENusing accuracyPremultiplier from config1ED495.?Z?ED4Y5A i5AM9IM-9MMt?M?5rB5>+;5O@5D4Q ]bBYlylylylyzly 隥I ɚiIǖS>i)G>G>GBO=zK!NKý9KKK j_FBZqcx#|P)tgd\TJ@9322.+'###"!)F= G ͿYyAWill construct direction to contact in vehicle frame from tetrahedron phase data.n:w,M+AJ&bJ&dJ&J$J&:J&|9J&5J$BiL?YB|8?BO39BD=yBH S?`H@2ڿ!?B? ߿Ư??L?ɨBiL?BT;BBCy^A^)H aIaIn!-In7٢> ==9;Q > G٣y > bBottom track data is 3.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from configD49KZ?D4Y i8A8 9Pr??sB9;bj@D4 aBllllzl @I ɚiItR>i!)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IQ.HIAI&I.I+D6I7<:I>FE}/>GQBaO|>% Will construct direction to contact in vehicle frame from tetrahedron phase data./X:w,EA{)>Y7?J39M=yH oq?@\!ۿ??@\߿&?u?3Q?ɨ{)>;@CyeAm+HI5q,I57٢> ;=9:Q > G٣1Gy{ > bBottom track data is 4.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from configD49XZ?D4YK iA88p??tB;X@D4-DB -`B-Elqlqlqlqzly pI ɚiIcMR>i) U$?IQEy%>GBOF>}Will construct direction to contact in vehicle frame from tetrahedron phase data.zK 6OK =9K K K / Jtks[B0$  sHUH1 `Y&*(% L :w,~t_A6֪>Y6~O5?67k3968=y6HQ?`*@dۿ`?@9?1߿Ȣ?@?Z?ɨ6֪>6A;6>CybՌAb3-H } } }} }}    /$?EԸ?#~j?l?== )YL7A`?~jt?y+G?<JB ʀB);8BIyrBI+IL7٢? [=9O;Q > G٣y > Nusing accuracyPremultiplier from configD49kfZ?D4YY iAT::G?:w=??uB;h;D4Will construct direction to contact in vehicle frame from tetrahedron phase data.CB `BElylylylyzly];>];>]?h@]@ I ɚiIQ>i)EE*E"EGGsA AIEOfGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I 2HI yAI ]=&I .I 6I "<:I +F :w,OyA2Q_>Y23?2392Oj=y2H@?=ۿ@A?@\*? R޿? #U?d?ɨ2Q_>2;2@CyNLAR/HIZ*IZ]7٢> U=9;Q >    G٣ y > Nusing accuracyPremultiplier from config%D49tZ?%D4YV iA!%;?-?mvB::D41 5`_B5ElIlIlIlIzlI]i]i]i]m2d@ 隅I ɚiI=Q>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.Ji Jm AAJu cJu TJu Jq Ju :Ju :9Ju J5Jq Jq a} Jq a} Ju J:a Ju J:a - $?I) :w,4.A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:>Y:=2?:29:D?=y:H@K?`ۿu?@U? w޿܍?`İ?o?ɨ:>:^b;8yFAF0HIN)IN7٢V> VP=9V0;Q V>XX ZG٣Z1Gy^rg ^> bNusing accuracyPremultiplier from config`fD49bcZ?fD4Yb; ib9Ahja:?j?b]wBb);bS*;bıD4p r^Bpl|l|l|l|zl|]]]]D'@ 隍&I ɚiIP>i)G BO5=zK](QKYKYK]K]6F% wi'!yooZU>", 2o dE2& P+3 Will construct direction to contact in vehicle frame from tetrahedron phase data.û:w,A6q>Y6J0?6296|=y6H? -&ܿ@K?т?@޿Ҁ?`0? 4|?ɨ6q>6;6AC `I`yfAfy2HInp(InY7٢vE> vF=9z;Q z>xx zG٣|y~f ~> Nusing accuracyPremultiplier from config D49Z? D4Y iߌA8??YxB::-D4 ]B%El9l9l9lAzlA]Y]Y]Y]]@i iuIq qɚqiqIuP>i)GBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.Hu>Iq Iu7HIuHAIq&Iu'D.Iq6IuS<:IuNF Will construct direction to contact in vehicle frame from tetrahedron phase data.:w,Aʿ>YY/?L19=yH@{ ?s Wܿ` ?`?ݿv?@??ɨʿ>܉;yA h4H\(\? rhMbp?:?C ; )Y?{Gzt?{Gzy@?ף;#B ~B)4BIypmBI 'Id7٢> /=9c;Q > G٣yA > Nusing accuracyPremultiplier from configD49Z?D4Y] iA@?:1??oyB;;zD4 -]Bl!l!l!J5aJ5UJ5~J1J5:J5>9J55J1J56;J58;J5Q:J5Q:lAzlA]eu<=]eu<=]eh?]en? $?II QUNIQ QɚQiQIU~gO>iY)YGYBiO8>]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKu xQKu 9Kq Ku Ku  '*)'')<tEzeP=4#}th^TMHC>@KVXSKA84/RK ?JK >:w,AyA6HI%Y&I%7٢M@)? Mg=9UQ ]>YY eG٣e1Gye e> mNusing accuracyPremultiplier from configiuD49mZ?uD4Ym imAyy}?mCzBm ;m7%;mD4BB =\BEWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzl]]]] oI ɚiIN>i)GBO5= $?Im Will construct direction to contact in vehicle frame from tetrahedron phase data.H} >Iy  I} aY66,?6096I=y6HI?L'ܿj?@?Wݿ d? !?@?ɨ6y>6;4y>ABY8HIJ%IJq7٢fM> fS=9f#;Q j>hl nG٣lyr r> vNusing accuracyPremultiplier from configtzD49vZ?zD4Yv ivoAxz.?z?v*{Bvi)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.JM bJM VJM JI JM :JM B9JM 5JI JM ;JM ;JM X:JM X: I :;w,?oA&Will construct direction to contact in vehicle frame from tetrahedron phase data.:Q>Y:s*?:09:k=y:Hi?@ܿ>? ?@4ݿ\?8?#?ɨ:Q>:v;8yFsAFB:HINp%IN7٢V> VL=9ZK;Q Z>\\ bG٣`yb b> fNusing accuracyPremultiplier from configdjD49fZ?jD4YfB ifAln,?n?f|Bf>;f};feD4p rZBvEl|lllzl]]]]J?) 15I1 1ɚ1i1I5HM>iA)AGBO=zKNKͼ9KKK/,)(#!   BK:KsAWill construct direction to contact in vehicle frame from tetrahedron phase data. ;w,dX.A IFT>YFb(?Fw09F=yFH̆?Yܿ P;?-? ݿ>Z?C|??ɨFT>F:G;F@CyV AV7 fH=9j:Q j>hl nG٣n1Gyn n> vNusing accuracyPremultiplier from configpvE49rZ?vE4Yr\ irxAxz0+?z?r}Bpr;rE4~AB YBEllll!zl!]9]9]9]={?Q QUIQ YɚYiYI] SM>iY)aGBOjH bH H>I IAHIAI&I.I6I/<:I.FMWill construct direction to contact in vehicle frame from tetrahedron phase data. Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,AHAe(>Ye&?ev09em=yeH@? 7ܿu?N? Pܿ(Z? ?@?ɨe(>e܉;eBCy}A}>H  55=9=7Q =>9A EG٣AyE M> UNusing accuracyPremultiplier from configIUE49MZ?]E4YM2 iM`A](1?]:](#?]?M}BM;M;MlE4 7YB $?I NfJcJSJJJ:Jy69JJ5JJ;J;J{C:J}C:l1l1l1l1zl1]mw>]mw>]m T@]mu@ 隭kI ɚiIvL>i)G>G2?GBO$>UWill construct direction to contact in vehicle frame from tetrahedron phase data.zK 'MK 9K K K !:Rs~|wkaYURMIFB=AMMD8/'!Fc\ueZ5 G;w,bAxA NϿYNxAyNA^l>Y^H$?^Y09^V=y^H@ҽ?@K*ݿ ?s?ܿ \??6?ɨ^l>^{;^CCyf$Aj@HWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչI4#Iy7٢> N=9Q > G٣y%H %> -Nusing accuracyPremultiplier from config)5E49-Z?5E4Y-p i-A9=!?=?-~B-L ;- ;-T$E4E@B EoXBEElYlYlYlYzlY]y]y]y]}8@ 隍I ɚiI),L>i)GiByO= $?IH >I  I EHI ̠AI &I .I ,D6I A<:I 9Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.F;w,{A:>Y:#?:09:;+=y:H`=?:_z^ݿzU?ڕ?`ܿ xb?` ?`*?ɨ:>:C;:ACybݝAb&BHIj"Ijt7٢r? r_=9vQ v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|E49~[? E4Y~ i~A  4? ?~:B~v:~:~1E4 WBl1l1l1l1zl1]Y]Y]Y]]z@i im"Ii qɚqiqIuK>iy)yGqByO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I/.%;w,kAWill construct direction to contact in vehicle frame from tetrahedron phase data.:_ >Y: ?:19:M=y:H@??.^ݿ`? ?dܿ`7h?@ ?d?ɨ:_ >:;:>CyR%ARCHIZ!IZo7٢X> G=9%Q %>)) -G٣-1Gy-| 5> =Nusing accuracyPremultiplier from config1EE495}[?EE4Y5% i5XAAM/?M?5B5; ;5;5z?E4Q UVBUElilililizli]]]]@ 隥I ɚiIK>i)GGtAGBO='=TFailed to parse incomplete device message.Will construct direction to contact in vehicle frame from tetrahedron phase data. I J= bJ= VJ= J9 J= :J= B9J= 5J9 aM @aM @aM @aM @=[+;w,סA2\>Y2(?22 ;2ACy>àA>EHIJ IJf7٢b? bP=9bBdQ f>dd fG٣dyj j> rNusing accuracyPremultiplier from configlrE49n[?rE4Yn inAtvU?v?nUBn:n:n8ME4x ~VB|llllzl]]]]@ i)HI IXJHIAI&I.I6I <:I FG B-Will construct direction to contact in vehicle frame from tetrahedron phase data.O== Will construct direction to contact in vehicle frame from tetrahedron phase data.B2;w,-{Az9>Yz.Y?z19z=yzH? @޿]?;?ܿx???ɨz9>z^;z@CyA`GHCl?Q ףp= ?d[?uQ8> )Y?rh|?$C?y@?=Z>B vB)/BIyzgBI~IF_7٢8> ;=9=;Q > G٣y > ]Nusing accuracyPremultiplier from configYeE49]([?mE4 u$?IyY] i]]A}J?}:}Y?}?]B];]^;]]E4 rUBllllzl]5>]5>]Ž@]7@ I ɚiII>i)GBO>=Will construct direction to contact in vehicle frame from tetrahedron phase data.i8;w,IAzK"rNK"H9K K"K":b%uj[OD8+"    :`>Y:?:29: =y:H )?@2e޿?=)?iۿZ?`?y?ɨ:`>:l6;:ACyFAFFIHInGInV7٢vd? vY=9voQ z>xx zG٣z1Gy~A ~> Nusing accuracyPremultiplier from config E491[? E4Y] i=A%X??B:@:iE4 TBEl1l1l1l1zl1]Q]Q]Q]U7@a e8>eWIa iɚiiiImVlI>ii)qG>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= qIqJJXJ}JJJ5K9J5JH>IC INHICAI&I.I6Ig<:IQFM Will construct direction to contact in vehicle frame from tetrahedron phase data.>;w,['A>>Y>p?>O29>=y>H>>C;  H=9 v!Q  > G٣y* > uNusing accuracyPremultiplier from configq}E49uI<[?}E4Yu iulAV??umBu9;u;u5xE4 SBllllzl]]]] 7@ I ɚiI;H>i)GBO==Will construct direction to contact in vehicle frame from tetrahedron phase data. QIYJ J E;w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.6cܿ>Y6Ch?6296%=y6H`M? I޿f?2t?Xۿ?,-?p?ɨ6cܿ>6̥;4yFAFLHINwINI7٢V> VP=9ZY6Q Z>X\ ^G٣\y^ ^> fNusing accuracyPremultiplier from config`fE49bE[?jE4Ybf ibkAhjxU?j?bāBb ;b ;bE4l r.SBpl|l|llzl]]]]&6@1 15[I1 9ɚ9i9I=VHH>i9)AGBO==zKu/NKu9KqKuKu   BK:KtAWill construct direction to contact in vehicle frame from tetrahedron phase data. = $?I9 J aJ UJ yJ J :J >9J A{5J {K;w,n0AJ>YJR?J29J=yJH`\\?@@S;߿@VB?l?@ۿ U?ꐯ?`l?ɨJ>Ji;J>CyV#AVNHI^I^wD7٢f> fI=9j.Q j>hh nG٣n1Gyn[ n> zNusing accuracyPremultiplier from configtzE49vB kRB El!l!l!l!zl!]9]9]9]=!6@I QUIQ QɚQiQI]ֲG>ia)aH]>IY I]SHI]AIY&IY.IY6I] <:I]FBI!JI!RI!ZI!bI!jI%w4Will construct direction to contact in vehicle frame from tetrahedron phase data.E}'>GGGYBaO^>Ufsetting unavailable, lastComms_.elapsed()=60.120434! ]! u] i] Will construct direction to contact in vehicle frame from tetrahedron phase data.R;w,XJA>\>Y>v?>39>=y>H/l?6`y߿ ??ڿ@?` Į?i?ɨ>\>>H;>ACyFAJPHMMbX9?{Gztv/?Mʁ?MףMxi= I)IYM"~j?ʡE?/$?yMSc?M>M1>MB MuB)M,BIIIyMcBIeIe ?7٢u> }?=9}}Q }> G٣yQK > Nusing accuracyPremultiplier from configE49^[?E4Y iߩA8i?i:R??B;+;E4 QBlll Ilzl5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq65Bb@lzInitialize ReadDataComponent to sense platform_communications]]>]]>]5k@]Z<@ BI !ɚ!i!I%G>i!))EF>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.zK =LK {9K K K    dRK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ5K偮5 K偆0KK"KJEbJETJAJAJE:JE:9JAJAO'?\;w,tAHZ>IX IZ6XHIZίAIZ^=&IX.IX6IZ<:IZFy%A-tRHI=gI=0;7٢Mc> M<9UQ U>QQ ]G٣]1Gy] ]> uNusing accuracyPremultiplier from configq}E49uju[?}E4YuR iulAyWill construct direction to contact in vehicle frame from tetrahedron phase data.?unBu2`;uT`;uuE4=B PBEllllzl5krAggregate::uninitialize lineCaptureHoming:MicromodemComms16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInq6]]]] I ɚiIX%F>i)EtAEtAE> nManaging dock network, ignoring radio surface power offG>G>GyBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 5hc;w,MJA $?IMf:>Y: ?:~29:;=y:H`?ی-߿~??`B=ڿ$?-?u?ɨ:>:؈;8yFxAFXUH! uJ! N IVIV67٢^bD? ^V=9b];Q b>`d fG٣dyfj f> jNusing accuracyPremultiplier from confighEE49jЂ[?EE4Yj ijAAEDO?E?jBjoiA)AWill construct direction to contact in vehicle frame from tetrahedron phase data.E1>GqB) 1Ce HG} xA пY xAy AzK NK 9K K K }l]RKA54.(#     BK :K ] Will construct direction to contact in vehicle frame from tetrahedron phase data. iIiOu?]!k;w,A @y-A5.WHII47٢I> =9Q >    G٣ y  > Nusing accuracyPremultiplier from configE49[?%E4Y J%aJ%YJ%xJ!J%:J%[O9J%x5J!izA115?B7;i;E4A ENBEElQlYlYlYzlY]y]y]y]y 隕I ɚiI|D>i)EE*E"EZHRHAAH>I I\HIuAI_=&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5p>r;w,rA*Will construct direction to contact in vehicle frame from tetrahedron phase data.M>YMp?M?;19MC=yMH?D`<߿.?]5?`ٿ`m?έ? ?ɨM>M ;MECyeAmYHE(\?y&1Zd;?EzT?E`Ey= A)AYEK7??y&1?yEi?EL=E`eyy }G٣}1GyVǼ > Nusing accuracyPremultiplier from configE49[?E4Y ixAj?h:y!??!B;S;wE4 NBllllzl]X=]X=];A?]¥? $?ILf   I  ɚiI?D>i)!GGGBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.+x;w,DA6q9>Y6?6r096ٚ=y6H ?`߿?N? ~ٿ`Y?ح?`?ɨ6q9>6;6BCy>mARp[HIZIZ/7٢fU? fj=9jghh nG٣lynv n> vNusing accuracyPremultiplier from configpvE49r\[?zE4Yr] ir"Axz ?z?rBra:r :rE4;B @MBEllllzl]1]1]1]5?I QUIQ QɚQiQIUC>iY)aGQBaO}=zKMK 9KKK%$   5Will construct direction to contact in vehicle frame from tetrahedron phase data. IH >I  I KaHI 0AI &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.U~;w,TA2>Y2X ?2/92=y2H!? f}߿?h?Bٿ|B?`[?`q?ɨ2>2݆;0yRijAR]HIZ~IZ-7٢b(> bK=9bdd fG٣dyjz j> -Nusing accuracyPremultiplier from configl5F49n[?5F4Yn in A9=p?=?n-BnQi)GBO=EWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IJ J TJ wJ J J :9J t5J J 5;a J 8;a J J:a J J:a =;w,A2>Y2P ?2/.92=y2HE?`߿?@k?rٿ`*?m#?@?ɨ2>2D;2ACyN=AR^HIZ>IZ+7٢b-> bJ=9bdd fG٣f1Gyjp j> nNusing accuracyPremultiplier from configlrF49n[?rF4Yn˄ inApv?v?nBnA;nX:nF4x zKBzEllllzl]1]1]1]5鎣?Will construct direction to contact in vehicle frame from tetrahedron phase data. I ɚiILB>i)G G >GBO=zK LK ý9K K K M Will construct direction to contact in vehicle frame from tetrahedron phase data. I t;w, 0A2g>Y2 . ?25-92=y2H o? d߿t?7?ؿ?`j? ?ɨ2g>2;0yFAF`HIVIV+7٢b\> bH=9f'&hh nG٣lyn n> vNusing accuracyPremultiplier from configpvF49r[?zF4Yr~ irܻAxz?z?rQBr:rL:r,F4| %KBEllllzl]1]1]1]55?I IM^II IɚIiQIU3B>iQ)YGYBaO}=jH9bH=p<HE>IA IEeHIEúAIA&IA.IE-D6IE<:IEFWill construct direction to contact in vehicle frame from tetrahedron phase data.`S;w,/IAnWill construct direction to contact in vehicle frame from tetrahedron phase data.j>Yjp?jt,9j =yjH?@Q߿>?@K?2ؿ?`~??ɨj>j+;hy RA bHAe;O?@5^I ¿Zd;O?t?bj< )Y ףp= ?Mb+yQX?@vB IeB)"BIyTBII)7٢> :=99 G٣y} > Nusing accuracyPremultiplier from config U$?IQF49 \?F4Y| iAX?z:j>?B<ߔ<|.F4 MJBllllzl]!>]!>]v@]%@I IMII IɚIiQIUeA>iQ)YGABQOm>J`JSJqJJ:Jy69J|a5JJ:J:JzC:J}C:MWill construct direction to contact in vehicle frame from tetrahedron phase data.}z;w,cA:D >Y:2?:8o+9:"=y:H ?T˥߿C? _?@aؿ? ٰ??ɨ:D >:dt;:CCy^AbdHIjIj)7٢n? Z=9(.! %G٣%1Gy-Ĥ 5> =Nusing accuracyPremultiplier from config9EF49=a\?EF4Y=y i=AAE>M?=qB=a:=:=;F4U:B UIBUEllllzl]]]]%@ I ɚiI4A>i)GGGzKKKS9KKK V]S*oLBOU=Will construct direction to contact in vehicle frame from tetrahedron phase data. U$?IY) H] >IY  I] jHI] UAI] `=&IY .IY 6I] <:I] FBICJICRIZI_=bI_=jI 5e Will construct direction to contact in vehicle frame from tetrahedron phase data.O;w,!v}A2ߕ>Y2j?2`*92f=y2H/?##߿ָ??!ؿ`g?R??ɨ2ߕ>2e;2@Cy>4A> bO=9fp+dd fG٣hyjԩ j> rNusing accuracyPremultiplier from configlrF49n4\?rF4Ynv inAtv>v?nBn:n@:nfIF4x zHB~Elll!l)zl]]]]wm%@  I  )ɚ1i1I5@>i1)9GaBqO=Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I1J fJ RJ kJ J |":J S29J (N5J J 4;J 7;J P<:J R<:;w,FAy=A=hHIMiIM%7٢]> ]A=9eQ e>ii uG٣qy} }> Nusing accuracyPremultiplier from configF49NJ\?F4Yes iCA?BD;;:XF4 HBllllzl]]]] II Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚiIB@>i)GiBO=zK gNK H9K K K h?yrpYE3"{rid Will construct direction to contact in vehicle frame from tetrahedron phase data. 5 $?I1 };w,aAy%?A%iHIE IEf#7٢e> eJ=9aQ e>ii mG٣m1Gyq u> }Nusing accuracyPremultiplier from configyF49}t_\?F4Y}2p i}A?}!B}:}L:}LfF4 TGBEllllzl]]]] I ɚiIB?>i)G>G>GBZHRH@AH>I IznHIAIe=&I(D.I6Id<:IwFO=%Will construct direction to contact in vehicle frame from tetrahedron phase data.il>Il>;w,A>Will construct direction to contact in vehicle frame from tetrahedron phase data.R>YR>R%9R=yRH _?@Eٌ߿ k?x?ֿ@L?.?Io?ɨR>Rd;RBCy~A~kH $?IKf/$?MbX9/$?l?ʡ,= )YuV?Zd;O ?=9z-=Q > G٣y% %> =Nusing accuracyPremultiplier from config1=F495u\?EF4Y5m i5VAE J?E:E>E?5B5 ;5;5IuF4U8B UFBU}Elalalilizli]#>]#>]O@]n@ 隝UI ɚiI[?>i)Jm^JmNJmdJiJm} :Jm!9Jm75JiJm:Jm :Jm:Jm:GBO >-Will construct direction to contact in vehicle frame from tetrahedron phase data. G% xA9 u ѿYu xAyu A-Ը;w,Ay%7A%mH))I5I5Z 7٢Mk? MV=9UQ U>QQ ]G٣Yy] ]> Nusing accuracyPremultiplier from configF49\?F4Y\k iA?4B"::F4 EBllllzl]]]]! !%I! )ɚ)i)I-h>>i1)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}OOKyKyK} K}d`Z[VQFC@=<:983/.0/0,))%!  .6+ GBO= $?I*Ja"Jea=H>IC IrHI{AIj=&I.I,D6I<:IF- Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,ͯAJ݀>YJ>Ju#9J=yJH?߿@߿ ^?@?տ`?@?c?`?ɨJ݀>Jc;JACynAnsoHIzIz7٢~> Q=9   G٣1Gy > %Nusing accuracyPremultiplier from config%F49\?-F4Y(i iA)->-?B:':CF41 =EB=zElIlIlQlQzlQ]q]q]q]uDm@ 隍MI ɚiI>>i)GGGyBO=) Will construct direction to contact in vehicle frame from tetrahedron phase data. I ;w,HA6{>Y6>6"96遡=y6H?[߿߿E'?K?տ?H:?(?ɨ6{>6a ;6@CyBABqHIVfIV7٢j> nM=9%)) 5G٣1y]_m ]> uNusing accuracyPremultiplier from configiF49m\?F4Ymf imsAũ>?mBBm;m;mF47B qDBwEllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.i])])])]-Εm@Y aeIa aɚaiaIm5>>ii)qGiByO= Will construct direction to contact in vehicle frame from tetrahedron phase data.zK qNK 9K K K   @x}oigr}ocTI?60*++'"  $?I ;w,0e2A2k8t>Y2X>2-"92Ԣ=y2H?/޿߿?? Kտ@~?c??ɨ2k8t>2`;0yNARrHIZIZd7٢bP> bL=9f;Q j>lp rG٣pyv z> ~Nusing accuracyPremultiplier from config|F49~\?F4Y~d i~A 3> ?~ƌB~`;~;~RF4 CBl)l)l)l1zl1JyJyJJOJeJJJ%9J:5Ja@a@a@a@] ] ] ]  m@9 9=sI9 AɚAiAIEc=>iA)IH>IC IDwHI AIu=&I.I)D6I<:IFGIBYOu=Will construct direction to contact in vehicle frame from tetrahedron phase data.w;w,JCLA2Will construct direction to contact in vehicle frame from tetrahedron phase data.y~ A~tH %$?I!S㥛? ףp= S㥛?$F?Q/< )Y"~?Cl绿X9v?y3?;߽<>fB TB)BIyHBII;7٢@> :=9Q U>QQ ]G٣]1Gy] ]> eNusing accuracyPremultiplier from configamF49e:\?mF4Yeb ieYAuJ6?u:u>u?eHBe ;el;eF4y }BBsEllllzl]=]=]Y@]z@ I ɚiIv=>i)G>G>GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,y fA25Gb>Y2>2X!92=y2HE_?$޿߿@?$?Կ?4?P?ɨ25Gb>2;2CCy>A>vHIF>IF7٢? X=9   G٣y F => ENusing accuracyPremultiplier from config9EF49=4\?MF4Y=a i=AIMy>M?=B=j:=:=F4y }"BByllllzl] ] ] ] y@I IMgII ɚ iIq =>i)uWill construct direction to contact in vehicle frame from tetrahedron phase data.zK>NKý9KK K  "ArnWC7,%("#$  $?IGIBYOu>*JC="J=J\JNJbJJ=:J!9J*15JH>IڎC I{HIAI|=&I)D.I$D6I<:IF% Will construct direction to contact in vehicle frame from tetrahedron phase data.@;w,A2 X>Y20>2!92n=y2H,?mݿS߿?@A?~Կ?E??ɨ2 X>2ݢ;2@CyNARwxHIZIZ7٢b&> bO=9br;Q b>dd fG٣dyjcϼ j> rNusing accuracyPremultiplier from configlrF49nc]?vF4Yn<` inAtvo>v?n$Bn:nH:nF4z6B zjAB~pEl l l lzl]]]]x@ I ɚiI<>i)GBO=}Will construct direction to contact in vehicle frame from tetrahedron phase data. I(;w,ԙA6UL>Y6J>6s!96 =y6HQ? ݿ߿ H ? Zf?`1Կ@a??[?ɨ6UL>6{`;6ACyBABXzHIJIJ7٢R> RL=9Vo:Q V>XX ZG٣Xy^A b> fNusing accuracyPremultiplier from config`fF49b]?jF4Yb^ ibXAhj7d>j?bBb:b':bF4l r@BrmElxlxlxl|zl|]]]]Ex@) )-qI) )ɚ)i1I5u<>i9)AGQGQWill construct direction to contact in vehicle frame from tetrahedron phase data.GB!OE= Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I zK !MK 9K K K  CR;w,ﭳABt@>YB`U>BD!9B=yBH>?`/wܿ,??@v9Կ@?ྸ??ɨBt@>BD:;BBCyNAN|HIV9IV`7٢^> bI=9b:%Q b>dd fG٣f1Gyf j> nNusing accuracyPremultiplier from confighrF49j &]?rF4Yj] ijAprAX>r?jBj`;j;jF4x z?Bxll l l zl ])])])]-w@QJeZJeKJe]JaJe9JeK9Je!5Ja quIq qɚqiqI}@<>iy)HEZ>IEΎC IEHIEGAIE=&IE*D.IED6IE]<:IEFBICJIގCRICZIu=bIw=jI%7GaBiO=Will construct direction to contact in vehicle frame from tetrahedron phase data.&:;w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6YP4>Y6R>6|-!96˭=y6H ?ۿ@b5@?@?ӿ?n??ɨ6YP4>6 ;6CC DIDyvkAv}Hv?~jtxʡE??Ļ-= )YS?I +Q?y/?94\>IeB \NB)BIyDBII 7٢> <=9hQ > G٣yr > Nusing accuracyPremultiplier from configG49F6]?G4Y[ iA2?:>?wB;;G4 7?BjEllllzl]=]=]9@]>) )-I) 1ɚ1iI;>i)GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. d;w,EcA6)#'>Y6>6zw!96x=y6H@r? Jڿ`mZ??Pӿ?c?d?ɨ6)#'>6;6BCyBABHIJIJ-7٢R4? V\=9VfGQ V>TX ZG٣XyZ  Z> bNusing accuracyPremultiplier from config`fG49b1D]?fG4YbJZ ibAdfΫ>f?bяBb3:bv:bG4l ru>Bplylllzl]]]]z>  I ɚiIFa;>i1)9GM>GM?G)B9OU= u$?Iq}Will construct direction to contact in vehicle frame from tetrahedron phase data.zKE"TLKE{9KAKE KEip>Ip>JyJ}LJ}\JyJyJ}q9J}5JyH=<>I=ɎC I=FHI=AI==&I=+D.I=D6I=<:I=FE Will construct direction to contact in vehicle frame from tetrahedron phase data.KA2U>Y2>2&!92=y2H?ٿ0`?`*?n}ҿ@?ׯ?`?ɨ2U>2o;2CCyBYABHIJIJ7٢R4> RK=9R>Q R>TT VG٣V1GyZ Z> bNusing accuracyPremultiplier from config\fG49^`S]?fG4Y^X i^Adf>f?^2B^:^:^G4h n=BngEltlxlxlxzlx] ] ] ] :>! !%I! !ɚ!i)I-D ;>i))1G1BAO]= aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.|u >Y>m>>3,"9>t=y>HI'?ٿeF?^?<ѿ`S? ? ?ɨ> >>"; ^I=9^Q ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighnG49jb]?nG4Yj'W ijhAlr>r?jBj ;j? ;j6+G4t v =Btllllzl ]!]!]!]%ڙ>1 9=AI9 9ɚAiAIE}:>iA)IWill construct direction to contact in vehicle frame from tetrahedron phase data.GYBaO}=)%= !HGxA ˿YxAy?A U $?IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK 9K K K  Y2>2"92hP=y2H=?@.-ؿ@< t?c? ѿ]?Pl?H?ɨ2>2#;2BCyRARgHII6٢%> %D=9-MnQ ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAMG49Ezr]?MG4YEU iE$AQU >U?EBE:E:E9G4]5B ]ci)GGjH<bH<H>IŎC IHIAI=&I.ID6I<:IFGBO= Will construct direction to contact in vehicle frame from tetrahedron phase data. i )  A IA :#9:@=y:H Q?A׿ w>?`4?`|rп?u?۫?ɨ:+S=:;:CCyFAF[H+?Q~jt?v^?u< )YV-?L7A`?HzG?y|??+>= >`B )BIyBBIIT6٢<> C=9{Q > G٣2Gy > Nusing accuracyPremultiplier from configG496]?G4Y~R iA~E?:??jB5;;mHG4 ;Bllllzl]Y>]Y>]=@])@ bI ɚiI9>i!)!G BO5=J 895K 4C5 K 2KK"KJQJQJU]JQJQJQJU!5JQJU:aeJU:aeJUD:amJUF:auWill construct direction to contact in vehicle frame from tetrahedron phase data.6:q#9:K=y:H`c?_ֿ o/?1?ԋϿ`?@??ɨ:d=: ;:BCyRAR0HIbIb6٢j1> nW=9nQ r>pt vG٣tyz z> Nusing accuracyPremultiplier from config G49]? G4YO iA&??ґBR;(S;UG4%3B -:B-aElIlIlIlQzlY]]]]t(@   I  1ɚ1i1I5n9>i1)9 $?IGIBYmWill construct direction to contact in vehicle frame from tetrahedron phase data.O}=zK=:KK=ý9K9K=K=RKE>JKE ?H>IC IHIAI=&I,D.ID6I<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data.A  #9 zYl=y H`v? sտ `?`?`$οL?@?`?ɨ X= 27; CCy%@A%HI5I5 6٢E> EC=9Ma\Q M>IQ UG٣QyU ]> eNusing accuracyPremultiplier from configYeG49]]?mG4Y]L i]Aim@ ?m?]BB]:]@:]XdG4y }G:Bllllzl]]]]a'@ I ɚiI'9>i)G>G>G)B1OU=Powering down) iI $?IJf}Will construct direction to contact in vehicle frame from tetrahedron phase data.Je YJe OJe WJa Je 9Je %9Je 5Ja Je :Je :Je &:Je &:&2,$92 T=y2H`?ুԿ ?H?@&̿@$?` zP=9~qQ ~> G٣ 2Gy ]  > Nusing accuracyPremultiplier from configG49ǯ]?G4YI i\A!%?%?B6;;rG4) -9B1lAlAlIlIzlI]a]a]a]e|&@y y}WIy ɚiI8>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= I Will construct direction to contact in vehicle frame from tetrahedron phase data.w,:3j$9:>=y:H@4? ӿ`ҙ?mr?4˿*?@9??ɨ:~=:>;:@CyBAFHINLIN6٢V> VO=9VQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fG49b]?fG4Yb#G ib Adf?j?bBb:b3:bG4l n8Bn^Elxlxlxlxzlx]]]]%@ZHyRHyH>IC I݈HIAI=&I.I D6I<:IF I ɚiI`8>i)GBO5=Will construct direction to contact in vehicle frame from tetrahedron phase data. I 3F$9Fm+=yFH?`ՠҿ`F`]?z?@ɿ-?1??ɨFK=F!y;Dyb]D<]6ZB ]MB)]?BIYYy]f>BIuIu6٢ r>  6=9^fQ > G٣y > -Nusing accuracyPremultiplier from config!-G49%.]?-G4Y%kC i%A5KV?5}:5>=?%B%H!;% ;%G4A EH8BEZElYlalalazla]}~4>]}~4>]}?]}@ 隕óI ɚiI7>i)GGGqByO=JUXJUJJUQJQJU{9JU&9JU4JQJU:JU:JU:JU:Will construct direction to contact in vehicle frame from tetrahedron phase data.w:JHi$9Jw_=yJH?=ѿ3`&?`,? \ȿ *??ޚ?ɨJb =Je;HyZA^aHIjIj6٢r? r_=9v!:Q v>tt zG٣z2Gyz z> Nusing accuracyPremultiplier from config|G49~m]?G4Y~s@ i~qA  > ?~.B~U:~:~bG4 7Bl1l1l9l9zl9]Y]Y]Y]]g@i im8Ii iɚqiqIuQ7>iy)y =$?I9GQBaO}=mWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLK=9KKKH}v>I}C I}HI}AI}=&I}-D.I}D6I}I<:I}FBImǾCJImǾCRIiZImǴ=bImdz=jImǖP7 Will construct direction to contact in vehicle frame from tetrahedron phase data.@20$92=y2H@? п E?&?'ǿ7%?@? ?ɨ2$<2x!;2CCy>AB&HIJIJ6٢vp> zJ=9zl ;Q z>|| ~G٣|y > Nusing accuracyPremultiplier from config G49 ]?%G4Y == i A!%B>%? B =; f=; G4) -6B5WElAlAlAlIzlI]a]a]a]e@y y}Iy ɚiI57>i)GBO= )I)}Will construct direction to contact in vehicle frame from tetrahedron phase data.Ja Je FJe MJa Ja Je 9Je 4Ja Je :Je :Je 9Je 9G2/#92 =y2Hv? п R5?[? zƿ#?` g? ?ɨ2w^<2n2;2BCyBABHIJIJo6٢R> RO=9Ve;Q V>TT ZG٣XyZ0 Z> bNusing accuracyPremultiplier from config\bG49^^?bG4Y^2: i^AdfG>f?^?B^ :^ :^SG4h j%6Bhlxlxlxl|zl|]]]]@ 隍}I ɚiI6>i)G>GWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO= $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.=M6u#96J=y6H`?ο]??Ŀt?&? ?ɨ6_2;6;6CCzKNKKN9KLKNKN'$$% yVAV؊HI^I^6٢f[> fH=9jk;Q j>hh nG٣n2Gynټ r> vNusing accuracyPremultiplier from configpvG49rq$^?zG4Yr7 irUAxz>z?r˕Br:rX ;rG42B 5BTEljH<bH<H%>I%C I%HI%fAI%=&I%.D.I%D6I%<:I%Fl9l9l9zlA]Y]Y]Y]]g,@i im5Iq qɚqiqIu{q6>iy)yGQBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 9$T:v#9:  <=99;Q > G٣y֚ > Nusing accuracyPremultiplier from configG49>^?G4Y5 iAX?z:G1>?mBI;;G4 4BQEl l l lzl]x>]x>]v5?]u`? I ɚiI`6>i)GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.EȀGexA 1YxAyAPZ:<}"9:-g U=9@;Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=G495U^?=G4Y5t4 i5,A9E)>E?5B5h;5;56G4I M4BMNElalalalazla]]]]5t? $?I 隭uI ɚiIݱ5>i)GGGBO=MWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLKH9KKKHj>IC IHIAI=&I0D.ID6It<:IF*JUR="JUp=J]VJ]EJ]IJYJ]9J]8J]F4JYJ]n:J]s:J]9J]"9 Will construct direction to contact in vehicle frame from tetrahedron phase data.{9a@Y> P>>!9>H zF?P̿ S?5?`Xÿ ?@7N?`B?ɨ>@>Ƭ; nN=9r);Q r>tx zG٣z2Gy~ I ~> Nusing accuracyPremultiplier from config G49m^? G4Y:3 iA  #%>?B:: G4 {3Bl1l1llzl]]]]? -I ɚiI OS5>i)G BO-= I]Will construct direction to contact in vehicle frame from tetrahedron phase data.bg6a!96D =y6HHU?˿yA ?6?`Rÿ@?? ?ɨ6h@6;4y>A> HIF!IFX6٢R> RN=9R;Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\bG49^Յ^?bG4Y^2 i^A`b">f?^#B^*;^*;^G4h n2BnKEltltlxlxzlx]]]]-6?! !%I! )ɚ)i)I-]4>i))1Will construct direction to contact in vehicle frame from tetrahedron phase data.GB9Oe= }$?Iym Will construct direction to contact in vehicle frame from tetrahedron phase data.m:\ 9:=y:H 9^?̿2nu?@4? ÿ?@? ?ɨ:i^@:s2;:BCZH`RHb?AHf>If}C IfHIfAIf =&If2D.IfܺD6If<:IfFzKnKKn9KlKnKn#@nF X   x5E#yvnAvHII6٢> D=9r;Q >JJJ%WJ%FJ%GJ!J%;9J%9J%c4J!J%,:J%1:J%d9J%i919 =G٣9yEv@ E> MNusing accuracyPremultiplier from configIUH49Mw^?UH4YM0 iMZAQU!>U?MBM[;MF;M H4e1B e,2BeHElylylylyzly]]]]+? 隭I ɚiIw4>i)G>G>GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. m $?Ii Srt:W 9:;=y:H@f?̿ t~?*?@ Ŀ8? 6?@?ɨ:_@:;:ACyA%HB`"?K7S㥛N?I /ݼ )Y&1?+ǿL7A`尿yP?v>+aIB DB) BIyz3BII6٢ >  ;=9;Q > G٣2Gy%A9 %> -Nusing accuracyPremultiplier from config)5H49-^?5H4Y-51 i-A=V?=|:=`=?-bB-;-t;-H4A E1BEEEllllzl]L=]L=]@]@  15JI1 1ɚ1i9I=@4>i9)AG)B1OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.z eU=9eQ m>iq uG٣qy} }> Nusing accuracyPremultiplier from configH49o^?H4Y1 iA?B:7 ;**H4 0BBEllllzl]]]] ٤I ɚiI3>i)G BO5=MWill construct direction to contact in vehicle frame from tetrahedron phase data.H>IsC IHI*AI( =&I3D.IԺD6IJ<:IFJ]VJ]IJYJYJ]9J] 9JYJYJ]W:J]\:J]Z9J]_9zKf OK9KKKT:  YgL4" RK>JK> Will construct direction to contact in vehicle frame from tetrahedron phase data.脁R#9Rmw=yRHx?n<οnD? ?'ǿ`Y?c??ɨR=f@R;Py^|A^lHIjIj6٢r> rS=9v$tt vG٣xyz; z> Nusing accuracyPremultiplier from config|H49~8^?H4Y~1 i~\A  N ?~B~:~H:~7H4 $0Bl)l)l)l)zl1]I]I]I]Mh @a aeIi iɚiiiImʟ3>iq)qGGGBO= $?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.:9:6=y:HN?zο?@_?gȿ?4??ɨ::d@:Y;:BCyRAR=HIZ IZ6٢f1> fL=9j;Q j>hh jG٣j2Gyn n> rNusing accuracyPremultiplier from configpvH49r_?vH4Yr]2 irAxzHz?rBr/:r:rEH4~0B y/B?Ellllzl]9]9]9]=]@I QU/IQ QɚQiQIUN3>iY)aWill construct direction to contact in vehicle frame from tetrahedron phase data.iG9BYOu= Im Will construct direction to contact in vehicle frame from tetrahedron phase data.؍I6nC I6HI6kAI61 =&I4.I6ѺD6I6F<:I6FBI-}CJI-CRI-CZI- =bI- =jI-8Fdf@YFL>FK9F8=yFH`B?`Ͽč?`c? Qɿ?D?@?ɨFdf@F;F@CyVAV H)X XJ!J%J%CJ!J!J%u9J%4J!J%S:J%X:J%0;J%0;zK]"MK]{9KYK]K]I~ I~i6٢> ?=9;Q > G٣y!: > Nusing accuracyPremultiplier from configH49_?H4Y2 iA @?B::TH4 .Bi)GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I 6(96;=y6H ՛?[)пcg{? ?ʿy? m`??ɨ6c@6;6BCy^A^ HFx?!rh̿Mb?+?lg= )YʡE?~jtп{Gzy=?#HB :B)BIy.BI I6٢"> D=9u;Q > G٣yE> > Nusing accuracyPremultiplier from config H493_? H4Y%4 ieA H?:B?IB;;3cH4 .B%9El1l1l9l9zl9]UJ=]UJ=]U@]U@a imCIi yɚyiI2>i)G5>G5 ?G BO5 >Will construct direction to contact in vehicle frame from tetrahedron phase data.o:i9:#=y:H@?WSп@J ?>?`˿h?`ʵ?9?ɨ:\@:I;:ACy^:A^HIf Ifп6٢r? v\=9v;Q v>xx zG٣z2Gyz z> Nusing accuracyPremultiplier from config| H49~H_? H4Y~d5 i~A  A ?~ʜB~8;~j;~*pH4 C-Bl)l1l1l1zl1]Q]Q]Q]U@i imŝIi qɚqiqIu-c2>i)GBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.He>IelC IeHIeAIa&Ia.IeϺD6Ie<:IegFzK>KKý9KKK$@SlDJUJEJBJJ9J8J-4JJ:J:J9J9 Will construct direction to contact in vehicle frame from tetrahedron phase data.sա2D'92=y2H`R?=zп}+?@?(̿T?@S??ɨ2W@2u;2DCyNARƕHIfl IfQ6٢el> mB=9m;Q m>qq uG٣qy}˺ }> Nusing accuracyPremultiplier from configH49=`_?H4Y6 iA%A?\B%;;~H4 ,B6Ellllzl]]]]@q 隍pI ɚiI2>i) U$?IQGiBqO=]Will construct direction to contact in vehicle frame from tetrahedron phase data.=,|9=0=y=H?@п ?f?̿6C? ??ɨ=M@=j;=CCyUAUHImB Im6٢u7> }J=9};Q }> G٣yA > Nusing accuracyPremultiplier from configH49w_?H4Will construct direction to contact in vehicle frame from tetrahedron phase data.Y+8 i)A5A?B < < H4/B +B3Ellllzl]]]]@) )- I1 1ɚ1i1I51>i9)9GQGQGQBYOu= E$?IAm Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHY RH] @AHe h>Ie iC Ie EHIe ?AIe 2 =&Ia .Ie ͺD6Ie <:Ie aF6292=y2H@?п`O?@?̿M-?`Ƹ?`'?ɨ2G@2;2ECyBABHIJ= IJ6٢RH? RW=9R TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\bH49^_?bH4Y^s9 i^WAdf@f?^nB^ ;^P:^XH4h j+Bhlxlxlxlxzlx]]]]5@ 隥{I ɚiI1>izK&NK 9KKK|vui\NA8/% '$  "  )GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.  I ] Will construct direction to contact in vehicle frame from tetrahedron phase data."6 96,=y6H`?`п`i??@2̿ ?@?2?ɨ6-;@6;6BCy^A^rH b>b=n?sh|?ſMb`?VN?); )YI +?̿MbX9?y94?ffʡ=?JB 0B)HBIy+BI I6٢> 6=94;Q >    G٣ 2Gya > Nusing accuracyPremultiplier from config%H49͢_?%H4Y: ivB%H>?%:%Q-?BL$;$;H41 5k*B50ElQlQlQlQzlY]u#>]u#>]uƟj@]uu@ 隅I ɚiIE1>i)GaBqO=JWJIJCJJ;9J 9J4Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I nH:Q89:J=y:H/? `п<`? ?7 Ϳ?g?=?ɨ:4@:K;8yFwAFhHIZ& IZq6٢j ? n`=9npp rG٣tyv v> zNusing accuracyPremultiplier from configx~H49z_?~H4Yz< izBQ?zhBz;z;zֶH4  )B -El)l)l)l)zl)]I]I]I]Mpu@Y aeIa aɚaiaIeX 1>ii)iG>GG9BAO=Will construct direction to contact in vehicle frame from tetrahedron phase data.HZ>IgC IkHIAI8 =&I4D.I̺D6I<:INF*JC="JzK|MK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.2F.9F?+>yFH@ ?@jп _ ?[?%Ϳ@J?}?kQ?ɨF@Fo;FACyA5HI= I=6٢]2> eB=9m=qy }G٣yy > Nusing accuracyPremultiplier from configH49_?H4Yt= iBS?B~; q;H4 (Bllllzl]!]!]!]%u@9 AE:IA AɚAiAIE0>iI $?I)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.Jkc4Kk4 Kk1KcKc"KcJ VJ DJ BJ J 9J 8J -4J ^ZFP9F>yFH?Hп4?/?Ϳ ??`\?ɨFI@F-݉;FCCyRGAR"HIZ IZ6٢bK> bU=9f1;Q f>dd fG٣j 2Gyj,Ļ j> rNusing accuracyPremultiplier from configlvH49n_?vH4Yn> inBtzRUz?naBn(;n(;nH4| ~:(B*Ellll}Will construct direction to contact in vehicle frame from tetrahedron phase data.zl]]]]i|u@ I  ɚ i I 0>i)GBO%= $?I- Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH <H R>I fC I HI BI 4 =&I .I ˺D6I 0<:I lF#B<9B`>yBH&?@2п@;? =?̿@[??f?ɨB@B;BECyNANHIV IV6J`JbBA٢ft> fK=9ff;Q j>hh jG٣hynH n> vNusing accuracyPremultiplier from configpvH49r_?vH4Yr @ ir4BxzUVz?rޠBr@:r:r H4~.B 'B'Ellllzl]1]1]1]5ju@I IU[IQ QɚQiQIU`0>iY)YGqGusAzK^LKKKKBK):K)G1B9Ou=Will construct direction to contact in vehicle frame from tetrahedron phase data. yIy= Will construct direction to contact in vehicle frame from tetrahedron phase data.lB9B>yBH 6? п@d@?'?̿8?`??r?ɨB@B);@ybAbH\(\?I +zG?:?94 = )YK7?S㥫S?yI,?/]>GB !+B)BIy'BI I6٢U> U8=9];Q ]>YY ]G٣Yye3 e> mNusing accuracyPremultiplier from configiH49m`?H4Ym? imB1?: =?mPBmA;mg;mH4 &Bllllzl]f=]f=]H-T@]ϛb@Q QUIY YɚYiYI]#0>ia)aJWJJCJJ;9JJ4JGBO )>Will construct direction to contact in vehicle frame from tetrahedron phase data. e $?Ia ٘29S92S>y2H@D?@UϿv@T??Y̿? 8?~?ɨ2@2cv;2DCyN=BNH)P P V=Vp=IZJ IZA6٢~m? ~[=9;Q  >    G٣  2Gy» > Nusing accuracyPremultiplier from config%H49`?%H4Y? iB!-=-?B<::H41 5 &B5$ElIlIlIlIzlI]i]i]i]mxb@y 隅I ɚiI)/>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.HD>IeC IHIBI6 =&I.IʺD6I<:ILFBIEgCJIEhCRIEŖCZIE4 =bIE4 =jIEū06*J4="J4=zKmqKKm9KiKmKm Will construct direction to contact in vehicle frame from tetrahedron phase data.~B9B>yBH hV? <Ͽi?8? ̿?t?o?ɨB@BT";BACyNBRwHIZ IZҪ6٢v> vL=9vxx zG٣xyz ~> Nusing accuracyPremultiplier from config I49#`? I4Y? iB  < ?B{:: I4 %Bllllzl $?I]]]]:b@) )-NI) 1ɚ1iQIU/>iY)YGIBYO}=Will construct direction to contact in vehicle frame from tetrahedron phase data.J VJ J BJ J 9J J -4J 696=y6H$h?<ο ^? bM=9fFhh jG٣hyj n> rNusing accuracyPremultiplier from configpvI49r3`?vI4Yrb? ir^Btv<v?rsBr:r:rI4| ~$B~!Ellllzl]1]1]1]5za@A AEII IɚQiQIU/>iQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.aia)iGBO= I Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH ?AH @>I  I HI ~BI 2 =&I .I 6I <:I @FN9NL,=yNH%z?$ο@P??b˿\?dɹ?ѯ?ɨN@NS;NACy^&B^H``If If6٢n$> nI=9rpt vG٣v 2Gyvλ v> ~Nusing accuracyPremultiplier from configxI49zD`?I4Yz=? iz(B<?z٢Bz;zV;z'I4 6$Bl)l)l)l1zl1]I]I]I]M a@a aeIa iɚiiiImSq/>ii)qG9BAOe=zKKKS9KKK}Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.2>92ų=y2H?r}Ϳ@ElB?`?@ZʿD?@*?`?ɨ2gs@2[;2BCy>B>H]tV?~jthy&1?]2?]D]`< Y)YY]X9v?Pn?!rh?y]3?]>]l=]CB ]'B)YIYYy]f%BIu Iu6٢> @=9' G٣y > Nusing accuracyPremultiplier from configI49YV`?I4Y< iB8?:>?NB;};6I4 #BEllllzl] >] >]0/?]@  I  ɚiIG/>i)GaBqO=EUGYy SYyAuWill construct direction to contact in vehicle frame from tetrahedron phase data. I 2[92=y2H ?̿2W?{?@ɿ`'?`?`?ɨ23[@2ׅ;2ACyRTBRHIZ IZs6٢b> bX=9bQ5dd fG٣dyjI j> nNusing accuracyPremultiplier from configlrI49n.f`?rI4Yn: inBpvl>v?nBnt.;n},;nCI4x ~#Byllllzl]]]]|8@ VI ɚiI$/>i ) Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO5=H-5>I-cC I-HI-BI-5 =&I).I-ɺD6I-<:I-FJJFJAJJJ9J4JJR:aJW:aJV9aJ[9azK &KK K K K 'bpY?*   Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,7 A2A@Y2(>2y92N=y2H@M?;?̿$ඳ??ɿ?`?`?ɨ2A@2;2ECy>B>-HIF{ IFʢ6٢f5> fI=9jll nG٣n 2Gyr r> vNusing accuracyPremultiplier from configtzI49vWw`?zI4Yv8 iv B|~>~?v&BvK ;v ;v RI4-B ~"BEllllzl!]9]9]9]=@I IMEIQ Q ]$?IaɚQiI_/>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,J%A:,@Y:%>:9:=y:HD?˿`z??rȿ6?@f?@n?ɨ:,@:%Ɗ;:CCyFlBFݢHINp IN.6٢Z> ZL=9ZR6\\ bG٣`ybϻ b> fNusing accuracyPremultiplier from configdjI49fI`?jI4Yf6 ifD Blnc>n?fBf);f;f`I4p r!Btllllzl ]!]!]!]%%=@=Will construct direction to contact in vehicle frame from tetrahedron phase data.A E&>M&II IɚIiIIM.>iQ)QGm>Gm>G1BIOm= QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.jH! bH! H- 2>I)  I- nHI- BI- 4 =&I) .I) 6I- Q<:I- jF!=w,u?A2@Y2">2˪ 92m=y2H?`˿^߿@d:?$?ǿ`|? ޶??ɨ2@2;2BCJ@JBDJ@J@J@JB8J@J@J@J@JB9JB9ybBbHIjb Ijg6٢ ֠>  E=9 ( =G٣9yM׻ M> UNusing accuracyPremultiplier from configQ]I49U@`?eI4YU4 iU Bae׿>e?U BU;U;UnI4i uh!BuEllllzl]]]]<@ I ɚiIp.>i)GBO=zKMKػ9KKK  eWill construct direction to contact in vehicle frame from tetrahedron phase data. E$?IAa=w,MYA2f@Y2 >2z 92d=y2H -?ʿ`߿s?*?ǿ@?ࢩ?@'?ɨ2f@2V;2ECBWill construct direction to contact in vehicle frame from tetrahedron phase data.ybBb=HzG?I ++ W?9 )Y?/$?V-yfF?,>`9B \$B)-AIyBId I6٢> ?=9$1 G٣ 2Gy > Nusing accuracyPremultiplier from configI49ð`?I4Y{1 i B$K?:>>?Bl0;>/;}I4  BEllllzl!%B*** querying acoustic contact ***j!j!]=S>]=S>]=?]=O@I QUIQ QɚYiYI]'.>iY)aG1B9Ou==Will construct direction to contact in vehicle frame from tetrahedron phase data. =2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode. - $?I) 3=w,-sA2@Y2p>2 L 92t_=y2H  ?`Oeʿ`߿? @0?ǿ`ǐ??? X=9H G٣y%gm %> 5Nusing accuracyPremultiplier from config1EI495'`?MI4Y5. i5T BQU&>U?5&B5Z<5<5I4+B E BEllllzl]Y]Y]Y]]ܶ@i 隍݃I ɚiI.>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: user:757> BDAT read: Tx time:19:36:49.1629 $Ping request sent.IbC IHIBI3 =&I.I6I(<:IFFE}1>GGtA*JC="Jp=JUJEJ@JJ9J8JJ4JJ:J:J9J9GQBaO{>zKM HLKI KI KM KM RKU ?JKU ?M Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:19:36:49.1622 e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254360#=w,AF@YF>FH 9FG=yFH@ ?]ʿ$d߿?6?ߒƿu?? 1O?ɨF@FQ>;D `IdyjBjrHI Iף6٢M> UE=9Uyy }G٣yy'Z > Nusing accuracyPremultiplier from configI49l`?I4Y+ i B>?Bu;;gI4 BEllllzl]q]q]q]u@ 隍I ɚiIl.>i)E$>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502775qE)=w,A6@Y6>6s 96/f=y6H+?`GɿK߿?Q@?ھſ^?k?``?ɨ6@6jĉ;6BCybBfHIny In6٢v> vQ=9vxx zG٣z2GyzX+ ~> Nusing accuracyPremultiplier from config I49>`? I4Y) i B  > ?CB:v:I4%*B %PB-ElIlIlIlQzlQ]]]] T@ 隥I ɚiI.>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755652 $?IIfE=]&>GB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006805ZH RH @AH >I `C I HI ! BI 2 =&I .I ǺD6I <:I FBIcCJIcCRIʔCZI3 =bI3 =jI)5D-0=w,ܽAJ2VJ2FJ2BJ0J29J29J2-4J0J2S:J2X:J2W9J2\9B@YBf>B9Be=yBH6?ɿ.$߿@h?k>?@ ſ L?`"?@i?ɨB@BN;B@CyN{BRHIZq IZ<6٢bY> bM=9b3;Q f>dd fG٣dyj\h j> nNusing accuracyPremultiplier from configlrI49na?rI4Yn-& in/BtvH>v?nѧBn*:n@:nݴI4x }Byllllzl]]]]_@   I  ɚ iI{.>i)E!E!*E!"E!zKmKKmý9KiKm KmWill construct direction to contact in vehicle frame from tetrahedron phase data. i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259852G?G> $?IGBOh>V6=w, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511019:@Y:`>:-?9:fW=y:H@G>?@ɿ޿`?`9?{Eƿ 7=9;Q > G٣y%V@; %> -Nusing accuracyPremultiplier from config!5I49%z"a?5I4Y%w$ i%B5V?5}:=q@>=?%B%h;%K;%yI4A ENBE ElYlYlYlazla]}D6>]}D6>]}?]}l? 隕I ɚiI|.>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763682 $?I )<=w,rA2@Y2 >2\92=y2H0K?Gɿ ޿?8?`_ƿ(?`ܵ?`{?ɨ2@2;0yRBRHIZ IZd6٢f> fa=9jhh nG٣n2Gyn&W n> vNusing accuracyPremultiplier from configpvI49r9a?vI4Yr# ir.Bxz|?>z?rBr<:r':r'I4 BEllllzl]1]1]1]5?I IM}IQ QɚQiQIUyx.>iY)aGQBaO}=uWill construct direction to contact in vehicle frame from tetrahedron phase data.u?u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015416Hu >Iu^C IuHIuR BIu5 =&Iu5D.IuƺD6Iu<:IuFzK KK 9K K !K  PExceeded connect timeout, disconnecting.% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266924iC=w,NA I6_@Y6x>696:=y6H@WV?ɿ޿ ? 6?4ƿ@? m??ɨ6_@6;6ECyN BRHIb Ibq6٢S> E=9;Q %>!! %G٣!y-" -> 5Nusing accuracyPremultiplier from config1=I495Ta?=I4Y5! i5BAE>>E?5B5 ;5 ;5I4I MKBMElalalalizli]]]]d? 隽{I ɚiIu.>i)GBO=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922J UJ CJ ?J J 9J =8J ـ4J a @a @a @a @) ) I Y Y y 7A>I=w,A)(A2{@Y2`>292=y2H]?Nɿ ޿?z8?ƿ?@? ?ɨ2{@2rh;0yR BR/HI^ I^Ƨ6٢j> jO=9n/;Q n>pp rG٣tyvܻ v> Nusing accuracyPremultiplier from config|I49~,na? I4Y~ i~*B  r<>?~VB~?;~m(;~~I4! -B)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770933llllzl]]]]JJ? 隥yI ɚiIs.>i)  $?IGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023069jHe <bHe <Hm >Im [C Im HIm BIm 6 =&Ii .Im úD6Im +<:Im F)|P=w,BA6@Y6 ,>6A]96=y6H1d?ruɿ޿*K?`8?ƿ? φ?8?ɨ6@6 ;6DCyN BNЩHR8Not Powering down - fast GPSIPiRVTTVV V)VIViVVVZZ Z)ZI^ I^6٢f> fK=9j:";Q j>hl rG٣r2GyrS˻ v> zNusing accuracyPremultiplier from configtzI49v,a?~I4Yv ivB|M:>?vBv;v;vI4 )B AB El!l!l!l!zl!]A]A]A]E@?Q Q]wIY aɚaiaIer.>ii)iGqBO5=zKKKKK"K #.9C5XRadio surface powered OFF, will not connect. 5nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274859  $?IV=w,[A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527288:К@Y:G>:49: =y:Hj?ɿ ޿`ÿ?6 m'=9u:Q u>qq }G٣yy}6 }> Nusing accuracyPremultiplier from configJ49a?J4Y@ i:BS?:ꕽ?B;E; J4 BEllllzl]ec>]ec>]@] @ 隥ouI ɚiIq.>i)G?G ?GBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:36:52.5125 TRx dataTimestamp_ set to:1736365013.696739checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780003 I\=w,8uA6.}@Y6>696f=y6H o?`ȿ޿ ?_??Tƿ@?=c?t?ɨ6.}@6;6CCyR? BRAHIZ IZ6٢b> b=9fV:Q f ?dd jG٣hyj: j ? rNusing accuracyPremultiplier from configpvJ49ra?vJ4Yr irBtzz?r6Br;r;rJ4y }B}Ellllzl]]]] @ sI ɚiIq.>i)G BO==UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030826H>IUC I1HI BI9 =&I.ID6I<:I\F'E TFailed to parse incomplete device message.M Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:36:52.5125 LVL= 17712, 25569, 10786, 24819, AGC= 75, IDX= 317,-0.30,-0.392, 0.748, 2.235, 0.887, PHS=-1.190,-0.092, 1.345, RAW= 235.6, -0.6, CAL= 237.5, -2.0, ROT= 272.5, 2.0 $?I &c=w,A @^Ygot valid direction response: 19:36:52.5125 LVL= 17712, 25569, 10786, 24819, AGC= 75, IDX= 317,-0.30,-0.392, 0.748, 2.235, 0.887, PHS=-1.190,-0.092, 1.345, RAW= 235.6, -0.6, CAL= 237.5, -2.0, ROT= 272.5, 2.0 b8DAT read: $Error in header b*Received a bad headerzX@Yz >z9z=yzH@u?eHȿ׈޿@? JD? ƿ`??@?ɨzX@zyԊ;zECy  BEX#Rx 1: Read direction message, but no range.M`direction in FSK: [0.030972,-0.635296,-0.771647]y9}w?a!YTK-w?Uy}0E}c }"*)}`I}Ki}Q}j}(?}x@}+ } @)}5I}U1@i}5=y}/m&ۿje [?E|.F)}@I}% 9=9a:Q > G٣2Gy%" %> Nusing accuracyPremultiplier from config)J49-a?J4Y-z i-Bimu?-B-C<-6<-Y'J4y MBUEllllzl]]]](@ qI !ɚ!i!I%q.>i)))GB!O=Q>Will construct direction to contact in vehicle frame from tetrahedron phase data.Ji Jm EJm <Ji Ji Jm 8Jm [4Ji Ii=w,^AF1@YF >F) 9Fm=yFHpx? ǿ@޿W?I?ઝƿ@V? ??ɨF1@Fk;FBCyni BnHI~o I~ 6٢ l>  Y=9Q > G٣yW %> -Nusing accuracyPremultiplier from config!5J49%a?5J4Y%! i%B15=?%zB%;%B;%Q4J4E(B EBEElYlalalazla]y]y]y]}@Will construct direction to contact in vehicle frame from tetrahedron phase data.1 15ZnI1 1ɚ1i9I=q.>i9)A }$?IG!B1OM= Will construct direction to contact in vehicle frame from tetrahedron phase data.խ %=խ 4=ZH RH AAH% >I% OC I% ڮHI% +BI% D =&I% 6D.I% D6I% o<:I% Fp=w,NA6 @Y6>6$96f=y6H |?Vǿ@8޿?|M?=ƿ?k??ɨ6 @6B;4yB BBOH=@= =@= =@= =@= =Mb@Mb@Mb@=== =)9Y=n?X9vϿ rh?y=6?=}=C<=$'B = B)=AI99y=BI]^ I]/6٢m> mE=9mo5Q u>qq }G٣yy}* }> Nusing accuracyPremultiplier from configJ49Tb?J4Y" i B@?:ց?Br;;BJ4 gBllllzl XlI ɚiIPq.>i)G BO5=zK%NK%H9K!K%$K%Will construct direction to contact in vehicle frame from tetrahedron phase data. aIiv=w,S%A6Will construct direction to contact in vehicle frame from tetrahedron phase data.by@Yb@8=b`9bHh=ybH@;|? ƿ ׷޿?~R?uƿX ???ɨby@b;`yv Bv#HI ! I Ν6٢m> uP=9uQ u>yy }G٣}2Gy2 > Nusing accuracyPremultiplier from configJ49^b?J4Y$ iB$?B ; ;PJ4 BEllllzl iI ɚiI2p.>i)GBJ4K4 K0KK"KJ9J=@J=:J9J9J=[8J=FA4J9O]=Will construct direction to contact in vehicle frame from tetrahedron phase data.i U$?IY}=w, A2j@Y2t=292U'=y2H |?8ƿ޿C?V? ^ƿP ?c͹?~?ɨ2j@2o;2CCy:<B:HIF IFϛ6٢Nh> RR=9R.ºQ R>TT VG٣TyV< Z> ^Nusing accuracyPremultiplier from config\bJ49^2b?bJ4Y^& i^5B`fمf?^B^L:^:^'^J4h jBjEltltltltzlt % gI! !ɚ!i!I%n.>i)))G1B9OU=mWill construct direction to contact in vehicle frame from tetrahedron phase data.Hb>IIC IHIBIL =&I.ID6I<:IFBIuUCJIuUCRIuÛCZIu9 =bIu> =jIuk 7zK] :6LKY KY K] %K]  Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA  =w,Af@Yf@T=f9f =yfH`x?ƿO޿*y?@[? "ƿ??w?ɨf@f{;dynBnHeMb@Mb@Mb@aaa a)aYen?> ףp=ʿK?yeV.?eQe^=e(B eB)eAIaayeBI I6٢> ;=9tQ > G٣y > Nusing accuracyPremultiplier from configJ496Hb?J4Y7( iB7?M:MyU?B8<6<xmJ4Y ezBalylylylzl dI ɚiI;k.>i)G!B)OM>}Will construct direction to contact in vehicle frame from tetrahedron phase data.71=w,׿*AB1@YB@=Bb9B=yBH 3s?9ſ߿? \?Kƿ-%?̹?p?ɨB1@B;@yNBNHIV IVb6٢~> ~V=9~茻Q ~> G٣y   > Nusing accuracyPremultiplier from configJ49Zb?J4Y) iB%%? Be ; ;zJ4-'B -B-ElAlAlAlIzlIq y}aIy yɚyiyI}Dg.>i) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH 4<H &>I BC I HI &BI T =&I 7D.I D6I ӳ<:I F#=w,ɒDAJ0J2@AJ6TJ6AJ68J4J6{9J68J6'4J4J6[w:a:J6ew:a>J69a>J69a>F!@YF@=Fj9F=yFH m?ſ ߿c?^?`l ƿ@1?wŹ?`5i?ɨF!@F#;FECyN BR+HMb@Mb@Mb@ )Y?`"@5^I ?y,?b>$'B B)AIyBI[ I֒6٢ > >=9ćQ > G٣2Gy] >  Nusing accuracyPremultiplier from config J49"nb?J4Y* iNB5:3?=:==?B;s;J4A EBBAlylylylyzly _I ɚiI`.>i)GBO>zKeKKeͼ9KaKe&KeBKusA:KurA $?IJfWill construct direction to contact in vehicle frame from tetrahedron phase data. A=w,Ym^A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:=:nr9:~=y:Hc? %ſrC߿?-_? ƿ|B?뿹?e_?ɨ:@:ň;:CCyJBJHIR IR6٢Z? Z^=9^eһQ ^>`` bG٣`yf7 f> jNusing accuracyPremultiplier from confighnJ49ja~b?nJ4Yj\+ ijBlnr?jBjT ;j ;jJ4t v}BvEllllzl1 9=\I9 9ɚ9iAIEY.>iA)IGA SYyABO== IWill construct direction to contact in vehicle frame from tetrahedron phase data.k=w,'KxA2@Y2@=2 92_=y2H@Z?`ſ`_߿ }?`]?3ƿR??pU?ɨ2@2;2BCyRiBRײH)T TIZ IZ6٢f> fI=9fQ f>hh jG٣hyjFv n> rNusing accuracyPremultiplier from configpvJ49rzb?vJ4Yr3, irBxzz?rXBrK;r9O;rJ4 BEllllzl!A IMZZII IɚIiIIMO.>iQ)QGm?Gm>GBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.U=U=He>Ie6C IeHIeBIeb =&Ie8D.IeD6Ieo<:Ie0FJUJ?JJJ9J8JJJt:Jy:JO9JO9 $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= rKK= H9K9 K= 'K= ug_WQIDB?;5/)$ `S=w,$A>ݐ@Y>@=> 9>A=y>H@Q?ſ>}߿o?[? ^ƿb?*?J?ɨ>ݐ@>y;>ECyBHMb@Mb@Mb@ )YK7?MbS㥛?yI,?$> 'B B)AIyBI I%6٢(> ;=9DQ > G٣2Gy > Nusing accuracyPremultiplier from configJ49b?J4Y+ iB)1?:h=?DZB<;;(J4 <Bl)l)l)l)zl1Y Y]WIY aɚaiaIeC.>ii)iGBO>]Will construct direction to contact in vehicle frame from tetrahedron phase data.:}=w,A6@Y6T=6 96r=y6HH?`ſ߿OT? Z?@ƿp?x?@?ɨ6@6N;6DCyRBRwHI^] I^Ą6٢fm> f\=9fQ j>hh jG٣hyn:} n> rNusing accuracyPremultiplier from configpvJ49rFb?vJ4Yr+ irABxzd=z?r&Br:rQ:r*J4| BEllllzl E$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data. UI ɚiI 6.>i)GBO=ZHI RHM ?AH] >I] ,Cm Will construct direction to contact in vehicle frame from tetrahedron phase data. I] HI] gBI] v =&I] 9D.I] D6I] <:I] PFe=w,AJ"TJ"AJ"7J J"{9J"8J"4J J"Bw:J"Lw:J"9J"9y=OB=,HMb@Mb@Mb@ )Yi|?5?(\µ?'1Z?y1?="> B)AIyBIK IŃ6٢eH> e3=9mQ m>ii mG٣qyu u> }Nusing accuracyPremultiplier from configyJ49}ub?J4Y}%* i}+B7?:$t>?}B};}s;}J4 Bllllzl RI ɚiIY'.>i)GGG B 1I1OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK}"oNKyKyK}(K} $\{tif_[TNHC><8754540/..,-*(&(&"$$$#"#&&&=w,JA2Will construct direction to contact in vehicle frame from tetrahedron phase data.02QQ UG٣U2GyQ ]> eNusing accuracyPremultiplier from configamJ49eb?mJ4Ye( ieBiim?eBe:e:eJ4&B @BEllllzl OI ɚiI.>i)GBO= %$?I%IfWill construct direction to contact in vehicle frame from tetrahedron phase data.-=w,A6e@Y6!=6 96 >y6H#4?ſ߿)?QW?ǿ?Ǽ?"?ɨ6e@6;6FCy>BB߶HIFIF"|6٢N> RV=9RXzQ R>TT VG٣TyV2U Z> ^Nusing accuracyPremultiplier from configXbJ49Zb?bJ4YZ' iZBdfm>f?ZbBZF1;ZF1;ZSJ4l nBplxlxlxlxzl|! !%>MI! )ɚ)i)I- .>i))1GqBO=Ha>I&C IHIBI =&I.ID6Iش<:I#FuWill construct direction to contact in vehicle frame from tetrahedron phase data.uyFH i1?ſ߿`?,Z?`!ƿ@?@?@~?ɨFR@F;FGCyRFBRHUMb@Mb@Mb@QQQ Q)QYU|?5^?ˡE?i|?5?yU2?U'>U=Uq&B UB)UAIQQyU BIeIeBw6٢uM> u<=9}Q }>y G٣y[ > %Nusing accuracyPremultiplier from config%J49b?-J4Yi% iB5D:?5:5d>=?߳B]Z;C;J4a eBm޴Ellllzl JI ɚiIT->i)G >G >GBO>mWill construct direction to contact in vehicle frame from tetrahedron phase data.j=w,F-A64@Y6=6 96W>y6Hu1?ſص?k`?ƿ@=?? ?ɨ64@6{;6AC V$?ITybBb[HI~I~`u6٢ >  S=9 A̺Q  > G٣2Gy% %> -Nusing accuracyPremultiplier from config)5K49-c?5K4Y-r# i-BB15>5?-HB-j:-2;-K4A EgBAlYlYlYlYzlY 隍jHI ɚiI->i)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received-I$C IyHIBI =&I:D.ID6I<:IFBI,CJI0CRIȟCZIv =bIq =jI*7 Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,=GAJJAAJZTJZDJZ7JXJZ{9JZ8JZ4JXJZ5w:JZ?w:JZ9JZ95@Y5=5r 95R =y5H ףp=?333333?y";?Q>=f$B  B)AIyf BIIEs6٢> ;=9 _;Q  >  G٣y > %Nusing accuracyPremultiplier from config-K49pc?-K4Y iB-MC?-:->5?ϴBQ;;WK49 =B=۴ElQlQlQlQzlQ !%1FI! !ɚ!i!I-->i))1 $?IGB!OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK-FMK-9K)K-*K-   BK=tA:K=tAj=w,`A.Will construct direction to contact in vehicle frame from tetrahedron phase data.J~@YJy=JJ 9JGP=yJHD?@K ÿ ?{?xĿ@?n?1?ɨJ~@J^$;JCCyv BvƹHI~{I~p6٢-6> -Z=9-~;Q ->11 5G٣1y= > Nusing accuracyPremultiplier from configK49.c?K4Y iBP>?HB::$K4 ?Bl l llzl1y y}CIy yɚiI->i)GGGqByO= IWill construct direction to contact in vehicle frame from tetrahedron phase data.=w,{A6@Y6<=6 96B=y6HN?@!1¿u /?2?ÿ?`mc? =?ɨ6@6;6DCyBBB\HIJrIJo6٢V> VQ=9Z ;Q Z>XX ^G٣^2Gy^( ^> fNusing accuracyPremultiplier from config`fK49bE@c?jK4Yb ib{BhjG>j?bBb;b:b2K4n%B nBr״Elxl|l|l|zl|! )-AI) )ɚ)i)I-#->i1)1G!B1OM=H6>I"C IHHIBI&I.ID6I<:IF=Will construct direction to contact in vehicle frame from tetrahedron phase data.*J)"J-a= e $?Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,gA6@Y6<=6j 96_=y6HX?I  j? ?-¿x?@?@G?ɨ6@6(O;6ECzK>LK>9K<K>+K>RK^?JK^>ybBbHMMb@Mb@Mb@III I)IYMףp= ?|?5^?~jt?yM>?MR>M u@=9uv;Q u>yy }G٣yy; > Nusing accuracyPremultiplier from configK49Uc?K4Y tIi2 BE?:>?KBb;E;@K4 9BԴEllllzl ?I ɚiIڞ->i)GBO=]Will construct direction to contact in vehicle frame from tetrahedron phase data.)= e;Gy Yy;A?'AJU UJU EJU 6JQ JU 9JU 8JU 4JQ a] @a] @a] @a] @ Y Ia =w,Ay B HIaIm6٢5> 5M=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUK49Mic?UK4YM4 iM BQQ]?M϶BM ;Mz:MNK4a e BallllzlWill construct direction to contact in vehicle frame from tetrahedron phase data. 隽=I ɚiI->i)GG ?GBO=ZHRHH >IC IHIpBI =&I.ID6Iδ<:IF] Will construct direction to contact in vehicle frame from tetrahedron phase data.;=w,lyAJ$J$nC@YnԐ=n> 9nY>=ynHq?D`,߿"?f?nbX?K ?_?ɨnC@nΈ;lyzBz/HMb@Mb@Mb@ )YMb?sh|??Q롿y@?)>\&B  B)AIyzBIoI,o6٢=> @=9z0 G٣2Gyz > Nusing accuracyPremultiplier from configK49c? K4Y i}!B YE? : > ?cB;;]K4 H BѴEl1l1l1l1zl1i im;Iq qɚqiqIuc->iy)y $?IHfGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKqKKͼ9KK,K  $$'('')())''(()*('((%$$BK:K 1=w,[AWill construct direction to contact in vehicle frame from tetrahedron phase data.>@Y>a=>i9>9V=y>H,~?߿??M F?@Yٵ?j?ɨ>@>\; n]=9nm;Q n>pp rG٣pyvUL v> zNusing accuracyPremultiplier from configx~K49z c?~K4Yz iz"B|~>?zBz:zv:zjK4   B δEl!l!l!l!zl)Y Y]:IY YɚYiaIe}->ia)iGiBqO=JUWJUGJU5JQJU;9JU9JU4JQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.fU=w,A:@Y:x=:9:-=y:H׊? )N߿Ѫ?@ʰ?Fq@4?i?u?ɨ:@:ʉ;:GCy^BbLHdfAddIjpIjHo6٢r> rJ=9v;Q v>tx zG٣xyzW z> Nusing accuracyPremultiplier from config|K49~c? K4Y~ i~"B  > ?~pB~:~:~xK4#B ] Bl1l1l1l1zl9a aeY8Ia iɚiiiImkw->ii)qHE>IEC IEHIEBIE =&IA.IED6IE<:IEFGqBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.*JeR="Je%= $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.>>w,zA2b@Y2b=2H92d\=y2H?߿z?@? c"???ɨ2b@2 ;2CCyBKBBŽHzKrMKrH9KpKr-Kr&)(('%&%""!#!  "! RKz?JKz>MMb@Mb@Mb@III I)IYM#~j?+η?L7A`尿yME?Mv=M+M:B M~ B)MAIIIyMfBIezIedp6٢u/i> uB=9uL;Q }>yy }G٣}2GyQ > Nusing accuracyPremultiplier from configK49c?K4Y i2#BH?:dI>?B;;K4  B˴Ellllzl 6I ɚiI s->i)GB)OE=]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju XJq Ju 6Jq Ju {9Jq Ju 4Jq $?I h >w,/A2]@Y2L=2q92=y2H@?|J@e߿#? p? ue?ޥ??ɨ2]@2;2ECyBBBlHIJiIJn6٢~> ~R=9 ;Q > G٣y b  > Nusing accuracyPremultiplier from config}K499c?}K4Y i#BC>?B0m<Jm<)K4"B q BȴEllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.սAiչ 4I ɚiIq->i)G9BIOe=jH1bH1H=>I=C I=HI=BI= =&I=;D.I=D6I=<:I=Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.>S>w,IAJJbi@Ye4=E/9jp=yHN? ߿?? {??@?ɨbi@i͉;y7BHMb@Mb@Mb@ )Yx&?Mb?~jty7I?<B B)bAIyBIuIo6٢b> :=9  ;Q  > G٣y^ > %Nusing accuracyPremultiplier from config!-K49%c?-K4Y% i%M$B52J?5:5=5?%6B%o;%1;%K49 = B=ŴE U $?IYlalalilizli 隝!3I ɚiIp->i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK-vMK-S9K)K-.K-  BK9:K=sAw{>w,ɓcA2Will construct direction to contact in vehicle frame from tetrahedron phase data.Z?@YZ=ZQ9Z=yZH'?@:`}߿`K?B?w?h?o?ɨZ?@Z=;XyrBrxHIxIx٢П> ]=9 Z;Q  >    G٣2GyY` > Nusing accuracyPremultiplier from config-K49 d?-K4Yz i$B)5=5?BC*;*;tK49 = B9lQlQlQlQzlY 隭G1I ɚiIq->i)GBO =J=WJ=FJ=5J9J=;9J=9J=4J9 M!$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.$>w,;q}A2s @Y2m=2L192=y2H??*s߿?,?g?N?>?ɨ2s @2z6;2GCy>B>HIJdIJm6٢Rʁ> RQ=9Rل;Q R>TT VG٣TyZ腼 Z> ~Nusing accuracyPremultiplier from config| K49~F#d? K4Y~ i~O%B  Մ= ?~QB~G);~%);~mK4 0 B´El)l1l1l1zlQ 隝/I ɚiIt->i)H>IC I0HIBI =&I.ID6I;<:IFBICJICRICZI =bI =jI6GBO=mWill construct direction to contact in vehicle frame from tetrahedron phase data. 1I1 Will construct direction to contact in vehicle frame from tetrahedron phase data.5%>w,@A @6@Y6O<6=96%]=y6H?$`߿>?`Q?J`@? e?1?ɨ6@6;6DCyBBBHMb@Mb@Mb@zKM GLKIKIKM/KM   )Y?x&Q뱿yL?7\B 3B)IyBIuqIueo6٢> ==9Ϙ;Q > G٣yI > Nusing accuracyPremultiplier from configK49}=d?K4Yo i%BKN?:^?BM;2:=K4  BEllllzl -I ɚiIgy->i) G1BQOm=Will construct direction to contact in vehicle frame from tetrahedron phase data. 5 "$?I1 ݵ+>w,A6@Y6|<6<:96=y6H`?@wk S߿ ??C?@:?ڲ?ɨ6@6;6CCy^B^HInwInp6٢v> vT=9zf;Q z>xx zG٣z2Gy~ ~> Nusing accuracyPremultiplier from config K49OUd? K4Y i`&BMx?B::K4%!B %B B%El1lalalazlaWill construct direction to contact in vehicle frame from tetrahedron phase data.) )-+I) 1ɚ1i1I5->iY)aGIBaO}=ZHRH@AH>IC IHIBI =&I.ID6I:IF Will construct direction to contact in vehicle frame from tetrahedron phase data.JY J] @AJ 4K4 KT/KK"KJu `Ju GJq Jq Ju :Ju 9Jq Jq Ju ,:a Ju 1:a Ju 9a Ju 9a 2>w,0A -#$?I)Eچ@YEB<E9E6X=yEH? .@F߿5?^?Hoj?` 8??ɨEچ@EB;EECyU}B]HMb@Mb@Mb@ )Yy&1?MbA`"y`E?YB B)AIyAI5{I5p6٢EV> E/=9EIW;Q E>II MG٣IyM# U> ]Nusing accuracyPremultiplier from configQeK49Uqd?eK4YU? iU&BmH?m:mm?U,BU(;U ;UK4q uBuEllllzl V/>*I ɚiI}->i)GBO>UWill construct direction to contact in vehicle frame from tetrahedron phase data.zKgLK9KK0KX FhFI%T QOiE,'2"BK :K tA} G SY y A Will construct direction to contact in vehicle frame from tetrahedron phase data.9>w,AjpV@Yj+<j59j=yjHG?E<A߿#? ? Zv?)?t?ɨjpV@j.?;hy~B~eHI hI en6٢%> %`=9%99;Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9EK49=d?EK4Y=Z i=s'BAE%M?=B=v:=:=K4Q U4BYlilililqzlq 隥'I ɚiI->i)G?G?GBO= -$$?I)uWill construct direction to contact in vehicle frame from tetrahedron phase data.Q1?>w,A2+@Y2;2e925=y2HJ? g@߿>r?`?bm?@6??ɨ2+@2;2FCyBBBHIJ_IJfm6٢V> VR=9Z:Q Z>XX ZG٣^2Gy^^ ^> fNusing accuracyPremultiplier from config`fL49bd?jL4Yb ib'Bhj +j?b@Bb:b:bUL4H>IC IHI BI =&I.ID6Iɴ<:IFY ]B]Elylylylyzl 隭%I ɚiI->i)GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O=*J"J=JWJLJJJ;9Jq9JJJ:J:J:J: 5%$?I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.VF>w,AzK~PK~S9K|K~1K~ RK ?JK ?y BHMb@Mb@Mb@ )Yjt?{GzĿ:vy@?#TdB B)OAICBy BIZIl6٢b> 8=9Q > G٣y > Nusing accuracyPremultiplier from config L49۶d? L4Y` i(B E? :g?ܾB;>/;L4"B %5B%El1l9l9l9zl9a ae#Ia aɚiiiIm->ii)qWill construct direction to contact in vehicle frame from tetrahedron phase data.EM&>GqBO> ) I) RBL>w,k3A:@Y:@:f-9:=y:H ?3A߿m ?`jE `??`O?ɨ:@:;;8yBBBqHIJJIJk6٢R> Va=9V;Q V>XX ^G٣\y^Ѽ b> fNusing accuracyPremultiplier from config`fL49b_d?jL4Yb ib)BhjIqj?b\Bb:bL:b"L4p rBpl|lllzlA AE!IA IɚIiIIM~->iQ)Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ed/>GBO=jHbH=H|>I C IpHIX!BI =&I.ID6I<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J ZJ IJ J J 9J 9J J J _:J d:J 19J 69G,S>w,NMA n&$?IpZ@Y@9g.=yH@?]C߿N|?`\]?Ƶ?`?ɨZ@a;騅BCyޕ= BޝHMMb@Mb@Mb@III I)IYMOn?ʡEƿV-?yM8?M-2M u0=9}[:Q }>yy G٣2Gy > Nusing accuracyPremultiplier from configL49d?L4Y  i)B>?:.?B1;)0;2L4 BEllllzl  I ɚiI->i)EE*E"EeWill construct direction to contact in vehicle frame from tetrahedron phase data.G?G?zKUXLKU9KQKU2KUBKa:KerAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.hTY>w,!gAR@YRH@ROA9Rm=yRH?qNQ߿@腿?>e??@?ɨR@R;RECy^ B^HIfIfd6٢=> =i=9E'úQ E>II MG٣QyUl< U> Nusing accuracyPremultiplier from configL49d?L4Y iF*B\?pB;t;?L4 cBEll l l zl y 隅|I ɚiIH->i)GiByO= ($?I}Will construct direction to contact in vehicle frame from tetrahedron phase data.?<`>w,A6@Y6T@6Dx96 c=y6Hf? sa߿ċ ~? q?`A7? û?ɨ6@6;6DCHRO>IRC IRHIR"BIR =&IR vI=9v Q z>xx zG٣xy~V ~> Nusing accuracyPremultiplier from config L49% e? L4Y i*B?B:U:2ML4 %B!l1l1l1l9zl 'I ɚiIw->i ) Will construct direction to contact in vehicle frame from tetrahedron phase data.GB)O]=J[JLJ4JJ:Jq9J3JJ*:J/:J:J: )$?IIf Will construct direction to contact in vehicle frame from tetrahedron phase data.gf>w,HޚAy~"B~QHzKuKKqKqKu3KuRK?JK?Mb@Mb@Mb@ )Y(\?OnÿQ?y.?\=6 B A)OAIyAII^6٢Ӯ> :=9Q > G٣y >  Nusing accuracyPremultiplier from config L49 e?L4Y  i +B3?:+? tB 1; ; \L4%!B %4B%El9l9l9l9zlAa imIi iɚiiiIu[->iq)yGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. I pl>w,A:N@Y:^@:69:So=y:H?? ߿1T`? E??મ?ɨ:N@:F;:FCy^"Bb"HIfIf[6٢n> r^=9rlQ r>tt vG٣v2Gyv z> ~Nusing accuracyPremultiplier from configxL49zS1e?L4YzS iz,B?zBz;z);z_iL4 BEl)l)l)l)zl1EWill construct direction to contact in vehicle frame from tetrahedron phase data.a aeIa aɚiiiIm->ii)qGYBiO=ZHRHH'>IC IHI*$BI =&I.I|D6Ix<:IFBIe CJIe CRIeƚCZIeƕ =bIeƕ =jIe6Will construct direction to contact in vehicle frame from tetrahedron phase data.|s>w,{A >*$?I@Q3@YB@C9=yH?`b ߿ G?J?`_??ɨQ3@ ;騅ECyޝV#BޝH-Mb@Mb@Mb@))) )))Y-/$?ʡE?y-,?---=) -A)-9AI))y-AIE|IE@T6٢U> U4=9]Q ]>YY ]G٣ayeF e> Nusing accuracyPremultiplier from configL49Fe?L4Y i,BX/?:O?fB2;W1;yL4  B l!l!l!l!zl)I QUIQ QɚQiQIU->iY)YEWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOm>zKXKKKK4K&3i#:!+~:  =f9 BK:KtA Will construct direction to contact in vehicle frame from tetrahedron phase data.ݢy>w,jA2R@Y2-@2r92-=y2H?  ߿ ?@5@)?+??ɨ2R@2\;2CCyN $BRHIfcIf|Q6٢zk> ze=95Q >   G٣y# > -Nusing accuracyPremultiplier from config!5L49%Ve?5L4Y% i%k-B9=S=?%B%DX;%X;%҅L4I M8BMEllllzl I IMJYJYJYJYJYJYJYJYam@am@am@au@IQ qɚqiqI}->iy)G?G }+$?IyGBO=]Will construct direction to contact in vehicle frame from tetrahedron phase data.b>w,kDAH&>I&C I&HI&%BI& =&I&=D.I&zD6I& <:I&KFJQ @YJ@J*9J=yJHC?@ +??^ݷ?7?ɨJQ @JCG;JDCyR$BVtHIZ8IZL6٢f> fM=9f Q j>hh jG٣j2Gynڿ n> rNusing accuracyPremultiplier from configpvL49rge?vL4Yr ir.Bxz0Vz?r5Br3:r:rL4| ~BllllzlA IM II IɚIiIIM->iQ)QGB)OE=Will construct direction to contact in vehicle frame from tetrahedron phase data. yIye Will construct direction to contact in vehicle frame from tetrahedron phase data.ô>w, A2`@Y2@2H92A=y2H^? ` (? ٷ?d4?}?ɨ2`@2;0yR;%BV8H5Mb@Mb@Mb@111 1)1Y5x&?y&1|q= ףp?y57)?5`廹5=5 B 5A)53AI11y5AIMIMH6٢]ü> ]A=9eQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq}L49u!ze?L4YuJ iu.B+?:?uBu`;u;ujL4 BEllllzlzKPKͼ9KK5KE]VB- RK?JK>  I ɚiI->i)GiBy) !CO >5Gaq SYyAWill construct direction to contact in vehicle frame from tetrahedron phase data.J}`JyJ}3JyJ}:JyJ}(3Jy u ,$?Iq yߌ>w,75Ayr%BrHWill construct direction to contact in vehicle frame from tetrahedron phase data.I~I~D6٢-> 5M=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUL49M]e?UL4YM iM|/BQQ]?M BM" ;M ;MWL4a eTBalylylylyzly 隭HI ɚiI->i)GGGBO=jH9bH=<HE>IEC IEHIEW'BIE =&IA.IA6IE<:IEFWill construct direction to contact in vehicle frame from tetrahedron phase data. q Iy >w,OPAu@YuU@u9u=yuH?^|J矿? F?? `?ɨu@ud;uFCyލ&BލHMb@Mb@Mb@ )Yv/? rh?Cl?yx)?C=;= dA)KAIyAI=I=?6٢M> M7=9MlQ M>QQ UG٣U 2Gy] ]> eNusing accuracyPremultiplier from configamL49ee?mL4Ye< ieD0Bm,?m:uߒ=u?eBe;e:eL4}"B }fAElll1l9zl9 I ɚiI->iWill construct direction to contact in vehicle frame from tetrahedron phase data.)G BO-.>zKLK 9KK6K Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,ejAF@YF.@F?D 9Fp=yFHy}?Е ] O`?OY? i? T?ɨF@F|;FECyV<'BVHI^I^96٢vd> za=9~Q ~>   G٣ yY > -Nusing accuracyPremultiplier from config)5L49-e?5L4Y- i-0B15=5?-B-:-:-L49 EAAlQlYlYlYzlYJ[JJ4JJ:JJ3JY Y]IY aɚaiaIe`->ii)i -$?IGqBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I HI (BI =&I .I xD6I <:I F>w,؃AF@YFB@F 9FZ=yFH`o?1tS?\:o?@m?G?ɨF@FF;FDCyn'BnRHIv|Iv76٢~&> ~L=97Q  >    G٣ y; > Nusing accuracyPremultiplier from config%L49e?%L4Y i1B)-=-?KB::L45!B 5A=ElIlIlIlIzlQy y}I ɚiI ->i)G>G>GQBauWill construct direction to contact in vehicle frame from tetrahedron phase data.O=*J%C="J%p= .$?I% Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,穝A2@Y2@2y 92=y2H@mc?@ఉ`|~U?~`W??`B;?ɨ2@2ǂ;2FCyNj(BR"HUMb@Mb@Mb@QQQ Q)QYUK7?@5^I ?I +?yU)?Ub>U9=U/ B UGA)UEAIQQyUAIueIuX56٢> B=9[߻Q > G٣!2Gyk > Nusing accuracyPremultiplier from configL49e?L4YN iU2B.?:T>?B+;:UL4 AEllllzl  I  ɚ i I ->i)zK5&`KK5ػ9K1K57K5GBO5=Will construct direction to contact in vehicle frame from tetrahedron phase data.J1J1J53J1J1J1J5(3J1 IY<>w,ÃA2@Y2Y@2| 92q=y2H W?#Ν??9`??p1?ɨ2@2 :;2GCyN)BRHIZ?IZ#16٢b> bX=9b Q f>hh jG٣hyjK j>rWill construct direction to contact in vehicle frame from tetrahedron phase data. vNusing accuracyPremultiplier from configtzL49ve?zL4Yv6 iv2Bx~S>~?v$Bv;v ;vL4 wAllllzl   I  ɚ i I->i1)9GIBYO}=ZHRHAAH߿>IC IHI*BI =&I.IuD6Iz<:IvFWill construct direction to contact in vehicle frame from tetrahedron phase data.JA JE ?A /$?I )>w,vAym)BuH-only read 0 of 1 data item for BIT error. Device response is::TS,25010811382064,35.0, +12.9, 0., 0  @ @ @  @ I)I.6٢> .=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configM49 e?M4Y i3B+:{:?B8;a>M4 pAEl l llzlEP EK@#>EIA IɚIiIIMul->iI)QWill construct direction to contact in vehicle frame from tetrahedron phase data.G!G!GBO+>zKKK9KK8K BK:KsA Will construct direction to contact in vehicle frame from tetrahedron phase data.O>w,d@AB@YB;@B 9B=yBHB?yD磿`? |༶?]?`$?ɨB@Be;@yR5*BRWHIZIZ{,6٢D> l=9y]Q  ?    G٣ "2Gy9 ? EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9EM49=Lf?MM4Y= i=h4BM :IMK:MP>M?=B=';=BR?= M4 Allllzl m0$?Ii  UI ɚiIW->i)!G!B1OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.H ӿ>I C I HI ,BI =&I .I tD6I <:I BICJICRI˖CZI˧ =bI˧ =jI .67>w,A2v@Y2@@2? 92 /=y2HO8?k`m?Ƶ?M?`?ɨ2v@2P;2HCyB*BBHDFAHJAAIJIJb(6٢R̡> RQ=9VQ V>TT VG٣XyZ˻ Z> bbBottom track data is 1.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\fM49^.f?fM4Y^ i^5Bf9hj%:jN>j?^kB^\(;^͚?^%M4n B nArEl|l|l|l|zl! )-^I) )ɚ)i)I-B->i1)9GBO==UWill construct direction to contact in vehicle frame from tetrahedron phase data.*JR="Ja=J J MJ J J J 9J J J #:aJ (:aJ >:aJ @:a aIi Will construct direction to contact in vehicle frame from tetrahedron phase data.m`>w,A:_@Y:o@:l 9:=y:H`/?Zv~@% ?`l?` ?`t ?ɨ:_@:%Չ;:ECy^D+BbH u u uu uu  u u uMb@Mb@Mb@qqq q)qYu$C?Cl?y&1?yu:?ud;>u` ;=9NQ > G٣y@Ի > Nusing accuracyPremultiplier from configM49C-f?M4Y i5BT: @?:w>?B;* ;_"M4 AllllqzlqzKKKS9KK9KRK ?JK? >I ɚiI ,>i)mWill construct direction to contact in vehicle frame from tetrahedron phase data.E5xj0>GE>GE>GB)OM> U2$?I]Hf>w,l8AR/?@YRsN@R]j9RK=yRHA"?i (ק??·? ?ɨR/?@R5*;RFCbWill construct direction to contact in vehicle frame from tetrahedron phase data.y=+BENHIeIeG&6٢m> uM=9u ػQ u>yy }G٣}#2Gy($ > Nusing accuracyPremultiplier from configM49iAf?M4Y i6B1t>?sB ; ;F0M4 AEllllzll I ɚiI,>i)E `=(>GBO>jHe<bHep<Hm˿>ImC ImmHIm-BIm =&Ii.ImsD6ImA<:Im6FuWill construct direction to contact in vehicle frame from tetrahedron phase data.J! J% OJ! J! J! J% %9J! J! J% ":J% ':J% &:J% &: A IA v>w,RAy],BH) mMb@Mb@Mb@iii i)iYm$C?l?MbP?yim>m:mB mA)mAAIiiymAII+&6٢Ŗ> ,=9Q > G٣y > Nusing accuracyPremultiplier from configM49Zf?M4Y% iA7B=?::>?Will construct direction to contact in vehicle frame from tetrahedron phase data. Bz_;];@M4 AEllllzlg !%I! !ɚ!i!I%\,>i)))E0B>zK RKK 9K K :K  XBK :K tA U ʹYQ yU vAG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,lAV$@YVh@V9V=yVH?|`?@`o?<?@ ??ɨV$@V߉;VACyf,BfHIvIv%6٢{> =9.Q   ?    G٣ y/  ? Nusing accuracyPremultiplier from config%M49jf?%M4Y@ i7B)-"0>-?qB::LM41 5A9lIlIlIlIzlQ 4$?I5  =g!>EdIA AɚIiIIUC,>iY)aEqEq*Ey"EyWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOn>He >Ie C Ie HIe .BIe =&Ia .Ie rD6Ie v<:Ie RF]>w,\AbϿ@YbH@b"9b0#=ybH?la?`$`@ ?`[} ?{? ?ɨbϿ@b-;bECynK-Bn#HIzIz!6٢qZ> K=9Q >    G٣ $2Gyۻ > Nusing accuracyPremultiplier from config%M49~f?%M4Y" ii8B)-q->-?B;: ZM41 5A5ElIlIlIlIzlQA >隅I ɚiIi+>i)=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= IJ+ 3K+23 K+.K#K#"K#JZJTJJJ9J:9JJJV:J[:JgJ:JiJ: Will construct direction to contact in vehicle frame from tetrahedron phase data. >w,`:A 6Ų@Y6 @6,96=y6H??j& w+?$W@I ?`)%?Z?ɨ6Ų@6?;6FCyB-BBHMMb@Mb@Mb@III I)IYMPn?1Zd?~jtxyMD?M"=MĻMB MA)MZAIIIyMAIeIe"6٢mr> uC=9uQ u>yy }G٣yy > Nusing accuracyPremultiplier from configM49}f?M4Yw i9BF?:=?~B!; ;hM4B AEllllzl JI ɚiI+>i)GBzK !MK ý9K K ;K 77*{1uMb4~{xutoorrqligea\YUVUSI@<;9;ACO%=EWill construct direction to contact in vehicle frame from tetrahedron phase data. 5$?I>w,@A6ݟ@Y6!@696=y6H?8C?,"j`?~篿???ɨ6ݟ@6;6CCRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVW.BVmHI^I^."6٢f> fU=9j;Q j>hl nG٣lynŻ r> vNusing accuracyPremultiplier from configpvM49rf?zM4Yr ir9Bxz/=z?rBrU:r:r%vM4 Allllzl @I  ɚ i I Y*+>i)G)B9OU=ZH RH H>IC IHI10BI =&I>D.IpD6Iu<:IDFUWill construct direction to contact in vehicle frame from tetrahedron phase data. I J J KJ J J J K9J J J T:J Y:J :J :!>w,AfÅ@Yf@fgi9fb=yfH?@K?ʰ@?gf@?cѵ? ?ɨfÅ@f;fECyޝ.Bޥ HI I -#6٢}ډ> }2=9}H:Q > G٣%2GyQ > Nusing accuracyPremultiplier from configM49f?M4Y. i:Bu=?BH::XM4 AEl1l1l1l1zl9}Ծ }]V>隅MI ɚiI*>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.E!8>GBO>zK 4OK 9K K <K B>=??=>??>?=:;:;<;87686644243203437;<=<::<9<>>?>;78675211.*#u Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,`AVpr@YV@V9V =yVH ?@? O>?@㭿?ߵ??ɨVpr@V;VDCyb\/BbH M6$?IQ}Mb@Mb@Mb@yyy y)yY} r?Q?y&1y}C?}u=}`e}CB }XA)}AIyyy}GAII!6٢> Y=92L;Q > G٣yͻ > Nusing accuracyPremultiplier from configM49f?M4Y i;B8D?:_<?Bo;:ZM4Y ]AeEllllzli߾ %I! !ɚ!i!I%:*>i))IE- >G BO5.>Will construct direction to contact in vehicle frame from tetrahedron phase data.H% >I% C I% CHI% v1BI% =&I! .I! 6I% s<:I% <F*?w,nA6V@Y6e@6Ś96=y6Hr?? @#?ݬ ?@iԵ?X?ɨ6V@6;6FCy>/BBDHIJIJ!6٢n̡> nX=9nR;Q r>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~M49zof?~M4Yz iz;B%<?zBz;z>;zM4  A l!l!l!l)zl)]# ]>]IIY aɚaiaIe)>ii)iWill construct direction to contact in vehicle frame from tetrahedron phase data. 57$?I9*J4="Jp=E} n>JJNJ2JJJ!9Jc3JJU:JZ:Jg:Jj:GYBaOY> Will construct direction to contact in vehicle frame from tetrahedron phase data.T?w,!A6mC@Y6R@6^ 96[D=y6H`?@o?@蜲@v?? a?@?ɨ6mC@6:;6GCyRO0BRH]Mb@Mb@Mb@YYY Y)YY]Pn?y&1?Mby]D?]`e<]] A ]A)]AIYYy]3AIuIu/ 6٢ԍ> @=9;Q > G٣&2Gy > Nusing accuracyPremultiplier from configM49 g?M4Y} i[ I  ɚ i I g)>i)E _>zK%CNKS9KK=K RK?JK>GBO >%Will construct direction to contact in vehicle frame from tetrahedron phase data. 8$?IQ'?w,J];A2l*@Y29@2ƪ 92:=y2H.?`?`S?` :?`:?%?ɨ2l*@2Kv;2HCBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF0BFwHININ 6٢v> vU=9v:xx zG٣xy~- ~> Nusing accuracyPremultiplier from config M49lg? M4Y iii)qjHbH<H>IC IHI2BI =&I.ImD6I<:IDFBIuCJIuCRIqZIuİ =bIuİ =jIu>6E]J>G1BAO]v>5Will construct direction to contact in vehicle frame from tetrahedron phase data. I J J ?w,P6UAy=R1BEHII 6٢> M==9eQ m> G٣y > Nusing accuracyPremultiplier from configM495g?M4Yr i=B?DB;0;M4 AwEllllzl% !%oI! )ɚ)i)I-M(>i1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.E->GBO5->zK < LK =9K K >K BK :K E Will construct direction to contact in vehicle frame from tetrahedron phase data.<?w,"oAB @YBP@B 9BU=yBHU?@Ut?`n? ̭m?`Ֆ?`;M?ɨB @B։;BFC N9$?IPyf1BfHeMb@Mb@Mb@aaa a)aYe+?S㥛y&1ye??e/ݼe`eeA eA)aIaayeAII/ 6JJKJ3JJJK9J(3Ja@a@a@a@٢> L=9 G٣'2Gyʕ > Nusing accuracyPremultiplier from configM49VIg?M4YM i8>B??: ?B;;M4 AllllzlǾ I ɚiI%'>i)EtAEtAWill construct direction to contact in vehicle frame from tetrahedron phase data.E,>GBO >H ~>I C I JHI 3BI =&I .I lD6I <:I qF "?w,A6w־@Y6@6+96=y6Hl??oõ\?׭ D?`8? d?ɨ6w־@6;6GCyBo2BBuHIJIJ/!6٢RK> V]=9VXX ZG٣XyZw ^> bNusing accuracyPremultiplier from config`fM49b]g?fM4Yb- ib>Bdf f?bi)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. ;$?IG9BIOeV> Will construct direction to contact in vehicle frame from tetrahedron phase data.L(?w, ͢A6l@Y6@696} =y6Hł?`DR?@&F(?|M`? 5(? }?ɨ6l@6:};6CCyN2B)T VCRH !9  YyA]Mb@Mb@Mb@YYY Y)YY]Cl?T㥛 Mby]d;?]]]KA ]A)]AIYYy]3AImIm"6٢}> }0=9=[ G٣y > Nusing accuracyPremultiplier from configM49i)zKeKKe9KaKe?Ke RK}?JK}?GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O)> <$?IJ[JMJJJ:J9JJu.?w,rA2Will construct direction to contact in vehicle frame from tetrahedron phase data.N9@YN}@N@9N=yNH@?B? S?GȬ;?g@??ɨN9@N;NECyZ3BZHIbIb"6٢j> jj=9nlp rG٣pyv) v? zNusing accuracyPremultiplier from configx~N49zӈg?~N4Yz iz?BN?zHBz;zB;zcN4  mA l!l!l!l)zl)Mʾ UDY>UףIQ QɚQiQIUZ&>iY)aG>G>GqBO=ZHIRHM?AHUm>IUC IUHIU'5BIU =&IQ.IUjD6IU<:IU;FWill construct direction to contact in vehicle frame from tetrahedron phase data. u =$?Iq  PExceeded connect timeout, disconnecting. ]5?w,~AFz@YFʉ@F.9F=yFH`?Dg?߿?~`u? ?`?ɨFz@FB;FDCyb4BbhHIjIj!6٢> @=9} G٣(2Gy9 => }Nusing accuracyPremultiplier from configqN49uΠg?N4Yu} iu@BR?uBuࢾ =ןI ɚiIU%>i)GBO$>zK FKK ػ9K K @K Qo= (5@JQVY^^XN; BK :K % Will construct direction to contact in vehicle frame from tetrahedron phase data. Y I] If;?w,zqArZ@Yri@r9r1=yrH@9?Ʈ?Ԃ߿tZ?@讫?u?y?ɨrZ@rsJ;py~4B~HJJqJJJJq9JJMb@Mb@Mb@ )Yl?p= ףMb`?y7?;A A)ݩAI:"ByAII 6٢<> B=9 z G٣y| > %Nusing accuracyPremultiplier from config-N49g?-N4Y iAB-N8?-:-]5?^B;;!N49 =\A=jElQlQlQlQzlQ =隝I ɚiI%>i)uWill construct direction to contact in vehicle frame from tetrahedron phase data.E>GBO>HE n>IA  IE QHIE b6BIE =&IE ?D.IA 6IE ~<:IE FAqB?w,> A:?@Y:BO@:9:%9=y:H??;!߿@G|?Z ?n??ɨ:?@:L;8yF95BFHININ!6٢V> Vd=9ZMXX ^G٣\y^ b> fNusing accuracyPremultiplier from config`fN49bTg?jN4Yb: ibABhj`j?bBb2 ;b ;b-N4p rApl|l|l|l|zl|-DZ )-7I) 1ɚ1i1I5$>i9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.EU=GYGY >$?IG)B1OU= EnManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. H?w,0$A2@Y2_,@292>_=y2H?`?b޿R?GTV?@/5?I?ɨ2@25;2ECyN5BRxH]Mb@Mb@Mb@YYY Y)YY] +?p= ף~jtx?y]6?Y];]GA ]A)]AI]BYy]AIqIq٢> ==9x G٣)2Gy! > Nusing accuracyPremultiplier from configN49g?N4Y i'BB7?:If?_B;;i)*E%p="E%=zKMK9KKAKWill construct direction to contact in vehicle frame from tetrahedron phase data. ?$?IE}u=GJJPJ2JJJ*9Jc3JBO>N?w,>=A&Will construct direction to contact in vehicle frame from tetrahedron phase data.yEG6BM0HIeIeg"6٢m > uL=9uQ u>yy }G٣yy > Nusing accuracyPremultiplier from configN49g?N4YR iBB?B. ; ;JN4B AdEllllzlȞ ƍI ɚiIOj#>i)E5=jH<bHp<Hg>IC IHI7BI =&I.I6I<:IdFG BO5 >Will construct direction to contact in vehicle frame from tetrahedron phase data. @$?IKU?w,\WA6,@Y6p@66960=y6H`"?5? ޿0?3ާ?4? 5?ɨ6,@6M;4yN6BNHIjIj 6٢r߸> rT=9r =Q v>tt vG٣tyzڝ z> Nusing accuracyPremultiplier from config|N49~h?N4Y~ i~4CB  0m ?~_B~:~3:~(XN4 Al1l1l1l9zlA 隵PI ɚiIM">i)!]Will construct direction to contact in vehicle frame from tetrahedron phase data.E~=G?G>GiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] cKK] 9KY K] BK]  I }[?w,gqA2ƽ@Y2@292X=y2H 8?-?@ݿ@?@ pN;?A?!N?ɨ2ƽ@2W;2CCy>`7B>HMb@Mb@Mb@ )YZd;?A`"~jt?y9?Y<A A)AIByAII!6٢r> ==9x G٣*2GyQ > Nusing accuracyPremultiplier from configN49h?N4Yc! iCBj:?:^?B;0;EgN4 AaEl lllzlǑ I ɚiIL!">i)E!E!*E-"E-eWill construct direction to contact in vehicle frame from tetrahedron phase data.aieAGBO>H `>I C I HI 9BI =&I .I iD6I ɵ<:I ?FBICJICRIɔCZIɺ =bIɺ =jIɤK6b?w,EA2T@Y2@2`92C=y2H GN?*?>UݿSľ`j?7Ԧ ?`2?g?ɨ2T@27;2ICyN8BRWHIZIZ!6٢bC> b\=9bdd fG٣dyj j> 5Nusing accuracyPremultiplier from configl5N49n@2h?=N4Yn" inMDB9=Sa=?ngBn ;nq ;n:tN4A MbAM^ElYlalalazlas 隕I ɚiI4!>i)Will construct direction to contact in vehicle frame from tetrahedron phase data. }A$?IyGBO=*JR="JR=J\JJ4JJ=:JJ3JJ:aJ:aJ-:aJ-:au Will construct direction to contact in vehicle frame from tetrahedron phase data.h?w,?VA6@Y6F@6696]=y6H `?l^?ܿ  ;=9h G٣y > Nusing accuracyPremultiplier from configN49vHh?N4Y1$ iDBx1?:P?B[;Y;N4 HA l)l)l)l1zl1} y}vI ɚiIm >i)GGGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. mB$?IizKmKKiKiKmCKm2H+o?w,#2A"Will construct direction to contact in vehicle frame from tetrahedron phase data.Fx@YF@F9F=yFH@u?@&?jܿ2:=? ?R?U?ɨFx@F;FECyj*9BjHIrIr"6٢z> zX=9z!| G٣+2Gy v  > %Nusing accuracyPremultiplier from config5N49[h?5N4Ys% iWEBAMRM?iBf;R;ƐN4]B ]Ae[Ellllzl]= Y]^mIY YɚYiaIeOJ >ia)iGIBYO}=HP>IC I3HIZ:BI =&I.IhD6I<:I)FWill construct direction to contact in vehicle frame from tetrahedron phase data. YIYJ J @AJ ^J OJ 2J J } :J %9J c3J J :J :J &:J &: u?w,A Ay9BHI-I-"6٢=> EE=9EQ E>II MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]N49Uph?eN4YU& iUEBaae?UBU ;U: ;U#N4i uAuXEllllzlky NC=cI ɚiI">eWill construct direction to contact in vehicle frame from tetrahedron phase data.iq)GBO!>HG MvYIyMA Will construct direction to contact in vehicle frame from tetrahedron phase data. U C$?IQ zK MK ]9K K DK .#|?w,2Ay`:B;HMb@Mb@Mb@ )Yd;O?Mby&1?y4?`<A A)7AI ByGAII#6٢ !>  >=9Q > G٣y > -Nusing accuracyPremultiplier from config!-N49%h?-N4Y%( i%nFB54?5:505?%tB%1;%;%/N4A EAAlQlYlYlYzlYpo 隅YI ɚiI>i)G?G?GiBO>]Will construct direction to contact in vehicle frame from tetrahedron phase data.H F>I C I HI ;BI =&I .I gD6I <:I BF ?w, A6$@Y6F3@6F߾96u=y6H̫??ۿ3?@C?QѸ??ɨ6$@6P;6FCyR:BRHIZIZ$6٢bo> bb=9fR=Q f>dh jG٣j,2Gyn n> rNusing accuracyPremultiplier from configpvN49rh?vN4Yr) irFBxzW:z?rBrH:rH:r޺N4 sAUEllllzlEt AE/PIA AɚIiIIM<>iI)QWill construct direction to contact in vehicle frame from tetrahedron phase data. E$?IGYBiO=*Jma="Jma=JqJuPJu3JqJqJu*9Ju(3JqJu:Ju:Ju-:Ju-: Will construct direction to contact in vehicle frame from tetrahedron phase data.5?w,^&A:w@Y: @:#ܾ9:c=y:H ??`uDۿt$?e?`?@?ɨ:w@:5c;:ECyb;BbH]Mb@Mb@Mb@YYY Y)YY]> ףp=?/$?l?y]1?]<]=]A ] A)]VAI]{BYy]AII#6٢> >=9h G٣y꫻ > Nusing accuracyPremultiplier from configN49'h?N4Y* ivGB@2?:?qB;E;N4B IAREllllzl/Q GI ɚiId>i) F$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNK 9KKEK3-~h\OD<50) E=GGGBO> ?w,y@A2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i0:@Y: @:پ9::=y:H`?? ڿG¿?@vu`R?J?Z?ɨ:@:v;8y . 5Q=9599 =G٣9yE E> MNusing accuracyPremultiplier from configIUN49M7h?UN4YM* iMGBQ]1]?MBM ;M ;MN4a eAalylylylyzl] 隭=I ɚiI1>i)E/=jH5<bH5<H=9>I=C I=HI="=BI= =&I9.I=fD6I= <:I=PFGBO> IJfWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J(3K3 KS}.KK"KJ _J VJ J J :J B9J J J K:J P:J X:J X:G?w, WZA2޼@Y2[@2"վ92=y2H?@C?@Lڿܰ¿`?? ??ɨ2޼@2:‰;2DCyR bR=9bydd fG٣f-2Gyj j> nNusing accuracyPremultiplier from configlrN49n_h?rN4Yn+ inuHBtvv?nhBnT;n;n-N4zB zA~OEllllzlG !%3I! )ɚ1iYI]Z>ii)}Will construct direction to contact in vehicle frame from tetrahedron phase data.E:=GBO> G$?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JNK K K FK BK! :K! 9q?w,/tANǼ@YN@NҾ9N-=yNH?5? Bڿÿ?@l@?z?$?ɨNǼ@NH;NECyZR=BZHMMb@Mb@Mb@III I)IYMV-?&1?&1?yMh1?MP=MP=MA MA)MAIMBIyM=AImImJ#6٢?> >=9z G٣y=&ǻ => ENusing accuracyPremultiplier from configAMN49Eh?MN4YER, iE IBM]2?U:UUu?EBE;E0;EN4y }Ayllllzl--5 -9=-*I-8 1ɚ1i1I5->i1)9EAEA*EA"EAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>H5 .>I5 C I5 SHI5 >BI5 =&I1 .I5 eD6I5 ȵ<:I5 FY?w, A2˪@Y2@2x5Ͼ92>p=y2H??ٿ@ÿ@>?`(3?G? 5:?ɨ2˪@2O;2FCyR=BRHIZIZ"6٢f> fX=9fhh jG٣hyn! n> rNusing accuracyPremultiplier from configpvO49r%i?vO4Yr, irIBtzz?rgBr@:r@:rtO4| ~ALEllllzlExB IM!IM8 IɚIiIIM>iQ)Q eH$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.GqBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,BA2A@Y2@2g˾92Fw=y2H@>?u?zٿ tÿ 8?@??x?P?ɨ2A@2N;2HCyNl>BR5HMb@Mb@Mb@ )YMbX?Zd;O?S㥫?y*?j=/]=A ZA)AIAyAII!6٢D> :=9: G٣.2GyS > Nusing accuracyPremultiplier from configO49Gi? O4Y - iJB ,? : Ҽ ?B;i:O4 |AIEl9l9l9l9zl9eg# ae9Ie9 iɚiiiIm->i)G BO5 > MI$?IQWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKKػ9KKGKRK?JK>J]^J]WJ]2JYJ]} :J]G9J]c3JYae@ae@ae@ae@ck?w,jA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y~>BHII٢%> %X=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9EO49=O+i?EO4Y=3- i=JBAIM?=aB=j:=:=O4Q UgAQlilililizli=-# 9=I=9 9ɚ9iAIEe>iA)IZHRH@AH">IC IHI?BI =&I@D.IdD6I<:IFBICJICRI•CZI =bI =jIc6GiByO= 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.Ja Je AA??w,oA:Xd@Y:s@:þ9:=y:H;??¥ؿĿ =?@ۨ? N?}?ɨ:Xd@:;:FCyBw?BF}HIJIJ"6٢R> VS=9V$=Q V>XX ZG٣XyZ( Z> bNusing accuracyPremultiplier from config`fO49b>i?fO4Ybg- ibKBdfj?bBbs:b:b+O4nB ndArFElxlxlxlxzl|% !%I%9 )ɚ)i)I->>i))1eWill construct direction to contact in vehicle frame from tetrahedron phase data.E===GM>GIGBO5> - J$?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.c?w,wAzK"]KK"S9K K"HK" +& J%`J%TJ!J!J%:J%:9J!J!y5?B5HMb@Mb@Mb@ )YMbX?x&?~jt?y7 >D=(A rA)AIAyAIIM6٢T> %5=9%Q ->)) -G٣-/2Gy5 5> =Nusing accuracyPremultiplier from config9EO49=(Vi?EO4Y=$- i=KBE.?M:M=U?=eB=Q;=\;=x;O4a mAmCEl!l!l!l!zl! (=隝Ia<9 ɚiIx=>i)E(=GBO@>eWill construct direction to contact in vehicle frame from tetrahedron phase data.H>I IHI$ABI =&I.IcD6Iɵ<:IF?w,YA>;@Y>SJ@>K9>m1=y>Ha?W?׿Nnſ {??a?`?ɨ>;@>Ո; fd=9f-=Q f>hh jG٣hyn8e n> rNusing accuracyPremultiplier from configpvO49rhi?vO4Yr, irLBtv<z?rBr/:r:rHO4| ~A|llllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.$ =pI#9 ɚiIb>i)*JC="JR=E=D=GBOEs>u Will construct direction to contact in vehicle frame from tetrahedron phase data.)= = = C- ȀGQ a Y y TA?w,g)Af'@Yf6@f䷾9f=yfH`u??P׿ ſ+~?-`~? ? ?ɨf'@f^ˈ;dy@BHMb@Mb@Mb@ )YK7A`?ʡE?Mb?y+?>=^A A)AIAy AII"6٢-V> -4=9-;11 5G٣1y=쫻 => ENusing accuracyPremultiplier from configAMO49Ei?MO4YE, iELBM/?U:Um=U?EgBE;E2:EWO4Y ]A]@ElylylylyzlVU 隭IIlK9 ɚiI:>i) L$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.E)E)*E1"E1'eTFailed to parse incomplete device message.J%bJ!J!J!J%:J!J!J!G B O >?w,$ CAWill construct direction to contact in vehicle frame from tetrahedron phase data.RK">JK"!?b@Yb#'@bΗ9b =ybHd?g?ֿ@0ƿ{?Xp`?{??ɨb@b$9;bGCyj6ABjHI I h 6٢L> =`=9=AA EG٣E02GyMY M> UNusing accuracyPremultiplier from configQ}O49Ui?}O4YU3, iULBy|b=?UBU;U;UdO4 A=EllllzljH}<bH}<H!>I IHIABBI =&I.IdD6Iw<:IF ^  /ٿI JS9 QɚQiQIU>iQ)YGIBQOu> IWill construct direction to contact in vehicle frame from tetrahedron phase data.?w,\A6 @Y6@6{96&=y6H@Ơ?@ ?JֿYƿ nw? @q?|??ɨ6 @6l;6FCyBABBHIJIJg!6٢Rc> RR=9VTX ZG٣XyZ| Z> fNusing accuracyPremultiplier from config`jO49bi?jO4Yb+ ib[MBIUW=U?b[Bb@i)G=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9BaO= N$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. ?w,vA64@Y6x@6N96A=y6Hl?'? տԳƿ`r? 2z@? 뻻? ?ɨ64@6-;6ECyNABRHzK^MK\K\K^JK^d%d$OdicVC48:0!sU3{spmgb]XXTPNJGB?>;9421-+J^JJJJ} :JJJMb@Mb@Mb@ )YV-?+?Mbp?yh1?>;A A)AIAy3AII 6٢K> 7=9t G٣yp >  Nusing accuracyPremultiplier from config O49i?O4Y+ iMB5?:9=?B;;ԁO4%B %zA%:ElIlQlQlYzlYYҽ 隥¿Im9 ɚiID}>i)G)B1OU>EWill construct direction to contact in vehicle frame from tetrahedron phase data.H}>I}ߍC I}#HI}?CBIy&Iy.I}cD6I}<:I}Ft?w,A Iy5@BB5HIEIE,%6٢U`> UT=9]Q ]>YY ]G٣e12Gye e> mNusing accuracyPremultiplier from configiuO49m.i?uO4Ym4+ im-NByy}?mvBm/;m;mLO4Will construct direction to contact in vehicle frame from tetrahedron phase data. 5A=7ElIlIlQlQzlQ}ͽ 隅Ip9 ɚiI>i)G9BIOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. ?w,[zAbʻ@Yb`@b9b=ybH`?O? Կ`ǿ3h?#5`$?=?CW?ɨbʻ@bz;bFCynBBnLHuMb@Mb@Mb@qqq q)qYu(\?K7?~jtyuz4?uI >uļu$A unA)urAIufAqyu\AII&6٢QA> F=9=Q > G٣y'V > Nusing accuracyPremultiplier from configO49i?O4Y#+ iNB7?:Q <?Bn ;;O4 -AllllzlŽ 隽Ix9 ɚiI>i) %P$?I!GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK'cOK9KKKK(('"  BK:K?w,vQA*Will construct direction to contact in vehicle frame from tetrahedron phase data.F@YF@F%9F=yFH`) ?!?xӿ ǿc?` fY=9jhh jG٣hy=ٻ => ENusing accuracyPremultiplier from configAUO49Ej?UO4YE+ iENBQUش;U?EBED;EF;EOO4y }A4Ellllzl+ ߣIO9 ɚ i I `d>iZHRHH% >I%ލC I%HI% DBI% =&I!.I%bD6I%<<:I%F)12D=tA*D=uA ID}8GGGqBO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.J- _J- RJ- 3J) J- :J- S29J- (3J) J- L:a= J- Q:a= J- <:a= J- <:a= 8?w,JA:@Y:ָ@:$9:Eb=y:Hf?-? ҿ .ȿ``?% ?@?`?ɨ:@:;:ECyJ#CBJHIVIV+6٢^2%> ^J=9^7`` bG٣`yfm f> jNusing accuracyPremultiplier from confighnO49jj?nO4Yj+ ijOBprc;r?jBj/:j/:jO4vB vAv1Ellllzl W/ 隵IЅ9 ɚiI>i)MWill construct direction to contact in vehicle frame from tetrahedron phase data.D^8G BO-q> Q$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.m?w,RA6@Y6;@6k968=y6H.??Oҿ}ȿg[?«q[?r&??ɨ6@6;6FCyBtCBBeHzK^3MK^ 9K\K^LK^RKb ?JKb>%Mb@Mb@Mb@!!! !)!Y%Zd;? ףp= ?/$y%9?%Q=%,%=A %A)%AI%A!y%=AI= I=`+6٢M7>> M@=9MQQ UG٣U22Gy]H˻ ]> eNusing accuracyPremultiplier from configamO49e.6j?mO4Ye+ ieeOBm;?m:uau?eBei)=Will construct direction to contact in vehicle frame from tetrahedron phase data.D78H>IݍC IHIDBI =&I.IaD6Iu<:IFBIߍCJIߍCRIǔCZI =bI =jIl6GBO> R$?I C@w,LA2@Y2ȑ@2b92Uj=y2H???@ѿ`HȿuV?(?`? W?ɨ2@2lj;2GCyVCBVHI^3I^/6٢f> fU=9jhh nG٣lyzx ~> Nusing accuracyPremultiplier from config O49sMj? O4Y#, iOB  F?FB :*:`O4 Al1l1l1l1zl1] aeފIe9 aɚaiaIe>ii)qBD}=:D};>Will construct direction to contact in vehicle frame from tetrahedron phase data.DU8Gm>Gm?G1B9O]=J`JJ2JJ:JJc3JJ:J:J <:J<:m Will construct direction to contact in vehicle frame from tetrahedron phase data.i im A-n @w,+A2zl@Y2{@2Fʂ92w=y2HCO?1j? (2ѿHɿ PP?H +?Ż?`2?ɨ2zl@2`;0yBCBB H=Mb@Mb@Mb@999 9)9Y=?~jt?Mby=@?=<=@="A =A)=AI=5A9y=­AI]KI]w26٢mD> mA=9mlqq }G٣yy}Vѻ }> Nusing accuracyPremultiplier from configO494gj?O4Y- iOBp@?:0?B>;;O4 PA+Ellllzl wI:9 ɚiIg>i) }S$?ID)G BO= >Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU&KKQKQKUMKUBKa:KesA@X@w,EA"Will construct direction to contact in vehicle frame from tetrahedron phase data.NS@YNLb@NC|9NY=yNH`M\? 0? пɿ@I?@w®@7?@w?`?ɨNS@NW~;NJCyZADB^aHIfhIf56٢nA2> nT=9npp rG٣r32Gyv v> zNusing accuracyPremultiplier from configx~O49z~j?~O4Yz. izPB|+4?zvBz ;z ;zO4  A (El!l!l!l!zl!jH<bH4<H>IڍC IHIYEBI =&I.I_D6I<:IFUȈ oI9 ɚiILH>i)!D ^8GBO > eT$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.J _J TJ J J :J :9J J J H:J L:J `J:J cJ:@w,s_A:2=@Y:vL@:kr9: b=y:Hti?vQ?$пʿ nC? ?[j??ɨ:2=@:p;:GCyFxDBFHIRIR96٢Z > ZM=9Z{\\ bG٣`ybۻ b> fNusing accuracyPremultiplier from configdjO49fNj?nO4Yf=0 ifPPBln6n?f Bf;fw;f~O4vB v]Av&El|lllzl5#/} 15aI5#9 1ɚ9i9I=z >iA)A2DI*DMtADG-xAeWill construct direction to contact in vehicle frame from tetrahedron phase data.q ¿YxAyټAGGG B9OU2> YIY Will construct direction to contact in vehicle frame from tetrahedron phase data.,@w,ePyA2@Y2.@2j92=y2H@ s?.?KHϿ"ʿ;?W;?8?@Z?ɨ2@2Y;2JCy>DBBH-Vonly read 0 of 1 data item for BIT error. Device response is::TS,25010811384297,2.4, 0.0,1498.5, 0  V@V V@V V@V  V@V IZIZ;6٢f4> fI=9jihh jG٣hyn} n> vbBottom track data is 0.4 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzP49rNj?~P4Yr1 irPB+:d::?rBrL;r>r P4  A#EzK>KKKKNKl1l1l9l9zl9ve mOIX9 ɚiI! >i)D8eWill construct direction to contact in vehicle frame from tetrahedron phase data.aieAGBOn>Hݾ>I؍C I\HIEBI =&I.I]D6I|<:IF E U$?IA ē$@w,2Af@Yf:@fya9f=yfH`C}?M? Sο/ʿ 5? ?@ ??ɨf@fw;fECyrDBr=HIzIz5>6٢ = G=9     G٣ 42Gyݻ > =bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1=P495j?EP4Y5+3 i5PBE :AE9:E}=E?5EB57;5R?5P4Q ]eAYlilililqzlq [W 隝CIp9 ɚiIm >i)Will construct direction to contact in vehicle frame from tetrahedron phase data.*JR="J=JaJJJJ:JJJJ;J;JJD5^8GB!O=r>u Will construct direction to contact in vehicle frame from tetrahedron phase data.ǻ*@w,A6@Y6@6rX96f=y6H`o?S?R^ͿI˿ ,?d`8? 9??ɨ6@6;6ICyfCEBfH U U ]] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]y&1?v/Zd;Oy]`E?]xi]j]dA ]QA)]SAI]KAYy]AIuIu4?6٢=> C=9 G٣y > Nusing accuracyPremultiplier from configP49hj?P4Y5 iPBT:F?:ᕾ?B;&;#P4 A El X$?Illlzl ? /I9 ɚiI >i)!BD->:D-:?DG>G ?GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKK]9KKOK .;?@AAABAA1@w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.y]EB]HImIm@6ZHyRHyHɾ>IԍC IHIaFBI =&IAD.I[D6I <:I2F٢ > H=9Q > G٣y > Nusing accuracyPremultiplier from configP49j?P4Y7 i)QB?B:L:_1P4B @AEllllzls0 !%I%9 )ɚ)i)I-p >i1)1D8GBO IWill construct direction to contact in vehicle frame from tetrahedron phase data.J J BAJ J J J J J J J J ;J ;J _J:J aJ:7@w,A2ܳ@Y2 @2pG92 h=y2HO??@p˿@e̿?k+?.ǽ?+?ɨ2ܳ@2n;2GCyBEBBSHIJIJ2B6٢RY> V\=9Vz8=Q V>XX ZG٣Z52GyZ" ^> bNusing accuracyPremultiplier from config`fP49bhk?fP4Yb(: ibWQBhj혾j?bBb:b:b`>P4l nArElxlxl|lzl-} )- I-z9 1ɚ1i1I5 >i9)95Will construct direction to contact in vehicle frame from tetrahedron phase data.De^8GYBiOZ> Y$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.<=@w,ЗAJ@YJa@J$?9J=yJH?`|S?`ʿ P̿?!粿`?@R?6?ɨJ@J`;JFCyZFBZHMMb@Mb@Mb@III I)IYM r?DlMb`?yMC?MOM;MA MA)IIMAIyMAImImA6٢}> }==92 G٣yIܻ > Nusing accuracyPremultiplier from configP49b-k?P4Y< iQBaD?:?B;;kMP4 !AzKp6MK9KKPK@?<<98411,,.+))+08:;>@?>=;@Jx /~u^?tO(i1dlAlQlQlQzlY}d, 隅I!9 ɚiIc >i)2D*DsA=Will construct direction to contact in vehicle frame from tetrahedron phase data.D8G9G=sAHȾ>I IHIFBI =&I.IZD6Ie<:IqFG1B9OU> Z$?I D@w,?qA6E@Y6@6r/896=y6H@v??2ɿͿ ?3?@?B?ɨ6E@6FD;4yRmFBRHIZIZ3@6٢fj> jV=9jѢll nG٣lyrHŻ r> vNusing accuracyPremultiplier from configtzP49vsDk?zP4YvJ? ivQBxzz?vSBv:v:vZP4 lAEllllzlMa/ QUɾIUȸ9 QɚQiQIU >iY)aWill construct direction to contact in vehicle frame from tetrahedron phase data.Du8GQBYO}=M Will construct direction to contact in vehicle frame from tetrahedron phase data. K@w,zS.A6q@Y6@6096)=y6H` ? 0?ȿ`Ϳ ?m?@ ?@L?ɨ6q@6Oψ;6HCyRFBRgH j@j @ @  @ I I A6٢%N.> %E=9-Ō)) 5G٣562G AIAy5 E> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]P49M]k?]P4YMA iMQB]+:Y]`:ee?MBM6;M>MfP4mB mھAmEllllzlO 隽ΤI9 ɚiIl >i)Db8GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.Jc3K3 KS}-KK"KJ_JUJJJ :J>9JJa@a@a@a@zK-QOK-9K)K-QK-:lWE:64-# |vstrkge_\ZUQOLKHDA>:963BK=rA:K=rA] Will construct direction to contact in vehicle frame from tetrahedron phase data.Q@w,AFHA2b@Y2]q@2sf)92=y2H 5?ԁ?#ǿͿc? `?@\?`U?ɨ2b@283;0y:FB>HIBIB2B6٢J3> NS=9NnPP RG٣PyR R> ^bBottom track data is 0.8 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXbP49Ztk?fP4YZsD iZ+RBj :hj5:njn?ZBZ;ZN?ZjoP4x zNA~EjH<bH<H-¾>I-ӍC I-\HI-~GBI- =&I).I)6I-p<:I-uFBIԍCJI֍CRICZI =bI =jI6llllzl I9 ɚiIw>i)!D8G?G?GBO > %\$?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.X@w,1bA>Q@Y>`@>~"9>h=y>H??@m/ǿο?k :??`]?ɨ>Q@><;>ICyF>GBJHIRIRB6٢Z"> ZI=9Z"\\ bG٣`yb b> jbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdnP49f|k?rP4YfG ifZRBr9pv:vev?f(Bf;fF?fvP4| ~ʽA|llllzl= ] 9EAIE9 AɚAiAIEx>iI)IDue8Will construct direction to contact in vehicle frame from tetrahedron phase data.GaBO> I Will construct direction to contact in vehicle frame from tetrahedron phase data. F^@w,3{A62H@Y6wW@6Ǡ96o=y6H ?H ?@tjƿ:οH?4`?`S?@d?ɨ62H@6t;6FCJDJFQJDJDJDJF-.9JDJDyvGBzgH        Mb@Mb@Mb@ )Y㥛 ?Mb?y5?̼@=A A)"AI1Ay=AII@6٢&> ;=9{ G٣72Gy2, >zKo#OK9KKRK00.+*(! $)7u,`uV4 U*jBoZK<RK?JK> Nusing accuracyPremultiplier from configP49k?P4YWI iRBT:6?: ?B;;?P4 7A Ellllzl!L XI9 ɚiIN>i)D8GBO$>%Will construct direction to contact in vehicle frame from tetrahedron phase data.Hm>Ii Im$HIm!HBIm =&Ii.Ii6Im<:ImF ]$?I -e@w,A:7@Y:F@:G9:K7=y:H@q?rg?@\ſοq? c?J޾?l?ɨ:7@:up;:GCy^GBbHIfIf@6٢n.F> rY=9rtt vG٣tyv^ z> ~Nusing accuracyPremultiplier from configxP49z0k?P4YzJK izRB ?zIBz ;z ;z_P4 A E}Will construct direction to contact in vehicle frame from tetrahedron phase data.llllzl] S Y]p9I]9 aɚaiaIe.|>ii)iD 8GsAGtAGBO>)m= mCG -GY)y- B- Will construct direction to contact in vehicle frame from tetrahedron phase data.]k@w,;A N^$?ILj9@YjH@j9ja=yjH?pr?Ŀο?i @?)?r?ɨj9@jb&;jFCyrHBrHtvAMb@Mb@Mb@ )YGz?S㥛?I +?y0?/<94=tA A)AIAyAII>6٢> 8=9i!! %G٣)y5 : => ENusing accuracyPremultiplier from configAUP49E-k?]P4YEL iESB]"1?e:eXe?EBEu;E;EP4uB }A}EllqQlzlNCompleted lineCaptureHoming:InitialDiveP jAggregate::uninitialize lineCaptureHoming:InitialDivePUninitialize.1Q Uninitialize.qRdAggregate::initialize lineCaptureHoming:RepeatHackR: ؖi)Will construct direction to contact in vehicle frame from tetrahedron phase data.DZ8GYBaO9>JJRJJJJS29JJzKOKKKSK* Z"TzdBqhC `.X OSY1hK6&BKsA:KsA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.k@r@w,qAB1@YBA@B9BR=yBH?@l?>Ŀο`?Ў ?@c? x?ɨB1@B;Z;BHCHb>I` IbHIbHBIb =&I`.I`6Ibb<:IbfFy~XHB~iHI I ;6٢-n:> 5[=9]aa mG٣m82Gyu& > Nusing accuracyPremultiplier from configP49k?P4YiN iMSBY?iBͩ;ض;gP4 AqR%%hAggregate::uninitialize lineCaptureHoming:RepeatHackR%R%%VAggregate::initialize lineCaptureHoming:Lap1S-Is: ɚiIi) _$?IKfD8GaByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.jx@w,JA6s6@Y6E@696/>y6H@?? ÿο ?`9L?`쳿?}?ɨ6s6@6R;6ECyRHBRHIZIZ6<6٢b= bQ=9fxhh jG٣hyn : n> rNusing accuracyPremultiplier from configpvP49rk?vP4YrO irSBtz"Yz?rBrH:r:rP4 7AElX1SqSZAggregate::initialize lineCaptureHoming:Lap:BI ɚiIi)BDP?:D0?D8GGGWill construct direction to contact in vehicle frame from tetrahedron phase data.G a$?IGBO l> Will construct direction to contact in vehicle frame from tetrahedron phase data.~@w,)AJ2]J0J23J0J2]:J0J2(3J0Z +@YZP:@Z9Z=yZH?8?¿ο ?(K?d?@A?ɨZ +@Z;XybHBbH]Mb@Mb@Mb@YYY Y)YY]/$?㥛 ?:v?y]1(?]=]<]EA ]A)]AI]tAYyYImIm;6٢h> 8=9W=    G٣ y M  > Nusing accuracyPremultiplier from config%P49l?%P4YP iSB%[)?%:- -?B.;cM;(P4=B =AEEzKU8PKU 9KQKUTKUyufc`ZWXTRNKHEC=:740--+'&%%#! 17m nmfAggregate::initialize lineCaptureHoming:LineCapture7momAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes18m pmJInitialize AltitudeEnvelopeComponent.q8mpmDInitialize DepthEnvelopeComponent.8u quJInitialize OffshoreEnvelopeComponent.9u9u1:u tuxAggregate::initialize lineCaptureHoming:LineCapture:HoldMassq:u:u uuInitialize.:}u}Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1;} v}IҍC IHIQIBI =&I.IYD6I<:IFDl8BOm> I A~@w,B A6a @Y6/@6ޙ96o>y6H?@ ? c¿<ο?@dи`?~u??ɨ6a @6R;6GCyBHBB HIJIJ;6٢R= Vc=9V$$XX ZG٣XyZl ^> bNusing accuracyPremultiplier from config`fP49bw*l?fP4YbQ ibSBdfff?bBb:b:bP4l rnApMz~Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1N~ Entering Terminal tracking update period 2.000000 s sec at 145.000000 m (mode 0.000000 count ).1N qN fffrfbf`ܔ@d%̌Q@7%8%]9]9]9]=@II IɚIiIII]Will construct direction to contact in vehicle frame from tetrahedron phase data.iY)a*JmC="Jm4=D8BOK> Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,R0A b$?I^@Y,@9s >yH>?(?I¿ Ͽ ?@-rLI?`,? ?ɨ^@;FCy-IB-KHMb@Mb@Mb@ )YS㥛?MbX?{Gzt?y$&?=ף;A MA)IҪAyAII:6٢7= 8=93 G٣y_X > Nusing accuracyPremultiplier from configP49Bl? P4Y{R i TB (?:Ľ?B';&;MP4 )AEZl5@qN5N55B*** querying acoustic contact ***j1j1f9f9fArfAbfESޔ@JfE@8E19E](?](?]*>]@I ɚiIi)!2D)*D-tAD8BO5 >eWill construct direction to contact in vehicle frame from tetrahedron phase data. e2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.zK,NK9KKUK    Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read:  BDAT read: Tx time:19:37:44.3635  $Ping request sent. I0 I2%HI2IBI0&I0.I06I2<:I2FB"@YBg,@Be9BG`>yBHG?? Ͽ@>? Fڻ%?d?~?ɨB"@Bv;@y^KIB^HIjIj;6٢re> r\=9vJtt zG٣xyz z> Nusing accuracyPremultiplier from config|P49~Vl? P4Y~S i~,TB  0Ž ?~ B~;~3;~AP4 AEblU@NUNUfYfYfarfabfeߔ@RfeR@19eq9m]]]]@I ɚiI!i!)! 5c$?I1D '8BO= >}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251516J J AAJ `J SJ 2J J :J y69J c3J J :a J :a J 4C:a J 6C:a @w,dAy`IBHI5MI526٢EK= ED=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYeQ49]ml?mQ4Y]S i]RTBiim?]B];]a;]Q4q AjlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalfffrfbf%@@Zf!q9%q;%v%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence;% w%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock;-w-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1<- x-Initialize. x-dInitializing internal variables to default values.q=-z5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=U {]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>]}]Initialize.1?] ~]Initialize.=eqBeeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceBe eAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCeeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1DemInitialize.qDmmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlDm mInitialize.Dm1EmBuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503823]]]]I9 9ɚ9i9I9iA)qDMo8BaO}> =d$?IA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755191@w,dt~AyIBHMb@Mb@Mb@ )YʡE?v/?/$y?x=QA ‘A)וAIߦAyAIIp;6٢= A=9Q > G٣y > Nusing accuracyPremultiplier from configQ49΃l?Q4Y0T imTBv ?:t?B #;n ;Q4  3A EzKLK+9KKVKbqBAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideBCAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D Uninitialize.qDAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlDD1Eq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance= {Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide=>}Uninitialize.1?; xInitialize. xdInitializing internal variables to default values.xPDetached from dock at depth 50.384884 m.gjgrgbgfff rf)bf-J@]Mv ?]Mv ?]Mb;>]M&@Iy } yɚyiyIi)BD*?:D>D8# ResumeBO )>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007200Hm>Ii ImHIm'JBIi&Ii.Ii6Im<:ImFBI-ҍCJI-ҍCRI-ƓCZI- =bI- =jI-Ʋg5 1 I1 ʥ@w,JA2(@Y2@8@2½92>v>y2HJ??7 Sο;? !@MQ?ǧ??ɨ2(@2߈;2ICyBIBFHININ{,6٢f< f]=9f%=Q f>hh jG٣hynQ; n> rNusing accuracyPremultiplier from configpvQ49r8l?vQ4YrT irTBxz|oz?rBr);r*;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258973ry Q4}B AEZggjgrgbgfffrfbf@] ] ] ] 0@I9 9 AɚAiAIAiI)IDM8*JUR="JUp=J]bJ]PJYJYJ]:J]*9JYJYJ]T ;J]V ;J]-:J]-:#}ResumingBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512708 = e$?IA @w,.AE6@YEcE@E':9E9>yEH ??" ο?Q??@ޅ?ɨE6@Et2;EGCy]IB]HMb@Mb@Mb@ )YZd;?K?~jty?^=A A)IԤAyAI5#I5.6٢= = E5=9E^II MG٣IyUg; U> ]Nusing accuracyPremultiplier from configYeQ49]Zl?eQ4Y]*U i]TBm?m:m]m?]B]S;]S;]M0Q4q uAyB*** querying acoustic contact ***jjZggjgrgbgfffrfbft@]?]?]>]eR@I  ɚiIi)D-8#E StartEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763077 #U4Initializing EZServoServo. #8Initializing DockingStepper.BO->zKe ~NKe 9Ka Ke WKe oC-!   Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015328ZHQ RHU ?AH] >I] ӍC I] HI] dJBI] =&IY .I] ZD6I] c<:I] fF@w,O@A<@YK@yH??@%οa? Ǵ?5?@?ɨ<@;HCy-IB-*HIE<IE06٢MX= UY=9UQY ]G٣Yye ; e> mNusing accuracyPremultiplier from configiuQ49ml?uQ4YmU imTBqu}?mBm;mc;mr=Q4 AEZggjgrgbgfffrfbf @]]]]Y@Iy y yɚyiyIi)2D*DsA f$?ID8=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267348E =#StartingBO>Je aJe QJa Ja Je :Je -.9Ja Ja Je ;Je ;Je 4:Je 4:@w,DA:GDL rYpyrB~ 7@Y~OF@~—9~t>y~H@?.?@"} ο@?{?A??ɨ~ 7@~B;~GCyIBIHI-FI-16٢=+}= EM=9EII MG٣IyMS M> ]Nusing accuracyPremultiplier from configQeQ49Ul?eQ4YU9V iUTBaee?UBU3;U#;U\KQ4q uAuEZggjgrgbgfffrfbf@]]]]S@I  ɚiIi ) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519452D58E=#StartingBO- > g$?Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7710310@w,VA26@Y2cE@2s926>y2H? :?ȹο?`B ? ??ɨ26@22;2HCyRIBRGH5Mb@Mb@Mb@111 1)1Y57A`?S㥫?ˡEy5?5/]=5'5A 5A)5&AI5A1y5QAIM`IM46٢]< ]H=9e&ai mG٣iym m> Nusing accuracyPremultiplier from configQ49l?Q4Y*W iTB ? :  ?B#;;4ZQ4 AZg9g9jg9rg9bg9f9fAfArfAbfE@@@]e?]e?]e4=]e5@Iq y yɚiIi)zK5MK5s9K1K5XK5RK>JK>D-8Eܪ&=#StartingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024218HI IHIJBI =&I.I6I<:IzF#%BInit string: /1z16368aE13561N3m50ByO> I6@w,A>%@Y>Z4@>r9>5j>y>Hh?`?@l Ͽ`?P`N=?D? ?ɨ>%@>%;>ICyFIBJPHIRIR:6٢Z< ZV=9Z\\ ^G٣\ybk b> fNusing accuracyPremultiplier from configdjQ49fl?nQ4YfW ifTBlrr?fBf`J;fK;ffQ4vB vzAvEZg g jg rg bg fffrfbf@@%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275169]i]i]i]mo@I  ɚiIi)BD ?:D:?D8*E="E=J=`J=RJ9J9J=:J=S29J9J9J=:J=:J= <:J= <:EuX;#uStartingBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527278 h$?I I@w,D3AA$@Y3@;0K9>yH N??׵Ͽ ϸ?@t\c?t?l?ɨA$@'4;騥GCyJBH) UMb@Mb@Mb@QQQ Q)QYUM?I +? rhyUn?U9 G٣y]T > Nusing accuracyPremultiplier from configQ49m?Q4YxY i?:FK?BAQ;sQ;gxQ4 AEB*** querying acoustic contact ***jjZggjgrgbgfffrfbf @]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:37:47.7055 mTRx dataTimestamp_ set to:1736365068.948943mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.788471]?]?]u=]@I  ɚiIi)D?8zK} RKK} 9Ky K} YK} BK :K tAE # StartingB O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039277H >I ԍC I 8HI JBI =&I .I 6I -<:I @FR*@w,FMA2@Y2 @2L92Z>y2H@?`'H?@DbϿ?¿7???ɨ2@2l;2ICyR&JBRHImIm4?6٢mP= r=9=Q ? G٣yPۻ ? Nusing accuracyPremultiplier from configQ49$m?Q4Y~Z iTBM?B::BQ4 AZggjgrgbgfffrfbf@]]]]@I) ) )ɚ)i1I1 =i$?I9iA)AD508E1E1*E5"E5#StartingBOk>uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 703.3 m (Round-trip 937.8 ms) speed 0.1 m/s -X#Rx 1: Read range message, but no direction.yy}/DyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.T@w,"gA2@Y2G @2fҼ92 >y2H@?f?!hϿ@?¿`L?@?U?ɨ2@2+ ;2GCy^=JBbHIjIj=6٢r1k= rV=9r =Q r>tt vG٣tyvZ z> Nusing accuracyPremultiplier from config|Q49~6m? Q4Y~[ i~TB  M?~dB~;~] ;~Q4 ƷAEZggjgrgbgfff rf `f@bf &?]]]]@I  ɚiIi)Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: user:759> BDAT read: Tx time:19:37:48.9135 $Ping request sent. )I) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246510J] ^J] SJY JY J] } :J] y69JY JY ae @ae @am @am @GM@w, DA6@Y6Y@6`;96S!>y6H m??`vϿF? ÿ`*w??@?ɨ6@6 :;6ICy>XJBBH]Mb@Mb@Mb@YYY Y)YY]S?=9=Q > G٣y ~ > Nusing accuracyPremultiplier from configQ49Jm?Q4YO] iTB)?:?B;;ڠQ4! %A!LU ]Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseL]eEntering Midcourse tracking update period 60.000000 s sec at 703.299988 m (mode 0.000000 count ).Le1MmZggjgrgbgfffrfbfx?])?])?]@]@I  ɚiIi)zKMKKM9KIKMZKM D%8#-StartingB9OU>H>IӍC I]HIJBI =&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498594 k$?Iu@w,/A:@Y:\ @:BN;9:)##>y:H?]? 䓢Ͽ@1?ÿ@Ri`PN?@8?ɨ:@:ɉ;:HCy^JBbHIjIjA6٢r+= rV=9rb=Q r>tt vG٣tyzպ z> ~Nusing accuracyPremultiplier from config|Q49~[m?Q4Y~^ i~TB g ?~LB~;~;~Q4 6AE%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7511602l=N@1M=qM=ZgIgIjgIrgIbgIfIfIfQrfQbfU;?]]]][@I  ɚiIi)D48#&Changing to mode: 3#Detach mode.#2Commanding negative:54593*FM?2FI:FIBFM1JFIByO:>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003464 I @w,AF@Y@=9(>yHU?@H!?}Ͽ? sſ }??ɨF@;騕ECy޵JB޵8HEMb@Mb@Mb@AAA A)AYEL7A`?~jtMb`?yE+?EDE;A A)EAIEAAyAII?6٢n= 0=9+=Q > G٣y > Nusing accuracyPremultiplier from configQ49]om?Q4Y}` iTB4?:?B);;Q4 A:lqMMZgg jg rg bg f f frfbf_?]54?]54?]5U@]5>@IA A IɚIiIIIiI)QBD]*?:D]?%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254461DE8*F=2F:FBF0JFBJ`JQJ3JJ:J-.9J(3JOM>zK LK @9K K [K H} >Iy  I} vHI} JBI} =&Iy .Iy 6I} `<:I} cFBIMӍCJIMӍCRIIZIM =bIM =jIM5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508099@w,AybJBbyHIjIjxV6٢ M> h=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1mQ495q~m?mQ4Y5a i5TBiim?5)B }l$?Iy5<5#<5iQ4B AEBlMtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseL Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseZggjgrgbgfffrfbfq?]]]]I   ɚiIi)DM8EUtAEUtA*Fo;2F:FBFJFBO*>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758541ȳ@w,A>@Y>@>(\=9>x)>y>H'?@qV??.Ͽ`|?@!ƿw?`1?ɨ>@> ;>HCybJBbHInInX6٢z< zL=9~<=Q ~>  G٣ y wV > %Nusing accuracyPremultiplier from config-Q49m?-Q4YWc iwTB15?5?BAQ;1h;pQ4I M|AIZgygyjgyrgybgyfyffrfbf`@]A]A]A]E;@Iq y yɚyiyIyi)Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010935Dm8 um$?Iq*F82F:FBF05JFB O%,>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262580JK3 K.-KK"KJ _J TJ 2J J :J :9J c3J Aw,/Ay}KB}H Mb@Mb@Mb@    ) Y {Gz?I +~jt?y ? 94 < A A) ZAI ~A y AIMIMW6٢e= e5=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configyQ49}Mm?Q4Y}e i}rTB?:T?} B};};}Q4 :A޳EZggjgrgbgfffrfbfl@]?]?]`@]@I  ɚiIi)2D sA*D D-78zKKK9KK\KH5>I5ҍC I5HI5JBI5 =&I1.I5YD6I5<:I5uFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514910*FJ62F:FBF5JFBOL> iIiCAw,vAB@YB_)@B=9Be/>yBH?z?@?Ͽn?xȿhs?Y?ɨB@Bֈ;BGCyJ$KBJHPRAPPIVIV[6٢^= ^i=9^>Q b>`` bG٣`yf< f>~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767297 Nusing accuracyPremultiplier from configQ49m?Q4Yef icTBn?nB;l;,Q4 A۳EZggjgrgbgfffrfbfi@]]]]H@I  ɚiI i )D 8)i mC*F32F:FBF5JFBG%`wA9OM1> m{Ym`wAymiBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018621 E n$?IA  Aw,T6AUw5@YUD@U!>9U71>yUH??@ܳ?@ οk?3Gɿ ?xE?ɨUw5@U;UFCyޥ=KBޥHmMb@Mb@Mb@iii i)iYme;O?/$??ym>m G٣yq; > Nusing accuracyPremultiplier from configR49Sm?R4Yg iUTBN>:WV?B;Q;R4I MAQZggjgrgbgfffrfbf`42 @Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271196]5N>]5N>]53=]5 ]@Ia a iɚiiiIiiq)yD}8JJJ3JJJJ(3J*F-012F):F)BF-1JF)B9O]v>zKU rKKU ж9KQ KU ]KU    jH <bH <H >I эC I HI KBI =&I .I XD6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iյ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524341\Aw,l[PA `I`zM@Yz5]@z>9zVR3>yzH ??%?/ο2j? ɿ(¿G?$1?ɨzM@z;zGCy WKB HII[6٢-)= -c=9-C=Q ->11 5G٣9yE< E> ]Nusing accuracyPremultiplier from configQmR49Um?mR4YU|h iUFTBiuPSu?U3BU N;UQ:;UJR4B AسEZg g jgrg1bg1f9f9f9rfAbfEm@]]]]Tu@I  ɚiIi)BD"?:D>D:8*FEn/2FA:FABFE1JFABQOm6>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:37:52.2547 TRx dataTimestamp_ set to:1736365073.484671checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775670Aw,CiARg@YR9w@Rj#>9R<3>yRH?R??RͿ j?nʿbĿ ? T?ɨRg@R;RHCyfdKBf)HInIn\6٢v}= vP=9z7=Q z>x| ~G٣|y~< ~>  Nusing accuracyPremultiplier from config R49m? R4Yyi i3TBP?BN;;R4! %rA!ZgAgAjgIrgIbgIfIfIfIrfQbfU @]i]i]i]m@I  ɚiIi)uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.026657D8E o$?I*FE|,2FA:FABFE0JFABYOu>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- 8DAT read: $Error in header - *Received a bad header} checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289733 Aw,oكA6A@Y6@65>963>y6H@?@~?@}?@$Ϳ =< A A)EAIAy\AII\6٢f= ;=9"%=Q > G٣y< >  Nusing accuracyPremultiplier from configR49om?R4Yj i TB>:Tӽ?BO;G;0.R4! ->A-ճEZgIgIjgIrgIbgfffrfbf@Q@]%>]%>]%>]%@IQ Q YɚYiYIYia)azKe LKe9KaKe^Ke    Q\)31,( &,Dm8RKu ?JKu?H>IЍC III =&I.I6Iε<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535740*F)2F:FBF0JFBOEQ> I= PExceeded connect timeout, disconnecting.('Aw,XA6@Y6b@6G>96u3>y6H?%e?3?@&x̿q?hQ˿ ȿ?N?ɨ6@6ڈ;6ICy^KBbSHIfIfr^6٢nn< r]=9r$@=Q r>tt zG٣xy~Q<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786652  > Nusing accuracyPremultiplier from config R49 um?R4Y pj i  TB1ɽ? LB < < 0;R4 ,AZg g jg rg bg fff1rf1bf=U@]y]y]y]}@I  ɚiIJ`J^J2JJ:Jd9Jc3JJaJaJ:aJ:ai)2D *D rADMg9*F '2F:FBFA5JFBO5O>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038510 p$?I ==-Aw,A%vҺ@Y%@%X>9%2>y%H? L?8?y˿v?@˿/ʿs?`?ɨ%vҺ@%=;%GCymKBm_HMb@Mb@Mb@ )YzG?B`"۹?{Gz?y >=#<A A)fAIAyAII`6٢< ,=9=Q >   G٣ yU< ]> eNusing accuracyPremultiplier from configamR49en?mR4Yehj ieSBu:>u:ut;u?eBe;e;eKR4y AҳEZggjgrgbgfffrfbf`(@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290929]%:>]%:>]%q>]%Ds;IY Y aɚaiIi)De_9EurAEurA*FD$2F:FBF5JFB O%o>H >I  I HI JBI =&I .I WD6I <:I FzK NK ۵9K K _K +% }oV@.xqjfaZWWS[>GJOPNIGH>6/*'!BK rA:K rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542513E$4Aw,_A (I(yޝKBޝVHIIRb6٢ a=9Q > G٣y > Nusing accuracyPremultiplier from configR49n?R4Yaj iSB?Bu ;3:rXR4  &A Zggjgrgbgfffrfbf .@]]]]I  ɚiIi)D nManaging dock network, ignoring radio surface power off*F!2F:FBFJFBO>>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794557JaJJJJ:JJJJ;J;JJ964>y6HY?`P?@;?Gʿ :?@n̿ο`s??ɨ6$.@6;4yBKBFQHININob6٢Vs> V]=9Z =Q Z>XX ^G٣\y^< b> fNusing accuracyPremultiplier from config`fR49b*n?jR4YbNj ibSBhja<j?bSBbf:b*% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298738|6AAw,DA2d^@Y2m@2'>926>y2H5E?E? ? Dwɿ?3̿Zdп?`p?ɨ2d^@2;2HCyRKBROH5Mb@Mb@Mb@111 1)1Y5S㥛??{Gzy5$>5>5ף5A 5A)5AI5(A1y5=AIIle6٢ck <=9w=Q > G٣yL^< > Nusing accuracyPremultiplier from configR499n?R4Yi iSBy>;=?B;;htR4 1AϳEZggjgrgbgfff rf bf @]-y>]-y>]-u>]-=I9 9 9ɚAiAIAiA)ID9E?E?H>I IHIJBI =&I.I6I<:IrFBI5ЍCJI5эCRI5ĔCZI5 =bI5 =jI5ġ5zK=nOK`9KK`K vme]WUK?610,(&%$" */4552246*F%2F!:F!BF%/1JF%B1OU1>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550780 !I!aGAw,A6@Y6@6S >96T7>y6H0?*?`?ȿ?)ͿIѿ`?P?ɨ6@6Ê;6ICyNkKBN2HIVIVb6٢^D{ bY=9b/=Q b>dd fG٣dyjl<nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802734 r> zNusing accuracyPremultiplier from configtzR49vEn?~R4YvGi iviSB|~>~?vBvu ;v ;vR4B (A x-ZDetected possible detachment. Starting timer.g)jg)rg)bg)f)f)f1rf1bf5H@]Y]Y]Y]]>Ii i iɚiiqIqiq)yD=9*JC="J%=J`JRJJJ:JS29JJJ:J:J <:J <:*F2F:FBF0JFBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054502  r$?I {MAw,8A6Ȼ@Y6@61>96_7>y6H? ?`?dǿ@?`AͿ ҿ?3?ɨ6Ȼ@6 ;6GCy_KB="HIIe6٢9 <=9 G٣yOq< > %Nusing accuracyPremultiplier from config uR49 Tn?}R4Y h i 9SB>? PB i< G< R4B @A̳Egjgrgbgfffrfbf#@]a]a]a]ez>Iq y yɚyiyIyi)2D*DWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306787DeF 9*F2F:FBF2JFB O%M>He >Ia  Ie DHIe JBIe =&Ia .Ia 6Ie j<:Ie VFzK uNK K K aK 77400,%#" !"    Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558597 I rTAw,DRA2@Y2@2]n>9286>y2H` ?XG?``!?`3ǿ?@z@Ϳҿ`֥? Q?ɨ2@2 #;2JCy:5KB:HuMb@Mb@Mb@qqq q)qYuT㥛 ?rh|?~jtyu>u=uļuA uA)uHAIuXAqyuAIIr^6٢ӽ L=9=Q > G٣yN< > Nusing accuracyPremultiplier from configR49\n?R4Yg iSB><;:>?B>;;R4 Agjgrgbgfffrfbf@h@]>]>]|>]:>I) 1 1ɚ9i9I9iA)IDmj 9Eq*F2F:FBF05JFBO+>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810520JJJaJ[JJJ:JW9JJJ;J;J|:J|: G xA &Y xAy |!B1ZAw,lA2#@Y23@2>92{7>y2H`.?0??B2ƿk?vͿ@ӿ??ɨ2#@2%;2GCy^$KBbHIjIj`6٢r9( rW=9rott vG٣tyz< z> Nusing accuracyPremultiplier from config R49dn? R4Yg iRB  #> ?B@::R4 Ag9jg9rg9bg9fAfAfArfAbfE @]]]]#>I  ɚiIi) ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062829 t$?ID 9*F2F:FBF5JFBO!> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314544haAw,]A:J@Y:Y@:>9:"9>y:H ??? @ſ`?gͿDԿ??ɨ:J@:os;:HCyRKBRH5Mb@Mb@Mb@111 1)1Y5x?MbX?Zd;Oy5K>5=5j5߹A 5ȕA)5AI5AA1y53AIMIMc6٢]@ eC=9eii mG٣iym@9< m> }Nusing accuracyPremultiplier from configqR49upn?R4Yurf iuRB> ;+>?uBu;u;uR4 ԵAɳEgjgrgbgfffrfbf`h!@]]>]]>]]m">]]+>Ii  ɚiIi)BD?:D?Dc 9H>IύC IHIOJBI =&I.IVD6I_<:IKF*F-2F):F)BF-4JF)zK-YMK-#9K)K-bK-   BIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566636Ou6> I̮gAw,X9A6v@Y6݅@6>96zW9>y6H???8?Ŀ?@:Ϳ.Կ ?x?ɨ6v@62;4bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818921yJBHI-*I-g6٢E EL=9MIQ UG٣QyU[< U> eNusing accuracyPremultiplier from configYeR49]{n?mR4Y]e i]aRBimc2>m?]HB]:]:]R4y }/Aygjgrgbgfffrfbf 5"@]]]] c2>I  ɚiIi)*JuR="Jua=D 9*F2F:FBFS1JFBO > qIq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072264HmAw,AF{@YF@FL>9FW9>yFH?Z??IĿG?JͿf^տ?{?ɨF{@F#;FICyRJBR{HIZ>IZi6٢v,# vP=9 G٣y7 < > =Nusing accuracyPremultiplier from config mR49 n?uR4Y *e i RBy}R8>? B u< .< R4 OAg)jg)rg1bg1f1f1f1rf9bf=1#@]q]q]q]uR8>I  ɚiIi)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324456D9J_JQJJJ :J-.9JJa@a@a@a@*F2F:FBF0JFB O%N>ZH RH AAH >I  I cHI IBI =&I .I 6I <:I zF e u$?Ia } Will construct direction to contact in vehicle frame from tetrahedron phase data.} Aiy  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574780zK LK `9K K cK  &&&(!#"   _tAw,AFR@YF@Fm>9F8>yFHɬ?@_? K?Kÿ?Ϳ`,տ ? =?ɨFR@F6;DynJBnNHMb@Mb@Mb@ )YtV?y&1?V-y>`e=vA $A)AIAyAINIk6٢Ϩ ;=91 G٣y"< > %Nusing accuracyPremultiplier from config %R49 ֑n?-R4Y d i QB-x>-;-=-? B ; R; R4I MAMƳEgijgirgibgqfqfqfqrfybf} #@]x>]x>]">]t=I  ɚiIi)2DtA*DtAD9*FE2FA:FABFAJFABYOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826607zAw,YAbѼ@Yb@bU>9b5>ybH???\ÿ?R\Ϳ 2ֿ 4?Š?ɨbѼ@bK;;bHCyrJBr(HIzIzq6٢ Y=9   G٣y< > %Nusing accuracyPremultiplier from config!-R49%Hn?-R4Y%d i%bQB)-=5?% B%;%h;%R49 =ԶA9gajgargabgafififirfibfu$@]]]]ԍ=I  ɚiIi) I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5 Will construct direction to contact in vehicle frame from tetrahedron phase data.J aJ VJ J J :J B9J J ҁAw,A6h@Y6@6׷>96k4>y6Ha???ÿs?56ͿX}ֿ X?~?ɨ6h@6:;6ICyr}JBr HuMb@Mb@Mb@qqq q)qYuV-?Mb?X9vyu>u G٣y ; > Nusing accuracyPremultiplier from configS49(n?S4Yd iPB>;*̼?EBZ;Y;S4 AgjgrgbgfffrfbfMw%@]%>]%>]%-A=]%C@I1  ɚiIi)H>I΍C IHIIBI&I.IUD6IE<:I2FD B9 IMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF5JFBzK0/MK#9KKdK ->?8-,)&RK ?JK ?OI>Aw,c!A6@Y67@6Mܹ>964>y6H'??_T?¿[?$;ͿŹֿ ? s?ɨ6@6D;6HCRWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Response Not Received V*response not received-Vpp rG٣pyr; v> zNusing accuracyPremultiplier from configtzS49vn?~S4Yvd ivPB?v{Bv9 v$?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.(Aw, c;A2D@Y2@2 >>927>y2H`v?@?`Vy?¿?Ϳ ֿR?g?ɨ2D@2*8;2GCyRUJBRH)T TI^I^@z6٢f fK=9f;Q f>hh jG٣hyn7; n> rNusing accuracyPremultiplier from configpvS49rdn?vS4Yrd irDPBtvSz?rBr/:rQ:rS4~B OAóEg jg1rg1bg9fAfAfIrfqbf}@'@]9]9]9]=w@Ii  ɚiIi)Will construct direction to contact in vehicle frame from tetrahedron phase data.De9JiJmQJiJiJiJm-.9JiJi*F2F:FBF0JFBOMS>jH bH 4<H >I  I vHI 3IBI =&I .I 6I <:I sFBImύCJImύCRImɓCZIm =bIm =jImU5 I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.zK xMK 9K K eK "   BK% sA:K% tAAw, 6UAB@YB(@BA>9B:>yBH?m??9¿?Ϳk׿@? ^?ɨB@B؉;BJCyPRH-Mb@Mb@Mb@))) )))Y-S㥛?{Gzv/y-ݤ>-ף-x) -ĘA)-fAI-?A)y)I=I=x6٢Mr MB=9U;Q U>QQ ]G٣Yye; m> Nusing accuracyPremultiplier from configyS49}n?S4Y}:e i}OB0>;+?}B};};}+S4 PAgjgrgbgfffrfbf@'@]0>]0>]@]F@I  ɚiIi)D79*Fe2Fa:FaBFe0JFaBO<>Will construct direction to contact in vehicle frame from tetrahedron phase data.8Aw,VoA:$@Y:4@:3>9:/7>y:H?@'?? ¿@,?._Ϳ ׿??`?ɨ:$@:t;:ICyRDJBRHIZIZ|6٢d* O=9}:Q  >    G٣ yb; > Nusing accuracyPremultiplier from config%S49n?%S4Ye iOB)--? B::c9S41 5rA1 aIagqjgqrgqbgyfyfyfyrfbf;(@]]]]9G@I  ɚiIi)=Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fm2Fi:FiBFm0JFiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J bJ RJ J J :J S29J J Aw,%A62@Y6A@6k>96M4>y6H?@w?? N@`?@x̿J׿?@Se?ɨ62@6;6JCyR2JBRHmMb@Mb@Mb@iii i)iYm{Gz?mtmĽmA i)mAImAiym3A@AIIZ}6٢P& A=98 Q > G٣yā; > Nusing accuracyPremultiplier from configS49'n?S4YEf i.OB >;Xb?YB;7;:HS4 AEgjgrgbgfffrfbf́)@]% >]% >]%z@]%@IA A AɚAiIIIiI)QHYIY I]+HI]HBI] =&IY.IY6I]z<:I]XFDu(9 ]w$?IY*F2F:FBF0JFBO&>]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLK`9KKfK  E=By!@QHD5 y^?'mI#q_F2)RK-?JK->rMAw,ҢA2<@Y2.L@2&>92$2>y2H?f?@?ݸ@?D̿ ֿ?j?ɨ2<@2K;2HCNWill construct direction to contact in vehicle frame from tetrahedron phase data.yRCJBRHI^I^>|6٢b-= fX=9f Q f>hh jG٣hynC[; n> rNusing accuracyPremultiplier from configpvS49rKn?vS4Yrf irNBtvav?rBr:r:r`US4| ~sA|g!jg!rg!bg)f)f)f)rf)bf5`B*@]I]I]I]MD@Ia a aɚaiaIaii)i)F= G!*J5C="J5p=A uhYqyu0A?ADL9*F=2F9:F9BFEI5JFABQOm5> 9I9MWill construct direction to contact in vehicle frame from tetrahedron phase data.uAw,rA>vS@Y>b@>l>9>3>y>Hw? @??h?"ֿ̿`O?Mn?ɨ>vS@>x.;>ICyF6JBJHIRIR?{6٢Z ZL=9ZsQ Z>\\ ^G٣\yb; b> rNusing accuracyPremultiplier from confighzS49jn?zS4Yjqg ijNB|~=^?jBj ;j;jncS4  A g)jg)rg)bg)f1f1f1rf1bf5@+@]Q]Q]Q]U@I  ɚiIi)yBD?:D?D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%2F!:F)BF-5JF)BYO:>JQKU3 KUS}-KQKQ"KQJaJTJJJ:J:9JJZHI RHM ?AHU >IQ  IU HIU HBIU =&IQ .IQ 6IU <:IU ~F ) I) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.\Aw,}AzK2#PK29K0K2gK2xk_C3*%~{wvuqoheb^[WUSQOMIHEC?>B@<>>;:a@Y:p@:z>9:G8>y:H?@(?@n?9?jͿ`Iֿl?@p?ɨ:a@:G>;:FCyjCJBjH)l l]Mb@Mb@Mb@YYY Y)YY]Q?~jtL7A`尿y]\>]ļ]+](A ]7A)]AIYYy]̮AIuIux6٢< >=9ػQ > G٣yR; > Nusing accuracyPremultiplier from configS49tn?S4Yg i@NB̓>7;F?B ;Y;qrS4 rAgjgrgbgfff rf bf+@]̓>]̓>]eS@]@I  ɚiIi)D9*F2F:FBF4JFBOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.JQJQՆAw,XAF_{@YF@F>9F:>yFH ?@o?>? ?3Ϳxֿ?Kw?ɨF_{@F?J;FICyNDJBNH `IdI^I^Bw6٢j6I; jV=9nrQ n>pp rG٣pyvn< v> zNusing accuracyPremultiplier from configx~S49zn?mS4Yzjh izNBimBm?z%BzY Will construct direction to contact in vehicle frame from tetrahedron phase data.oAw,v7 AV@@YV@Vqq>9V:>yVH`Ƹ?`m?-?b? Ϳi5ֿ??ɨV@@Vr;VHCyEQJBEHMb@Mb@Mb@ )Yp= ף?Mb`?I +y>;94SA bA)AIAyIEIE|v6٢e< e3=9m.Q u>yy }G٣yy; > Nusing accuracyPremultiplier from configS49n?S4Yh iMB>I;ý?[Bw;Ǚ;̏S4 VAH]>I]͍C IYIYIY&IY.IY6I]i<:I]IF x$?Igjg!rg!bg!f!f)f)rf)bf-B-@]M>]M>]MD;]M4@IY Y YɚaiaIaii)i2Dq*Dq%Will construct direction to contact in vehicle frame from tetrahedron phase data.DE!9zKM0 OKIKIKMhKM9=JU[`YSRQJFGDA=985457;?BABB@BA>:9410110,,+)'" *F2F:FBF0JFBOd>&Aw,I$A6@Y6@6Բ>967>y6H ?.?`? YQ?@̿`տ`|??ɨ6@6 ;6ICBWill construct direction to contact in vehicle frame from tetrahedron phase data.ynYJBnHIzIzs6٢< %b=9%%gQ %>)) -G٣)y-}; 5> =Nusing accuracyPremultiplier from config1ES495o?ES4Y5h i5MBAEE?5B5 ;5. ;5US4I UEAQgqjgyrgybgyfyfyfrfbfIR.@]]]]\@I  *JR="J<JcJeJJJ:J9JJJ;a-J;a-J:a-J:a-ɚiqIqiy)yD3"9*FE2FA:FABFIJFIBiO9> I5Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,$=A6@Y6=@6Z>965>y6H2? `Q?(?@] ? ̿Nտ WG?ध?ɨ6@6i;4yBjJBBHIJIJr6٢r-= rN=9veQ v>tt zG٣xyzW; z> Nusing accuracyPremultiplier from config|S49~a o?S4Y~i i~_MB  ޺ ?~B~<:~:~4S4 %#A!gajgargabgafafafirfibfm/@]]]]b$@I  ɚiIi)D,$9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF)JF)B9OU>jHI bHM <HU >IQ  IU HIU HBIU =&IQ .IU TD6IU <:IU fF I = Will construct direction to contact in vehicle frame from tetrahedron phase data.>Aw,%WAzK.6/NK.9K,K.iK.     y=wJB=HMb@Mb@Mb@ )Y1Zd??/$y"[>L=$A A)3AIy­AIaIm6٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from config S49o? S4Yh i:MB b> p; g> ?B;;|S4B AEgIjgQrgQbgQfYfYfarfabfm3/@]=b>]=b>]=: k>]= g>II Q QɚQiQIQii)qBD}?:D})?DE%9*F2F:FBF45JFBOK>Will construct direction to contact in vehicle frame from tetrahedron phase data.J5dJ5UJ1J1J5<:J5>9J1J1J5!;J5#;J5Q:J5Q:Aw,0qA y$?IF@YF@F<>9F5>yFH ?D??X ?˿Կ`<]??ɨF@F珉;DynrJBrH)t tIzEIzj6٢Y^ Z=9-Q  >  G٣yD< > %Nusing accuracyPremultiplier from config!-S49%Jo?-S4Y%h i%MB)-W>5?% B%:% :%S49 =A9gjgrgbgfffrfbfb0@Will construct direction to contact in vehicle frame from tetrahedron phase data.]!]!]!]%W>IY Y YɚYiYIYia)aDM&9*F2F:FBFd5JFBO)> Will construct direction to contact in vehicle frame from tetrahedron phase data.}Aw,A~A: @Y:)@:~>9:U6>y:H}?+?`Ps?t *?˿TԿ?3?ɨ: @:;8yF~JBFHMb@Mb@Mb@ )Y(\?Mb?MbyG>=߻A )AIyAI55I5h6٢E< EF=9E]Q E>II MG٣IyM< U> ]Nusing accuracyPremultiplier from configYeS49]o?eS4Y]g i]MBeF^>et;e >m?]5B];];]S4y }Aygjgrgbgfffrfbf0@]F^>]F^>]>] >I  ɚiIi)H>I IPHIIBI = I&I.I6I:IeFBI͍CJI͍CRIZI =bI =jI05D(9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-2F):F)BF-5JF)BaO}7>zKsLK9KKjK  RK?JK?-Aw,WA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:-@Y:<@:>9:O7>y:H _3?L ??` ?J˿cӿ(?`x?ɨ:-@:t‰;8yBJBBHIJ$IJf6٢~< ~O=99Q > G٣ y *<  > Nusing accuracyPremultiplier from config%S49%o?%S4Yf iLB!%>%?_B';\(;S41 5A1gQjgYrgYbgYfYfYfarfabfe:-1@]]]]>I  ɚiIi)JaJ`JJJ:Jbl9JJJ;J;J.:J/:D(9*F-2F):F)BF-5JF)B9OU> IWill construct direction to contact in vehicle frame from tetrahedron phase data.Aw,4A6L@Y6\@6>96O7>y6H@J?c?b?9*?˿`Xcӿ`??ɨ6L@6ĉ;6HCyNJBN!HIZIZT`6٢f< fM=9f@Q f>hh jG٣hyj< n> rNusing accuracyPremultiplier from configpvS49r%,o?vS4Yr;f irLBtv%>v?rBr:r:rS4| }ڶAgjgrgbgfffrfbf1@]]]]e%>Will construct direction to contact in vehicle frame from tetrahedron phase data.I  ɚiIi)De+9*F2F:FBF0JFB O%o> IZHRHAAH I  I HI GIBI =&I .I 6I a<:I @F Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,EAzKBLKB9K@KBkKBBKH:KHy%JB%,HMb@Mb@Mb@ )YˡE?Pn?>tA A)AIy\AI I `6٢0< 5=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=T4952o?ET4Y5d i5LBEtV>E};E?E?5B5p;5;5lT4I MǶAUEgijgqrgqbgqfqfqfyrfybf}"2@]tV>]tV>]?*?]?I  ɚiIi)D -9*Fa2Fa:FiBFiJFiByO:>mWill construct direction to contact in vehicle frame from tetrahedron phase data. AG1Q YyYAJcJ[JJJ:JW9JJJ;J;J|:J|: I f#Aw,`A>v@Y>@>',>9>"3>y>H5y?`??$b(?T ʿ@Ebҿ@V? .?ɨ>v@>`b;>GCyZJBZHIbIb^6٢j  jd=9j;Q n>ll rG٣pyrs< r> vNusing accuracyPremultiplier from configt~T49v7o?~T4Yvc ivLBu??vBv+;;v;;v T4  A g)jg)rg1bg1f1f1f1rf1bf=@)b2@]]]]#u?I  ɚiIi)Will construct direction to contact in vehicle frame from tetrahedron phase data.D/-9*F-2F):F)BF)JF)B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.C Bw, A2m@Y2@2d>92}/>y2H?05?b? 윹a3?@aɿ@nѿ ?@F?ɨ2m@2Qr;0yNJBNHMb@Mb@Mb@ )YK7A`?+?ly+>>=A MA)dAIOAyQAII^6٢l; ==9Q > G٣ys< > Nusing accuracyPremultiplier from configT49,>o?T4Y:b iLBm>e;K0??C]?;/>;T4 Agjgrg bg f f f rfbf`2@]5m>]5m>]5X@?]5{K0?IA A AɚAiAIIiI }z$?IyHI IHIpIBI&I.I6I1<:IF) DL/9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FBF0JFBOA>zK5KK5u9K1K5lK5 RKE?JKE>6 Bw,&A"Will construct direction to contact in vehicle frame from tetrahedron phase data.Rþ@YR@R5>9RV/>yRH?ൠ?s?丿`8?'ɿ[ѿ1?@Y?ɨRþ@Rr;PynJBrHIzIz]6٢ U=9 Q  >  G٣y< > %Nusing accuracyPremultiplier from config%T49Co?-T4Y` iLB)-0?-?CH::o)T4 A*J4="J%=g jg rg bgQfQfQfYrfYbf] :3@]y]y]y]}0?I  ɚiIi)Dh19*F=2FA:FABFE`2JFABQ aIiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.kBw,@A6@Y6@6i>96Y2>y6H ?`?6? 9?@Lɿпf?eg?ɨ6@67F;6ICyTTI^I^\69fLQ f>hh jG٣hyj0"< n> rNusing accuracyPremultiplier from configpvT49rIo?vT4YrH_ iriLBtvL1?v?r5Cr:rQ:rE7T4| ||g!jg!rg!bg!f)f)f)rf)bf-3@]I]I]I]MwL1?IY a aɚaiaIaii)i2Dq*DusAD519eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFBO>JaJVJJJ:JB9JJa@a@a@a@ QIQjHbH<HI IHIIBI =&I.I6IX<:I9F Will construct direction to contact in vehicle frame from tetrahedron phase data.GBw,*WZAJ@YJ,@J9>9Jz4>yJH??? Y@@?{)ɿlϿ ?5?ɨJ@J=O;HyVzJBV HzK]KK]9KYK]mK] )ANKGCEJKKGEA=;7531,*('$#$}Mb@Mb@Mb@yyy y)yY}kt?ףp= ?i|?5y} 0>}>}q}ʷA y)}~AIyyy}zAII[6٢9 <9 Q > G٣y< > Nusing accuracyPremultiplier from configT49Oo?T4Y] iILBt>^;5??NC;;_FT4 Agjgrgbgfffrfbfy4@]%t>]%t>]%;?]%5?I1 1 1ɚ1i9I9i9)ADU39EetAEetA*F2F:FBF5JFBO)>mWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ@A A IA uBw,CtA60*@Y6u9@6w>9614>y6H[?~??bsC?ȿ`QοE?×?ɨ60*@6v;4yBxJBBHIJIJ\6٢R R\=9VԴQ V>TT VG٣TyZJ; Z> ^Nusing accuracyPremultiplier from config\bT49^JUo?bT4Y^%\ i^.LBdf4?f?^dC^s:^s:^`ST4l nArEg|jgrgbgfffrf bf e4@Will construct direction to contact in vehicle frame from tetrahedron phase data.])])])]-4?Ii i qɚqiqIqiq)yDe39*F2F:FBF5JFBO*>m Will construct direction to contact in vehicle frame from tetrahedron phase data.J J ^J J J J d9J J X#Bw, A6rD@Y6S@69o>96c3>y6H@`?@IϿ?*?TBH?`ȿơͿ`?@|?ɨ6rD@6L;4yBnJBBH Mb@Mb@Mb@    ) Y V-? rh?#~jy |?> C > 㥽 A ԓA) AI MA y =AI%I%\6٢5"ͼ 5B=9=Q E>AA MG٣IyM; M> UNusing accuracyPremultiplier from configQ]T49U[o?eT4YUZ iULBez>eX;eR"?e?U|CU;Ut;U bT4i mAq {$?Ig)jg)rg)bg1f1HE>IA IEHIEIBIA&IA.IA6IE<:IEfFf1fyrfybf}.4@]z>]z>] ?]kR"?I  ɚiIi)BD'?:DDV69Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe2Fa:FaBFe?1JFaBqO:>zKZMKu9KKnK%#    )Bw,BAWill construct direction to contact in vehicle frame from tetrahedron phase data.:SH@Y:W@:Bg>9:Y21>y:H`'?=?B?.M?B[ȿ`̿z?@?ɨ:SH@:/;:HCy~VJB~HII]6٢-f 5K=95ŝQ =>9A EG٣AyM: M> ]Nusing accuracyPremultiplier from configQeT49Uao?eT4YU?Y iUKBim!?m?UCU>;U(;UBpT4y }GAgjg*JC="JR=rgbgfffrfbf:5@]]]]!?I  ɚiIi ) Ds89 I*FM2FI:FIBFM0JFQBaO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.k0Bw,A2Z@Y2Cj@2`>92i51>y2H`9!?_?@vv?`bP?+:ȿ˿̓??ɨ2Z@2;2ICy:KJB>HIJIJ]6٢R~ RT=9RQ R>TT VG٣TyZ'; Z> ^Nusing accuracyPremultiplier from config\bT49^go?bT4Y^W i^KBdf!?f?^C^;^:^}T4h j^AhgQjgQrgQbgQfyfyfrfbf5@]]]]!?I  ɚiIi) D=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFJbJTJJJ:J:9JJBO&> IZH1RH5@AH=>I9 I9I9I9&I9.I96I=J<:I=.FBIJIRIZIbI =jI,5 Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai j6Bw,$A65[@Y6zj@6 Y>96^ 2>y6H@+-?%??GP?Bȿ`!ʿ??ɨ65[@6-;6HCyRDJBRH-Mb@Mb@Mb@))) )))Y-Cl?:v?EԸy-O>-=-ƽ-A ))- AI-A)y-\AIIV]6٢ ;=9Q > G٣zK\!MK9KKoKy Nusing accuracyPremultiplier from configT49no?T4YV iKB}>V;e>?C;; T4 lAg jg rg bg f ffrfbf@? 6@]5}>]5}>]55h>]5e>IA I IɚIiIIIiQ)Y2Da*DetAD:9*F)2F):F)BF-0JF1BAO]3>=Will construct direction to contact in vehicle frame from tetrahedron phase data. I 96y(3>y6H9?@̣? D? vBP?Nȿ@ʿ?o?ɨ6b@6d;6ICy>AJBBHIJIJT_6٢ROϻ R\=9RQ R>TT VG٣TyZL(; Z> bNusing accuracyPremultiplier from config\fT49^to?fT4Y^U i^UKBdf>f?^C^-;^j!;^T4nB npAnEg|jg|rg|bg|fffrfbfj6@]!]!]!]%->I1 1 9ɚ9i9I9iI)ID:9Will construct direction to contact in vehicle frame from tetrahedron phase data.E!*F2F:FBF0JFBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.J J VJ J J J B9J J DCBw,R A6g@Y69w@6L>962>y6HoC?2? 7?VdR?(ȿlWɿ )? ?ɨ6g@6XZ;4yR,JBRH AIA5Mb@Mb@Mb@111 1)1Y5}?5^I?p= ף?|?5^y5Mb>5=5ҽ5A 53A)5hAI5A1y5AI]I]_6٢mI m>=9ugQ u>qq }G٣yy}ι: }> Nusing accuracyPremultiplier from configT49F|o?T4YT iKB2>R;>?C;m ;T4 Agjgrgbgfffrfbf@6@HI III&I.I6I <:IF]2>]2>]Uu>]}>I  ɚiIi)D<9%Will construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]1JFYBO>>zKFKK89KKpK    RK ?JK?)) - C :G Y y AeIBw,-) ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Rj@YR z@RQF>9R1>yRHL?`̼?3i?6EU?_ǿȿ ??ɨRj@R%z;Pyb$JBbHI]I]`6٢| I=93bQ > G٣yq`: > Nusing accuracyPremultiplier from configT49o?T4Y9T iJB  ȝ> ?C=;/>;T49 =A9gyjgyrgybgyfyffrfbf@ F7@]]]]ȝ>I  ɚiIi) 5|$?I1D5Y?9*F2F:FBFy5JFBOF>5Will construct direction to contact in vehicle frame from tetrahedron phase data.GPBw, C A6n@Y6 ~@6]8A>96e1>y6HT?Pz??@+!V?ǿkȿ?&?ɨ6n@6w;4yRJBRHIZIZ`6٢b@  bW=9b]WQ f>dd fG٣dyj<: j> nNusing accuracyPremultiplier from configlvT49no?vT4YnS inJBtv~>v?nCnM7;n';njT4| ~ɷA|gjgrgbg!f!f!f!rf!bf- 7@]]]]~>I  ɚiIi!)!D5?9EYEYWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF5JFB O-,> I!jHbH<H~>I IHIIBI&I.I6IQ<:I2FE Will construct direction to contact in vehicle frame from tetrahedron phase data.VBw, ] A>Ji@Y>x@>O<>9>h2>y>H{[?`z?.?0[ T?ǿ`hǿ`|? ?ɨ>Ji@>ш;>JCyJJBJH%Mb@Mb@Mb@!!! !)!Y%Zd;O? rh?EԸy%~j>%C =%ƽ%A %bA)%"AI!!y%(AIEIEp`6٢MU%< U@=9U|8Q U>YY ]G٣Yyeͺ e> mNusing accuracyPremultiplier from configiuT49mo?uT4Ym7S imyJBu>uS;u7>}?m1Cm]>]>]z7>I  ɚiIi)DA9*FA2FA:FABFM5JFIBYOu7>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJJJ3JJU ;aJW ;aJX:aJX:a I v ]Bw,v A:s@Y:J@:.8>9:%~3>y:H6b? ?o? rT?? ȿ ƿ`7? X?ɨ:s@:;:HCyR JBRHI^I^a6٢f fU=9f,Q f>hh jG٣hyn^K; n> rNusing accuracyPremultiplier from configpvT49rao?vT4YrR irFJBtvG >z?rFCr:r:rT4| ~׷A|gjgrgbgf!f!f!rf)bf-@q8@]I]I]I]M:G >IY a aɚaiaIaii)iDUvA9]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.cBw, A2j@Y2z@294>923>y2H%g? ?3?jVT?fǿ@yiƿ ??ɨ2j@2 V;2IC PIPyVJBVHXXHyIy IyIyI} =&Iy.Iy6I}&<:I}FMb@Mb@Mb@ )Yq= ףp?{Gz?bX9ȶyk>#<E A)AIyGAAAIIa6٢; ;=9Q > G٣y > Nusing accuracyPremultiplier from configT494o?T4YR iJB|>W;=?^C::T4 ҷAgjgrgbgf!f!f!rf!bf%`8@]E|>]E|>]E1=]E)=I  ɚiIi)DC9*F=2F9:FABFE0JFABQeWill construct direction to contact in vehicle frame from tetrahedron phase data.Ou7>zKnLK9KKrKRK >JK ?K"jBw,A AJu@YJ @JH'1>9J1>yJHBl?@?`b?pW?@Hǿƿ`? ?ɨJu@JT;JHCyRJBVHbWill construct direction to contact in vehicle frame from tetrahedron phase data.IrIr7`6٢~< ~X=9~Q > G٣y f;  >*Jq"Ju=JsK{ϱ3 KsKsKs"KsJ}aJyJ}2JyJ}:JyJ}c3JyJ};J};JyJ}X: Nusing accuracyPremultiplier from configT49o?T4YR iIB =?sC+<F=)T4 %A!gajgargabgafafafirfbf@K9@]]]]i =I  ɚiIi) ~$?ID%F9*F2F:FBF0JFBOI>mWill construct direction to contact in vehicle frame from tetrahedron phase data. qBw,S A6 l@Y6S{@6'.>96/>y6Ho?@?`?[RZ? v~ǿ!ſʇ?Z?ɨ6 l@6p[;6GCy>&JB>HIFIF^6٢N= NQ=9RQ R>PT VG٣TyVSF V> ^Nusing accuracyPremultiplier from configXbU49Z o?bU4YZR iZIB`b=b?ZCZ6;Z;?;Z U4h jAhgxjgxrg|bg|f|f|frfbf 9@]!]!]!]%=I1 1 1ɚ9i9I9i9)ABDM?:DM?D5E9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.B!Oe> IZHqRHuAAH}}>Iy IyIyIy&Iy.Iy6I} <:I}F Will construct direction to contact in vehicle frame from tetrahedron phase data.1wBw,, A2Cr@Y2@2+>92Lv0>y2H9s?!n?R=?#7Z? ǿ`_ſ ?W?ɨ2Cr@2i;2ICyr*JBrH)| |Mb@Mb@Mb@ )YS?Mb`?~jty/]>;A )߲AIAy¡AII^6٢h< 6=9ڧQ >  G٣ y q:  > Nusing accuracyPremultiplier from configU49o?U4YR iyIB|j>g;9?C;;U4 AEgjgrgbgfffrfbf:@]|j>]|j>]<]L@I  ɚiI zK FKK -9K K sK i)!D ]H9*F2F:FBF0JFBOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.JcJJJJ:JJJJ;J;JJ q Iq [}Bw, A6u@Y6e@6)>96$3>y6H v?@ \?@?@V? ǿ`"ſ@ ?@?ɨ6u@6-;6GCy>8JB>HIJIJ]6٢R= Rc=9V Q V>TX ZG٣XyZ0~: Z> bNusing accuracyPremultiplier from config\bU49^ûo?fU4Y^R i^RIBdfÁf?^C^:^H:^!'U4h nAlg1jg9rg9bg9f9f9fArfAbfEv:@]]]]j@I  ɚiIi)=Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F12F1:F1BF1JF1BAOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. Y Ia COBw,j A6x@Y6҇@6{D(>96B6>y6H_x?P?n? R?)Dȿ@\Ŀ(g?q?ɨ6x@6 ;6JCyB;JBBHH I  I  HI IBI &I .I 6I  <:I FBIJIRIZI =bI =jI@5=Mb@Mb@Mb@999 9)9Y=MbX?{Gzt?L7A`尿y=J>=ף;=+=۲A =A)=9AI=A9y=AIUIU:\6٢mW; m==9mEiQ u>qq uG٣qy}}: }> Nusing accuracyPremultiplier from config U49o? U4YR i&IB U> ~; -<?C;:6U4 zAgajgargabgafafifirfibfu:@]U>]U>]Q<]-zKu KKu 9Kq Ku tKu  (;LW_c`^\^^^\YXWmBw,+ AJ~@YJ@Ji'>9JY8>yJH`y?'? [?`aij O?"yȿ@_Ŀ@6? ?ɨJ~@Jeو;JKCRWill construct direction to contact in vehicle frame from tetrahedron phase data.yb\JBbHIjIjuZ6٢r= rU=9vQ v>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|U49~o?U4Y~R i~IB  "D< ?~C~<:~<:~CU4 9AxUDetached at range: 703.30 m. Transitioning docking module to standby.gQJaJaJaJaJaJaJaJaJaJaJaJajgQrgybgyfyffrfbfG;@]]]]"DUWill construct direction to contact in vehicle frame from tetrahedron phase data.VBw,E A6x@Y6χ@6'>96>7>y6H@y?`jO? ?-:P?\iȿĿ@?@-?ɨ6x@6;6ICyBdJBBHIJIJY6٢zR< zI=9~VQ ~> G٣y  > Nusing accuracyPremultiplier from config U49 o?U4Y R i HB 4<? C  ; z ; QU4) -(A)ZgUgQjgQrgQbgQfQfYfYrfYbf] ;@]y]y]y]} 4jH<bH<H!I! I%1HI%IBI% =&I!.I!6I%-<:I%Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.e Aie AހBw,x_ A6v@Y6@6F&>96I5>y6Hy?`D?'?`T?`ȿ !Ŀ^>??ɨ6v@6|;6GCy>wJBBH Mb@Mb@Mb@    ) Y ʡE?Q?Qy -2> u< u A A) AI  y zAI-I-=Y6٢E5= EE=9E=DQ M>II MG٣IyUE U> Nusing accuracyPremultiplier from configU49o?U4YoR iHB=>;/=?C;:`U4 AEZggjgrg!bg!f!f!f!rf)bf-9<@]M=>]M=>]M=]M/=IY Y YɚYiaIaia)iBDu$?:DuF?DO9zKMGK9KKu) UYQyUAKUNKLNLi'9O+ *F 2F:FBFp5JFBOH>Will construct direction to contact in vehicle frame from tetrahedron phase data. IBw,uVy AyJB"HI-7I-h6٢=/j= =K=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]U49U,o?]U4YUNR iUHBYYe?UCUP ;U ;UcnU4i mҶAiZggjgrgbgfffrfbfB<@]]]]IWill construct direction to contact in vehicle frame from tetrahedron phase data.  QɚQiQIQiY)YD Will construct direction to contact in vehicle frame from tetrahedron phase data.J aJ SJ J J :J y69J J a @a @a @a @ I Bw,7 A:Cb@Y:q@:'>9:/>y:H w?A??@+Z?tǿĿ ??ɨ:Cb@:S;8H`I` IbcHIbIBIb =&I`.I`6Ibܴ<:IbFyJB;HMb@Mb@Mb@ )Yףp= ?V-?:vy><T )IyI1INh6٢<= A=9Z:Q > G٣y~ > Nusing accuracyPremultiplier from configU49wo?U4YR iuHB*>;].>?Cf;;8}U4  AZg)g1jg1rg1bg1f1f1f9rf9bf=<@]]*>]]*>]]e=>]]].>I  ɚiIi)D%`Q9%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F@%2F:FBFH2JFBO-N>zK *NK k9K K vK RK ?JK >VBw,[ A2O@Y2_@2SB'>92J.>y2H gv?J:?Ý?7 Y? ]ǿĿm??ɨ2O@2葈;2ICBWill construct direction to contact in vehicle frame from tetrahedron phase data.yFJBF`HIN#INf6٢Vc= V`=9V_Q V>XX ZG٣Xy^?˻ ^> fNusing accuracyPremultiplier from config`jU49bo?jU4YbQ ib[HBpr+>r?b-Cb;b;bU4| ~mA|Zggjgrgbg!f!f!f!rf!bf-J=@]]]]+>I  ɚiIi) yIyD}S9*F'2F:FBFo5JFBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.96}0>y6Hu??D?`hU?ǿPĿ@߬?)?ɨ6lI@6 );6HCyBJBBHIJ%IJf6٢Vp= VJ=9Vy:Q V>XX ZG٣Xy^~ ^> fNusing accuracyPremultiplier from config`fU49bo?fU4YbQ ib>HBhj+>j?b<Cbf:b:bU4t v2AtZg g jg rg bg f ffrfbf .=@]9]9]9]=+>II I IɚIiQIQiY)YDS9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-)2F1:F1BF583JF9ByJfJfJJJ|":J9JJO--> $?IZHRH@AHI IHI'JBI =&I.I6I<:IF= Will construct direction to contact in vehicle frame from tetrahedron phase data.ηBw,I Ay=JB=HMb@Mb@Mb@ )Y rh?kt?ktyC > 0= 0 A A)IyןAI,Ig6٢= E7=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYeU49]%o?eU4Y] Q i]#HBm>m;m>m?]LC] ;];] U4q uAyZggjgrgbgfffrfbf@%>@]>]>]Eʜ>]=>I  ɚiIi)zKEKKE9KAKEwKE D]U9BKerA:KerA*F,2F:FBF0JFBOEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data. IBw,W A6.<@Y6tK@6W)>964>y6Hq?`(??εM?6ȿ@ſ2?`?ɨ6.<@6J;4yNKBRHIZ&IZg6٢~GJ= ~\=9~;Q > G٣y ;  > Nusing accuracyPremultiplier from configU49,o?U4YP iHB!%w>%?YC;* ;U4-B -̵A-EZgIgIjgIrgIbgIfQfQfQrfQbfU΁>@]y]y]y]}=w>I  ɚiIi)BD#?:D?Will construct direction to contact in vehicle frame from tetrahedron phase data.DnW9*F]/2FY:FaBFe0JFaByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J dJ XJ 1J J <:J 5K9J 3J I >Bw,I AH0I0 I2HI2dJBI0&I0.I06I2ٴ<:I2Fr<@YrK@r**>9r'5>yrHq? +?q?.ʵ@M? :ȿ`J,ſ:4?0?ɨr<@rC׆;rGCy+KBHMb@Mb@Mb@ )YZd;?Clǿ&1y=d;н+}A A)ĮAIy AII3f6٢%bn= %8=9%:Q %>)) -G٣)y59 5> ENusing accuracyPremultiplier from config9MU49=Qo?MU4Y=R MtIi=GBUBx>UZ;UUU?=nC=M ;=;=2U4Y ]AYZgygyjgrgbgfffrfbf>@]%Bx>]%Bx>]%Ϝ@]%rz@I1 9 9ɚAiAIAiI)ID%FX9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F22F:FBF0JFBOH>zK= bLK9 K9 K= xK=  RK >JK ?XBw,c. A.Will construct direction to contact in vehicle frame from tetrahedron phase data.B_=@YBL@B<*>9B4>yBHp?@/(? ?oĵN?2ȿ 29ſi+??ɨB_=@Bf;BJCyZLKBZ HIbIbd6٢%= %\=9-:Q U>YY ]G٣Yyeg9 e> Nusing accuracyPremultiplier from configiU49mo?%U4Ym\T imGB 1I1IM]M?mCm Will construct direction to contact in vehicle frame from tetrahedron phase data.]Bw,I*H AVA@YVQ@V\+>9VX4>yVH`o? ?H?t zN?2ȿRſ`f*?@?ɨVA@VE;VHCyngKBn,HI~I~md6٢= L=9%`:Q ->)) -G٣1y5¯: 5> ENusing accuracyPremultiplier from configAMU49Eo?MU4YE$V iERGBIQU?ECE:E :ECU4Y e AaZggjgrgbgfffrfbf`?@]]]]px@I  ɚiIi)2DsA*DsAD[9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F562F9:F9BF=0JFAJaJWJ2JJ:JG9Jc3JBO*> 9IAjH]<bHYHe|>Ia Ie+HIeJBIa&Ia.Ia6Ie<:IeFBI!JI!RI!ZI% =bI% =jI%ư4% Will construct direction to contact in vehicle frame from tetrahedron phase data.xBw,Wb A6A@Y6P@6/,>96g4>y6H@n?@??`N?+ȿ`lſa!?`L?ɨ6A@6ׅ;6GCyBKBBKHEMb@Mb@Mb@AAA A)AYEv/?%C̿!rhyEx=EZdElErzA EA)EAIEAAyEQAIUIUa6٢ur= uE=9u:Q }>yy G٣yg > Nusing accuracyPremultiplier from configU49:o?U4YdX i GB>A;V?C;;U4 AZggjgrgbgfffrfbf`@@]>]>];@]7:@I  ɚiIi)!D-\9E=?E=?zKEKKE9KAKEyKE ),+-/0/-)%%" *F892F:FBF0JFBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I9EBw,{ A2-I@Y2sX@2c->9285>y2H@Dn?@?3?oesN??ȿ >ſ6?@7 ?ɨ2-I@2:;2JCyNKBR^HIZIZob6٢bd#= fV=9f ;Q f>hh jG٣hyj; j> rNusing accuracyPremultiplier from configpvU49ryo?vU4YrwZ irFBtvHv?rCr:r:rU4| ~ϴA|Zggjgrgbgff!f!rf!bf%B@@]]]]=@Will construct direction to contact in vehicle frame from tetrahedron phase data.I  ɚiIi)D^9*F;2F:FBF0JFBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. A II Jm dJm UJi Ji Jm <:Jm >9Ji Ji Hq Iq  Iu HIu JBIq &Iq .Iq 6Iu <:Iu F$cBw, AnTI@YnX@n=->9nko5>ynH@m??C?cN? Hȿſ  G٣y+8 > Nusing accuracyPremultiplier from config V49mp? V4Y`\ iFB yl> e; o?C;; V4 AZgIgIjgIrgIbgIfIfIfQrfQbfU }@@]uyl>]uyl>]up@]u4@I  ɚiIi)BD?:D ?D _9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F]A>2FY:FYBF]0JFYBqO:>)= ]Gu`wA CCY`wAyMK K K zK  5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw,] AVhI@YVX@Vh.>9VS5>yVHil? ?b^?Yb&N?`Fȿ &ſ 8?7 ?ɨVhI@V х;VHCy^KB^H*JnR="JnR=IfIf^6٢v= v]=9zs;Q z>xx ~G٣|y~7 >  Nusing accuracyPremultiplier from config V49p?V4Y] iLFB?C~:~ ;V4! %QA!ZgQgQjgargabgafififirfibfu@۬@@ I]]]]/@I  ɚiIi)D&a9*F%?2F):F)BF)JF-BAO]>Will construct direction to contact in vehicle frame from tetrahedron phase data. pBw,i9 A2 :@Y2RI@2V.>92u4>y2H5k?h? S?۵M?4ȿſ? ?ɨ2 :@2O>;2LCyNKBRHIZ8IZL6٢z| zJ=9z2Q z>|| ~G٣|y֗ > Nusing accuracyPremultiplier from configV49rp?V4Y_ iFB%Ə%?C ;;&V4) -TA)xM4Docking module at standby.gIjgIrgIbgIfQfQfQrfYbf]?@@]y]y]y]}V@I  ɚiIi)Dc9Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F2F:FBFJFBO-->ZHRH?AH)I) I-HI-KBI- =&I).I)6I-<:I-F Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա =Bw, A6:@Y696f4>y6Hj?xf? Kd?iӵM? 3ȿ@ſ? ?ɨ6:@6aa;6HCyNKBRH-Mb@Mb@Mb@))) )))Y-q= ףp?MbX?Q롿y-=-=-\-?A ))-AI))y-AI0IK6٢= ?=9:Q > G٣y#9 > Nusing accuracyPremultiplier from configV49 p?V4Y^ iEBv>;*?? C8;;4V4 A=x-8Undocking sequence complete.1<-<-f)f)f1rf1bf= A@]Uv>]Uv>]U5?]U*?Ia iɚiiiIiiq)y2D*DDUfc9zK-YLK-89K)K-{K-*F2F:FBF25JFBO)>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ_J1JJJ=h9J3JJ";a J$;a J:a J:a  }$?IyBw,! A:g2@Y:A@:W}.>9:4>y:HYj??@EQ?EL?`#Eȿſ(? ?ɨ:g2@:9;8ybKBbHInInI6٢v< vW=9vvoQ v>xx zG٣xy~N4 ~> Nusing accuracyPremultiplier from config V49p? V4Y] iEB  s*??C:H:9BV4 Ay=HTransitioning to midcourse guidance.<=1==f9fAfArfAbfEEGA@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]q]q]q]uks*?I ɚiIi)Due9#} PauseE}E}EEB)OMR> Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iq H {>I  I HI XKBI =&I .I 6I <:I FCw,0 Az2@YzB@z.>9zCG5>yzH_j??;P?K?,Sȿſ7?* ?ɨz2@z;zICy LB HMb@Mb@Mb@ )YZd;?MbX?kty= 0A )AIy=AI&IJ6٢p= :=97Q > G٣y[8 >  Nusing accuracyPremultiplier from configV49#p?V4Y\ iEB&>;%??)C;;QV4! %ͳA%EgE@1=MwMCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide;MwAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guidewCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockfffrfbfA@]&>]&>]׃.?]W%?I !ɚ)i)I)i1)1D!B9O]>mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK >KK 9K K |K RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. Cw,1 AF03@YFvB@FT<.>9Fp5>yFHj?`?G?  tK?WWȿ ſ@` G٣yr8 > Nusing accuracyPremultiplier from configV49Kp?V4Y[ iEB?9C;i;[_V4  A q=MzMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=M {MAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>M}MInitialize.1?M ~UInitialize.=Uq=U1?]g]gY>]gY{uNavigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )=q?~:Initialize WaypointComponent.~ZNavigating to waypoint: 36.903300,-122.119000fffrfbfA@]]]]G%?ɛ5HB5rc= =j<=~?I9 =ɚ=i9I=!9iA)EABDu2?:Du`?DMg9BO!>}Will construct direction to contact in vehicle frame from tetrahedron phase data.Cw,c~K A2'/@Y2m>@2->92 H5>y2H`j?m? n9?1`FK?Sȿſ7?` ?ɨ2'/@2;2JCyN4LBN)H)P PIZIZ`6٢bq< bN=9f wQ f>hh rG٣pyz ~>  Nusing accuracyPremultiplier from config V49Hp? V4YZ iEB%??HC:H:lV4 %A!~EZNavigating to waypoint: 36.903300,-122.119000hMhM׿"hM9bO4>ybHLj?u??"UI?`MCȿoſ@?k?ɨb@b];bECyrJLBrDHuMb@Mb@Mb@qqq q)qYuDl?RQ?A`"yuO >u=uYq uA)u5AIu݌AqyuםAIIb6٢K= ==9eQ > G٣y > Nusing accuracyPremultiplier from configV49G!p?V4YY iEB3>;??ZCr;;{V4 XAhh"h*hgggfffrfbfB@]%3>]%3>]%W?]%o?ɛ]HBee= ae?Ia e:ɚiiiIL;w:r<ɠ1IR?ii)3Կ頝3Կ)D)j9BzK2QKK`9KK}KBKtA:KtAO">Will construct direction to contact in vehicle frame from tetrahedron phase data. IJ3K;3 K;.K3K3"K3JJWJ1JJJG9J3JJU ;JJ_:J_:Cw,1 AF@YF @Foh*>9Fa5>yFH`j?`P0?|?ɷ@$E?Xqȿ3ſC? +?ɨF@FL;FGCyr^LBr\HIzIzSa6٢wP= U=9Q >    G٣ yڻ > Nusing accuracyPremultiplier from config%V49%p?%V4YX iEB!%?-?jC ;:V41=Will construct direction to contact in vehicle frame from tetrahedron phase data. E0AAhaha"ha*higigigifififqrfqbfuJB@]]]]?ɛa= 隭?I !;ɚiI:~<`ɠػIp?ii)XԿXԿ)2DtA*DtADFl9Erg:ByO>Will construct direction to contact in vehicle frame from tetrahedron phase data. I H I  I HI KBI &I .I 6I <:I FBI9JI9RI9ZI= =bI= =jI=/5p%Cw,# AykLBlH}Mb@Mb@Mb@yyy y)}ǺBY}㥛 ?Zd;O?y&1y}>}j=}`e}߮A }A)}1AI}ٌAyyyIIc6٢< 2=9Q > G٣y > Nusing accuracyPremultiplier from configMV49s+p?MV4YW ikEBM9>M;UO ?U?~C<<V4Y ]AYhyhy"h*hgggfffrfbfQB@]9>]9>]?]O ?ɛHBeY= X?I d;ɚiIM:<-GɠWIlO@ii)ԿԿ)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Dn9 enManaging dock network, ignoring radio surface power offE<G =͚;G AB O >zK rKK 9K K ~K RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.i6,Cw,9 A I JFaJFdJF2JDJF:JF|9JFc3JDJF;JF;JF:JF:yޕ{LBޕHIIc6٢.= Y=9Q >L?L? G٣y > Nusing accuracyPremultiplier from configV490p?V4YV iSEB?C":s;&V4 AEh)h)"h)*h)g1g1g1f1f1f9rf9bf=B@ɛeHBe\V= am?Ii m;ɚiiiIm\:u 3Cw, A>Ծ@Y>V@>`%>9>E8>y>H .m?$? X?`Ծ@>];>ICyF~LBJHIRIRa6٢V < Z]=9^pIQ ^>`` bG٣b92GybSU f> jNusing accuracyPremultiplier from configdjV49f4p?nV4YfU if;EBlr?r?fCf;fV;fV4t vAth h "h *h gggfffrfbfB@ɛMHBM= IM ?II U Y;ɚQiQIU;]N<]ɠ]rI]T@iaia)eտeտ)aBDm?:DmV?Will construct direction to contact in vehicle frame from tetrahedron phase data.Dp9EE*E"E 5$?I9ZHRHAAH z>I  I HI KBI  =&I .I 6I <:I F"GR=Gp=GuGGYBiO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.CE9Cw,. AXjxAp $YxAy*AM@YM@M$>9Ms4>yMH m?Q?`?@?@\ȿjĿ@'??ɨM@MԆ;MGCymLBmH)y y=Mb@Mb@Mb@999 9)=AY=ʡE? ףp= ?v/y=>=Q==xi=1A =ٌA)=AI=A9y=AIIb6٢; ,=9~hQ > G٣y( > Nusing accuracyPremultiplier from configV49:p?V4YT iEB?>;>?Cw;;V4  A h1h1"h1*h1g9g9g9f9f9f9rfAbfE!C@ɛm HBuj= qu?Iq ur;ɚqiyI}d;}z<ɠIIp@ii){ֿ項{ֿ)Dp9zKV$KK89KKKGeٲWill construct direction to contact in vehicle frame from tetrahedron phase data. !I)G9BAOeU>,@Cw,o A2侾@Y2*@2>">92.>y2Ho?Ŀy?@>#?ɨ2侾@2b;2FCyNLBRHIZ IZc6٢b= bs=9bQ b?dd fG٣dyj j? nNusing accuracyPremultiplier from configlrV49n??p?rV4Yn+T inEBpr">v?nCn~ ;n ;n]V4x zAxWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbfNC@ɛ HBF= 3?I 5;ɚiI";=<=qӾɠ=Y'I=L@i9iA)EdZֿEdZֿ)AD-,s9G GBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data.  I J cJ ZJ 1J J :J S9J 3J a @a @a @a @H I  I HI LBI &I .I 6I ̴<:I FZFCw, AyLBHmMb@Mb@Mb@iii i)iYmjt?+η?i|?5ym >mv=mqm٬A m݌A)m|AIm݌AiymzAI}I}b6٢; 0=9Q > G٣:2Gy > Nusing accuracyPremultiplier from configV49nEp?V4YS iDBaD>;>?C/;;V4 Ahh"h*hgggfffrfbfC@ɛ HBw= ʒ?I A<ɚiIX`5;<nɠ%żIn!@ii Will construct direction to contact in vehicle frame from tetrahedron phase data.) ֿ ֿ)2D*DDIu9G tA G tAG8G>GN>GBOj>zK5 KK5 9K1 K5 K5  Will construct direction to contact in vehicle frame from tetrahedron phase data. I LCw,q4 AR@YR@R!>9R>yRH@q?N?]~?@W@]?&ſ1ÿ?&:?ɨR@R0;RJCyLBHI-I-Rb6٢=M =d=9=Q E>II UG٣Qy]M e> uNusing accuracyPremultiplier from configi}V49mAJp?}V4YmMR imDBy}>?mCm;mh;mGV4 òAhh"h*hgggfffrfbfCC@ɛHBn= ?I z<ɚiI@;U5V%Will construct direction to contact in vehicle frame from tetrahedron phase data.hSCw,YLN A6X@Y6@656>96u>y6H .t?쵿?@i? ιde?@ſ@ÿ^?B?ɨ6X@6C;6HCy>LBBHIJIJ7`6٢V( VT=9VyQ V>XX ZG٣XyZ: ^> Nusing accuracyPremultiplier from configV49wOp?V4YlQ iDB!%W>%?C:;M;;V4) 5ٲA1hQhQ"hQ*hQgQgYgYfYfYfarfabfeC@ɛHBs= 隕c?I J<ɚiIM;b<ɠߠIF+@ii)׿頭׿)uWill construct direction to contact in vehicle frame from tetrahedron phase data. IDw9JyJ}VJ}3JyJyJ}B9J}(3JyGk~GQBqjHbH<Hy>I̍C IHI#LBI&I.I6I<:IFO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.UYCw,76h A2ľ@Y2@2>92"p>y2Hx?DN?@(? `(h?@JĿgÿ#? F?ɨ2ľ@2;2GCyNLBNHMb@Mb@Mb@ )Y^I +?I +?MbyX9>9=+A )rAIyכAII`6٢J"= 8=9?Q > G٣;2Gy&; > Nusing accuracyPremultiplier from configW49 Vp?W4YP iDBBX>{;> ?C\;e{; W4B AEh9h9"h9*h9g9g9gAfAfAfArfAbfM D@ɛuHBuHų= y}֒?Iy }DP/<ɚiI\;1<*ɠNkI1@ii)Mؿ頝Mؿ)BD?:D?Dy9"GN>G>zK]KKYKYK]K] q9xQ.`> $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G BGtAGsAGBO >z`Cw, A62վ@Y6x@6҆>96Q;>y6Hf|?+ž?M?@h?ſwÿ?4G?ɨ62վ@6˅;6ICy>LBBHIJIJSa6٢RA< Ra=9REʻQ R>TT VG٣TyV3; Z> ^Nusing accuracyPremultiplier from configXbW49Z[p?bW4YZO iZsDB`b >b?Z$CZ;Z<;ZW4fB jAjErWill construct direction to contact in vehicle frame from tetrahedron phase data.h|h"h*hgggf f f rf bf  ND@ɛ5HB52#= 9=?I9 ==<ɚ9i9IE6f;E; qIyWill construct direction to contact in vehicle frame from tetrahedron phase data.J dJ YJ 2J J <:J [O9J c3J H {>I ͍C I 8HI ALBI =&I .I 6I <:I FfCw, Ae@Ye@e>9e >yeH@?"? K?@Pf?.qſ@\¿׈? F?ɨe@eͅ;ay}LB}H-Mb@Mb@Mb@))) )))Y-uV?MbX9? rhy-rh>-ʡ=-C-A -ٌA)-AI-ٌA)y-zAIMIMa6٢]* ]1=9e⬻Q e>ai mG٣iym ; m> uNusing accuracyPremultiplier from configq}W49uMdp?}W4YuN iuJDB>T;>?u?Cu;uy;u%W4 Ahh"h*hgggfffrfbfljD@ɛHBn= ?I cN<ɚiI2qu;d<Sɠ p)I *<@i i ) ٿ ٿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.D |9G:GBO > Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK )OK 9K K K L!lCw, A*J "J"<68@Y6~$@6 >96>!>y6H?ռ?n?@yh?@˨ſ¿5?E?ɨ68@6";6HCyNLBRHIZIZ`6٢54 =`=9E筻Q E>IQ UG٣Qye[< e> Nusing accuracyPremultiplier from configyW49}Gkp?W4Y}FN i})DB7>?}VC}';};}2W4 Ahh"h*hgggfffrfbf`D@ɛHB= %<C?I n]\<ɚiI\;%z)<%hɠ%_9I-+A@i)i))-ٿ-ٿ)12D=sA*D9D-|9G9 G=sAWill construct direction to contact in vehicle frame from tetrahedron phase data.GQG1B9O]>SsCw,V A @29@Y2I@2>92LI >y2HP?? H?U@m? rſ|M¿ ?@H?ɨ29@24;2ICy>LB>HIJIJ_6٢R% RT=9RQ V>TT VG٣V<2GyZ.?< Z> ^Nusing accuracyPremultiplier from config\bW49^qrp?bW4Y^M i^DBdfA>f?^lC^:^:^3@W4h j²AjEhxh|"h|*h|g|g|gff f rf bf D@ I Jfɛ5HB58= 15ݑ?I9 =%k<ɚ9i9I=䟄;Ev)M.ڿM.ڿUWill construct direction to contact in vehicle frame from tetrahedron phase data.)IJU`JUTJQJQJU:JU:9JQJQDeL~9ZH)RH-?AH5z>I1 I5EHI5LLBI5 =&I1.I16I5<:I5FBIJIRIZI =bI =jIú4GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.yCw,v AJo@YJ4@J|>9JV>yJH`k?ѹ?@E?J@u?ſ`¿҃? L?ɨJo@J;JGCy^LB^HmMb@Mb@Mb@iii i)iYm/$?x&?Dlym1>m7=mOmA m+A)mAIm+AiymAII7`6٢ 8=9zOQ > G٣ys< > Nusing accuracyPremultiplier from configW493|p?W4YL iCBҐ>;;oY>?C;;OW4 ȲAh1h1"h1*h9g9g9g9f9fAfArfAbfE "E@ɛuGB}Ф= y}?Iy }$z<ɚyiI ;<ڌɠ]aIKEii)ڿ頕ڿ)DF9G $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=>zKp6MK۵9KKKȀCw,4JA>?@Y>@>L8>9>A>y>H? H?7>?βz?cĿ$?7N?ɨ>?@>;>JCyFpLBJrHIRIRa6٢V? Z`=9Z]Q Z>\\ ^G٣\bWill construct direction to contact in vehicle frame from tetrahedron phase data.yn:< n> rNusing accuracyPremultiplier from configpvW49rFp?vW4Yr\L irCBxzT_>z?rCr:rj:r\W4| ~Ahh!"h!*h!g!g!g!f)f)f)rf)bf-QE@ɛam= im?Ii mS5<ɚiiqIub;}<}ɠ}U_tI}%Aiyiy)Pۿ項Pۿ)BD"?:D2?DX9EF<"G>G? IG@ N}Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O >H) I)  I) I) I) &I) .I) 6I- <:I- FCw,4Aݿ@Y@>9P#>yH??,5?@J谿@y?tſ3`%!?1I?ɨݿ@Kņ;騁y޽qLB޽tHUMb@Mb@Mb@QQQ Q)QYUA`"?&1?p= ףyU>UP=UUdA U|A)UAIUٌAQyUpAImIm7a6٢V; ,=9Q > G٣=2Gy0< > Nusing accuracyPremultiplier from configW49p?W4YK iCBӞ>+;>?C;;mW4B Ah9hA"hA*hAgAgAgIfIfIfIrfIbfUjE@ɛy}2е= y}Y?I ӌ<ɚiI;E<ɠI%:ii)atܿ頕atܿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.Dy9) !EMƒ<G`wA |+Y`wAy%BGEK$GQBYOuz> I u Will construct direction to contact in vehicle frame from tetrahedron phase data.zKM 2QKKM 9KI KM KM  >>g[x~p\F%\&[Rr,oYM<(RK] ?JK] ?&Cw,E)7A*J C="J p=J_JZJ J J :JS9J J JF:aJK:aJ^u:aJ`u:ay-gLB-gHI=I=b6٢I ]=9Q > G٣y > Nusing accuracyPremultiplier from configW49 p?W4YqK idCB?C;:-; zW4 AEhAhA"hA*hIgIgIgIfIfIfQrfQbfU2E@ɛ}GB}r= 隅?I O<ɚiI̘;<ɠْIN5ii)+ݿ頕+ݿ)D9EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.G]DyӽG1 BA O] >Cw,PAFUd@YFs@Fu>9F>->yFH?X?e?r\w?cƿ>T?!=?ɨFUd@F,^;FICyNYLBRVHIZIZb6٢b b^=9b̺Q b>dd fG٣dyj7= j> nNusing accuracyPremultiplier from configlrW49np?rW4YnJ in@CBpr">v?nCn/;n:;nW4| ~1Ahh!"h!*h!g!g!g!f)f)f)rf)bf-E@ɛQ e$?Ia]/= im]?Iq u <ɚiI秜;<ĿɠzI l0i i ) ݿ ݿ)=Will construct direction to contact in vehicle frame from tetrahedron phase data.D9GjH<bHp<HI I,HI7LBI =&I.I6Iϴ<:IFG)?G?GBO5-> Will construct direction to contact in vehicle frame from tetrahedron phase data.0Cw,jAy=\LB=ZHMb@Mb@Mb@ )YuV?Q?v/yr><xiA ΊA)XAIy™AIId6٢K; 7=9Q >    G٣ >2Gy  > Nusing accuracyPremultiplier from configW49ip?W4YJ iCB>;T=?%C;;W4 +Ahh"h*hgggfffrfbf'F@ɛ GB r=  ?I dF<ɚiIu;q<k׿ɠUIB*i!i!)%޿%޿)! IIIDU9G%TUWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO%M>zK=PK=۵9K9K=K=|xpljfa\SMJGA@@=:98;GbEhfU:! yvsphgffd][WJUaJUbJQJQJU:JUt9JQJQJU;JU;JUY:JUZ:Cw, A6@Y6[@65 >96)>y6H`?_L?@8?L?ſl???ɨ6@6P$;4RWill construct direction to contact in vehicle frame from tetrahedron phase data.yV[LBVXHI`I`٢jR j`=9n;Q n>lp rG٣pyr9= r> vNusing accuracyPremultiplier from configtzW49vp?zW4YvvJ ivBB=?vBCv 9IA]Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I HI #LBI &I .I 6I <:I FECw,0A}1 @Y}w@}>9}c')>y}H ?`?\E?@<0?ſc'¿?>?ɨ}1 @}e;}JCy:LB0HMb@Mb@Mb@ )YZd;?t<DnA )AIyAIIe6٢ /=9Sg;Q > G٣y`l< > Nusing accuracyPremultiplier from configW49p?W4YbJ iBB>;<?lC<;2:W4a enAaWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbfӒF@ɛ-HB-I= )-T?I1 5- <ɚ1i1I5l;=<}{ɠ}bȽI}@Iii)項)Dڄ9G{=GsAGrAGBO> % $?I! U Will construct direction to contact in vehicle frame from tetrahedron phase data.jCw,FAJ(J*SJ(J(J(J*y69J(J(J(J(J*5C:J*8C:zKB1NKB9K@KBKBSPKHGDB@?;9:8410.++)'&*&!  y]'LB]HIm+Img6٢}*O }a=9Q > G٣?2Gy > Nusing accuracyPremultiplier from configW49p?W4YSJ iBB?C ;T ;9W4 AEhh"h*hgggfffrfbf .F@ɛ .=  ?I  -XX<ɚ1i1I5O3;=<=^ɠ=bcսI=Ti9i9)='E')ADmօ9GE}=G!B)OMR>Will construct direction to contact in vehicle frame from tetrahedron phase data.#SCw,#A66@Y6F@6 >96 >y6H@ĥ?!?? P? $sĿ¿u? D?ɨ66@6 ;6ICyJ8LBJ-H `IdIv%Ivf6٢(= R=91    G٣ yq[< > Nusing accuracyPremultiplier from config%W49p?%W4Y?J ivBB!-<-?C'::W41 5qA1haha"ha*hagagagifififirfibfuiF@ɛh= 隝?I  <ɚiIp;ӻ<ɠKIii){頵{)Will construct direction to contact in vehicle frame from tetrahedron phase data.D9ZHqRHuAAHy>I̍C IHILBI =&I.I6Iܴ<:IFG H&>GBO)> Will construct direction to contact in vehicle frame from tetrahedron phase data.}Cw, A6 %@Y6Q4@6>96ٱ>y6H?4?U?"S?ÿÿ@? J?ɨ6 %@6T؇;4yRLBR HeMb@Mb@Mb@aaa a)aYePn?/$ye>ee,a a)eAIe+AayeAI}$I}f6٢v~ B=9;Q > G٣y > Nusing accuracyPremultiplier from configW49Vp?W4YIJ iLBBE> ;$?C8;7;W4 Ahh"h*hgggfffrfbf`E&G@ɛ%P= !%?I! %y<ɚ!i!I-;-<5ɠ5#JI5zi9i9)=ϋ=ϋ)A2DI*DIDU 9GusA GutA $?IGMX>GM&?GM?GB%Will construct direction to contact in vehicle frame from tetrahedron phase data.O5.>JE_JAJAJAJE :JAJAJAJEF:JEK:JAJE7C:zK MK۵9KKK    dCw,{A6l@Y6 @6>96W9 >y6H F? ,??`0?4¿~ÿ`Kd? S?ɨ6l@6i;6JCBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF LBFHIR!IRf6٢Z% ZY=9Z\\ bG٣b@2Gybvb b> fNusing accuracyPremultiplier from configdjW49f$p?jW4YfYJ if%BBlnn?fCf;fB;fW4p vųAvEh h "h *h g g gfffrfbf%VG@ɛIMm= IM?II M<ɚQiQIU<;]< ɠI! ii))D-9Gmc~>GIBQOm> I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Hq Iq  Iu HIu KBIu =&Iq .Iq 6Iu b<:Iu }FBI1JI1RI1ZI1bI1jI5x;5ߏCw,A5²@Y5@5 >95j=y5Hݔ?@?)?@;?`ÿT?9]?ɨ5²@5;5HCy}LBޅHI]+I]g6٢e: m1=9mXqq uG٣qy} }> Nusing accuracyPremultiplier from configW49q?W4YxJ iAB*ۼ?(C;2;W4 óAhh"h*hgggfffrfbf`fG@ɛP4= ԁ?I <ɚ i I r;<+ɠ6 Iii))!Will construct direction to contact in vehicle frame from tetrahedron phase data.D-;9GM>GQGUsAG) B1 OM > I = Will construct direction to contact in vehicle frame from tetrahedron phase data.Cw,P9A:I=@Y:L@:b#>9:n.=y:H(?@)]?@|?ԫ?`? bĿ?@(i?ɨ:I=@zKB-MKBU9K@KBKB:׎;:MCyM LBMHMb@Mb@Mb@ )Y"~?y&1|L7A`堿y>`廹+A (A)^AI(AyAI I Of6٢Ձ P=9!! %G٣!y-a -> 5Nusing accuracyPremultiplier from config1X495q?X4Y5J i5AB>:C?5PC5<5<5X4B ųAEh)h)"h)*h)gIgQgQfQfQfQrfYbf] FG@ɛ?= 隥?I <ɚiI+;<6ɠQIii))BD:D'?DI9"G>G?>Will construct direction to contact in vehicle frame from tetrahedron phase data.G>G B O >$Cw,jSA $?I:0@Y:v@:[h'>9: =y:H Z~?ֵ??@&?=ٹ6Ŀ?2r?ɨ:0@: ;:ICyFLBFHIR(IRNg6٢Zۻ Zd=9Z!hh nG٣nA2Gyn55 n> vNusing accuracyPremultiplier from configpvX49r%q?vX4Yr K irABxzz?rvCr:r:r(X4y }ֳAyhh"h*hgggfffrfbfG@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ  6=  ?I  2S<ɚiI;p<\?ɠIii!)%%)!HI IHIKBI&I.I6I<:IFJCKKc3 KK .KCKC"KCJ=cJ=UJ9J9J=:J=>9J9J9J=;J=;J=Q:J=Q:D]n9GH_>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.M -Ge xAy  Y xAy BCw,ImA6@Y6,@6d*>96C=y6Hom?0?? @ſ?@Nw?ɨ6@6L;4yBKBBHMb@Mb@Mb@ )Y"~j?t?A A)IʊAyAI5+I5g6٢E9 EA=9EII MG٣IyU: U> ]Nusing accuracyPremultiplier from configYeX49]U,q?eX4Y]K i]{ABe>m:m|׽m?]C];];]"X4q uAhqhq"hq*hqgygygyfyfyfrfbf+H@ɛ>=  r<}?I $?I I_<ɚiI;-VCw,.A.Will construct direction to contact in vehicle frame from tetrahedron phase data.Jh@YJ@J->9J2=yJHY?@ĵ?LJ?`4? `:@ſ_?Zy?ɨJh@J;JJCyRKBRHI^CI^Lj6٢fCf fR=9f;Q f>hh nG٣lynJ n> rNusing accuracyPremultiplier from configpvX49re:q?vX4YrL irPABxz[~?rCrU=;r=;rj0X4 AEh!h!"h!*h)g)g)g)f)f)f1rf1bf5YH@ɛY] = ae(|?Ia e<ɚaiaIer;m>GB Will construct direction to contact in vehicle frame from tetrahedron phase data.O>H I  I HI KBI &I .I 6I k<:I FJM _JM RJI JI JM :JM S29JI JI JM F:JM K:JM <:JM <:Cw, A>ؽ@Y>@>f0>9>Kvg=y>HB?#? ?T ɣ?ſ@F}?y?ɨ>ؽ@>v;>ICyMKBMHIBI0j6٢% %6=9]L;Q e> G٣B2Gyt4 > Nusing accuracyPremultiplier from configX49Kq?X4YL iAB?C;;@X4 Ahh"h*hg g gfffrfbf.H@ɛIML= IM{?II U<ɚQiQIU;]#6<]ybɠ]J.5Will construct direction to contact in vehicle frame from tetrahedron phase data.ՅAiՁIجii)頝)Dm9G> IGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.*JQ "JU a= Cw,A6/@Y6K>@6x2>96PO=y6H`(?I??%¿%?tA2ƿǂ? y?ɨ6/@6OĆ;6JCyBKBBHzKKKK9KKKeMb@Mb@Mb@aaa a)aYeʡE?~jtxye->eĻe̼e5A eA)ejAIaayeGAI}AI}j6٢ T=9;Q > G٣yd > Nusing accuracyPremultiplier from configX49BYq?X4YM i@B>:$?.CW;;MX4 AEhh"h*hgggfffrfbf` H@ɛKG= y?I %7q<ɚ!i!I%ګ;-<-kmɠ-=I-i1i1)55)1D9Will construct direction to contact in vehicle frame from tetrahedron phase data.E- <GU > $?I GQ BY O} >Cw,A2a@Y2@2χ4>92I=y2H ???@cſYs? Osƿ@Ϩ?>w?ɨ2a@2ku;0y<<IFLIFKk69Nb;Q N>PP RG٣PyRX V> ZNusing accuracyPremultiplier from configX^X49Zgq?^X4YZjN iZ@B\^89^?Z[CZ:Z:ZZX4d ddhtht"ht*htg ggfffrfbfH@ɛB= Will construct direction to contact in vehicle frame from tetrahedron phase data.I y<ɚiI;H<xɠFIii)NN)HI I}HIKBI&I.I6I<:IFJaJSJJJ:Jy69JJJ;J;J5C:J7C:DAEF<G!GB O- >} Will construct direction to contact in vehicle frame from tetrahedron phase data.**Cw,A>ݻ@Y>@>yv6>9>¥O=y>H?}??9ȿ}Q? _ƿ@?s?ɨ>ݻ@>;>ICy^KB^HUMb@Mb@Mb@QQQ Q)QYUV-?{Gz?MbyU|>U# G٣C2GyH > Nusing accuracyPremultiplier from configX49Cyq?X4Y[O i@B>:-?C;b;iX4 "AE ]$?I]Kfhh"h*hgggfffrfbfK/I@ɛ)-V= 15(w?I1 5h=ɚ1i1I5<=?ϙ<=ɠEQIEiAiA)E/gE/g)IDEݍ9EIEI*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data.zKQKUŷ9KQKUKUYI%@C;3/*&$!G  Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե AG B O >FvDw,S ANI8@YNG@N8>9Nʞ\=yNH?@??}ʿn,?@ ƿ ?o?ɨNI8@N(;NFCyZKBZHIbLIbKk6٢jg jI=9n;Q n>ll rG٣pyrK r> zNusing accuracyPremultiplier from configtzX49vq?~X4YvXP ivp@BIB?vCv-;v-;vxX4 B 1AEh1h1"h1*h1g1g1g1f9f9f9rf9bf=@_I@ɛ  IR=  [v?I Da=ɚiI;<<_ɠ[I0i!i!)%%)AD%9 IG >5Will construct direction to contact in vehicle frame from tetrahedron phase data.HI IdHIKBI =&I.I6IX<:IvFGJIJIJIJIJIJIJIJIJIJIJIJIBYOu>Dw,P$Aܹ@Y@<>9[s=yHLr?k?`ͺ? /Ͽ?@| oǿ:?`Lg?ɨܹ@Ń;KCy%KB%HWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YPn? rh?{Gzty?C =ףA QA)tAIy=AIMIhk6٢z< %+=9%11 5G٣1y=z => UNusing accuracyPremultiplier from configQ]X49Uq?]X4YUQ iU@@Bec?e:mm?m?UCUH;U;U߈X4}B A}EhYha"h*hgggfffrfbfwI@ɛ = x?I A{ =ɚ i I  <۟<)ɠBhIii){{)9D9 }$?IyG= 8U>E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B) OE >Dw,W=AzKNuMKN9KLKNKN ,c/ &.0-'(yKBHI-^I-Jm6٢=? Eo=9EQ E?II MG٣MD2GyM M? ]Nusing accuracyPremultiplier from configQ]X49U+q?eX4YUaR iU@Baae?U.CUq ;U ;UX4i u=Aqhh"h*hgggfffrfbfI@ɛ= t?I  =ɚiIJ<T߃<ɠ5 qISii))D 9Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO5> i Ii ުDw,aWA6*@Y6*:@6r?>96v=y6H@A?$?@DZ?$ѿ@?ǿO?Hc?ɨ6*@6?;6ICyBKBBHIjVIjgl6٢v vP=9v;Q v>xx zG٣xyz b ~>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config X49 q?X4Y yS jH}<bH}<HI IJHIKBI&I.I6I<:I;FBIM̍CJIM̍CRIIZIM =bIM =jIM4i ?BU? aC Ӟ< ۞< X4 TAzEhh"h*hgggfffrfbf@FJ@J_JsJJJ :J9JJJF:JK:JA:JB:ɛY]= Y]q?IY et^=ɚaiaIe^JWill construct direction to contact in vehicle frame from tetrahedron phase data.Gi B O >Dw,qAV@YVξ@V#D>9VK]=yVH 8?`?@?@ӿ9?{lȿ$? ]?ɨV@Vq);TybKBbH $?ImMb@Mb@Mb@iii i)iYm r?{Gz?Mb?ym?mף=m G٣yzԽ > Nusing accuracyPremultiplier from configX49q?X4YkT i?B/?:(?C; ;bX4 kAhihi"h*hgggfffrfbf4J@ɛ= n?I %>[=ɚ!i!I%GU0>zKaMKKKK&&'&%%&'(.12433257899=@A>969:663.,*($$  G->G B! OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.i"Dw,AJ@YJ@JG>9J>=yJH3??1L?`A'տ`?@绿ȿ@4d?N\?ɨJ@J e;HyRKBVHI~tI~o6٢   T=9 f;Q ->19 =G٣=E2Gy=s => MNusing accuracyPremultiplier from configAMX49Emq?UX4YEgU iE?BQU^@U?ECE ;E ;EX4Y eAewEhh"h*hgggfffrfbfcJ@ɛ= k?I =ɚiIC< U<hɠSIii))DM9 $?IG>%Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I2HIlKBI&I.I6Ia<:I}FGBO>!(Dw,UlA>&I@Y>lX@>ٵJ>9>'=y>HK?_??*wֿ@?Ȼ`r,ɿ D?JY?ɨ>&I@> ;>HCy^KBb}H)a mCGQyWill construct direction to contact in vehicle frame from tetrahedron phase data. YyBIfI-n6٢MH M+=9UE;Q U>YY ]G٣Yy]B e> Nusing accuracyPremultiplier from configX49q?X4YV i?B1W? CH::X4B AtEhh"h*hgg g f f f rfbfJ@ɛb= y=隅Aj?I =ɚiI$<P><6ɠ7I0ii)0頝0)Du_9 IG >% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >J= `J= TJ9 J9 J= :J= :9J9 J9 aE @aE @aE @aE @:#/Dw,}A>@Y>a@>;.N>9>=y>H$? ? ? ׿?@Jɿ`(i?@~T?ɨ>@>†;>JCyJKBNVH'^TFailed to parse incomplete device message.-only read 0 of 1 data item for altitude. Device response is::BD, +34.49, , -5.68, 19.56, 0.00  @ @ @  @ I%cI%m6٢51 5q=9=#M2X4i m˴AqhIhI"hY*hYgYgYgafafafarfabfm,J@ɛ9E = imtb?Ii m9m=ɚiiiImv)G B $?I O >7 6Dw,QA>״@Y>e@>vQ>9>:=y>H 8? ??` ٿv8?@9ʿ`hš?*P?ɨ>״@>;>KCbWill construct direction to contact in vehicle frame from tetrahedron phase data.yfvKBf>HInjInn6٢vF vO=9vexHI I HINKBI&I.I6I<:I9F G٣F2Gy%l %> -bBottom track data is 0.7 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config)5X49-Mr?5X4Y-%Y i-<ɠ I?gii)?g?g)D9G>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O>29:=y:H k?`jC??Fڿ`?xeWnʿ_?kJ?ɨ:D%@:V;:ICyFfKBF+H U U UU UU  U U UMb@Mb@Mb@QQQ Q)QYUMb? rh?Mbp?yU?UC >U;UA UdA)UAIU$AQyUAIufIu-n6٢: A=9 G٣yT > Nusing accuracyPremultiplier from configX49$r?X4YZ i?BT:&?:9(? C";n;X4 Ahh"h*hgggfffrfbf`4K@ɛ= !%Y?I! %!=ɚ!i!I%]Y4<-<-ɠ5YI5ii)頵)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.JM_JMRJM1JIJM :JMS29JM3JIzKU$LKUŷ9KQKUKUEY"GqGu8>Ge Pd> Will construct direction to contact in vehicle frame from tetrahedron phase data.GY By O >FCDw, A6#g@Y6iv@6E3X>96V=y6H?@"??ۿ?`ʿ@r ?@D?ɨ6#g@6;6LCyB3KBBHIJWIJl6٢r rO=9vVtt vG٣tyzp z> ~Nusing accuracyPremultiplier from config|X49~4r?X4Y~[ i~>B  ? ?~ C~ ;~e ;~X4 vAnEh1h1"h1*h9g9g9g9fAfAfArfAbfE`fK@ɛq}۾= y}L?Iy v$=ɚiI F:< %;eɠwIrbii)rb頕rb)BD&?:D1?D9 $?IEuD=Will construct direction to contact in vehicle frame from tetrahedron phase data.HI͍C IHI%KBI&I.I6IG<:IkFG>GYBaO}>egIDw,Xq'AF8@YF~ǹ@FB[>9F=yFH}? o?r?ܿJ?MB˿ ?`??ɨF8@Fm;FKCy~KBHWill construct direction to contact in vehicle frame from tetrahedron phase data.I\Im6٢$ 3=9~;Q > G٣G2GyF:  > Nusing accuracyPremultiplier from configY49Hr?Y4Y]\ i>BU%? C:*:2Y4) -A)hIhI"hQ*hQgQgQgQfQfYfYrfYbfe1K@ɛ= 隝D?I m'=ɚiIEA< 6; ɠըIsii)s頵s)D9 $?IES= Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J J! J! J% 2J! J! J! J% c3J! G >zKm KKm 9Ki Km Km  "BXdfj, J xi$N(z~XBK} rA:K} sAG B O > QDw,fDAN@YN. @N^>9N =yNH h?@`? ?Uݿ`?b#i˿D?@9?ɨN@N ;NHCyVJBV{H5Mb@Mb@Mb@111 1)1Y5Zd;?㥛 ?5>5t5;A 5nA)5AI11y5AI]_I]fm6٢  D=9];Q > G٣yMh > Nusing accuracyPremultiplier from configY49RYr?Y4Yp] i>Bk?:KO?G C';;oY4B M,AMkEhh"h*hgggfffrfbfK@ɛ  N= 5?I )=ɚiI-'I<Lׁ;ɠ%IE LiYiY)] L] LWill construct direction to contact in vehicle frame from tetrahedron phase data.)D}9EE*E"E QIQ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.HA IE ̍C IE HIE JBIA &IA .IA 6IE t<:IE FGm 0P>Ga Bq O >rWDw,s`A2D@Y2T@2a>92z =y2Hf ?`,?@?@00߿=? 8˿Ġ?5?ɨ2D@2t;2JCyBJBBQHIJjIJn6٢R- RD=9V;Q V>XX ZG٣Xy^[ ^> bNusing accuracyPremultiplier from config\bY49^8jr?fY4Y^^ i^a>Bdfej?^| C^ ;^" ;^+Y4l npAlhh"h*hgggfffrfbf@L@ɛŵ= Gi<=X-?I  5,=ɚ i I CP<%; ɠGyBO>  I ]Dw,$zA6 @Y6Q@696=y6Hj??t ?@?5`7?+¿@0K̿ џ? N1?ɨ6 @6~;6HCyBJBBHbWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y\(\? rh?Mby>C >A  A)VAI׌AyAI}Ip6٢%* -5=9-;Q ->)1J=`J=QJ9J9J=:J=-.9J9J9 5G٣MH2GyMQ M> ]Nusing accuracyPremultiplier from configYeY49]a|r?mY4Y]-` i]">Bmp?u:u񆾑u?] C]ws;]8r;];Y4y }ضAhEhh"h*hgggfffrfbfFL@ɛS= = ?I uo.=ɚqiqIu6#X<}"m:}ɠ}㸾I}_iyi)_項_)Di"G;>GG>zKvPK9KKK.(! KGhf6 v`H:, |vsoifd`^]YuWill construct direction to contact in vehicle frame from tetrahedron phase data.GGi Bq O >  $?I {dDw,xA>ʯ@Y>eٶ@>]f>9>HF?k?8??¿ ̿^ ?@-?ɨ>ʯ@>;>JCyFIJBJHIRIRr6٢Z Ze=9ZD;Q ^>`` bG٣`yf( f> jNusing accuracyPremultiplier from confighnY49jpr?nY4Yjya ij=Bprr?j Cj;j;j&HY4t vGAth h "h *h gggfffrfbf@sL@ɛIM@= QUV?IQ ][0=ɚYiYI]L^I͍C IHIxJBI&I.I6I[<:IzFWill construct direction to contact in vehicle frame from tetrahedron phase data.BIqJIqRIqZIu =bIu =jIu%b4G}>GQBaO{> Will construct direction to contact in vehicle frame from tetrahedron phase data.kDw,kaA^7@Y^}@^5gh>9^0fe`=eLexA eA)eAIenAayefAI}I}s6٢C ==9;Q > G٣y_ > Nusing accuracyPremultiplier from configY49r?Y4Yjc i=B?:궾? C;];OWY4 ·AeEhh"h*hgggfffrfbf9L@ $?Iɛם= ?I 1=ɚiI}g<b$ɠX¾I.?ii).?.?))BD5?:D5$?D09Will construct direction to contact in vehicle frame from tetrahedron phase data.El=G GtAzK nPK @9K K K XWUTRNPMJIGA@<:50241/*++,-+*))()..++*(()))'$#! !!!G H_>G B OE >qnrDw,2A>^D@Y>S@>i>9> =y>Hsm??2? 6?(Ŀ̿-N?`/'?ɨ>^D@>;\\ bG٣bI2Gybjq b> fNusing accuracyPremultiplier from configdjY49f~r?jY4YfXe ifi=Blnþn?fJ Cf;fi ;fxeY4p rQAphh"h *h g g g f ffrfbf L@EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛim= qu>Iq u7f3=ɚqiqIUo<an8ɠ!`ǾI yi i ) y y)D%B9E  d6= IG5Pd>ZHRH@AHI IpHIIBI&I.I6Io<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >Ji Jm SJi Ji Ji Jm y69Ji Ji Jm :au Jm :a} Jm 5C:a} Jm 7C:a} xDw,0A:@Y:@:gBk>9:=y:H`6? M??@A? PĿ@?&Ϳ@?`$?ɨ:@:;:GCybIBbHIjIjx6٢r rG=9vg;Q z>x| ~G٣|yum >  Nusing accuracyPremultiplier from config Y49 r?Y4Y lg i '=B=Ͼ? } C z ;  ; sY4%B %uA%bEhIhI"hI*hIgIgIgQfQfQfQrfQbf]M@ɛ4= `=隕v>I 4=ɚiI6w<lZɠH̾I,ii),頥,)DP9~G`wAA Y`wAyBeWill construct direction to contact in vehicle frame from tetrahedron phase data.E5&=="GE?>GEJ> $?IG} H_> Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >$~Dw,ՖAyvSIBzHMb@Mb@Mb@ )Y~jt?㥛 ?Dly?=OIA )VAI?AypAII{6٢3 8=9Q > G٣y > Nusing accuracyPremultiplier from configY49Nr?Y4Y!j iIi m5=ɚiiiImGy B O > Q IY ZʅDw,oIA:@Y:@:m>9:aIQ UH6=ɚYiYI]ߥ9JJJF:JK:JQ:JQ:G 8U>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B1 O >Dw,&2A6@Y6%@6%l>96~ G٣J2Gyx > Nusing accuracyPremultiplier from configY49r?Y4Y p i2I! %7=ɚ)i)I-}<5f*ɠkھIOii)OO)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.G@Z>GGGiByO>zK} kMK} K9Ky K} K} U-=LSMB=;@>0"|smd]XYYRKFA:62/3661-(%" ݒDw,LAnWill construct direction to contact in vehicle frame from tetrahedron phase data.y]HB]HI% I6٢qM J=9Q > G٣y > Nusing accuracyPremultiplier from configY49 r?Y4YKs i;B?S C* ; ;WY4 ~A\EB*** querying acoustic contact ***jjhh"h*hgggfffrfbf_M@ɛAEC`= IMG>II M?7=ɚIiIIMM6D1 ILfGu0P>HI IHIHBI&I.I6IF<:ImFGIBYO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.J J J J J J J J J J J J >Dw,eA6g@Y6-w@6k>96Qdd jG٣hyjR j> rNusing accuracyPremultiplier from configpvY49rs?vY4Yrv ir;Btv-z?r Cr":r":rY4| ~A|h)h)"h)*h)g)g)g1f1f1f1rf1bf=N@ɛR= =I m@8=ɚiI < c Pɠ ϳI J' ii)-J' -J' )9D9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: BDAT read: Tx time:19:38:48.9142 $Ping request sent.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2496320Dw,AB@YBꛯ@Bqi>9B| G٣K2Gy{ > Nusing accuracyPremultiplier from configY49s?Y4Y${ i);B?:;J? C;;Y4B JAYEhh"h*hgggfffrfbf PN@ɛC= l+=I ah8=ɚiIT<%o\%^ɠ%I% i)i))- - )ID-ҟ9zKuNKж9KKK    RK ?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501652GM0P>GI BQ O > I 3Dw,A2i@Y2@2JXg>92eGB>HIF% IF6٢N! N^=9RĶQ R>PP VG٣TyV V> ZNusing accuracyPremultiplier from configX%Y49Zs?-Y4YZ! iZ:B)-IQ-?Z CZ?GBO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016045DDw,irA @ 0I0:ۦ@Y:@:‹e>9:;y:Hۡ?N ?#?@8g?ſt̿@(|? 2?ɨ:ۦ@:a;8y^GB^HMb@Mb@Mb@ )Y+?MbʡEy?EA ) AI;AyAI? I6٢脽 :=9 Q > G٣yjq > Nusing accuracyPremultiplier from configY49*s?Y4Yd iv:B!?:_?< C;I;Y4  Ah1h1"h1*h1g9g9gAfAfAfArfAbfM N@ɛqu?+= y}<6Iy }48=ɚyiyI}m<5ɠxI= ii)= 頍= )D9Will construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.265938GGBO>zK # MK 9K K K !:Dw, AV @YV,@V#c>9V - G٣L2Gy ؈  > Nusing accuracyPremultiplier from configY496s?Y4Y i":BFf%?v C ;* ;bY4) -IA-VEhIhI"hI*hIgIgQgQfQfQfQrfYbf]N@ɛD1 = 隝"I V7=ɚiI.O<.|ɠ=I ii)  ) 5$?I9D9ZHRHHI IHIGBI =&I.I6I<:IFBIe͍CJIe͍CRIaZIabIajIeDž4G8U>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770759GBO>SDw,A:CC@Y:R@:`>9:^gtt vG٣xyzz z> Nusing accuracyPremultiplier from config Z49Bs?Z4Y i9B\l? C;Y;MZ41 5A1hh"h*hgggfffrfbffO@ɛ= 隝XI 7=ɚiI<ɠI ii)  )BD?:DD9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022350 u$?IqE(a= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273777G G B O >sDw,AJ`JJJJ:JJJa"@a"@a"@a"@%@Y%@%P4\>9%IAA MG٣IyM# M> UNusing accuracyPremultiplier from configQ]Z49UOs?]Z4YU` iUu9Be%?e:ee?U CU;US;UmZ4mB uAuWEhh"h*hgggfffrfbfUO@ɛ8V =  I 6=ɚiI5<ҼɠbI3= ii)3= 3= )D39zK50(LK5ŷ9K1K5K5ES=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527022 IGU @Z>G1 BA O] >Dw,,AFH@YFǩ@FZ>9F?hh jG٣jM2Gyjܝ n>H I  I HI 7GBI  =&I .I 6I a<:I F }Nusing accuracyPremultiplier from configyZ49}Ys?Z4Y} i}.9BR?}7C}<;}L;}~Z4 ATEhh"h*hgggfffrfbfńO@ɛn= b,I t6=ɚiI~< rἩ C!ɠ I r i i ) r r )Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777783DE9EE*E"E)F=  G1 Q$YyB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032147Gi I MfGY Ba O >Dw,z6A2@Y2@2 X>92X G٣y w > Nusing accuracyPremultiplier from configZ49ds?Z4Yp i8B!?:l?yC;;-Z4 IAhh"h*hgggfffrfbf@$O@ɛzc< QI 5=ɚiI<%򼩠%#ɠ%I%5qi)i))-5q-5q))2D5rA*D5sADee9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281868JaJJJJ:JJJGiGABIOm>zK KK }9K K K &'kDw,OA"Will construct direction to contact in vehicle frame from tetrahedron phase data."%="R=&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534103 @Y <@ pU>9 'II MG٣QyU: U> ]Nusing accuracyPremultiplier from configYeZ49]wns?eZ4Y] i]8Bim舿m?]C]:]:]:Z4 ~Ahh"h*hgggfffrfbf QO@ e$?Iaɛ&`< 隍dlI Z4=ɚiI<m%ɠIii))Dt9HI IHIFBI&I.I6I@<:IkFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785765GG B O >`Dw,iAZT&@YZ5@Z˃S>9ZQ > G٣N2Gy% %> -Nusing accuracyPremultiplier from config)5Z49-ws?5Z4Y-ɪ i-w8B15R=?-C-";-";-HZ4A MAMQEhqhq"hq*hqgygygyfyfyfrfbf P@ɛ< 隵f|I  44=ɚiI6<n "(ɠIii))DM9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047142 aImNfG58U>G9G=tAG BOE>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297649J= `J9 J9 J9 J= :J9 J9 J9 Dw,͐A:-K@Y:sZ@:1Q>9: G٣y΁ > Nusing accuracyPremultiplier from configZ49 s?Z4Y iJ8B?:Ǎ?5C;';WZ4B ҽAREhh"h*hgggfff rf bf *P@ɛ< 隝fI ?3=ɚiI <G*ɠ8I*ii)**)BD?:D>D9zKRNK9KKK,xl3cu!a-y[E4"ztuqnmhfa[UTWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550147G@Z> QIQGBO>Dw,lAH0I0 I2VHI2FBI2 =&I0.I06I2<:I2FNtt@YN@NN>9Nhώll nG٣lyr r> vNusing accuracyPremultiplier from configtzZ49vs?zZ4Yv͵ iv#8Bx~~?vmCv ;v ;vdZ4 ϽA hh"h*hgggfffrfbfiDP@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.801792ɛAMБ< IMII M\c2=ɚqiqIuӝ<}},ɠ}E I}iyiy)項)DGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.053887 m $?Ii .Dw,EKA6@Y6:@6eL>96QQ UG٣UO2Gy] ]> eNusing accuracyPremultiplier from configa}Z49es?}Z4Ye- ie8B} ?}:}}?eCeRp;eo;egsZ4B AOEh!h)"h)*h)g)g)g1f1f1f1rf9bf=_P@ɛ/9< 隝gI _h1=ɚiIb<%.ɠ4 I^1ii)^1頽^1)DƧ9Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306196J bJ RJ J J :J S29J J GG ?G ?GiByO>zK 9PK ŷ9K K K MHGDBB@<978A_-XjpoeWLE</&unkhe]VQOJFD@?;741/Dw, A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559128rǜ@Yrף@rI>9rǁ?j?W?&O)?Bǿɿ`.?`?ɨrǜ@rͺ;rICy%FB%tHI5F I5~6٢U G=9ŻQ > G٣y9 > Nusing accuracyPremultiplier from configZ49s?Z4Y i7B?C::ƁZ4 )Ahh"h*hgggf I ffQrfQbf] yP@ɛ< gI I_0=ɚiI<Y//ɠ Ixii) xx)2DtA*DDը9HiIi Im$HImFBIi&Ii.Ii6Im<:ImFWill construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810996G58U>G B O5 >ADw,AFx@YF@FyG>9FKqȻQ > G٣y% %> 5Nusing accuracyPremultiplier from config)=Z49-7s?=Z4Y- i-7B9EQE?-C-%;-p;-eZ4I M5AIhihi"hi*higqgqgqfyfyfyrfybf}`2P@ɛ;e< 隵gI Lg/=ɚiIV<-d7g1ɠ Is%ii)s%s%)D)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.061878 IGU@Z>G)B1O]> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313630J1 J5 @A&Ew,AZ#@YZ2@ZD>9Z0z=C<'=ZA )IAyAI4 I6٢ 9=9Q > G٣P2Gyt > Nusing accuracyPremultiplier from config %Z49 s?%Z4Y  i 7B%V>%:%%? JC _; m^; Z41 5{A1hQhQ"hQ*hYgYgYgYfYfafarfabfeP@ɛ< 隝I '.=ɚiI~B<PA3ɠ&6Iii)頵)D9zK| OK9KKK++)'&%" !   RK>JK?}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.565771 IG)G1G5sAG B! Oe >?PEw,ŬAHI IHIaFBI =&I.I6If<:IFBIQJIQRIQZIQbIQjIUgZ4R7Y@YR}h@R"B>9RfQ>pp rG٣pyvĉ v> ~Nusing accuracyPremultiplier from configxZ49zBs?Z4Yz iz7B:?zwCzl;z;z^Z4 оAh1h1"h1*h9g9g9g9fAfAfArfAbfEfP@ɛy}Ɛ]< y}6ɾI &,=ɚiI2<IS4ɠBIii)頕)BD?:D*?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.817872D}s9J^JUJJJ} :J>9JJJz:aJ~:aJQ:aJQ:aePExceeded connect timeout, disconnecting.G8U>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.069637 I Of${ Ew,"8A2@Y2Қ@2@>92+E5<5<1 5A)57AI5A1y5§AIU IUd6٢mS mA=9m|Q m>qq uG٣qy}:s }> Nusing accuracyPremultiplier from configZ49Ұs?Z4Y i7B)>:?C;<;Z4B AMEhh"h*hgggfffrfbfaP@ɛ_< jԾI +=ɚ i I R<S5ɠZIqii)q頽q)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.322569G@Z>GBO>zK= MK= 9K9 K= K=   +%   bEw,dRA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=7.573766ym:FBmHI} I}U6٢ H=9Q > G $?I٣Q2Gy > Nusing accuracyPremultiplier from configZ498s?Z4Y. is7B?C ; ;pZ4 >Ahh"h*hgggfffrfbf@P@ɛ!%j1< %•=%I) -?*=ɚ)i)I-<=U']=7ɠ=jI="i9i9)="E")AD5H9jH%<bH%<H)I) I-HI-9FBI)&I).I)6I-<:I-%FGm8U>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826923G1B9O]>J _J XJ 5J J :J 5K9J 4J J F:J K:J g:J g: G xA - %Y5 xAy5 B ] nManaging dock network, ignoring radio surface power offGEw,RlA6@Y6@6:>96j'r`` bG٣`yf f> jNusing accuracyPremultiplier from confighnZ49js?nZ4Yjb ij_7Blnyr?jCjG;j%;jZ4t vAthh"h*hgggfff!rf!bf% Q@ɛ0 ; I T(=ɚiIۑ<f8ɠKI9ii)99)2D5sA*D1D MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.077920 IG GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.329766!Ew, fAJ"@YJh)@J*8>9JsƋ9=;=+A 9)=AI=dA9y9IUJ IU6٢e& e>=9m̻Q m>iq uG٣qys > Nusing accuracyPremultiplier from configZ49ھs?Z4Y i?7BU>;?/C;N;Z4 ƿAh9h9"h9*hAgAgAgAfAfAfIrfIbfMD.Q@ɛ0; 隝iI &=ɚiI<$p@9ɠ3Iii))Di9zK]LK]59KYK]K]UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.584397 iIqG@Z>GABQOm>H I  I HI EBI &I .I 6I <:I F'Ew,UAFD@YFLS@Fi5>9Fb# G٣R2Gyp > %Nusing accuracyPremultiplier from config!-Z49%4s?-Z4Y% i%%7B)-s-?%VC%n:%:%'Z41 =A9hYha"ha*hagagagafafifirfibfmFQ@ɛ9 隝i I Q%=ɚiI5< uy':ɠ4Iii)頵)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838701De9JaJUJ2JJ:J>9Jc3JJ;J;JQ:JQ:E=G G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.089790 I G 0P>G B O5 >`-Ew,ANj@YNy@N2>9Nv<ļ A)fAI5AyfAI{ In6٢ A=9ȻQ > G٣y > Nusing accuracyPremultiplier from config[49s?[4YK i6BO>:#?C}f;e;[4 pAhh "h *h g g g fffrfbf aQ@ɛAE AEII M#=ɚIiQIUޚ<]xс];ɠ]4IeGii)GG)BD %?:D ?D9Ef=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341759GG B O >/4Ew,kA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2=2%=6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593950zK>RKK<K<K>K> " >@Y>@>/>9>E?H 2?`? ?`+?`ſxſ?`ކ?ɨ>@>ͥ;>ICyRcEBVHI^ I^6٢f & f[=9fDQ f>hh jG٣hyn" n> rNusing accuracyPremultiplier from configpv[49rys?v[4Yr@ ir6Btvz?rCrX:r":r [4| ~A|hh"h*hg!g!g!f!f!f)rf)bf-xQ@ aIaɛ 'I  =ɚiI~=%%;ɠ%TI%i)i))--))DM9HI IHIEBI&I.I6I<:IFEÕ=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.845768JCKK3 KK/KCKC"KCJ ^J TJ J J } :J :9J J J y:J ~:J _J:J bJ:G 8U>G B O >:Ew,ABA@YBš@B",>9B9`d fG٣fS2Gyfԅ f> nNusing accuracyPremultiplier from confighn[49j*s?r[4Yj ij6Bpr r?jCj:jP:j[4vB z+Axhh"h*hgggfffrf!bf%`Q@ɛ< .I D=ɚiIh=G<ɠ8I ii)  ) D9EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. G B O >AEw,AFђ@YFL@FC)>9F2b5<5 05&A 5A)5AI5A1y5\AIM IMM6٢Uk+ UA=9]Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}[49uls?}[4Yu} iu|6B0>:h?uCuc;u;uE+[4 Ahh"h*hQgQgQgYfYfYfYrfabfe`Q@ɛv= @I .=ɚiI=ɐ{=ɠ4I8ii)88)2D*DtAD9%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMK@9KKK  IGGBO>H {>I  I HI OEBI &I .I 6I _<:I F HEw,j!A2@Y27@2)&>92 ttt vG٣tyz’ z> ~Nusing accuracyPremultiplier from configx[49zs? [4Yz izO6B   ?z1Cz;;z/;z8[4 6Ah9h9"h9*h9g9gAgAfAfAfArfIbfMQ@ɛqu q}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received-ɠI{ii){頥{)Dر9JMaJMSJIJIJM:JMy69JIJIJM;JM;JM5C:JM8C:G1GBO=>- Will construct direction to contact in vehicle frame from tetrahedron phase data. I 1:NEw,u;AN@YN8@NE">9Nu# G٣T2Gy > Nusing accuracyPremultiplier from config[49(s?[4Y% i6B>:?dCD;;G[4 tAJEhh"h*hgggfffrfbf`Q@ɛ15vQ 15:WI1 ==ɚ9i9I= =EdE>ɠEIEiAiA)MM)ID 9Will construct direction to contact in vehicle frame from tetrahedron phase data.G @Z>GtAGGBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.vUEw,yxUA 4I4zKN؉LKN9KLKNKNBKT:KVrAy=oDB=HIM IMu6٢] ]O=9eQ e>ai mG٣iym m> Nusing accuracyPremultiplier from configq[49u s?[4Yu iu5B?uCu?I) I-#HI-DBI- =&I).I)6I-i<:I-FBIJIRIZIbIjIx4GWill construct direction to contact in vehicle frame from tetrahedron phase data.GiByO>I[Ew,:YoAbJ,@Yb;@bf>9b< G٣y   > Nusing accuracyPremultiplier from config[496s?[4Y i5B!%Rȿ-?ChL;L;Sc[41 5AA1hQhQ"hQ*hQgYgYgYfYfYfarfabfe QR@ɛ 隕pI ڱ=ɚiIw= ?ɠ7I;ii);頭;)Dq"GC>G?>Will construct direction to contact in vehicle frame from tetrahedron phase data. U$?IQG0P>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J gJ VJ J J %:J B9J J a @a @a @a @1bEw,&5A2@@Y2]O@2Y>92 = G٣U2Gy > Nusing accuracyPremultiplier from config[49Us?[4YX i5B~?:SϿ?C!; ;r[4 Ahh"h*hgggfffrfbfW0R@ɛ!-̐ )-zI) -K =ɚ1i1I5$==:=?ɠ= eI=oi9i9)EoEo)AD+9Will construct direction to contact in vehicle frame from tetrahedron phase data. AIAzKKKŷ9KKK?jxfRK?JK?Gm8U>Gu ?Gu?GIBQOu>H) I)  I- HI- pDBI) &I) .I) 6I- %<:I- \Fx]hEw,Ay%CB%HI5; I56٢E EO=9MQ M>II MG٣Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.ye e> mNusing accuracyPremultiplier from configiu[49ms?}[4Ym imV5Byy}?m+Cm;m;m[4B ANEhh"h*hgggfffrfbfIR@ɛA =냿I  =ɚiIPf=?ɠIii))2D *D )9 9De99[G1 ePYiymB@w BG Will construct direction to contact in vehicle frame from tetrahedron phase data. 5 $?I= QfG B O >unEw,ArZ_@Yrn@r>9rћ G٣y > Nusing accuracyPremultiplier from config%[49s?%[4Yu i(5B%i?%:%տ-?dCU;_;[4Q U@AYhh"h*hgggfffrfbfeR@ɛü чI =ɚiI%=M]@ɠ]I]iYiY)ee)iDEK9eWill construct direction to contact in vehicle frame from tetrahedron phase data.aieAGi GiJe`JeRJaJaJe:JeS29JaJaG(K>Ga Bq O >  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.hluEw,fA6n@Y6,~@6 >96N̒9A EG٣AyEp E> UNusing accuracyPremultiplier from configIU[49Ms?U[4YM iM5BY]iٿ]?MCM ;M ;M[4a mAihh"h*hgggfffrfbf'}R@ɛW_K kI =ɚiI.8=!󷽩?ɠIii))DZ9ZHRHAAH}>I IHIDBI&I.I6I3<:IgFG58U>}Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!O=>{Ew,A6z@Y6ˉ@6K >96aCB>NHIJ3 IJ6٢R RT=9VQ V>TT ZG٣ZV2GyZf Z> bNusing accuracyPremultiplier from config\b[49^s?f[4Y^$ i^4Bdf7ݿf?^C^;^;^[4h jAlh|h|"h|*h|g|g|gfff rf bf @R@ɛ9L ғI @"<ɚiI=輽?ɠtIGiTE;i)GG)BD?:D ? IDz9Will construct direction to contact in vehicle frame from tetrahedron phase data.EP="GIGMC> Will construct direction to contact in vehicle frame from tetrahedron phase data.G] H_>J J UJ J J J >9J J G1 BA O >ӘEw,z A:X@Y:@::>9:=9EQ E>II MG٣IyU? U> ]Nusing accuracyPremultiplier from configYe[49]s?[4Y]* i]4BS ?:D㿑?]C]t<]L<][4 =Ah1h1"h1*h1g1g1g9f9fIfIrfIbfMDzR@ɛjF I w<ɚiIXH=a½{?ɠ/I+iDW;iL {>)++)DU9E-= qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.zK)MKŷ9KKKGu 8U>GI BY O} >H |>I  I HI CBI &I .I 6I V<:I FEw,N$Af @YfP@f>9f@    G٣ y  >Will construct direction to contact in vehicle frame from tetrahedron phase data.iA -Nusing accuracyPremultiplier from config!=[49%s?=[4Y%D0 i%4B9E 翑E?%;C%Mq;%q;%f[4MB MwAMOEhihi"hq*hqgqgygyfyfyfrfbfR@ɛBr 隽I ?0<ɚiI+!=Xƽ?ɠI:i>e;iGo>)m:u:)qDu9EyEy*Ey"EyG M> qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >Ew,}>Am@Y@ >9:$ G٣W2Gy > Nusing accuracyPremultiplier from config[49s?[4Y&6 in4B ?:꿑?wC;Y;r[4 Ah1h1"h9*h9g9g9g9f9fAfArfAbfE NR@ɛ/Y 隅잿I "<ɚiID$=N~̽>ɠOlIKi#v;ivd>)K頥K)2DtA*D-Will construct direction to contact in vehicle frame from tetrahedron phase data.DG GJ-aJ)J)J)J-:J)J)J)G 8z>G B O > Y I] Rf Will construct direction to contact in vehicle frame from tetrahedron phase data.ɕEw,0GXAJM@YJǍ@J[=9JnV5 I^;6٢f ν f^=9jQ j>hh jG٣lyn{ n> vNusing accuracyPremultiplier from configpz[49rs?z[4Yr$; irQ4BL?rCrk;rl;rT[4  A zK]^KK]K9KYK]K]&<g}o]QKB@=853/-**&%#! hh"h*hgggfffrfbfR@ɛ}P I _<ɚiI&=н=ɠIuQi#$;i MX>) uQ uQ) D9G2Fx>HYIY I]/HI]ICBIY&IY.IY6I]b<:I]FGBO (>=Will construct direction to contact in vehicle frame from tetrahedron phase data.JEw,#rA6LЅ@Y6ߌ@6=96"TT VG٣TyZe Z> ^Nusing accuracyPremultiplier from config\b[49^Ks?b[4Y^@ i^34Bdff?^C^b;^":^B[4l r3Aphh"h*hg g g f f f rfbf pS@ɛ9=y AE_IA EB<ɚAiAIE5(=M`սME=ɠMjIURiu_;iu M>)uRuR I)Will construct direction to contact in vehicle frame from tetrahedron phase data.Dۺ9G=ge>GesAGerAGIBYO}>E Will construct direction to contact in vehicle frame from tetrahedron phase data.%ܢEw,A:d@Y:@:=9: Nii uG٣uX2Gy > Nusing accuracyPremultiplier from config[49{s?[4YFF i4B ?:E?Cҋ;ފ;Z[4 KAREhh"h*hgggfffrfbf4S@ɛ 5J~w 15ӧI1 5L<ɚ9i9I=+=Ez۽Eb<ɠMIMTRiM;imA>)mTRmTR)qBD}!?:D}?Di"G}!>G}= $?IGeZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOmV>zKCNKŷ9KKK   HM }>II  IM HIM CBIM =&II .II 6IM ~<:IM FBIJIRIZI =bI =jI4;Ew,٥A:@Y:@:dV=9:F! %G٣!y% %> 5Nusing accuracyPremultiplier from config)5\49-ܣs?5\4Y-sK i-3B9==?-RC-h;-;- \4A MAIhihi"hi*higigigqfqfqfqrfqbf}KS@ɛ= 隽ӮI DE<ɚiI-=AK߽};ɠ IFi*;i)6>)FF)JJhJJJJȆ9JJJa-Ja-Jج:a-J٬:a5D9 ISfGG;M>GWill construct direction to contact in vehicle frame from tetrahedron phase data.BO>m4Ew,ƿA=J+@Y=:@===9= 99 =G٣9yElw E> MNusing accuracyPremultiplier from configIU\49Ms?U\4YM1Q iM3B] ?]:]]?MCM;M;Mo\4eB eAeSEh h "h *h gggfffrfbf WiS@ɛ0֋ 隍`I <ɚiI|0=佩V:ɠ^I8iH;ip+>)8頝8)Will construct direction to contact in vehicle frame from tetrahedron phase data.D.9G}A>G?G ?GQBaO}Y> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,A6Q@Y6N`@6=96TX ZG٣ZY2GyZޚ Z> bNusing accuracyPremultiplier from config\b\49^s?f\4Y^U i^3Bdff?^C^7:^X:^(\4l nAphh"h*hggg f f f rfbf~S@ɛ9=Mt 9=IA E@<ɚAiAIE2=Mz轩MW9ɠMBFIM)$zK3LKs9KKKiU7;ih>))$)$)2D*DDG GsAHI IHIBBI =&I.I6I<:IFGw6>%Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>J-bJ-PJ)J)J-:J-*9J)J)J-U ;J-X ;J--:J--:G YyL BRBEw,kA:'@Y:n@:B-=9:tt vG٣tyz1z z> ~Nusing accuracyPremultiplier from configx\49z5s?\4YzZ iz3B ?zCzyH;z_i;z 7\41 =BAEVE aIahihi"hi*higqgqgqfqfqfyrfybf}S@ɛf 隭I VV<ɚiI 5=8ɠFI i|%;i_h>)  )}Will construct direction to contact in vehicle frame from tetrahedron phase data.DO9GZ,>GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J BA*Ew,H A6h@Y6͇@69=96+=9Q > G٣y@d > Nusing accuracyPremultiplier from config\49s?\4Y` it3B?:?6CV;;0F\4 \Ahh"h *h g g g f ffrfbf@S@ɛAMG IMTII MO<ɚQiQI7=򽩠6ɠ0Isi>;i2F >)ss)Ds9 U$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.G&/ >GGsAzK-#LK-9K)K-K-RK= ?JK=?GB O- >H >I  I BHI BBI =&I .I 6I C<:I vFUEw,N('A6h@Y6@6k=96`r UG٣]Z2Gy]sm e> uNusing accuracyPremultiplier from configi}\49m1zs?\4Yme imU3Bu?mnCmAU;mU;mS\4 AJ`JYJJJ:J[O9JJJ:J:J4n:J6n:hAhA"hA*hAgAgAgIfIfIfIrfqbfu@US@ɛ, TI ?<ɚiI 9=0{m5ɠ$Ii.;i=8>))BD?:D>D]9G>GyBO=> 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.;@Ew,g AAQH}@Yo@t=9%=yH;jv?`p@$`,絿?@U?ɨQH}@";騅GCyޕBBޕH%Mb@Mb@Mb@!!! !)!Y%kt?~jthS㥛y% ?%D%/ݼ! !)!I%\A!y%AI= I=86٢M  M6=9MQ U>QQ UG٣QyeGɽ e> mNusing accuracyPremultiplier from configiu\49mos?u\4Ymk im33BuK?}:}}?mCm;m;m*c\4B AYEhh"h*hgggfffrfbfS@ɛר I UU<ɚiI=<=23ɠIYi;;i =)YY)Will construct direction to contact in vehicle frame from tetrahedron phase data.iD}9G # >G B O > ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data.kEw,pZANZ{@YN @NU=9N1=yNH`-?Go O??ɨNZ{@N(;NICy^BB^HIf If 6٢n; nd=9rdhQ r>pp vG٣tyvm v> ~Nusing accuracyPremultiplier from configx~\49zfs?\4Yzo iz3BA?zCz*:z:zo\4  Ah9h9"h9*h9gAgAgAfAfAfIrfIbfMT@ɛq} y}GIy }?<ɚiI I>= #s2ɠpIi v;i)頕)zKMKK9KKKDBK:KsAGe>HI IHIUBBI&I.I6I<:IFG!B)OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.J_JSJJJ :Jy69JJJG:JK:J5C:J8C:Ew,tA69z@Y6cf@6Q=96%<=y6H`Yq? m_~y񦣿0X ]q??ɨ69z@6 ;4yBBBBHIJ IJ 6٢R) RO=9VMQ V>TX ZG٣Z[2GyZN Z> `IfTf %Nusing accuracyPremultiplier from config!-\49%>\s?-\4Y%t i%2B)5 5?%C%P:%:%}\4=B =A=ZEhYha"ha*hagagagafafifirfibfm@T@ɛѶ 隥aI cm<ɚiI#|@=$r0ɠds IPib;i2=)P頽P)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq'=GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.yEw,A6}y@Y69΃@6=96cJ=y6H@o?@?@sv :PS`PS0? ?ɨ6}y@6a;6ECyBABBH Mb@Mb@Mb@    ) Y "~?MbP{Gzy ?  ף A ) AI A y AIe IeS6٢uCj u>=9}xJQ }> G٣yS0 > Nusing accuracyPremultiplier from config\49Ps?\4Yy i2B?: ?XCI;;\4  Ahh"h*hgggfffrfbf 5T@ɛRz ¿I tX<ɚi!I%lB=%p-/ɠ- I-Qi-;i))-Q-Q)1Dm9 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GFM=GtAGGiByzKKKs9KKKRK ?JK?O>H ~>I  I HI 6BBI &I .I 6I <:I FEw,@iAJQx@YJ28@J'O=9J4 Z=yJHVf?z#kq`?%ᦰ1??ɨJQx@Jr֍;JGCynABrHI~ I~6٢< Q=%Will construct direction to contact in vehicle frame from tetrahedron phase data.9-!YQ 5>9A EG٣AyUG= U> uNusing accuracyPremultiplier from configi\49mEs?\4Ym~ im2B ?mCm< IWill construct direction to contact in vehicle frame from tetrahedron phase data.MEw,TA);w@Y۬@s=9a=yH]?)X{1`r .'??ɨ);w@;騅ICy޽AB޽HuMb@Mb@Mb@qqq q)qYu(\?{GztMbpyuz?uףuuA uA)uAIuAqyu©AI IE6٢; 4=9JQ > G٣\2Gy/ > Nusing accuracyPremultiplier from config\498s?\4YL i2B}?:M ?CH;}G;\4 Ahh"h*hgggfffrf bf kT@ɛ15? 1=I9 =u.<ɚ9i9I=F=Ms M5+ɠMIUiU~;iQ)UU)Y%Will construct direction to contact in vehicle frame from tetrahedron phase data.De9JK c3 K KK"KJ`JTJJJ:J:9JJa@a@a@a@G = $?I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,"Ay~AB~qHI  I  6٢EP Ec=9MQ M>IQ UG٣QyU ]> eNusing accuracyPremultiplier from configam\49ea.s?m\4Ye ie2Biim?e Ce:e:e\4y }'A}`Ehh"h*hgggfffrfbfT@ɛNiԽ ;ĿI k<ɚiIH=f )ɠϢIkik;i)kk)zKuLKqKqKuKuD9H=>I=΍C I=HI="BBI9&I9.I96I=R<:I=FBIJIRIZI =bI =jI14GZ=GIBaO>=Will construct direction to contact in vehicle frame from tetrahedron phase data.2Ew,qA I>1u@Y>B@>B=9>Z[=y>H؜@.?fG`I=ʫ| sX`??ɨ>1u@>Y; G٣y" > Nusing accuracyPremultiplier from config\49!s?\4Y i2BV?GCi;lj;\4 Ahh"h*hgggfffrfbf 2T@ɛ!%eŽ !-¿I) -<ɚ)i)I5tJ=5Ҟ ='ɠ=I=P(i=u;i=d@B=)=P(=P()AWill construct direction to contact in vehicle frame from tetrahedron phase data.DIG`=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J QJ J J J -.9J J mFw,|AZWt@YZD;@Z)=9Z!I=yZH?u Z9-? ?ɨZWt@ZZ;ZGCyjABj}HMb@Mb@Mb@ )Y|?5^?L7A`堿~jt?y?+<A A)"AIpAyI I6٢ F=9rQ > G٣]2Gy > Nusing accuracyPremultiplier from config\49s?\4Y? i2BD?:o?C;;_\4B AaEh h "h*hgggfffrfbfVT@ɛAMɽ IMÿII M;ɚQiQIUL=]y]X%ɠ]FI] ieE;ia)e e )a2Dq*Dq $?IUfDU9G GtAGm=G!B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK&(KK59KKKH5 >I1  I1 I1 I1 &I1 .I1 6I5 y<:I5 F4 Fw,)A)( (bGpx % Y!y%kB]Will construct direction to contact in vehicle frame from tetrahedron phase data.ms@Ym%Ԁ@m =9mhB=ymH@ Ej?;M@M&Mue?/F??ɨms@mLY;mICyޅABޅsHI I6٢Ur U@=9] eQ ]>YY eG٣aye e> uNusing accuracyPremultiplier from configiu\49ms?}\4Ym im2By}<}?mCm;m;m:\4B -AdEhh"h*hgggfffrfbf@zT@ɛhɽ ĿI ~<;ɚiIpN=g#ɠmI(i_;iw=)(()D9GYhA=GBO@> I Will construct direction to contact in vehicle frame from tetrahedron phase data.RFw,{CAlr@Y}@X<9D=yH `}?`@? L2`??ɨlr@I;騝HCyABvHMb@Mb@Mb@ )YS?)\( G٣y8 > Nusing accuracyPremultiplier from config\49Tr?\4Y\ i2B?:?C"; ;\4 (Ah9h9"h9*h9g9g9g9fAfAfArfIbfM`T@ɛqu ˽ q}ÿIy }i͑;ɚyiyI}^P=v+ ɠfI/iB;i)/頍/)eWill construct direction to contact in vehicle frame from tetrahedron phase data.J_JVJ1JJ :JB9J3JDR9 $?IGYB=G?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.>Fw,m]A6Ur@Y68:@6Ͼ<96,O=y6H@UO?@{[?`kٗ???ɨ6Ur@6K;4yDFwHIR IR6٢Z_; Zv=9ZQ Z?\\ ^G٣^^2Gybټ b? fNusing accuracyPremultiplier from configdj\49fr?j\4YfÞ if2Bhn#n?f.Cff;f;f\4p r'AvgEhh"h*hgggfffrfbf+U@ɛ15g" 15ÿI9 =x$\;ɚ9i9I=Q=EEɠE5IEiM0;iM<)MM)IBD}?:D}?zKKK9KKK 3kH>I IHI,BBI =&I.I6I|<:IFDI"G]=G]=G%-=GBOE0>uWill construct direction to contact in vehicle frame from tetrahedron phase data. I ,Fw,CwA6q@Y6@6A<96U5a=y6H `Q)?`l䪿 6@dї?`'`"?y?ɨ6q@606;6ICyBABByHIJq IJ6٢V>; VK=9VQ Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f]49br?f]4Ybݢ ib2Bhjj?bhCb:bz:b ]4l n%Aph h "h *h g ggfffrfbfU@ɛAEtܽ IM{ÿII Mp;ɚIiIIMxS=UUcɠU8I]i]S;iY)]])aDU9Will construct direction to contact in vehicle frame from tetrahedron phase data.GT.=GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J @AJ J WJ 2J J J G9J c3J e$Fw, A:}q@Y:7@:)<9:t=y:H@?`Q|  O? 9`??ɨ:}q@:e;:GCybABblH]Mb@Mb@Mb@YYY Y)YY]uV?~jtkt?y]r?]Ľ] 0=]A Y)]AI]AYy](AIuO Iu,6٢ ==9orQ > G٣yDf > Nusing accuracyPremultiplier from config]49r?]4Y i2B ?:0?CL;;]4 ;AjEhh"h*hgggfffrf }$?IybfB8U@ɛ̽ ĿI OQ:ɚiI?U=d%ɠIC.i;ivv<)C.%C.)!De]9GE<Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!OEQ>H>I IHIABBI&I.I6I<:IHFzK- MK- 9K) K- K- '19A?<6.'! zvphd_[YURNLLJFBA=:97;831100-('(('#"! RK5 ?JK5 >y@*Fw,AJ.q@YJL@J,;9Js=yJH'.`? i$ag?@p~??ɨJ.q@J͊;HyVABVmHIv@ IvW6٢~XG; ~T=9~ĈQ ~> G٣_2Gy M  > Nusing accuracyPremultiplier from config]49r?]4Y i2B%?CK ; ;E']4) -9A)=Will construct direction to contact in vehicle frame from tetrahedron phase data.hQhY"hY*hYgYgYgYfafafarfabfe@PU@ɛ6 隽ĿI pDɚiIބV=9Xɠ'I&i;i)&&)2D*DD9 aIaG5G<G BO5>Will construct direction to contact in vehicle frame from tetrahedron phase data.&1Fw,AMp@YM@M?'9Mᕌ=yMH@dB]?a 4@8O?`d? 0??ɨMp@MF;IyޥABޥXHI I6٢%g -9=9=aoQ E>IQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam]49er?m]4Ye ie2Biuu?eCe;eW;e6]4y }\Ayhh"h*hgggf)f1f1rf1bf5nU@ɛy}ҽ 隅ƿI qɚiI( X=ɠIneiV;i)ne頽ne)UWill construct direction to contact in vehicle frame from tetrahedron phase data.YiYD9Gc<GyBO^> ]$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data.]7Fw,OAFOp@YF~@F39FrY=yFHR@e? @ W ?`b?؆?3?ɨFOp@FU;FJCyNABNQH5Mb@Mb@Mb@111 1)1Y5p= ף?p= ףV-?y5?55<5QA 1)5߭AI5&A1y5 AIM IM6٢e6Y eU=9mⅼQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from config]49آr?]4Y! i2B j ? : # ?NC;;D]4B oA=nEHm>Ii ImHImUBBIi&Ii.Ii6Imس<:Im+Fhh"h*hgggfffrfbfU@ɛH {ǿI! %fCɚ!i!I%`Y=-:-ɠ-=I-8i5K;i5g;)U8U8)QzKuNKu 9KqKuKu      BK:KrADM9=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJJJaJL:aJ_:aJ_:aGuz<GQ Ba O > ) I) z=Fw, Ay%AB%II UG٣U`2Gy] ]> mNusing accuracyPremultiplier from configam]49er?u]4Ye$ ie2Bqqu?eCe:e:eQ]4y Ahh"h*hgggfffrfbf@"U@ɛ3 ɿI  ɚiIJZ=ޖ!ɠIuNiu;iq)uNuN)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DU9G-O <GBO )>e Will construct direction to contact in vehicle frame from tetrahedron phase data.bDFw,eAyvABv/HMb@Mb@Mb@ )Y'1Z?~jtÿMb`y?IJA A)=AIAyAI I6٢Ǽ D=9Q > G٣y > Nusing accuracyPremultiplier from config]49r?]4Y6 i2B{?:% $?IVf?C<;;`]4 AqEh h"h*hgggfffrfbf% U@ɛIUl1 Q]ʿIY ]CɚYiYI]$\=ey#e ɠe)Ie)im;im)m)m))iD9Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq;H}>Iy IyIyI} =&Iy.Iy6I}<<:I}vFBI=΍CJI=΍CRI9ZI= =bI= =jI=5G B O5 >zK% e^MK% 9K! K% K%     RK5 ?JK5 ? JFw,A,ABʵp@YBW~@Bb9B̳=yBHY?T刺@b@(7tG?@y?@o?E?ɨBʵp@BW;BICybABbHIj Ij6٢rx rW=9vJNQ v>tt zG٣xyzb z> Nusing accuracyPremultiplier from config|]49~-vr? ]4Y~ i~2B  % ?~C~:~~:~m]4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJJJJJJh!h!"h!*h)g)g)g)f1f1fqrfqbf}zU@ɛ6f =ͿI ^޻ɚiI\]=R%0 ɠݾIEiH;i)E E)D 9 IG59Will construct direction to contact in vehicle frame from tetrahedron phase data.G B Oe >\}QFw,?FABȺp@YBU~@B' 9B;a=yBHV@?@|aW-0?o? a?@?ɨBȺp@B];@yjABjHI I6٢U UC=9eHoQ m>yy G٣y{4: > ]Nusing accuracyPremultiplier from configQ]49Udr?]4YUQ iU2B%?U,CU Will construct direction to contact in vehicle frame from tetrahedron phase data.WFw,_A p@Y |~@ 8$9 Mb=y HL? @Z??@?;?ɨ p@ |X; JCy-cAB-HMb@Mb@Mb@ )Y?(\¿lyf?zfA AA)AI=AyII٢l B=97rQ > G٣a2GyS; > Nusing accuracyPremultiplier from config ]49Ur? ]4Yi i2BHe>Ia IaIaIa&Ia.Ia6Ie-<:IekF ?:#?cC<<0]4 6Ah!h!"h!*h!g)g)gIfIfQfQrfQbfU@ V@ɛS 隭ӿI GɚiI_=~(ɠԾI+i;iƆ)++)zK%LK%h9K!K%K%GB - Y)y5: BOMR>5Will construct direction to contact in vehicle frame from tetrahedron phase data.JbJTJJJ:J:9JJJV ;JX ;J`J:JcJ: I ]Fw,yA6p@Y6~@6#x>96V=y6H@K?Ѩ@@? ̧?.??ɨ6p@6sϊ;6HCyNOABRHIZ IZ/6٢f Z f_=9f$Q f>hh jG٣hyj n> -Nusing accuracyPremultiplier from config)5]49-}Gr?5]4Y-` i-2BAE#E?-C-A;-?B;-T]4I M_AMwEhihq"hq*hqgqgqgqfyfyfyrfybf@ V@ɛ* 隭ֿI .ɚiI`=R*ɠ оI[sii)[s[s)Will construct direction to contact in vehicle frame from tetrahedron phase data.E-벫=GB!Oew>E Will construct direction to contact in vehicle frame from tetrahedron phase data.J J BAްdFw,ͬA:p@Y:~@:U9:|v=y:H?H@? بH ? ׳?`u??ɨ:p@:0>;:JCyF9ABFH-Mb@Mb@Mb@))) )))Y-|?5^?)\(x&y- ?-Gό-7-ٶA -A)-&AI-߭A AIA)y)I I6٢E ;=9TQ > G٣y}J: > Nusing accuracyPremultiplier from config]49d7r?]4YK i2B?:?C;;C]4 Ah!h)"h)*h)g)g)g1f9f9f9rfAbfE`t;V@ɛim imؿIi uFɚqiqIu~a=},}ɠ}˾I}i;i)項)E=GiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.H]>I]ύC I]HI],BBIY&IY.I]UD6I]%<:I]gFzK KK ]9K K K :c_%maUMGB<840.*'%$%KjFw,A~Will construct direction to contact in vehicle frame from tetrahedron phase data.J]`JYJ]1JYJ]:JYJ]3JYJ]:J]:JYJYyu"ABuHI& I6٢og L=9Q > G٣b2Gy > Nusing accuracyPremultiplier from config]49<(r?]4Y i2B?C>;;Q]4 AzEhh"h*hgggfffrfbfVV@ɛ!% !%ۿII M^ɚQiQIUb=-NɠqǾIiRN;i))  =$?I9E-oɖ=Will construct direction to contact in vehicle frame from tetrahedron phase data.GU ~q;G] sAGY G9 Bi O >yrFw,9aAp@Y#~@ʂ9R=yHMJ?`G@ ?V? ?`c?ɨp@J;騕LCyޭ@Bޭ]H=Mb@Mb@Mb@999 9)9Y=v?x&~jty=?=7=9 =A)=VAI=A9y=pAIU7 IUؐ6Will construct direction to contact in vehicle frame from tetrahedron phase data.*J"J=٢%c %$=9%Q %>)) -G٣)y5 I 5> ]Nusing accuracyPremultiplier from configYe]49]r?e]4Y]a i]2Be?m:mbm?]]C]r;];]]4uB uA{Ehh"h*hgggfffrfbf vV@ɛam imVIi mzɚqiqIu.c=/ɠb¾Iui.A;iGF)u頵u)2D*DBD:DE)E)*E1"E1 $?IG U Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >xFw,A2p@Y2p~@2d92`=y2H@T?Ǐ?@ȱ?G??ɨ2p@2~|;2ICy>@BBGHIJG IJ6HR>IR΍C IRHIRBBIP&IP.IRTD6IR<:IR[F٢^Y b}=9bQ b ?dd fG٣dyf f ? nNusing accuracyPremultiplier from confighr]49j r?r]4Yj ij2Bprwr?jCj /;jC;j]4x z6A~~Ehh"h*hggg!f!f!f!rf)bf-V@ɛQU%# QUIY e1ɚaiaIed=m0mɠm(Iubiqiq)ubub)zK0NK9KKK   BK):K-tAWill construct direction to contact in vehicle frame from tetrahedron phase data.G%׹G1BAJ]_J]UJ]2JYJ] :J]>9J]c3JYO{>J]G:J]L:J]Q:J]Q: I ~Fw,pA>hp@Y>~@>s9>P =y>H _y?Dp`YU? ?j?@?ɨ>hp@>e;>HCyF@BJHIR IR6٢Z ZK=9ZHQ Z>\\ ^G٣^c2Gybg b> jNusing accuracyPremultiplier from configdn]49frq?r]4Yf% ifw2Bprr?fCf(O;f;;f]4t vAxhh"h*hgggf%Will construct direction to contact in vehicle frame from tetrahedron phase data.f!f)rf)bf-jV@ɛae7 aeGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I WfઅFw,iA6gp@Y6w~@696&=y6Hf?IUw`?@V[? P7??ɨ6gp@6;6JCyR@BRHmMb@Mb@Mb@iii i)iYm(\? G٣yt > Nusing accuracyPremultiplier from config]49 q?]4Y it2BZ(?:?CT;06;)]4 AEhh"h*hgggfffrfbf`V@ɛ)- 9=I9 EɚAiAIEd|f=M3MiɠMIM iM;iU)U U )Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.G] HI IaHIABI&I.I6I6<:IrFGB!OEr>zK 5=MK 9K K K  'yQfiw}vj[KC9,!j\XSNKHDA@>87433/,,)"RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.(ՋFw,41A2Ap@Y24`~@292`>y2HrM?`Q`*?&??`բ?ɨ2Ap@2/;0y:@B:HIF IF6٢NE R[=9RNQ R>TX ZG٣Xyb0̻ b> jNusing accuracyPremultiplier from confighn]49jq?r]4Yj_ ihprr?jUCj;j);jN]4t vAxhh"h*hgggff!f!rf!bf%V@ɛIM QUIIQ U#<ɚQiQIUTg=&T5ɠIT i;i)T T ) ]$?IaGfGBO>=Will construct direction to contact in vehicle frame from tetrahedron phase data.’Fw,KAy)-HWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJJa@a@a@a@EMb@Mb@Mb@AAA A)AYEV-??S㥛yEh1?E   G٣ d2Gy   > Nusing accuracyPremultiplier from config%^49q?%^4Y i2B%1?%:%%-?Ce&;#;4^41 5A5EhQhQ"hQ*hQgQgYgYfYfYfarfabfeV@ɛ 隥VI ɚiIo2h=X7kɠﭾI iB;i) 頵 )GtA GtA AIEXfG rG tAG tAG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Fw,>ZeAH">I  I"/HI"ABI" =&I .I 6I"׳<:I"-FBI JI RI ZI =bI =jI ~4Fp@YF`0~@F9FU>yFH ]@D?`@-4L? ??8?ɨFp@FЉ;FHCy@BHI5 I5p6٢E7 E=9EkQ M?II MG٣Iy]? ]? eNusing accuracyPremultiplier from configam^49e¼q?m^4Ye ie2BiuPu?eCe:e:e0^4y }Ayhh"h*hgggfffrfbf W@ɛ, I  üɚiIh= #8ɠ ڪI d i ƺ;i ') d d )G G"GGzKm-OKm9KiKmKm   ,8>?5( 0=AB<4+  BKy:K}sAWill construct direction to contact in vehicle frame from tetrahedron phase data.GQBaO}z> 1I1 Fw,1A2o@Y2n~@2z˽92T >y2H`?6xj? 8f? o? Ԋ?ɨ2o@2;0y>@B> HIF{ IF6٢NG#= NV=9R(ZQ R>PP VG٣TyVf V> ^Nusing accuracyPremultiplier from config\b^49^aq?b^4Y^B i^2Bdfcf?^+C^;^;^&^4nB nArE%Will construct direction to contact in vehicle frame from tetrahedron phase data.hh"h!*h!g!g!g!f!f)f)rf)bf-@&W@ɛ[ I gϼɚiI.i=’9ɠIAI i@;i)AI AI )G BO5 >Will construct direction to contact in vehicle frame from tetrahedron phase data.J) J- AAJK<3 K.-KK"KJ5 bJ5 WJ1 J1 J5 :J5 G9J1 J1 % $?I! Fw,R A6o@Y6S ~@6 ֽ96?>y6H@V?@`p`?G??Â?ɨ6o@6;4yR@BR HTVA5Mb@Mb@Mb@111 1)1Y5l?~jt?Mb?y57?5=5<1 5A)5pAI5IJA1y5̪AIMf IMr6٢eo+= e>=9e4DQ e>ii mG٣me2GyuN u> Nusing accuracyPremultiplier from config^49Zq?^4Y i2B7?:?}Ce;;6^4  Ahh"h*hgggfffrfbf`BW@ɛO I ܼɚiIFj= ": VɠhI ii)  )5Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOu>HE>IA IEHIEABIE =&IA.IA6IE<:IE^F)= EC  ) ] YY ye AzK% sMK% 9K! K% K% 3ZuzskaXTOG@RK5 ?JK5 #? Will construct direction to contact in vehicle frame from tetrahedron phase data.&Fw,A:o@Y:F}@:M߽9:a>y:H@Ŋ(?@>g? ?y ?`|?ɨ:o@:I;:ICyn@Bn9HIv] Iv6٢~cP= ~Q=9FQ >  G٣y%A %> =Nusing accuracyPremultiplier from config1=^495ǎq?E^4Y5- i52BIU]?5C5;5>;5]C^4y }YA}Ehh"h*hgggfffrfbf{YW@ $?Iɛ :!  I  &ɚiI]j=B*<ɠ Ik i!Q;i}ML)k 頽k )GBO- >5Will construct direction to contact in vehicle frame from tetrahedron phase data.z Fw,+Ay=@B=OHWill construct direction to contact in vehicle frame from tetrahedron phase data.J`JXJJJ:J5K9JJ Mb@Mb@Mb@    ) Y 333333?~jt?/$?y 9?  ,= A A) ΠAI A y I%? I%I6٢5= 5,=9=Q =>99 =G٣9yE E> UNusing accuracyPremultiplier from configI]^49Mv|q?]^4YM iM-3B]*:?]:]Qe?MCMo;M,m;MS^4q u4Aqhh"h*hgggfffrfbfnwW@ɛ I  PɚiIfk=k=ɠIIL ii)L L ) IGQļGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH9 RH= @AHA IA  IE /HIE ABIA &IA .IA 6IE <:IE CFK5Fw,4Ayr3ABrH)t tI~5 I~6٢ eB>  u=9 Q ? G٣f2Gy ? %Nusing accuracyPremultiplier from config!-^49%|oq?-^4Y% i%X3B115?%UC%;%;%_^4A EAEEhh"h*hgggfffrfbfčW@ɛ1509 15ٿI9 =(Wɚ9i9I=k=M`>McɠmIm iujm;iq)u u )zK/NK 9KKK:41,)%   GmrG!B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IMFw,zA~Will construct direction to contact in vehicle frame from tetrahedron phase data.y AAB HI% I%<6٢5 = 5H=91Q 5>99 =G٣9yA E> MNusing accuracyPremultiplier from configIU^49M_q?U^4YM iM3BQY]?MCM ;M6;Mm^4eB eAeEhh"h*hgggfffrfbf֦W@ɛ_ ׿I pɚiIl=?3ɠI ii)  )"G%=Gp=GMIG BOU>Will construct direction to contact in vehicle frame from tetrahedron phase data.Je bJe TJa Ja Je :Je :9Ja Ja I Yf^GFw,UAJo@YJ^~@J 9JdV>yJH Iw:?S Y@+?`V??Jg?ɨJo@J;HyVyABVHmMb@Mb@Mb@iii i)iYm ףp= ?~jt?p= ף?ymQ8?m D=9gQ > G٣y: > Nusing accuracyPremultiplier from config^497Oq?^4Y i3B+9?:?C3"; ;[|^4 1AEhh"h*hgggfffrfbf W@ɛ)- 5 n=5пI1 5 ɚ9i9I=l=E+@EұɠEBIEӣ iEh0;iEx)Eӣ Mӣ )IG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.HI ImHIABI&I.I6I޳<:I2FGqBO>zK I1MK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. wFw,=H4AFp@YFL%~@Fs 9FF>yFH h@,?q| Bas?d?? `?ɨFp@F3;FFCyRABRHIZ IZw6٢b= bX=9f:Q f>dd jG٣jg2Gyj; j> rNusing accuracyPremultiplier from configlr^49nd@q?r^4Yn in4Btvv?n0 Cn:n*:n^4x ~A| $?Ihh"h*hgggfffrfbfW@ɛW ̿I ;ɚiIl=MBMɠMd]IM9 iU;iQ)U9 U9 )QGBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.U[Fw,MNAJ=p@YJ\~@J9JJB>yJHP ??@@o@ݤ?x?sH?9Y?ɨJ=p@JL;JICyvABvrHI= I=16٢}a$> }@=9'Q >!) 5G٣9yM;}Will construct direction to contact in vehicle frame from tetrahedron phase data. > Nusing accuracyPremultiplier from config^49s.q?^4Y5" ib4Bt? C; ;^4 B fAEhh"h!*h!g!g!g!f!fQfQrfQbfU #W@ɛP 隅!ĿI ɚiIl=>Cɠ2Iεii)ε頽ε) I GBO(>% Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H I  I HI ABBI &I .I 6I <:I FFw,:gAy-BB5HMb@Mb@Mb@ )Yi|?5?{GzʡE?y1?ף=zA A)IٶAy3AI  I B6٢= @=9Q >)) 5G٣1y5 => ENusing accuracyPremultiplier from config9E^49=q?M^4Y=)' i=4BM2?M:MM?= C=;=;=\^4 Ahh"h*hgggfff rf bf5YX@ɛy}6 隅I ɚiILl=ID̡ɠ}pI?ii)??)zKmKKm9KiKmKm m'XcPvP. BK}tA:KyWill construct direction to contact in vehicle frame from tetrahedron phase data.JaJSJJJ:Jy69JJJ;aJ;aJ6C:aJ8C:a $?IE=GGGBO>EnFw,΁A2Jp@Y2~@2`92f>y2H@7 ?B@ؔ?"?? 8I?ɨ2Jp@2w;2FCyNTBBNH)P PIV IV6٢^a7> ^c=9bQ b>`` fG٣fh2GyfM< f> nNusing accuracyPremultiplier from confighn^49j^q?r^4Yj+ ij4Bpr>r?j!CjG:j\:j^4t vzAxWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf(X@ɛ9= AE`IA E' ɚAiAIEl=}0Eɠ?{Iii)頵)Eff=Gt=GiBWill construct direction to contact in vehicle frame from tetrahedron phase data.OM > I WFw,ԜA6q@Y6('@696->y6HG(?ѕoo`_??d?A?ɨ6q@6H;6GCyBBBB>HMb@Mb@Mb@ )YˡE?L7A`尿II MG٣IyME?< U> ]Nusing accuracyPremultiplier from configQe^49UZp?m^4YUp0 iU,5Bm)?m:uu?UJ!CU`;U[O;U^4 B #AEh9h9"h9*h9gAgAgAfAfAfIrfIbfMzCX@ɛD| `I ;"ɚiII[l=8F Bɠ ?rIuPiyiy)P項P)Will construct direction to contact in vehicle frame from tetrahedron phase data.HI IHIBBI =&I.I6IƳ<:IFBIIJIIRIIZIIbIIjIM74Em=G FuG B O >zK OK 9K K K y^J9+{yrmha^]YVRKJFDBA><9543//-*+'%$"RK% ?JK% ? Will construct direction to contact in vehicle frame from tetrahedron phase data.J J VJ J J J B9J J J J J X:J X:eFw,wA J$?INZf%cq@Y%7@%!9%b>y%H_ iG?`aF?` ?`Z?u;?ɨ%cq@%l;!y=BB=HIMZ IM6٢]$> ]H=9eQ e>aa mG٣iymT_< m> uNusing accuracyPremultiplier from configq}^49up?}^4Yu 5 iuq5B9?u!CuC ;u ;u^4 AEhh"h*hgggfffrfbf/\X@ɛ 隍I 'ɚiIl=s%Gɠ iIii))EE*E"EG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.GM ?GM ?G B) OM >8Fw,RABq@YBC@B)$9BĒ>yBH }l? @xUC? n?@}?4?ɨBq@B;BHCyNCBNHIu@ Iu)6٢,> D=9Q > G٣i2Gyo< > %Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.ՅAiՁ%^49p?%^4Y9 i5B)55?!C==^4A E&AAhaha"ha*hagagagifififqrfqbfu yX@ $?Iɛ 6E=隽I |+ɚiIk= H5ɠ5_I55Mi9i9)=5M=5M)9G!B)OM1>% Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I UHI gCBI &I .I UD6I <:I FFw,7A^Hr@Y^3@^Z&9^'#>y^Ha} ?f\\`? ?? -?ɨ^Hr@^<;^GCyޅACBޭ&H TǿYyAMb@Mb@Mb@ )Y^I +?:vQ?yX?Խu= A)IAyAI I6٢ > 8=9Q > G٣yֆ< > Nusing accuracyPremultiplier from config%^49p?%^4Y/> i5B-d?-:--?"Cg;(;^41 =A=EhYhY"hY*hYgYgYgYfafafarfabfmpX@ɛg 隭җI 9k/ɚiIU k=HɠVIiiX)頽)GBzKhOKS9KKK!   :$ +,6EdCNBK:KO+>ePExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.JJSJ1JJJy69J3JJJJ6C:J8C: yIy׹Gw,x A2r@Y2|@29(92d &>y2H D`?袔 3 Ѡa?@?/c?@'?ɨ2r@2;2FCyRoCBR_HnWill construct direction to contact in vehicle frame from tetrahedron phase data.IZ IZ,6٢~> ~q=9Q ?  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I Gw,A:Ws@Y: @:PF)9:4+>y:H`?t1Zje$?'? ?`C?ɨ:Ws@:ػ;:GCyVCBVH=Mb@Mb@Mb@999 9)9Y=/$?Qy&1?y=&?=\=`<=A =A)=AI=GA9y=׫AIeIev}6٢u= uC=9u# Q }>yy }G٣}j2Gy< > Nusing accuracyPremultiplier from config_498p?_4YGE iQ6B?: ?"C; ;d _4 B AEhh"h*hgggfffrfbfX@ɛ  j 隝I YZ6ɚiI j=Jwɠ;FIxii)x頽x)Will construct direction to contact in vehicle frame from tetrahedron phase data.H->I) I-HI- DBI- =&I).I)6I-<:I-FEfm=GBO>zK= OK= 9K9 K= K= yBre}sJ( <9rkL-vh\L9(RKE ?JKE > ] nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data.J _J [J 2J J :J W9J c3J J G:J L:J |:J |:| Gw,46A $?I:/s@Y:@:$*9:AE->y:H`|?:ќa #@?@K:?`A? /?ɨ:/s@:P;8yBCBBHIJIJ{6٢V= VX=9ZaQ ^>dd jG٣hy=< => uNusing accuracyPremultiplier from configQ}_49Uɟp?}_4YUH iUy6By ?U"CU;UM;U>_4 Ahh"h*hgggfffrfbf qX@ɛ kI 9ɚiIli=FK"mɠ]=I\ii)\\)E;O=GcWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO)Gw,PA6Tt@Y6O@6_+96p.>y6H ǠA?Yl`?@`R?e??ɨ6Tt@6?;6JCyRCBRHIZIZx6٢be= bH=9f7Q f>dd jG٣hyj/< j> rNusing accuracyPremultiplier from configlr_49np?v_4YnsL in6Btvv?n"Cn:n:n$_4x zFAh)h)"h)eWill construct direction to contact in vehicle frame from tetrahedron phase data.*hgg %$?I!gIfQfQfQrfQbf]X@ɛH% >I!  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S 隵`I U[ɚiITb=٧Qɠ"-ӽIiT;i))GB O-,>jHa bHe p<Hi Ii  Im *HIm EBIi &Ii .Ii 6Im dz<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data.ZGw,lmA6'l{@Y6Zń@69!96HA>y6H =?LU߿߅?^?@? ?ɨ6'l{@6;4yBtDBBHMMb@Mb@Mb@III I)IYM?:vˡEyM ?MTM什M`A MA)MGAIMzAIyM©AIeIe{6٢u uC=9u%;Q u>yy }G٣}n2GyR< > Nusing accuracyPremultiplier from config_49o?_4Yz i6B!?:2 ?%C@#;!;_4 [Ahh"h*hgggfffrfbfZ@ɛ  c  bI I^ɚiIa=Rɠ,ƽI%y2H X.?"_۝߿@~Z?`??@ ?ɨ2{@2&;2FCyBDBBHIJIJ}6٢bj= bV=9fKH;Q f>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr_49no?r_4Yn in6Btv v?n%Cn:n:nD_4x z/AzEhh"h*hgg!g!f!f!f!rf)bf-_,Z@ɛQURWill construct direction to contact in vehicle frame from tetrahedron phase data. 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I qGw,b/A"Will construct direction to contact in vehicle frame from tetrahedron phase data.Br@YB@B9B88>yBHݿ+?`bH *ܿj? T?ඩ?@'?ɨBr@B;BFCyJqFBJHIZIZbr6zK^MK^9K\K^K^43..+)%%##! ٢j[J> jV=9jS;Q 5>99 =G٣9yEnt< E> MNusing accuracyPremultiplier from configIU`49M[o?U`4YM iM9BY]?]?MA)CMG;M;M3x`4e$B eAeijEhh"h*hgggfffrf!bf-d[@ɛim] }(!=}6ǾI 95|ɚiIY=AUɠwkI5it$;i)5頕5)G ?G?GiByO=Will construct direction to contact in vehicle frame from tetrahedron phase data.{Gw,GA6:@Y6J@6P96b 7>y6Hݿ@>?@sJۿߔ? Y?7?/*?ɨ6:@6;6HC HIHyJFBJRHIVfIV-n6٢^> jL=9nJ;Q n>pp rG٣pyrq]< v> zNusing accuracyPremultiplier from configtz`49v!Po?~`4YvO iv_9B|~~?v)Cttv`4  GAh1h1"h1*h1g1g1gfff*J"J%=JaJVJJJ:JB9JJa-@a-@a-@a-@rf1bfU~[@ɛ 5ĉ 9=5IA EX}ɚI]Will construct direction to contact in vehicle frame from tetrahedron phase data.iIY=&UVɠޑI  i\;i) % )1GBO>>ZHQ RHU @AH% }>I!  I% \HI% ~GBI! &I! .I! 6I% <:I% 6F Will construct direction to contact in vehicle frame from tetrahedron phase data.˦Gw,A:v@Y: @:X9:4>y:H3ݿEY?z#ۿ`1.?$?#:?`/?ɨ:v@:;:FCyFGBFH%Mb@Mb@Mb@!!! !)!Y%q= ףp? MB=9M;Q M>QQ UG٣Us2Gy]7< ]> eNusing accuracyPremultiplier from configam`49eCo?u`4Yeu ie9B -?:?e)Ce]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKULMKU9KQKUKU     BKesA:KerA8Gw, AVa@YV@Vo9V;3>yVHܿq?`G=n*ۿ?`??2?ɨVa@V;VGCy^&GB^HIj6Ijh6٢r= rQ=9vD;Q v>tt zG٣xyz< z> Nusing accuracyPremultiplier from config|`49~8o?`4Y~8 i~9B   ?~*C~C:~:~2`4 EAhaha"hi*higigigififqfqrfqbfu԰[@ɛIR 隥1YI ~ɚiIW=9UɠJ1ػI$Will construct direction to contact in vehicle frame from tetrahedron phase data.ii)$$)E|(H=GG iIiGBOm>J_JSJJJ :Jy69JJ} Will construct direction to contact in vehicle frame from tetrahedron phase data.ܸGw,J$A6%@Y6l@6964>y6H:ܿ@?_nڿˡ? ?.?3?ɨ6%@6,;6FCyNrGBNOH)P PMb@Mb@Mb@ )YQ?+Dl?y(?O=bA A)ЗAIAypAI&Ig6٢ /> <=9;Q > G٣y< > Nusing accuracyPremultiplier from config`49 ,o?`4Y i(:Bk?: ?R*C$1;/;c`4 %B A ʳEh)h)"h)*h)g)g9g9f9fAfArfAbfMm[@ɛQUx6 Q]- IY ]6UɚYiYIeV=m=:Uiɠ!ILi;iGS)L頕L)H|>I I0HI+HBI&I.I6I<:IFEMC"=Will construct direction to contact in vehicle frame from tetrahedron phase data.GABQOm5> U y$?IQ Gw,*p>AWill construct direction to contact in vehicle frame from tetrahedron phase data.::@Y:$J@:GV 9:,Q5>y:H@rۿ T?XZ|~2ڿu? p?T?@93?ɨ::@:߉;8yBGBFHIfIfnc6٢j;> n\=9nN;Q n>pp rG٣rt2Gyv*< v> zNusing accuracyPremultiplier from configx~`49zo!o?~`4Yz iz\:B|~ ?z*Cz ;z` ;z``4  #A zKDMK 9KKK(1432-.+,,)# RK- ?JK->hh"h*hgggfffrfbf[@ɛ!%'- )-"I) -ɚ)i)I-U=U5UUw=ɠU_;I] i]4|;iY)] ] )aEiEi*Ei"EiGBOm>Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA \Gw,p^XAJHԁ@YJ@JL 9J98>yJHCڿ`s?@GF.ٿ@??+?`r?`93?ɨJHԁ@J`;JHCyRGBRHI^I^b6٢b> fK=9f dh jG٣hynM>= n> rNusing accuracyPremultiplier from configlv`49n&o?v`4Yn in:Bxz z?n*Cn;?;n?;nw`4~&B A˳Eh9h9"h9*h9g9g9g9fAfAfArfAbfM[@ɛq}^ y}Iy }ɚyiIT= +UT>ɠuU*<J`JJJJ:JJJIri-ky;i))5r5r)1Gu?Gu?=Will construct direction to contact in vehicle frame from tetrahedron phase data.GiBO>jHbH4<H] ~>IY  I] HI] HBI] =&IY .IY 6I] <:I] FBI}͍CJI}͍CRIyZI} =bI} =jI}4 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,$rANk'@YN6@N9N:>yNHL ڿ?dv܇ؿమ? ?:? |2?ɨNk'@NQ;NECyV%HBZ*H=Mb@Mb@Mb@999 9)9Y=B`"?K ףp= ?y=?=^=Q8==3A 9)9I=٭A9y9I]I]_6٢mB> mA=9m;Q u>qq }G٣yy}#< }> Nusing accuracyPremultiplier from config`49 o?`4YA i:B1?: ?+C!;%;G`4'B QAγEhh"h*hgggfffrfbf@\@ɛMu =I yɚ i I `S=U>ɠ|DGw,XA2u@Y2@2}92)|:>y2H@r{ٿ ?Q 5׿`K??;?+4?ɨ2u@2I6;2GCy>OHB>^HIVIV^6٢f= fU=9j;Q j>!) -G٣-u2Gy-< -> ENusing accuracyPremultiplier from config9E`49=o?E`4Y= i=:BIM: M?=?+C=:=X:= `4Q UAQhyhy"hy*hygygygyfffrfbfA2\@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛh T=I 9ɚiIR=U>ɠn9J3JM Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,ۥA2؂@Y2@2$92 <>y2Hؿ  G٣y< > Nusing accuracyPremultiplier from config`49n?`4Y i:B)?: ?x+C\;o;`4 ˻Ah1h1"h1*h1g9g9g9fAfAfArfIbfMM\@ɛ­b 隭=I ~ɚiIQ=T?ɠ$] Will construct direction to contact in vehicle frame from tetrahedron phase data.5Gw,ʿAJ.@YJ>@JU9JP<>yJH Fؿ@Y?[YUֿ ? ?@&M? u5?ɨJ.@Js;JFCyVHBVHI^I^\6٢f= fX=9j;Q j>ll nG٣lyn,< r> vNusing accuracyPremultiplier from configp~a49rn?~a4YrW ir;B ?r+Cr9j;rPa;ra4  mA ѳEh)h)"h1*h1g1g1g1f9f9f9rf9bf=se\@ɛamR im>Iq uZj~ɚqiyI}mP=T?ɠy2H`R׿@Ku?`u@i*ֿ?4?? :?ɨ2L~@2f;2HCyNHBRHIZIZ:\6٢~= H=9;Q >    G٣ v2Gy < > Nusing accuracyPremultiplier from config-a49n?-a4Y" i%;B15@ =?+C;@;Ba4Q U1Aahh"h*hggg*J"J=fffrfbf׀\@ɛ9= L 9E5>IA E}ɚAiAIEO=MTM5?ɠMA;=IMiUik;JcJQJ2JJ:J-.9Jc3JWill construct direction to contact in vehicle frame from tetrahedron phase data.i1)5=)AGU3,)G] ?G] ?ZHRHH I  I HI IBI &I .I 6I <:I ;FG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data."CGw,znA6΃@Y6<ފ@696 9>y6H`#׿?@ѿ ңտ{?ʾ?`?@?ɨ6΃@6?;6ECyNHBNH]Mb@Mb@Mb@YYY Y)YY]y&1?bX9ȶly]`?]E]Y Y)]ЗAIYYy]GAIuIu[6٢< B=9;Q > G٣yv< > Nusing accuracyPremultiplier from configa49ln?a4Y8 i*;B?:3?,C;;!a4 Ahh"h*hgggfffrfbf\@ɛ%F !%|B>I! %*}ɚ!i)I-N=5vT AIA5uL?ɠEp#=IM iMh;iI)M M )QG] G]"GaGaWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOf>zKMMKKM9KIKMKM0-Hw,R A6@Y6@&@6967>y6Hϟֿs?v`w*տވ;6FCy>HBBHIFIF]6٢R.= RZ=9R;Q R>TT VG٣TyZӿ< Z> ^Nusing accuracyPremultiplier from config\ba49^"n?ba4Y^ i^-;B`ff?^O,C^:^:^/a4j(B jAjҳEhh!"h!*h!g)g)g)f1f9f9rfAbfE` \@ɛq}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiy@ R>I Dž|ɚiI:N=/ITx`?ɠs3=ICiXf;i)C C) G BO5= )I)JJAA% Will construct direction to contact in vehicle frame from tetrahedron phase data.T Hw,"' A:`@Y:o@:Gt9:F5>y:Hֿ ?I Կ@q?@}?@'d?IJ?ɨ:`@:T;:GCy^HBbHmMb@Mb@Mb@iii i)iYmQ? G٣w2GyE< > Nusing accuracyPremultiplier from configa49'n?a4Yd i%;BI ?:1?,Cd;3w;m>a4})B }A}ճEH}>I I1HIIBI&I.I6Idz<:IFhh"h*hgggfffrfbfX\@ɛ9EMC AEW>IA E{ɚAiAIML=u#Tubu?ɠuOD=Iueiu#c;iq)ue}e)yGGsAGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. v$?IafJKϱ3 KS}-KK"KJ _J ]J J J :J _9J J J a J a J o:a J p:a @<Hw,@ A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:@:Qj9:+3>y:Hտ@?^9Կ?V?#? O?ɨ:@:z;:ECyFHBFHININb6٢V8׼ V\=9V;Q V>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`fa49bn?fa4Yb& ib;Bhjj?b,Cb:b:b\Ka49 = A9hh"h*hgggfffrfbfP\@ɛC> M>I "{ɚiI72L= hS T?ɠ  R=I i b;i))zK=>BKK=9K9K=K=GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I gHw,Z A6܄@Y6@6Ѿ962>y6H@3տ?H@`;ӿ@;?@h??`Q?ɨ6܄@6y;4y^HBbHIjIjd6٢rᓼ rG=9r;Q r>tt vG٣tyv< z> ~Nusing accuracyPremultiplier from configxa49zn?a4Yzt# iz;B@ ?z,CzX;z;:zYa4 Ah1h1"h1*h1*JR="J4=g1ggfffrfbf]@ɛ!-C )-F>I) -zzɚ)i1IeVK=mPSm?ɠ-a=Iio`;i)頍)UWill construct direction to contact in vehicle frame from tetrahedron phase data.G},$=GQBaO|>jH1bH5<H9I9 I=>HI=IBI9&I9.I96I=<:I=F Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,_ u A6@Y6=&@6$߽96R2>y6H@Կ ?{rӿ D3?}ֻ? ?@AT?ɨ6@6;6GCyBHBBHMb@Mb@Mb@ )Y +?~jtMbX9y?DʡA vA)AIAy3AI-.I-g6٢=< =B=9=;Q E>AA EG٣AyM< M> ]Nusing accuracyPremultiplier from configQ]a49Un?ea4YU) iU ;Be?e:ee?U9-CU;U3;Upha4 yIy  Ah1h1"h1*h9g9g9g9f9fAfArfAbfE]@ɛ B 隽M>I yɚiISyJ=cSy?ɠ(o=Ii8^;i))GGJJTJJJJ:9JJJJJ`J:JbJ:BO)>5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKEqkKKE]9KAKEKE  BKQ:KQPx#Hw,ڍ AyHBHI-=I-i6٢=@ =M=9EQ E>AA MG٣Mx2GyU U> mNusing accuracyPremultiplier from configaua49en?}a4Yec/ ie;B?ev-Ce;e;eova4 AسEWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf@5]@ɛA[? 隝H>I *yɚiII=+$Sɝ?ɠMu|=Ii,\;i)) IbfGGBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.)Hw,&r A6w@Y6@6ֽ960>y6HgԿo?l#3ҿn?ʺ??Z?ɨ6w@6;6FCyFHBFHMb@Mb@Mb@ )YJ +?:vQ뱿y(?T\A A)/AI"AyŸAIIIj6٢ t: B=9H|>I I1HIIBI&I.I6I<:IFBIJIRIZIbIjI3 G٣y< > Nusing accuracyPremultiplier from config a49 Vn?a4Y r6 i ;B)?:K? -C ; 3; Ta4%+B -A)hIhI"hI*hIgIgQgQfQfQfYrfYbf]`oP]@ɛ1=wB 9=JI>I9 =txɚ9iAIEH=EARmF?ɠm8=ImiuVZ;iq)uu)qG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data. u$?IG)B9OU>J `J PJ J J :J *9J J J :J :J -:J -:d0Hw,tD AWill construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:J@:/{ӽ9:>.>y:Hӿ%?4?ҿ?`c?@3?@^?ɨ:@:Չ;:ECyRHBRHIZcIZm6٢f  f\=9f;Q f>hh jG٣hynK< n> rNusing accuracyPremultiplier from configpva49rn?va4Yr< ir;Btzz?r-Cr:r:ra4| ~Ahh!"h!*h!g!g!g!f)f)f)rf)bf-g]@ɛf[< }H>I wɚiI4H==R?ɠ>=IxYiX;i)xYxY)zKPCLK 9KKKRK?JK>GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I 6Hw,V( A2@Y2Ќ@2Ͻ92Sc->y2HZӿ/?LSҿ?? ع?u?a?ɨ2@2-;2GCyNHBNHIZ^IZJm6٢b n bK=9b;Q b>dd fG٣fy2Gyj1< j> nNusing accuracyPremultiplier from configlra49nn?ra4Yn5C in;Bpr1v?n@.Cn:n:n1a4x z'Axhh"h*hgggff!f!rf)bf-ु]@ɛQU&@ Y]|B>IY ]qGwɚYiYI],G=ewVReZ?ɠe=Imim=W;imq)mm)iG ?G?G1BAO}==Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHz>I I%HIIBI =&I.I6I<:I+FUGmxAy ſYxAyA Will construct direction to contact in vehicle frame from tetrahedron phase data.Ny2H Jӿyy }G٣yyM#< > Nusing accuracyPremultiplier from configa49n?a4YJ i ;B#7?:?.C+;';!a4 A۳Ehh"h*hgggfffrfbf ]@ɛ]B@ H>I vɚiIF=R#?ɠ=IikU;i))GBO>JAJERJAJAJAJES29JAJAJAJAJE <:JE <:=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K K 0X 0 BK :K CHw,i!Av;@Yv@v Ƚ9vxx'>yvH ӿ@G?2@cѿ@?S?½?%l?ɨv;@v[e;vFCyHBHIEIEq6٢U< UL=9]χ;Q ]>Ya eG٣aye< e> mNusing accuracyPremultiplier from configiua49mn?}a4Ym&R im;By}t}?m.Cm ;m ;ma4,B  AܳEWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf@]@ɛY]Ws; aeS>Ia muɚiiiIunF=QY?ɠe=I>iS;i)>頕>) )I5cfG1BQOm>JIJM@AE Will construct direction to contact in vehicle frame from tetrahedron phase data.vIHw,)!Ab_ @Yb/@bĽ9b3%>ybH|ҿ}P?`| :mgѿ@?l?@?o?ɨb_ @bG=;bGCyrHBrHHI III&I.I6I <:IAFMb@Mb@Mb@ )YV-?~jth?:vy|??D;TA )AIGAyAIpIHo6٢"= @=9u;Q > G٣z2Gy< > Nusing accuracyPremultiplier from config a49 <~n?a4Y "Z i 2;B??:? )/C +; ; a4! %A)hQhQ"hY*hYgYgYgYfYfafarfabfe]@ɛ 6 隕d>I 9#uɚiI`E=`Q?ɠ=Ii~DR;i)頥)Will construct direction to contact in vehicle frame from tetrahedron phase data.G GGtA t$?IGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.LPHw,aC!A 00f<6@YfE@f9f$>yfH`ҿ V?``tѿm?.?IQ UG٣Qy]; ]> uNusing accuracyPremultiplier from configa}a49eSwn?}a4YeYa ieI;BK?er/Cen;e.a;eTa4 ʺAhh"h*hgggfffrfbfn]@ɛ0 ~t>I EVtɚiIܯD= Q?ɠ =IRziP;i)RzRz)'TFailed to parse incomplete device message.G ټGBO-,>Will construct direction to contact in vehicle frame from tetrahedron phase data.  I WHw,#g]!A6uO@Y6^@6Z96#>y6H%ҿ 2^? }@oѿ (/?ַ?`P?@t?ɨ6uO@6m߉;4y>IBBLHINkINn6٢j= jR=9n>c;Q n>lp rG٣pyr< r> vNusing accuracyPremultiplier from configtza49vkpn?za4Yvh iv`;B|?v/Cv-;v.;va4  A-B*** querying acoustic contact ***j)j)h9h9"h9*h9g9g9gAfAfAfArfIbfM`&^@ɛqu# qu>Iq }sɚyiyI} D=Pv?ɠ+=Ii#>O;i)頍)*J"JC=J-aJ-UJ-1J)J-:J->9J-3J)aE@aE@aE@aE@%Will construct direction to contact in vehicle frame from tetrahedron phase data. -2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.GGBOm>jH<bHHy>I IJHIIBI =&I.I6I<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. *DAT read: user:761>  BDAT read: Tx time:19:39:49.0149  $Ping request sent. yjHM]ҿb?/ @QPѿN?j?L?`u?ɨjb@jq;hy 0IB sH%Mb@Mb@Mb@!!! !)!Y% r?I +?~jt?y%C?%9<%<%¬A %&A)%GAI%A!y%̜AI5nI5o6٢E7= E5=9Mo;Q M>II UG٣U{2GyU:; ]> eNusing accuracyPremultiplier from configYma49]hn?ma4Y]Zq i];BmC?m:mR뿑u?]0C]x1;]90;]a4.B YAEh9h9"h9*h9g9g9g9fAfAfArfAbfE3!^@ɛf$ @>I arɚiI>C=PP2?ɠ=I޺iISM;i)޺޺)G G"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250568G?G>GBO>zKe hOKe ػ9Ka Ke Ke }{yyvonlgeca`^ZXSSMJJ7   OjP SdHw,!A6o@Y6@6=96]">y6HCҿ@~g?`b<ѿ?@? ?+x?ɨ6o@6;6ECyJSIBJHIR>IRi6٢Zz= Zh=9^V;Q ^>`` bG٣`ybx; f> jNusing accuracyPremultiplier from configdjb49fbn?nb4Yf'x if;Bln뿑n?fX0Cfm ;f ;fb4t vAth h "h *h g g gfffrfbf%@6^@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502805ɛ=G >I u~qɚiI B= SP e?ɠf=IniK;i)nn)GABQ IdfO=J1J1J=`J9J=2J9J=:J9J=c3J9M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754617BjHw, !ArF@Yr@rho9r%>yrHҿi?{ ѿ@?? v? du?ɨrF@r=;rFCy~IB~HHEx>IE̍C IEHIEJBIE =&IA.IA6IE<:IEFMb@Mb@Mb@ )Y-?Mb` ףp= ?y5>?Q8=A )IAyAII3f6٢= 8=9;Q > G٣yï; > Nusing accuracyPremultiplier from configb49Zn?b4Y[ i;B>?:￑?0Cw;;ob4 AhAhA"hA*hAgAgAgAfIff)rf)bf-T^@ɛae, 隍>I pɚiIA=O)?ɠ=IiJ;i)頝)GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013118 }r$?Iy&qHw,!A"Will construct direction to contact in vehicle frame from tetrahedron phase data.">"a=&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266733>@Y>D@>9>c >y>H`ҿ q?Y@ Wѿ`y?׶?T?`({?ɨ>@>-;>ECyJIBJHIV IVd6٢^ > ^`=9b :Q b>`d fG٣f|2Gyf; f> jNusing accuracyPremultiplier from confighnb49jTn?rb4Yj# ijI nɚiIA=AO?ɠc=I̡iH;i)̡̡)GUsAGUpAG)B9zKMٓOKM9KIKMKMQi8llp0f*y`I5" \#=LVZZZOe=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519608 q Iq ~RwHw,1!A2\@Y2@2?:92J>y2H`xѿz?@G`~@tп {%??Mv??ɨ2\@2V;0y^IB^RHdfDAIf.Ifg6٢n= nH=9rW;Q r>pt vG٣tyz; z> Nusing accuracyPremultiplier from config b49Ln? b4Y i51C:C:-b4 AEh9h9"h9*hAgAgAgAfAfAfIrfIbfM{^@ɛȼ 隅>I )EmɚiI5<@={N*JC="Jp=JaJJJJ:JJJ?ɠUg=IU;iU2G;iQ)U;U;)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.774542GBO- >ZH9RH9H=y>I=͍C I=HI=JBI9&I9.I96I=<:I=FBIJIRIZI =bI =jIO4% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027381 Y IY }Hw,!A6†@Y6ҍ@6П96i>y6Hѿ ?@A@п@J?@5͵?  ?@φ?ɨ6†@6$;6GCybJBfHeMb@Mb@Mb@aaa a)aYe|?5^?Q?ye2?e̼eu=a a)eAIe3AayaI,Ig6٢= :=9;Q > G٣y< > Nusing accuracyPremultiplier from configb49ZDn?b4YN ihy6Hѿs? [`п?`N?? Z?ɨ6ֆ@6܉;6ECyRRJBRHIZIZc6٢f> f_=9jw;Q n>pp rG٣r}2Gyv; z> ~Nusing accuracyPremultiplier from config|b49~r=n?b4Y~ i~=e N@ɠ=I^i|C;i)^頕^)G?G/?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531997GB IefOm=JbJTJJJ:J:9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782566Hw,P,"AHtIt IvHIvJBIt&It.It6Iv۳<:IvF)A AGxA ֿYxAy A @Y @ O9 >y HVѿ ?@ M}п ؽ?Ĵ?@w??ɨ @ F; DCyMJBMH)Q Q=Mb@Mb@Mb@999 9)9Y='1Z?Zd;Op= ף?y="?=j<=== A 9)=AI99y=AIUIUSa6٢eܻ= e'=9mٍ;Q m>ii uG٣qyuv; u> }Nusing accuracyPremultiplier from configyb49}A4n?b4Y}C i} q$?IuHw,F"A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2864566k @Y6@6896 >y6H`ѿ ?ѽ Kп 6?`Y?9? Y?ɨ6k @6;6ECy^JBbkHIjIjq_6٢rd> r~=9rY;Q v ?tt vG٣tyz9< z ? Nusing accuracyPremultiplier from config b49>.n? b4YH iy2HDпݤ?ͽ)_п}?ͳ?? ?ɨ2-@2Ή;2FCybJBbHIjIj^6٢v1= vJ=9v;Q z>xx zG٣z~2Gy~*< ~> Nusing accuracyPremultiplier from config b49&n? b4Y i=Bd?2C::&tb4 A!h9hA"hA*hAgAgAgAfIfIfIrfIbfM_@ɛy}p; 隅?:?I bɚiI߮;=̵L @ɠ}=I;ie>;i);頕;)UWill construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:39:52.3159 mTRx dataTimestamp_ set to:1736365193.610761uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.793913E+,=GtAGtAjH<bH<Hw>I̍C I>HIvKBI&I.I6Iɳ<:I FGB O-p> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043226 I ɝHw,y"A2X@Y2!h@2+92@>y2Htп?`*``Ͽӻ?`@???ɨ2X@2%;2ECyBKBBHMb@Mb@Mb@ )YtV?p= ףA`"?y?Y=A A)AIןAypAI5I5[6٢ = A=92;Q > G٣yuJ< > Nusing accuracyPremultiplier from configb49n? b4Y i?=B=@?E:EM?2C><<&b41B AEhh"h*hgggfff)rf)bf-%_@ɛq}hջ y} E?Iy }}_ɚyiIQ:=zL@ɠ=I)iK<;i))頵))J`JRJJJ:JS29JJJaJaJaJaE<eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:39:52.3159 LVL= 17472, 32753, 22754, 32755, AGC= 72, IDX= 508, 0.11, 0.191,-1.457,-0.426,-0.536, PHS= 0.814,-0.874, 0.106, RAW= 125.3, -0.6, CAL= 132.0, -9.2, ROT= 18.0, 9.2 Ygot valid direction response: 19:39:52.3159 LVL= 17472, 32753, 22754, 32755, AGC= 72, IDX= 508, 0.11, 0.191,-1.457,-0.426,-0.536, PHS= 0.814,-0.874, 0.106, RAW= 125.3, -0.6, CAL= 132.0, -9.2, ROT= 18.0, 9.2 8DAT read: $Error in header *Received a bad headerGBOf>%X#Rx 1: Read direction message, but no range.-`direction in FSK: [-0.111006,-0.501809,0.857826]a9eP/I>j;K>Os?ae@De eX)eIeHieNbP?ew_e=e! @a er@)el$Ie|٠>iel$>ae}>F?th?>f)e=Ie%|5yBH`Q?пU?|ο@LS? 5۲?+??ɨB@B;BCCy^GKB^HIjIjX6٢r> rU=9r;Q r>tt vG٣tyvL< z> ~Nusing accuracyPremultiplier from configxb49z"n?b4Yz޺ iz`=B ?z3Cz ;z6;zTb4 8AhIhI"hQ*hQgQgYgYfYfafarfabfe9_@ɛxk7< 隕Q?I ]ɚiIS9=K@ɠ"=I7i;;i)7頭7)Will construct direction to contact in vehicle frame from tetrahedron phase data.EE*E"E YIYGB)OMR>m Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,"AHLIL INHINKBIL&IL.IL6INdz<:IN FySKBHMb@Mb@Mb@ )Y~jt?~jtV-?y?<\A ԎA)QAIyAIIV6٢a< /=9Q > G٣2Gy > Nusing accuracyPremultiplier from config5b49n?5b4Y i{=B5;?5:55?F3C2<Ö;b4A E AEEhaha"ha*hagigigifififqrfqbfuW_@ɛ3L9 隭T?I zgZɚiI8=a+KG@ɠ=Ii9;i))G?G?GBWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAO!> Ep$?IAJ aJ SJ J J :J y69J J J ;J ;J 5C:J 8C:±Hw,b"AWill construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:@:̍9:e>y:H +οG?`BnͿ??w{?P?ɨ:@:f5;:FCyJuKBJ=HIRIRxU6٢ZP= Zt=9Z\ n?jb4Yf if=Blnn?fr3Cf(;f%);f^b4t vݵAxhh"h*hgggfff!rf!bf%l_@ɛIM^j< IM@]?IQ UvXɚQiQIU7=Jg@ɠ=I4i\7;i)44)GBO=zK-sLK- 9K)K-K-%_}rZ8m;Z HlR:," znieWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I9Hw,="A:M@Y:.@:,9:dg>y:H ο@5? W̿7=?@\???ɨ:M@:eш;:ECyBKBFNHININV6٢V = VK=9Vj;Q Z>XX ZG٣Xy^Ç< ^> fNusing accuracyPremultiplier from configdjb49f|n?jb4Yf if=Bhjj?f3Cf:f:fyb4p rAth h "h *h g g g fffrfbf_@ɛAM< IM`?II Ux4UɚQiQIU6=]X=J]!@ɠ]Q>I]zie@m6;ia)ezez)a*J"JC=G1BO=5Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHI I,HI7LBI&I.I6Iڳ<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I) FHw,2"A2D[@Y2j@2β92>y2H`3Ϳ@? /4˿@D^?3?'?*?ɨ2D[@2;0yBKBBqHMMb@Mb@Mb@III I)IYMZd;?x&Mb`?yM>M7M;M A I)MAIMAIyMAIe}Ie]T6٢u5= u>=9};Q }>yy }G٣}2Gyg< > Nusing accuracyPremultiplier from configb49m?b4Yn i=B?:?3C=7;I;yb4 Ahh"h*hgggfffrfbf%_@ɛ d < g?I RɚiI5=%vI-$@ɠ->I=\iEr5;iI)M\]\)YGGGBO>JK<3 K.-KK"KJ`JJ1JJ:JJ3JJ:J:JJEWill construct direction to contact in vehicle frame from tetrahedron phase data.zK OK +9K K K `^YWUQKGDB=<;9755420-.-*&&$"!!"#%(('$"" RHw,q#AN@YN@NXv9N>yNH>a̿?7$@ʿ(y?#ծ?[??ɨN@N;NFCyjKBnxHIvxIvS6٢zv< ~R=9~b G٣y<  > Nusing accuracyPremultiplier from config b49 Im?b4Y ? i =B? 4C  ; C ; b4-3B -A-EWill construct direction to contact in vehicle frame from tetrahedron phase data. Igfh1h1"h1*h9g9g9g9f9f9fArfAbfEм_@ɛ8< Zi?I =NɚiI~4=I'@ɠ5>I߿i13;i)߿߿)GBO>JJBAE Will construct direction to contact in vehicle frame from tetrahedron phase data.,Hw,3.#AHI I^HI`LBI&I.I6I<:I FBI̍CJI̍CRIZIbIjI~4g@Y@]9dp>yH?ʿO?= ɿ@W?`?ޒ??ɨg@y;y-KB5zHMb@Mb@Mb@ )Yx&1?ktQyA? 0A &A)AIןAyIvIS6٢%W; -,=9-qR11 5G٣1y5< => ENusing accuracyPremultiplier from config9Mb49=m?Mb4Y=M i==BM?M:UU?=O4C=Z;=,;=b4Y ]AYhyhy"h*hgggfffrfbf@e_@ɛ@<< 隽i?I KɚiI3=H'*@ɠi>I ߿i2;ij() ߿ ߿) o$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO(>J dJ RJ J J <:J S29J J J ";J $;J <:J <:Hw,ުH#AWill construct direction to contact in vehicle frame from tetrahedron phase data.==yKB%lHI-I-W6٢ f=9Q > G٣2Gy > Nusing accuracyPremultiplier from configb49Km?b4Y i=B?}4C!;!;#b4 AEh h "h*hgggff!f!rf!bf%7_@ɛY]< Yef?Ia eHɚaiaIe2=mHm",@ɠm״ >Imc߿iu1;iq)uc߿uc߿)yG ?G?GBO=zKDNK9KKK         -863.-(#$  IWill construct direction to contact in vehicle frame from tetrahedron phase data.y2HʿV? CBJȿ`͛?&"? ? ?ɨ2z.@2ix;2DCyNKBNZHIZIZ[W6٢b b[=9fdd fG٣dyj< j> nNusing accuracyPremultiplier from configlrc49nm?rc4Yn in=Btv쿑v?n4Cn:n:n+c4x zAxhAhA"hA*hAgAgAgAfIfIfIrfIbfM ,`@ɛy} < y}Ac?Iy d.FɚiI2=}G .@ɠ#M >I߿i!1;i)߿頕߿*JR="J%=)G B5Will construct direction to contact in vehicle frame from tetrahedron phase data.OM=H=v>I9 I9I9I9&I9.I96I=<:I=FAG5xAY YxAy"A I  Will construct direction to contact in vehicle frame from tetrahedron phase data.?hHw,m|#A26W@Y2}f@2RG92>y2Hfbɿ ? O¿ kS-ȿس?G??`n?ɨ26W@2{;;2CCy^KB^THm@m mMb@Mb@Mb@iii i)mAYmq= ףp?y&1)\(ym ?m`emGai i)m\AImzAiimII\6٢@ ==9;Q > G٣y<< > Nusing accuracyPremultiplier from configc49m?c4Y i=BF ?:㿑?4C;;Cc4 Ahh"h*hgggfffrfbf`@ɛd+F< a?I CɚiI+1=F/@ɠv >I޿iE0;i)޿޿)J_JVJ2JJ :JB9Jc3JJF:JK:JX:JX:=Will construct direction to contact in vehicle frame from tetrahedron phase data.G5EG1G1GBO>zK {MK K K K     %UzBK% tA:K% rAMHw,;#A6ֆ@Y6@6!<96Y>y6Hȿ 5?@A¿] Pǿ ?`?`? Y?ɨ6ֆ@6j;6GCyZ{KBZEHIfIf]6٢n: rX=9r+;Q r>tt vG٣tyzz< ~> !I! uNusing accuracyPremultiplier from configq}c49um?}c4YuB iu=B'㿑?u!5CuP ;u ;uc4 ֵAWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf``@ɛ49l< ^?I D@ɚiIb0=TF0@ɠu >I޿i/;i!)%޿%޿))G͍GBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.xyHw, #AHuw>Iq Iu8HIuALBIq&Iq.Iq6Iu<:IuFɉ@Yؐ@K+9>yH@ǿ`*?9¿k|ƿ`(?g?`??ɨɉ@#;ACy5hKB5-H Mb@Mb@Mb@ )AY$C?~jtx?i|?5y?;q A ʌA)AI̝Ay AI-I-`6٢=" =)=9ElAi mG٣m2Gymv< u> }Nusing accuracyPremultiplier from configq}c49u>m?c4Yu iu=B?:ݿ?ui5Cu;uA;u.c44B AEhh"h*hgggfff I hfrf!bf%-`@ɛiuc< qu Z?Iq u<ɚqiqI}/=}EWill construct direction to contact in vehicle frame from tetrahedron phase data.1@ɠ&>I]޿i/;i)]޿頵]޿)%PExceeded connect timeout, disconnecting.G 0,.G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. Hw,@#A>-@Y>u@>}6"9> >y>H.(ǿ@Z%?¿Jr(ƿװ?@tE? H??ɨ>-@>G;>HCyFBKBFHIVIVe6٢j̽ j^=9r;Q r>tt vG٣tyz,< z> Nusing accuracyPremultiplier from config %c49 Nm?%c4Y n i t=B)-9ݿ5? 5C <; b; ];c4A ENAAhh"h*hgggfffrfbf9`@ɛj< P?I r:ɚiIJ.= EP2@ɠ>Ih޿i.;i)h޿頝h޿)G G"GGzKMoNKMs9KIKMKM(:~z5CK2bIk;+ EhryZk+  RKU?JKU> IeWill construct direction to contact in vehicle frame from tetrahedron phase data.G9BAO]>4Hw,h#A2@Y2@2M92 >y2H@ƿ@*?`v`ſ{?|(? ? ?ɨ2@2ʹ;2DCy>=KB>HIb+Ibg6٢fcU fc=9j;Q j>hl nG٣lyn; r> vNusing accuracyPremultiplier from configpvc49rm?zc4Yr irg=Bxzܿz?r5Cr:rX:rGc4 XAh)h)"h)*h)g)g)g)f1f1f1rf1bf5D`@ɛae< imsO?Ii m*8ɚiiiImX.=u6Du2@ɠu>I}oJ޿i}Qi.;iy)}oJ޿}oJ޿)J`JUJ1JJ:J>9J3Ja@a@a@a@GQBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.Hx>I IHILBI&I.I6I`<:IF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. y2H ƿ`9.?` z|ſ`?`x??`u?ɨ2@2K];2ECyB*KBBHEMb@Mb@Mb@AAA A)AYE??)\(yE,?Eyy }G٣}2Gy|; > Nusing accuracyPremultiplier from configc49fm?c4Y i[=B}-?:ٿ?#6C;;Vc4 Ahh"h*hgggfffrfbf PR`@ɛ  dy<  J?I tg5ɚiI-=D)3@ɠ%oT>I%/޿i%d.;i!)%/޿%/޿))G)B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK OK 9K K K  BK1 :K5 tAIw,$A @I@J@YJH'@J 9JQ>yJHIqƿ0? f|@ſ5?5???ɨJ@Ju;HyVKBVHI^\I^m6٢f7 fU=9j';Q j>ll nG٣lyn); r> vNusing accuracyPremultiplier from configpvc49rm?zc4YrT irP=Bxznٿz?re6Cr ;r` ;rdc46B AEh!h!"h!*h!g!g!g)f)f)f)rf)bf5@^`@}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ%4< YG?I 2ɚi I #-=5 qC5f3@ɠ5>I57޿i5-;i1)57޿=7޿)9G)B9OQJJAAJJSJ2JJJy69Jc3J- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Response Not Received 5 *response not received-= I  I HI KBI &I .I 6I <:I F4 Iw,Cs1$A$@Y3@j9Fp>yHX@ƿ2?:TpſѬ?3?`U??ɨ$@R;y5KB5HMb@Mb@Mb@ )Y ףp= ?Q?L7A`堿yQ8?\=+A A)IAyAIaIm6٢,ؼ ,=92;Q > G٣yS; > Nusing accuracyPremultiplier from configc49(m?c4YD iN=B8?:oؿ%?6C;;tc41 5A=EhYhY"hY*hYgYgYgYfa mn$?Imiffqfqrfqbfum`@ɛae ; im%D?Ii m+/ɚiiiIm,=uhBu3@ɠuP>I}\ݿi}9e-;Will construct direction to contact in vehicle frame from tetrahedron phase data.i)\ݿ頝\ݿ)GBOF>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.kIw, ?K$A @:'@Y: 7@:.9:(j>y:H3ƿ3?0 @Mkſ? Ğ?`й??ɨ:'@:秊;8yFJBFHIRsIRo6٢ZT Zw=9;Q %?!! %G٣%2Gy-: -? 5Nusing accuracyPremultiplier from config1]c495m?]c4Y5 i5L=Baebؿe?56C5B;5l;5c4i mܶAihh"h*hgggfffrfbf%y`@ɛ9=p< 9E??IA E|-ɚAiAIE# ,=M!EBM3@ɠM[>IuݿiuL%-;iq)uݿuݿ)yGG?GiBqO=zKNLK 9KKK8xn( V =  ]i#@l aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.9Iw,e$A2^.@Y2=@292>y2H@%ƿ3?@`Xſ`K%?r?S?E?ɨ2^.@2B(;0yB KBBHINkINn6٢V< VK=9Vȇ;Q V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config`fc49bm?fc4Yb' ibI=BdfHؿf?bD7Cb*:b:b;c4l nöAlhh "h *h g g g f ffrfbf6`@*JC="JR=JcJJJJ:JJJɛA< B?I! %sM+ɚ!i!I%އ+=UAU3@ɠU>I]ݿi]~,;iY)]ݿ]ݿ)aWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=jHibHm4=HyIy I}HI}KBIy&Iy.Iy6I}~<:I}FBIAJIARIAZIAbIAjIE24 Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.6Iw,~$A6,2@Y6tA@6޼96J>y6H@\ ƿZ4? `Pſ@s?Л?P??ɨ6,2@6ĉ;6CCyNKBNH5Mb@Mb@Mb@111 1)1Y5"~j?ii mG٣iyu!: u> Nusing accuracyPremultiplier from configyc49}m?c4Y}/ i}M=BjC?:ۿ?}7C};}<;}5c4 ͶAhaha"ha*hagagagififfrfbf`@ɛ< A?I (ɚiI+=A%p4@ɠ%Y>I%ݿi%,;i!)%ݿ%ݿ)iGABIOu>Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I9 %Iw,̘$AzK4PKKKKj,1]>$rhXKB4(|usnliggBK:KN:@YNI@NlPӼ9NR>yNHkſ@6? D7ſQ?Mi?×?\?ɨN:@N/;NECynKBnHIvdIvm6٢# Q=9e;Q  >    G٣ 2Gy,; > Nusing accuracyPremultiplier from config%c49&m?%c4Yg7 iQ=B)-ۿ-?7C:n:ݪc457B 5ڶA1hQhQ"hQ*hQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.gagagafififirfibfmm`@ɛ|q< 隝@?I kb&ɚiIԆ*=2@5@ɠ>IBݿi:,;i)Bݿ頵Bݿ)GBO=JJJaJJJJ:JJJ Will construct direction to contact in vehicle frame from tetrahedron phase data.) ,C &G xA! U 1YU xAyU +AHi Ii  Im pHIm KBIm =&Ii .Ii 6Im A<:Im F ? A,Iw,7$A=KD@Y=S@= ʼ9=l>y=HUſ`8?'ſT? @?{?`?ɨ=KD@=5;=DCyޕ KBޕHIPIk6٢ < :=9%D(;Q ->99 EG٣Ay.; > Nusing accuracyPremultiplier from configc49m?c4Y@ iT=Bۿ Ijf?>8CHv;v;ݺc4 ƶAh h "h *h gg!g!f)f)f)rf1bf5@4`@ɛY]~< Y]%C?Ia e#ɚaiaIe*=mM?m5@ɠmh>Iuhݿiu+;iq)uhݿuhݿ)ymWill construct direction to contact in vehicle frame from tetrahedron phase data.GqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.2Iw,$Ay~KBHMb@Mb@Mb@ )Y~jt?~jthQ?yD?Du<A nA)AI\AyAI;Iii6٢a8= M=9Q > G٣y >  Nusing accuracyPremultiplier from config c49 m?c4Y H i a=BD?:߿? 8C H%; "; .c4) -A)hIhI"hI*hIgIgIgQfQfQfQrfYbf]?`@ɛۊ< 隕G?I _!ɚiI~)=S?6@ɠ]>Iw8ݿi+;i)w8ݿ頥w8ݿ)GIBQOm> IzKˣOKKKKpTPJGGECC?<<<865542/+,,+(()&##!uWill construct direction to contact in vehicle frame from tetrahedron phase data.*9Iw,\s$AB[@YBk@B9B/;>yBH:hſ@=? `Ŀi?֖?V? t?ɨB[@BY;BBCyN3KBNHIV0IV1h6٢^*Z= ^_=9b;Q b>`` fG٣f2Gyj; n> rNusing accuracyPremultiplier from configlrc49nkm?vc4YnfO inm=Btvm߿v?n8CnL:n;nc4| ~yA|hh"h*hggg!f!f!f!rf)bf-`@ɛY]E< Y]L?IY eɚaiaIe(=*Jq"Ju<}>}8@ɠ}c?>I ݿi?+;i) ݿ頍 ݿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.GABQO=ZHRH?AHu>I I}HIKBI =&I.I6I<:IF Ikf Will construct direction to contact in vehicle frame from tetrahedron phase data.c @Iw,&8%Ayv=KBvH}Mb@Mb@Mb@yyy y)yY}Gz?Qy&1?y}p=?}}`<}GA }A)yIyyy}QAII3f6٢< ==9Q > G٣y > Nusing accuracyPremultiplier from configc49m?c4YW i=B=?:h俑?#9C%;;c49B iAEhh"h*hggg f f f rf bf``@ɛ9Eb< AEsO?II MqɚIiIIMp(=]$>]:@ɠ]#>I]/ܿi] *;iY)]/ܿe/ܿ)aG)B9Oe>J_JTJJJ :J:9JJJaJaJ`J:aJbJ:aWill construct direction to contact in vehicle frame from tetrahedron phase data. I <8FIw,Q%A6y@Y6@6Ԣ96>y6H@_ĿrB? 0@`Ŀ ;?`9Z?G? c?ɨ6y@6;6ECyBOKBBHIJ IJc6٢VhA= V\=9V|;Q V>XX ZG٣Xy^ < ^>zK^*NK^ػ9K\K^K^DU4%#*-++*)%$$(0358775545535f|O9/( BKd:Kd jNusing accuracyPremultiplier from confighnc49jکm?rc4Yj^ ij=Bpr㿑r?ji9Cj ;jK ;j%c4t vEAxh h"h*hgggfffrfbf%``@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ< S?I /ɚiIb'==;@ɠ>>Iރܿi%*;i)ރܿރܿ)GBO%=Will construct direction to contact in vehicle frame from tetrahedron phase data.H v>I  I HI KBI &I .I 6I J<:I FaLIw,N3%AN΋@YN@NK9ND>yNHĿ`:F?@;Ŀ;?|s?(??ɨN΋@NX;Ly jKB0H)1 1I]I]Sa6٢r= <=9;Q > G٣2Gy; > ]m$?IY Nusing accuracyPremultiplier from configd49m?d4Yg i=B㿑?9C;:]d4 Ahyhy"hy*hygygygfffrfbfY`@ɛG< Z?I ɚiIT'=-<-=@ɠ->I-7ܿi-#*;i))-7ܿ57ܿ)1MWill construct direction to contact in vehicle frame from tetrahedron phase data.G!B1OU2>J `J YJ J J :J [O9J J J :J :J 4n:J 6n: Will construct direction to contact in vehicle frame from tetrahedron phase data.VJSIw,M%A6w@Y6@6琼96q>y6H=ĿJ?@qÿ@P?@??KBBcHeMb@Mb@Mb@aaa a)aYen?&1Mb?ye6?ePe=eA eʌA)eAIe Aaye\AI}I}q_6٢(= K=9PV;Q > G٣yB < > Nusing accuracyPremultiplier from configd49m?d4Y`n i=B6?:H翑?:C;;Qd4 Ahh"h*hgggfffrfbf@`@ɛ!% 5= !% e?I! -Uɚ)i)I-&=5O<5?@ɠ5>I5 ۿi=);i9)= ۿ= ۿ)9GBO= IIMlfUWill construct direction to contact in vehicle frame from tetrahedron phase data.zKu2NKu]9KqKuKu RK}>JK}>zYIw,g%AJ{@YJˑ@JB9J>yJH@ÿsM?`jÿϣ?h?&??ɨJ{@J/;JCCyRKBRrHI^I^`6٢j< jV=9n:Q n>pp rG٣pyz; z> Nusing accuracyPremultiplier from configmd49Um?ud4Yfu i=Bqu濑}?K:Cw<z<d4:B AEhh"h*hgggfffrfbf%a@ɛqu< y}g?Iy }>ɚyiyI}@-&=Will construct direction to contact in vehicle frame from tetrahedron phase data.; B@ɠ:>I^ۿi͓);i)^ۿ頽^ۿ)GBO% >jHbH<Hu>I IHILBI&I.I6I9<:IF 9IA] Will construct direction to contact in vehicle frame from tetrahedron phase data.[`Iw,%Ay~KB~HMb@Mb@Mb@ )Yv/?y&1y&1?yx)?`e`<A ) AI\Ay3AIIW\6٢= <=9Q > G٣2Gy > Nusing accuracyPremultiplier from configd49sm?d4Y| i=B:*?:近?:C;;*d4 rAh)h)"h)*h)g)g1g1f1f9f9rf9bf=a@ɛae$< imn?Ii m/ ɚiiiIm%=};}uD@ɠ}*>I}Uۿi};:);iy)}Uۿ項Uۿ)GIBYO=Jm_JmVJiJiJm :JmB9JiJiJmF:JmK:JmX:JmX:Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA fIw,b%A:@Y:@:p9::K>y:Hÿ ,U?I`¿ 1?q?8?@?ɨ:@:G;:ECy^KB^HIfIf\6٢nm= r[=9r;Q r>tt vG٣tyv < z> ~Nusing accuracyPremultiplier from config| d49~m? d4Y~ i~=B 翑?~:C~NR;~NR;~7d4Will construct direction to contact in vehicle frame from tetrahedron phase data.! %8A-EzK5̟LK5h9K1K5K5"HUN5  hYhY"hY*hYgYgYgafafafarfibfm a@ɛ= 隝[v?I 5 ɚiI[$=o:pF@ɠW>Iۿi);iM)ۿ頭ۿ)GBO=JqJu@AWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I 8HI ALBI &I .I 6I e<:I FBIiJIiRIiZIibIijImt4lIw,.7%A6@Y6#@6t[96J>y6H ؑ¿X?@: #¿Q?@Jn?TE?@_?ɨ6@6@G;4yrKBrHII]6٢l= @=9H;Q > G٣yu< > I -Nusing accuracyPremultiplier from config!=d49%m?Ed4Y% i%=BIM)翑?%;C%<%y<%[Gd4 AhQhQ"hY*hYgYgYgYfYfafarfabfe/a@ɛ< uz?I dkɚiI@$=-Will construct direction to contact in vehicle frame from tetrahedron phase data.595H@ɠ55 >I5ڿi5(;i1)=ڿ=ڿ)9GaBiO:>JcKk3 Kk.KcKc"KcJ J TJ 1J J J :9J 3J J J J `J:J bJ: Will construct direction to contact in vehicle frame from tetrahedron phase data.sIw,%A2~1@Y2@@2#sE92>y2H¿`g\?@>`wd?@=?OH?h?ɨ2~1@2t;2FCy>KBBH Mb@Mb@Mb@    ) Y V-?)\(:v?y ? Ga < QA ) AI  A y AIuIu G٣2Gy< > Nusing accuracyPremultiplier from configd49 m?d4Y i=B?:X翑?\;C; ;Td4I-zڿi5(;i5)5zڿ5zڿ)9G)B9O]= l$?Imf5Will construct direction to contact in vehicle frame from tetrahedron phase data.zK4MK9KKK yIw,%AB0J@YBxY@BA29BCb>yBH Ǻ`^?`xYC?`H?[?Ъ?ɨB0J@BSщ;BCCy^!LB^HIrIrV]6٢~{= ~T=9F;Q >    G٣ y; > -Nusing accuracyPremultiplier from config!5d49%`m?5d4Y%Ԗ i%=B1*J9"J=R=E濑E?%;C%;%;%pbd4Q UAQhqh"h*hgggfffrfbfHa@ɛIMC$= QU.?Iq u0ɚqiqI}6"=}m8kL@ɠ#>IL6ڿiZ(;i)L6ڿ項L6ڿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.uG YyAZHIRHIHQIQ IUwHIUtLBIQ&IQ.IQ6IU`<:IUFGJiG I BqO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw, &A2k@Y2{@292/>y2H 5b? ¿B?`k?i?s?ɨ2k@2T;2DCy>+LBBH=Mb@Mb@Mb@999 9)9Y=^I +?Mb:v?y=X?=@=T<=A 9)= AI=\A9y=3AIUIUr]6٢e3< eC=9m~;Q m>ii mG٣qyu < u> Nusing accuracyPremultiplier from configyd49}zm?d4Y}C i}=B?:俑?};C}V;}U;}pd4 Ahh"h*hgggfffrfbf`Ta@ɛ0= n?I hɚiI HC"=7 N@ɠr$>Iٿiq(;i)ٿٿ)GGBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. I ԆIw,L&A6@Y6 @696!>y6H``ge?'¿`~ɛ??@s?'?ɨ6@6u;4yR?LBR6HIZIZ]6٢bT= bU=9f);Q f>dd jG٣j2Gyj< j> rNusing accuracyPremultiplier from configlvd49nvm?vd4Yn2 in=Bxz@俑z?nI5Wٿi=f(;i9)=Wٿ=Wٿ)9G}'HGQJ]@AJ]AAJe`JeXJaJaJe:Je5K9JaJaam@am@am@am@ByO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.HI II  IM HIM LBII &II .II 6IM <:IM xFIw,}6&A:m@Y:@:9:>y:H i@h?&¿2Aڙ?%b|?Rj??ɨ:m@:\O;8yBELBF>HININ\6٢Vo< VL=9Z.h;Q Z>`` fG٣dyn< r> vNusing accuracyPremultiplier from configpvd49rrm?zd4Yrw ir>Bxz㿑z?rSIuٿiue(;iq)}ٿ}ٿ)yG G"GG Will construct direction to contact in vehicle frame from tetrahedron phase data.GqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,\P&A6@Y6Lɒ@696l>y6H%n?YyB?pv? ? L?ɨ6@65̉;6CCyBFLBB?HmMb@Mb@Mb@iii i)iYmM?~jt{Gz?ymn?mm# G٣y; > Nusing accuracyPremultiplier from configd496om?d4Yٯ i>B?:ݿ?D= )-Ԉ?I !ɚiI, =ѷ5Q@ɠ0'>IWٿiq(;i)WٿWٿ)GBO> IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-KK-9K)K-K-+^ s  j(s.qQ6! Iw,H7j&AFˋ@YFڒ@FIE9F>yFH`s&q?` `?q???ɨFˋ@F7;DyVJLBVCHIbIb^6٢f< jW=9n]_;Q r>tt vG٣v2Gyz; ~> Nusing accuracyPremultiplier from config *J%4="J%<J5aJ5QJ52J1J5:J5-.9J5c3J1Md49 Jlm?Md4Y  i  >BQUZݿU? = 隥H?I ܼɚiIWz=A 5[R@ɠI(>I2ٿi(;i)2ٿ2ٿ)GHt>I IHILBI =&I.I6IX<:IFBO- > Inf% Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,4&A:@Y:@:0B9:>y:H`@2u? ĺ S0?]h?}?`m?ɨ:@:P;:DCy^[LBbXHMMb@Mb@Mb@III I)IYMS?~jtx:v?yM?MĻMT G٣y|; > Nusing accuracyPremultiplier from configd49im?d4Y i>B&?:>ڿ?=C4;;d4 ?Ahh"h*hgggfffrfbf@a@ɛ"L= 隽a?I (ռɚiI=\4R@ɠ=(>I*ٿi(;i)*ٿ*ٿ)G BO5 >Will construct direction to contact in vehicle frame from tetrahedron phase data. I "Iw,&A6@Y6@696'>y6H@N5w?+ٽ?S~]?@?G?ɨ6@6Kʊ;6CCyLLIVIV\6rWill construct direction to contact in vehicle frame from tetrahedron phase data.9`>;Q > G٣y; > Nusing accuracyPremultiplier from configd49gm?d4Y i>Bٿ?@=Cj;;d4 hh"h*hggg f f f rf bfঢa@zK5OK59K1K5K5   BK9:K9ɛIMS= IQI μɚiI=:3R@ɠ(>I ؿi(;i) ؿ ؿ)G B9O>JE`JEVJE1JAJE:JEB9JE3JAWill construct direction to contact in vehicle frame from tetrahedron phase data.H s>I  I HI LBI &I .I 6I $<:I FKIw,zķ&A6 @Y6@6ع96« >y6Hw|?@g,Ď? ;?S?Ҳ?ɨ6 @6;6BCyRULBRQHIZIZ\6٢fg f<9fn;Q f>hh jG٣hyj; n> rNusing accuracyPremultiplier from configpvd49rdm?vd4Yr. ir>Btvٿz?rv=Cr;r;rd4| ~KA 1I1hh"h*hggg f ff!rf)bfua@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛAEBm;= im?Ii m;=ƼɚqiqIuma=}{2}&S@ɠ}(>I}.ؿi}[ );iy)}.ؿ項.ؿ)G?G?GaBiO9> Will construct direction to contact in vehicle frame from tetrahedron phase data.R3Iw,8&AR@YR+@RҝF:9Rf >yRH` ~?d`d > %? H~??ɨR@R(-;RDCyXXEMb@Mb@Mb@AAA A)AYEB`"?{Gz?y&1|?yE?E#qq uG٣u2Gy}C; }> Nusing accuracyPremultiplier from configd49bm?d4Ye i>B?:տ?=CQ;P;d4 hh"h*hgggfffrfbfDa@ɛy}Bm= 隁I AɚiI=#T2R@ɠn(>Iؿi&B);i)ؿ頝ؿ)G k$?IBQO>Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAzKmKKm9KiKmKm ](A &!%^Iw,}&AN1@YN@@N;9NW >yNHI`5?inX?b|?`)?ɨN1@N~;NBCyV=LBV3HI^I^_6٢fd f<9j;Q j>hh nG٣lyn; n> vNusing accuracyPremultiplier from configpvd49r*am?zd4Yr ir">Bxz.տz?r=Cr:r@:r]d4*J~C="J~a=JaJ[JJJ:JW9JJ>B AEh1h9"h9*h9gAgAgIfIfQfQrfabfe@a@ɛ[= 隽?I ɚiI=˰1R@ɠ>(>IKؿi9);i)KؿKؿ)]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=HI IHILBI =&I.I6IG<:IFBIYJIYRIYZIYbIYjI]ø4 I  Will construct direction to contact in vehicle frame from tetrahedron phase data.FIw,['A2@@Y2O@2U;92F >y2H@ѻk?vp S?`αj@?ղ?ɨ2@@2ȹ;2DCyB?LBB6HMb@Mb@Mb@ )Ym?~jt?Mb`y?<QA )IAyAI]I]_6٢m; m@=9u;Q u>yy }G٣yy}; > Nusing accuracyPremultiplier from configd49_m?d4Y= i!>B?:zѿ?'>C";'!;4d4 {Ahh"h*hgggfffrfbf`#a@ɛR= ?I  'Oɚ i I p=0Q@ɠ'>IؿiL);i)ؿؿ)!G1G1GB!O==eWill construct direction to contact in vehicle frame from tetrahedron phase data. I of pIw,'2'A6R@Y6@b@6;96>y6H`?? _ %h ? r ?r?ɨ6R@6;6CCyN%LBRHIZfWill construct direction to contact in vehicle frame from tetrahedron phase data.IZ`6٢jC nU=9nBa;Q n>pp rG٣r2Gyv; v> zNusing accuracyPremultiplier from configx~e49z^m?~e4Yz ix|0ѿ?z^>Cz ;z: ;z e4  A h)h)"h)*h1g1g1g9fAfAfArfAbfM@xa@ɛqu Y= qu?Iq <īɚiI=% Q0%;Q@ɠ%1c'>I%tؿi%U*;i%S<)%tؿ-tؿ))zKNK9KKKGBO5=JJ) ]AG}Will construct direction to contact in vehicle frame from tetrahedron phase data. ¿YyȼAH I  I HI LBI =&I .I 6I *<:I F^Iw,9'A22`@Y2zo@2`;92)>y2Hֺ? ]@@ƺ*? v?$?ɨ22`@2]+;0 @I@y^LB^ HIfIfSa6٢vQ vI=9z;Q z>xx ~G٣|y~; >  Nusing accuracyPremultiplier from config e49]m?e4Y i >Bп?>C>;?;e4! -A)hIhQ"hQ*hYgagagififqfyrfybf} a@ɛqP= 隵?I ,ӤɚiI7=̩/|P@ɠ&>Iؿi*;i)ؿؿ)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.J- _J- UJ) J) J- :J- >9J) J) J) a= J) a= J- Q:a= J- Q:aE } Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,R'AynLBrHttMb@Mb@Mb@ )YzG?V-?~jty ?<DA &A)AIyAIIoa6٢X >=9Q > G٣y > Nusing accuracyPremultiplier from confige49a\m?e4Y i>B@?:Ͽ?>C;;(e4 Ah9h9"h9*h9gAgAgAfAfAfIrfIbfMda@ɛyG= 隅Ԁ?I %ɚiI==.O@ɠ&>IзؿiC+;i)зؿ頝зؿ)G ?G> qIupfGyBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKK+9KKKIw,0l'A2ou@Y2@2;92Vl >y2H-@?`8@-i|??} ?@ʱ?ɨ2ou@2뵊;2BCy^KB^H*Jh"Jjp=InInob6٢v vW=9z;Q z>x| ~G٣~2Gy~; ~>  Nusing accuracyPremultiplier from config e49j[m?e4Yk i>BϿ??C0;0;$6e4%?B %$A%EhAhA"hA*hAgIgIgIfIfQfQrfQbfUY b@ɛy}DpW= 隅[{?I ɚiI = >U. N@ɠ CJ%>Iؿi+;i)ؿؿ)-Will construct direction to contact in vehicle frame from tetrahedron phase data.jH-<bH-<H-t>I) I-HI-LBI- =&I).I)6I-c<:I-F YIYGug{GIBYO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,^'A6v@Y60@6J<96 >y6H!V?@O) zy?N)Č?`?ɨ6v@64;4yRKBRH5Mb@Mb@Mb@111 1)1Y5V-?I +?ii mG٣iym9 u> }Nusing accuracyPremultiplier from configye49}Zm?e4Y}' i}>B?:ѿ?}T?C};} ;}De4 9Ahh"h*hgggfffrfbf b@ɛ zA= 隥x?I  ɚiI|=-M@ɠ|$>ILؿiT,;i)LؿLؿ)GCQ;JcJRJJJ:JS29JJJ;J;J <:J <:GBO>eWill construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ ݾIw,|'A6}@Y6͌@6Be<96H# >y6H?Xj9t?@L??ɨ6}@6;6CCyBKBBH)D DIJ'IJ2g6٢VZ VW=9V3;Q V>XX ZG٣Xy^ ; ^>bWill construct direction to contact in vehicle frame from tetrahedron phase data. fNusing accuracyPremultiplier from configdje49fXm?je4YfP if>By}п}?f?Cf2Iuؿi}F,;iy)}ؿ}ؿ)yzKKK9KKKGl<JJ@AGBO>uWill construct direction to contact in vehicle frame from tetrahedron phase data.H1 I1  I5 QHI5 VLBI1 &I1 .I1 6I5 U<:I5 F 9 I9 Iw,hX'A6qy@Y6@6<96+ >y6H`z @?`'q`$Zr?t@h? ?ɨ6qy@6-8;6ACy^KB^HIf%Iff6٢n3 rG=9r:Q r>tt vG٣v2Gyz ~> %Nusing accuracyPremultiplier from config%e49Wm?-e4Y i=B)- ѿ-??C::`e41 Ahh "h *h g g g ff1f9rfAbfM 1b@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛqu3= y}n?Iy }0UɚyiyI}Rk=(0,+L@ɠWV#>IؿiD-;i)ؿ頭ؿ)G G"GGGi Bq O >J aJ bJ 2J J :J t9J c3J J ;J ;J X:J Z: Will construct direction to contact in vehicle frame from tetrahedron phase data.'Iw,0'AJ-s@YJu@JB*<9Ja >yJH`G?[?J`b]]Am?7Ho>??ɨJ-s@J;JBCyfKBj}HeMb@Mb@Mb@aaa a)aYe(\?y&1?Mbye'?e`e G٣y& > Nusing accuracyPremultiplier from confige49Um?e4Y? i=B'?:ӿ?@C;;Koe4 A Ih h"h*hgggfffrfbf>b@ɛ:R= 隍Zj?I n{ɚiIx=+K@ɠ">Izؿi-;i)zؿ頝zؿ)GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.zKm +KKm +9Ki Km Km .:1" 2Iw, 'AVc@YVr@VB3<9V>yVH ߻1?@?޺li?Ah`c?Y?ɨVc@Vbȉ;VAC*J`"JbIji6٢rH rU=9v:Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config e49Sm?e4Y i=BSӿ%?W@C;;|e45@B 5׵A5Ehaha"ha*hagagagafififirfibfu` Jb@ɛڶX= 隝e?I vqɚiI:s=+K@ɠh">Iyؿi].;i)yؿ頵yؿ)]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBHI IHI#LBI&I.I6I<:IeFO5= Iqf Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,(Af_@Yfn@fK5<9f>yfHPں?' M h?j ??ɨf_@f;fBCyvuKBv=HMb@Mb@Mb@ )Ym?Mb`?{Gzy.?;ףA $A)AIAyAIHIj6٢ :=99Q >  G٣ 2Gy 5  > Nusing accuracyPremultiplier from confige49Qm?%e4Y i=B-.?-:-տ-?@C}0;.;e41 =A9hYhY"hY*hYgYgYgafafafarfabfm@Xb@ɛ(4= Z]?I eɚiI=%K*%J@ɠ%,">I%ؿi-.;iI)MؿMؿ)QJ`JUJ1JJ:J>9J3JJ:J:JQ:JQ:GaBqO>eWill construct direction to contact in vehicle frame from tetrahedron phase data. I Jw,!(A2_@Y2)o@2><92 >y2Hغ`%?hE`F^b? rԇ@,??ɨ2_@2}s;2@CyNeKBR*HIZLIZKk6bWill construct direction to contact in vehicle frame from tetrahedron phase data.٢f + f`=9fX:Q f>hh jG٣hyn8 n> rNusing accuracyPremultiplier from configpve49rvOm?ve4Yr4! ir=Btxz?r@Cr:rC:rǘe4~AB 9AEh!h!"h!*h!g)g)g)f)f)f1rf1bf5cb@ɛCbH= sY?I  yZɚ i I =5ϱ)5yJ@ɠ=!!>I=ؿi=0=/;i9)=ؿ=ؿ)AG)B9OU=zKLK9KKKBK:KsA}Will construct direction to contact in vehicle frame from tetrahedron phase data.Hs>I IHIKBI =&I.I6I <:I}FBIJIRIZIbIjIz_4 I 6Jw,;(A:)a@Y:qp@: 1G<9:Z>y:H{κ@?[F]Y?刿??ɨ:)a@:d;:ACyFLKBF H)H HINOINk6٢V{ VL=9Zت:Q Z>X\ ^G٣\y^9 b> fNusing accuracyPremultiplier from config`fe49b5Mm?je4Yb\( ib=Bhjտj?b*ACb:b:bĦe4p rkAth h "h *h g g g fffrfbfypb@ɛAEj8= AE&S?IA M&PɚIiIIM=U)U5J@ɠU-!>IU҃ؿiU/;iQ)]҃ؿ]҃ؿ)YGqGqGQBaO=Will construct direction to contact in vehicle frame from tetrahedron phase data.} Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,xU(A23_@Y2{n@2Q<92G>y2H ޺|?@qI?8]??ɨ23_@2u;2CCyBSKBBHEMb@Mb@Mb@AAA A)AYE(\?I +:vyEz4?E9ETEA A)EbAIEMAAyEיAI]II]j6٢mEo< m?=9u:Q u>qy }G٣}2Gy}u }> Nusing accuracyPremultiplier from confige49Im?e4Y?0 i=B4?:.ڿ?wAC";!;e4BB cAhh"h*hgggfffrfbf`4~b@ɛ4=  T?I  _uDɚ i I =b(J@ɠ">Icؿi 0;i)cؿcؿ)! 9I9GyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.eHJw,Ro(AF&GP*JbR="JbR=JhJjZpJhJhJhJjS9 vÿY y]AJhJha@a@a@a@M]@YMl@M[\<9M̩>yMH v꺿?,A">:)??ɨM]@Mf_;MACy];KBeHImNImk6٢q[ A=9:Q >    G٣ y > Nusing accuracyPremultiplier from config%e49uFm?%e4Y8 i=B!-5ڿ-?AC::e4=Will construct direction to contact in vehicle frame from tetrahedron phase data.Q ]AYHt>I IHIKBI =&I.I6I<:IFhh"h*hgggfffrfbfib@ɛY]L,= YeN?Ia e=8ɚaiaIe=='J@ɠc">IYBؿiGo0;i)YBؿ頕YBؿ)RK?JK?GBO> )I-rf Will construct direction to contact in vehicle frame from tetrahedron phase data.2"Jw,7(A6Y@Y6Lh@6Ug<96d}>y6H?@I@L2G`{?Ⱦ?ɨ6Y@6}k;4y^5KB^HMMb@Mb@Mb@III I)IYMQ? ףp= I +yM5?MQ8M94MA I)MAIMAIyM\AIe?Iei6٢mx mT=9u:Q u>yy }G٣yy& > Nusing accuracyPremultiplier from confige49Bm?e4Y,? i=B%6?:i޿? BC;-;e4 Ahh"h*hgggfffrfbfb@ɛ79A= 隵sM?I s.ɚiI= 'K@ɠk##>Ioؿi0;i)oؿoؿ)GBO>EWill construct direction to contact in vehicle frame from tetrahedron phase data. IBZ(Jw,(A2HW@Y2f@2v<926>y2H?aZԎ-??ɨ2HW@2;2@Cy>.KB>HIJFIJj6RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢V/ VX=9Z;Q Z>XX ^G٣^2Gy~ >  Nusing accuracyPremultiplier from config e49 >m?e4Y NF i =Bp޿? PBC : : e4A EAAhh"h*hgggfffrfbfతb@ɛB_@= K?I $ɚiIn= Bi& L@ɠ#>Il׿iX0;i)l׿l׿)9G)B9Oe=zKrKK9KKKJAAJBAJ3Kş3 K.-KK"KJaJTJJJ:J:9JJUWill construct direction to contact in vehicle frame from tetrahedron phase data.HyIy I}pHI}KBIy&Iy.Iy6I}<:I}F  i$?I ۄ.Jw,(A2N@Y2d]@2|<92q=y2He@D? /t_𐏿,ƿ??ɨ2N@22Ê;2CCyBKBBHIJIIJj6٢fo fH=9jmf:Q j>hl nG٣lyng7 r> vNusing accuracyPremultiplier from configpve49r:m?ze4YrM ir=Bxz޿z?rBCr:r:re4 ܶAh!h!"h)*h)g)g)g)f)f1f1rf1bf5=b@ɛP?4= E?I cɚ i I  =%M@ɠ$>I׿io*1;i)׿׿)9GQBymWill construct direction to contact in vehicle frame from tetrahedron phase data.O> Will construct direction to contact in vehicle frame from tetrahedron phase data.0m5Jw,(AJL@YJ[@J1<9J>yJHdr`?,@3d ?N?ɨJL@JNJ;HyV KBVH)X X=Mb@Mb@Mb@999 9)9Y=n?Mby&1|y=6?=@=`=A =&A)=›AI=QA9y=AIU=IUi6٢e eA=9m:Q m>ii mG٣qyu u> Nusing accuracyPremultiplier from confige49h6m?e4YU i=Bl6?: ߿?BC;j; IsfRe4CB AEhh"h*hgggfffrfbfb@ɛOS0= 隍B?I ɚiIڭ= %N@ɠ%>I`׿iR1;i)`׿`׿)GBO= >uWill construct direction to contact in vehicle frame from tetrahedron phase data.zKA KE 9KA KE KE ;Jw,t(A:!H@Y:iW@:f<9:>*J>C="J>p=JFbJFVJF2JDJF:JFB9JFc3JDy:H #? {O*滿AKg,?/?ɨ:!H@:ޓ;:ACyRKBRHIZAIZj6٢*= P=9O:Q >!! -G٣-2Gy5 5> MNusing accuracyPremultiplier from configIUf49MT2m?Uf4YM\ iM=BY]߿]?M.CCM';M< ;M, f4eDB mڶAihh"h*hgggfffrfbfb@ɛUIC= F?I EDɚiI}K=j$ P@ɠm&>I^Y׿izi1;i)^Y׿^Y׿)H9I9 I=JHI=KBI9&I9.I96I=5<:I=FWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5= I Will construct direction to contact in vehicle frame from tetrahedron phase data.~BJw,v )A26E@Y2~T@2ڎ<92>y2H< a? "] (¢l`ۑ`7??ɨ26E@2;2CCyNKBRHMb@Mb@Mb@ )YZd;?Zd;O~jthy9?j<DGA ԎA)AIAyAI<Ii6٢/ ?=9(:Q > G٣yZ > Nusing accuracyPremultiplier from configf49-m?f4Yd iv=B::?:޿?}CCS;oR;f4  A  Eh)h1"h1*h9g9g9g9f9fAfArfAbfE@$b@ɛiu33= q} B?Iy }\ɚyiyI} =#)Q@ɠT'>I%׿iu1;i)%׿頍%׿)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. yIyjHJw,T$)A6=@Y6>M@6<96<>y6H廿@]?@A۾n]h[??ɨ6=@6;6?Cy^KB^HIj8Iji6٢v< vZ=9z:Q z>xx zG٣|y~ ~>  Nusing accuracyPremultiplier from config f49)m? f4Yk in=B߿?CC::&f4 %A!=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9hQhQ"hQ*hYgYgYgafafafarfabfm*b@ɛ)-QA= Y]D?IY egɚaiiIm=}#}+R@ɠ&#(>I-ֿiq1;i)-ֿ頍-ֿ)G?G>GBO >zKEUKKE9KAKEKECaxw;QJu[JJJ_JJJJ :JJJHI I>HIvKBI =&I.I6I<:IeFWill construct direction to contact in vehicle frame from tetrahedron phase data. i Ii NJw,,>)A25@Y2D@28<92>y2H (Ç?`p@?`ֹ?ɨ25@2u;2@CyRKBRHI^ I^kf6٢v vK=9vQ:Q v>xx zG٣z2Gyz' ~> Nusing accuracyPremultiplier from config f49%m? f4Ys ie=B  #߿?DCn:7:74f4EB A EhAhA"hA*hAgAgIgIfIfIfIrfQbfUb@ɛy}YUD= y}A?I лɚiI!.=e"FS@ɠZ)>Iֿi]1;i)ֿ頕ֿ)GyBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data. Will construct direction to contact in vehicle frame from tetrahedron phase data.UJw,X)A6Q1@Y6@@6Xi<96:h>y6H)J@?`Q I࿱=9:Q > G٣yޛ > Nusing accuracyPremultiplier from configf49!m?f4Yw{ i]=B4?:ݿ?\DC;;ECf4 Ah h "h *h g ggff!f!rf!bf%b@ɛIU"v:= QUB?IQ UɚQiYI]K=en!e=T@ɠe)>Ieֿie81;ia)eֿeֿ)iGBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.zK (DOK 9K K K E:3*!  :pxuplhd`THF>l[Jw,q)A^'@Y^6@^ <9^6j>y^Hc?``@uc`??ɨ^'@^;^BCyfKBfHJlJlJn1JlJlJlJn3JlIz3Izh6٢< W=9:Q >    G٣ y@N > Nusing accuracyPremultiplier from config%f49m?%f4Yt iW=B!%޿-?DCz:C:Pf41 5AHs>I I2HIlKBI =&I.I6I<:IvFBIJIRIZIbIjI4hh"h*h g g g f)f1f1rf1bf5 c@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛAC= 隽YD?I mBɚiI3o= U@ɠ }*>I hhֿi  1;i t6)hhֿhhֿ)G!G! ItfG BO5 >m Will construct direction to contact in vehicle frame from tetrahedron phase data.q iu AibJw,;ŋ)A6!@Y60@6[E<963>y6HƼ G?@ B;y`C@k?z?ɨ6!@6Û;4y^KB^HUMb@Mb@Mb@QQQ Q)QYUCl?~jt~jtx?yU/?UļU;UQA UԎA)U̝AIUAQyUAI}"I}f6٢< B=9&;Q > G٣2GyF׺ > %Nusing accuracyPremultiplier from config%f49#m?-f4YH iR=B-/?-:-ܿ-?DC; 3;_f49 =۶A9hihi"hi*higigqgqfqfqfqrfybf}c@ɛ{K= 隭rG?I ɚiI =tC U@ɠ+>IPAֿiy0;i)PAֿ頽PAֿ)GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. h$?IufhJw,=)A:@Y:8%@:<9:gU>y:H`q#[?@s`_͆{@v>?ܻ?ɨ:@:;:ACybKBbHIj:IjMi6٢r5# rV=9r:Q v>tt vG٣tyz6 z> Nusing accuracyPremultiplier from config|f49~m? f4Y~֐ i~M=B  >ܿ ?~.EC~;~~:~lf4FB A%Will construct direction to contact in vehicle frame from tetrahedron phase data. EhIhI"hI*hIgIgQgQfQfQfQrfYbf]%c@ɛT= 隍C?I L~ɚiIү=s]V@ɠH~+>I>ֿix0;i)>ֿ頥>ֿ)GyBO=zK3NK 9KKK7+# '@;+%)?j   zj]XRLHB?:4.*'"RK>JK>) q YyִAHI III&I.I6I̲<:IOFWill construct direction to contact in vehicle frame from tetrahedron phase data. I oJw,t)A @6@Y63@68<96R>y6H S@?v ѽV~斿>??ɨ6@6&;6?CyBKBBHIJ3IJh6٢~< ~I=9~ ;Q > G٣y   > Nusing accuracyPremultiplier from config%f49om?%f4Y iH=B!%Vܿ-?vEC >;r>;zf45cB 5^A1hQhQ"hQ*hQgQgYgYfYfafarfabfe2c@ɛN= 隕E?I NUɚiIMP=W@ɠ,>Iտi0;i)տ頭տ)=Will construct direction to contact in vehicle frame from tetrahedron phase data.G=;GE ?GE.?GB O=r>J J XJ J J J 5K9J J J F:a J K:a J g:a J g:a  Will construct direction to contact in vehicle frame from tetrahedron phase data.vJw,P)A 4I4:@Y:@:rc<9:>y:H ] ?L⽿䫗 W? ź?ɨ:@: &;:ACyF#KBJHUMb@Mb@Mb@QQQ Q)QYUq= ףp?I +Q?yU+?U94Uu G٣2Gy˹ > Nusing accuracyPremultiplier from configf49?m?f4Y iG=B+?:;ڿ?EC;;f4 EAhh"h*hgggfffrfbf5@c@ɛ!%B P= )-H?I) -)ɚ)i)I-=5^55fW@ɠ=1R,>I=տi=ܬ/;i9)=տ=տ)AG5u4GBO >=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AzK NK 9K K K  (0C`y~}{ung`Y2|Jw,$*)A*J"R="J B@YB@B>V<9B>yBH N? ' -XS?@?ɨB@B;@yV&KBZHIbBIb0j6٢jk< jV=9j;Q n>pp vG٣tyz % z>  Nusing accuracyPremultiplier from config f49 R m?f4Y ? i F=BZڿ? FC : ; f4! %?A%EhAhA"hA*hIgIgIgIfIfQfQrfQbfULc@ZHYRH]@AHaIa IaIaIa&Ia.Ia6Ie<:IeFɛIMY\W= QUI?Iq u*ɚqiqIu׋=}~}W@ɠ,>I3տi 6/;i)3տ項3տ)Will construct direction to contact in vehicle frame from tetrahedron phase data.G G"GG QIYGB)OUu>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw, *A:*@Y:r@:J<9:ǃ>y:H`ǽM?< MZ@a hc?@?ɨ:*@: ;:DCyDFH%Mb@Mb@Mb@!!! !)!Y%#~j?MbP?/$?y%%?%:%QQ UG٣Qy]Ӻ ]> eNusing accuracyPremultiplier from configamf49e m?mf4YeK ieH=Bu%?u:uSؿu?eEFCe{;e;ef4y yhh"h*hgggfffrfbfYc@ɛYeZ= aeI?Ia e'ɚaiiImP*=m uW@ɠu,>I~տi.;i)~տ頝~տ)J]aJ]TJYJYJ]:J]:9JYJYJ];J];J]`J:J]bJ:GqBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. AIADJw,&*A6@Y6 @6d<96->y6H6뽿=?`1@O ?w?ɨ6@6p;6ACyR"KBVHI^8I^i6٢fE fS=9fz:Q j>hh jG٣hyn<%Will construct direction to contact in vehicle frame from tetrahedron phase data. -> ]Nusing accuracyPremultiplier from config9ef49=m?mf4Y= i=J=Bimfؿu?=FC=A;=@;=f4dB LAEhh"h*hg!g!g!f)f)f)rf)bf5`Agc@ɛZ= 隵H?I -ɚiI =W@ɠ,>Iտi..;i)տտ)GBO>zKrNKh9KKKROLKF; JaJe@AHiIi Im>HImvKBIi&Ii.Ii6Im&<:ImFWill construct direction to contact in vehicle frame from tetrahedron phase data. 9 I= vf,Jw,ܻ@*A2@Y2 @2<92>y2H~?r `@r-3$??ɨ2@2w;2CCyN(KBRHITIT٢^< bK=9bh:Q b>dd fG٣f2Gyfse f> nNusing accuracyPremultiplier from confighnf49jsm?rf4Yj ijK=Bprtؿr?jFCjz ;j ;j5f4t z>Axhh"h*hggg!f!f!f!rf)bf-@sc@ɛϞh= ?J?I ɚiI`h = 0m X@ɠ <,>I lտi-;i)lտlտ)1G1BIOm==Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju _Ju QJq Jq Ju :Ju -.9Jq Jq Ju F:Ju K:Ju 4:Ju 4: Will construct direction to contact in vehicle frame from tetrahedron phase data.  I! cJw,Z*ABW@YB@B<9B0U>yBH5E`6}?辿`@HSͼ?@?ɨBW@B=;B>CyN6KBNH-Mb@Mb@Mb@))) )))Y-RQ?~jth?{Gz?y-"?-D;-ף<-A -1A)-(AI-A)y-›AIE:IEMi6٢U< U@=9]:Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}f49um?}f4Yu iuM=B"?:*ؿ?uGCuIQտi!-;i)QտQտ)GBO5 >%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKe MKe 9Ka Ke Ke πJw,*qt*A*JC="J=F@YF2@F x<9F>yFH,h@_|?@U`. ?@W?ɨF@FA;F?CyN2KBNHIZSIZl6٢b bV=9f;Q j>ll rG٣pyvS v>jH bH Hr>I IJHIKBI&I.I6I<:ItF 5Nusing accuracyPremultiplier from config1=f495Fm?=f4Y5Q i5N=BAE<ؿE?5NGC5';5{8;5f4Y ]+Aahh"h*hgggfffrfbfmc@ɛ^t= L?I :ɚiIџ = 8X@ɠ3,>I;տio,;i);տ;տ)Will construct direction to contact in vehicle frame from tetrahedron phase data. IG1BAOe=U Will construct direction to contact in vehicle frame from tetrahedron phase data.hJw,L*A6F@Y6@6<96>y6H{? ?`aQA ?ζ?ɨ6F@6 ;6>CyR:KBRH]Mb@Mb@Mb@YYY Y)YY]Q?y&1|?~jt?y](?]`;] G٣2Gy55 > Nusing accuracyPremultiplier from configf49l?f4Y iO=B>?:׿?GC;';tf4 Ah!h!"h!*h!g)g)g1f9fAfArfAbfMc@ɛf= N?I F:ɚiI9 =%D%6X@ɠ%/,>J=`J=TJ=2J9J=:J=:9J=c3J9J=:J=:J=`J:J=bJ:I-G#տiMd+;iQ)UG#տUG#տ)QGaGaG)B9OU> IWill construct direction to contact in vehicle frame from tetrahedron phase data.퓩Jw,,*A2ڋ@Y2@2{<92[>y2H@z?@[}@_.?¶?ɨ2ڋ@2;2?CyR;KBRHIb@Ibi6٢j: nV=9nܿ:Q r>pt vG٣tyz0 z>Will construct direction to contact in vehicle frame from tetrahedron phase data.i Nusing accuracyPremultiplier from config%f49l?%f4Y) iP=B!-׿-?GC'W;jW;f4=eB =A=Eh!h!"h!*h!g!g!g)f)f)f)rf1bfU` c@ɛ\p= 隥N?I );ɚiI? ==7X@ɠ,>I տi*;i) տ տ)GBO>zK]KK]9KYK]K]J9J=AAHs>I III&I.I6I<:IbFBIJIRIZIbIjI3 IwfWill construct direction to contact in vehicle frame from tetrahedron phase data.zJw,*A:׋@Y:f@:<9:>y:Hn{?Nʿҝ S??ɨ:׋@:V;:@CyB7KBBHINLINKk6٢V  VM=9V:Q Z>XX ZG٣Xy^, ^> bNusing accuracyPremultiplier from config`fg49bGl?fg4Ybs ibQ=Bhj׿j?b HCb;b/;bg4l n&Aphh"h*hg g g f f frfbfc@ɛ9=O3= AEM?IA EN;ɚAiAIEm =MzM;X@ɠU,>IUeԿiUFK*;iQ)UeԿUeԿ)aGQBaO}=Will construct direction to contact in vehicle frame from tetrahedron phase data. I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,*A6̋@Y6ܒ@6 <96>y6H f{?0@^ @Gj?Ǹ?ɨ6̋@6;6?CyZ;KB^HMb@Mb@Mb@ )Y ףp= ?MbP?{Gz?yQ?:ף<A /A)AIXAyfAI:IMi6٢e< :=9+0:Q > G٣2Gy; > Nusing accuracyPremultiplier from configg49l?g4YP iR=Bg?:%ٿ?LHC-;;#g4 Ahh"h*hggg!f!f!f!rf!bf-c@ɛY]:l= Y]N?IY e};ɚaiaIe =5oX@ɠ%->IԿif);i #)ԿԿ)G ?G >GBO- >Will construct direction to contact in vehicle frame from tetrahedron phase data. G! 9 m dYi ym tAzK IKK 9K K K μJw,V*A*J24="J2R=J6aJ6VJ4J4J6:J6B9J4J4a:@a:@a:@a:@HPIP IPIPIP&IP.IP6IR<:IReF^ȋ@Y^3ؒ@^j<9^>y^H_`W{?@@q@ ࢗPR? q?ɨ^ȋ@^j;^@Cy KBHI=>I=i6٢e eQ=9mu:Q u> G٣y > Nusing accuracyPremultiplier from configg49l?g4Yz iS=B4ٿ?HC5;;$g4 SA g$?I!hQhY"hY*hYgYgYgYfafafarfabfe c@}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}n= &H?I ;ɚiID =v{X@ɠL->IԿi˃(;i)ԿԿ)G)B1OU>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,+A2@Y2В@2H<92p>y2HLz?`=@^F? ?ɨ2@2cX;2ACy>$KB>HEMb@Mb@Mb@AAA A)AYEd;O?y&1|yy }G٣yy  > Nusing accuracyPremultiplier from configg49Al?g4Y i?:ۿ?HC;;3g4 KAhh"h*hgggfffrfbfKc@ɛ  {= &I?I ʶ;ɚiI> =%d%Y@ɠ%->I%cԿi%ӫ';i!)-cԿ-cԿ))GBO== I Will construct direction to contact in vehicle frame from tetrahedron phase data.}Jw,j)+AJ࿋@YJ)ϒ@JB<9J>yJH`̿${? F~@01? >?ɨJ࿋@J;J@CyZ KBZHnWill construct direction to contact in vehicle frame from tetrahedron phase data.Ir3Irh6٢~ ~R=9$:Q >    G٣ 2Gy > Nusing accuracyPremultiplier from config%g49l?%g4Yz iR=B!- ۿ-?HC ::@g45fB 5A5EhQhQ"hQ*hYgYgYgYfafafarfibfmc@ɛQUIn= QUYB?IQ ];ɚYiYI] =e}iY@ɠ->IiԿi&;i)iԿ頕iԿ)zKqkKK9KKK#" RK?JK?J}`J}QJyJyJ}:J}-.9JyJyHI III&I.I6I<:I^FG;GGG IBOM>Will construct direction to contact in vehicle frame from tetrahedron phase data.rJw,LC+A:#@Y:lɒ@: =9:>y:H`>z?.Ļ ?_+T'?p?ɨ:#@:;:BCy^ KB^HIj0Ij1h6٢rx; rL=9v:Q v>tx zG٣xyz z> Nusing accuracyPremultiplier from config g49l? g4Y i!ۿ?:IC:C:Ng4 Ah9hA"hA*hAgAgAgAfAfIfQrfQbfUc@ɛyy= 隅B?I p ;ɚiI_ =sY@ɠA.>I_Կi%;i)_Կ頝_Կ)G]ԑG9BIOe=Will construct direction to contact in vehicle frame from tetrahedron phase data. I xf Will construct direction to contact in vehicle frame from tetrahedron phase data.9Jw,*]+A6Ѻ@Y6ʒ@6t=96*>y6H@&z?`༻`^ M8?`ȹ?ɨ6Ѻ@6ш;6@CyBJBBHeMb@Mb@Mb@aaa a)aYe|?5^?/$:v?ye?eeT G٣yL9 > Nusing accuracyPremultiplier from configg49wl?g4Y iN=B?:޿?xICV;U;q]g4 Ahh"h*hgggfffrfbf+d@ɛ!%ʼl= !%??I) -/;ɚ)i)I5% == =Z@ɠ=3.>I=3Կi=$;iA)E3ԿE3Կ)AG{#G?G> Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK5 LK5 9K1 K5 K5 LJw,w+AH&r>I$ I&%HI&bKBI$&I$.I$6I&<:I&zFJ+c3K+3 K+(.K#K#"K#J2aJ2]J0J0J2:J2_9J0J0J2;a>J2;a>J2n:a>J2p:aBV縋@YV0Ȓ@VI=9V't>yVHy?`w@f@%ޏ`]A?u?ɨV縋@V;TynJBnHIv+Ivg6٢~t ~T=9R9Q >   G٣ 2Gy   > Nusing accuracyPremultiplier from config Ig49hl?g4Y iK=B!޿?IC<<jg4 ɷAhAhA"hI*hIgIgIgIfI]Will construct direction to contact in vehicle frame from tetrahedron phase data.fQfqrfqbfu d@ɛ g= 9?I Cs;ɚiI=  V[@ɠ >x/>I5) Կi=#;i9)=) Կ=) Կ)IGY GY"GaGaPExceeded connect timeout, disconnecting.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.$Jw,ܐ+A:Ƌ@Y:Ւ@:=9:$,>y:Hmx?@3 8I?@?ɨ:Ƌ@:/};8yBJBFHMb@Mb@Mb@ )YtV?S㥛MbP?y?/ݼ: A)/AIXAyA)-BAI5"I5f6٢Ew EF=9Mހ:Q M>II UG٣QyUՄ; U> eNusing accuracyPremultiplier from configYeg49]l?mg4Y] i]B=Bm?m:u޿u?]IC]8;]F<]]yg4 ַAhyh"h*hgggfffrfbf@d@ɛ`n= ?8?I G<ɚiI !u=5S=54\@ɠ5)0>I5/ӿi5z";i1)=/ӿ=/ӿ)9G)B1OM> iIuyfeWill construct direction to contact in vehicle frame from tetrahedron phase data.0Jw,M+AJҋ@YJ.@Jg=9J>yJH5x?`1`@@FM ??ɨJҋ@J;J>CyVJBV[H^Will construct direction to contact in vehicle frame from tetrahedron phase data.If(IfNg6٢rȵ rQ=9r=9Q v>tt vG٣tyzz; z> ~Nusing accuracyPremultiplier from config|g49~l?g4Y~ i~:=B  ޿ ?~'JC~.:~ :~g4 !AEh9h9"h9*h9g9g9g9fAfAfArfAbfE@<(d@ɛy}s= y}X/?Iy j <ɚiIp$=ޜ]@ɠa0>Iӿi!;i)ӿ頕ӿ)GGGBO=zKKK9KKK   RK%?JK!HEt>IA IEHIE9KBIA&IA.IA6IEԲ<:IEUFJ]@AJ]@AJe_JeUJe1JaJe :Je>9Je3JaJeF:JeK:JeQ:JeQ: YIYmWill construct direction to contact in vehicle frame from tetrahedron phase data.MJw,y+A2@Y2 @2=921 >y2Hۏw? @ wm ߠe6?`?ɨ2@2և;2?CyBJBBGH RnManaging dock network, ignoring radio surface power offIJ"IJf6٢  G=9:Q >! %G٣%2Gy%E; %> 5Nusing accuracyPremultiplier from config)=g49-l?=g4Y- i-1=BAEd޿E?-cJC-r#;-;-bg4I MAAIhihi"hq*hqgqgqgqfyfyfyrfybf} b5d@ɛ&c= 隵>+?I $<ɚiI=s]@ɠp1>Iӿi} ;i)ӿӿ)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I II } Will construct direction to contact in vehicle frame from tetrahedron phase data.6AJw,m+A6@Y6 @6 =96OE >y6H@⽿Vw?^@Ⱦ`P] "x?`?ɨ6@6`;4yNJBR HeMb@Mb@Mb@aaa a)aYed;O?Mb{Gzye?ee#eA e9A)eݡAIaayeAIIOf6٢ A=9h:Q > G٣y; > Nusing accuracyPremultiplier from configg49 l?g4Y  i"=B?:޿?JCB;%;5g4 Ah h "h *h g g g fffrfbfBd@ɛAEY= IMW#?II M <ɚIiIIU*=]!]^@ɠ]$2>I]GYӿie ;ia)eGYӿeGYӿ)aGIBYOu=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH9 RH= AAHM s>kJw,#J+A*JC="Ja=Iy I}HI}KBI} =&Iy.Iy6I}۲<:I}ZFBI1JI1RI1ZI1bI1jI5q4zK.ǑLK.9K,K.K.F@YF @F6 =9Fa>yFH`Y v?¿HFF@?R?ɨF@F^;Fdd fG٣dyjx; j> pIp vNusing accuracyPremultiplier from configtzg49vl?zg4Yv$ iv=Bxzu޿z?vJCvL:v/;vPg4 ƸAh hEWill construct direction to contact in vehicle frame from tetrahedron phase data."h*hIgqgqgqfqfyfyrfybf NPd@ɛR= ?I {'<ɚiIR=@^m_@ɠ2>I-ӿi `;i ) -ӿ -ӿ)1GAGE>G)B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.[Kw,E,AN!@YN-1@N. =9NS >yNH&v?xp¿c@`3d=?F?ɨN!@N;N?CyjVJBnH}Mb@Mb@Mb@yyy y)yY}^I +?S㥛/$y}X?}/ݼ}}bA }A)yI}Ayy}AI4Ih6٢7 8=9, :Q > G٣2Gyp; >  Nusing accuracyPremultiplier from configg49l?g4Y+ i=B?:ܿ?KC ;;g4! %A!hIhI"hI*hIgQgQgQfQfQfYrfYbf]@"]d@ɛ0T= 隍?I =/<ɚiIa=\`@ɠD3>Iӿi;i)ӿ頝ӿ)JiJm\Jm2JiJiJm[9Jmc3JiJiJiJmف:Jmہ: f$?IzfGBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.} Kw,,,A:q.@Y:=@: =9:kF>y:H,^ 0v? ¿iR@`W96??ɨ:q.@:;:@CZWill construct direction to contact in vehicle frame from tetrahedron phase data.y^1JBbHdfAIjKIj/k6٢rŽ r^=9vȎQ v>tt vG٣xyzK; z> ~Nusing accuracyPremultiplier from config|g49~l?g4Y~k1 i~Iҿiw;i)ҿ頝ҿ))) )[GG 1YyCABOU=Hr>I I]HIJBI =&I.ISD6I <:IFJyJ}AAzKĂKKh9KKK   I]Will construct direction to contact in vehicle frame from tetrahedron phase data.aeKw,E,ARD@YRS@RO =9R?>yRHx?¿U䠼0 0`p5?@?ɨRD@R;R>Cyn JBnHIzSIzl6٢ ỽ  H=9 '?Q > G٣y%; %> -Nusing accuracyPremultiplier from config)5g49-l?5g4Y-7 i-I}ҿi;i)}ҿ頽}ҿ)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.J aJ TJ 1J J :J :9J 3J a @a @a @a @ I e Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,_,ABR@YB^a@B =9B>yBHB|?@_¿36ۑ@.<7?ʩ?ɨBR@B;B?CyjIBjUHMb@Mb@Mb@ )YMbX9?QQ롿y!?\A ݐA)IyITI.l6٢] ?=9JV9Q > G٣2Gy;{; > Nusing accuracyPremultiplier from configg49ul?g4Y> iIY ]xC<ɚYiaIe=e~ ma@ɠm4>Imjҿim;iq)ujҿujҿ)yGIBQOm=Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H q>I  I HI nJBI &I .I 6I 2<:I FKw,Ҏy,A $I$J%Z@YJni@J]=9J1>yJH`0~?`=¿r ? ?ɨJ%Z@J';J@CyVIBV,HzKbolLKb]9K`KbKbIj[Ijl6٢r^ rZ=9vQ v>tt vG٣tyz`,; z> ~Nusing accuracyPremultiplier from config|g49~l?g4Y~D i~Iq umI<ɚqiqIk= /b@ɠ4>ItҿidL;i)tҿtҿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O-= Will construct direction to contact in vehicle frame from tetrahedron phase data.8$Kw,{,Ar]^@Yrm@r=9r0>yrH@lế~? S;¿. ϻ`hP?@#?ɨr]^@r`;r>Cy~IB~HMb@Mb@Mb@ )Yq= ףp? G٣y: > Nusing accuracyPremultiplier from configh49l?h4YL iI lO<ɚiIN=t ^b@ɠ_5>I%\Vҿi%cW;i!JMeJMUJIJIJM\:JM>9JIJI )IY)%\Vҿe\Vҿ)iGyBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. *Kw,4I,A6j^@Y6m@6=96 >y6Hế?¿`?@{˻@\`*ޠ@5??ɨ6j^@6_;6@CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yFIBFHIRwIRp6٢Z Z]=9ZQ Z>\\ bG٣b2Gyb7 b> fNusing accuracyPremultiplier from configdjh49fl?jh4YfS ifwI9 =*RT<ɚ9i9I=}4=ENO Eb@ɠE 95>IM<ҿiM;iI)M<ҿM<ҿ)IG)B9OU=Hr>I IHIJBI&I.I6I<:IzF AIE{fzKKK9KKK5Will construct direction to contact in vehicle frame from tetrahedron phase data.1Kw,,,A @>[@Y>j@>h]=9>Y >y>H`?7⻿`y ꠿ n?@?ɨ>[@>\;\\ ^G٣\ybb b> fNusing accuracyPremultiplier from configdjh49f1l?jh4YfZ if\I X<ɚiIc#=s b@ɠ^5>ID!ҿiՠ;i)D!ҿD!ҿ)G BO5=Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) Jm `Jm SJm 2Ji Jm :Jm y69Jm c3Ji E Will construct direction to contact in vehicle frame from tetrahedron phase data.7Kw,B,A:cY@Y:h@:=9: >y:H  ?B` ̻ ~??ɨ:cY@:fb;8yFXIBFHMb@Mb@Mb@ )YQ?QQ롿y5?u\ )/AIyAI-I-r6٢E E@=9M\Q M>II MG٣IyU7" U> eNusing accuracyPremultiplier from configYeh49]%l?eh4Y]a i]BI 9]<ɚiI=b@ɠw5>I;ҿi;i);ҿ;ҿ)GGGBO= >}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHY RHY He p>Ie ˍC Ie %HIe IBIe =&Ia .Ia 6Ie %<:Ie F I S>Kw,M,A6'O@Y6p^@62=96a >y6HZ?<`y?ѭ?ɨ6'O@6;6?Cyf    G٣ 2Gy BQ >zKgKK]9KKK -Nusing accuracyPremultiplier from config5h49Rl?5h4Y7i i*h4A ECAAhaha"ha*hagigigifififqrfqbfuyd@ɛ_= 隥A>I l^a<ɚiI[ =4%b@ɠ5>Iѿi ;i)ѿ頵ѿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.GyBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.gDKw,-A~K@Y~[Z@~i=9~ d >y~H {6?l][ 5 {lԛ?@ۭ?ɨ~K@~;~>Cy'IB-hHMb@Mb@Mb@ )YGz?S㥛yp=?/ݼ )ݡAIAyQAII*r6٢? ==9Q > G٣y > Nusing accuracyPremultiplier from configh49l?h4Yq iIQ ]e<ɚYiYI]=BOb@ɠEe5>IѿiT;i)ѿ頝ѿ)JEcJETJAJAJE:JE:9JAJAGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O )>KKw,Փ.-A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:}>@Y:M@:=9: / >y:H`9߻ ~?@<=V@[?A?ɨ:}>@:=~;:XX ZG٣Xy^F b> fNusing accuracyPremultiplier from config`fh49b3l?jh4Ybx ibI 'h<ɚiIn=b@ɠC5>Iѿi;i)ѿѿ)G5?G5 ?G BO5=H-q>I-̍C I-HI-IBI)&I).I)6I-9<:I-FBIJIRIZIbIjIc4 I|fJ=AAJ=BAzKU:KKU9KQKUKURK]?JK]?Will construct direction to contact in vehicle frame from tetrahedron phase data.RKw,3oH-ANJ?@YNN@N=9N— >yNH ػ`~? Ua$ࣂ? ?ɨNJ?@N;N>CyZ IBZHHIbIbu6٢j^ jH=9nhQ n>pp rG٣tyv-z9 v> zNusing accuracyPremultiplier from configx~h49zl?~h4Yz iz;Baֿ?z^NCzX;z;zhh4  A Eh)h)"h1*h1g1g1g1f9f9f9rf9bf= d@ɛim)= qu>Iq uh;l<ɚqiyI}=}xeb@ɠ&5>Iѿi~;i)ѿ項ѿ)GBO=uWill construct direction to contact in vehicle frame from tetrahedron phase data. e$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.z,XKw,|Hb-A24@Y2hC@2<92< >y2H1s}?|= 6J rT?Ю?ɨ24@2};2@CyPTMb@Mb@Mb@ )YT㥛 ?Mb?MbyA?<bA )Iy(AIIv69™Q > G٣2GyL > Nusing accuracyPremultiplier from configh49Ѭl? h4Y? i;B  A? : տ ?NC;6;9xh4Y YYhyhy"hy*hgggfffrfbf@We@ɛ== I (p<ɚiI=!%b@ɠ%4>I%]ѿi%1;i!)%]ѿ%]ѿ))G)B9Oe>}Will construct direction to contact in vehicle frame from tetrahedron phase data.m&GxA YxAyAjH! bH! H- p>I)  I- HI- \IBI- =&I) .I) 6I- ײ<:I- XF I U^Kw,P|-A*J "J"4=J$J&yJ&1J$J$J&9J&3J$J&;a.J&;a.J&:a.J&:a.F.@YF9>@FE<9F >yFHZ|?`A+'Zj?ͮ?ɨF.@F`;F>CybHBb+HIjIj|u6٢Ur U<9U$Q U>YY ]G٣Yye׺ e> mNusing accuracyPremultiplier from configiuh49mfl?uh4Ymِ im;BqzK}qkKK}h9KyK}K}տ?mNCmV;m;mh4pB ջA Ehh"h*hgggfffrfbf`ue@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛEY= v>I Ks<ɚiI= [w a@ɠ {4>IѿiO;i)ѿѿ)G)G)GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.AeKw, -AyHB5H IuMb@Mb@Mb@qqq q)qYuףp= ?y&1|?y&1?yu>?u`;u`e G٣2Gy > Nusing accuracyPremultiplier from configh49yl?h4Y i;B>?:jֿ?ROCܸ<<Ph4i uŻAqhh"h*hgggfffrfbf e@ɛ)-< )5~>I1 5v<ɚ1i1I5l===a@ɠ= }4>IE{}ѿiEݴ;iA)E{}ѿE{}ѿ)IWill construct direction to contact in vehicle frame from tetrahedron phase data.GyBO=>ikKw,ݯ-A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:h@Y:*@:<9: >y:H`y?@) |K??ɨ:h@:<;:=CyFIBF:HININ{w6٢V<< Vp=9Z"Q Z?X\ ^G٣\y^ b? fNusing accuracyPremultiplier from config`fh49b3l?jh4Yb: ib;Bhjֿj?bOCb* ;b ;b3h4p rAph h"h*hgggfffrfbf% *e@ɛIM = IM >II Uy<ɚQiQIU=]S ]a@ɠ]0f4>I]}nѿie ;ia)e}nѿe}nѿ)iGQBYO}=HI IHIQIBI&I.I6IԲ<:IUF I }fJ}@AJyJdJXJ2JJ<:J5K9Jc3JJ";J$;J g:J g:Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK 9K K K  E#tOrKw,y-A6@Y6,@6\`<96 >y6HRux?` ꝿO?7?ɨ6@6;4yBIBBBHININ`u6٢jz< nH=9rQ v>xx zG٣xy~?` ~> Nusing accuracyPremultiplier from config %h49 gl?%h4Y G i ;B)-ֿ5? OC  ; =; h4A MAIhyh"h*hgggfffrfbf`8e@ɛ = 隽@>I  }<ɚiI]=Kda@ɠ1P4>I&Yѿi\ ;i)&Yѿ&Yѿ)GBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data. I~f Will construct direction to contact in vehicle frame from tetrahedron phase data.`zxKw,6-A6 @Y6e@6J~<96m>y6Hww? ¿ `9@Ν#?r?ɨ6 @6A;6;Cy>IBBHHEMb@Mb@Mb@AAA A)AYE ףp= ?{GztMb?yEQ8?EףE=EA A)EAIAAyEAI]I] t6٢eS< mA=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from configh49%l?h4Y+ i;B8?:ٿ?/PCU;;Ch4qB A!Ehh"h*hgggfffrfbf@>Ee@ɛ ] =  >I Q<ɚiI=%%a@ɠ%4>I%9ѿi% ;i!)-9ѿ-9ѿ))G)BAOe=]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH @AH q>I  I I I I =&I .I 6I ̲<:I OF~Kw,g-AJ&_J&SJ$J$J& :J&y69J$J$J&F:J&K:J&5C:J&8C:B@YB'@B\<9Bl>yBH Lv?`m ¿`M nX숿j??ɨB@Br;B=CybIBbZHIjIjFr6٢r= rS=9rQ r>tt vG٣v2Gyz z> ~Nusing accuracyPremultiplier from config|h49~l?h4Y~p i~;B ٿ ?~vPC~';~]$;~h4 Ahh"h*hgggfffrfbf`Qe@Will construct direction to contact in vehicle frame from tetrahedron phase data.zK2OK]9KKKiG6ojS3{pg]QH@:=A;740* ɛ!%j= )- >I) -d*<ɚ)i)I52=U]a@ɠ]w4>I]ѿi]q ;i]⟼)]ѿ]ѿ)aGBO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.[Kw,b.A=@Y=@=c<9=kK>y=H Lv? ¿&8x"z? ?ɨ=@=@;= G٣y㣹 > Nusing accuracyPremultiplier from configh49Ƙl?h4Y i;BU/?:Iٿ?PC;4;h4vB sAhh"h*hgggfffrfbfE`e@ɛ|c= t>I O<ɚiI=v9b@ɠ4>Iпi;i)пп)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBB &JO%,>õKw,1.AWill construct direction to contact in vehicle frame from tetrahedron phase data.R@YRC@R2<9R>yRH䐽 &w?¿ P@Vɉ@?ݭ?ɨR@R{;R>CyZ?IBZHIbIb r6٢n!= nk=9rb@:Q r?pp rG٣tyv: v? zNusing accuracyPremultiplier from configxh49z?l?h4Yz iz;B4ٿ ?zQCz7;z88;zh4 ZAh1h1"h1*h1g1g9g9f9f9fArfAbfE@ike@ɛqu"= y}۟>Iy }<ɚyiyIq=jb@ɠ!5>Iпi;i)п頍п)GqBO= iIqH}p>Iy I}HI}pIBI} =&Iy.Iy6I}β<:I}QFJ3K3 K/.KK"KJe`JeTJe1JaJe:Je:9Je3JaJe:Je:Je`J:JebJ:Will construct direction to contact in vehicle frame from tetrahedron phase data.zKuNKu9KqKuKuKw,K.A:C @Y:@:q@<9:Y>y:H@~w? ¿AD^?{?ɨ:C @:ه;:=CynFIBnHIveIvn6٢ ]<  G=93:Q >!! -G٣-2Gy=x0: => eNusing accuracyPremultiplier from configImh49MI H<ɚiIQ=Ab@ɠO5>Iпi2;i)пп)-Will construct direction to contact in vehicle frame from tetrahedron phase data.GҸGB9 qIufO> Will construct direction to contact in vehicle frame from tetrahedron phase data.;ǘKw,d.Ay~]IBHMb@Mb@Mb@ )Yx&1?I +:v?yA ?9T=A A)AIAy AIYIl6٢W= >=9Q > G٣y > Nusing accuracyPremultiplier from configi49l?i4YB iI9 =Q<ɚ9i9I=+=M6Mvc@ɠM5>IMܔпiU ;iQ)UܔпUܔп)YGMňG BO=.>EWill construct direction to contact in vehicle frame from tetrahedron phase data. i Ii jHu <bHq Hy Iy  I} HI} IBIy &Iy .Iy 6I} x<:I} FBI1JI1RI1ZI1bI1jI5ʏ43Kw,>~.A*JR="J=6@Y6)(@6<96f >y6H`u y?@nӽ=J+ {?c?ɨ6@6.;6;Cy^_IBbHIjHIjj6٢r; r\=9r:Q r>tt vG٣tyzP; z> Nusing accuracyPremultiplier from config i49zl? i4YX iI! %<ɚ!i!I%=-"J-'d@ɠ-6>I-mпi5 /;zK5KK5h9K1K5K5'-363332/002/..,+%6YlppmjgeffgaWV]`a^UI@9633/-,(BKA:KEtAiQ)UmпUmп)YG`6GqBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.ۥKw,.A d$?I!}"@Y}2@}z<9}{ >y}H&z?o `|6ԟ?@*?ɨ}"@}d];}=CyޕdIBޕH%Mb@Mb@Mb@!!! !)!J1J5]J1J1J1J5_9J1J1a=@a=@a=@a=@Y%I +?{GzMb?y%9?%ף%@=%GA %A)%ۤAI!!y%AIUMIUhk6٢e*< e(=9mj:Q m>qq uG٣u2Gy}!; }> Nusing accuracyPremultiplier from config-i49l?-i4Y iI) -贏<ɚ)i)I-=5q5d@ɠ5)7>I=;пi=TQ;i9)};п};п)G G"GGG) G) G B O- >) 6C % xA9 U Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,x.A YxAy"A>w2@Y>A@><9>>y>H` ?@z?@"¿ 8 k_@??ɨ>w2@>ԇ;>>CyFiIBFHIRBIR0j6٢U< x=97ڹQ ?!! %G٣!y%; -? ]Nusing accuracyPremultiplier from configQ]i49U3l?]i4YU iU'IQ Uu<ɚQiQIU=]L]ze@ɠ]+7>Ieпie ^:ia)eпeп)iGABQOm= I Ho>IˍC I HIIBI =&I.I6IӲ<:ISFJ5AAJ1Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKNKKKK&#   RK?JK>Kw,C.Ab>@YbfM@bD<9b~K>ybH s⻿ z?I¿`y/] e??ɨb>@bu;b G٣Yyec; e> }Nusing accuracyPremultiplier from configqi49u"l?i4Yu iu2I! %<ɚ)i)I-A=5d5f@ɠ5c8>I5Ͽi5L|:i9)=Ͽ=Ͽ)9Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBYO}= IJU bJU WJQ JQ JU :JU G9JQ JQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. Kw,$.A2Q@Y2=a@24<92aB>y2HD@|?@J¿ n`}菿5ş??ɨ2Q@2yJ;0y>sIBBHMb@Mb@Mb@ )Y/$?S㥛Q?y ?/ݼ<A A)IAy3AI-&I-g6٢=ћ; =G=9E(:Q E>AI MG٣M2GyM; M> ]Nusing accuracyPremultiplier from configQ]i49U l?ei4YU iU6I >k<ɚiI`=>f@ɠL8>I?Ͽi k:i))-?Ͽ-?Ͽ))GAGE?G!B)OM>Will construct direction to contact in vehicle frame from tetrahedron phase data. I fZH RH AAH I ̍C I HI IBI =&I .I 6I ٲ<:I XF*JQ "JU p=Kw,/A>[@Y>2k@>h<9>Nw>y>H e}?`P¿yл@%Ο^? ?ɨ>[@>ȫ;>=CyNbIBNHIV/IVh6٢^T- ^S=9bZ8Q b>`` fG٣dyfiM; f> nNusing accuracyPremultiplier from configlri49n:}l?ri4Yn" in9IY ep<ɚaiaIe8=m򽩠mug@ɠm*9>ImxϿim:iquWill construct direction to contact in vehicle frame from tetrahedron phase data.)}xϿ}xϿ)zKm LKm+9KiKmKm GyBO=% Will construct direction to contact in vehicle frame from tetrahedron phase data.+Kw,H/A XI\n@Y=~@=9>yH ]=?\¿<%CR Xv??ɨn@!;騙yHMb@Mb@Mb@ )YE?V-{Gz?y?#<GA )AIAyAI4Ih6٢պ +=9:Q > G٣J`JTJJJ:J:9JJy; > -Nusing accuracyPremultiplier from config!-i49%yl?5i4Y% i%4I (<ɚiIF=%񽩠6h@ɠg9>IjsϿi!:i)jsϿjsϿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.GGGyBO<>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.RKw,3/A6\@Y6@6=96v>y6H,۹π?:`¿ DƺK ?`ک?ɨ6\@6;4yNGIBRHIZBIZ0j6٢b硽 bw=9b:Q f?dd fG٣f2Gyj,; j? nNusing accuracyPremultiplier from configlri49nwl?ri4Yn2 in0I b<ɚi!I%=-ゥ-h@ɠ-+:>I-QϿi-&:i1)5QϿ5QϿ)QG)B9OU= IHIˍC III =&I.I6I<:I&FWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKKKKK  9Kw,M/A>N@Y>@>V=9>L>y>HQL-?el¿y=’`ʠo?O?ɨ>N@>0;IBJHIROIRk6٢ZC ZK=9^|:Q ^>\` bG٣`yfd; f> rNusing accuracyPremultiplier from configlzi49ntl?zi4Yn in+Ii mW<ɚiiiImv=uCmuJi@ɠu:>IM,Ͽi:i)M,ϿM,Ͽ) Will construct direction to contact in vehicle frame from tetrahedron phase data.G1B9O]= IJ5 bJ1 J1 J1 J5 :J1 J1 J1  Will construct direction to contact in vehicle frame from tetrahedron phase data.dKw,fg/A:@Y:ݱ@:=9:A>y:H¸?j¿ %@%Ӡ )?@V?ɨ:@:4;8y^IBbQHuMb@Mb@Mb@qqq q)qYush|?? rh~jtxyu ?uCuĻuA q)qIuAqyu=AI[Il6٢þ ;=9 -9Q > G٣y ; > Nusing accuracyPremultiplier from configi49=rl?i4Y i IA E<ɚAiAIE=u 콩u|i@ɠu4:>Iu Ͽiu:iq)u Ͽ} Ͽ)yG?G?GBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data. I jH bH H I  I HI IBI &I .I 6I <:I DFKKw,>/AyrIBv G٣2Gy > %Nusing accuracyPremultiplier from config!-i49%pl?-i4Y%< i%I Mx<ɚiI = `뽩i@ɠ:>Iοib/:i)οο)GzK0(LK 9KKKBO = Will construct direction to contact in vehicle frame from tetrahedron phase data.DvKw,~/A IfvZȌ@Yvד@vo.=9v>yvH'? h\¿`堿 ??ɨvZȌ@v};viq uG٣qyuL(< }> Nusing accuracyPremultiplier from configyi49}ml?i4Y} i} I X(<ɚiI]=齩i@ɠ;>IοiN:i)ο頽ο)mWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5.> Will construct direction to contact in vehicle frame from tetrahedron phase data.kKw,/AJ،@YJ@Jn=9J>yJH‰?W¿@5 `͠i?@?ɨJ،@J ;HyVHBVH=Mb@Mb@Mb@999 9)9Y=Q?ii mG٣iyu; u> }Nusing accuracyPremultiplier from configyi49}kl?i4Y} i};B}?:տ?}xTC}/;}.;}_i4 jAhh"h*hgggfffrfbf@-f@ɛE = 隕;>I D<ɚiI6=d=轩i@ɠ:>Iοi:i)ο頭ο) IGGHQIQ IUHIUQIBIU =&IQ.IQ6IU"<:IUFBI%ˍCJI%ˍCRI!ZI% =bI% =jI%]4GBO>J_JJ2JJ :JJc3JJF:a JK:aJaJauWill construct direction to contact in vehicle frame from tetrahedron phase data.zKe ~KKe ]9Ka Ke Ke  Kw,^/A 2B@Y2@2}=92z>y2H`8܋?cK¿@ vV`l?`C?ɨ2B@2ٓ;29CyfHBfHIvIvq6٢~ Q=9NQ >    G٣ 2Gy Y; > Nusing accuracyPremultiplier from config%i49jl?%i4Y% i;B!%տ%?TC:: i49 =AAhqhq"hq*hygygygyfyffrfbf:f@ɛ< 隵{>I 4<ɚiI!=潩gi@ɠ}:>Iοi:i)οο)GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O= I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,?/A>@Y>@>.=9>>y>H-I?k=¿ @zn x ?`Ъ?ɨ>@>;>>CyN~HBNHMb@Mb@Mb@ )Yv?Mb`?X9vy?; )IAy¡AiII r6٢ >=99Q > G٣yA; > Nusing accuracyPremultiplier from config i49]hl? i4Yz, i;B ?:ҿ?TCv;_; i4A MAQhh"h*hggg!f!fQfirfbfIf@yxA ¿YxAy5Aɛ<  &=I  X4<ɚ i I = 佩h@ɠ;:>I*οi/:i)*ο*ο)!GU?GU>Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOmV> c$?IZHI RHI HQ IQ  IU DHIU IBIU =&IQ .IQ 6IU <:IU !FJ% `J% VJ! J! J% :J% B9J! J! J% :J% :J% X:J% X:Lw,f0A>@Y>@>\w=9>>y>H `^?/¿U6N?S?ɨ>@>M;>dd fG٣dyf; f> nNusing accuracyPremultiplier from confighri49jgl?ri4Yj;2 ij;Bprҿv?j*UCj$;j;ji4x z:Az+Ehh"h*hgggfff!rf!bf%@Sf@EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛae;>< am=Ii m<ɚiiiIm=u㽩uIuqοiq:i ) qο qο) GBOE=zKm"KKmh9KiKm KmsVeWill construct direction to contact in vehicle frame from tetrahedron phase data. I FLw, 0A^m@Y^%@^e=9^2>y^H( I?¿W蓿)? ?ɨ^m@^;\y$HB)HIEIEr6٢u u?=9QQ > G٣2Gy; > Nusing accuracyPremultiplier from configui49hel?}i4Y9 i;BMҿ?mUC<<Wi4 Ahh"h*hgggff!f!rf!bf%cf@ɛ< 隵=I j<ɚiI=⽩g@ɠ;9>Iοi:i)οο)MWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO'> Will construct direction to contact in vehicle frame from tetrahedron phase data.( Lw,bH60Ay HB HMb@Mb@Mb@ )YMb?I +?S㥛y ?94</ݼ )IyIIs6٢b D=9Q > G٣y > Nusing accuracyPremultiplier from configj49"dl?j4Y? i;B  ? : п ?UC;$;j4 ʽAh9h9"h9*h9g9gAgAfAfAfArfIbfM@of@ yI}fHI IHIHBI =&I.I6Iβ<:IQFɛY]=< aeMIޒοi:i)ޒο頕ޒο)GGGBO$>JJJbJJ1JJ:JJ3JJU ;JX ;JJUWill construct direction to contact in vehicle frame from tetrahedron phase data.zK +NK K K K _@wm`SF;2,$~|RK ?JK >iLw,P0A2@0@Y2?@2 W<92>y2HZ#?0#¿A?@6`@)`?ܫ?ɨ2@0@2qϋ;2;CyNGBRHIVIV}t6٢^ b_=9b1)Q b>dd fG٣dyf' < f> nNusing accuracyPremultiplier from confighrj49j cl?rj4YjE ij;BtvAпz?jUCju;jτ;jWj4) -A)hh"h*hgggfffrfbf{f@ɛY]Z< Y]ЂIY ]Q<ɚaiaIe5=mG߽me@ɠm7>Imܒοim+:ii)mܒοuܒο)qWill construct direction to contact in vehicle frame from tetrahedron phase data.GqByO= qIqe Will construct direction to contact in vehicle frame from tetrahedron phase data..Lw,j0AJR:@YJI@J<9J?>yJH ` G٣2Gy5;  > Nusing accuracyPremultiplier from configj49al?j4YM it;B-?:ο%?6VC;a;j41 51A1MB*** querying acoustic contact ***jIjIhYhY"hY*hYgYgYgYfafafarfabfe f@ɛ>< 隕I ߟ<ɚiI_=ݽzd@ɠ6>Iοi::i)ο頭ο)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. QIUfjHbH4<Hn>I IoHI^HBI&I.I6Iv<:IFJ cJ J J J :J J J J ;J ;J J Lw,:σ0A6 G@Y6UV@6 <96>y6H T?`#¿@E R@PҒ07??ɨ6 G@6;6;Cy~GBHWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: -BDAT read: Tx time:19:40:49.3155 -$Ping request sent.-QQ UG٣Qy]n; ]> mNusing accuracyPremultiplier from configamj49eal?mj4YeT ied;Bquοu?exVCea:e ;e8-j4}yB ~A,Ehh"h*hgggfffrfbf`^f@ɛw< I }'<ɚ i I x=_ܽOc@ɠ"5>Iοi{:i)οο)G?G>zKTOK+9KK Ky{W  $$#"GBO% >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:40:49.3147 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251966 A II 'Lw,20AV8J@YVY@V<<9V>yVH@1? >¿[ pv?5?ɨV8J@V2;V=CymGBmHIIFr6٢ A=9Q >   G٣y%l: %> MNusing accuracyPremultiplier from configA]j49E_l?ej4YE>\ iES;Bimvο?EVCEXI ګοi ݐ:i)ګοګο)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503096GBO--> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755051?-Lw,:0AV;S@YVb@V}<9V>yVHD?¿@ Ȏ?@?ɨV;S@VJ;V G٣2Gy 4; >  Nusing accuracyPremultiplier from configj49(_l?j4Yc iG;B3?:wͿ? WC@;;3Jj4! %ʾA!hAhA"hA*hAgIgIgIfIfQfQrfYbf] Ưf@ɛ/E< 隍HI IHIHBI =&I.I6Iв<:IRFI Rͥ<ɚiI=aٽ`@ɠҦ3>Iοi:i.)ο頽ο)GBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007984zK= [NK= 9K9 K= K= ! &4Lw,i0ABT@YB"d@B%<9BE>yBH7?@c¿;}`} @p1?(?ɨBT@Bpp rG٣tyv : v> zNusing accuracyPremultiplier from configx~j49zi^l?~j4Yzfj iz=;BrͿ?zMWCz* ;z ;zWj4  A h)h)"h)*h1g1g1g1f9f9f9rfAbfEf@ɛ&< 隍` I <ɚiI=Oؽ@_@ɠ2>IοiI:i)ο頥ο)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259045GBO= IJ`JTJ2JJ:J:9Jc3Ja @a @a @a @E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510993P:Lw,_D0A:k@Y:z@:D<9:>y:H܂@?`8¿`C @ۇ??ɨ:k@:vG;::CyN[GBN2H]Mb@Mb@Mb@YYY Y)YY]333333? G٣y; > Nusing accuracyPremultiplier from configj49-]l?j4Yr i5;B9?:!Ͽ?WC7;6;ej4zB 0A-Ehh"h*hgggfffrfbf7f@ɛ!%< )-a$I) -%ڣ<ɚ1i1I5Z==ֽ=]@ɠ=1>I=οi= :i9)=οEο)AGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764308 IfZHRHHI IHIGBI =&I.I6I<:I3FBIQJIQRIQZIU =bIU =jIUȇ46ALw,1A2|@Y2Z@2~<92~>y2H@c?0¿`J²9?ҫ?ɨ2|@2gd;2|6٢f%ۼ fW=9f9Q f>hh jG٣hyj; n> rNusing accuracyPremultiplier from configpvj49r \l?vj4Yry ir-;Btzοz?rWCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015177r/;r ;r;sj4  EAh1h1"h1*h1g1g1g1fffrfbf f@ɛIMd< IM.II u<ɚqiqIu=ս\@ɠĘ0>ILοi:i)Lο頍Lο)zK$LKh9KK K R.mK5'! 2GUGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267134 I faGLw,1A6.@Y6x@6<96d>y6HI`?@R5¿ahT@?`?ɨ6.@6{;6;CyBLGBB HIJIJ{6٢Z/ ZL=9bG}Q f>hh jG٣j2Gyrn; r> vNusing accuracyPremultiplier from configtzj49v [l?zj4Yv iv&;B|~ο~?v-XCv;v;vej4 NA h!h)"h)*h)g)g1g9fAfIfIrfQbf]nf@J3KY3 K.KK"KJbJRJ1JJ:JS29J3JɛAm)< qu/3Iq u/{<ɚqiqIu=}{ӽ}o[@ɠ/>IIοi`:i)Iο項Iο) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519182G&) ,CGB) a } xAO > 5Y xAy B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771037MLw,K81A6(@Y6r@6G%<96]>y6Hn?5?¿@O /# ? T?ɨ6(@6n;6:CyfPGBf$H IIIMb@Mb@Mb@ )Y ףp= ?I +?~jtx?yQ8?94<;GA )AIyIIz6٢; ;=9,Q > G٣y4: > Nusing accuracyPremultiplier from configj49Yl?j4Y i!;BY8?:п?~XCD;;j4 HAHEo>IA IEHIEGBIE =&IA.IA6IE<:IE%Fhh"h*hgggfffrfbf f@ɛ+; /I Z<ɚiI=%94ҽ%?Z@ɠ%w.>I%οi%o9:i))-ο-ο))GY GY"GYGY%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024435GBO>zK ^nNK 9K K K -Xf=R7y 7QlS<(yhZ? LrTLw,]R1AJ@YJF@Jg<9J>yJHF ?<¿ ݱ~`[`i?@x?ɨJ@J;Hy^GGB^HIjIjv}6٢, V=9刺Q >! %G٣!y%M; %> 5Nusing accuracyPremultiplier from config)5j49-aXl?5j4Y- i-;B9=Ͽ=?-XC-P ;- ;-j4A M[AM.Ehyhy"h*hgggfffrfbf@f@ɛ  s;  8I @<ɚiIP=%н%/Y@ɠ%{->I-jοi-53:i))5jο5jο)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277509GBO]= 1I5fJJJJJJJJ- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527279ZLw,8l1A2t@Y2@2(<92+>y2HX?2¿`K]˱+ w??ɨ2t@2;2AA EG٣E2GyE9 M> UNusing accuracyPremultiplier from configI]j49MVl?]j4YM iM;B]6?]:]~ҿe?MYCM;Mp;M2j4i mMAihh"h*hgggff!f!rf!bf% g@ɛir~; 隕1I <ɚiI=1uϽpX@ɠ&->I-οi :i)-ο頥-ο)GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779056 I!jH5<bH5<H=n>I9 I=HI=GBI= =&I9.I96I=<:I=1FUaLw,\1A:?@Y:@:j<9:ȧ>y:Hư ? /¿q{ `x>??ɨ:?@:+;:9CyRRGBR'HIZIZyy6٢bu$< bR=9b}5Q f>dd fG٣dyjI; j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031514 zNusing accuracyPremultiplier from configtzj49vTl?~j4Yv iv ;B|Wҿ?vVYCvr#;v#;v߹j4  EA h)h)"h)*h)g1g1g1f1f1f9rf9bf=@g@ɛim,; im-Iq ug<ɚqiqIu_=}b1ν}W@ɠ},>Iοi:i)ο項ο)GBO=zK@OKh9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282922  I îgLw,291A2@Y2<@2<92>y2H&y ?@¿@)udA??ɨ2@2҈;2;CyBYGBB/HIJIJAx6٢v< E=9Q >!! %G٣!y%:; -> 5Nusing accuracyPremultiplier from config)5j49-Sl?=j4Y- i-!;BAE0ҿE?-YC-K,;-,;-Hj4I M7AIhihi"hq*hqgqgqgqfyffrfbfI#g@ɛ)5f< 9E&IA M<ɚIiIJJTJJJJ:9JJIu=%̽-V@ɠUK+>I]οi]:ia)eοeο)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535102GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787109mLw, 1A6㹍@Y6-ɔ@6+<96>y6H@f?`¿`ð ލ 1<?׬?ɨ6㹍@6<;69CyBrGBBNH TIT%Mb@Mb@Mb@!!! !)!Y%n?y&1|Q?y%V.?%`廹% G٣2Gyt; > Nusing accuracyPremultiplier from configj49,Ql?j4YJ tIi&;B.?HI IHIGBI =&I.I6I<:I;F:2ӿ?YC;E;j4 Ah)h)"h)*h)g)g)g)f1f1f9rf9bf=0g@ɛae*< im Ii mK<ɚiiiIm ,=uN˽uFV@ɠ}:k+>I}@οi}:iy)}@ο}@ο)GQBYOu=JJAAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039192zK YKK 9K K K ,tLw,1A2`ɍ@Y2ؔ@2&<92>y2H`{,˟?OF> K?=?ɨ2`ɍ@21;2:CyfnGBfIHInIn^x6٢v' vV=9z߹Q z>| G٣yI; > %Nusing accuracyPremultiplier from config%j49wOl?-j4Y. i+;B)-ҿ-?/ZCS;;j45{B =A=2EhYhY"hY*hYgYgYgYfafafarfibfm =g@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.291192ɛIUS< QUIQ U<ɚQiYI]\=ɽU@ɠK*>IοihB:i)ο頍ο) IfGBO5 >J `J U Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546051J 2J J :J >9J c3J 5zLw,1A:ԍ@Y:+@:<9:N >y:Ht1?EIί/򽗿 E??ɨ:ԍ@:K6;8ybwGBbTHUMb@Mb@Mb@QQQ Q)QYUw/?I +~jt?yU&?U9U=Q U+A)QIU$AQyU3AIuIu'v6٢< B=9FQ > G٣yt[; > Nusing accuracyPremultiplier from configj49%Ml?j4YY i4;BJ'?:տ?uZC;;(j4 Ahh"h*hgggfffrfbf`#Kg@ɛb< `I A<ɚiIc=yȽqU@ɠ*>I<οin:i)<ο%<ο)!G)B1OM>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794982 IZHRH@AHI IHIGBI&I.I6IԲ<:IUFҁLw,2A6y@Y6@6<96>y6H[@?_P@麮Ф Q@x?@K?ɨ6y@6[ ;6GBB_HIJIJ u6٢R< RZ=9R8Q R>TT VG٣V2GyZ.; Z> ^Nusing accuracyPremultiplier from configbWill construct direction to contact in vehicle frame from tetrahedron phase data.f=f<fchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.048098\k49^Kl?k4Y^ i^;;B  տ ?^ZC^+<^+<^9k4 Ah9h9"h9*h9gAgAgAfIfIfIrfIbfMVg@ɛ< 隽I \<ɚiIF=>ǽ6U@ɠ*>Ieοi:i)eοeο)GBO=zKIKKKKK  pwQ9qkJ6)! BK :K uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300036 y Iy Lw,k!2A2@Y2@2! <92$>y2H@z@?@#¿ (`٭}`? ?ɨ2@2;28CyRGBRaHIZIZu6٢b; bH=9fnQ f>dd jG٣hyj;; j> rNusing accuracyPremultiplier from configlrk49nHl?rk4Yn inC;Btvտv?nZCnn:n:nk4x zA|hh"h*hgggfffrfbf`!dg@ɛ\'< !%I! M${<ɚiiqIu=ŽT@ɠdX*>I~οiA:i)~ο頭~ο Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559374)QGABQOm5>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803049 a Ia s.Lw,5{;2A^@Y^@^F<9^}R>y^H`Pj?`¿ @Ѭ𝏿 Lȗ??ɨ^@^A;^ G٣y ; E> MNusing accuracyPremultiplier from configIUk49MAFl?Uk4YM iMN;B];?]:]׿]?M>[CMU;M;MVk4 ܾA3Ehh"h*hgggfffrfbfArg@ɛIMn,< IMXIQ UƩ<ɚQiQIU=]]OĽT@ɠY^*>Iοi:i)ο頍ο)G?G)?GBO">JYJ]WJYJYJYJ]G9JYJYJ]:aeJ]:aeJ]_:amJ]_:amWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055132zK ONK 9K K K %ArYF;4/+(%#RK ?JK >Lw,5U2A2 @Y2U$@2o<92>y2H t ? ¿Iݫ@V͗??ɨ2 @2(;2:CyjGBjkHIzIz(t6٢%I; %U=9-TR8Q ->11 =G٣=2GyE; E> MNusing accuracyPremultiplier from configIUk49MDl?Uk4YM iMW;BY]׿]?Mx[CM/;M;M>+k4i mھAihh"h*hgggfffrfbf@}g@ɛ;< I H<ɚiI;=ýɠ]*>Iοi:i)οο)GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.324543BO= b$?Iu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5782278Lw,#o2A6z)@Y68@6^L<96>0>y6H-ģ?`¿@@Ґ(??ɨ6z)@6E;4yNGBRmH-Mb@Mb@Mb@))) )))Y-"~?V- rh?y-?--C =-A -A)-AI-A)y-zAG xAI!I r6 U YUxAyUµA٢wa; 4=9hJ:Q > G٣y-; > Nusing accuracyPremultiplier from configk49Al?k4Y i^;Bh?:ֿ?[Ce;Cd;;k4 ־Ahh"h*hgg g f fQfQrfYbf]g@ɛ1< I t<ɚ i I m=5 y5T@ɠ=.G*>I=dhοi=U:iE5/)EdhοEdhο)iGABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827100 IfjH}<bH}<Hm>I IHIGBI =&I.I6I<:I5FJ _J RJ 1J J :J S29J 3J J F:J K:J <:J <:' Lw,W2AN?;@YNJ@N%<9N>yNH`@? ¿ RB%Dn?@ ?ɨN?;@Ng;LyZGBZsHIfuIfo6٢nK< nm=9r)9Q r?pt vG٣tyv; v? zNusing accuracyPremultiplier from configx~k49z?l?k4Yz izd;B{ֿ?z[Cze ;z ;zGk4  ξA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079111hAhA"hA*hIgIgIgIfIfQfQrfQbfUag@ɛy< 隅߽I و<ɚiIT=cT@ɠ>0*>IYοiSh:i)Yο頕Yο)GGGBO=zKMKػ9KKK IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334264OLLw,͢2AynGBnnHIv|Ivp6٢%$  %E=9-Q ->)) -G٣52Gy5 5> =Nusing accuracyPremultiplier from config9Ek49==l?Ek4Y=A i=k;BIIM?=+\C=X:=e:=Uk4Q UվAYhyhy"hy*hygygygyfffrfbf`g@ɛ(< $I ē<ɚiI=T@ɠ*>IFοip:i)FοFο)GBOE==Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.585163 I f Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835080uLw,2Ay zGB XHH)I) I-HI-GBI)&I).I)6I-<:I-F=Mb@Mb@Mb@999 9)9Y=M? rh~jt?y=n?=C =<9 =̗A)9I=ƠA9y=AIMsIMo6٢](" e8=9aQ e>ii mG٣iyq }> Nusing accuracyPremultiplier from configyk49}z;l?k4Y} i}m;B?:Z׿?}m\C};};}ek4 Ahh"h*hgggfffrfbf Dzg@ɛy}$< y}Iy Ғ<ɚiI=kT@ɠ?*>I.οi_:i).ο頵.ο)JMcJMSJM2JIJM:JMy69JMc3JIJM;JM;JM5C:JM8C:=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087146G-,G?G>Ga Bq O >zK KK K K K \Lw,}2A "@>w@Y>_@><9> >y>HeU?>¿`@䥿 @r??ɨ>w@>D;Iuοi}1:i})}ο}ο) aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339199GJGiByO=U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593810݆Lw,X2A6`@Y6@6<96Q>y6H ?d¿`@#/?Ԭ?ɨ6`@6;6;Cyf`GBf8H]Mb@Mb@Mb@YYY Y)YY]/$?/${Gz?y]&?]]#<]A Y)]MAI]AYy] AIqIq٢ >=9IQ9Q > G٣2Gy); > Nusing accuracyPremultiplier from configk49(8l?k4Y il;BF?:ҿ?\C;=;Nk4 .Ahh"h*hgggfffrfbf g@ɛc; !%.I! %<ɚ!i!I%=i =-Ժ-S@ɠ5~)>I(οi(:i)(ο頽(ο) IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842986G  ԹZHRH?AH%l>I! I%HI%GBI!&I!.I%RD6I%<:I%,FGAGAG1B9O]>J bJ QJ J J :J -.9J J J U ;J X ;J 4:J 4:xoLw,7 3A6衎@Y62@6\<96V>y6H`ڨO?' ¿ C`d J?ब?ɨ6衎@6NJ;69Cy>BGBBHIJIJFr6٢R VY=9V:Q V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config`fk49b6l?fk4Yb2 ibi;Bdf|ҿj?b]Cb:b:bvk4l njAl=Will construct direction to contact in vehicle frame from tetrahedron phase data.EIοi:i)οο)"G-C=G-p=zKJ3KK 9KKKG}u4GQBYO~> AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.Lw,($3A2{@Y2ƕ@2<92=>y2HO ?@V롿P@d??ɨ2{@2[;0y>2GB>HIFIFr6٢N RK=9RK8Q R>TT VG٣TyV:; V> ^Nusing accuracyPremultiplier from configXbk49Zx5l?bk4YZ2 iZf;B`b&ҿb?ZP]CZC ;Z ;Zk4d jAhhxh|"h|*h|g|g|gfffrfbf @g@ɛ15F; 150MI1 =x<ɚ9i9I= =E3ER@ɠEx(>IE οiMW:iI)M οM ο)IGa Ga"GeGe]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOM> ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received- Id IfHIfGBId&Id.IfSD6If<:If.F-ˎ@Y-ڕ@-<9->y-H( 5?`a딿 \ P??ɨ-ˎ@-;-7Cyލ(GBލH-Mb@Mb@Mb@))) )))Y-Q?y&1Mby-?-`e-) -A)-AI-ƠA)y-AIEIE(t6٢U  ]2=9]8Q ]>aa eG٣e2Gye; m> uNusing accuracyPremultiplier from configi}k49mO4l?}k4YmG im[;B}?:Ͽ?m]Cm#;m";mk4 Ahh"h*hgggfffrfbfZg@ɛc; WI |<ɚiID =Q@ɠ'>I οi":i )  ο  ο) G% ?G%?GBO5 >J!J%@A]Will construct direction to contact in vehicle frame from tetrahedron phase data.}PExceeded connect timeout, disconnecting.Lw,W3AzK}\KKh9KKKRK&?JK&?>}ߎ@Y>@><9>NO >y>H`i? ݞ$Uyb0?࠯?ɨ>}ߎ@>;>8CyF GBJHIrIrt6٢v䫽 zd=9zfy8Q z>x| ~G٣|y ; >  Nusing accuracyPremultiplier from configk49r3l?k4Y iR;BOϿ?]Cv::k4%|B %޿A%4EhAhA"hA*hAgAgIgIfIfIfIrfQbfUg@ɛy}X y}evI z<ɚiI =wP@ɠ/'>Iοi|:i)ο頕ο) IfWill construct direction to contact in vehicle frame from tetrahedron phase data.EG<GBO l>J=`J=vJ9J9J=:J=ϣ9J9J9aE@aE@aE@aE@u Will construct direction to contact in vehicle frame from tetrahedron phase data.>Lw,q3AB@YB@B<9B~ >yBH˞ O?``v *x`Ӎ?@ ?ɨB@B ;B:CyRFBRHeMb@Mb@Mb@aaa a)aYe~jt?MbP?~jtye?e:eļe\A e̗A)eAIeAayeAI}I}Du6٢ A=9L9Q > G٣y'; > Nusing accuracyPremultiplier from configk493l?k4Y iA;B?:\˿? ^C5;(;k4  Ahh"h*hgggfffrfbf k h@ɛ)- )-͋I) 5<ɚ1i1I5 ==@ =.O@ɠE%%>IE"οiEM:iA)E"οE"ο)IE5X=G BO5 > IWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHHI I\HI~GBI&I.I6I<:IeFBIJIRIZIbIjI04*JM C="JM = Lw,3A2W@Y2@2 <92Q; >y2H&`?V)p:Qw?°?ɨ2W@2;29CyBFBByHIJIJ_v6٢f fX=9f9Q f>hh jG٣j2GynO; n> rNusing accuracyPremultiplier from configpvk49r2l?vk4Yr! ir2;Bxz˿z?rG^Crb;rc;r4k4 fA Will construct direction to contact in vehicle frame from tetrahedron phase data. %nManaging dock network, ignoring radio surface power offh9h9"hA*hAgAgAgAfAfIfIrfIbfMh@ɛ 䲻 4I <ɚi!I%KQ =--M@ɠ-u$>I-Z2οi-9:i-!<)-Z2ο-Z2ο)QEYEY*EY"EYzK=KK=]9K9K=K=  "!!   BKQ:KUsAGBOn> IWill construct direction to contact in vehicle frame from tetrahedron phase data.rLw,\3A:'@Y:q@:<9:ܜ >y:HD̕?`u`G >md? ?ɨ:'@:ډ;::CyBFBFQHININ x6٢R VL=9VN}Q V>XX ZG٣XyZXX; ^> bNusing accuracyPremultiplier from config`fk49bv2l?fk4Yb ( ib";Bdfʿj?b^Cb+;b},;b-k4p rAphh"h*hggg f f f rfbf`S%h@ɛ9E AEέIA Eq<ɚAiIIM =M-U4L@ɠU\#>I]Fοie.:ia)eFοeFο)aJ!J%VJ%1J!J!J%B9J%3J!GqBO==Will construct direction to contact in vehicle frame from tetrahedron phase data.)  ~GxA TÿYxAyI4 I6HI67GBI4&I4.I6RD6I6<:I6@FyFB%.HMb@Mb@Mb@ )Y#~j?I +?~jty%?94<A A)AIypAII$y6٢ 8=9Q > G٣y > Nusing accuracyPremultiplier from configk492l?k4Y/ i ;B2&?:ȿ?^Ce;;k4  Ah1h1"h1*h1g9g9gAfAfAfArfIbfM@3h@ɛ I <ɚiI: =%v%J@ɠ%!>I%eοi-k:i))-eο-eο)QGIBQOu>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,3AzK.w'MK. 9K,K.K.RK6?JK6"?B"@YB2@B<9B >yBH@8@ ?s/e bɕd? ?ɨB"@B;B8Cy^jFB^ HIjIjz6٢r1 r\=9rѺQ r>tt vG٣v2Gyz; z> ~Nusing accuracyPremultiplier from configxk49z2l?k4Yz5 iz:BIȿ ?z _Cz;z:zk4 A5E AIEfhh"h*hgggfffrfbf '@h@ɛiWill construct direction to contact in vehicle frame from tetrahedron phase data.N 隝ʾI -.<ɚiI =n8H@ɠ- >I οiB:i) ο ο)GćJ3K3 K/.KK"KJ=bJ=RJ9J9J=:J=S29J9J9GqBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.'%Lw,3AB%@YB4@B<9B\ >yBHH?y["2 0r?@?ɨB%@B;B6Cy^OFB^HMMb@Mb@Mb@III I)IYMM?V-?~jtyMn2?M G٣y~Q: > Nusing accuracyPremultiplier from config-l49l3l?-l4Y= i:B-2?-:-0ſ5?X_C<Ū<u l49 =SA9hYhY"hY*hagagagafafifirfibfuMh@ɛ b 隥6ؾI z<ɚiI1 =xyE@ɠ>Iοi:i)ο頽ο)G; 1I1GIBQOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHqRHuAAH}m>Iy I}HI}FBIy&Iy.Iy6I}<:I}5F Mw,i 4A:*@Y:9@:W<9: >y:H@.?ӱ?$~?A`% zJp?@x?ɨ:*@:ҝ;:7CyF-FBFHININ ~6٢V VX=9ZXQ Z>XX ^G٣\yb: b> jNusing accuracyPremultiplier from configdnl49f4l?rl4YfD if:Bprſr?f_CfF;f:G;fl4t vAxWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*h!g!g!g!f!f)f)rf)bf-#Yh@ɛQ]mJ Ye8Ia eAu<ɚaiaIe* =mXmC@ɠm>Iu)οiu J:iq)u)οu)ο)yGtA GtAGO <GyBO^>zKUKKh9KKKBK:KtA I!Will construct direction to contact in vehicle frame from tetrahedron phase data.չiչ6 Mw,&4AR#@YR2@R<9R >yRH 4?`Z[ 0`,? ڰ?ɨR#@R=;R8Cy$FBHIE IE<6٢]ڤ e?=9e$Q m>ii uG٣qy} }> Nusing accuracyPremultiplier from configl494l?l4YL i:B7ſ?_C]u;g;)l4 Ahh"h*hJJVJJJJB9JJgggff!f!rf!bf-@gh@ɛW I MVn<ɚiI>=򪽩Y@@ɠ3>I Ͽi:i) Ͽ Ͽ)G G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Mw,w@4AHl>I IIHIFBI =&I.I6I <:IFJ!@YJ21@Jm<9J >yJH@T? @gu`?@!?ɨJ!@J;J7CyZEBZHMMb@Mb@Mb@III I)IYMx?Mb?MbyMK7?M=MMA M̗A)IIIIyMAII>|6٢a C=9ߺQ > G٣2Gy > =Nusing accuracyPremultiplier from config9El49=5l?El4Y=T i=:BE7?E:MſM?=6`C=f;=;=8l4U}B ]A]6Ehh"h*hgggfffrfbf th@ɛ  Ƙ 15I1 =g<ɚ9i9I==EıE=@ɠE\>IE AϿiE:iA)E AϿM AϿ)IGIBQOm>Will construct direction to contact in vehicle frame from tetrahedron phase data.FHMw,YZ4A6@Y6G@6<96' >y6H`#?ۑ'@0@>V@b?@K?ɨ6@6D;69CyFEBF|H PIPzKV KKV9KTKVKV 0!SrR4rW<+ qP@:722Ib Ibր6٢j_ j\=9jAQ j>ll nG٣lyr» r> vNusing accuracyPremultiplier from configtzl49vP6l?zl4Yv^[ iv:BxzNſ~?vx`Cv,;v,;v0El4 A h)h)"h)*h)g)g)g)f1f1f1rf1bf=h@ɛaeƼ aeIa m{a<ɚiiiImN=u8u);@ɠu>IulϿi}:iy)}lϿ}lϿ)yGQBYuWill construct direction to contact in vehicle frame from tetrahedron phase data.O=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.qMw,2t4A6@Y6@6<96^ >y6H@@?`*k`3`ՓE]?ෲ?ɨ6@6";67CyZEB^XHUMb@Mb@Mb@QQQ Q)QYUZd;?ˡE?QyU>?U'=UuUA Q)QIUƠAQyQI Id6٢Z ==9 Q > G٣yc > Nusing accuracyPremultiplier from configl49@7l?l4Yc i:BM??:Ŀ?`C;s;DTl4 ?Ahh "h *h g g g fffrfbfUh@ɛz i I Y<ɚiI(=O8@ɠK>IDϿi:i)DϿDϿ)!G1G5> IfGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<H!I! I%HI%aFBI% =&I!.I!6I% <:I!J% aJ% UJ% 0J! J% :J% >9J% ـ3J! J% ;a5 J% ;a5 J% Q:a5 J% Q:a5 Y#Mw, 4AnWill construct direction to contact in vehicle frame from tetrahedron phase data.yEBZHI Iր6٢eB; eO=9mQ m>iq uG٣u2Gyu > Nusing accuracyPremultiplier from configl498l?l4Yk i:B?aC :7:IfϿi%:i)fϿ頭fϿ)GBO> IzK=ׅOK=9K9K=K=2/.,,*)08:<?>=;9:93/////-./.)'(%"$*)"Will construct direction to contact in vehicle frame from tetrahedron phase data.)Mw,4AVk֎@YV@VD<9Vj >yVHÜL? a7`t @`HS@(?`?ɨVk֎@V;V9CybEBfQHI/ I86٢ %O=9%sQ %>)) -G٣)y \ > Nusing accuracyPremultiplier from configl498l?l4Ys iy:BXſ?eaC;+;pl4 LA7Ehh"h*hggg f f frfbf`h@ɛAE܉Ѽ AE II MkK<ɚIiIIM=U:U2@ɠUO>I]Sпi]:iY)]Sп]Sп)aGIBqO=Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.H m>I  I HI CFBI &I .I 6I <:I ;FBIJIRIZIbIjI-4l0Mw,e4AF@YFOϕ@F謌<9FN>yFH*@?@ Ϡu`dX?U?ɨF@F;F8CyEB`HMb@Mb@Mb@ )Y~jt?=9>ݺQ >AA EG٣IyMIӻ M> ]Nusing accuracyPremultiplier from configQ]l49UA9l?el4YU{ iU}:Be;?e:e-ǿe?UaCU;U;UMl4q u5Aqhh"h*hgggfffrfbf3h@ɛv9Ƽ I 'D<ɚiIt=:ޣ/@ɠ >I>пi:i)>п>п)GGGBO>JJBAJ`JSJ2JJ:Jy69Jc3JJ:J:J5C:J7C:Will construct direction to contact in vehicle frame from tetrahedron phase data. Y I] f͛6Mw,4AJ'@YJq@JlU<9J1>yJHߵ?azJ@y?κ?ɨJ'@JY};HyREBR[HIz! Izr6٢* Z=9~\Q >    G٣ 2Gyu > Nusing accuracyPremultiplier from config%l49w9l?%l4Y i:B!%ǿ%?aC:3: l45~B 5@A1zKMNKMý9KIKMKM  haha"ha*hagigigififqfqrfqbfu h@ɛ$ 隥I I!><ɚiI&=u٢-@ɠ >Icпi:i)cп頽cп)mWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=% Will construct direction to contact in vehicle frame from tetrahedron phase data.] G = T¿Y9 y= DAyFH&@_?_@@礿`ЄRLN?J?ɨFi{@Fӈ;F9CyREBRqH}Mb@Mb@Mb@yyy y)}EY}9v?y&1?{Gz?y}4?}`<}#=}A y)}AI}ƠAyy} AI IU6٢-= A=9YQ > G٣yq > Nusing accuracyPremultiplier from configl49H9l?l4Y i:Bl5?:ɿ?FbC;;ךl4 Ahh"h*h g g g f ffrfbfth@ɛAEļ AEOIA E6<ɚIiIIMT=]D]+@ɠ]^y >I]пi]:iY)]п]п)a IfG)B9O]=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH@AHI III&I.I6Iٲ<:IZFJ dJ UJ J J <:J >9J J J ";J $;J Q:J Q:CMw,zQ5AFk@YF>{@F1#w<9F9e>yFH@.?L2'֥`䎿 ,!?`½?ɨFk@F4;F8CyREBR}HI^ I^6٢f0< fY=9jQ j>hh jG٣lrWill construct direction to contact in vehicle frame from tetrahedron phase data.ynY v> zNusing accuracyPremultiplier from configtzl49v9l?~l4Yv iv:B|~5ʿ~?vbCv ;vh;vl4   A 8Eh1h1"h1*h1g1g1g9f9f9f9rfAbfEh@ɛimӼ imIq u0<ɚqiqIu3==U*@ɠU >IUޢпi]:iY)]ޢп]ޢп)YGu?Gu>G1B9OY IzKLKh9KKK):;/(%  BK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.IMw,#0)5AfY@Yfh@f]0o<9fn>yfH`.*? QonU卿@, ? ?ɨfY@f{;f7Cyxz~HI I6٢-Qu: -E=9-ИQ 5>11 5G٣=2Gy=e => MNusing accuracyPremultiplier from configAMl49E8l?Ml4YE iE:BQU}ʿU?EbCE:EX:El4Y e Aahh"h*hgggfffrfbfh@ɛBȼ I p)<ɚiI=L"(@ɠÁ>I5пi::i)5п5п)Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBOM0> I Will construct direction to contact in vehicle frame from tetrahedron phase data.H l>I  I HI MFBI &I .I 6I [<:I FPMw,- C5AVNN@YV]@Vl<9VGT>yVH ⦿ ?@a恿@`??ɨVNN@V҇;TybFBbHUMb@Mb@Mb@QQQ Q)UAYUNbX9?~jt?S㥫?yU%?UD G٣yHY > Nusing accuracyPremultiplier from configl497l?l4Y i:B<&?:Ϳ?cC;;l4 Ahh"h*hgggfffrfbf h@ɛ 5 15I9 ="<ɚ9i9I=C=EgWE&@ɠEs>IEпiM:iI)MпMп)iGBO>JaJSJ1JJ:Jy69J3JJ;J;J5C:J8C:Will construct direction to contact in vehicle frame from tetrahedron phase data. I VMw,:\5A6FH@Y6W@6k<96w=y6HB J?` :/p ؿ?@?ɨ6FH@69;65CyBFBBHIJIJv}6٢R< RZ=9RbQ V>TT VG٣TyZ Z> Nusing accuracyPremultiplier from config\l49^47l?%l4Y^" i^:B!%Ϳ%?^YcC^Z;^_;^(l4) -A1hYhY"hY*hYgYgYgafafafarfibfmti@zK}MKyKyK}K}33,&$ RK?JK?ɛH ϼ 隭I c6<ɚiIr=g%@ɠ >Iпir:i)п頽п)}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=% Will construct direction to contact in vehicle frame from tetrahedron phase data.]Mw,v5AB=@YBL@B=g<9B=yBH짿%?q忿 <F+ƀe猿¿??ɨB=@B&;B8CyJ/FBJHMMb@Mb@Mb@III I)IYMCl?{GzZd;?yMd?MףMy=I I)MAIIIyMAIeIe{6٢0= <=9vQ > G٣2GyC > Nusing accuracyPremultiplier from configl49)5l?l4Y i:BB?:Կ?cCB;6;Yl4 Ahh"h*hgggfffrfbfi@ɛ!%4 !%7I! -<ɚ1i1I59==-J=B%@ɠ=5>I=пiE9:iA)EпEп)A QIQGiBqO=jHe<bHe4<Hmm>Ii Im HImlFB}Will construct direction to contact in vehicle frame from tetrahedron phase data.Im =&Ii.Ii6Im<:Im,FcMw,㨐5AV)>@YVtM@Vf<9V{=yVH@-䧿Ϸ?CGɀT֌@??ɨV)>@VF;Ty^EFB^HIfIf{6nWill construct direction to contact in vehicle frame from tetrahedron phase data.٢re= vU=9v-Q v>xx zG٣xy~29 ~> Nusing accuracyPremultiplier from config l49]3l?l4Y0 i:BԿ?cC^V;W;l4%B %tA%9EhAhA"hI*hIgIgIgIfIfQfQrfYbf]Di@ɛ*5 7ݾI 9N<ɚi I ܰ=5 :5$@ɠ5>I5пi=:i9)=п=п)9G BO== AIEfzK1MK9KKKA 4etjM=3BK:KsAWill construct direction to contact in vehicle frame from tetrahedron phase data. jMw,y5AN9@YN?I@NlZd<9NQ=yNHk' ?迿 ڨ@Kuƿ?`ٿ?ɨN9@Nx;N6CyV7FBVHInIny6٢z#  ~J=9iQ >  G٣y %> =Nusing accuracyPremultiplier from config1El495m1l?Ml4Y5 i5 ;BQUԿ]?5dC5;5;5l4i mAqJ`JVJJJ:JB9JJa@a@a@a@hh"h*hgggfffrfbf@(i@ɛq}HM 隅7I o <ɚiI,="$@ɠ5>I4пi:i)4п頽4п)G ?G>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.OU2> 1I9Ha Ia  Ie =HIe FBIe =&Ia .Ia 6Ie Dz<:Ie LF Will construct direction to contact in vehicle frame from tetrahedron phase data.\qMw,P5A6=@Y6@M@6/Fh<96Ͻ>y6H j秿 ̵?@@>w.Ȁ w ?`?ɨ6=@6t;67CyB@FBBHmMb@Mb@Mb@iii i)iYm(\?lJ +?ym?mmH=mA mA)iIiiymzAII|v6٢T< A=9k:Q > G٣2GyY: > Nusing accuracyPremultiplier from configm49/l?m4Y i;B?:ؿ?SdC7!;; m4 AIEñпiET:iA)EñпEñп)IGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I) =2wMw,.5A @6<@Y6gK@6b<96m.>y6H`I?@ 1 շH`!] j??ɨ6<@6#;4y^TFBbHIjIj^w6٢rQ= rV=9rx`Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|m49~,l?m4Y~c i~*;Bؿ ?~dC~:~z:~m4 XAhh"h*hgggfffrfbfBi@zKPxOK9KK KnUrcXOF<70+*'$###! UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛae imվIi m;ɚiiiImO!=}}$@ɠ}>I}͜пi}w:iy)}͜п}͜п)GiBqO=J_JJJJ :JJJ Will construct direction to contact in vehicle frame from tetrahedron phase data.^}Mw,5A^I@Y^[X@^{i<9^>y^H5?U@U`n8??ɨ^I@^x;^6Cyf;FBfHeMb@Mb@Mb@aaa a)aYeL7A`?V-S㥛?ye+?eme/ G٣y @k;  > 5Nusing accuracyPremultiplier from config1=m495)l?=m4Y5 i5/;BE(?E:EݿE?5dC5 ;5 ;5(m4I UAQhqhq"hq*hqgqgqgqfyfyfyrfybf/Pi@ɛL 隽jI |;ɚiIѢ=閽%@ɠWy>I'yпi:i)'yп'yп)GGGBO>ZHRH?AH l>I  I VHI FBI &I .I 6I <:I FBIJIRIZIbIjII3]Will construct direction to contact in vehicle frame from tetrahedron phase data.CMw,&6A6iM@Y6\@6b<96U=y6Hz?@@ ) T Կ? ?ɨ6iM@6P;67CyF:FBDININ^w6bWill construct direction to contact in vehicle frame from tetrahedron phase data.٢f f`=9j˛Q j>hl nG٣n2Gynr: r> vNusing accuracyPremultiplier from configpvm49r 'l?zm4Yr ir4;B|~~ݿ?rdCrQ;r=R;r15m4  A =Eh)h)"h)*h)g1g1g1f1f1f9rfAbfE[i@ɛimhм imIi uX;ɚqiqI}=󕽩(&@ɠ>IN[пi=:i)N[п頍N[п)GYBaO= IuWill construct direction to contact in vehicle frame from tetrahedron phase data.zK0NK+9KK!K         mMw,'+6ABxY@YBh@Bg<9B|=yBH/?@|kꦿ& ٿ??ɨBxY@B8r;B5CyJ0FBJHIVIV`u6٢Zϼ ZL=9^C:Q z>xx ~G٣|y~l; ~>  Nusing accuracyPremultiplier from config m49)$l? m4Y, i9;BNݿ?/eC:*:qCm4! %A)hihq"hqJaJSJ2JJ:Jy69Jc3J*hqgggfffrfbf -ii@ɛƼ I ;ɚiI=PՔ&@ɠk>I9пi:i)9п9п)GBO=)=&= 9AGWill construct direction to contact in vehicle frame from tetrahedron phase data. ܹYyA IfH m>I  I I I &I .I 6I d<:I F} Will construct direction to contact in vehicle frame from tetrahedron phase data.VMw,ܜE6A2d@Y2s@2h<92=y2H@|`ϸ?@꿿$9 `{Oʿ? ÿ?ɨ2d@2#;28CyRFBRHeMb@Mb@Mb@aaa a)aYeRQ? rhye?eCeeA a)eAIaayaI}I}|u6٢D >=98Q > G٣y=S; > Nusing accuracyPremultiplier from configm49 l?m4Y i2;B?:G߿?geC;;CRm4 Ahh"h*hgggfffrfbf^vi@ɛybӼ 隅kI p;ɚiI6/=!'@ɠ>Iпi:i)п頽п)GGC?GBO>JJWill construct direction to contact in vehicle frame from tetrahedron phase data. a$?I IMw,Bv_6A6n@Y6h}@6g<96iW>y6H夿`?Z`أC???ɨ6n@6Ý;65CyN FBNHITIT٢b0) bX=9bTQ b>dd fG٣f2GyfG; j> -Nusing accuracyPremultiplier from configh5m49j,l?5m4Yj ij,;B9= ߿=?jeCjS>F=隭lI 4;ɚiIW=W(@ɠǬ>I ϿiF:i) Ͽ Ͽ)=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKw'MK9KK"K     GBO=JcJQJJJ:J-.9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.Mw,:\y6AvN}@Yv@v"l<9vB>yvH ?h,e`;6`??ɨvN}@vH;tyEBnH IMb@Mb@Mb@ )YJ +?T㥛 I +y?9A )IyAII'v6٢b 8=9:Q >  G٣ y ~;  > Nusing accuracyPremultiplier from configm49'l?%m4Y i;B% ?%:%Rܿ%?eC;8; om41 5)A1hQhQ"hQ*hQgQgQgYfYfYfYrfabfei@ɛU 隕I ;ɚiIW=(@ɠe >IϿi:i)ϿϿ)GjH<bHHI I0HIFBI&I.I6I<:I5FBO$>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mw,16A6f@Y6@6l<965>y6H 1?@%b ۙ@ ?q?ɨ6f@6;66CNWill construct direction to contact in vehicle frame from tetrahedron phase data.yREBRUHI^I^v6٢fmd f`=9f8Q f>hh nG٣lyrr; r> vNusing accuracyPremultiplier from configtzm49vl?zm4Yv6 iv ;Bxz"ܿ~?vfCv;v;v{m4 RAh!h!"h!*h)g)g)g)f)f1f1rf1bf5bi@ɛae im Ii m ;ɚiiiIm\=u}Z)@ɠ}s{>I}Ͽi}Q:iy)}Ͽ}Ͽ)GGGBO= I MWill construct direction to contact in vehicle frame from tetrahedron phase data.zK LKKK#KBK:KtAMw,6A66@Y6@6om<96[>y6H չ? #])" G?@߾?ɨ66@6;68CyFEBF,HIVIV v6٢b bK=9f 8Q f>hh jG٣j2GyjC; j> rNusing accuracyPremultiplier from configpvm49rl?vm4Yr ir:Btvۿv?r?fCrX:r:r߉m4| ~A~>Ehh"h*hg!g!g!f!f!f!rf)bf-Bi@ɛQUe QUjIY e;ɚaiaIe==mlm)@ɠmp>ImϿimу:iq)uϿuϿ)qWill construct direction to contact in vehicle frame from tetrahedron phase data.Eu;=GBOe> IH I  I HI WFBI &I .I 6I <:I $F] Will construct direction to contact in vehicle frame from tetrahedron phase data.Mw,~6A6X@Y6@6gm<96F=y6Hҡ?￿,􏄿ҿ?@?ɨ6X@6dĈ;66CyREBRH]Mb@Mb@Mb@YYY Y)YY]M?)\(I +y]n?]Ga]94]\A ]A)YI]ۤAYy]AIuIuw6٢9 >=9Q > G٣yb; > Nusing accuracyPremultiplier from configm49l?m4YF i:B?:~ؿ?~fCf;";ۘm4 Ahh"h*hgggfffrfbfi@ɛ` !%jI! -;ɚ)i)I-JM=5A5)@ɠ5 >I=vϿi=b:i9)=vϿ=vϿ)9E5&t@=G BO= >J3K;3 K;Ϛ.K3K3"K3Jm`JmUJiJiJm:Jm>9JiJiJm:aJm:aJmQ:aJmQ:aWill construct direction to contact in vehicle frame from tetrahedron phase data. I fηMw,+6A2@Y2д@2ul<92=y2H`o@?`d#9@Yp`?`T?ɨ2@2,;24CyBhEBBHIJIJAy6٢b  fW=9fDQ f>hh jG٣hyj; n> rNusing accuracyPremultiplier from configpvm49rVl?vm4Yr ir:Btveؿz?rfCr:r7:rm4| 1Ahh"h*hgggfffrfbf i@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ!%'* !%%I) -m;ɚ)i)I- =uN(u*@ɠu>I}kϿi}z6:iy)}kϿ}kϿ)zK"KKKK$KRK>JK>E}E=GQBYO|> Will construct direction to contact in vehicle frame from tetrahedron phase data.^Mw,&6A LIL5[@Y5@5Um<95,=y5H@⠿?뿿` ƭ@W@fϿ?ࣿ?ɨ5[@5E;55CyEJEBEH Mb@Mb@Mb@    ) Y )\(?:v:vy G!? Լ T -A A) AI  y AI%I%{6٢5ㄽ 55=9=09Q =>99 EG٣E2GyE; E> UNusing accuracyPremultiplier from configIUm49Ml?]m4YMp iM:B]!?e:e7ѿe?MfCML;M\;Mm4q umAuAEhh"h*hgggfffrfbfi@ɛR. Q-I ġG;ɚiIg=)@ɠJ>I8pϿi):i)8pϿ頥8pϿ)EE*E"EZHARHEAAHIII IMHIMFBIM =&II.II6IM̲<:IMQFWill construct direction to contact in vehicle frame from tetrahedron phase data.G!B1OM>J J \J J J J [9J J J J J ف:J ځ:Mw,vq7ABWill construct direction to contact in vehicle frame from tetrahedron phase data.y%EByHI-I-Y~6٢Eoʽ E\=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configamm49el?mm4Ye ie:Biim?e;gCe@:e :em4y }Ayhh"h*hgggfffrfbfi@ɛy}I 隅6I $;ɚiI=񊽩^(@ɠα>IrϿi:i)rϿ頵rϿ) IfGBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9zK- ؞KK- 9K) K- %K-  #((*(&%#!   BK9 :K9 Mw,DL.7AB@YB_@B:Z<9B&>yBH@W@͹?2&Q+G ?5?ɨB@B;@yNDBN8HIj Ij6٢r vP=9vFQ z>| G٣y  > Nusing accuracyPremultiplier from config%m494 l?-m4Y$ i}:B)5Pѿ5?zgC]?;?;m4EB E#AEBEhaha"ha*hagigigifififqrfqbfu1i@ɛUT 隥CI ^6:ɚiIHx=`'@ɠ>IvϿi&:i)vϿ頵vϿ)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. IHM l>II  IM *HIM EBII &II .II 6IM <:IM ,FBI JI RI ZI bI jI ʿ4E Will construct direction to contact in vehicle frame from tetrahedron phase data.qMw,3H7A2ԗ@Y2@2$=<92>y2H`K ?W@9墿 ;|nL??ɨ2ԗ@2&l;0y>DBBH=Mb@Mb@Mb@999 9)9Y=tV?Mb`?V-y=2?=;=m=A =A)=AI= A9y=AIU IU:6٢ew eB=9eQ e>ii mG٣m2Gym u> }Nusing accuracyPremultiplier from configym49} l?m4Y} i}b:BM3?:˿?}gC}0;}C;}Lm4 WAhh"h*hgggfffrfbfi@ɛkY lJI :ɚiIY = Ո%@ɠv>I:ϿiУ:i):Ͽ:Ͽ)GBO=JMaJMRJM1JIJM:JMS29JM3JIJM;JM;JM <:JM <:Will construct direction to contact in vehicle frame from tetrahedron phase data. I Mw,Ob7A64@Y6@6MQ$<96C>y6H䢿@ݶ?` fvecu\?`?ɨ64@6e;4yBDBBHIJ IJ6٢R{ RX=9VꂻQ V>TT ZG٣XyZK Z> bNusing accuracyPremultiplier from config\bm49^" l?fm4Y^! i^I:Bdf̿f?^ hC^:^G:^m4h jAlhh"h*hgggf f f rf bfj@ɛ1=+n 9E:QIA Eu%:ɚAiAIEl2!=M0ևM^$@ɠM~>IMEϿiU]:iQ)UEϿUEϿ)QWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=zK,MK]9KK&K    eG e¿YyUA Will construct direction to contact in vehicle frame from tetrahedron phase data.IMw,{7A Iu`~@Yu@u*<9um>yuH⣿&?iC.jJb?V?ɨu`~@uE;qyލDBލHMb@Mb@Mb@ )YMb?Mb?Mby@?<@A nA)MAIۤAyץAI* I6٢_ .=9;pQ > G٣y > Nusing accuracyPremultiplier from configm49 l?m4Y + i0:B@?:Nʿ?chC#;;m4 Ahh"h*hgggfffrfbf j@ɛAEo\ AMmUII Mp"ɚQiQIU("=]㜆]"@ɠ]>I]Ͽi]8:iY)]ϿeϿ)aGu?Gu>jHbH<Hk>I IHIYEBI&I.I6I<:IFGaBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.Ja Je TJe 2Ja Ja Je :9Je c3Ja Ja Ja Je `J:Je bJ:8.Mw,7A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6p@Y6a@6D;96>y6HƤ ?@Dy` Ut{s? ݻ?ɨ6p@6l;66Cy^DB^HIf9 IfƂ6٢r rl=9rQ r?tt vG٣tyv z? uNusing accuracyPremultiplier from configx}n49z l?}n4Yz1 iz:Bʿ?zhCzj@ɛ XI }hHɚiIj"=S @ɠC>IhϿi:i) hϿ hϿ) GB 9I=fOE=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK 0LK 9K K 'K WMw,7A2Z@Y2\i@2Tё;92 >y2H&,?`x?`BR?&:r u?`?ɨ2Z@2T;27CyR~DBRHIfH If6٢n nK=9nQ r>pp rG٣r2Gyvmڻ v> zNusing accuracyPremultiplier from configx~n49z; l?~n4Yz9 iz :Bʿ?zhCz" ;zT ;z#n4  A h1h1"h1*h1g1g1g9f9f9fArfAbfE*j@ɛ T`I $ɚiI[#=󪄽f@ɠp=I[ пiZo:i)[ п [ п) GB!OE=uWill construct direction to contact in vehicle frame from tetrahedron phase data. AIAH I  I nHI EBI =&I .I 6I <:I !F% Will construct direction to contact in vehicle frame from tetrahedron phase data.m?Mw,m7A=B@Y=JR@=~;9=n>y=H`yֲ?2`F@䍧zm?c ??ɨ=B@=[;=5Cy޵oDB޽HJ1J5AAJ`JJJJ:JJJJ:J:J_J:JMb@Mb@Mb@ )Ysh|??L7A`?y&1yI?+=`-A ?A)IyAIMZ IM6٢]ּ ]=9eii mG٣iym4 u> }Nusing accuracyPremultiplier from configqn49u; l?n4YudE iu9BIJ?:ɿ?uciCup;uo;um*n4 %Ahh"h*hgggfffrfbf`Z 1 I1 jMw,J7A6s'@Y66@6896>y6HO3?@k)y?@ p?$?ɨ6s'@6d;62CybrDBbHInS In76٢v< v=9z`Q z,?xx zG٣|y~0U ~,? Nusing accuracyPremultiplier from config n49+ l? n4YJ i9Bɿ?iC::v3n4! % A!hAhA"hA*hAgAgAgIfIfQfQrfYbf]`Dj@ɛ &v=隍ncI 4=ɚiI%=]@ɠ0=Icпil:i)cп頝cп)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=zK LK+9KK(K1rOvolg[E<MSE8$W &F^iotvsokf`XNH?82-%  Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I9 [Mw,;7AU@YU @Uٽ9U3>yUH 6?@q V?w^?z?`ϻ?ɨU@U ;U5CyޕqDBޙ5Mb@Mb@Mb@111 1)1Y5m?{Gz?y5N?5#=55A 1)5|AI5A1y5zAIMe IM66٢]c ]5=9eQ e>aa mG٣m2Gym m> }Nusing accuracyPremultiplier from configq}n49u l?}n4YugT iu9BN?:rɿ?uiCu{;up;uECn4 "ADEhIhI"hQ*hQgQgQgQfQfYfYrfYbf] Sj@ZHRHHI I{Nw,8A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y%DB%HIUW IUo6٢uJ= u\=9Q >  G٣y > %Nusing accuracyPremultiplier from config!-n49% l?-n4Y%\ i%9B115?%FjC%e";%a#;%Pn4A EAAhaha"ha*hagagagifififirfqbfu_j@ɛ3 隥^I *KɚiIJ'=@ɠ_=Isпix5:i)sп頽sп) IfGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK %OK 9K K )K   BK :K Nw,08A>Lߍ@Y>@>9>>y>H _Э?dG0?w?@v?@ѻ?ɨ>Lߍ@>R;\` bG٣`yb, b> fNusing accuracyPremultiplier from configdjn49f l?nn4Yfnd if:Bln;ʿn?fjCf ;f ;f]n4p rAtJ cJ \J J J :J [9J J a%@a%@a%@a%@hAhA"hA*hAgAgAgIfIfIfIrfIbfU@[kj@ɛy} y}\Iy ɚiI (= @ɠC=IiпiX:i)iп頕iп)MWill construct direction to contact in vehicle frame from tetrahedron phase data. IESE=GGGB)O}>H l>I  I I I &I .I 6I <:I $F Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,J8Ay~DBHMb@Mb@Mb@ )YZd;O?Q?l?y~J?<= A)IyAIU IS6٢:= ;=9Q > G٣2Gy > Nusing accuracyPremultiplier from confign49 l?n4Ym i:BJ?:y̿?jC=N;>;ln4 Ahh"h*hgggfff!rf!bf%!yj@ɛIMd?} TI ɚi I g(=V}@ɠ1=Iѿi:i)ѿѿ)!Ehp=GBO%>eWill construct direction to contact in vehicle frame from tetrahedron phase data. IǸNw,d8A6@Y6ʷ@6796q>y6H ?EY*6?@?ub?:?ɨ6@6-;62CyRDBRHI^; I^6٢fr= fZ=9j'Q j>hh jG٣lyn n> rNusing accuracyPremultiplier from configpvn49r* l?vn4YrQu ir&:BxzSͿz?r5kCr:r@:ryn4| ~TAEEWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbfŅj@ɛvl}  II  ϻɚ i I )=;{@ɠ =Iѿix:i)ѿ%ѿ)!zK%qALK%9K!K%*K%RK5?JK5?E]v=J%aJ%UJ%1J!J%:J%>9J%3J!G1BAO]v>u Will construct direction to contact in vehicle frame from tetrahedron phase data. I fNw,|~8A=@Y=P@=8E:9=B>y=HH ?O:@Ű[? H?\?D?ɨ=@=);9yDB1HMb@Mb@Mb@ )Y/$? G٣y鴻 >jH-<bH-4=H5k>I1 I5{HI5&EBI1&I1.I16I5<:I5BFBIJIRIZIbIjI3 Nusing accuracyPremultiplier from confign49*l?n4Y~ iH:BJ=?:xѿ?kCk8; 7;n4 1Ahh"h*hgggfffrfbf@j@ɛq}me y}lEI ]qɚiI8*=֐y~@ɠ=I^&ѿi0:i^)^&ѿ頵^&ѿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.EE*E"EGu ?Gu>GA BI O} >%Nw,@K8AWill construct direction to contact in vehicle frame from tetrahedron phase data.NXw@YN@N]9N>yNH@%@۪?@?@}?`-??ɨNXw@N;N7CyZ EBZ\HIb$ Ib6٢j= ju=9n:ԻQ n?pp rG٣r2Gyv_% v? ~Nusing accuracyPremultiplier from configxn49zl?n4Yz iz_:Bѿ?zkCz";zB;z7n4 Ah1h1"h1*h1g9g9g9f9f9fArfAbfEj@ɛim iuyHÉG?! Ͳ lN?@?8?4?ɨJ@};5Cy%EB%zHI] I],6٢uwQ= }2=9})Q }>y G٣y@C > Nusing accuracyPremultiplier from confign49l?n4YՍ i:Bҿ?#lC::6n4 Ahh"h*hgggfffrfbfj@ɛ'` AN= 6I  G9ɚ i I xL+='&v @ɠ/=I1ѿi:i)1ѿ1ѿ)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.G!B)O> aIiH) I)  I- HI- cEBI) &I) .I) 6I- <:I- 1F Will construct direction to contact in vehicle frame from tetrahedron phase data.2Nw,:8Ay~YEB~HMb@Mb@Mb@ )YHzG?/$+?y=*?= A)|AIAyAII"|6٢> T=9Q > G٣y >  Nusing accuracyPremultiplier from config n49  l?n4Y  i :B}+?:ؿ? elC 5; ; n4! -TA-FEhIhI"hQ*hQgQgYgYfYfYfYrfabfej@ɛd 隕)I ʦɚiI+=et @ɠ/=I ѿi"q:i) ѿ頥 ѿ)=Will construct direction to contact in vehicle frame from tetrahedron phase data.G!j;GG YIYGBO>9Nw,8A6{9@Y6H@6ì96;=y6H@? M@@@W??п?`?ɨ6{9@6ֈ;66CyBrEBBHDFAHHININw6٢V&= Vb=9ZQ Z>XX ^G٣^2Gy^ҽ b> fNusing accuracyPremultiplier from config`fn49bk?jn4Yb՚ ib:Bhjؿj?blCb;bQ;b`n4p r"Aphh "h *h gg!g)f1f9fArfAbfEj@ɛiu xd quj#IqWill construct direction to contact in vehicle frame from tetrahedron phase data.  XɚiI1,=r K @ɠ =I  ѿi :i) ѿ ѿ)9GU >G)B9O]>zKe+KKe9KaKe,KeJbJZJ1JJ:JS9J3JM Will construct direction to contact in vehicle frame from tetrahedron phase data. M _$?IM f0?Nw,8AyEBHZHRH@AHI ICHIEBI =&I.I6I<:IBFMb@Mb@Mb@ )YX9v?+ˡE?y?=-A A)MAIMAy(AIIt6٢%= %)=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9En49=k?En4Y= i=:BE?M:MݿM?=lC=;=`;=Ln4Q UAQhh"h*hgggfffrf!bf%`j@ɛWill construct direction to contact in vehicle frame from tetrahedron phase data.A 隽I k ɚi!I%,=-Zp-.@ɠ-R~=I-пi-){:i1)5п5п)1E- | u=G1  G1 "G1 G1 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G ?G 1?G B O >FNw,9A I m*@Ym1:@m9mhU=ymH`?A#$\rݣ?Lٝ?ҿ??ɨm*@mb;m3CyޅEBޅ+HIIFr6٢= H=9Q > G٣y > Nusing accuracyPremultiplier from confign49qk?n4Y9 i;B4޿?'mCL;cM;n4 Ahh"h*hgggf f f rf bf /j@ɛ1=R 9=I9 =<'ɚ9iAIMd,=MvnU@ɠU=IUdпiUJ:iQ)UdпUdп)YE%gW=GB)OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= KK= 9K9 K= -K=  MNw,69AF,@YFh;@FB9Fl=yFH {३?a澿 S@?\?`?@?ɨF,@Fj;DynEBrSHIzpIzHo6٢ =  V=9SQ >!! %G٣%2Gy-,9 -> =Nusing accuracyPremultiplier from config1En495_k?En4Y5 i5=;BIM-޿M?5_mC5";5;5n4Q UZAQhqhqWill construct direction to contact in vehicle frame from tetrahedron phase data."hy*hgggfffrfbfj@ɛܻC 隭i I .ɚiI-=Fl@ɠ=Ioпi[`:i)oпoп) 9IEfE L=HIII IMHIM$FBII&II.II6IMD<:IMFGBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.SNw,wP9A:V9@Y:H@:T 9:P[=y:H`? Jٲ,? ^?@ѿ?๻?ɨ:V9@:;:5CyFEBF`HMMb@Mb@Mb@III I)IYM)\(?)\(p= ף?yMG?MGaM=MA MA)IIMAIyMAIeHIej6٢u< uC=9}Q }>y G٣y6~; > Nusing accuracyPremultiplier from confign49k?n4Yo i];B?:⿑?mCv;;n4 EAGEhh"h*hgggfffrfbfj@ɛ#H !%I! %o5ɚ!i!I%O-=-HjJ5@AJ5@AJ=aJ=VJ=2J9J=:J=B9J=c3J9J=;aMJ=;aMJ=X:aMJ=X:aU-@ɠU=IUftпi]R:iY)]ftп]ftп)YEaEa*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data. 1I1GBOj>= Will construct direction to contact in vehicle frame from tetrahedron phase data.!ZNw,{j9ANA@YNP@NRf9N~>yNHQϳn? #*+?k?w??ɨNA@N;N3CyZEBZgHIb>Ibi6٢jY< jU=9j*Q j>ll nG٣lyrG-; r> zNusing accuracyPremultiplier from configt~o49vk?o4Yvq iv{;B⿑?vmCv3;v3;vo4 B ;AJEh)h1"h1*h1g1g1gyfyffrfbf@]k@ɛF iI f<ɚiI]y-= i @ɠ =I Iпi 8:i ) IпIп)9G)B1zKMKKM9KIKM.KM <CJOKMPNNKHGCA>;76333-)#  ,<EGJNQTUZ_dedOe=Will construct direction to contact in vehicle frame from tetrahedron phase data.  I aNw,p9A <<Hvj>It Iv HIvlFBIv =&It.It6Iv<:IvF5R@Y5a@595>y5H9H ?L@*??` ??ɨ5R@5;1yUFBUH5Mb@Mb@Mb@111 1)1Y5!rh?L7A`尿S㥛?y5l>5+5/<1 1)5|AI5A1y5AIM=IMi6٢]j= ]3=9e:Q e>ii mG٣m2GymJ; u> }Nusing accuracyPremultiplier from configq}o49uk?o4YuȽ iu;BI>:濑?umCuN;u1;uo4 Ahh"h*hgggfffrfbf`k@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ 8 lI Cɚ i I c-= g|@ɠ=Ieпi:i)eпeп)GBO#>Jc3K3 K.KK"KJMbJMRJIJIJM:JMS29JIJIJMU ;JMX ;JM <:JM <: Will construct direction to contact in vehicle frame from tetrahedron phase data. I 1gNw,+9A:[c@Y:r@:9: >y:H²`?^@a S?У?`??ɨ:[c@:͇;8ybEBbHIj-Ijg6٢r" vg=9v Q v>xx zG٣xyz; z> Nusing accuracyPremultiplier from config o49k? o4Y i;B  忑 ?&nC;:~:F%o4  A!hAhI"hI*hIgIgIgIfIfQfQrfQbfU "k@ɛyK 隅I zIɚiI-=t]e@ɠ5=IϿi:i)Ͽ頝Ͽ)GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.zK 3NK 9K K /K daa]XVOJF@:5+)'" BK tA:K [mNw,9A2bs@Y2@2f?#92Y>y2HB ? @ڰ`è?f???ɨ2bs@2Z;24CyREBRcHI~+I~g6٢ (  H=9B7Q > G٣y; > -Nusing accuracyPremultiplier from config!-o49%k?5o4Y% i%;B15忑5?%UnC%:%:%3o49 EAAAeWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf@=/k@ɛ I 6I PɚiI-=`c@ɠ =IPϿi9 :i)PϿPϿ) IGBO=HI I=HIFBI&I.I6I#<:IFBIJIRIZIbIjI4 Will construct direction to contact in vehicle frame from tetrahedron phase data.CtNw,9A2@Y2 @2~'92=y2H_? ::?@E? ?V?ɨ2@2g9;23CyNEBR\H)T TmMb@Mb@Mb@iii i)iYmy&1?DlQym`>mOmumζA mA)iImbAiym\AI"If6٢[T B=9 Q > G٣2Gy; > Nusing accuracyPremultiplier from configo49k?o4Y i;B5>:俑?nCs;;NBo4 MAhh"h*hgggfffrfbf `yBH<? k` ;ঌ?f? ??ɨB@B;B1CyJEBJMHIV2IVjh6٢^ ^Z=9b Q b>`` fG٣dyf; f> rNusing accuracyPremultiplier from configlvo49nk?vo4Yn in;Btv俑v?nnCn;n;nzOo4| ~gA~KEh!h!"h!*h!g!g)g)f)f)f)rf1bf5Hk@ɛimtY im Ii u"^ɚqiqIuO.=(u_M@ɠ=IzZϿi>:i)zZϿzZϿ)GBO=zKMK9KK0K"nD g  8 q Z ! n RK>xAJK?) UBYUxAyUԷAuWill construct direction to contact in vehicle frame from tetrahedron phase data. IfGXNw,:AHLIL ILILIL&IL.IL6INu<:INFuK@Yu@u4*9u[>yuH ?@du@A?D?@y?!?ɨuK@u;qyލEBލ1HeMb@Mb@Mb@aaa a)aYei|?5?V-v/ye>emexieʶA eA)eפAIe/AayeAI}CI}Lj6٢TA 0=9:Q > G٣yW; > Nusing accuracyPremultiplier from configo49^k?o4Y i;B9>:޿?nC6-;^7;_o4Will construct direction to contact in vehicle frame from tetrahedron phase data. Ahh"h*hgggfffrfbf@Wk@ɛ15P 15PI1 5KNgɚ9i9I=>.=]>]]@ɠ]=I]3Ͽi]:ia)e3Ͽe3Ͽ)aG!B1OU>J1J5YJ1J1J1J5[O9J1J1J1J1J54n:J56n: Will construct direction to contact in vehicle frame from tetrahedron phase data. } ^$?I ÀNw,Bx:A6S@Y6@6_S,96\>y6HgN?y>@j[ {?ˈ?z?@?ɨ6S@6Gʈ;4yBEBBHIJYIJl6٢z zh=9~Q ~> G٣2Gy8:  > Nusing accuracyPremultiplier from config %o49 k?%o4Y ! i ;B)-޿-? oC -e; e; ko41 5A1hYhY"hY*hYgagagafafafirfibfmbk@ɛu 隥7I GHnɚiIkr.=[@ɠ=IZϿi=:i)ZϿ頽ZϿ)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK% >PK% ]9K! K% 1K% _\qJ.q1k?m\P@0$~{wrkea]YWTQBK) :K) 9Nw,T9:A:@Y:@:nq/9:z>y:Hp?@@㭿ک?`v? ? %?ɨ:@:㓈;:5Cy^yEB^HIfmIfn6٢nc{ nL=9rQ r>pt vG٣tyvV: v> ~Nusing accuracyPremultiplier from configx~o49zHI IHIvFBI&I.I6IH<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.Nw,)S:A6@Y6к@6396P>y6H¯?@ w`;o?x?:??ɨ6@6p;62CyBKEBBHMb@Mb@Mb@ )YDl?~jt ףp= yO ?Q ݛA)AIyAI5I5r6٢E޽ ED=9M'Q M>II UG٣QyU$# U> mNusing accuracyPremultiplier from configamo49e k?uo4Ye- ieO;Bu?u:u`׿u?eoCe;eu I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,m:AJ5@YJ@J$79JW>yJHѣ>?<ÿh< ??"E?lp rG٣r2Gyr r> zNusing accuracyPremultiplier from configtzo49vk?~o4Yv iv3;Bo׿?voCvU=;v=;v%o4  A h1h1"h1*h1g1g1g1f9f9fArfAbfE`_k@ɛqu0 qul5Iq }bɚyiyI}./=U`@ɠ'=Iοi::i)ο頍ο)GGGYBaO}=zK-۳OK-9K)K-2K-GB>:76/,'&'#"!      J J UJ J J J >9J J a@a@a@a@mWill construct direction to contact in vehicle frame from tetrahedron phase data. I¦Nw,-:AjH<bH4<H"k>I  I"HI"/FBI &I .I 6I"j<:I"Fs@Y@<9>yHѰ Ԯ?ſ f"?0?I??ɨs@;3CyEBTHWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձMb@Mb@Mb@ )Yy&1?y&1RQy`%?`e½(A jA)5AIAyAII w6٢疽 -=9)Q > G٣y;ú > Nusing accuracyPremultiplier from configo49I *ɚiIXx/=:S~@ɠ=Iοi:i)ο頵ο)GBO>*J "J 4=] Will construct direction to contact in vehicle frame from tetrahedron phase data. I fΧNw,:A.6@Y.@.THB9.>y.H"?e鿿`d쮿j?F?`?``?ɨ.6@.L;.0CyBDBB*HIJIJAy6٢R˽ Rx=9VUQ V?TT VG٣TyZ\x Z? ^Nusing accuracyPremultiplier from config\bo49^k?bo4Y^ i^:Bdfѿf?^?pC^ :^L:^*o4h j@Ahhh!"h!*h!g)g)g1f1f1f1rfbf@k@ɛ15j♽ 9=FI9 =2ɚ9i9I=/=E-yQE@ɠMǠ=IMvοiM!:iI)MvοMvο)QG)B9Oe=Will construct direction to contact in vehicle frame from tetrahedron phase data.J% bJ% TJ% 2J! J% :J% :9J% c3J! zK MMK 9K K 3K  WNw,,׺:A:#@Y:n@:F9:>y:H[:?῿}`J@k?Ԩ?@`?`?ɨ:#@:p;:1CyFDBFHININ{6٢VK VH=9Z-Q Z>XX ZG٣^2Gy^k ^> jNusing accuracyPremultiplier from configdro49fek?vo4Yf if:Btzҿz?fpCf;f؛; Will construct direction to contact in vehicle frame from tetrahedron phase data.fo4! %iA!hAhA"hA*hAgIgIgQfQ iIqfYfqrfbf@k@ɛAErR AEKIA MɚIiIIM^0=U8{Ou(@ɠuut=I}Kοi}^:i)Kο項Kο)G?G?GiBO=Hi>I IOHIEBI =&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data. Nw,r:AynDBrH}Mb@Mb@Mb@yyy y)yY}Gz?Mbp#~jy}p=?}}㥽}A };A)}AIyyy}zAII"|6٢ ==9Q > G٣y > Nusing accuracyPremultiplier from configo49k?o4Y i:B>?:п?pC0;-;o4JAAJBA Ahh"h*hgggfffrfbfk@ɛ| mSI ͙ɚiIN}0= nM  @ɠ =I Yοi z:i)YοYο)G B-Will construct direction to contact in vehicle frame from tetrahedron phase data.O= > iIq Will construct direction to contact in vehicle frame from tetrahedron phase data. Nw,O:A6s@Y6<@6(R96,>y6H;?SS gĮ?jV???ɨ6s@6Y;6/CyBDBBHIJ IJ,6٢R? V\=9VQ V>XX ZG٣Xy^p ^> =Nusing accuracyPremultiplier from config9Eo49=Gk?Eo4Y= i=:BIMѿM?=qC=7:=:=o4Q UAQhqhq"hy*hygygygyfyffrfbf Gk@ɛ. 隽 WI ̞ɚiI0=K@ɠ,=IpοiE:i$)pοpο)GBO=JaJJJJ:JJJzK$7LK9KK4K  -9EX`gy=Will construct direction to contact in vehicle frame from tetrahedron phase data. iIiZH ?ARH ?AH% h>I!  I% HI% EBI% =&I! .I! 6I% a<:I% FNw,7;ABI)JI)RI)ZI)bI)jI- 5_@Yn@W9o>yHܲ`?`S L?e? J|?L?ɨ_@Ƈ;2CyDB HWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y &1?{Gz?~jty P? ף< D A nA) ƠAI A y ץAI% I%6٢5ļ 5'=95<'Q =>99 =G٣=2GyEv E> eNusing accuracyPremultiplier from configYmo49]k?mo4Y] i]:BuQQ?u:upοu?]qC]<;];;]o4y }Ahh"h*hgggfffrfbfk@ɛQ^  ZI qɚiI*01=^nIU@ɠT=IϿi:i)ϿϿ)GBO(>uPExceeded connect timeout, disconnecting. A IE fM Will construct direction to contact in vehicle frame from tetrahedron phase data.BNw,u";A6L@Y6'\@6^^96B>y6Hq?lԿ@;نo>?`ȫ?`Yv?˯?ɨ6L@6j;4yBDBBHIJ IJ6٢V V=9ZQ Z ?X\ ^G٣\y^ b ? fNusing accuracyPremultiplier from config`fo49bk?jo4Yb ib:Bhjοj?bqCb:b:bo4p rAth h "h *h gggfffrfbf`k@ɛAEoZ IM]II M塚ɚIiIIU1=U|G].@ɠ]|=I]g!Ͽi]e:iY)]g!Ͽeg!Ͽ)aGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.)mf= m&CAG xA M YM xAyM !AJ `J J J J :J J J zK MK ]9K K 5K xnfa]VNQ[cc`\WQJC@:60*++'%"   ENw,;;AB2@YBA@B$c9B>yBHBI?`FMQ?w?h??ɨB2@B ;B1CyJDBJHIPIP٢Z-< ZJ=9^ Y pIpQ v>tt vG٣tyz+ z>Will construct direction to contact in vehicle frame from tetrahedron phase data.  Nusing accuracyPremultiplier from config p49 k?p4Y v) i :B&Ͽ? rC : z: 6p4A EAAhh"h*hgggfffrfbf k@ɛAE AE[II MɚIiIIMM1=uEu@ɠu6=I}5Ͽi}:iy)}5Ͽ}5Ͽ)Hi>I IHIYEBI =&I.I6I<:I9FG;G1B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.-Nw,U;A nManaging dock network, ignoring radio surface power off:@Y:e*@:i9:>y:H '?  @?c/?k?@?ɨ:@:{;:4CyFDBFHUMb@Mb@Mb@QQQ Q)QYUZd;?y&1?~jthyU^?U`e=9UQ > G٣yܻ > Nusing accuracyPremultiplier from configp49k?p4Y"3 i:B_?s:|ѿ?yrC7;x5;p4 APEhh"h*hgggfffrfbfnk@ɛ%! !%SWI! %wɚ!i!I-12=5 D=@ɠ=oi=I=CϿi=:i9)=CϿ=CϿ)AG] IWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOu> Will construct direction to contact in vehicle frame from tetrahedron phase data.[Nw,o;A2W@Y2@2ܿp92>y2H@?q*B@? ?tc?P?ɨ2W@2);25CyJDBNHIV IV,6٢^ʗ= ^W=9bQ b>`` bG٣f2Gyfz f> jNusing accuracyPremultiplier from confighnp49jk?np4Yj; ij:Bprѿr?jrCj :j.:jA#p4t vAthh"h*hgggf!f!f!rf!bf- l@ɛI h  PI ɚiI[y2=;3B@ɠ%r=I%LϿi%@:i!)%LϿ%LϿ))zKx_NK 9KK6K   RK >JK ?GuR IfWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBYOuy>jH <bH <H h>I  I I I &I .I 6I <:I F"@Nw,zp;A@Y]@Qv9D>yHHzۡ?t`jZ@#?`ڮ?`*u??ɨ@C;騍3CyUDB]H}Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y ףp= ?)) -G٣)y5B 5> =Nusing accuracyPremultiplier from config9Ep49=Žk?Ep4Y=pF i=;BEX?Ez:EӿM?=5sC=U;=;=4p4a ebAahh"h*hgggfffrfbfl@ɛR 隝JI ?ɚiI2=c?@ɠs=INϿih:i)NϿNϿ)G G"GGJjJRJ1JJ.:JS29J3JJ4;aJ4;aJ <:aJ <:aG B I O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.iNw,J;A6Ԍ@Y6,@6}96(>y6H`2*`T?4c @e??0q?`M?ɨ6Ԍ@6`;60Cy> EBBWHIJIJ[|6٢R#> R~=9RQ R ?TT VG٣TyZ Z ? ^Nusing accuracyPremultiplier from config\%p49^̻k?%p4Y^M i^2;B!%%Կ-?^zsC^k<^k<^T?p41 5A1hYhY"hY*hYgYgagafafafarfibfm`$l@ɛnͪ 隝=I MļɚiI2=>s@ɠ=IOϿiO:i)OϿ頭OϿ)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉzK5 .LK5 ػ9K1 K5 7K5 44+#  (00)$  BKA :KA Nw,(;A I&f6@Y6LΓ@6R96>y6H׷@ҝ?` @?e0?M??ɨ6@6/};62Cy^.EB^HIfIf"|6nWill construct direction to contact in vehicle frame from tetrahedron phase data.٢v= vF=9vWQ v>xx zG٣z2Gy~ӻ ~> Nusing accuracyPremultiplier from config p49/k? p4YV i[;B ~Կ?sC::Mp4 AQEhIhI"hI*hIgQgYgYfafafarfabfm2l@ɛk6 隕k4I ɼɚiI3=< @ɠ=IMϿi+:i)MϿ頭MϿ)G)B9O]>HyIy I}HI}EBIy&Iy.Iy6I}<:I}1FWill construct direction to contact in vehicle frame from tetrahedron phase data.~Nw,= ;A2 @Y2V@2792G->y2Hm%?@y{x@$y? ?͐??ɨ2 @2 ;0yNbEBNH-Mb@Mb@Mb@))) )))Y-&1?~jth+?y-P?-D-=) ))-AI-A)y)IEIEw6٢M= UD=9UHQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiup4JJJ`JSJ2JJ:Jy69Jc3JJ:J:J5C:J7C:9mk?p4Ym_ im;BQ?:d׿?m*tCm Will construct direction to contact in vehicle frame from tetrahedron phase data.|Nw,r;A R}@YRȨ@RG[9RD>yRH? ~ճ?SȰ??@5?ɨR}@R;R0CyZEBZHIbIb v6٢j(> jS=9n0Q n>pp rG٣pyrZ v> zNusing accuracyPremultiplier from configxp49zk?p4Yzg iz;B׿?z{tCzZ;z;zip4 Ah1h1"h1*h1g1g1g9f9f9fArfAbfEGKl@ɛim qu7Iy }iѼɚyiyI}&3=9 @ɠP=I"2ϿiL@:i)"2Ͽ頍"2Ͽ)GqBO= !I!zK]cMK]9KYK]8K]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHa RHa Hq Iq  Iu uHIu EBIu =&Iq .Iq 6Iu q<:Iu FOw, ynHc`?B@}O???U?ɨn@n؇;n4CymEBmVH]Will construct direction to contact in vehicle frame from tetrahedron phase data.aieAI}I}r6٢b > /=9ѺQ > G٣2GyS > Nusing accuracyPremultiplier from config%p49Ck?-p4Yq i*J4="J=JbJUJJJ:J>9JJJU ;JX ;JQ:JQ: I f Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,$ \=9Q > G٣y > Nusing accuracyPremultiplier from configp49k?p4Yx i9;Bp4 Ahh"h!*h!g!g!g!f!f)f)rf)bf- fl@ɛq}P 隍Ia mټɚiiiIm 3=uy"5u@ɠuU!=IuϿi}d=:iy)}Ͽ}Ͽ)yeWill construct direction to contact in vehicle frame from tetrahedron phase data.G}GQBaO}>  I MOw,m>~@Y>@>h9>{>y>H@Թ? `jVT?)???ɨ>~@>;>0CyFAFBJHIR5IRh6٢Z > Z^=9ZQ Z>\\bWill construct direction to contact in vehicle frame from tetrahedron phase data. bG٣dyfM f> jNusing accuracyPremultiplier from confighnp49jk?np4YjT ijlyNH(ܹ? WQr m?`D?i? ?ɨN}@N;N.CyVFBZ#HEMb@Mb@Mb@AAA A)AYE)\(?lZd;O?yEG!?EEj=E\A EA)EAIEAAyEAIUIUe6٢e> m?=9mh~Q m>iq uG٣u2GJyJ}AAJSK[3 K[(.KSKS"KSJJYJJJJ[O9JJJJJ3n:J6n:yd > Nusing accuracyPremultiplier from configp49k?p4YP i Will construct direction to contact in vehicle frame from tetrahedron phase data.ROw,#ry6H'¹ז?`Un?E?@~?@i?ɨ6 @6c;6/CyRFBRZHIZIZ5c6٢%W= -O=9E<+Q M>mGq G٣ e¿YyUAy~: > Nusing accuracyPremultiplier from configp49k?p4Y i:i)mοmο)!GY GY"GaGa IzK>KKKK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>jH bH <H I  I HI GBI &I .I 6I i<:I F"Ow, G٣y  >MWill construct direction to contact in vehicle frame from tetrahedron phase data. eNusing accuracyPremultiplier from config1up495ǜk?}p4Y5 i5=B?5+vC5 <5;5p4Y ]iA]VEhh"h*hgggfffrfbfdl@ɛ2B I ɚiI`*2=-@ɠz=I^οiG߫:i)^ο^ο)EMUP= IfJcJSJ1JJ:Jy69J3JJ;J;J5C:J7C:Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.|)Ow,C9A EG٣E2GyI M> ]Nusing accuracyPremultiplier from configYep49]fk?mp4Y]m i]7=Bm ?u:u濑u?]dvC] a;]^;]ip4 Ahh"h*hgggfffrfbfml@ɛ>= I HaɚiI1=L+E@ɠ;=I@$οiCۨ:i)@$ο@$ο)E[1=EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOD> a Ia //Ow,%nj@Y>>ד@>*9> >y>H;n?`f|@e??@5=? ?ɨ>nj@>o;>1CyJ!GBJHRWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ Z6٢by= be=9jzKr~KKrh9KpKr;KrBK|:K|Q > G٣y l<  > Nusing accuracyPremultiplier from configp49k?p4Y iX=B!%忑%?vC2 ; ; p4) -ȿA)hIhI"hI*hQgQgQgQfQfQfYrfYbf]`ϲl@ɛ4 隍d^I /ɚiI1=E*@ɠ~=IsͿiT:i)sͿ頝sͿ)HI I\HI~GBI =&I.I6I<:I$FEK'=GBOl>eWill construct direction to contact in vehicle frame from tetrahedron phase data.=6Ow,y2H?``@>?̱?c? ?ɨ2L@2j;2,CyR4GBVHMb@Mb@Mb@ )Y/$?L7A`尿Zd;O?y&>+j<XA )AI^AyAIIW6٢1= <=9dĺQ > G٣y\ < > Nusing accuracyPremultiplier from configp49k?p4Y im=B>:濑?vCN;;p4B A \$?Ihh"h*hgg!g!f!f!f!rf)bf-`l@ɛQU[* Y]/KIY ]~ ɚaiaIe81=m'm=@ɠm=IuͿiu^:iq)uͿ}Ϳ)yEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO%o>e Will construct direction to contact in vehicle frame from tetrahedron phase data.DCyJH`.@?@"@đ)I?`?`K?C?ɨJ4@J:D;J0CyRIGBVHIbIb=Y6٢j]= jY=9j:Q j>ll nG٣n2Gyr< r> vNusing accuracyPremultiplier from configtzp49vak?zp4YvD iv~=Bx~忑~?vvCv ;v ;vp4 {AYEh)h)"h)*h)g)g1g1f1f1f9rfAbfE l@ɛ' b6I 1ɚiI90=%&%@ɠ%=I%@Ϳi%E:i))-@Ϳ-@Ϳ))G)B9Oe=JmbJmVJiJiJm:JmB9JiJia}@a}@a}@a}@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK5&(KK5 9K1K5<K5$$ RKE?JKE$?ZH @ARH H g>I  I HI GBI &I .I 6I v<:I FA/COw,l[ =Ab^@Ybn@bmm9b>ybH޲`? D J4ٳ?;j??@>?ɨb^@b+;`ynUGBn+HIvIvXZ6٢~< ~G=9~i*;Q ~>   G٣ yL< %> ENusing accuracyPremultiplier from config9]q49=Ɖk?]q4Y=T i==Bam忑u?=+wC= ;=;=q4 cAWill construct direction to contact in vehicle frame from tetrahedron phase data.hh"h *h gggf!fifirfqbful@ɛ&! a*I sɚiIl0=#@ɠ=IUͿi:i)UͿUͿ)GB!OM2> I Will construct direction to contact in vehicle frame from tetrahedron phase data.TIOw,"'=A6@Y6Җ@6K96Q>y6H՚̠?@5Z`)`! j?&&?`?`?ɨ6@6?;6-CyBYGBB0H]Mb@Mb@Mb@YYY Y)YY]sh|?? rhy]>]C]̼]A ]?A)]ƠAI]3AYy]GAIIvX6٢$< A=9!;Q > G٣y-A< > Nusing accuracyPremultiplier from configq49gk?q4YW i=B>:㿑?]wCh;};Nq4 [AZEh!h)"h)*h)g)g)g1f1f9f9rf9bf=pl@ɛI& a&I  yiɚiI0=%!%@ɠ%U=I-@)Ϳie˜:ii)m@)Ϳu@)Ϳ)qGIBQOm>%Will construct direction to contact in vehicle frame from tetrahedron phase data.J J SJ 2J J J y69J c3J I Cy6Hf?L@@C ???@?ɨ6\@6Ž;6/CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF^GBF5HININ;[6٢ft:< fY=9j(;Q j>hh jG٣n2Gyn2)< r> vNusing accuracyPremultiplier from configtzq49vok?zq4Yvֶ iv=B|~㿑~?vwCv;vy;vx!q4 RA zKK5NKػ9KK=KS/  09# BK):K)hh"h*hgggfffrfbfl@ɛ# !I jɚiIM/= @ɠ=IͿi!:i!)%Ϳ%Ϳ)!G1BIOu=HQIUʍC IUHIUHBIU =&IQ.IQ6IUIJ<:IUDF=Will construct direction to contact in vehicle frame from tetrahedron phase data.gVOw,'Z=A2̍@Y2Q۔@2292=>y2H?Q`{?i?`0? ?ɨ2̍@2y3;2.CyN_GBN6HMMb@Mb@Mb@III I)I aIefYMK?J +V-yM^>MHMmM-A MnA)IIMbAIyMAIuIu9^6٢3; ?=9h;Q > G٣y+< > %Nusing accuracyPremultiplier from config!-q49%πk?-q4Y% i%=B-^>-:-Pۿ5?%wC%"";% ;%0q49 =PA9haha"ha*hagigigififqfqrfqbfu@m@ɛ! 隥 I ɚiIm/= f@ɠg==Ik̿i;m:i)k̿頽k̿)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data. \Ow,t=An-@Yny@n9nY>ynHwS`?x~勨?I5? ?w?ɨn-@n3;n0Cyz^GBz5HII_6٢y Q=96H;Q >!! %G٣)y-< -> =Nusing accuracyPremultiplier from config1=q495~k?=q4Y5^ i5s=BAEڿE?5wC5:5C:5 >q4I MRAIhqhq"hq*hqgqgqgyfyfyfyrfbf y m@ɛ% 隵!I zɚiI%/=@ɠ¹=I̿i :i)̿̿)GBO= IIIJ]aJ]UJYJYJ]:J]>9JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.zKxLK9KK>K  jHA bHE <HM f>II  IM =HIM 5HBII &II .II 6IM h<:IM FBIJIʍCRIZI =bIjIY4xcOw,!=AB@YB@B}9B!>yBHs?cw A䦿?7?U??ɨB@B;B1CySGB (HII`6٢-Լ -I=95B|;Q 5>11 5G٣=2Gy= < => MNusing accuracyPremultiplier from configAMq49E]|k?Mq4YE iEe=BQUpڿU?E$xCE@:E:E8Lq4a egAihh"h*hggWill construct direction to contact in vehicle frame from tetrahedron phase data. Ai gf)f)f9rf9bfE,m@ɛ# 隽b,I ZɚiI.=y@ɠ.=I̿i/{:i])̿̿)G?G>GBO$> 9IA*JUC="JU%= Will construct direction to contact in vehicle frame from tetrahedron phase data.ϢiOw,j=A6@Y6@6fy96p>y6H`$I?q T0 @?d?? Ǡ?ɨ6@6n;6/CyRTGBR)HMb@Mb@Mb@ )YMbX?X9vʡEy ? A)AIyQAIIc6٢_: @=9R;Q > G٣ymx; > Nusing accuracyPremultiplier from configq49zk?q4Y iP=B^ ?:oԿ?_xC`+;;[q4 fA h)h)"h)*h)g)g)g1f1f1f1rf9bf=(m@ɛaew* ae+Ii uɚqiqIu .=}}@ɠ}ח=Il̿i6W:i)l̿項l̿)GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.) EAGYq ܿYyA 1 I1 J bJ RJ 0J J :J S29J ـ3J ֊pOw,RF=A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6c @Y6/@6.t96|j>y6HӴ`?`Lw7?@?`>? 2?`?ɨ6c @6e:;6.CyR,GBRHTVAIZ$IZf6٢f׽ f\=9f8P;Q j>hh jG٣hyn1; n> rNusing accuracyPremultiplier from configpvq49r&yk?vq4Yr ir>=Bxz-Կz?rxCrL:rX:rhq4~B A[Eh!h!"h!*h)g)g)g)f)f1f1rf1bf5@3m@zK]FLK]9KYK]?K]ɛ155 9=SI9 =ɚ9i9I=Cf.=EEF@ɠE =IMi̿iM6/:iI)Mi̿Mi̿)QGQBHI I$HI!HBI&I.I6IB<:IFO >Will construct direction to contact in vehicle frame from tetrahedron phase data.vOw,;=A: +@Y:V:@: mo9:(>y:HV ?@s/孤@2?D?c?8?ɨ: +@:@`;:/CyF$GBFH `IdJJ@A5Mb@Mb@Mb@111 1)1Y5S?~jtx㥛 y5/?5Ļ55\A 5̗A)1I5A1y5AIM:IMMi6٢u  u@=9u3;Q u>y G٣2Gy+H; > Nusing accuracyPremultiplier from configq497xk?q4Y i.=BL?:uο?xC1;;vq4 Ahh"h*hgggqfqfyfyrfybf}@1Bm@ɛ3 隭1[I SɚiI0.=@ɠ=IP̿iF :i)P̿P̿)uWill construct direction to contact in vehicle frame from tetrahedron phase data.GKGGGqBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.|Ow,=A6.@Y6=@6Wj96>y6H Ө?`amΌ;?`S???ɨ6.@6;6-CyRGBRHIZ9IZ0i6٢bI bV=9bMD;Q b>dd fG٣dyj+: j> 5Nusing accuracyPremultiplier from configl=q49ncwk?=q4Yn in=B9EhοE?nyCn ;n. ;n7q4I MAIhihi"hi*higqgqgqfqfyfyrfybf}`Nm@ɛ$? 隵enI ]ɚiI.=@ɠGd=Is̿i&:i)s̿s̿) IfG׹}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOzK>BKK]9KK@K  ZH RH @AH e>I  I HI HBI &I .I 6I <<:I F_ƃOw,A>AFQ4@YFC@F!g9F>yFHx,?pB G?`ݬ??~?ɨFQ4@Fd;F0CyN GBNHIV[IVl6٢^:^ ^K=9b;Q b>`d fG٣dyf: f> jNusing accuracyPremultiplier from confighnq49jvk?rq4Yj ij=BprQοr?jRyCj ;j? ;jOq4t vAxh h"h*hgggff!f)rf)bf5 Zm@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ1< !%sI) gɚiIf-=°@ɠ=I̿i:i)̿̿)G G"GG I*J1"J5a=JEaJEVJE1JAJE:JEB9JE3JAJE;aMJE;aMJEX:aMJEX:aUGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,)>Ay=GB=HMb@Mb@Mb@ )YDl?y&1|?J +yO-?`;HXA A) AIAyAIEIj6٢ `ϼ 7=9Q > G٣2Gy% %> -Nusing accuracyPremultiplier from config)5q49-uk?5q4Y- i- =B5-?5:=̿=?-yC-_;-;-q4A EAAhihi"hi*higigqgqfqfqfyrfybf}hm@ɛ C 隭I [ɚiI-=C +@ɠ=I̿i:i)̿̿)G?G>GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. I f{ؐOw,C>A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:5@Y:\D@:a9:%>y:Hlԩ?-{5KdQ?y7??£?ɨ:5@:;:,CyBFBFHIJeIJn6٢v6 z_=9zDc;Q z>|| G٣y%9 %> -Nusing accuracyPremultiplier from config)5q49-I IHIGBI =&I.I6Ic<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.Ow,k]>A I JbJZJJJ:JS9JJJU ;JW ;J^u:J`u:y=FB=HMb@Mb@Mb@ )Yv?y&1?I +y8?`e<9A )OAIAy=AI^IJm6٢sg 8=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=q495tk?Eq4Y5 i5=BE8?E:E-̿E?52zC5;5;5Aq4I M$AQhqhq"hq*hqgqgqgyfyfyfyrfybfۂm@ɛ)5E 15͆I1 5ɚ1i1I=-=e e@ɠe=Ie.ͿieK:ia)e.Ϳe.ͿuWill construct direction to contact in vehicle frame from tetrahedron phase data.)GBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.>Ow,w>AyFBHI-dI-m6٢=< EW=9AQ E>II MG٣IyQ U> eNusing accuracyPremultiplier from configYeq49]tk?mq4Y] i]=Biim?]xzC]:]:]q4 Ahh "h *h g g gfffrfbfm@ɛAEG AEII M|ɚIiIIM-=]5]i@ɠ]A=I]L7Ϳi]9:ia)eL7ͿeL7Ϳ)aGyGy IGiBqO=]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLK]9KKBK jHy bH} 4=H I  I HI GBI =&I .I 6I [<:I FOw,'>A6.@Y6>@6\ ^96 >y6H'Ҩ`?LQ\̤k߮??`?˥?ɨ6.@6[;6.CyBFBBHIJSIJl6٢^h ^V=9b;Q b>`d fG٣f2Gyf f> rNusing accuracyPremultiplier from configlrq49nosk?vq4Yn- in=BtvH̿v?nzCn:n:nq4| ~!A|hh"h!*h!g!g!g!f!f)f)rf)bf-`Vm@ɛQ]}M Y]IY ][ɚYiaIe}-=m_m@ɠu%=IQͿi}̌:i)QͿ頕QͿ)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= IJJJJJJJJJJJJ Will construct direction to contact in vehicle frame from tetrahedron phase data.5AOw,>A>/@Y>?@>ry\9>X>y>H t¨j?ybw?@Ƌ?ǵ?:?ɨ>/@>7;>0Cy^GB^HuMb@Mb@Mb@qqq q)qYuV-?:v?Mb`?yu|??uT G٣yW9 > Nusing accuracyPremultiplier from configq49rk?q4Y i3=B??:Ϳ?{C0;/;q4 A]Ehh"h*hg g g f ffrfbf@8m@ɛAE C IMyII MoɚIiQIUg-=]]&@ɠ]] =I] mͿi]":iY)] mͿ] mͿ)aGBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. If&Ow,>A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:z-@Y:<@:u[9:E >y:H1樿y?Q@@?`Xk?ٓ??ɨ:z-@:;:-Cy^GB^HIj?Iji6٢rC< rX=9rX+:Q v>tt vG٣tyz = z> ~Nusing accuracyPremultiplier from config|q49~qk?q4Y~  i~D=B  #Ϳ ?~Z{C~;~;~Oq4 Ah9h9"hA*hAgAgAgAfAfIfIrfIbfMNm@ɛC !%mI! %7ɚ!i!I%S-==ر= @ɠ==I=lͿi=@:i9)ElͿElͿ)AG] ?G]E?zK^LK9KKCKBK:KH=c>I9 I=HI=GBI9&I9.I=QD6I=<:I=FBIʍCJIRIZIbIjIw4GYBiO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I SOw,>A:L/@Y:>@:Y9:p >y:HNɨ`8?-``)ߤcI?-?y?o?ɨ:L/@:;8y^GB^HJncJnTJn2JlJn:Jn:9Jnc3JlJn;Jn;Jn_J:JnbJ:eMb@Mb@Mb@aaa a)aYe+?~jth?I +?yev>?eD;e9 G٣2Gy: > Nusing accuracyPremultiplier from configr49pk?r4Ys# i_=B>?:FϿ?{C>;1;8r4 Ahh"h*hgggfffrfbf@m@ɛ=F 隥f|I ۃɚiIB-=v[ @ɠ=IͿi~:i)Ϳ頽Ϳ)MWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> G  Will construct direction to contact in vehicle frame from tetrahedron phase data. = BY9 y= SAzOw,&>A610@Y6}?@6 X96h >y6H`? 8ݤ*??Y?Ԩ?ɨ610@6!;60Cy^4GBbHIj1IjNh6٢= %R=9%)9Q %>!) -G٣)y--9 -> =Nusing accuracyPremultiplier from config1=r495Xok?Er4Y5 + i5w=BAEBϿE?5{C5 ;5" ;5r4I UAU`Ehyh"h*hgggfffrfbfmm@ɛP= 隽/KI !ɚiI--=VJ' @ɠ=IͿiA:i)ͿͿ) }[$?IGBO=]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH) RH) H5 `>I1  I5 HI5 GBI5 =&I1 .I1 6I5 u<:I5 FzKM KKM +9KI KM DKM  J6Wvp]I2bOw,Ze?A>3@Y>NB@>V9>} >y>H`K?@x I`ӷ?@hڪ?A]??ɨ>3@>j;>-Cy^0GBbHIj$Ijf6٢r! rN=9rH:Q r>tt vG٣tyzc: z> ~Nusing accuracyPremultiplier from config|r49~(nk? r4Y~2 i~=B 6Ͽ?~@|C~v;~9j;~r4) -A-aEhQWill construct direction to contact in vehicle frame from tetrahedron phase data.AihQ"h*hgggfffrfbfm@ɛ!m8 im0OIq u.ɚqiqIu-=}#} @ɠ}=IͿi):i)Ϳ頥Ϳ)GG iImfGBOI>*J"Jm Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,t@,?A6;@Y6J@6oU96 >y6H@ i?+` P4@?˪?|i??ɨ6;@6&;6.CybVGBb,HMMb@Mb@Mb@III I)IYMCl?{GzZd;O?yMd;?M#Mj G٣2Gy; > Nusing accuracyPremultiplier from config r49ilk? r4Y0; i=B;?:]ѿ?|C;;.r4! -[A)hIhI"hI*hIgIgIgQfQfYfYrfYbf] "m@ɛk5 隍.)I teɚiI ,=G@ɠ=I&Ϳi :i)&Ϳ頭&Ϳ)GqByO=Will construct direction to contact in vehicle frame from tetrahedron phase data. QIYJ{3K{ş3 K{S}.KsKs"KsJ aJ YJ 1J J :J [O9J 3J a @a @a @a @duOw,F?A"Will construct direction to contact in vehicle frame from tetrahedron phase data.F?@YFN@F\U9F >yFHǧs? <@_3?????ɨF?@F,;DyzqGBzMHI  I c6٢%:= %P=9%W9Q %>)) -G٣)y5h: 5> =Nusing accuracyPremultiplier from config9Er49=jk?Er4Y=sB i==BAENѿM?=|C=@:=:=2IɍC IHIGBI =&I.I6IDz<:I?FGBzK-OK-9K)K-EK-vojea[VQLGEB;530.,'&#"    OE=Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA /Ow,_?A2J@Y2:Z@2T92> >y2H@@?n[8/f?}???ɨ2J@24;2/CyBGBBiHJ\J\MMb@Mb@Mb@III I)IYMQ?MbI +?yM5?MM9y G٣y\; > Nusing accuracyPremultiplier from configr49#ik?r4Y*J i=B5?:@ҿ?$}C:;;Jr4 Ahh"h*hgggfffrfbfsn@ɛ  U%  $I  8ɚiI5,=𼩠E@ɠo=IͿi%͇:i!)%Ϳ%Ϳ)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. Ow,y?A2P@Y27`@2T92T >y2H?JM`vݢ`V?`}?9?:?ɨ2P@2HM;2-CyBGBBHIJ IJd6٢R,= RY=9V}Q V>TT VG٣V2GyZ+: Z> bNusing accuracyPremultiplier from config`fr49bgk?fr4Yb3Q ib=Bdf'ҿj?bh}Cb*:b :bWr4l nAnbEzB*** querying acoustic contact ***jxjxhAhA"hI*hIgIgIgIfIfQfQrfQbfU n@ɛ 隭I }ɚiI,=켩@ɠE=I0Ϳiq:i)0Ϳ0Ϳ I)GBO=JdJUJJJ<:J>9JJ]Will construct direction to contact in vehicle frame from tetrahedron phase data. e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.jHbH<H]>I IHIHBI&I.I6Ik<:IFzK 8NK 9K K FK    ȰOw,q?A22`@Y2~o@2Q92 >y2Hfͮ? "n?%2?g??ɨ22`@2;2.CyNGBRHI^ I^Qd6٢rU= rF=9r:Q r>tt vG٣tyvl; z> ~Nusing accuracyPremultiplier from configxr49zek?r4YzX iz>Bѿ ?z}Cz6;z;z?fr4 Ah1h1"h1*h1g1g1g9f9f9fArfAbfEn@Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: user:763> BDAT read: Tx time:19:41:49.5662 $Ping request sent. If*JR="Jm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250658Ow,Y?A2b@Y20r@2YR92l >y2HS ^?y@֡ ? ;H?`Y?@|?ɨ2b@2u;2-CyRGBRH=Mb@Mb@Mb@999 9)9Y=ʡE?MbMb?y=/?==<=A =A)=$AI=|A9y=pAIUIUvX6٢e'= eB=9mѹQ m>iq uG٣qyuL: }> Nusing accuracyPremultiplier from configr49ck?r4Yp` i>B/?:Կ?}CV;;ur4 eAhh"h*hgggfffrfbf4*n@ɛ: p9I ɚ i I $,=弩O@ɠ[L=IͿi%:i)Ϳ頽Ϳ)GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503353 IJ cJ J 2J J :J J c3J Ow,f?AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755963:P@Y:_@:X9:O>y:H=?@x??%??ɨ:P@:ڇ;:/Cy^GBbHIfIf`6٢Up= UL=9USeQ ]>YY eG٣e2Gymu m> uNusing accuracyPremultiplier from configi}r49mpak?}r4Ymg im/>By}տ?mC~Cm ;m`;mr4 Ahh"h*hgggfffrfbf` 7n@ɛ< I ɚiI_+=F⼩@ɠ=IͿip:i)ͿͿ) HY>I IoHI^HBI =&I.IPD6I<:I.FGBO==zKLK+9KKGKBKsA:KrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008164 I fWOw,??A2E@Y2dT@2Tb\92 >y2H5m? 4_?㈫?@j?`?ɨ2E@2Շ;2.CyBHBBHMb@Mb@Mb@ )Yoʡ?I +y&1|?y-?94`;GA +A)IAy̢AI%I%XZ6٢5g= 5L=9&Q > G٣yg` > Nusing accuracyPremultiplier from configr49^k?r4Yn i?>Bn-?:]׿?~C$;|;jr4 Ah)h)"h)*h)g)g)g)f1fQfQrfQbf]Dn@ɛy 隥p Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510634%Ow,U?AJT@YJ4d@J^\9J# >yJHpg?d;5K?a??ު?ɨJT@J;J+CyV#HBV(HI^I^a6٢fB= fO=9j2Q j>hh nG٣lyn; n> vNusing accuracyPremultiplier from configpvr49ro\k?zr4Yru irM>Bxz׿z?r~Cr:r:rƞr4B AcE 1I1haha"hi*higigqgqfyffrfbfJQn@ɛq} y} =Iy }ɚyiI:+=:ۼ@ɠ=I7Ϳi2:i)7Ϳ頵7Ϳ)G ?G>JeJ[J1JJ\:JW9J3JGBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763065ZH?ARHHU>IȍC IHIHBI =&I.I6IC<:IFBIɍCJIɍCRIZI =bI =jIȀ5zK MKK 9K K HK ZtRK ?JK ?Pw,@AB3r@YB@BaW9B= >yBH @?`ڠm??`?@?ɨB3r@B;B.Cyb9HBbCHIjIj_6٢rX^= rK=9rmK;Q r>tt vG٣v2GyvX< z> ~Nusing accuracyPremultiplier from configxr49zZk?r4Yz| iz]>Bֿ ?zCz:zn:zڬr4 AhQhQ"hQ*hQgYgYgYfYfYfarfabfex]n@ɛB 隕f=IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884 ɚiI*=ؼ@ɠa=IٳͿi@v:i)ٳͿ頵ٳͿ)GBO= AIIM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909) Pw,.@AyVHBfHMb@Mb@Mb@ )YS㥛?+Mb`?y$&?;CA &A) AIAyII]6٢E= ==9Q > G٣y > Nusing accuracyPremultiplier from configr49Wk?r4Y: ij>Bq&?:տ?[CZ;X;r4 [Ah!h!"h!*h!g!g!g!f)f)f)rf)bf- :kn@ɛY]ڼ Ye"=Ia e=ɚaiaIe*=mnԼu@ɠu=I}qͿi}7:iy)}qͿ}qͿ)) !C}AG %hY)y-AWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518905GYBaOZ> 9I9] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770731fPw,H@AyMoHBMHI]I]^6٢u= uO=9qQ u>yy }G٣yy > Nusing accuracyPremultiplier from configr49vUk?r4Y iw>B?Cn::r4 (Ahh"h*hgggfffrfbfwn@HUV>IQ IUHIUHBIU =&IQ.IQ6IU<:IU FɛY˼ X=I ɚiI+*=%м%H@ɠ%=I%Ϳi-:i))-Ϳ-Ϳ))GUsAGQ'TFailed to parse incomplete device message.G9BAO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022758 9 I9 BKA :KE tA;Pw,b@A69@Y6@6=P96 >y6H\O߲?[`"?@? /?$?ɨ69@6J;6/CJBaJBZJB2J@JB:JBS9JBc3J@JB;aJJB;aJJB]u:aJJB_u:aJyNHBRHMb@Mb@Mb@ )Yjt?ˡEy ?' )OAIyAII]6٢h= F=9%;Q > G٣2Gyq< > Nusing accuracyPremultiplier from configr49OSk?r4Y‘ i>B!?:տ?C;;:r4 AdEhh"h*hg!g!g!f!f!f)rf)bf- n@ɛet >I mɚiI{)=Will construct direction to contact in vehicle frame from tetrahedron phase data.4=4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275111Mtͼ@ɠ/@=I%Ϳi% :i% ~;)%Ϳ%Ϳ))GiBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526764fPw,fg|@A6@Y69ĕ@6iN96 >y6H t C?\?hʩ?>.?@`?ɨ6@6|;6,CyNHBNHIVIV[6٢bz,= b\=9b:Q b>dd fG٣dyf; j> pIrf vNusing accuracyPremultiplier from confighvr49jiQk?vr4Yj ij>Bxzuտz?j Cj:j:j/r4 ׼Ahh"h*hgggfffrfbfn@ɛ >I ɚiIJs)=%]Dʼ%@ɠ%=I%/Ϳi%G3:i!)%/Ϳ-/Ϳ))GIBYOu=%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:19:41:52.7645 5TRx dataTimestamp_ set to:1736365314.1460985checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781261jHQbHU4=H]Y>IY I]PHI]IBI] =&IY.IY6I]<:I]!FzK @NK 9K K JK ,@:4-&#(6>?;4,**+.-,+(%#$ #!$+-2I<R))f[M%Pw,)=@A2tŽ@Y2ѕ@2LL92~I >y2HG9O?/3n? ? >6?H?ɨ2tŽ@2S;0yrHBrH}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030735I-I-[6٢I= ==9):Q > 5G٣1yE_; I > Nusing accuracyPremultiplier from config9r49=Nk?er4Y=] i=>Bim?տm?=6C=a====-r4q uAugEhh"h*hgggfffrfbf آn@ɛQ]$⫼ Ye8>Ia ea*ɚaiaIe (=m5żmf@ɠm==ImͿiu慅:iq)uͿuͿ)qJgJUJ1JJ%:J>9J3JJS$;JV$;JQ:JQ:G ?G ?GqBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 19:41:52.7645 LVL= 19792 20306, 32755, AGC= 69, IDX= 449, 0.28, 0.522,-1.227, 0.318,-0.270, PHS= 0.880,-0.909, 0.585, RAW= 141.2, -6.7, CAL= 147.2, -16.3, ROT= 2.8, 16.3 u !unknown deviceResponse_: 19:41:52.7645 LVL= 19792 20306, 32755, AGC= 69, IDX= 449, 0.28, 0.522,-1.227, 0.318,-0.270, PHS= 0.880,-0.909, 0.585, RAW= 141.2, -6.7, CAL= 147.2, -16.3, ROT= 2.8, 16.3  DAT read: Range 10 to 50 : 595.6 m (Round-trip 794.2 ms) speed 0.8 m/s - X#Rx 1: Read range message, but no direction.1 y5 D1 x+Pw,@AyHBHMb@Mb@Mb@ )YʡE?y&1Mb`y?`弹GA +A)$AIۤAyAIIY6٢6L= E=9Q >   G٣ 2Gy   > Nusing accuracyPremultiplier from configs49Mk?%s4Yť i>B%?%:%ҿ%?QC&;;s4) 5kA1hYhY"hY*hYgagagafafifirfm̜@bfmx[?ɛ1=S{ =#==N>I9 =ɚ9i9IEt(=E*üM@ɠM[n=I}Ϳiy:i)}Ϳ}Ϳ)Will construct direction to contact in vehicle frame from tetrahedron phase data. IG GB O >= Will construct direction to contact in vehicle frame from tetrahedron phase data._2Pw,M@A6ގ@Y6^@6BDH96F >y6H`ǛҲ? h. 1 Ŕ.??U??ɨ6ގ@6;4yNHBRHTVAIbIb\6٢jE= j`=9j?;Q j>ll nG٣lyr< r> vNusing accuracyPremultiplier from configtzs49v'Lk?zs4Yv iv>Bx~?ҿ~?vnCv;v;vs4 GA M%Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1N%5Entering Terminal tracking update period 2.000000 s sec at 595.599976 m (mode 0.000000 count ).1N5qN5hh"h*hggg1> |Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq>|rTransitioning to terminal guidance at range 595.599976 m q>>fffrfbf@tA?H[>IɍC IHIQIBI&I.IQD6I<:I Fɛ 隅`>I ɚiI,(=J@ɠw=I3Ϳi:i)3Ϳ頝3Ϳ)Gb(GiBqO>zKpOKh9KKKK^)v;wP)wYF.hUF6#}{wqnRK ?JK >Will construct direction to contact in vehicle frame from tetrahedron phase data. I I8Pw,@AJ.`J.TJ.2J,J.:J.:9J.c3J,J.:J.:J._J:J.aJ:B@YBf@BF9B >yBH暿`R? B듿 n?֨?uh?@&?ɨB@B݁;B*CyjHBj!HMb@Mb@Mb@ )Y1Zd?~jty"?D ZA)SAIy=AIIX6٢y< 7=9%R:Q %>!! %G٣)y-: -> =Nusing accuracyPremultiplier from config1=s495Kk?Es4Y5в i5>BE*?E:EοE?5C5D;5;5@s4I U*AUhEZle@qNeNemB*** querying acoustic contact ***jijihqhq"hq*hygygygyg}@>}|Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1> |Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangefffrfbf ?ɛPz n>I 1ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IG'=Ձ@ɠʗ=IDͿi%:i!)%DͿ%DͿ)G:GtAGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. *DAT read: user:764>  BDAT read: Tx time:19:41:55.1162  $Ping request sent. Pw,ګ@A BZ$?IFfV@YV@V|C9VV/ >yVHC՘ V?@M1B?2m?(S?`3?ɨV@V`;V,CybIBb8HIjIjZ6٢r O= ra=9v;Q v>  G٣2Gy; %> -Nusing accuracyPremultiplier from config!-s49%HJk?5s4Y% i%>B15ο5?%C%:%;%!,s4A EAAblQN]N]I]]~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalI]qBmmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceBm mAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCmmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1DmmInitialize.qDuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD} }Initialize.D}1E}B}qB}1Ehh7Dhh7qDAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlDC1DhhB$Terminal guidance.BqEInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED*jDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE*j?q=zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance= {Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>}Uninitialize.1?q?~>Uninitialize WaypointComponent.fffrfbf ?ɛIB|C I 1ɚi%Ii)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251508E4/=G G"GGH^>I IHIIBI =&I.I6I<:I+FG B O5 >zK= OK= 9K9 K= LK= jfdca]]TRQLHE?:5/,)'$" " 8EPw,AA2U@Y2 @2.DB92X >y2H`@?#A@? 1F?`!D?ԫ?ɨ2U@2A;2+Cy:IB:PT ZG٣Xyb; f> zNusing accuracyPremultiplier from configteWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501468}s49viIk?}s4Yv iv>Bο?vˀCvסyJH6`2?`e¿b %?j?#? ?ɨJ@J É;J*CyVIBVXHmMb@Mb@Mb@iii i)iYmCl?~jthMbp?ymd?mDm;mrA mVA)mOAImפAiymAI8IL6٢0Q= ;=9(Q > G٣y > Nusing accuracyPremultiplier from configs49Hk?s4Y i>Be?:̿?C$P;N;Hs4 һAZjDNOT Ignoring new targets: 78.10 m.Bj9Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 576.678528 m, bearing: 275.966664 deg, approach rate: -0.629760 m/s, LOS rate: nan deg/s, cmd heading: 275.963220 deg, new cmd heading: 275.966664 deg. HeadingCmd: 4.816527 target range: 78.099998 and range: 595.60 m. j @jjjihhh!h!f!f!f)rf)bf-@]Me?]Me?]M^@]M#ڕ@ɛae im I Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256048RPw,LAA2 @Y2X @2w@92S>y2H@J>?bT¿@? ?t?C?ɨ2 @2C;2,CyB+IBBlHIJIJMC6٢Rb.= RT=9R:Q R>TT VG٣TyZF Z> bNusing accuracyPremultiplier from config`fs49b.Hk?fs4Yb ib>Bdf̿f?b Cb:b:btVs4l nAlZjDNOT Ignoring new targets: 78.10 m.Bj R9Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 576.446472 m, bearing: 275.969765 deg, approach rate: -0.602127 m/s, LOS rate: nan deg/s, cmd heading: 275.966663 deg, new cmd heading: 275.969765 deg. %HeadingCmd: 4.816581 target range: 78.099998 and range: 595.60 m. j%o!@j!j!j!i!h!h)h)h)f)f1f1H\>I IHIIBI&I.I6I<:IFBIJIRIZI =bI =jI5rfbf@]]]]lٕ@ɛ IB  $=I1 5+ɚ1i1I='=IEniAiMԽ)Mo!@)I*E="E=zKE!NKAKAKEMKE    %Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510620E5ጹ#= Start #=4Initializing EZServoServo. ) I1 # 8Initializing DockingStepper.B) OE >XPw,seAAyFIBH!! Mb@Mb@Mb@    ) Y `"?y&1|?~jth?y ? `; D;  ) ~AI A y AI-I-H6٢ELt= E7=9MQ M>QY ]G٣Yye e> }Nusing accuracyPremultiplier from configqs49uGk?s4Yu iu>B?:ʿ?u-Cuv;u';ufs4 yAiE5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772135B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bj8Jj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 576.183716 m, bearing: 275.972834 deg, approach rate: -0.539502 m/s, LOS rate: nan deg/s, cmd heading: 275.969777 deg, new cmd heading: 275.972834 deg. 5HeadingCmd: 4.816635 target range: 78.099998 and range: 595.60 m. j5!@j1j1j1i1h9h9h9h9fAfAfArfAbfm`@]?]?]dA<]-c@ɛݼ =I snɚiIc&=Iii )!@)EEmx<#MStarting G1I }!ſYyy}AG pB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024081_Pw,~AA IfJT@YJ(@J9JiU>yJHd̞? S~ÿ`8㌿ ?@@?`??ɨJT@J;J+CyRMIBVHI^I^-H6٢f*< ff=9fShh nG٣lyr50< r> vNusing accuracyPremultiplier from configtzs49vGk?zs4Yv iv?B|~7ʿ~?vGCvU";v";vurs4  kA Zj)5DNOT Ignoring new targets: 78.10 m.Bj5x 9Jj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.975037 m, bearing: 275.975194 deg, approach rate: -0.663814 m/s, LOS rate: nan deg/s, cmd heading: 275.972837 deg, new cmd heading: 275.975194 deg. MHeadingCmd: 4.816676 target range: 78.099998 and range: 595.60 m. jM5"@jIjQjQiQhQhQhahafififirfibfm @]]]]쁖@ɛIBzJϼ 隥b=I kɚiIK&=Is`ii&)5"@)E}Nw =#StartingJbJJ1JJ:JJ3Ja@a@a@a@G BIOe4>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.276279jH<bHp<H^>I I>HIIBI&I.I6I<:I FzK ؐLK ]9K K NK Dc{YePw,bAA2#@Y2M2@292do >y2HL0?|ÿ@ &?]R??ߗ?ɨ2#@2;2*CyVRIBVHI^I^H6٢fpL< jI=9jnll nG٣lyn>; n> vNusing accuracyPremultiplier from configpvs49rGk?zs4Yr ir ?Bxzʿz?rfCr:r:rs4| aAZj)5DNOT Ignoring new targets: 78.10 m.Bj=8Jj9m ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.736145 m, bearing: 275.977870 deg, approach rate: -0.589505 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.977870 deg. :jm"@HeadingCmd: 4.816722 target range: 78.099998 and range: 595.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.540216 jjAjAjAiAhAhAhIhIfIfIfQrfQbfU`@]]]]h@ Iɛ IB2ռ z=I  ɚiI]J&=Ieyie46:ie))a)iEusAEutAE]3=#eStarting Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.793330# BInit string: /1z16368aE13561N3m50G XG AB O >jlPw,AA24@Y2D@2v˼92P$>y2H/?@eĿU@ea`?B?@q? @?ɨ24@2ģ;2,CyBhIBBH F=Fa=Mb@Mb@Mb@ )Ykt?:v?~jtx?y ?T<;A A)AI5Ay(AI IG6٢5F= 5=9@NL?L? G٣y; > Nusing accuracyPremultiplier from configs49Gk?s4Y i?B,?:{ȿ?C;';ns4 4AZjDNOT Ignoring new targets: 78.10 m.BjV8Jj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.483032 m, bearing: 275.980392 deg, approach rate: -0.557305 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.980392 deg. :j-"@5HeadingCmd: 4.816767 target range: 78.099998 and range: 595.60 m. j1j9j9j9i9h9h9hAhAfAfAfIrfIbfM@ɛ}IBnǼ 隅=I ɚiI[&=I"3iiPg))EE*E"E]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.044374 YIY#MStartingG%ʽG!B)OE>JaJUJJJ:J>9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296083hIsPw,AAZ)Z@YZui@Z:9Z*>yZHO?7ſ S:?@?>??ɨZ)Z@Z|;HxIx IzcHIzIBIz =&Ix.Ix6Izk<:IzFXy]mIB]HI}I}-I6٢CA< M=98 G٣2Gy << > Nusing accuracyPremultiplier from configs49Gk?s4Ys i?Bǿ?CX ; ;Ws4 *AZj!%DNOT Ignoring new targets: 78.10 m.Bj-z8Jj)] ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.260010 m, bearing: 275.982516 deg, approach rate: -0.552025 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.982516 deg. :j]A#@mHeadingCmd: 4.816803 target range: 78.099998 and range: 595.60 m. jijqjjihhhhfffrfbf@ɛIB.ż d=I +ɚiIې&=I iih))#%StartingG XGtAGtAzKe0OKe9KaKeOKepXJFECB@====842100/0/..,+/HuF5<RKm?JKm?GBOI>}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:41:58.3163 TRx dataTimestamp_ set to:1736365319.460895checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550284 YIYIwyPw,AAyIBHMb@Mb@Mb@ )YJ +?y&1?Mbp?y?`e<;A A)IyfAIIH6٢%1= -@=9-Q ->11 5G٣1y= => UNusing accuracyPremultiplier from configIUs49MHk?]s4YMo iM#?B]?]:]rǿ]?MCM*;M8;M7s4a eAmjEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.BjQ8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 575.033752 m, bearing: 275.984590 deg, approach rate: -0.540170 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.984590 deg. :j#@HeadingCmd: 4.816840 target range: 78.099998 and range: 595.60 m. jjjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.800605ffrfbf`0C@ɛ IB =I ^ɚiIb&=I ii))#Starting"G=GN>GE G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.054801 Q IY _Pw,BAn@Yn8@n>`9nB>ynH()~?@l? {1ȿ ? ? ?-?k?ɨn@nq%;n*CyzrIBzHAI I KF6٢% %]=9-QQ UG٣Qy]HS= ]> eNusing accuracyPremultiplier from configams49eHk?ms4Ye ie(?Bſ?eځCe;e;ePs4 AZjDNOT Ignoring new targets: 78.10 m.Bj&8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 574.834106 m, bearing: 275.986039 deg, approach rate: -0.519803 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.986039 deg. :j-#@5HeadingCmd: 4.816865 target range: 78.099998 and range: 595.60 m. j1j9j9j9i9h9h9hAhAfAfAfIrfibfmy@J{3K{3 K{/.KsKs"KsJ`JSJ2JJ:Jy69Jc3Jɛ IB䇿 L=I ɚiIַ&=I 뻿i i ۗ) )#StartingG%GB O%,>Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:41:58.3163 LVL= 23200, 25969, 22290, 32755, AGC= 71, IDX= 467,-0.47,-1.400,-3.079,-1.626,-2.218, PHS= 0.906,-0.814, 0.589, RAW= 140.0, -8.6, CAL= 146.5, -18.6, ROT= 3.5, 18.6 Ygot valid direction response: 19:41:58.3163 LVL= 23200, 25969, 22290, 32755, AGC= 71, IDX= 467,-0.47,-1.400,-3.079,-1.626,-2.218, PHS= 0.906,-0.814, 0.589, RAW= 140.0, -8.6, CAL= 146.5, -18.6, ROT= 3.5, 18.6 8DAT read: $Error in header %*Received a bad header}X#Rx 1: Read direction message, but no range.}^direction in FSK: [0.045142,-0.717300,0.695301]9(`?4#|Y??Zqe W)IGig?NbP?a@` _#@)6I5z=i6>V?Q?ɏn?b7ÿ)C>IS>i`DT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHI IpHIIBI =&I.I6IS<:IFzK OK s9K K PK 9O%%qO3RxN* wrokd]OC611.-.-*+&BK tA:K sA䅆Pw,\BA2hf@Y2u@2v>927L>y2H;9?Z?oɿO*?H}?·? i?c\?ɨ2hf@2A0;2+CyNnIBRHIZIZD6٢zE! zN=9z2;Q z>|| ~G٣~2Gy =  > Nusing accuracyPremultiplier from config-s49jIk?5s4Y< MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsei-?BaeOÿe?C#<<s4q u'AqZjDNOT Ignoring new targets: 78.10 m.Bjg8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 574.624390 m, bearing: 275.987284 deg, approach rate: -0.533268 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.987284 deg. :j#@HeadingCmd: 4.816887 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf ]@ IfɛM IBM<ļ QU=IQ UɚQiYI]&=ImxiL:i;}))#=Starting#LSent speed cmd:/1V10000 Response:/0@ G}87G=Ge>G9BIOmx>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsePw,95BAy~jIB~HMb@Mb@Mb@ )YPn?y&1|?{Gzty?`;ףA A)dAIdAy3AIIA6٢i ==9Q > G٣y > Nusing accuracyPremultiplier from configs49Jk?s4Y i.?B?:uĿ?Cy;w;s4 /AZj)-DNOT Ignoring new targets: 78.10 m.Bj58Jj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 574.403198 m, bearing: 275.988797 deg, approach rate: -0.525685 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.988797 deg. :jE'$@MHeadingCmd: 4.816913 target range: 78.099998 and range: 595.60 m. jIjIjIjIiIhQhQhYhYfYfYfYrfabfe1 @ɛIBKƼ 隝z=I LɚiIV '=Ii9i_߈))#UStartingG]tA G]tAMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse IG5aGBO->JaJUJ1JJ:J>9J3J Will construct direction to contact in vehicle frame from tetrahedron phase data. =  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsePw,OBA:Q@Y:`@:=9:[W>y:HK? @?ʿ /?MZ5?@?@.K?ɨ:Q@:^;:*CHF_>ID IFcHIFIBID&ID.ID6IF<:IFFy}fIB}H =IIA6٢. K=9-;Q > G٣y= > Nusing accuracyPremultiplier from config s49J J AAƙPw,XiBAF9@YF̘@F79FRnU>yFH??%>?@ʿ@?N=tƀ? 8|?oN?ɨF9@F ;F,CyZ^IBZHuMb@Mb@Mb@qqq q)qYu?:v?Qyuf?uT  G٣ 2Gy =  > Nusing accuracyPremultiplier from configs49Lk?%s4Y< i,?B-~?-:-25?HCb;`;s49 =GA9UB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 78.10 m.Bjm87Jji} ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.978394 m, bearing: 275.989884 deg, approach rate: -0.534705 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989884 deg. :j}O$@HeadingCmd: 4.816932 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf O@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛIB|ͼ =I xɚiIJ|'=Ii9i))*Fa2Fa:FaBFm5JFiGGGGY Bi O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse [$?I f謠Pw,9ՂBA2@Y2!@2բ92cR>y2H?f=?ʿ`@殲?s{M??mS?ɨ2@2{;2*Cy>NIB>HIFIF@6٢R7; Rd=9R|Q R>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\bt49^Nk?bt4Y^- i^)?B`f⻿f?^`C^:^7:^&t4h jhAjkEZjQ]DNOT Ignoring new targets: 78.10 m.Bj]p5Jjam ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.789795 m, bearing: 275.989913 deg, approach rate: -0.510743 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989913 deg. :jmP$@HeadingCmd: 4.816933 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf@ɛ%IBmؼ q}a=Iy } "ɚyiIQ'=Ii"l9iz))J J RJ J J J S29J J *Fa2Fa:FaBFe5JFa"Gm0>Gm=G=mWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGB O%N>H}`>Iy I}WHI}IBIy&Iy.Iy6I}b<:I}FBIAJIARIAZIE =bIE =jIE4zK5 MK1 K1 K5 RK5    ӦPw,HBABe@YBu@Bp9BN>yBH@,C?tt vG٣tyvy< v> ~Nusing accuracyPremultiplier from configxt49zPk?t4Yz iz&?B?z|Cz ;ze ;zt4 B jAhEWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseZjAEDNOT Ignoring new targets: 78.10 m.BjMpJjI aIam ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.573975 m, bearing: 275.989727 deg, approach rate: -0.538714 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989727 deg. :jmI$@HeadingCmd: 4.816929 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf#n@ɛuIBu!ۼ uB|;=}@P=Iy }ɚyiyI}9'=IiYH9igd}))E>E>*Fy2Fy:FBF.1JFGm 9GBOe>Will construct direction to contact in vehicle frame from tetrahedron phase data.<<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse) - GPw,τBA6@Y6@6aN96ȠJ>y6HH?=?`h&ɿ :?wI?@)?_?ɨ6@6o;6+CTyV@IBVH\ zYxyzLAm?mAMb@Mb@Mb@ )Y?Mb`?S㥛y ?;/ݼ=A )dAIdAyףAIIC6٢l߼ 8=9yQ > %G٣!y%< %> -Nusing accuracyPremultiplier from config)5t49-Rk?=t4Y-: i-?B= ?=:==?-C-;-;-t4I MAIZjq}DNOT Ignoring new targets: 78.10 m.Bj}C4Jjy ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.329590 m, bearing: 275.989731 deg, approach rate: -0.551117 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989731 deg. :jHeadingCmd: 4.816929 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbfŔ @ɛIB 4=I BɚiI=(=Ii19i))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse III*F?2F:FBF0JFG oG ?G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse8Pw,jgBAHI I>HIIBI&I.I6I.<:IF gݒ@Y @ b9 E>y H?@?͂ȿ? `X@?`?@g?ɨ gݒ@ >V; *Cy})IB}jHIID6٢`f R=9Z:Q > G٣2GyW< > Nusing accuracyPremultiplier from configt49Tk?t4Y# i?B㺿?C :L:+t4 AZjDNOT Ignoring new targets: 78.10 m.BjʶJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 573.114929 m, bearing: 275.989597 deg, approach rate: -0.551623 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989597 deg. :jD$@HeadingCmd: 4.816927 target range: 78.099998 and range: 595.60 m. jjj!j!i!h!h!h)h)fffrfbf@d!@ɛIBZc 隕P0J J ^J 2J J J d9J c3J J ;a J ;a J :a J :a }Pw,6BAf @YfB@fa9fP<>yfH`^?I?`ǿ2 E?l~?g?`u?ɨf @f;f'CyIB]H %=%=Mb@Mb@Mb@ )YQ?{GztѼ F=9y:Q > G٣yX< > Nusing accuracyPremultiplier from config t49Vk? t4Y+* i?B  ?:}?ՂC6;5;:t4! %ƻA!=B*** querying acoustic contact ***jAjAZjIMDNOT Ignoring new targets: 78.10 m.BjU׵JjQe ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.873657 m, bearing: 275.989559 deg, approach rate: -0.583624 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989559 deg. :jeC$@mHeadingCmd: 4.816926 target range: 78.099998 and range: 595.60 m. jijijijiiqhqhqhyhyfyfyfyrfbf/"@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ!IB% F{Pw,6CA2~(@Y27@2R9244>y2HQ?`UR?r`ƿw6?z|?h?E?ɨ2~(@2w;2(Cy>IB>AHIF IFG6٢Nf RO=9R{o:Q R>PT VG٣TyV< Z> ^Nusing accuracyPremultiplier from config\bt49^Yk?bt4Y^;0 i^>B`bf?^C^:^ :^Gt4h jAjiEZj|~DNOT Ignoring new targets: 78.10 m.BjVJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.642273 m, bearing: 275.989448 deg, approach rate: -0.586429 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989448 deg. :j?$@HeadingCmd: 4.816925 target range: 78.099998 and range: 595.60 m. jjjjihhhhff)f)rf)bf5? #@ɛ}%IB`J 隥I ɚiI0)=Iip)9i3;))EC;=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZH%@ARH!H5_>I1 I5HI5IBI5 =&I1.I16I5v<:I5F*F?2F:FBFJFGg{GBO>zKM LKM s9KI KM TKM  ] nManaging dock network, ignoring radio surface power off  I fM Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse>Pw,E CA?@YN@ڻ9[,,>yH ?Z?`Abſ?#MY{?k?L?ɨ?@L';)CyޕHBޕ7HIIH6٢阼 :=9>h:Q > G٣2Gy; > Nusing accuracyPremultiplier from configt49m[k?t4Y6 i>Bƺ?C:*:;Wt4 AZjY]DNOT Ignoring new targets: 78.10 m.Bje(Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.385315 m, bearing: 275.989264 deg, approach rate: -0.572402 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.989264 deg. :j8$@HeadingCmd: 4.816921 target range: 78.099998 and range: 595.60 m. jjjjihhhhfff rf bf m#@JcJZJJJ:JS9JJJ;J;J^u:J`u:ɛ)IB i =|'I9 EɚAiAIE)=IMiQ49ip;))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE tAE tA*F ?2F :F BF 5JF "G- =G- = IG!]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseGBO%?tPw,ACAr6F@YrU@r 09r{">yrH >?f?2Ŀ *?`ㅿ%|?9??ɨr6F@r>;pyIB=HMb@Mb@Mb@ )YV-?S㥛{Gzy?/ݼ#A A)AIƠAyAI"IHJ6٢ <  =9oQ > G٣y: > -Nusing accuracyPremultiplier from config)5t49-]k?5t4Y-? i->B5i?5:='=?->C-D;-;- jt4A EAAZjimDNOT Ignoring new targets: 78.10 m.BjuO7Jjq ProNav pure pursuit: ac range: 78.099998 m, nav range: 572.053650 m, bearing: 275.990163 deg, approach rate: -0.625098 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.990163 deg. :jY$@HeadingCmd: 4.816937 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf`$@ɛ.IBs* $I QɚiI]*=Ieie9@9ie;)a)i*F2F:FBF5JFG 1;GBOd>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHIII IMHIMIBII&II.II6IM3<:IMF~Pw,w[CA6Q@Y6`@6Vۻ96>y6H$?@ p?|#ÿ ?Ȅj{?@)?{?ɨ6Q@6yC;4yBHBBHIJ6IJL6٢RŽ Vf=9Vo:Q V>XX ZG٣Z2GyZ; ^> bNusing accuracyPremultiplier from config`ft49b_k?ft4YbgE ib>Bdf f?bZCbn:b:bvt4l n?AlZjDNOT Ignoring new targets: 78.10 m.Bj7JjzKKK+9KKUK +0RK ?JK? ProNav pure pursuit: ac range: 78.099998 m, nav range: 571.835571 m, bearing: 275.990738 deg, approach rate: -0.585290 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.990738 deg. :jn$@ I%HeadingCmd: 4.816947 target range: 78.099998 and range: 595.60 m. j!j!j!j!i!h)h)]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsehihfffrfbf k%@ɛ=2IB=8 9=I9 EMɚAiAIE%f*=IMiM[M9iM;)Q)i*FI2FI:FQBFU2JFQJaJYJ1JJ:J[O9J3JJ;J;J3n:J6n:GM !j;GQ GU sA Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGA BI Om >(Pw,uCA6M@Y6\@6P96Nu>y6Hx?9z?@%¿`s?8~??C?ɨ6M@6;6'Cy>HB>H]Mb@Mb@Mb@YYY Y)YY]"~j?ˡE~jty]S#?]']]A ]A)]AIYYy]\AIu+IuGK6٢l ==9Q > G٣yٙ > Nusing accuracyPremultiplier from configt49U`k?t4YL i>B#?:?~C;<;t4 BAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bjh8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 571.559326 m, bearing: 275.992072 deg, approach rate: -0.657858 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.992072 deg. :j$@%HeadingCmd: 4.816970 target range: 78.099998 and range: 595.60 m. j!j!j!j!i!h!h)h)h)f)ffrfbfX&@ɛ6IB%N !%jI! %gɚ!i!I-*=IUi]XY9i]g;)Y)Y I*F!2F!:F!BF%0JF!G) G)eWill construct direction to contact in vehicle frame from tetrahedron phase data.ehG@Y>V@>9>* >y>H`{G? ? `(L?@T%}@F?2?s?ɨ>hG@>d;>(CyZHBZ HbWill construct direction to contact in vehicle frame from tetrahedron phase data.bDAT read: f)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9Et49=ak?Et4Y=AS i=>BIMM?=C=X:=z:=Wt4Q UFAUjEZjy}DNOT Ignoring new targets: 78.10 m.Bji8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 571.309570 m, bearing: 275.993306 deg, approach rate: -0.645873 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.993306 deg. :j$@HeadingCmd: 4.816992 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf aK'@ɛ:IB 隅bI ɚiI$+=Iic9i;))*Fi2Fi:FiBFm0JFi IfzKyPw,秩CA*J4"J6R=JF`JF[JDJDJF:JFW9JDJDJF:JF:JF|:JF|:yޝHBޝH-Mb@Mb@Mb@))) )))Y-K7?Zd;OQ롿y-)?-j<-\-rA -A)-AI-A)y-AIEAIEM6٢Uְ U'=9]Q e>aa mG٣m2Gym m> }Nusing accuracyPremultiplier from configq}t49ubk?t4Yu[ iu>B_*?:¿?uǃCu;u#;uEt4Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received*DAT read: user:766> BDAT read: Tx time:19:42:06.0663 $Ping request sent.NPw,PCA1@YIA@F$.9>yH?l?q`ۺ?omą????ɨ1@Q;'Cy%HB-HI=1I=K6٢Mע< Mu=9]Q e?aa eG٣aym m? uNusing accuracyPremultiplier from configqt49uck?t4Yua iu>Bÿ?uCuP[I IHIfIBI&I.I6I<:IFBIJIRIZIbIjI5G)G! B1 OM >NPw,$+CA6@Y6+-@6,G96v>y6H@?? *?X]\? T??ɨ6@6;6*CyBHBBHJAHININI6٢Vr= VU=9Z+Q Z> G٣y Zͻ  > Nusing accuracyPremultiplier from configt49dk?t4Yph i{>B!%qÿ%?C2 ; ;t4 AIA1 E0AAZjimDNOT Ignoring new targets: 78.10 m.Bju8Jjq ProNav pure pursuit: ac range: 78.099998 m, nav range: 570.505981 m, bearing: 275.997975 deg, approach rate: -0.677907 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.997975 deg. :jw%@HeadingCmd: 4.817073 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf )@ɛHIB \I ɚiI:,=Ii'x9iE:))zK_LMKs9KKWK  #6GS]dilnppsrqpmhed[WTLHE@>961/+5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757941*Fi2Fq:FqBFu5JFqJ@AJG2;GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010261 - vAI lPw, CA JYJvAyJAyHBMb@Mb@Mb@ )Y?V-Zd;Oy,?mjA A)I AyAI IG6٢,g: 7=9Q > G٣y >  Nusing accuracyPremultiplier from config =t49 Kek?=t4Y 5p i q>B=-?=:=ſE? *C ; ; t4I M.AMkEeB*** querying acoustic contact ***jajaZjquDNOT Ignoring new targets: 78.10 m.Bj} 8Jjy ProNav pure pursuit: ac range: 78.099998 m, nav range: 570.211914 m, bearing: 276.000329 deg, approach rate: -0.672401 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.000329 deg. :j%@HeadingCmd: 4.817114 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf`*@ɛMIB TȽI RɚiIŗ,=Iiz9it:)) 9I9*F?2F:FBF2JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263149Gm?:GusAGqGI BQ Om >J aJ iJ J J :J ڈ9J J a @a @a @a @QQw,DDA2h@Y2@2!n92>y2HQ?`M? ? G???`?ɨ2h@2k;2)CZH@RH@HF`>IFʍC IDIDIF =&ID.ID6IF*<:IFFRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514079yTTI^I^F69fϻQ j>hh jG٣j2Gyn| n> rNusing accuracyPremultiplier from configpvt49rek?zt4Yrv iri>Bx~,ƿ~?rJCruE;r.F;rt4 Zj)-DNOT Ignoring new targets: 78.10 m.Bj58Jj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.964539 m, bearing: 276.002375 deg, approach rate: -0.682735 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.002375 deg. :jE&@MHeadingCmd: 4.817150 target range: 78.099998 and range: 595.60 m. jIjIjIjQiQhQhQhhfffrfbf\+@ɛMRIBM% IMҽIQ mMɚiiiIm,=I}i}Gx9i}77))*FU?2FY:FYBF]0JFYGa GesA I%fUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766572zKe8NKe9KaKeXKe*(%#$ #/2-#,3/$  GmW:GI BQ Oq g2 Qw,*DAx@Y$@V4a9;>yH㹺?ૉ?wu`?<3P&?@4?׶?ɨx@c;騭(CyHB1HMb@Mb@Mb@ )YʡE?Mby&1|y/?@` A)IAyI,IdK6٢#< <9G:Q > G٣yN`; > Nusing accuracyPremultiplier from configet49fk?mt4Y, ig>Bm 0?m:m-Ŀm?sCT<4<t4q u AyZjDNOT Ignoring new targets: 78.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.խ>թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018380BjΡ8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.645081 m, bearing: 276.004516 deg, approach rate: -0.659198 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004516 deg. :jg&@HeadingCmd: 4.817188 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf K,@ɛXIB NI ɚiI9?-=I-i-!y9i-,:)))1*F?2F:FBF0JF  I G ïG B! O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270006Qw,ݕDDA6@Y6<)@6ۘ_96a>y6Hjݺ? ? @?????ɨ6@6;6)CyfIBfMHIn)InK6٢v== vl=9v~9Q z?xx zG٣xy~!: ~? Nusing accuracyPremultiplier from config t49gk? t4Ys if>BĿ?C:*:t4 ݻA!ZjIMDNOT Ignoring new targets: 78.10 m.BjU8JjQe ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.407227 m, bearing: 276.006099 deg, approach rate: -0.726270 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.006099 deg. :je&@mHeadingCmd: 4.817215 target range: 78.099998 and range: 595.60 m. jijijijiiihqhqhyhyfyfyfrfbf,@ɛ\IB?  隵FI xbɚiIx~-=IiLz9i:))*FU?2FQ:FQBFU0JFQJ}`J}UJyJyJ}:J}>9JyJyHI IHIpIBI&I.I6Ig<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521938Gg:G?G?GiByO>BQw,s^DA6&@Y6s"@6Ty6H`c?? v6`S? Y?J???ɨ6&@6;6(C PIPyV&IBVgHIbIb.G6٢fO= fL=9jQ j>hl nG٣n2Gyn r> vNusing accuracyPremultiplier from configpvu49rshk?zu4Yr ire>Bxz6Ŀz?rCr ;r-;ru4 AZj)5DNOT Ignoring new targets: 78.10 m.Bj5e8Jj9E ProNav pure pursuit: ac range: 78.099998 m, nav range: 569.132446 m, bearing: 276.007951 deg, approach rate: -0.686180 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.007951 deg. :jM&@MHeadingCmd: 4.817247 target range: 78.099998 and range: 595.60 m. jIjQjQjQiQhQhYhYhYfYfafarfabfe-@ɛbIB.Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775046 )-oI) -ɚ)i)I-z-=zK5jMK59K1K5YK5IEiMnZz9iMt&9)I)I*F?2F:FBF3JF"G=G=G-7:G B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026090lQw,OxDA2@Y2@2#q92L >y2HƄ??E @Ⱥ?C? 6$?`+?`?ɨ2@2;2)CyNYa eG٣aye e> uNusing accuracyPremultiplier from configi}u49mik?}u4YmF imk>B/?:¿?mڄCmE;mXD;mu4B AlE%B*** querying acoustic contact ***j)j)ZjQ]DNOT Ignoring new targets: 78.10 m.Bj]8JjYm ProNav pure pursuit: ac range: 78.099998 m, nav range: 568.844910 m, bearing: 276.009503 deg, approach rate: -0.650831 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.009503 deg. :jm'@HeadingCmd: 4.817275 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf.@ɛhIB 3I  ɚiI%.=I%i%qy9i-ol)I)I I*F?2F:FBF 5JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280193G% u4J bJ J 2J J :J J c3J G B! O= >R$Qw,y!DAjHbH<HIɍC IHIIBI&I.I6I'<:IFRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534056v@Yv>@v: 9vU >yvHU?;?`Z@?tk?r@[??@II MG٣QyUB U> eNusing accuracyPremultiplier from configamu49ejk?mu4Ye ieq>Bqu¿u?eCe*:e*:e u4 VAZjDNOT Ignoring new targets: 78.10 m.Bj$8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 568.570312 m, bearing: 276.011030 deg, approach rate: -0.712793 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.011030 deg. :jU'@ HeadingCmd: 4.817301 target range: 78.099998 and range: 595.60 m. j j j j i h hhh9fAfAfIrfQbfu&n/@ɛnIB{ HҼI &!ɚiIdI.=Iiu9ig Ժ))*Fi2Fi:FiBFm5JFq If]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:42:09.2508 eTRx dataTimestamp_ set to:1736365330.557651mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.788468G >GGtAzKKKKKZKG B O >}*Qw,DA=@Y= @=9=d >y=H?`ň?@]} 6?b?ଢ?<^?@%?ɨ=@=5;9yޅmIBލHI IG6٢ead= m9=9mQ m>qq uG٣u2Gy} }> Nusing accuracyPremultiplier from configu49lk?u4Yq ix>B¿?#C;;=0u4 #AZjDNOT Ignoring new targets: 78.10 m.Bj؎8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 568.269470 m, bearing: 276.012731 deg, approach rate: -0.689499 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.012731 deg. :j'@HeadingCmd: 4.817331 target range: 78.099998 and range: 595.60 m. jjjjihhhhfffrfbf "0@ɛ%uIB%(/ !-I) -c'ɚ)i)I-C.=I5i5p9i=Mr)9)9EIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038048*F?2F:FBF1JFG GGp I G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e Aia  DAT read: 19:42:09.2508 LVL= 18256, 26209, 14930, 24371, AGC= 75, IDX= 274, 0.18, 0.694,-0.796, 0.837, 0.300, PHS= 0.482,-1.049, 0.533, RAW= 151.6, 0.4, CAL= 154.6, -8.4, ROT= 355.4, 8.4  Ygot valid direction response: 19:42:09.2508 LVL= 18256, 26209, 14930, 24371, AGC= 75, IDX= 274, 0.18, 0.694,-0.796, 0.837, 0.300, PHS= 0.482,-1.049, 0.533, RAW= 151.6, 0.4, CAL= 154.6, -8.4, ROT= 355.4, 8.4  PDAT read: Bearing 355.4, 8.4 (Local)  ~Local bearing/azimuth received: Bearing 355.4, 8.4 (Local)  DAT read: Range 10 to 50 : 585.2 m (Round-trip 780.3 ms) speed 0.5 m/s  *DAT read: user:767>  BDAT read: Tx time:19:42:10.3664  $Ping request sent. e Ee r?e V)@e ; e ,@)e Q Ie (~@ie Q >a a e c}?)e M ?Ie ie zܿe 6D a a  :publishing transmit ping time  Fpublishing direction and range infoa 9e YW#X=Jw#I?ya a a a a )a Ia ia a a a a a )a Ia ia a a e c}?)a Ia ia a a a ne1Qw,+DA 2@Y @ 9 ͪ >y H?q? G?qi?b?f??ɨ 2@ ; yޭIBޭH =J;3K;3 K;(.K3K3"K3JUfJU]JQJQJU|":JU_9JQJQMb@Mb@Mb@ )Yv/?{Gz:v?yx)?ף<rA A)IyAI IG6٢= (=9FźQ > G٣yU* > 5Nusing accuracyPremultiplier from config!5u49%mk?=u4Y% i%>B=)?=:==?%MC%r;%;%eAu4i mAik=M?k# k k DA:kLDBkaDZkE@"e]R ~ 8~C8Qw,DA Will construct direction to contact in vehicle frame from tetrahedron phase data.6@Y6@6i96 >y6H`Z-?R?@ ?@p?@,?Bo?Y?ɨ6@6;4yrIBvHI~I~B6zKFKK9KK[K>u6SUI:!٢e= m=9fQ %?)) -G٣)y5 5? =Nusing accuracyPremultiplier from config1Eu495ok?Eu4Y5 i5>BAEM?5jC5 ;5 ;5WMu4Q UAUmEZjq}DNOT Ignoring new targets: 78.10 m.Bj}Y8Jjy ProNav pure pursuit: ac range: 78.099998 m, nav range: 567.718750 m, bearing: 276.014997 deg, approach rate: -0.707401 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014997 deg. :j'@HeadingCmd: 4.817370 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf?ɛIB 8=I ɚiI1.=Ii,`9ivN))*F?2F:FBF0JFJeAAJe@AG}d/XGYBOUT>Will construct direction to contact in vehicle frame from tetrahedron phase data.>Qw,zDA6֒@Y6P@696e=y6HN??@!`*?M{?}? ??ɨ6֒@6 ;6)CyRIBR-H !I!]Mb@Mb@Mb@YYY Y)YY]}?5^I?~jt G٣2Gy > Nusing accuracyPremultiplier from configu49pk?u4Yٸ tIi>B"?:?C;;[u4 nAjEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bj8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 567.455811 m, bearing: 276.015899 deg, approach rate: -0.632128 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015899 deg. :j(@HeadingCmd: 4.817386 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf@H?5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ɛMIBU޼ QUXx=IQ Ud~ɚYiYI].=I]iey,R9ie»)a)a*F ?2F :F BF p5JF GM g{GY G] pAG1 ZH9 RH= AAHA IA  IE |HIE JBIA &IA .IA 6IE <:IE FBIʍCJIʍCRIZI =bI =jIɰU4Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247190MEQw,HEA @6cҒ@Y6@696/>y6H@C??`g`>4?s?W?9?-?ɨ6cҒ@6ٌ;4yBIBB>HIJIJ>6٢R]= RZ=9RQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\bu49^ rk?bu4Y^ i^>Bdf f?^C^;^e&;^hu4l nRAlZjaeDNOT Ignoring new targets: 78.10 m.Bjm8Jji ProNav pure pursuit: ac range: 78.099998 m, nav range: 567.218872 m, bearing: 276.016725 deg, approach rate: -0.612673 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016725 deg. :j%(@HeadingCmd: 4.817400 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbfv?ɛIB׼  =I ɚiIn/=IiUE9it:ʻ)) \$?I*F2F:FBF5JFG}EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502789GqByO]>zK5ONK5 9K1K5\K5vpd]SE4+'$"!   *J "J 4=J aJ [J 1J J :J W9J 3J J ;a J ;a J a J |:a KQw,m1EA D͒@Y ܙ@ k9 >y Hz? ??~? ?? D?ɨ D͒@ ؍; +Cy%IB%YHWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751340Mb@Mb@Mb@ )YbX9?MbP?{Gz?yE?:#=rA )I Ay\AIIC6) ٢E<= U2=9u (:Q >AGxA G٣ Y xAy ByΤ > Nusing accuracyPremultiplier from configu496tk?u4Y i>B?:?υCz ; ;Nzu4 &AZj DNOT Ignoring new targets: 78.10 m.Bjݎ7JjM ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.927612 m, bearing: 276.017205 deg, approach rate: -0.591537 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017205 deg. :jM7(@MHeadingCmd: 4.817409 target range: 78.099998 and range: 585.20 m. jQjQjQjQiQhQhQhYhYfyffrfbfo?ɛIB Ӽ =I nɚ9i9IE/=IMiM49iMFۻ)I)Q I*F5?2F1:F1BF50JF1E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003181GU Ge ?Ge ?G1 B9 OU >RQw,jLKEABђ@YB@B9B 2>yBH杸?@?"@t(?@ {? ?? ?ɨBђ@Bڍ;B(CyR JBRHIZIZ1C6٢b= bf=9b:Q f>dd fG٣f2Gyj: j ? nNusing accuracyPremultiplier from configlru49nuk?ru4Yn in>Btvv?nCnz:n:nXu4x zA|Zj!%DNOT Ignoring new targets: 78.10 m.Bj-7Jj)E ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.742493 m, bearing: 276.017505 deg, approach rate: -0.600075 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017505 deg. :jEB(@MHeadingCmd: 4.817414 target range: 78.099998 and range: 585.20 m. jIjIjIjIiIhIhQhQhYfYfYfYrfYbfeJ@ɛIBL 隕<=I 6ɚiI5!/=Ii*9i΄Ȼ))*Fe?2Fi:FiBFmZ5JFiGq GutAH_>IɍC IHIOJBI&I.I6I:<:IFGEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255846GB)OE0> I U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507251XQw,3eEA2ܒ@Y2!@2D92l >y2H??}[ yPd?w?[u?@3? 3?ɨ2ܒ@22;2'CyZJBZHIbIb?6٢j< jI=9n:Q n>ll nG٣lyrZ; r> zNusing accuracyPremultiplier from configx~u49ziwk?~u4Yz iz>B?zCz:zL:zu4  ɹA kEzK5?NK5ػ9K1K5]K5ZjAMDNOT Ignoring new targets: 78.10 m.BjUJ7JjQ] ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.503540 m, bearing: 276.017861 deg, approach rate: -0.583918 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017861 deg. :jeO(@eHeadingCmd: 4.817420 target range: 78.099998 and range: 585.20 m. jaj!j!j)i)h)h)h1h1f9f9fArfAbfm@ɛIBn̿  =I! %Kɚ!i)I-1/=I=ie=9ie)a)iJIJMUJM2JIJIJM>9JMc3JIJIJIJMQ:JMQ:*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759263G G B O >v_Qw,A~EA65@Y6@6e396 >y6H}?`?n+@}?u?"F?G?`?ɨ65@6&5;6(C DIFfy^#JBbHMb@Mb@Mb@ )Yoʡ? G٣yy: > Nusing accuracyPremultiplier from configu49yk?u4Y i ?BA ?:O?$C;;u4 AB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 78.10 m.Bj-s!Jj)= ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.265686 m, bearing: 276.017802 deg, approach rate: -0.552219 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017802 deg. :jEM(@EHeadingCmd: 4.817420 target range: 78.099998 and range: 585.20 m. jAjIjIjIiIhIhIhQhQfQfYfYrfabfe T@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011268ɛ}IB} y}=Iy KɚiI?/=Ii1D9i9))*FM?2FQ:FQBFU0JFQG ԑjH bH H I  I HI JBI &I .I 6I a<:I FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2632178eQw,ϘEA6e@Y6@6x96Xt >y6Hr??)ڹ?Mr?`Ւ?``?Dz?ɨ6e@6p^;4yB3JBBHIJIJ?6٢R-= V^=9V:Q V>XX ZG٣Z2Gybփ; b> fNusing accuracyPremultiplier from configdju49fl{k?ju4Yff if?Bln n?f>Cf[;f;fu4p rAtZj  DNOT Ignoring new targets: 78.10 m.Bj(Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 566.062561 m, bearing: 276.017721 deg, approach rate: -0.551886 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017721 deg. :jJ(@HeadingCmd: 4.817418 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf% @ɛ]IBeNt aeH=Ia e6ɚaiaImJ/=Imi 9ig`)) yIy*F?2F:FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515119zK0(LKh9KK^K"7==81.*('" G- TG B O- >Jm bJm VJm 1Ji Jm :Jm B9Jm 3Ji Jm U ;Jm W ;Jm X:Jm X:lQw,EA-@Y-5@-Iy9-8) >y-H O?`?`|4?nq? 宒?V? ?ɨ-@-x;-'Cy=8JB=HuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:19:42:13.5544 TRx dataTimestamp_ set to:1736365334.840676checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768296Mb@Mb@Mb@ )Y(\?Mb?~jt?y?<D<rA )IAyAAII5>6٢ 8<  5=99Q >! %G٣!y%D; -> -Nusing accuracyPremultiplier from config)5u49-)~k?5u4Y- i-'?B=?=:==?-_C-;-j;-uu4A eAiZjDNOT Ignoring new targets: 78.10 m.Bj뭷Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.806946 m, bearing: 276.017139 deg, approach rate: -0.520773 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017139 deg. :j5(@HeadingCmd: 4.817408 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf%*@ɛIBx $=I ɚiIK]/=Ii9i9%0)) aIa*F?2F:FBF5JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019216G] sGe ?Ge ?G1 BI Oe >sQw,EA="@Y=o@=v9=C >y=H?? ~@u?n?`o@?`Y??ɨ="@=;9yDJBHIIn>6٢-L< -G=9-:Q ->11 5G٣1y=; => ENusing accuracyPremultiplier from configAMu49ERk?Mu4YEI iE0?BIUU?ExCE:E:Eu4Y ]sAYZjDNOT Ignoring new targets: 78.10 m.BjJJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.607727 m, bearing: 276.016651 deg, approach rate: -0.539616 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016651 deg. :j#(@HeadingCmd: 4.817400 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf @ɛIBBí *=I ɚiINg/=Ii ƕ9i d) ) HaIa Ie]HIeJBIa&Ia.Ia6Ie`<:IeF}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:42:13.5544 LVL= 21648, 30593, 19074, 31715, AGC= 72, IDX= 472,-0.36,-2.798, 2.237,-2.671,-3.104, PHS= 0.394,-0.895, 0.430, RAW= 151.4, 1.1, CAL= 154.1, -7.8, ROT= 355.9, 7.8 Ygot valid direction response: 19:42:13.5544 LVL= 21648, 30593, 19074, 31715, AGC= 72, IDX= 472,-0.36,-2.798, 2.237,-2.671,-3.104, PHS= 0.394,-0.895, 0.430, RAW= 151.4, 1.1, CAL= 154.1, -7.8, ROT= 355.9, 7.8 8DAT read: $Error in header *Received a bad header5X#Rx 1: Read direction message, but no range.5`direction in FSK: [-0.141903,-0.840008,0.523689]y9}|)¿osX$|?y}T}w }J)}{I}Hi}^>}e}(>})@}nF< }!,@)}'g I}@i}'g >y}h[0Q?YH;?Yu[c?)}% ?I}Ei}{޿} ]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse*F-?2F):F)BF-5JF) 9 I9 Gm +DGA BQ Oi % Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse%yQw,]EA6 @Y6F@6_9641 >y6H m??{:̺?k? ?W?,?ɨ6 @6 ;4yR1JBRHIZIZ;6٢bsS bf=9f?:Q f>dd jG٣j2GyjV]; j> rNusing accuracyPremultiplier from configpvu49rdk?vu4Yr9 ir9?Bxzbz?rCr:r:ru4 AZj!-DNOT Ignoring new targets: 78.10 m.Bj5ǷJj1U ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.418945 m, bearing: 276.016166 deg, approach rate: -0.531383 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016166 deg. zKYMK]9KK_K    :j=(@MHeadingCmd: 4.817391 target range: 78.099998 and range: 585.20 m. jIjIjIjIiIhqhyhyhyfffrfbf k}@ɛIB r=I <ɚiI{/=Ii )9i Jʹ) ))E=sAE9JMaJMYJM2JIJM:JM[O9JMc3JIJM;JM;JM3n:JM6n:*F?2F:FBF5JFG1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG- ïG B O > 9 IA Qw,:FAy4JBH %p=%p=Mb@Mb@Mb@ )Yy&1?/$? G٣y > Nusing accuracyPremultiplier from configu49/k?u4Y- i:?B?:i?Cö<o<^u4~B AlEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.BjhJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 565.190674 m, bearing: 276.015223 deg, approach rate: -0.496913 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015223 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:j'@HeadingCmd: 4.817374 target range: 78.099998 and range: 585.20 m. jjjji h h hhfffrfbf-@ɛEIBMlļ QU=IQ UQɚQiQI]O/=I]i]{_8ie)a)a*F?2F:FBF2JF GM >ZHq RHu @AH} ^>Iy  I} vHI} JBI} =&Iy .Iy 6I} D<:I} FG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6Qw,FAFv&@YF5@Fcᇼ9F >yFH@@??`P⓻?G^?`?j??ɨFv&@Fя;F&Cy*JBHII4?6٢5/ټ 5U=9=1;Q E>AA EG٣IyM < U> ]Nusing accuracyPremultiplier from configYeu49]k?eu4Y]h i];?Bimm?]džC]:]":]u4q }AZjYeDNOT Ignoring new targets: 78.10 m.Bje(Jji} ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.990051 m, bearing: 276.014327 deg, approach rate: -0.516241 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014327 deg. :j}'@HeadingCmd: 4.817359 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf`ú@ IfɛIBJ̼ ^=I .ɚiI/=Ii.9i ;))*F?2F:FBFN1JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapsezK5LK5h9K1K5`K5GEG B O >gfQw,i4FAeW1@Ye@@e9eF >yeHR?@?X4 ?S?? 8z?1?ɨeW1@e5;auWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyލ#JBޕHMb@Mb@Mb@ )YMbX?y&1?Qy ?`< )AIyAIIP@6٢y 0=9Kf:Q >   G٣2Gy;; > 5Nusing accuracyPremultiplier from config!Mv49%7k?Mv4Y% i%3?BU& ?U:UU?%C%9;%+;%v4Y ]AaZj15DNOT Ignoring new targets: 78.10 m.Bj=@xJj9M ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.738708 m, bearing: 276.012751 deg, approach rate: -0.540601 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.012751 deg. :jM'@UHeadingCmd: 4.817331 target range: 78.099998 and range: 585.20 m. jQjQjQjQiQhQhYhYhYfafafarfabfm@ɛIB0ؼ 隥m=I $ɚiI/=Ii# 9i=T;))E>E> I*F=?2F9:F9BF=0JF9"GE=GE=% Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) - T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseG} ;G1 BA Oe >IQw,MFA:A@Y:aP@:~9: >y:H??@V@[?=7??`ye??ɨ:A@:ć;8ybJBfzHIjIjA6٢z zs=9z;Q z?JbJ\J1JJ:J[9J3Ja @a @a @a @ G٣yQ; ? %Nusing accuracyPremultiplier from config!-v49%΍k?-v4Y% i%-?B15}5?%C% :%:%v49 =AAZjiuDNOT Ignoring new targets: 78.10 m.Bju׊Jjq ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.555664 m, bearing: 276.011567 deg, approach rate: -0.586271 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.011567 deg. :ji'@HeadingCmd: 4.817311 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf`@ɛIBg I III&I.I6I@<:IFBIɍCJIɍCRIZIbI =jI;4*Fq2Fq:FqBF}0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG!j;GiByO> I= Will construct direction to contact in vehicle frame from tetrahedron phase data.= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseuQw,:gFAyޅJBޅwHIzKKKKKaK(@HJHGFBA??=:9664431-)((   RK ?JK!?I@6٢ :=9Q > G٣ y   > 5Nusing accuracyPremultiplier from config1=v495.k?=v4Y5 i5%?BAAE?5C5P:5:5-"v4I mAuiEZjDNOT Ignoring new targets: 78.10 m.BjzJj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.317505 m, bearing: 276.010025 deg, approach rate: -0.528802 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.010025 deg. :j 0'@HeadingCmd: 4.817284 target range: 78.099998 and range: 585.20 m. jjjjihhhh!f!f!f!rf!bfM@ɛIB1 隕 4 I t[Qw,FABRT@YBc@Bq9B{ >yBH??I`?e@=?`.??ɨBRT@B;@yJIBJ`H-%only read 0 of 1 data item for altitude. Device response is::BD, +31.15, + -6.28, 20.0  %@- -@- -@-  -@- I5I5C6٢EF EW=9EH:Q M>II MG٣M2GyU; U> ebBottom track data is 0.4 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYmv49]k?mv4Y]6 i]?Bm+:im:m3m?]8C]*(;]>],v4y }A}jEZjDNOT Ignoring new targets: 78.10 m.BjiJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 564.113831 m, bearing: 276.008659 deg, approach rate: -0.559439 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.008659 deg. :j&@HeadingCmd: 4.817260 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbfG@ɛJBp hI OɚiIa0=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIi(9i;)) E9*F?2F:FBFJFG GJeJUJJJ\:J>9JJG{/;jH bH <H% ^>I!  I% QHI% JBI% =&I! .I! 6I% 0<:I% FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԇQw,(dFAynIBnDHIvIv0D6٢%c %L=9-Q ->)) -G٣1y5 5> EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9Mv49=8k?Mv4Y= i=?BM :IM:IU?=TC=!*;=eG?=5v4Y ]DAY}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 78.10 m.BjJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.896667 m, bearing: 276.007201 deg, approach rate: -0.539491 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.007201 deg. :j&@HeadingCmd: 4.817235 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf`ɳ@ɛ JBF >I PɚiI0=Ii*Z59i%;)) =]$?I=f)9*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsezKGMKKKbK GO;G B O >*J! "J% a=}Qw,IFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseZ@Yi@=#o9"G >yH޼? ?A5`Y? G "?`G??ɨZ@h;騩y]IB]#H 5 5 55 55  5 = =Mb@Mb@Mb@999 9)9Y=-? G٣y: > Nusing accuracyPremultiplier from configv49k?v4Y i?BT:?:z?zCk;,;Fv4 zAZjDNOT Ignoring new targets: 78.10 m.BjJj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.596313 m, bearing: 276.006205 deg, approach rate: -0.620385 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.006205 deg. :j&@HeadingCmd: 4.817217 target range: 78.099998 and range: 585.20 m. j!j!j!j!i!h!h!h)h)f)f)f1rf1bf5 @ɛ]JBe*$ ae꫽Ia eȇɚaiaIm[0=IuiumG9iu~;)q)y )I)*F?2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG} ;G9 BI Oe >Qw,ZFA6X@Y6h@65q96>y6H=Ѽ?? k% ?P(@m&? ? +?ɨ6X@6M;6#CyVIBVHI^I^F6٢j j=9nչQ n?JraJrWJpJpJr:JrG9JpJpxx zG٣z2Gy~E. ~?  Nusing accuracyPremultiplier from config v49k? v4Y" i>B?CL::Qv4 %A!ZjAMDNOT Ignoring new targets: 78.10 m.BjUJjQe ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.401733 m, bearing: 276.005564 deg, approach rate: -0.620441 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.005564 deg. :je&@mHeadingCmd: 4.817206 target range: 78.099998 and range: 585.20 m. jijijqjqiyhhhhfffrfbfu @ɛJB{m ŽI  ɚiI01=IiI IHIJBI =&I.I6Ia<:IF*F?2F:FBF5JF"G=G=uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseG*; IGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse¹Qw,FAuV@Yu^e@uNBn9uhx>yuH? d? ^?xj8ȍ?=??ɨuV@u;u%CyޅIBޅ HII.G6٢  ==9]9Q > G٣yK > Nusing accuracyPremultiplier from configv49k?v4Y) i>B?CP ; ;`v4 AZj  DNOT Ignoring new targets: 78.10 m.BjJj% ProNav pure pursuit: ac range: 78.099998 m, nav range: 563.136108 m, bearing: 276.004702 deg, approach rate: -0.618463 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004702 deg. :j%m&@5HeadingCmd: 4.817191 target range: 78.099998 and range: 585.20 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM O!@zKu  I Qw,GAyzIBzHMb@Mb@Mb@ )Ysh|??{Gzt?/$y)?ף;,A )OAI AyAIII6٢h H=9Q > G٣y > Nusing accuracyPremultiplier from configv49k?v4Y0 i>BT*?:?؇C;;=ov4 ߺAkEZj!%DNOT Ignoring new targets: 78.10 m.Bj-3Jj)= ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.864929 m, bearing: 276.004053 deg, approach rate: -0.663085 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004053 deg. :j=V&@EHeadingCmd: 4.817180 target range: 78.099998 and range: 585.20 m. jAjAjAjAiIhIhIhIhQfQfQfQrfQbf]"@ɛ1JBbC+ 隥%I ɚiI 1=IiLo9id;))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F]?2FY:FYBF]l1JFYJbJYJ2JJ:J[O9Jc3JG};ZHRHHI IHIZJBI&I.I6IJ<:IFGY Ba O} >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseQw,GA6DO@Y6^@6Bl96R >y6H r?੆? X#¼?")Ě???ɨ6DO@6=;4ynIBrHI~I~I6٢ $:  X=9 o9Q  > G٣2Gy > %Nusing accuracyPremultiplier from config!-v49%k?-v4Y%a7 i%>B15ĸ5?%C%:%:%u|v49 =A9]B*** querying acoustic contact ***jYjYZjamDNOT Ignoring new targets: 78.10 m.BjuJjq ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.613525 m, bearing: 276.003475 deg, approach rate: -0.665336 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003475 deg. :j@&@HeadingCmd: 4.817169 target range: 78.099998 and range: 585.20 m. jjjji Ihhhhfffrfbf"@ɛ;JB1 3I ɚiI@2=Iiz9ie;))E t>E >*Fu?2Fq:FqBFu/1JFqG GWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG;GBO>zK +!MK K K dK  *5872-,,(%%$! 'Qw,ޓ6GAEWill construct direction to contact in vehicle frame from tetrahedron phase data.E=E4=UT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseypIBH =a=Mb@Mb@Mb@ )Y> ףp=?y&1|Q롿y1?`廹\/A )IAyAIII6٢? &=9Q > G٣y > Nusing accuracyPremultiplier from configv49k?v4Y`@ i>B'2?:6?$C;;v4 A IfZjDNOT Ignoring new targets: 78.10 m.BjkJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.270081 m, bearing: 276.003353 deg, approach rate: -0.666053 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003353 deg. :j<&@ HeadingCmd: 4.817167 target range: 78.099998 and range: 585.20 m. j j j j i hhh1h9f9f9f9rf9bfE#@ɛIJB3 XI ɚiI<2=Ii9iI;))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Qw,Q0QGAG@YW@Or9[>yH J? Lj? `?9?I?l?_?ɨG@W;&Cy%iIB-HIM5IMcL6٢eO eq=9e߀Q e?ii mG٣iyu0 u? }Nusing accuracyPremultiplier from configyv49}תk?v4Y}F i}>BV?}BC};};}v4JaJXJJJ:J5K9JJ %AZjH[>I IHI'JBI =&I.I6I'<:IFmDNOT Ignoring new targets: 78.10 m.Bju~]Jjq ProNav pure pursuit: ac range: 78.099998 m, nav range: 562.034851 m, bearing: 276.003293 deg, approach rate: -0.739685 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003293 deg. :j:&@HeadingCmd: 4.817166 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf`$@ɛ-QJB-mG )-ChI) 5Sɚ1i1I5 3=I=i=09i=|;)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data. Will construct direction to contact in vehicle frame from tetrahedron phase data.  G٣2Gy > Nusing accuracyPremultiplier from configv49ik?v4YN i>B?gC*;+;ܧv4 AZjDNOT Ignoring new targets: 78.10 m.Bj ]BDAT read: Tx time:19:42:21.3165 ]$Ping request sent.] I f'(Qw,'ڄGA25@Y2TD@2{924>y2H?^?x@^?3U?y?Z??ɨ25@2;2$Cy>mIB>HDFA-Mb@Mb@Mb@))) )))Y-\(\?y&1~jty-:?-`e-ļ-A -?A)- AI- A)y-GAIE1IEK6٢Un ]N=9]翺Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configi}v49mk?}v4YmU im>B};?}:}}?mCm:;m;mv4}B AlEUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:19:42:21.3157 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.240485ZjyDNOT Ignoring new targets: 78.10 m.Bjb7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 561.460693 m, bearing: 276.003547 deg, approach rate: -0.685085 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003547 deg. :jC&@HeadingCmd: 4.817171 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf{9&@ɛEgJBEFE AEyIA M$ɚiI4=Ii:9iY;))*FE?2FA:FABFE5JFAjHbHHZ>I I|HIJBI&I.I6Iȱ<:I~FBIJIRIZI =bIjI5G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492915G B O >QQw,GA2k@Y2%@292>y2H"?@?Wj?ti??@G?@P?ɨ2k@2;0 PIPyVeIBVHIbIbE6٢f jT=9j \Q j>ll nG٣lyrd r> vNusing accuracyPremultiplier from configtzv49vӱk?zv4Yv\ iv>B|?vCv8S;vS;v5v4  +A iEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 561.178406 m, bearing: 276.003975 deg, approach rate: -0.746777 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.003975 deg. :jS&@HeadingCmd: 4.817178 target range: 78.099998 and range: 585.20 m. jjj!j!i!h!h!h)h)f)f)f)rf1bfu&@ɛqJBM WI aɚiI o4=Ii䓓9i9))*F?2F:FBFP5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.744652G`;zK LK 9K K fK JsKs KsKsKs"KsJ dJ TJ 1J J <:J :9J 3J J !;a J #;a J _J:a J aJ:a G B O >)Q Y ~~G vA UQw,蠸GA JYJvAyNAbWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.999012]@Y]6@]I79]>y]H@\?!? G٣2Gy   > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configv49Wk?%v4Y f i>B%+:!%k:%-?܈CQ:;F>v41 5A1ZjYeDNOT Ignoring new targets: 78.10 m.BjeD7Jjiu ProNav pure pursuit: ac range: 78.099998 m, nav range: 560.830627 m, bearing: 276.004644 deg, approach rate: -0.756566 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.004644 deg. :juk&@}HeadingCmd: 4.817190 target range: 78.099998 and range: 585.20 m. I jyjjjihhhhfffrfbf'@ɛ~JB AI I ɚiI4=IiJb9i&B))EE*Fu?2Fy:FyBF}5JFyG GsAeWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248522G SnG B O >bQw, eGA6˒@Y6Fۙ@6P96z>y6HRp??M߸?}? 7?#? ?ɨ6˒@6;6%Cyn{IBnHIvIvD6٢Z< r=9Q ?    G٣ y/x ? %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%v49k?-v4Yl i>B- :)->:--?C(; Q?ov49 =A9ZjamDNOT Ignoring new targets: 78.10 m.Bjm8Jji} ProNav pure pursuit: ac range: 78.099998 m, nav range: 560.583862 m, bearing: 276.005249 deg, approach rate: -0.730124 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.005249 deg. :j}&@HeadingCmd: 4.817200 target range: 78.099998 and range: 585.20 m. jjjjihhhhffH[>I IpHIIBI&I.I6I<:IFfrfbf(@ɛJBVT 'I ɚiI"?5=IiU/9in*))*Fu?2Fq:FqBFu5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499898GMV'SG!B1OU2> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752289Qw,DGA2Β@Y2Fޙ@2m92<>y2H H??`Y@?z?@W? 0??ɨ2Β@24ڇ;2$CyRIBRHI^(I^J6٢r[= vL=9v:Q v>xx zG٣xyzmo: > -bBottom track data is 1.2 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-v49% k?5v4Y%ct i%>B5915:5=?%"C%;^;%?%v4Y ]ѺAejEZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 560.287659 m, bearing: 276.005964 deg, approach rate: -0.716995 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.005964 deg. :j&@HeadingCmd: 4.817213 target range: 78.099998 and range: 585.20 m. jjjjihhhhf f f rf bf  e)@ɛ]JBeK ae!Ia e~ɚiiiIm#5=Ii9iYϻ))zK}\KKh9KKgKRK ?JK>JQJUAAJebJeVJaJaJe:JeB9JaJaJeT ;JeW ;JeX:JeX:*Fe?2Fi:FiBFm5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006123G m ^$?Im fGq By O >uRw,~HA2Β@Y25ޙ@292A>y2H ̇?`T?K@?Xy??$?-?ɨ2Β@21;0y:IB>H                Mb@Mb@Mb@    ) Y rh|?MbMb?y ;?  < A A) rAI  y pAI%I%H6٢5< 5F=9599 EG٣AyEi E> MNusing accuracyPremultiplier from configIUv49MNk?Uv4YMJ| iM>BT: ZHRHHI I|HIJBI =&I.I6I[<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508396 Y IY Rw, HA6 ̒@Y6Wۙ@6o96>y6H`p??k+ظ?@y? '?D?&?ɨ6 ̒@6l`;6#CyNIBNHIVIVH6٢^$= ^Q=9^7Q ^>`` bG٣b2GyfZk f> nNusing accuracyPremultiplier from confighnv49jk?rv4Yjփ ij>Bpr¿r?jmCj:j2:jv4x zAx B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 78.10 m.Bj%ǟ8Jj!5 ProNav pure pursuit: ac range: 78.099998 m, nav range: 559.701416 m, bearing: 276.009264 deg, approach rate: -0.771980 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.009264 deg. :j5'@=HeadingCmd: 4.817270 target range: 78.099998 and range: 585.20 m. j9j9j9j9i9hAhAhAhAfIfIfQrfQbf]*@ɛJBE\P 隍{I ɚiI2{6=IiWj9iܻ))*F%?2F!:F)BF-1JF)EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762218G̻GBO>zK] XKKY KY K] hK] *Jm C="Jm %=J J \J J J J [9J J J U ;J J ف:J ځ:t Rw,9HARWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013799ɒ@YGٙ@9|>yH`?#?ෝRn˸?@]y?y=?u??ɨɒ@;騅$CyޕIBޝ(H IuMb@Mb@Mb@qqq q)qYuV-?V-S㥛?yuh1?uu/ G٣y > Nusing accuracyPremultiplier from configw49k?w4Y i>B1?:¿?C1;0;E w4 kAZjDNOT Ignoring new targets: 78.10 m.BjJ8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 559.357605 m, bearing: 276.011237 deg, approach rate: -0.691492 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.011237 deg. :j]'@HeadingCmd: 4.817305 target range: 78.099998 and range: 585.20 m. jjjjih!h!h)h)f)f)f)rf1bf5`6+@ɛeJBeΤD aeuIi mɚiiiIm6=IuiuW9iuKz)q)y*F2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263540GE 4λG B! OE >Rw,SHA:Ē@Y:6ԙ@:9:u>y:H8?!?`@T?{?@Ó?ء?`?ɨ:Ē@:S;8y^IBbBHIfIfjC6٢n= r=9rպQ r?tt vG٣tyv z? ~Nusing accuracyPremultiplier from configxw49zμk?w4Yz iz>B¿?zCz ;z ;z=w4|B ?AkEHE\>IA IEHIE'JBIA&IA.IA6IE;<:IEFZj DNOT Ignoring new targets: 78.10 m.Bj8Jj5 ProNav pure pursuit: ac range: 78.099998 m, nav range: 559.140320 m, bearing: 276.012499 deg, approach rate: -0.638166 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.012499 deg. :j='@=HeadingCmd: 4.817327 target range: 78.099998 and range: 585.20 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU,@ɛ}JBN 隅jI ɚiI0N7=IinI9i/))Will construct direction to contact in vehicle frame from tetrahedron phase data.յ<յ<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516923*FI2FI:FIBFM0JFIGUsA GUtA IfGmUGI BQ Ou >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768568Rw,mHAFŒ@YF@ՙ@F9Fc>yFHd@?@?@?@k{????ɨFŒ@F~_;F#CyRIBREH V=V=IZIZhE6٢bh; bJ=9f9Q f>dh jG٣j2Gyj9 n> vNusing accuracyPremultiplier from configpvw49rk?vw4Yr ir>Bxz¿z?rىCr;r;rp&w4 :AZj!-DNOT Ignoring new targets: 78.10 m.Bj-8Jj)= ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.859192 m, bearing: 276.014131 deg, approach rate: -0.742054 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014131 deg. :jE'@EHeadingCmd: 4.817355 target range: 78.099998 and range: 585.20 m. jAjIjIjIiIhIhIhQhQfQfYfYrfabfef-@ɛJBV|M !%sI! %vɚ)i)I-7=I]ie:9iec)i)zK-KK-+9K)K-iK-JcJVJJJ:JB9JJJ;J;JX:JX:*Fe?2Fa:FaBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023416Gm;3 IG B O >!Rw, cHAy~IB~gHMb@Mb@Mb@ )YFx?{GzV-?y+?#<A A) AIyAIIA6٢{}= >=9Q > G٣y > Nusing accuracyPremultiplier from configw49k?w4Y i>B=,?:2ſ?CN;;j5w4 AZj DNOT Ignoring new targets: 78.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271667Bj 8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.572083 m, bearing: 276.016334 deg, approach rate: -0.668997 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016334 deg. :j(@HeadingCmd: 4.817394 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf@N.@ɛJBE 隭fI CM ɚiIK"8=Ii4d(9i))*F?2F:FBF3JFjH9bH=<HE]>IA IEHIEZJBIA&IA.IA6IEE<:IEF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523629G #G B O > I 'Rw,>AHA2ɒ@Y2ؙ@2 92(>y2H]??GF\θ?@z??n? G?ɨ2ɒ@2N;2$Cy> JB>HIFIFB6٢Rgw= R^=9RQ R>TT VG٣TyV٠: Z> ^Nusing accuracyPremultiplier from configXfw49ZSk?fw4YZ% iZ>Bdf%ſf?ZCZE;Z.F;ZPBw4h nֹAlzB*** querying acoustic contact ***jxjxZjDNOT Ignoring new targets: 78.10 m.Bj '8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.324768 m, bearing: 276.018225 deg, approach rate: -0.668739 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.018225 deg. :j\(@HeadingCmd: 4.817427 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf /@ɛeJBe^J ae$[Ia e ɚiiiIm}8=Ii%9iه))EE*Fi2Fi:FiBFu0JFq"G}=G}=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776416GG B O >zK }KK 9K K jK .Rw,HAJWill construct direction to contact in vehicle frame from tetrahedron phase data.HJ<Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.031993 iIiaʒ@Yٙ@n9%|>yHc?`u? 2`Ը?z? ͓?@??ɨaʒ@3;y+JBH!%AMb@Mb@Mb@ )Y'1Z?Zd;O?y"?j<<A pA)IAyAII@6٢k=  =9Q > G٣2GyH59 > Nusing accuracyPremultiplier from configw49ֿk?w4Y i?B]#?:ƿ?GCҔ<<%Tw4 AlEZjDNOT Ignoring new targets: 78.10 m.Bjb8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 558.000732 m, bearing: 276.021104 deg, approach rate: -0.612670 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.021104 deg. :j (@HeadingCmd: 4.817477 target range: 78.099998 and range: 585.20 m. jjjjihhhhfAfAfIrfIbfM`_ 0@ɛJB×= MI  ɚiI8=Ii9i))*F12F1:F1BF5)2JF1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.280691Je aJa Je 2Ja Je :Ja Je c3Ja au @au @au @au @Gy G} ?G} >HA IA  IE HIE JBIA &IA .IA 6IE <:IE FBIJIRIZIbIjI̮ 5Gi By O >5Rw,HAVcҒ@YV@V 9Vh+>yVH~?? s@9?kx?@U??:?ɨVcҒ@VJ;V!Cy^ G٣y.; > Nusing accuracyPremultiplier from configw499k?w4Y߶ i?Bƿ?eC::`w4 vAZjDNOT Ignoring new targets: 78.10 m.Bj8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 557.767883 m, bearing: 276.023152 deg, approach rate: -0.669184 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023152 deg. :j)@HeadingCmd: 4.817513 target range: 78.099998 and range: 585.20 m. jjjjihhh h fffrfbfZ`0@ɛEKBEjxH IMGII]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.533097 eZO ɚaiaImE9=Ii8i.ƻ)) If*F?2F!:F!BF%5JF!GMUG! B9 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783714e;Rw,_HA:ג@Y:@:09:]1>y:H`͸? w? @`8?Jv?@%??;?ɨ:ג@:ݶ;:#CyDFHININR=6٢Vl VY=9Z9Q Z>`` bG٣`yb_: f> jNusing accuracyPremultiplier from configdjw49fk?nw4Yf7 if?Blnxƿn?fCf ;fm ;f+nw4t vxAtZjDNOT Ignoring new targets: 78.10 m.Bj8Jj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 557.527832 m, bearing: 276.025249 deg, approach rate: -0.636749 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.025249 deg. :j-])@=HeadingCmd: 4.817549 target range: 78.099998 and range: 585.20 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU0@ɛKBI 隅'TI g ɚiI9=Ii8i))Ei>E>zKJ3KK+9KKkK -wzwng_ZYVQME<64.-*&$%% G=xA*FM?2FIQ:FIBFQJFa WYxAyAGtA GuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039325 IGҸGBO>0BRw,FB IA6ڒ@Y6@696Uy>y6H?? q(@O?(Pv??~??ɨ6ڒ@6W;6$CyNPJBNH R=R=^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.287659EMb@Mb@Mb@AAA A)AYE~jt?I +~jt?yE?E9EDqq uG٣u2GyX: > Nusing accuracyPremultiplier from configw49k?w4Y> i'?B?:?C'<;(<}w49 =OA9ZjYeDNOT Ignoring new targets: 78.10 m.BjeO8Jji ProNav pure pursuit: ac range: 78.099998 m, nav range: 557.260864 m, bearing: 276.026517 deg, approach rate: -0.597211 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026517 deg. :j)@HeadingCmd: 4.817572 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf 61@ɛ5KB=WB 9=NI9 = ɚ9iAIE:=IEimV8im_f)i)iJ`JUJ0JJ:J>9Jـ3J*F?2F:FBF1JFHI IQHIJBI&I.I6I<:IFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.539838GG B O > I HRw,r%IA6 @Y6X@6=96$ >y6H`@??<`ԥ?s?^??J?ɨ6 @6;6#CyFZJBFHININ;6٢VS< VW=9Z?:Q Z>XX ZG٣\y^Lw; ^> fNusing accuracyPremultiplier from config`fw49bk?fw4Yb ib.?BhjWj?bÊCb:b:b]w4l r} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043546ORw,)A?IA y%H L?~?`I$?@~s?`e? E#?ݴ?ɨ%@%g;%!CyE\JBEHMb@Mb@Mb@ )YCl?Mbp{Gzyd?#A A)IAyAII<6٢; )=9Q > }G٣yy}9 > Nusing accuracyPremultiplier from configw49k?w4Y i/?Bj?:񼿑?C;;қw4{B 6AmEZjDNOT Ignoring new targets: 78.10 m.BjE7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 556.734497 m, bearing: 276.027873 deg, approach rate: -0.627268 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027873 deg. :j)@HeadingCmd: 4.817595 target range: 78.099998 and range: 585.20 m. jjjjihhhhff f rf bf 2@ɛ5H} \>Iy  I} HI} JBI} =&Iy .Iy 6I} /<:I} F[URw,YIA6@Y6@6G96R >y6H??@`?p?H?`.o#\Rw,rIA6@Y6@6׭969 >y6H? ?^ qM ??r?x?@9?@$?ɨ6@6Շ;6"CyFXJBFHIRIR=6٢V3m ZJ=9Z=Q Z>\\ ^G٣\yb9 b> fNusing accuracyPremultiplier from configdjw49fk?jw4Yf} idhjļj?f!Cf:f:fw4r}B rEApZj DNOT Ignoring new targets: 78.10 m.Bj-7Jj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 556.299194 m, bearing: 276.028283 deg, approach rate: -0.632323 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028283 deg. :j-)@5HeadingCmd: 4.817602 target range: 78.099998 and range: 585.20 m. j1j1j1j1i1h9h9hAhAfAfIfIrfIbfM 2@ɛ}TKB}tX ?_=隅W|I ɚiI};=Iih38iH)JJ)zKMK9KKmK(($"  RK?JK?*FM?2FQ:FQBFU0JFQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.055448 IGmOPGiByO> cRw,~ÌIABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.303663y%jJB%HMb@Mb@Mb@ )YX9v?~jtx?Zd;Oy?;jA )IyQAII>6٢-= -4=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configAMw49Ek?Uw4YE iE*?BU?U:UW]?EECE;E;Ew4a m!AiZjDNOT Ignoring new targets: 78.10 m.Bjq7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 556.019653 m, bearing: 276.027999 deg, approach rate: -0.616873 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027999 deg. :j)@HeadingCmd: 4.817597 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf :3@ɛ=eKBEQ AEzIA MɚIi I #?<=Ii>St8iXJ))JbJXJ1JJ:J5K9J3JH5]>I1 I5HI5JBI5 =&I1.I16I5$<:I5F*F%?2F!:F!BF%0JF!G) G)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555549 I Ge 2FGA BQ Om >5iRw,IA6@Y6@6_96U >y6H`? ?b@ v?p?`?spp rG٣r2Gyv; v> zNusing accuracyPremultiplier from configx~w49zk?~w4Yz iz&?B|?zaCz: ;z ;zJw4  'A -B*** querying acoustic contact ***j)j)Zj9EDNOT Ignoring new targets: 78.10 m.BjM[WJjIm ProNav pure pursuit: ac range: 78.099998 m, nav range: 555.797241 m, bearing: 276.027734 deg, approach rate: -0.617026 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027734 deg. :jm)@uHeadingCmd: 4.817593 target range: 78.099998 and range: 585.20 m. jyjyjjihhhhfffrfbf3@ɛqKB_ I Eɚi I <=Ii g8iú))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809213*F-?2F):F)BF-0JF)G9zK- cLK- h9K) K- nK- Gi Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060703 pRw,IA I ]z@Y]@]9]C >y]H 9:?@?B@ `.?p?w??0?ɨ]z@][;]$CyufJBuHMb@Mb@Mb@ )YMb?:v?S㥛y ?T</ݼЭA )Iy(AII@6٢-Ժ 5*=95*9Q 5>99 =G٣9y=: E> MNusing accuracyPremultiplier from configIUw49M0k?Uw4YM iM?BU ?U:U]?MCM{;M+;M w4a e&AekEZj DNOT Ignoring new targets: 78.10 m.Bj ڷJj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 555.495056 m, bearing: 276.026992 deg, approach rate: -0.608485 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026992 deg. :j)@EHeadingCmd: 4.817580 target range: 78.099998 and range: 585.20 m. jAjAjIjIiIhIhIhQhQfQfQfQrfYbf]'4@ɛKB"Z mI fɚiI/@==IiZ8i))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311623EE l;=*F ?2F :F BF 0JF "G =G =H! I!  I% HI% JBI! &I! .I! 6I% <:I% FEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.563709G ԹG?G ? IfGBO?Z0xRw,XIAJ @YJl@J'9J >yJH@_?p?X`@ź?Jr?? 1?X?ɨJ @Jlp rG٣pyr: r> vNusing accuracyPremultiplier from configtzw49vDk?~w4Yv iv?B|~{~?vCv ;v ;vw4 *A Zj)=DNOT Ignoring new targets: 78.10 m.Bj=JjAU ProNav pure pursuit: ac range: 78.099998 m, nav range: 555.212097 m, bearing: 276.026280 deg, approach rate: -0.650207 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026280 deg. :jU)@]HeadingCmd: 4.817567 target range: 78.099998 and range: 585.20 m. jYjYjYjYiYhahahahafififirfibfu@4@ɛKB=e 隝BI oɚiI==IidR8ixCC))E-tY=*F%?2F):F)BF-42JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816209G%ïG B O- >J eJ [J J J \:J W9J J J ;a J ;a J |:a J |:a zK ^KK 9K K oK U~Rw,CIAy%qJB%HMWill construct direction to contact in vehicle frame from tetrahedron phase data.U  G٣ 2Gy= E> Nusing accuracyPremultiplier from config x49k?x4Y i?B?ՋC;;]x4 A!ZjDNOT Ignoring new targets: 78.10 m.BjJj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 554.898376 m, bearing: 276.025489 deg, approach rate: -0.606775 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.025489 deg. :j-f)@5HeadingCmd: 4.817554 target range: 78.099998 and range: 585.20 m. j1j1j1j1i1h9h9hahafafifirfibfm5@ɛKB)_ Y]Ia e>ɚaiaIe>i>=ImimXH8imUT)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.yNH 11 5G٣1y= => MNusing accuracyPremultiplier from configIUx49M"k?Ux4YM$ iM?B]'?]:]~]?MCM@;M;Mx4 AZj)-DNOT Ignoring new targets: 78.10 m.Bj5_kJj1m ProNav pure pursuit: ac range: 78.099998 m, nav range: 554.552063 m, bearing: 276.023778 deg, approach rate: -0.650449 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023778 deg. :jm()@mHeadingCmd: 4.817524 target range: 78.099998 and range: 585.20 m. jqjqjqjqiqhqhqhyhyfyffrfbf{5@ɛeKBe:Ve imIi m5%ɚqiqIu ?=Ii-W:8i6())EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. UBDAT read: Tx time:19:42:32.2666 U$Ping request sent.UyH޾?-?E`S@?Y?? ?@ٴ?ɨ@X;!Cy5sJB5HMb@Mb@Mb@ )YJ +? rh?MbP?y(?C =:ЭA )~AI AyAIIF6٢ =9RQ > G٣2Gy Q > Nusing accuracyPremultiplier from configx49+k?x4Yr i?B(?:?4C;3;*x4|B = A=lEeB*** querying acoustic contact ***jajaZjiuDNOT Ignoring new targets: 78.10 m.BjulJjq ProNav pure pursuit: ac range: 78.099998 m, nav range: 554.156860 m, bearing: 276.021872 deg, approach rate: -0.670581 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.021872 deg. :j(@HeadingCmd: 4.817491 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbfC+6@ɛ-KB-h 1=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:19:42:32.2658 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2512085箾IQ ]ɚYiYI]߷?=Ieie|88imK@)i)i*F ?2F :F BF 0JF H \>I  I I I &I .I 6I <:I FGM ˴G) B9 OU >8Rw,sI^JAJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502222yz|JBz HIIA6٢=M< ==9=Q = ?AA EG٣AyM If  ? Nusing accuracyPremultiplier from configx49k?x4YD i&?B?PC;;6x4 AZj!-DNOT Ignoring new targets: 78.10 m.Bj5oJj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.933594 m, bearing: 276.020795 deg, approach rate: -0.678422 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.020795 deg. :jE(@MHeadingCmd: 4.817472 target range: 78.099998 and range: 585.20 m. jIjIjQjQiQhQhQhYhYfYfYfYrfabfe}6@ɛKB僽 隕ҰI ɚiI=*@=Iii8i6))*F92FA:FABFE0JFAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755263GeV'SGe ?Ge?G9 BA Oe >[Rw,txJAJK23 KL.KK"KJaJWJJJ:JG9JJJ;J;J_:J_:~Ғ@Y~@~zټ9~ >y~Hg?V?N X? ?9?.I??ɨ~Ғ@~;|y]JB]HImImB6٢}i< G=9KQ > G٣y+ > Nusing accuracyPremultiplier from configx499k?x4Y" i/?B3?qCq::gDx4 AZjDNOT Ignoring new targets: 78.10 m.BjdSJjzKu|NKu+9KqKuqKu ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.674683 m, bearing: 276.019660 deg, approach rate: -0.658381 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.019660 deg. :j(@HeadingCmd: 4.817452 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf6@ɛ KB | -ƴI1 5ɚ1i1I5@=I=i=v7i=Aݻ)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007486 I *F2F:F!BF%0JF)Gm _vGA BI Om >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258215CRw,XJAf@Yf<̙@f^9f >yfH?X?@ on`ĸ?@?kB?&?`?ɨf@fcE;dyrJBr*HuMb@Mb@Mb@qqq q)qYuy&1? G٣2Gyֻ > Nusing accuracyPremultiplier from configx49tk?x4Y( i>?B%?:T?CY;;Rx4 ǸAZjDNOT Ignoring new targets: 78.10 m.BjJJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.411682 m, bearing: 276.018534 deg, approach rate: -0.645999 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.018534 deg. :jh(@HeadingCmd: 4.817432 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbfkP7@H9I9 I=HI=KBI9&I9.I96I=ֱ<:I=FɛKB~ 隕lI CɚiIA=Ii™5i())*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510226G ܻGBO> Im PExceeded connect timeout, disconnecting.?nRw,ӿJA2ƒ@Y2kՙ@2r92h>y2H@ @?? Qh`??`%??`w?ɨ2ƒ@2㩇;0yBJBB)HIJIJkA6٢ U=9t޺Q >    G٣ y ^?; > Nusing accuracyPremultiplier from config%x49k?%x4YX/ iM?B!%/-?C^;s;`x41 5ȸA1ZjaeDNOT Ignoring new targets: 78.10 m.BjmOJji} ProNav pure pursuit: ac range: 78.099998 m, nav range: 553.163879 m, bearing: 276.017442 deg, approach rate: -0.643445 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.017442 deg. :j}@(@HeadingCmd: 4.817413 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf ֬7@ɛ LB… 뻾I $ɚiI~A=IiEiR))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762436*F2F:FBF0JFGsA GsAJE`JAJAJAJE:JAJAJAJE:JE:JAJAGUGsAGrAGBzKFKK9KKrKO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014149 I YRw,JAyJB G٣y > Nusing accuracyPremultiplier from configx49k?x4Y6 ic?B< ?:?،C;o;,px4{B AjEZj DNOT Ignoring new targets: 78.10 m.Bj ڷJj% ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.876099 m, bearing: 276.016757 deg, approach rate: -0.625761 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016757 deg. :j-'(@-HeadingCmd: 4.817401 target range: 78.099998 and range: 585.20 m. j)j1j1j1i1h1h1hAhAfAfAfIrfIbfM"8@ɛuLBu; y}Iy }ЉɚyiyI}3A=Iii~))Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266641*F92F9:F9BF=0JF9H1 I1  I5 HI5 %KBI1 &I1 .I1 6I5 б<:I5 FGe G9 BA Oe >CRw,)vJABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518303>Œ@Y>ՙ@>9>OU>y>HCŒ@>Y;> CyRJBP Z=XIZIZ5>6٢fC; fp=9fQ j?hh jG٣j2GynS n? rNusing accuracyPremultiplier from configpvx49rk?vx4Yrj< irs?Bxzz?rCrn:r:r|x4| ~A|%B*** querying acoustic contact ***j!j!Zj)5DNOT Ignoring new targets: 78.10 m.Bj5hطJj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.663818 m, bearing: 276.016253 deg, approach rate: -0.621484 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016253 deg. :jE(@MHeadingCmd: 4.817392 target range: 78.099998 and range: 585.20 m. jIjIjQjQiQhQhQhYhYfYfYfarfabfe@z8@ Ifɛ,LBE 隥ľI ӜɚiIG`B=Ii#0i)) nManaging dock network, ignoring radio surface power off*F!2F!:F!BF)JF)G5UG B5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770562OE>JU @AJQ Rw,^JA6q@Y6Й@6p 96$>y6H ??@uY ?@#?@?\?w?ɨ6q@6;6"CyrJBr?HI~I~>6٢ ;  F=9 Q  > G٣y > =Nusing accuracyPremultiplier from config)Mx49-k?Ux4Y-,C i-?BY]¸]?-C-;-;-x4q }AyZjDNOT Ignoring new targets: 78.10 m.Bj зJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.405273 m, bearing: 276.015651 deg, approach rate: -0.610749 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015651 deg. :j'@ HeadingCmd: 4.817382 target range: 78.099998 and range: 585.20 m. j jjjihh!h!h!f)f)f1rf1bf5m8@zKUKKh9KKsKRK?JK>ɛ?LB2* ̾I W ɚiIB=I ixSzi-X))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022288 iIq*F2F:FBF 0JF G ;3G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274245Rw,)KAFĒ@YFԙ@F9F{>yFH4?@ڎ?h,9?Y?@_? ??ɨFĒ@F*;F!CyrJBrBHMb@Mb@Mb@ )YS?{Gz? G٣y~: > Nusing accuracyPremultiplier from config5x49[k?5x4YI i?B=U?=:=K=?5Ci<h<Vx4A EAAZjDNOT Ignoring new targets: 78.10 m.BjJjH]>I IHI9KBI&I.I6I<:IFJcJTJ2JJ:J:9Jc3JJ;J;J_J:JaJ:} ProNav pure pursuit: ac range: 78.099998 m, nav range: 552.145813 m, bearing: 276.015160 deg, approach rate: -0.604552 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015160 deg. :j}'@HeadingCmd: 4.817373 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbfI\9@ɛQLBY 7ԾI  !ɚiI:GC=Iigi`))*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527303 aIaG >uG B O >xRw,-KA:Yǒ@Y:֙@:)9:Y>y:H}H??@izDU?C?Mۢ?u??ɨ:Yǒ@: ;: CyNJBR;HIZIZQ>6٢{ V=9"Q  >    G٣ 2GyT: > Nusing accuracyPremultiplier from config%x49k?%x4YP i?B!-A-?SC@::x41 5A5kEZjamDNOT Ignoring new targets: 78.10 m.BjmJji ProNav pure pursuit: ac range: 78.099998 m, nav range: 551.911987 m, bearing: 276.014709 deg, approach rate: -0.637640 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014709 deg. :j'@HeadingCmd: 4.817366 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf@S9@ɛ_LBx *޾I l"ɚiI1C=Ii@i2]))Will construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Rx Time:19:42:35.4434 TRx dataTimestamp_ set to:1736365356.769163 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779748*Fu?2Fq:FqBFu0JFyGGBO>zKE :KKE 9KA KE tKE  )7>:=R]^ZXSMIDC>>>=;72.'!   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030129 I II Rw,FKAy5JB5IHMb@Mb@Mb@ )Yv?I +?ii mG٣iyu u> }Nusing accuracyPremultiplier from configyx49}{k?x4Y}W i}?B?:Ϻ?}xC};}[;}x4 AZjDNOT Ignoring new targets: 78.10 m.BjJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 551.624268 m, bearing: 276.014517 deg, approach rate: -0.595095 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014517 deg. :j'@HeadingCmd: 4.817362 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf@-:@ɛ=sLB= AE^IA E~$ɚAiAIE+D=IMiM߸iMC)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 19:42:35.4434 LVL= 24368, 32753, 24642, 32755, AGC= 71, IDX= 308, 0.35, 1.168,-0.673, 1.202, 0.413, PHS= 0.843,-1.039, 0.787, RAW= 148.5, -6.4, CAL= 153.9, -14.9, ROT= 356.1, 14.9 eYgot valid direction response: 19:42:35.4434 LVL= 24368, 32753, 24642, 32755, AGC= 71, IDX= 308, 0.35, 1.168,-0.673, 1.202, 0.413, PHS= 0.843,-1.039, 0.787, RAW= 148.5, -6.4, CAL= 153.9, -14.9, ROT= 356.1, 14.9 m8DAT read: $Error in header m*Received a bad headerX#Rx 1: Read direction message, but no range.^direction in FSK: [0.004104,-0.817398,0.576059]9ZLp?fP(o?0_ B`)IGiW?xI?H%@ o+@)%I>@i%>X??rY?'hv)N>I9=iZkȿz(T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF5JFH\>I I HINKBI&I.I6I<:IFBIJIRIZIbIjI(3J- bJ- XJ- 1J) J- :J- 5K9J- 3J) J- U ;J- W ;J- g:J- g:GE ;3G B! O= >HRw,`KA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapse:͒@Y:3ݙ@:F!9:!>y:H{?S?@Y^`@T?@?=??^?ɨ:͒@:;:CyNJBNFHIVIV:6 pIrf٢= =v=9=/Q =?AA EG٣AyMl; M? eNusing accuracyPremultiplier from configQmx49UYk?mx4YU\ iU?Bq?UCU~_ G! 9 e Ya ye AERw,zKA:VӒ@Y:@: 9'9:}>y:H@ꦸ?@X?N 5Թ?K7?? c?`?ɨ:VӒ@:];:!CyFJBF)HININ=6٢Vy VT=9Z@ZQ Z>XX ZG٣Xy^: ^> fNusing accuracyPremultiplier from config`fx49bl?jx4Ybb ib?Bhjj?bCb:b:bx4p rĸAtZjDNOT Ignoring new targets: 78.10 m.BjJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 551.195923 m, bearing: 276.014178 deg, approach rate: -0.591676 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.014178 deg. :j'@HeadingCmd: 4.817356 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf`V:@ɛ%LB% !%kI! -f'ɚ)i)I-&E=I5i5i5̻)1)9zKM9MKM9KIKMuKM \Nd~rA 6 zkC& ME ~ ~ 9`$(LD xcRCuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse a$?I*F2F:FBF5JFGBO$>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseRw,rKA:?@Y:@:'9:Q>y:H`?=?Na` K?j????ɨ:?@:;: CybJBf+H]Mb@Mb@Mb@YYY Y)YY]v?Zd;OMbyY]j]]hA ]?A)]AI]+AYy]AIuIu8:6٢:; ==9֊Q > G٣3Gy"; > Nusing accuracyPremultiplier from configx49l?x4Yi i?B?:?ЍC3;;x4 AZjDNOT Ignoring new targets: 78.10 m.Bj^D8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 550.937927 m, bearing: 276.015283 deg, approach rate: -0.626039 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.015283 deg. :j '@HeadingCmd: 4.817376 target range: 78.099998 and range: 585.20 m. jjHqbHup<HyIy I}HI}XKBIy&Iy.Iy6I}K<:I}Fjjjihhhhfffrfbf@Z;@JiJYJJJ+:J[O9JJJ /;J"/;J3n:J5n:ɛLBmꚽ 隕I TE)ɚiIE=Iiqi n))*F2F:FBF1JFG?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse IfGBOh> Rw,sLKA:@Y:@:+9: e>y:H ?ы?`o_ M?@֜?a??Z?ɨ:@:o·;:!CybJBbHIjIjS<6٢r@ rU=9r\Q v>tt vG٣tyzkq z> UNusing accuracyPremultiplier from config|]x49~%l?]x4Y~o i~?Baee?~C~;~: ;~x4i mܸAiZjDNOT Ignoring new targets: 78.10 m.Bj78Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 550.709595 m, bearing: 276.016264 deg, approach rate: -0.582052 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.016264 deg. :j(@HeadingCmd: 4.817393 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf;@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ LBt  I .*ɚiIF=I%i%<i-J)))1*F?2F:FBF5JFGBO!> Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ Չ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse I zK 6PK ]9K K vK + zwtsqmjecccb\WWTRSSSURPRNMJIHFCBAADCBEHGE>=Rw,yH1?k?qn??˥???ɨ@;騭Cy޽JBHAMb@Mb@Mb@ )YS?kt rhy/? 0C ^A A)ݛAIAyAII;6٢:; ,=9UQ > G٣3Gy^: > %Nusing accuracyPremultiplier from config-x49 l?-x4YUw i?B-?-:5ZĿ5?C;t;x4=zB =ԸA=lEZjYeDNOT Ignoring new targets: 78.10 m.Bjm8Jjiu ProNav pure pursuit: ac range: 78.099998 m, nav range: 550.417114 m, bearing: 276.018342 deg, approach rate: -0.629944 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.018342 deg. :j}a(@}HeadingCmd: 4.817429 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf 3<@ɛLBX 隭>I '-ɚiIF=Ii(iHWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse))*F}?2F:FBF0JFHiIi IiIiIi&Ii.Ii6Im<:ImFJ bJ [J J J :J W9J J J U ;J W ;J |:J |:Gu g{G} tAG} tAGQ BY O} >Rw,KA $I$*Will construct direction to contact in vehicle frame from tetrahedron phase data.*T****** received valid address query *******R****** received valid ping request *******received new query, but waiting for acoustic response period to elapseN@YN@N"29N>yNH'? ?Ug@jl?@?@B?`?FRw,KA:H@Y:@:79:{>y:H@$?༌?FP@s???@??ɨ:H@:;:"Cyv\JBvHI~I~T;6٢ i  G=9UQ > G٣yvѸ %> -Nusing accuracyPremultiplier from config!-y49%vl?5y4Y%` i%?B15bĿ5?%MC%:%7:%y4A E2AAmB*** querying acoustic contact ***jijiZjq}DNOT Ignoring new targets: 78.10 m.Bj}48Jjy ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.960754 m, bearing: 276.021599 deg, approach rate: -0.612355 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.021599 deg. :j(@HeadingCmd: 4.817486 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf<@ɛLB $I 0ɚiIѠG=Ii:i@\)) 9I9]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsezKmONKms9KiKmwKm?>;76846202761--*'"    *F2F:FBF 1JF"GR=Gp=GXGYBaO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse<.Sw,LA:g@Y:@:'i<9:8>y:H`T??@8t???A?@#?ɨ:g@:=;:CybLJBbH fR=fR=}Mb@Mb@Mb@yyy y)yY}?ˡEMby}f&?}'}@y }5A)} AI}+Ayy}zAIIS<6٢ A=9 5Q > G٣y| > Nusing accuracyPremultiplier from configy49l?y4Y i?B*'?:=ÿ?qC;o;&y4 QAZj  DNOT Ignoring new targets: 78.10 m.Bj8JjHI IHICKBI&I.I6I<:IF ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.684143 m, bearing: 276.023319 deg, approach rate: -0.654087 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023319 deg. :j)@HeadingCmd: 4.817516 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf ^=@ɛEMBE 隥 -I J3ɚiI?H=IiEiȡ))*F?2F:FBF0JF )I)eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseG% TG5 ?G5 >G B O% >@[ Sw,/LA6ޒ@Y6c@6B96,>y6H??Z`?@ W? ??? ?ɨ6ޒ@6h;6!Cy^PJB^HIfIf=6٢rW9< rW=9rmQ r>tt vG٣v3Gyz z> ~Nusing accuracyPremultiplier from config|y49~ul? y4Y~, i~?BLÿ?~C~lj;~Fk;~3y4 %FA%mEWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZjDNOT Ignoring new targets: 78.10 m.Bjk8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.437561 m, bearing: 276.024865 deg, approach rate: -0.620407 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024865 deg. :j5O)@=HeadingCmd: 4.817543 target range: 78.099998 and range: 585.20 m. j9j9j9j9i9h9hAhAhAfAfIfIrfibfm`k=@ɛMBy 0I 5ɚiIH=I-i-Oi-̱)))1*F2F:FBF0JFJeJ]JJJ\:J_9JJa@a@a@a@G I fm Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseG B O >zK EMK h9K K xK c;*Mk5\#xVh%  PO/("  DSw,ILA@YB@F9Ë>yH ? ?`jG?"ա?`?Ϩ? ? ̮?ɨ@N;騕CyLJBHMb@Mb@Mb@ )YGz?kty&1y0? 0`e A)AIy=AII?6٢$ .=9Q > G٣y:  > %Nusing accuracyPremultiplier from config5y49 l?=y4YЙ i?BE1?E:E¿M?CD;{;KDy4Q UPAQZjDNOT Ignoring new targets: 78.10 m.Bj8Jj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 549.109680 m, bearing: 276.026835 deg, approach rate: -0.684743 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026835 deg. :j-)@5HeadingCmd: 4.817577 target range: 78.099998 and range: 585.20 m. j1j1j1j9i9h9hahahafififirfibfu ;>@Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ(MBv #7I 7E8ɚiI~I=I}i}eL[i}-9)y)*F)2F):F1BF50JF1G=tA G=tAHI IHI/KBI =&I.I6I<:IFGU ̻ I G) B9 Oe >u Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapsewSw,cLABے@YB@B5`M9B>yBH@?h?pXe??E?#??ɨBے@B^;B Cy^@ɛ9MB'ͽ 隽:?I :ɚiIJ=Ii$eiƔ))*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG XG B O >J AAJ @AJ cJ aJ J J :J p9J J Sw,#}LA6ڒ@Y6@6R96P@>y6H@ݸ??iX i?or?[?@??ɨ6ڒ@6Չ;6!CyBCJBFHININ>6٢V< VR=9ZtfQ Z>\\ ^G٣^3Gyb떹 b> fNusing accuracyPremultiplier from configdjy49f l?jy4Yf% if?Bhjÿn?fCfv:f:f]y4p r`ApB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 78.10 m.Bj%8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 548.603943 m, bearing: 276.029929 deg, approach rate: -0.753768 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029929 deg. :j *@HeadingCmd: 4.817631 target range: 78.099998 and range: 585.20 m. jjjjihhhhfff!rf!bf%`>@ɛKMBϽ I AI <ɚiIJ=I%i%pi!)!))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsezK yOK 9K K yK      RK%>JK%>*F2F:F BF JF GM fŻG) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseO|%Sw,LAyKJBHMb@Mb@Mb@ )Y/$?L7A`堿~jty G٣y > Nusing accuracyPremultiplier from config y49x l? y4Yȯ i?B B=? :)?%Ck4;R2;\my4! %PA!ZjAMDNOT Ignoring new targets: 78.10 m.BjMu8JjI] ProNav pure pursuit: ac range: 78.099998 m, nav range: 548.275940 m, bearing: 276.031420 deg, approach rate: -0.738351 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031420 deg. :je?*@eHeadingCmd: 4.817657 target range: 78.099998 and range: 585.20 m. jajijijiiihihihyhyfyfyfyrfbfa?@ɛM_MBm[ʽ iuDIq u?ɚqiqIu\K=I}i}ߟ|i})y)*F?2F:FBFJF"G=G= IfEWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseG G B O >^+Sw,ܰLA6%В@Y6tߙ@6D`96>y6H d?`? K `3?@~??o?@?ɨ6%В@6;6Cyn:JBnHIvIvP@6٢ J7  Z=9  Q > G٣y_ > %Nusing accuracyPremultiplier from config!-y49%l?-y4Y% i%?B)5Q5?%IC%:%:%{zy4=yB =pA=nEZjaeDNOT Ignoring new targets: 78.10 m.Bjme}8Jji ProNav pure pursuit: ac range: 78.099998 m, nav range: 547.998657 m, bearing: 276.032717 deg, approach rate: -0.739594 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.032717 deg. :jo*@HeadingCmd: 4.817680 target range: 78.099998 and range: 585.20 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.՝AiՙT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehhfffrfbf,?@ɛpMBڽ MI zAɚiIK=Ii2Xi9y)))) -C*Fe?2Fi:FiBFiJFqG gYyXAJbJYJ2JJ:J[O9Jc3JG) qIyG B! O= >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U 2Sw,BLAÒ@Yә@d]h9 >yH%?@?`<q?@????ɨÒ@P;騕 CyTJBHMb@Mb@Mb@ )Y!rh?Zd;O~jtylG?jļA )SAIΟAyAIIn>6٢_= 0=9ЏQ > G٣3Gy"K > Nusing accuracyPremultiplier from configy49l?y4Y i?BG?:,?yC;B;y4  ?9Sw,LAN@YN Ǚ@No9Nq>yNH`ŷ?A?#`m?=:???{?ɨN@NZx;LyZrJBZHIbIb@6٢j<= j]=9j'Q j>ll nG٣lyr r? vNusing accuracyPremultiplier from configtzy49vl?zy4Yv1 iv?Bx~[~?vCv*:vL:vy4 AZj%DNOT Ignoring new targets: 78.10 m.Bj-S8Jj1U ProNav pure pursuit: ac range: 78.099998 m, nav range: 547.348022 m, bearing: 276.035196 deg, approach rate: -0.738807 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.035196 deg. :jU*@]HeadingCmd: 4.817723 target range: 78.099998 and range: 585.20 m. jYjYjYjaiahahahihifififirfqbfuP@@ɛMB'ܽ 隥JI GɚiIf:M=Ii—i ))*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received*DAT read: user:772> BDAT read: Tx time:19:42:43.2166 $Ping request sent.J cJ [J 1J J :J W9J 3J @Sw,ZMARȪ@YR@R}w9Rv>yRH>^?? DA?@|O? z?@q?)?ɨRȪ@R$;RCy^JB^,Hdf@AIfIf@6٢n= nK=9r:Q r>pp vG٣tyvn v> ~Nusing accuracyPremultiplier from configx~y49zjl?y4Yzs iz?B?zďCz;z;z¥y4 xB AlE !I!EB*** querying acoustic contact ***jAjAZjIMDNOT Ignoring new targets: 78.10 m.BjUv8JjYe ProNav pure pursuit: ac range: 78.099998 m, nav range: 547.034058 m, bearing: 276.036474 deg, approach rate: -0.827098 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036474 deg. :jm*@mHeadingCmd: 4.817745 target range: 78.099998 and range: 585.20 m. jijqjqjqiqhqhyhyhyfyffrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:42:43.2159 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249621ɛUMBU׽ QUEIQ ]IɚYiYI]-M=Ieie9Tie.)a)izKM>MKMػ9KIKM{KM   &3& *FA2FA:FIBFMi5JFIG-׹G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500263GFSw,XWMAZH0RH2AAH6[>I4 I6HI6KBI4&I4.I46I6<:I6FF㜒@YF2@F49F >yFH?ˏ? 0`f?U?G? ??ɨF㜒@F8;FCyNJBRHH-Mb@Mb@Mb@))) )))Y-|?5^? G٣3Gy > Nusing accuracyPremultiplier from configy49l?y4Y i?BM?:?C;M;y4 AZj!-DNOT Ignoring new targets: 78.10 m.Bj-Q7Jj)= ProNav pure pursuit: ac range: 78.099998 m, nav range: 546.686157 m, bearing: 276.037091 deg, approach rate: -0.806182 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037091 deg. :jE+@EHeadingCmd: 4.817756 target range: 78.099998 and range: 585.20 m. jIjIjIjIiIhIhIhQhQfQfYfYrfYbf]ٶ@@ɛMBsн 隕AEI 3LɚiIZUN=Iijŭi+sE)) 1I=f*FM?2FI:FIBFM5JFQ"G]=G]=%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752074GMG) B1 OU >DqLSw,/4MA6퍒@Y6<@6fǃ96q>y6H]w? ?@)``p??v?y? ê?ɨ6퍒@61߈;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003523yFJBFHIRIR=6٢Z> Z^=9Z]Q ^>\\ ^G٣`ybi b> fNusing accuracyPremultiplier from configdjy49f(l?jy4YfV if?Blnn?fCf? ;f\ ;fy4t v#AtZjDNOT Ignoring new targets: 78.10 m.Bj'7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 546.390808 m, bearing: 276.037670 deg, approach rate: -0.801307 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037670 deg. :j$+@HeadingCmd: 4.817766 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbf`!@@ɛMMBU6ҽ y}=Iy }`NɚyiyIN=Iifi^))*FM?2FI:FQBFU5JFQJKY3 K.KK"KJ`JRJ2JJ:JS29Jc3J I!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255863Gf AG B zK LK 9K K |K O >\SSw,NMAq@Ya@^9>yH ??@0] 6?`?`?x??ɨq@H(;騍Cy޽KB޽H =p=uMb@Mb@Mb@qqq q)qYuS㥛?~jt?Zd;O?yu$F?uD G٣y > Nusing accuracyPremultiplier from configy49l?y4Y i@B F? : B ?EC;;sy4 ӷAZj9=DNOT Ignoring new targets: 78.10 m.BjEo7JjIU ProNav pure pursuit: ac range: 78.099998 m, nav range: 546.024353 m, bearing: 276.038174 deg, approach rate: -0.770599 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038174 deg. :j]6+@]HeadingCmd: 4.817775 target range: 78.099998 and range: 585.20 m. jYjajajaiaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512381hahahahafififirfibfu`'A@ɛMBǽ 9=9I9 EhQɚAiAIEQO=IMiMWϹiM")Q)QHaIa IeHIeXKBIe =&Ia.Ia6Ie<:IerF*F?2F:FBF0JF  I = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759602GE *UGM ?GM ?G B O >YSw,_hMA>f@Y>Ou@>)9>H>y>HS8?N?@@(e?K?~??`?ɨ>f@>͉;>CyN?KBNHIbIbT;6٢n#> ng=9rQ r>tx zG٣z3Gy~{ ~> Nusing accuracyPremultiplier from configy49l?%y4Y i)@Baesm?hCL=<U=<y4y }bA}mEZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 545.754333 m, bearing: 276.038589 deg, approach rate: -0.747467 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038589 deg. :jF+@HeadingCmd: 4.817782 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbfQA@ɛeNBeXֽ imI0Ii mܽSɚiiiImO=Iuiu)#޹i}\)y)*F=?2F9:F9BF=2JF9GEsA GEsAG "3GBOG>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011884߉`Sw,FBMA 4I4B^@YB n@B9B >yBH?@A? ;?@E?ϱ??W?ɨB^@BlA;BCyJuKBJ=HIRIR6<6٢ZA> ZN=9^fKQ ^>`` bG٣`yf? f> nNusing accuracyPremultiplier from confighry49jY l?ry4Yj ijR@Bprv?jCj;j;jzy4x zAx B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 78.10 m.Bj%7Jj!5 ProNav pure pursuit: ac range: 78.099998 m, nav range: 545.451843 m, bearing: 276.039084 deg, approach rate: -0.787883 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039084 deg. :j5X+@=HeadingCmd: 4.817791 target range: 78.099998 and range: 585.20 m. j9j9j9j9iAhAhAhAhIfQfQfQrfQbfU`A@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273151ɛNBʽ 隝'I NUɚiIP=IiiCҔ))zKuKKu9KqKu}Ku &$*FQ2FQ:FQBFUH1JFQG#ԇG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532062O >H! I!  I% HI% KBI% =&I! .I! 6I% <:I% uFfSw,MAJa@YJq@J9J9 >yJHm???@¿^?ɭ? o?N?W?ɨJa@J /;HynKBnHttJEeJESJAJAJE\:JEy69JAJAJE;aMJE;aUJE4C:aUJE7C:aUMb@Mb@Mb@ )YA`"?I +?ʡE?y9?9<=A )AIyII8:6٢U > U3=9]ǺQ ]>Ya eG٣ayeyP: e> }Nusing accuracyPremultiplier from configiy49m#l?y4Ym im@B8:?:s?mCm;m#;mmy4 tAZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 545.125183 m, bearing: 276.039318 deg, approach rate: -0.708452 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039318 deg. :j`+@HeadingCmd: 4.817795 target range: 78.099998 and range: 585.20 m. jjjjihhhhfff rf bf DA@ɛ=+NB=㾽 9E`IA EXɚAiAIEplP= Ub$?I]fIMii))*F-?2F):F)BF-0JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786097Gm ͍GA BI Om >lSw,MA2_@Y2hn@2&92} >y2H V?@? =¿`U?@F?KB>HIJpIJ66٢R)> Rj=9V6Q V>TT ZG٣Z3GyZn Z>^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.039855 fNusing accuracyPremultiplier from configdjz49f!%l?nz4Yf if@Blnn?fِCf;f;fz4ryB rAtZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.873840 m, bearing: 276.039508 deg, approach rate: -0.686225 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039508 deg. :jg+@HeadingCmd: 4.817798 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrf!bf%8A@ɛ}?NB}s y}Iy YɚiIP=Ii i%))*FE?2FA:FABFM0JFI"GU=GQ*JuR="Jua= 9IEfmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.291626GuA䑼GA BQ Om >zK "LK 9K K ~K BK sA:K tA[sSw,)MA}Ue@Y}t@}9}l >y}H`1?`؏?NA¿@? k?\??@?ɨ}Ue@}q;}Cy޵-LB޵HuMb@Mb@Mb@qqq q)qYu}?5^I?{Gz?ʡE?yuM"?uף .=9Q > G٣y: > Nusing accuracyPremultiplier from configz49|'l?z4Y i@B#?:м?CD<'< z4mxB uAunEZjDNOT Ignoring new targets: 78.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543779Bj87Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.581116 m, bearing: 276.039806 deg, approach rate: -0.620599 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039806 deg. :jr+@%HeadingCmd: 4.817803 target range: 78.099998 and range: 585.20 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf5)B@ɛXNBj? 隭 I 5[ɚiIsP=Iilimێ))HW>IȍC I8HIALBI&I.I6I<:IjFBIJIRIZIbIjI4*Fq2Fq:FqBFu0JFyJUfJUVJU1JQJU|":JUB9JU3JQJU;JU;JUX:JUX: ) I) G] D&G] ?G] 4?G1 BA Om >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:19:42:46.3764 } TRx dataTimestamp_ set to:1736365367.624694 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7968060ySw,|MAzl@Yz{@z>9z_{ >yzH`k?? U¿ Xη?? I{?A?œ?ɨzl@zTN;zCy gLB hHI8I\06٢-1%> -f=9-dQ ->11 5G٣1y="; => ENusing accuracyPremultiplier from configAUz49EK)l?Uz4YE iE.ABY]]?ECEO;E$P;Eu%z4a eAaZjDNOT Ignoring new targets: 78.10 m.Bj+77Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.358704 m, bearing: 276.040013 deg, approach rate: -0.670184 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040013 deg. :jz+@HeadingCmd: 4.817807 target range: 78.099998 and range: 585.20 m. jjjjihhhhfffrfbfSB@ɛiNB WI %M]ɚ!i!I%1Q=I-i-#:i-C)))1*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.048126)A m$ Yqy}BG GBO > 1 I1 ݀Sw,wNA%@Y%W@%9%q >y%H ?@?[¿(n?/R?|s?Ȗ? ǜ?ɨ%@%u߈;%CyELBEHI}I}B-6٢h= D=99Q > G٣3GyC; > Nusing accuracyPremultiplier from configz49w+l?z4Y{ ihABd? BDAT read: Tx time:19:42:47.4666 $Ping request sent.99=?a4?7>ǿ)=c>I=R=>i=6=,99:publishing transmit ping timeؑFpublishing direction and range info99='D_?8y2ˊ@?y9999 9)9I9i99999 9)9I9i999=?a4?7>ǿ)9I9i9999 addTargetRange:: Added new target pos. range: 566.700012 m, deltaT: 37.069045 s, deltaX: -18.500000 m, approachRate: -0.499069 m/s, rangeRepo size: 3 ZjDNOT Ignoring new targets: 78.10 m.BjK6Jj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 544.097656 m, bearing: 276.040188 deg, approach rate: -0.575130 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040188 deg. :j5+@=HeadingCmd: 4.817810 target range: 78.099998 and range: 566.70 m. j9j9jAjAiAhihihihifqfqfqrfu@bfuGĤ?ɛNB蠰 I  +_ɚiIhQ=zKFKK 9KKK$1?A?>95321-,*))(%$ IiE$iEn)A)AEQEQ*F-?2F):FyBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:42:47.4659 G ňGq B O >H R>I  I HI LBI =&I BD.I PD6I <:I F%Sw,biNA6휒@Y6<@696! >y6H??`H¿ B?ҭ?@qN?7??ɨ6휒@6Q;4y>LBBHJ5dJ5YJ52J1J5<:J5[O9J5c3J1J5!;J5#;J53n:J55n:-Mb@Mb@Mb@))) )))Y-V-??+?y-h?-<-=) )))I))y)II -6٢x= :=9r:Q > G٣yB; > Nusing accuracyPremultiplier from configz49-l?z4Y# iAB?:X? I\C='=bCz4 nAku*ʛ?kuڱ kq kuFCNA:ku DBku DZku٠R@EWill construct direction to contact in vehicle frame from tetrahedron phase data."ubZH@H 蛵|_|t@u'D_?8y2ˊ@?Jku6Rku,*uF΀~ϬR8GАp@usW@뿼 9EIA E aɚAiAIE$Q=IMiMߟ,iM/A)I)q*F ?2F :F BF $5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GU  ~GY GY G)B1OU>.Sw,-|;NA66@Y6@6)ᔽ96>y6Hh?p?6`rҹ?Ȧ?@?c??ɨ66@6y;6 CyNLBNHIZIZ))6٢^= bH=9b4Q b>`d fG٣dyf; j> nNusing accuracyPremultiplier from confighrz49j"0l?rz4Yj) ijABprٹr?jyCj:jn:jQz4x z!AzkEZj%DNOT Ignoring new targets: 78.10 m.Bj%Jj!5 ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.622681 m, bearing: 276.039614 deg, approach rate: -0.739570 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039614 deg. :j=k+@=HeadingCmd: 4.817800 target range: 78.099998 and range: 566.70 m. j9jAjAjAiAhAhAhIhIfQfQfQrfQbfU ?ɛNBF 隍dI /bɚiIQ=Ii 0i+} ))*F2F:FBF0JF IGUGBO">MWill construct direction to contact in vehicle frame from tetrahedron phase data.zK=~MK=h9K9K=K= Sw,xFUNAyMB-HWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YT㥛 ?I +?Mb?y?9<@= A)AIyAII."6٢V= %6=9%Q %>)) G٣ 3Gy > Nusing accuracyPremultiplier from configz492l?z4Y/ iAB?:-?C;;az4 гAZj9=DNOT Ignoring new targets: 78.10 m.H}L>I}ǍC I}HI}TMBI} =&Iy.Iy6I}<:I}FBjEJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.391052 m, bearing: 276.039156 deg, approach rate: -0.490547 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039156 deg. :jZ+@HeadingCmd: 4.817792 target range: 78.099998 and range: 566.70 m. jjjjihhhhfffrfbf`F?ɛNB I }dJEcJEZJE0JAJE:JES9JEـ3JAJE;JE;JE]u:JE_u:ɚQiQIUQ=Ii6i&)) If*F2F:FBF5JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.G ei@G ?G >Gi By O >aSw,ZoNA2@Y2*@292>y2Ho^? ?@3 r?@)?`z???ɨ2@2gÍ;2CyBMBBDHIJIJ#6٢RI= R`=9R:Q R>TX ZG٣XyZ< Z> ^Nusing accuracyPremultiplier from config\bz49^v4l?bz4Y^4 i^BBdfTf?^C^ ;^y;^ nz4jwB nAnlEZj DNOT Ignoring new targets: 78.10 m.BjmȷJj% ProNav pure pursuit: ac range: 78.099998 m, nav range: 543.216797 m, bearing: 276.038689 deg, approach rate: -0.510969 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038689 deg. :j%I+@-HeadingCmd: 4.817784 target range: 78.099998 and range: 566.70 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bf=?ɛ NB ]  ߾I  'eɚiI)R=IiL>8ie))a*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G=.-G B) OE > Y IY - Will construct direction to contact in vehicle frame from tetrahedron phase data. @Sw,pNA2h @Y2/@292C >y2H?@Ȁ?|@=??2-?.??ɨ2h @2R;0yB)MBBUHIJIJ&6٢RX = RK=9VfA;Q V>TT VG٣XyZ< Z> ^Nusing accuracyPremultiplier from config\bz49^6l?bz4Y^9 i^_u{pjc\QGA<7/*&$! I1 5%fɚ9i9I='aR=I=iEZ7iE:)A)A*FQ2FQ:FYBF]3JFYG5g{GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H5 I>I5 ƍC I5 HI5 MBI5 =&I1 .I5 OD6I5 Ա<:I5 uF Y IY 1pSw,dNA6K@Y6#[@6O961 >y6H@ Y?Gy?kC¿Y~?؜? %?hW?@#?ɨ6K@6;6CyZ$MBZOHMb@Mb@Mb@ )Y-?I +?Mbp?y?>; A )SAIyAII'6٢=( =3=9=;Q =>AA EG٣M 3GyM=< U> ]Nusing accuracyPremultiplier from configQ]z49U9l?ez4YUs? iUOBBe>m:m m?UCU"";U7!;Uz4q uAqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507889ZjDNOT Ignoring new targets: 78.10 m.Bj.Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.797791 m, bearing: 276.036854 deg, approach rate: -0.448041 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036854 deg. :j+@HeadingCmd: 4.817752 target range: 78.099998 and range: 566.70 m. jjijijiiihihqhqhqfqffrfbf V@ɛM OBM IMII UhɚQiIR=IiD3i ;))E*F-?2F):F)BF55JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759009Gu xG sAG Gi By O >$Sw,OɽNABgq@YB@Bᎍ9B_ >yBH?@Ot?@+V¿@??A?Sf?7?ɨBgq@BЌ;BCyLLIVIV%69^8;Q ^>`` bG٣`yfLO< f> jNusing accuracyPremultiplier from confighnz49j;l?nz4YjC ij]BBpvv?jCjC;jH;jØz4x xxZjDNOT Ignoring new targets: 78.10 m.Bj%cJj!5 ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.624634 m, bearing: 276.035848 deg, approach rate: -0.534697 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.035848 deg. :j5*@=HeadingCmd: 4.817734 target range: 78.099998 and range: 566.70 m. j9j9j9jAiAhAhAhAhIfIfIfQrfQbfU@ɛOB?ȽJaJ\J1JJ:J[9J3Ja@a@a@a@ 隥I `iɚiI\R=IiVY0i<)) I*F!2F!:F)BF-4JF)GpGBO'>Will construct direction to contact in vehicle frame from tetrahedron phase data.յ]>յ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011550zK=hNK=9K9K=K=  Sw, NAJ@YJף@J9JBL >yJH ?p?G¿ୱa?Z?@G?@Q?@?ɨJ@JNc;JCyb!MBbLHdfA-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265375Mb@Mb@Mb@ )YCl?I +?~jtyd>94<DA ِA)AIAyGAII&6٢_ <9:Q > G٣y,!< > Nusing accuracyPremultiplier from configz49>l?z4YI iXBB>:+?C;/;z4 AHJ>I IRHIMBI =&I.I6Iѱ<:IsFZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.409729 m, bearing: 276.034709 deg, approach rate: -0.471765 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.034709 deg. :j*@HeadingCmd: 4.817715 target range: 78.099998 and range: 566.70 m. jjjjih1h1h1h1f9f9f9rf9bf= @ɛ8OB95 隵I gkɚiIDS=Ii(i~L<))*FE?2FA:FABFM5JFI IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516397GM ~q;G] ?G] >G! B1 OM >\ŻSw,^NA:;@Y:Ě@:^9:.j >y:H7?`n?¿ ڭ?4?#??:?ɨ:;@:ݠ;8yRMBR+HIZIZF(6٢f΍ f[=9j8:Q j>hh jG٣n 3Gyn/< n> vNusing accuracyPremultiplier from configpvz49r9Al?vz4YrUN irSBBxzz?r,Cr:r*:rz4 ѳAZj)-DNOT Ignoring new targets: 78.10 m.Bj5JYJj1M ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.226440 m, bearing: 276.033663 deg, approach rate: -0.519889 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033663 deg. :jM*@UHeadingCmd: 4.817696 target range: 78.099998 and range: 566.70 m. jQjQjQjQihhhhfffrfbf ֪ @ɛ}MOB}"̽ 隅I }mɚiIƣS=Ii i:<))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:19:42:50.6309 =TRx dataTimestamp_ set to:1736365371.909332=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768857*Fm?2Fi:FiBFm5JFi"Gu=GqGEf1<GB)OEQ>JdJZJJJ<:JS9JJ I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019137LSw,X: OA6ɓ@Y6!ٚ@6)e96Rk >y6H( ?@k?¿U.?`ө? ?@?F?ɨ6ɓ@6lE;6CyRLBR HIZIZ&,6٢b& bK=9blo9Q b>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlrz49nCl?rz4YnS inNBBpv[v?nECn%;n;nz4x zAzmEB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 78.10 m.Bj-WJj) ProNav pure pursuit: ac range: 78.099998 m, nav range: 542.028259 m, bearing: 276.032478 deg, approach rate: -0.491376 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.032478 deg. :jf*@HeadingCmd: 4.817676 target range: 78.099998 and range: 566.70 m. jjjjihhhhfffrfbfLq@ɛEdOBEн AEII MgoɚIiIIMT=zKu$)LKu+9KqKuKu e 8 IiGi'<))*F!2F!:F)BF-5JF1=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 19:42:50.6310 LVL= 32240, 32753, 28482, 32755, AGC= 70, IDX= 483,-0.05,-2.063, 2.994,-1.986,-2.693, PHS= 0.718,-0.549, 0.704, RAW= 149.5, -13.8, CAL= 156.2, -21.4, ROT= 353.8, 21.4 }Ygot valid direction response: 19:42:50.6310 LVL= 32240, 32753, 28482, 32755, AGC= 70, IDX= 483,-0.05,-2.063, 2.994,-1.986,-2.693, PHS= 0.718,-0.549, 0.704, RAW= 149.5, -13.8, CAL= 156.2, -21.4, ROT= 353.8, 21.4 PDAT read: Bearing 353.8, 21.4 (Local) ~Local bearing/azimuth received: Bearing 353.8, 21.4 (Local) DAT read: Range 10 to 50 : 570.0 m (Round-trip 760.1 ms) speed 0.4 m/s *DAT read: user:774> BDAT read: Tx time:19:42:51.7167 $Ping request sent.99=\?}滯ˏ?ӷtο)=?I=lu>i==Ĵ99 :publishing transmit ping time Fpublishing direction and range info99=NՁt?@`J꿖g?y9999 9)9I9i99999 9)9I9i999=\?}滯ˏ?ӷtο)9I9i9999HI>I IkHI NBI =&I.I6Iȱ<:IlFBI]ƍCJI]ǍCRIYZI] =bI] =jI]5G- =<G B O- > I fSw,;%OA2@Y2@2劽924[>y2HR{?`j?1 Ш?wT?RY??Ϥ?ɨ2@2d;2CyNLBNH V=V=Mb@Mb@Mb@ )YK7?I +?ˡEyI ?什A +A)IAI١AyAI-I-+6Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:42:51.7160 ٢ -=9>:Q > G٣y; %> MNusing accuracyPremultiplier from config)Uz49-Gl?Uz4Y-cZ i-9BB] ?]:]r]?-gC-P;-;-z4a e%Aakmbt˛?km ki km|cOA:kmDBkm DZkmY@"mQ9U@'Xu}s@mNՁt?@`J꿖g?JkmRkmĴ*mscƪ~ y|`KɥH/p@mvV7 Ϳtz_?"km*km-kmʛ?kmG 2kmC addTargetRange:: Added new target pos. range: 570.000000 m, deltaT: 4.283216 s, deltaX: 3.299988 m, approachRate: 0.770446 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 78.10 m.BjJj5 ProNav pure pursuit: ac range: 78.099998 m, nav range: 541.763428 m, bearing: 276.030693 deg, approach rate: -0.534799 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030693 deg. :j5%*@=HeadingCmd: 4.817645 target range: 78.099998 and range: 570.00 m. j9j9j9jAiAhAhAhhfffrfЁ@bf?ɛOBaν !%)I! %9rɚ!i)I-՛T=I-i5Z i5ɢ<)1)1*F?2F:FBF0JF)  q vA A Y vAy BE Will construct direction to contact in vehicle frame from tetrahedron phase data.G <G B O% >ySw,N>OA6cГ@Y6ߚ@6Zӌ96>y6H:?` n? @c@D?Y?`ޖ? ?`?ɨ6cГ@6;4yRLBRHIZ IZ+6٢b"  bt=9f8Q f?dd fG٣f 3Gyjǻ j? rNusing accuracyPremultiplier from configpvz49r7Jl?vz4Yr_ ir+BBtzz?r~Cr7:rC:rZz4| ~AZj!%DNOT Ignoring new targets: 78.10 m.Bj-OJj)JcJ\JJJ:J[9JJ ProNav pure pursuit: ac range: 78.099998 m, nav range: 541.581970 m, bearing: 276.029512 deg, approach rate: -0.580460 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029512 deg. :j)@HeadingCmd: 4.817624 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf<0? c$?I!ɛ5OBm mEG=m;Ii tɚiIU=IiiU<))*F!2F!:F!BF%1JF)G5tA G5tAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMK9KKKG )ş<Gi B O >Sw,]XOAzWill construct direction to contact in vehicle frame from tetrahedron phase data.zAixy~LBHMb@Mb@Mb@ )Y)\(?~jtx?yG!?;̽A |A)AI+AyAI%I%{-6H9I9 I=9HI=MBI9&I9.I96I=ر<:I=wF٢eT߼ e2=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configyz49}Nl?z4Y}f i}BBN#?:鴿?}C}9;};}Yz4 AZjDNOT Ignoring new targets: 78.10 m.BjwJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 541.291504 m, bearing: 276.027905 deg, approach rate: -0.633749 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027905 deg. :j)@HeadingCmd: 4.817596 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf@%.?ɛOBd 隭_EI @vɚiILU=Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.Sw,OAo@Y@NM96t=yH?i?@J@`ci?@b???@?ɨo@S;;騹y]LB[HIIV86٢! 7=9:Q >  G٣  3Gy `  > Nusing accuracyPremultiplier from config{49lTl?%{4Ys iAB!%𵿑%?CL:: {4-vB -A5kEMB*** querying acoustic contact ***jIjIzK KK K K K Zj)5DNOT Ignoring new targets: 78.10 m.Bj5MJj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 540.787598 m, bearing: 276.025494 deg, approach rate: -0.598371 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.025494 deg. :jEf)@MHeadingCmd: 4.817554 target range: 78.099998 and range: 570.00 m. jIjIjIjQiQhYhahqhyfffrfbf:^?ɛOBF$ 隽7`I W|ɚiIW=IirҹiET<))UWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.EJc=EjH=<bH9HUL>IUǍC IUHIUMBIU =&IQ.IQ6IU.<:IUF*F 2F :F BF 0JF "G =G = I G 5[<GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253408O>xSw,OArЊ@Yr@r>9re"=yrHBM? ?8w? S? ^??@?ɨrЊ@r64;py~ULB~QHMb@Mb@Mb@ )Y`"?~jth ףp= y7?DQA )?AI Ay(AII;6٢ '=9:Q > G٣y > Nusing accuracyPremultiplier from config{49;Xl?{4Y} iAB?9?:  ?Cj!; ;{4 .AZj1=DNOT Ignoring new targets: 78.10 m.BjE JjAU ProNav pure pursuit: ac range: 78.099998 m, nav range: 540.436096 m, bearing: 276.024605 deg, approach rate: -0.764862 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024605 deg. :jUF)@]HeadingCmd: 4.817538 target range: 78.099998 and range: 570.00 m. jajajajaiahahahihifififqrfqbfu k@ɛOBZ 隥.iI ɚiI9W=IixĹi5<))E}3=*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505480G3Z<G B O > 1 I5 f{USw,FOAfZi@Yfx@fsf9f=yfH`C??{@ ?@fC?I?@F?h?ɨfZi@f;fCyv/LBz"HII4?6٢=ɽ EW=9MNQ U>QQ UG٣YymQ. m> uNusing accuracyPremultiplier from configq}{49u"[l?}{4YuE iuAB(?u5Cu;u6;u){4 {AZjDNOT Ignoring new targets: 78.10 m.Bj:׷Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 540.158264 m, bearing: 276.024041 deg, approach rate: -0.722956 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024041 deg. :j1)@HeadingCmd: 4.817528 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf@@ɛPB3$ xI ɚiIX=Iihmiz;)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757747)9EAEA*EA"EAzK}KK}+9KyK}K}EsAE*F}?2Fy:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011515H I  I HI ^MBI =&I .I PD6I <:I FFG 2<G B O>(aSw,p%OA I JdJYJJJ<:J[O9JJJ!;aJ#;aJ2n:aJ5n:aJbL@YJ[@J9Jӛ=yJH-^?8?̼`?`??@=??ɨJbL@J݋;JCyR&LBVHMb@Mb@Mb@ )Y/$?~jtxT㥛 yL?Ļ5A  A)AIrAyAIIA6٢ (=9$Q >    G٣ 3Gy  > Nusing accuracyPremultiplier from config%{49^l?%{4Y_ iAB-L?-:--?fC<;+;;g:{41 =A9ZjYeDNOT Ignoring new targets: 78.10 m.Bjm/Jji} ProNav pure pursuit: ac range: 78.099998 m, nav range: 539.772339 m, bearing: 276.023751 deg, approach rate: -0.798145 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023751 deg. :j}')@HeadingCmd: 4.817523 target range: 78.099998 and range: 570.00 m. jjjjih h hhfffrfAbfE @ɛ0PB EI CɚiI%ۮY=I%i-<i-η;))))]Will construct direction to contact in vehicle frame from tetrahedron phase data.]N>]R=echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261932*F2F:FBF0JFG 1X<G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514322Sw,*OAJ&'@YJu6@Jގ9J'=yJHB6?G?*`?ߵ?@*ر?(?@?ɨJ&'@J;JCyV#LBVHI^I^A6٢f:  fa=9jQ>Q n>lp rG٣pyrrL r> zNusing accuracyPremultiplier from configtz{49vgal?~{4Yv ivAB|~Q~?vCvX;v;v"G{4 uB A lEZj)5DNOT Ignoring new targets: 78.10 m.Bj5dJj1u ProNav pure pursuit: ac range: 78.099998 m, nav range: 539.481140 m, bearing: 276.023680 deg, approach rate: -0.801106 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023680 deg. :ju$)@HeadingCmd: 4.817522 target range: 78.099998 and range: 570.00 m. jjjjih!h!h!h!f)f)f)rf)bf- @ɛGPB' 隍|I 6ɚiIZ=Ii0i:)) I*Fi2Fi:FiBFm0JFq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:19:42:54.8622 TRx dataTimestamp_ set to:1736365376.196768checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766733G{/;G B O >zK] >BKK] 9KY K] K]  RKm ?JKm >oTw,6PAyU;LBU1HquAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017605-Mb@Mb@Mb@))) )))Y- ףp= ?~jthy-QX?-D-̼-+A -ΎA)-5AI-A)y-חAIMIM@6٢]tD= ]'=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}{49uel?}{4YuȠ iuAB}jX?}{:v?uCHI IKHI!MBI =&I.I6I۱<:I~Fu;u;u)X{4 _AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.BjJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 539.069519 m, bearing: 276.023628 deg, approach rate: -0.837370 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.023628 deg. :j")@HeadingCmd: 4.817521 target range: 78.099998 and range: 570.00 m. jjjjihhh h fffrfbf`h@ IfJK KA.KK"KJUbJQJU1JQJU:JQJU3JQJUT ;JUV ;JQJQɛgPB 隽I sɚiI[=IiCfiP:))*F2F:FBF5JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:42:54.8622 LVL= 20160, 27345, 18226, 30547, AGC= 73, IDX= 243,-0.29,-0.994,-2.316,-0.806,-1.416, PHS= 0.510,-0.854, 0.606, RAW= 153.4, -3.8, CAL= 157.4, -12.1, ROT= 352.6, 12.1  Ygot valid direction response: 19:42:54.8622 LVL= 20160, 27345, 18226, 30547, AGC= 73, IDX= 243,-0.29,-0.994,-2.316,-0.806,-1.416, PHS= 0.510,-0.854, 0.606, RAW= 153.4, -3.8, CAL= 157.4, -12.1, ROT= 352.6, 12.1  8DAT read: $Error in header  *Received a bad header- X#Rx 1: Read direction message, but no range.5 `direction in FSK: [-0.045911,-0.865159,0.499391]؁ 9؅ S?b뿭WH?؁ ؅ N؅ j م 2G)م SwIم Iiم \?م Zم "?م uY+@م ԇ څ F/@)څ @XIڅ @iڅ @X>ځ ۅ dժ?KoI?2j㺺)ۅ ?Iۅ F=iۅ Ͽۅ |M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseG 7:G tAG Gi By O > 8 Tw,?3PAF@YFbǙ@Fkꗽ9F=yFHS·?{?Ǽ@m?A?`?@K?m?ɨF@F9?;FCybELBb=HII@6٢< O=97Q > G٣3Gy > Nusing accuracyPremultiplier from config{49gl?{4Y iAB!%.%?CX;;f{4) -KA)ZjQ]DNOT Ignoring new targets: 78.10 m.Bje7Jjau ProNav pure pursuit: ac range: 78.099998 m, nav range: 538.732300 m, bearing: 276.024068 deg, approach rate: -0.852837 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024068 deg. :ju2)@}HeadingCmd: 4.817529 target range: 78.099998 and range: 570.00 m. jyjyjyjyiyhhhhfffrfbfr@ɛ|PB.\ 隽䆿I ∽ɚiI^\=IiTi$3))*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse IGY:Gy B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse Tw,\MPA6@Y6a@6<96=y6H@>?@?@J`ٵ?n? ?>??ɨ6@6;6CyfaLBz_HII@6٢8= W=9"Q >! %G٣!y%F3 %> =Nusing accuracyPremultiplier from config)E{49-jl?E{4Y- i-ABAEE?-C-?F;-6-;-;s{4tB AmEZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 538.415466 m, bearing: 276.024621 deg, approach rate: -0.815669 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.024621 deg. :jF)@%HeadingCmd: 4.817538 target range: 78.099998 and range: 570.00 m. j!j!j!j!i!hihihihifqfqfqrfqbfu }@ɛPB I ɚiI8]=IiùiV))zKLK9KKK &6G[mBK:KsA*F?2F:FBFG5JFGҸGyBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHUJ>IUƍC IU2HIU MBIQ&IQ.IUOD6IUƱ<:IUmFBI ǍCJI RI ZI =bI jI Ȩ5 d$?I fJ cJ J J J :J J J J ;J ;J J ETw,PfPAFt@YFI@F9FXe=yFH@V?n?@}V R5Ʒ? ~?=?٨??ɨFt@F\։;DynLBnHMb@Mb@Mb@ )Y333333?MbZd;O?yY?j<5A )IyQAII>6٢e%= m7=9m/Q m>qq uG٣qy}k }> Nusing accuracyPremultiplier from config{49ll?{4Yܻ iBBY?y:?DC;y;ς{4 ǴAZjDNOT Ignoring new targets: 78.10 m.Bjƍ8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 538.038696 m, bearing: 276.026300 deg, approach rate: -0.868560 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.026300 deg. :j)@HeadingCmd: 4.817568 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf,@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛEPBM IMWII UkɚQiQIU^=I]i]dԹi]N^)Y)aEi*F%?2F!:F!BF%p5JF)G1 G1-GxAA  Y xAy BGe -,Gm ?Gm ?Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse/ Tw,ɀPAB[@YBgj@B,r9B=yBH ܴ?@??_ r?B$??JJ??ɨB[@B];@yNLBNHIVIVo<6٢^CJ> ^i=9bۻQ b>`` fG٣f3Gyf f> nNusing accuracyPremultiplier from confighn{49jml?n{4Yj ij1BBpr`r?jjCj:j:j{4t v:At YIYZjDNOT Ignoring new targets: 78.10 m.Bj)8JjJJ ProNav pure pursuit: ac range: 78.099998 m, nav range: 537.743225 m, bearing: 276.027720 deg, approach rate: -0.807393 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027720 deg. :j)@HeadingCmd: 4.817593 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf%`@ɛmPBm  隍~I ɚiIW^=IiviX))*Fa2Fa:FaBFen5JFaG= ~G%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseB1OMS>zK MK 9K K K }upnkdYUSPMKGD@<:94132.,*(**',2ANKF?851,)%"RK ?JK ?\&Tw,PA=pD@Y=S@=A9=~=y=H'? ?}?Ͳ?@I?uѼ?_?ɨ=pD@=;9yULBU H}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHN>IǍC IdHI5MBI =&I.IPD6I<:IjF]Mb@Mb@Mb@YYY Y)YY]S?{GzL7A`?y]O?]ף]+=]١A ]rA)]AIYYy]pAII96٢+=  =9Q >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)5{49-&ol?={4Y-~  AIEfi-vBB]O?]:]Nÿ]?-C-;-;-{4i mAqB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.BjS8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 537.331543 m, bearing: 276.030364 deg, approach rate: -0.813273 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030364 deg. :j*@JeJXJJJ\:J5K9JJJ;J;Jg:J g:=HeadingCmd: 4.817639 target range: 78.099998 and range: 570.00 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM_@ɛPBB 隽~I ɚiI_=Iiic))*F?2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseG G G sAGi By O >,Tw,PA2f=@Y2L@2r/92=y2H?~?@ L f? ZV?ߵ?甽? ?ɨ2f=@2ƨ;2CyB8MBBhHIJaIJ46٢Ru> R=9VPQ V?XX ZG٣XyZ; ^? bNusing accuracyPremultiplier from config\b{49^ pl?f{4Y^ i^BBdfrÿf?^C^ ;^ ;^{4l n_AnkEZj DNOT Ignoring new targets: 78.10 m.Bj N8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 537.091431 m, bearing: 276.031937 deg, approach rate: -0.822640 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031937 deg. :jR*@HeadingCmd: 4.817666 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf`#@ɛPB 隕pI E,ɚiI:`=Ii iA))=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*Fu?2Fq:FqBF}5JFyGUS.G)B1OUS> I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseH3Tw,PA67@Y6CG@6J96/(=y6H 5³?æ?/ @]??䁶?`XT? [?ɨ67@6y;6CyR`MBRHIZUIZ36٢?= <=9%Q > G٣3GyȺ > Nusing accuracyPremultiplier from config{49Kql?{4Y iBBÿ?C: :{4 AZj DNOT Ignoring new targets: 78.10 m.Bj 8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 536.744202 m, bearing: 276.034248 deg, approach rate: -0.799470 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.034248 deg. :j%*@%HeadingCmd: 4.817707 target range: 78.099998 and range: 570.00 m. j)j)j)j)i)h)h)h1h1f1f9f9rf9bf=@ɛQB_  mI  AӒɚiI`=IiFir))zKMNKM9KIKMKM"     BKa:Ka*FA2FA:FABFE{4JFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseHR>I IHIMBI =&I.I6I<:IDFGm | I Ga Bq O >l9Tw,lPAV`B@YVQ@V-9V=yVH"?O?`@@Զ?`C?? b? נ?ɨV`B@V;VCyjMBjHMb@Mb@Mb@ )YQ?Mb/$?y(  G٣ y qH;  > Nusing accuracyPremultiplier from config{49arl?%{4Y iCB%m=?%:%ÿ%?CU;;8{41 5A1ZjYeDNOT Ignoring new targets: 78.10 m.BjeX8Jjau ProNav pure pursuit: ac range: 78.099998 m, nav range: 536.443359 m, bearing: 276.036261 deg, approach rate: -0.723452 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036261 deg. :j}*@}HeadingCmd: 4.817741 target range: 78.099998 and range: 570.00 m. jyjjjihhhhfffrfbf0;@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ2QB5# 159gI1 52Kɚ1i9I={a=Ieieie)a)*F=?2FA:FABFE2JFAGm G9 BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseO} >@Tw,+QA:bQ@Y:`@:Y9:> @I@y:H [?8?. ^q?'?ข?@9?@?ɨ:bQ@:tg;:CyJMBJ4HIZIZ*6٢b\G> ba=9b˷Q f>dd fG٣dyjB; j> nNusing accuracyPremultiplier from configlr{49n[sl?r{4Yn inPCBpvmÿv?n2Cne:nz:n{4x zAxZjDNOT Ignoring new targets: 78.10 m.Bj% 8Jj!= ProNav pure pursuit: ac range: 78.099998 m, nav range: 536.180725 m, bearing: 276.037983 deg, approach rate: -0.725263 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037983 deg. :j=/+@EHeadingCmd: 4.817771 target range: 78.099998 and range: 570.00 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf](@JdJ^JJJ<:Jd9JJa@a@a@a@ɛJQB 隝 >ɚiIb=Ii%}(i))*Fu?2Fq:FqBFu5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.<<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGQG)B9O]>zK bMK 9K K K     %FTw,mQA-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseH]P>IY I]HI]NBIY&IY.IY6I]<:I][Fb@Y-r@c98>yH.?4?r- ?`??l?5??ɨb@K3;y NB wH5Mb@Mb@Mb@111 1)1Y5/$?Mbsh|??y51(?15=5A 5rA)55AI5 A1y5̘AIMIMF'6 yI٢= &=9gQ > G٣3Gy׋; > Nusing accuracyPremultiplier from config{49}tl?{4Yd iCB)?:ÿ?\C;;s{4sB AlE B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 78.10 m.Bj%8Jj!5 ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.856567 m, bearing: 276.040199 deg, approach rate: -0.645190 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040199 deg. :j5+@=HeadingCmd: 4.817811 target range: 78.099998 and range: 570.00 m. j9j9j9j9iAhAhAhIhIfIfIfIrfQbfUX @ɛ}kQB}t8 隅UI JGɚiIb=IiK3it))!*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG G B O >LTw,A6QA2{@Y2U@28Ľ92> >y2H ҵ?? *¿x? [NB>HIFIF"6٢Ne> N=9R ǻQ R?PT VG٣TyV.< V? ^Nusing accuracyPremultiplier from configXb{49Z6ul?b{4YZ iZCB`bnÿb?ZuCZk;Z;Z{4h jAhZjDNOT Ignoring new targets: 78.10 m.Bj ǚ8Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.661804 m, bearing: 276.041479 deg, approach rate: -0.643142 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041479 deg. :j+@%HeadingCmd: 4.817832 target range: 78.099998 and range: 570.00 m. j!j!j!j)i)h)h)h1h1f1f1f9rf9bf=V @ɛQB L (II MɚiIb=Ii 9i v) ) *F?2F:FBF5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse aIefJcJJ2JJ:JJc3JGՒGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse9STw,PQA6ݒ@Y6,@6ǽ96^ >y6H?`?¿`ع?@c~?@?@h? ?ɨ6ݒ@6I;6CyRNBRHVAVAIZIZg"6٢E= E@=9EQ M>II UG٣Qy}; }> Nusing accuracyPremultiplier from config|49Nvl?|4Y iDBÿ?Cn::|4 ưAZjDNOT Ignoring new targets: 78.10 m.Bj8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.384277 m, bearing: 276.043227 deg, approach rate: -0.641926 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.043227 deg. :j+@%HeadingCmd: 4.817863 target range: 78.099998 and range: 570.00 m. j!j!j!j!i)h)h)h)h1f1fYfYrfYbfeE!@ɛQBv 隭rFI ɚiI_c=Ii Ai>_S))zKmLKm 9KiKmKm*F?2F:FBF^1JFHyIy I}?HI}NBI} =&Iy.Iy6I}<:I}bFUWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG- { Y IY G B! OE >ZTw,wiQANA@YNř@NFʽ9N>yNHɦ?҃?m¿`\??O? ?`?ɨNA@NJ;Ly^NB^HHMb@Mb@Mb@ )Y9v?{GzQ?y?ףu=A )AIy AII!6٢ > D=9dmQ > G٣3Gy*< > Nusing accuracyPremultiplier from config|49/wl?|4Y i4DB?:mÿ?C; ;}|4 OAZj DNOT Ignoring new targets: 78.10 m.Bj8Jj- ProNav pure pursuit: ac range: 78.099998 m, nav range: 535.146912 m, bearing: 276.044790 deg, approach rate: -0.579045 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.044790 deg. :j-),@5HeadingCmd: 4.817891 target range: 78.099998 and range: 570.00 m. j1j1j9j9i9h9h9hAhAfAfAfArfIbfM"@ɛuQBup y}U>Iy }5ɚyiyI}ǿc=IiXEi ))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F-?2F):F)BF-1JF)G1 G1GM*UG]?G]>G) B1 OU >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse 9 I9 @`Tw,!΃QA:Ւ@Y:@:ͽ9: v>y:HE?~?ÿ@?(ٵ?`??ֆ?ɨ:Ւ@::;:CyFNBJHIRIR36٢Z%> Z\=9Z~Q ^>`` bG٣`yb)< f> jNusing accuracyPremultiplier from configdj|49f xl?n|4Yf if`DBln¿n?fҕCf\ ;f ;fs|4t vԯAtZj DNOT Ignoring new targets: 78.10 m.Bj8Jj!- ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.934326 m, bearing: 276.046106 deg, approach rate: -0.573211 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046106 deg. :j5Y,@5HeadingCmd: 4.817914 target range: 78.099998 and range: 570.00 m. j1j9j9j9i9h9h9hAhAfAfAfIrfIbfM `#@JaJeUJe1JaJaJe>9Je3JaɛQBDs 隕F5I "ɚiIXd=Ii5Hi8˻))*FQ2FQ:FQBFU+3JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGGQBYO}>zK= KK= 9K9 K= K= RK] ?JK] ? gTw,xQA Will construct direction to contact in vehicle frame from tetrahedron phase data.Iq IuHIuPOBIu =&Iq.Iq6Iu<:IuFBIJIRIZI =bI =jI[5@Y @.н9>yH঻? x?@=ÿ??i?^??l?ɨ@-;Cy=OB=H M=Ma= IMb@Mb@Mb@ )YQ?~jth?Zd;O?y?D;j< ČA)5AIΟAy3AII6٢3= "=9Q > G٣yN< > Nusing accuracyPremultiplier from config |49Rzl?|4Y iDB ?:+%?C;;2.|45rB 5A5nEUB*** querying acoustic contact ***jQjQZjYmDNOT Ignoring new targets: 78.10 m.Bjm6Jji ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.665283 m, bearing: 276.046243 deg, approach rate: -0.524130 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046243 deg. :j^,@HeadingCmd: 4.817916 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf2p$@ɛeQBmx im5Ii m0ɚiiqIu#fd=Iui}EYJi77))*F}?2Fy:FyBF}0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.AmTw,WQA)0 2Cb[Gp| %#Y!y-A@A\@Y @ ҽ91>yHu? x?ÿ ?@S5?`O?׻?1?ɨ\@;Cy:OBHI I 6٢A= i=9sQ >!! %G٣!y%< -? 5Nusing accuracyPremultiplier from config1=|495{l?=|4Y5 i5DB9E˻E?5 C5:5:5R:|4I MTAIZjy}DNOT Ignoring new targets: 78.10 m.Bja5Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.481445 m, bearing: 276.046278 deg, approach rate: -0.537038 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046278 deg. :j_,@HeadingCmd: 4.817916 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf%@ɛ RB[q E4I :oɚiIfd=IiiJip)) Will construct direction to contact in vehicle frame from tetrahedron phase data.*JmC="JmR=JueJu[JqJqJu\:JuW9JqJq Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received *DAT read: user:776> - y2Hu?x?¿??ɨ21@2>2;2CyB\OBB HDDIJIJ6٢Vž= Ze=9ZQ ^>\y }G٣}3Gy|)< > Nusing accuracyPremultiplier from config|49}l?|4Y iDBD?&C; ;G|4 AZj)-DNOT Ignoring new targets: 78.10 m.Bj5JjQe ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.279663 m, bearing: 276.046228 deg, approach rate: -0.513723 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.046228 deg. :je],@mHeadingCmd: 4.817915 target range: 78.099998 and range: 570.00 m. jijijijqiqhhhhfffrfbf%@ɛ'RB 2I ɚiIe=Ii%WHi%~4;)!)!*F?2F:FBF0JFzKXKKh9KKK  BK:KrA-Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Tx time:19:43:02.6667 E$Ping request sent.MIy I}HI}OBIy&Iy.Iy6I}<:I}FJDAT read: TxSync time:19:43:02.6660 :publishing transmit ping timeA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.024308 IG g{G B O >xPzTw,BQAyrOB&HMb@Mb@Mb@ )YS㥛?Mb? G٣y > Nusing accuracyPremultiplier from config|49Vl?|4Yu$ iDB?:?AC+;I;V|4 AuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247264ZjDNOT Ignoring new targets: 78.10 m.BjrJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 534.065186 m, bearing: 276.045356 deg, approach rate: -0.508576 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.045356 deg. :j=,@HeadingCmd: 4.817900 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbf@p&@ɛDRB> 隽|4I /ˠɚiISe=Ii Gi0@;) ) E*F2F:FBF0JFG ;% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499457G B O > I 6Tw,RA>'N@Y>v]@>ڽ9>>y>HS?.z?,¿9Ϳ?/?@Q?׬??ɨ>'N@>C*;>CyROBR;HIZIZ6٢b9= b\=9bQ f>dd fG٣dyj(< j> nNusing accuracyPremultiplier from configlr|49nl?r|4Yny) inDBtvHv?nZCnP:nC:nc|4x z®AZj!-DNOT Ignoring new targets: 78.10 m.Bj-0Jj)E ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.872864 m, bearing: 276.044504 deg, approach rate: -0.544819 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.044504 deg. :jE,@eHeadingCmd: 4.817885 target range: 78.099998 and range: 570.00 m. jijijijqiqhyhyhhfffrfbfBp'@ɛu]RBu y}o6Iy }֡ɚyiyIe=Iik_Dib;))*F)2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751707Gm;GI BQ Ou >zK KK K K K RK ?JK >]dTw,&RAvWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IIIDPBI =&I.I6Iϱ<:ItFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.023458MV@Ye@ܽ 1I19y>yH`?@(y?@/¿ ? [?ꇻ??\?ɨMV@o;CyEOBEQHUMb@Mb@Mb@QQQ Q)QYUFx?~jt?ktyU ?U G٣3Gy; > Nusing accuracyPremultiplier from config|49Il?|4Y0 iDBK ?:𴿑?}C ;;9;gt|4qB AoEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bj_Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.601990 m, bearing: 276.042997 deg, approach rate: -0.547375 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042997 deg. :j+@HeadingCmd: 4.817859 target range: 78.099998 and range: 570.00 m. jjjj i h h hhfffrfbfji(@JUbJUZJQJQJU:JUS9JQJQJUT ;auJUW ;a}JU]u:aJU_u:aɛRB! :I! %Zɚ!i)I-e=IEiE@iE;)I)I*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255344G ~q;G B O >iTw,.8RAyOBBHI-I-6٢E Ex=9MQ M?IQ UG٣QyU U? eNusing accuracyPremultiplier from configYe|49]l?m|4Y];5 i]DBiim?]C]:]Q;]|4q }AyZjDNOT Ignoring new targets: 78.10 m.Bj_Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.421631 m, bearing: 276.041993 deg, approach rate: -0.548710 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041993 deg. :j+@HeadingCmd: 4.817842 target range: 78.099998 and range: 570.00 m. jjjjihhhhfffrfbfy)@ɛRB5 隭CI ^ɚiIS?f=IiqQ=ic;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508359*Fm?2Fi:FiBFm0JFi"Gu=Gu= 1I1GGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760383(rTw,ƥRRAF}@YFl@Fݽ9Fr>yFH@Ž?`s?`L¿?`N?Y?`?`w?ɨF}@FX;DyVOBVaHI^I^#6٢fx= fR=9jQ j>hh jG٣lynG< r> vNusing accuracyPremultiplier from configpv|49rl?z|4Yr: irDBxzTz?rCr*:r:r|4 AZj)-DNOT Ignoring new targets: 78.10 m.Bj5sJj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 533.209167 m, bearing: 276.040700 deg, approach rate: -0.546459 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040700 deg. :jE+@MHeadingCmd: 4.817819 target range: 78.099998 and range: 570.00 m. jIjIjIjQiQhQhQhQhYfYfYfarfabfe@)@ɛ RB c  8DI  ɚiINf=I=i=8i=o(<)9)A*F2F:FBF0JFzK>BKKKKK""""! BKrA:KsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013900HMO>II IM9IIMPBII&II.II6IMɱ<:IMoF 9IEfG]{/;GI BQ Om >Ji Jm WJi Ji Ji Jm G9Ji Ji Ji Ji Jm _:Jm _:ΜTw,lRA2ʇ@Y2@2nݽ92>y2H?s?v,¿`ؖ?`+L?0??`?ɨ2ʇ@2I;2CNPExceeded connect timeout, disconnecting.yROBRWH5Mb@Mb@Mb@111 1)1Y5㥛 ?V-?v/y5?5<5xi5A 5A)5 AI5ΟA1y5pAIEIE$6٢Uϗ ]B=9]6Q ]>aa eG٣e3GyeoJ; m> uNusing accuracyPremultiplier from configi|49mMl?|4Ym/A imDBe?:?mϖCmX - e$?I) fTw,]RA6l@Y6@6\޽96>y6HV?s?¿?U^??q? y?ɨ6l@6;6CyROBRKHIZIZF'6٢b,Ǽ fT=9f@Q f>hh jG٣hyjr; j> rNusing accuracyPremultiplier from configpv|49rl?v|4YrG irEBxz䱿z?rCr:r:r|4| AlEZj)-DNOT Ignoring new targets: 78.10 m.Bj5Jj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 532.736084 m, bearing: 276.036866 deg, approach rate: -0.611247 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036866 deg. :jE+@MHeadingCmd: 4.817752 target range: 78.099998 and range: 570.00 m. jIjIjIjIiIhIhQhQhQfQfYfarfabfew+@ɛRB 隕VI !=ɚiIeg=IiM+iz><))*F2F:FBF0JFG%sA G!eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767188G1GBO5>zK MK 9K K K GTw,UPRAbWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021962H L>I  I KII PBI &I .I 6I <:I UF I @Yp@߽9>yHdC?`t?` ¿Xg?`?U?l??ɨ @;騕CyޥOBޭNHuMb@Mb@Mb@qqq q)qYu~jt?~jt?:vyu$?u G٣y > Nusing accuracyPremultiplier from config|49Gl?|4YO iEBB%?:?C;I;V|4 AJ%aJ%[J%0J!J%:J%W9J%ـ3J!J%;J%;J%|:J%|:=B*** querying acoustic contact ***j9j9ZjAMDNOT Ignoring new targets: 78.10 m.BjU\JjQm ProNav pure pursuit: ac range: 78.099998 m, nav range: 532.411743 m, bearing: 276.034726 deg, approach rate: -0.638894 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.034726 deg. :ju*@HeadingCmd: 4.817715 target range: 78.099998 and range: 570.00 m. jjjjih h hhfff!rf!bf%`,@ɛSBU2 隽_I )ɚiIg=Ii|#i8<)) nManaging dock network, ignoring radio surface power off*Fm?2Fi:FiBFm0JFimWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271418G $<G sAG tAGi By O >fTw,ݵRAy-OB-XHI=I=H%6٢M< Uv=9]Q ]?Ya eG٣e3Gye e? uNusing accuracyPremultiplier from configiu|49mFl?}|4YmU imEByy}?m1Cm:m:m|4pB AmEZjDNOT Ignoring new targets: 78.10 m.BjߝJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 532.197815 m, bearing: 276.033314 deg, approach rate: -0.653096 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033314 deg. :j*@HeadingCmd: 4.817690 target range: 78.099998 and range: 570.00 m. jjjjihhhhfafafirfibfm*-@ɛ*SB 隝cI NɚiISh=Iii9<))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:43:05.8022 TRx dataTimestamp_ set to:1736365387.032916checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524916 If*F?2F:FBF0JFG2<G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775285|ߴTw,TpRAJ{@YJ1@Jd9J>yJH ?`z?@zณ? ַ?7?@Dٿ?؎?ɨJ{@J;JCyVOBVVH)X X Z=Z=I^I^a*6٢jׄ jT=9jBEQ j>ll rG٣pyr r> vNusing accuracyPremultiplier from configtz|49vl?z|4Yv[ ivEB|~~?vQCv;vB;vg|4 A Zj)-DNOT Ignoring new targets: 78.10 m.Bj5˕Jj1M ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.949768 m, bearing: 276.031739 deg, approach rate: -0.644214 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031739 deg. :jMK*@UHeadingCmd: 4.817663 target range: 78.099998 and range: 570.00 m. jQjQjQjQiYhYhahahafififirfibfm%-@ɛ5FSB=h 9=kI9 =¬ɚ9i9IEh=IEiMIciUs<)Q)E*FQ2FY:FYBFYJFYzKeKKe9KaKeKeHH>IƍC IRIIPBI =&I.IOD6I߱<:IyFBIqJIqRIqZIq-Will construct direction to contact in vehicle frame from tetrahedron phase data. IbIqjIuƪ@5DAT read: 19:43:05.8023 LVL= 20240, 28097, 17954, 32403, AGC= 70, IDX= 430, 0.19,-0.996,-2.338,-0.842,-1.635, PHS= 0.727,-0.656, 0.790, RAW= 152.2, -12.1, CAL= 159.1, -19.5, ROT= 350.9, 19.5 G9)<Ygot valid direction response: 19:43:05.8023 LVL= 20240, 28097, 17954, 32403, AGC= 70, IDX= 430, 0.19,-0.996,-2.338,-0.842,-1.635, PHS= 0.727,-0.656, 0.790, RAW= 152.2, -12.1, CAL= 159.1, -19.5, ROT= 350.9, 19.5  PDAT read: Bearing 350.9, 19.5 (Local)  ~Local bearing/azimuth received: Bearing 350.9, 19.5 (Local) U DAT read: Range 10 to 50 : 548.4 m (Round-trip 731.3 ms) speed 0.7 m/s ] *DAT read: user:777> G B O > BDAT read: Tx time:19:43:06.9168  $Ping request sent. ))- akx?9Ϭ?-N&ʿ)-&?I-X>i-zE- ))] :publishing transmit ping timeع ] Fpublishing direction and range info)9-rNS?}9X!\?y)))) )))I)i))))) )))I)i)))- akx?9Ϭ?-N&ʿ))I)i)))) Tw,[RA2n@Y2N~@2y92=y2HT??&b` Y? o ? ?`? ?ɨ2n@2Ԫ;2CyNOBNYHMb@Mb@Mb@ )Yi|?5?{Gz?L7A`堿y1?ף<++A )ČAIyAIeIe*6mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:19:43:06.9161 ٢ ;  +=9 Q > G٣yW > ENusing accuracyPremultiplier from config!M|49%ݡl?M|4Y%(d i%4EBU1?U:UݵU?%{C%N;%;%|4Y eAk]5x͛?k]-/qH kY k]}zRA:k] DBk];DZk]rU@"]u =P@Q,r}@eq@]rNS?}9X!\?Jk]zERk] *]>4|~.X%-l@]AN3v#Kƿ?"k]v*k]k]ơ?k]GX 2k]C addTargetRange:: Added new target pos. range: 548.400024 m, deltaT: 15.142029 s, deltaX: -21.599976 m, approachRate: -1.426491 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 78.10 m.BjfjJjM ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.618896 m, bearing: 276.030142 deg, approach rate: -0.662971 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030142 deg. :jM*@UHeadingCmd: 4.817635 target range: 78.099998 and range: 548.40 m. jQjQjYjYiYhYhYhhfffrf@3#@bf@O?M&Ga ?YyBɛmSB AtI ׮ɚ i I &ki=Iim&ibv<)1)9*F2F:FBF 2JF% Will construct direction to contact in vehicle frame from tetrahedron phase data. I G o[<G ?G ?G B O >%Tw, SA6Z@Y6j@696Mx=y6H@ܴ? ?_`,`2? \? O2?l? ?ɨ6Z@6v;6CyJOBJvHIVIVI$6٢^i= bp=9bغQ b?`d fG٣f3Gyf f? nNusing accuracyPremultiplier from confighn|49jˤl?r|4YjSj ijDEBpr2r?jCj*:j:j|4t zZAxZjDNOT Ignoring new targets: 78.10 m.Bj%vJj! ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.382446 m, bearing: 276.029065 deg, approach rate: -0.739307 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029065 deg. :j)@HeadingCmd: 4.817616 target range: 78.099998 and range: 548.40 m. jjjjihhhhfffrfbf?ɛSB& sI ɚiIni=I-i-2i5c*;)1)9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G *;G B O >zK &(KK h9K K K rNTw,"SAH"I>I  I"XII"PBI" =&I .I 6I"ű<FWill construct direction to contact in vehicle frame from tetrahedron phase data.:I"fF hIl 馍@=6@Y=E@=l9==y=H|?u?@%Ýξ?_ø?`tN?8=?ӗ?ɨ=6@=Nʈ;=CyޕOBޕ]HAAJbJ[J2JJ:JW9Jc3JJT ;JV ;J|:J|:-Mb@Mb@Mb@))) )))Y-`"?y&1|?~jty-7?-`;-D- A - A)-hAI-ĝA)y-AIMIM)6٢] ]=9eXQ m>qy }G٣y > Nusing accuracyPremultiplier from config}49l?}4Y,t iiEB7?:?ʗCN;Է;l}4oB AnEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bj sJj % ProNav pure pursuit: ac range: 78.099998 m, nav range: 531.005981 m, bearing: 276.028450 deg, approach rate: -0.708071 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028450 deg. :j%)@-HeadingCmd: 4.817605 target range: 78.099998 and range: 548.40 m. j)j)j)j)i)h1h1h1h1f9fAfArfAbfE@?ɛSB _I 'ɚiIj=I=i= i=g%;)9)A*F2F:FBF4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.G ;G B O >bTw,=SA6@Y6 @696ӛ=y6Hp?`В?VF?@L?`?q3?@?ɨ6@6 ;6CyVOBZHIbIb#6٢n= n=9nfQ n?pp rG٣pyvq v? zNusing accuracyPremultiplier from configx~}49zl?~}4Yzy izEB|=?zCzX:z:z}4  *J"J%= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.6783785Tw,WSA6b@Y6@6X96=y6H??F" ѡ@?˩?`?S?@?ɨ6b@6;6CyROBRHI^I^*'6٢v< vJ=9v3Q z>xx zG٣z3Gy~ ~>  Nusing accuracyPremultiplier from config }49wl?}4Yt iEB? C::<}4 %,A!Zja}DNOT Ignoring new targets: 78.10 m.Bj}0*Jjy ProNav pure pursuit: ac range: 78.099998 m, nav range: 530.498535 m, bearing: 276.027964 deg, approach rate: -0.710948 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.027964 deg. :j)@HeadingCmd: 4.817597 target range: 78.099998 and range: 548.40 m. jjjjihhhhfffrfbf S?ɛSB" I ɚiI0k=Ii]Pi\f))*F?2F:FBFJFzK>BKK9KKKBK :K rAHmF>Ii Im^IImPBIi&Ii.Ii6ImDZ<:Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. AIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.940340G;GBO>,Tw,EqSAR@YR @R.9R=yRH@ѹ?L?H*%?`~?a? ]?`?ɨR@R7;RCyZOBZHeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.183564Mb@Mb@Mb@ )YS?~jt{Gzt?y/=?Dף; )AIyfAII$6٢N= ==9Q > G٣y: > Nusing accuracyPremultiplier from config}49l?}4Yĉ iEB6=?:9?3C;;P+}4 AZj!%DNOT Ignoring new targets: 78.10 m.Bj-7Jj)= ProNav pure pursuit: ac range: 78.099998 m, nav range: 530.182007 m, bearing: 276.028665 deg, approach rate: -0.736210 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.028665 deg. :j=)@EHeadingCmd: 4.817609 target range: 78.099998 and range: 548.40 m. jAjAjAjAiAhIhIhIhIfQfQfQrfYbf]@a@ɛSB?E" 隍I ϶ɚiI]l=Iikzi'))EY>E*Fi2Fi:FiBFiJFiGOP Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435449 9 I9 G B O >J J AAJ dJ YJ 0J J <:J [O9J ـ3J a @a @a @a @Tw,~SA2-@Y2}@292=y2Hݹ? ?@:w9? ̹?@)?*y?@֓?ɨ2-@2=;2CyN PBNHIZIZd%6٢rG= vY=9vQ v>xx zG٣xy~2: ~>  Nusing accuracyPremultiplier from config }49l? }4Y iEB3?VC::z8}4nB AlEZj DNOT Ignoring new targets: 78.10 m.Bj 7Jj% ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.905579 m, bearing: 276.029272 deg, approach rate: -0.689745 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.029272 deg. :j%)@-HeadingCmd: 4.817620 target range: 78.099998 and range: 548.40 m. j)j)j)j)i)h)h1h1h9f9f9f9rf9bfE@ɛmTBmG% imyIi ur{ɚqiyI}1l=Ii}i ))*F?2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.686716GM2FG) B1 OU >HU C>IU ōC IU qIIU PBIQ &IQ .IQ 6IU ű<:IU bFzK} FKK} 9Ky K} K} RK ?JK > 5 f$?I9 YTw,dSAWill construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954593y=PB=HMb@Mb@Mb@ )YS?{Gz~jt?y:?ףD<A ^A)IAy3AII$6٢== !=9Q >    G٣ 3Gy  > Nusing accuracyPremultiplier from config}49l?%}4Y iFB%:?%:%ȿ-?CC;G;!J}4A EAIB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bj@8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.540405 m, bearing: 276.030563 deg, approach rate: -0.744081 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.030563 deg. :j *@HeadingCmd: 4.817642 target range: 78.099998 and range: 548.40 m. jjjjihhhhfffrfbf @ɛ ETB lk I {ɚiInm=Ii%di%")!)!E1*F?2F:FBFp5JFGtA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203930G pG B O >]#Tw,SSAy GPBII-I-$6٢== =t=99Q E?AA EG٣AyI M? Nusing accuracyPremultiplier from config}49ol?}4Y i5FB?C1;2;V}4 -AZjDNOT Ignoring new targets: 78.10 m.Bj@8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.293152 m, bearing: 276.031439 deg, approach rate: -0.743201 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.031439 deg. :j@*@HeadingCmd: 4.817657 target range: 78.099998 and range: 548.40 m. jjjjihhhh f f f rfbf, @ 1I5fɛU\TBUX@2 Uϕ=UIQ UɚYiYI]Fn=Ieieia)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457092*F2F!:F!BF%0JF!JeJ^J1JJ\:Jd9J3JGE*G B) OE >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:19:43:10.0485 M TRx dataTimestamp_ set to:1736365391.345295M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.708163HTw,ZSA2@Y2D)@2"g925=y2H 밺?*?`#??`ծ?P\?40??ɨ2@2f;2CyRgPBR)IIZIZ#6٢b= fS=9fQ f>hh jG٣hyj < n> rNusing accuracyPremultiplier from configpv}49r0l?v}4Yr[ irYFBtv`v?rȘCr@:r:r_c}4| ~A|Zj!-DNOT Ignoring new targets: 78.10 m.Bj-)8Jj1E ProNav pure pursuit: ac range: 78.099998 m, nav range: 529.018066 m, bearing: 276.032319 deg, approach rate: -0.723785 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.032319 deg. :jE`*@MHeadingCmd: 4.817673 target range: 78.099998 and range: 548.40 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbf]6@ɛzTB) 隕YI "ɚiIn=Ii;iY:))*FI2FI:FIBFIJFQHU>>IQ IUIIUQBIU =&IQ.IUND6IU<:IUvFzK>KKs9KKKBKsA:KsA )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.961790GGBOA pTw,V-SAWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 19:43:10.0485 LVL= 21984, 29921, 16706, 26515, AGC= 71, IDX= 406, 0.13,-1.563,-2.895,-1.510,-2.107, PHS= 0.632,-0.741, 0.594, RAW= 148.6, -7.2, CAL= 154.3, -15.6, ROT= 355.7, 15.6 =Ygot valid direction response: 19:43:10.0485 LVL= 21984, 29921, 16706, 26515, AGC= 71, IDX= 406, 0.13,-1.563,-2.895,-1.510,-2.107, PHS= 0.632,-0.741, 0.594, RAW= 148.6, -7.2, CAL= 154.3, -15.6, ROT= 355.7, 15.6 EPDAT read: Bearing 355.7, 15.6 (Local) E~Local bearing/azimuth received: Bearing 355.7, 15.6 (Local) UDAT read: Range 10 to 50 : 545.6 m (Round-trip 727.5 ms) speed 0.4 m/s U*DAT read: user:778> ]BDAT read: Tx time:19:43:11.1668 e$Ping request sent.ed>]?Cf?۟)>I>i\ſ¸:publishing transmit ping timeYFpublishing direction and range info9ye0?u"L.|Vc?y )Ii )Iid>]?Cf?۟)Iiy5PB=@IMb@Mb@Mb@ )Y5^I ?y&1AA EG٣E3Gym u> Nusing accuracyPremultiplier from config}49͹l?}4Y: iFB(8?:~?C;U;u}4 AmEkyϛ?kX k kFBSA:kfDBkDZkMM@"-ے%@ ,"{gs@ye0?u"L.|Vc?Jk\ſRk¸*z_>X ~ 8u?M&o@(i߻2_Z^d}=?"kK*kbk .xΛ?kG 2k Cu addTargetRange:: Added new target pos. range: 545.599976 m, deltaT: 4.293444 s, deltaX: -2.800049 m, approachRate: -0.652168 m/s, rangeRepo size: 4 Zjq}DNOT Ignoring new targets: 78.10 m.Bj<7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 528.642212 m, bearing: 276.033243 deg, approach rate: -0.692213 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033243 deg. :j*@HeadingCmd: 4.817689 target range: 78.099998 and range: 545.60 m. jjjjihhh h f f frf @bfE`?ɛ TB.< 1=QI9 =pɚ9i9I=Zo=IEiEiE"9)A)I !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:43:11.1661 *F2F:FBF2JF"G=G=JI JM \JI JI JI JM [9JI JI G ĝ:G B O >Uw,7TAy%PB%^II5rI5m6٢M> Me=9QQ U>QY ]G٣YyY ]> mNusing accuracyPremultiplier from configam}49el?u}4Ye ieFBqqu?eCe;e%;e}4y >AZjDNOT Ignoring new targets: 78.10 m.Bj8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 528.395264 m, bearing: 276.033850 deg, approach rate: -0.747271 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.033850 deg. :j*@HeadingCmd: 4.817699 target range: 78.099998 and range: 545.60 m. jjjjihhhhfffrfbf`?ɛ TB x3 +I i1ɚiI9p=Iiqi!)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.Em7J=*F2F:FBF/1JF ZHRH@AH;>IčC IIIVQBI =&I.I6I<:IFBIōCJIōCRIZI =bI =jIQ5 I fzK K 9K K K E Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9G B O > Uw,ĵ,TAyPBIMb@Mb@Mb@ )YX9v?~jt/$?y3?ļ<ĝA SA)IAyAII26٢= 7=9Q > G٣y > Nusing accuracyPremultiplier from config%}49Ll?%}4Y iFB-3?-:-u-?@CH;8;}41 5ЫA1B*** querying acoustic contact ***jjZj9=DNOT Ignoring new targets: 78.10 m.BjEfE8JjAM ProNav pure pursuit: ac range: 78.099998 m, nav range: 528.081360 m, bearing: 276.035147 deg, approach rate: -0.652609 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.035147 deg. :jU*@]HeadingCmd: 4.817722 target range: 78.099998 and range: 545.60 m. jYjYjYjYiYhYhahahafafifirfibfu ?ɛTB! 隥|I J"ýɚiIp=Iii))E<=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) C*F12F1:F9BF==3JF9UGmvA `YvAyBG !G ?G >G B I O >uUw,O]FTA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248420: @Y:8@:+9:=y:H@>?6?k`@??r?%?|?ɨ: @:|;:CyF!QBFIINiINn6٢Vt= V`=9ZRAQ Z>XX ZG٣Z3Gy^꛻ ^> bNusing accuracyPremultiplier from config`f}49bl?f}4Yb ibGBhjj?b`Cb:bX:b:}4p ruApZj  DNOT Ignoring new targets: 78.10 m.Bjo8Jj% ProNav pure pursuit: ac range: 78.099998 m, nav range: 527.832336 m, bearing: 276.036224 deg, approach rate: -0.756083 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.036224 deg. :j%*@-HeadingCmd: 4.817741 target range: 78.099998 and range: 545.60 m. j)j)j)j)i)h1h1h1h1f9f9f9rfAbfEs?ɛeUBma+ imwIi m9ĽɚqiIyq=IiVUi))EE*E"EJJcJJJJx9JJ*F2F:FBF0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504772G zQG B O >Uw,yaTA6@Y6@6"96=q=y6HS? ?@hࣙ?`޺?ऑ?? 4?ɨ6@6#Ј;6CyBPQBBIIJIJ26٢V= V@=9ZQ Z>\\ ^G٣\y^K: b> fNusing accuracyPremultiplier from config`f}49bNl?j}4YbL ib0GBhjj?bCb;b!;b}4p rApZj DNOT Ignoring new targets: 78.10 m.H]:>IY I]II]QBIY&IY.IY6I]<:I]sF IfBj Z8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 527.536804 m, bearing: 276.037494 deg, approach rate: -0.695617 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037494 deg. :j+@HeadingCmd: 4.817763 target range: 78.099998 and range: 545.60 m. jjjjihhhhfffrfbf @v?ɛ]"UBe% ae_tIa e 9ƽɚaiazKXKK9KKIr=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752552KJe+?&IiAiu))*F2F:FBF5JFG% G B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] ?] H?e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004759(Uw,d{TA6!@Y6%1@6796D)>y6H?X?Q|K ?@?e? ?k?ɨ6!@6^;6CyFyQBJIUMb@Mb@Mb@QQQ Q)QYU/$?Mb?yU,?U̼U=9}:Q }> G٣y; > Nusing accuracyPremultiplier from config}49l?}4Y iYGB3,?:?C;;'}4mB AnEZjDNOT Ignoring new targets: 78.10 m.Bj-Q8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 527.249939 m, bearing: 276.038724 deg, approach rate: -0.665968 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038724 deg. :jK+@HeadingCmd: 4.817785 target range: 78.099998 and range: 545.60 m. jjjjihh hhfffrfbfY1@ɛEBUBM ' IMFrII UwǽɚQiQIUIr=I]i]i]t:)Y)a*F2F:FBF5JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256602G'HJIJIGBO>@%Uw,8TA6!@Y6A1@6A96Ξ=y6H#?? s? ̺?@{?@2??ɨ6!@6ُ;6CyRQBRIIZIZN6٢b= bW=9fQ f>dd jG٣j3Gyj8 j> rNusing accuracyPremultiplier from configlv}49nMl?v}4Yn{ in}GBxzz?n˙Cn0;n0;nf}4| ~uA%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508688Zj15DNOT Ignoring new targets: 78.10 m.BjO8Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.997620 m, bearing: 276.039807 deg, approach rate: -0.661211 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039807 deg. :jr+@HeadingCmd: 4.817803 target range: 78.099998 and range: 545.60 m. jjjjihhhhfffrfbf_@ɛ}cUB}~' 隅pI WɽɚiI:s=Iii0p:))*FM?2FI:FIBFM5JFIHYIY I]9II]!RBI] =&IY.IY6I]<:I]JF IG7:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760945zKOK]9KKK|/g.2:HUhoO >Je cJe XJa Ja Je :Je 5K9Ja Ja Je ;au Je ;au Je g:au Je g:au :+Uw,TA2!@Y20@2(X92,=y2H?@?~W ܳ?@5??`?`?ɨ2!@2;2Cy^QB^ IMb@Mb@Mb@ )Y rh?~jtI +?yC+?D9<hA )IyAII٢M> 8=9<^Q >    G٣ y v  > uNusing accuracyPremultiplier from configq}}49uol?}}4Yuh iuGB}b+?}:O?uCu;u';uV}4 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.Bj[7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.695862 m, bearing: 276.040508 deg, approach rate: -0.664846 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040508 deg. :j+@HeadingCmd: 4.817816 target range: 78.099998 and range: 545.60 m. jjjjihhhhfffrfbf@ɛUB$ %jI! %ʽɚ!i!I%es=I-i-8i- i:)1)1-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013566*F2F:FBFJFGG B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264384a!2Uw,|TA6y@Y6,@6!966=y6H`xƺ??`b>@C??gN?7o? ?ɨ6y@6o;6CyBRBB'IIJwIJ6٢V= Vc=9ZrQ Z>XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`f}49bl?f}4Ybw ibGBhj`j?bCb:b:b}4l rApZj DNOT Ignoring new targets: 78.10 m.Bj (7Jj  ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.465027 m, bearing: 276.041059 deg, approach rate: -0.662040 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041059 deg. :j%+@%HeadingCmd: 4.817825 target range: 78.099998 and range: 545.60 m. j)j)j)j1i1h1h1hhfffrfbf @ɛUB*JR="Ja=* gI %=O̽ɚ!i!I%Ot=I-i-piU9)Q)Q*F2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516656G?:G%?G%/?G B O5 >J8Uw,\TA6@Y6&@6u/96(*>y6H`??0`??п?`??ɨ6@6&Ň;6CyB%RBB;IIN}IN6٢V}= VJ=9VQ V>XX ZG٣Z3GyZ ^> bNusing accuracyPremultiplier from config`f}49bl?f}4Ybx ibGBdf}f?b1Cb:b:b}4nlB nfAHI I~IIRBI !I%f&I.I6I<:I=F}oEZjDNOT Ignoring new targets: 78.10 m.Bj7Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 526.198425 m, bearing: 276.041720 deg, approach rate: -0.618151 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041720 deg. :j+@%HeadingCmd: 4.817837 target range: 78.099998 and range: 545.60 m. j!j!j!j!i!h!h)h)h)f)f1fArfAbfE@i(@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:43:14.3030 TRx dataTimestamp_ set to:1736365395.629694checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770556ɛUB0% 隽FhI ͽɚiIt=zKvQKh9KKKIiRi c)) EEJEdJEWJAJAJE<:JEG9JAJAJE ;JE";JE_:JE_:*F=?2FA:FABFM1JFIGa GaE Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020866G 9GY Bi O} >t>Uw, TA .@Y ~$@ 9 f>y H??5?c?? O?`~?ɨ .@ {; CyMORBMUIMb@Mb@Mb@ )YS㥛?Mb~jt?y$&?<A )AIAyAIiIn6٢= -=9{NQ > G٣y۹ > Nusing accuracyPremultiplier from config~49)l?~4Yg i+HB:&?:?XCL;;~4 A ZjDNOT Ignoring new targets: 78.10 m.Bj47Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.896118 m, bearing: 276.042278 deg, approach rate: -0.655973 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042278 deg. :j+@HeadingCmd: 4.817847 target range: 78.099998 and range: 545.60 m. jjjjihhhh Ifffrfbf`@Will construct direction to contact in vehicle frame from tetrahedron phase data.աiեADAT read: 19:43:14.3030 LVL= 23760, 28337, 20338, 32755, AGC= 72, IDX= 483, 0.39,-1.279,-2.557,-1.221,-1.816, PHS= 0.625,-0.694, 0.591, RAW= 148.7, -8.1, CAL= 154.6, -16.4, ROT= 355.4, 16.4 Ygot valid direction response: 19:43:14.3030 LVL= 23760, 28337, 20338, 32755, AGC= 72, IDX= 483, 0.39,-1.279,-2.557,-1.221,-1.816, PHS= 0.625,-0.694, 0.591, RAW= 148.7, -8.1, CAL= 154.6, -16.4, ROT= 355.4, 16.4 PDAT read: Bearing 355.4, 16.4 (Local) ~Local bearing/azimuth received: Bearing 355.4, 16.4 (Local) DAT read: Range 10 to 50 : 549.0 m (Round-trip 732.0 ms) speed 0.7 m/s *DAT read: user:779>  BDAT read: Tx time:19:43:15.4168  $Ping request sent.X?yح@ Dةح\حn ٭rO)٭I٭Hi٭ ?٭1٭K?٭x&@٭ ڭ,@)ڭCIڭ(~@iڭC>ککۭ5B[ 2?꟎Bo?~X)ۭ@?Iۭ&>iۭ2YÿۭSI۩۩=:publishing transmit ping time EFpublishing direction and range infoة9ح06Q6?DQp1꿰P>X?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ5B[ 2?꟎Bo?~X)۩I۩i۩۩۩۩ɛ}UB}7$ 隅gI 3ϽɚiIYu=IiBZiUr)Q)YJ1J5@A*F 2F :F BF 0JF G5 zQm Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:19:43:15.4161 G BO5>ENFUw,rUA2 @Y2-@2\92v=y2H.?`h?^@[@??`??i}?ɨ2 @2>;2Cy>RB>wIIJ`IJn6٢N > RN=9R$Q R>PT VG٣Ty-O 5> =Nusing accuracyPremultiplier from config1=~495l?E~4Y5^ i5VHBAE彿E?5zC5@:5:5~4q }AykaΛ?k u k kwUA:k@ DBk`DZkrM@"Q=4@^$("|4.as@06Q6?DQp1꿰P>X?Jk2YÿRkSI*M'?>=~9"BV)4 p@V 3 yY&?"k*kkD͛?k 2kC- addTargetRange:: Added new target pos. range: 549.000000 m, deltaT: 4.284516 s, deltaX: 3.400024 m, approachRate: 0.793561 m/s, rangeRepo size: 4 Zj15DNOT Ignoring new targets: 78.10 m.Bj=Ĺ7Jj9m ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.630737 m, bearing: 276.042803 deg, approach rate: -0.640809 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042803 deg. :jm+@uHeadingCmd: 4.817856 target range: 78.099998 and range: 549.00 m. jqjqjqjqiqhqhyhhf f f rf (@bf ]?ɛVB0r$ bI9 E;ѽɚAiAIEu=IUiUCiUnú)i)y !I)H9I9 I=II= SBI9&I9.I96I=<:I=oF*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-غKK-9K)K-K-RK=?JK=?J J XJ J J J 5K9J J J J J g:J g:G u4G B O5 >*qLUw,/4UA^@Y^6@^9^?=y^H(ֹ?@H?s??@?m?{?ɨ^@^;^CyfRBfI]Mb@Mb@Mb@YYY Y)YY]RQ?{Gzt?y&1?y]"?]ף;]`e<]hA Y)]SAI]^AYy]3AIuAIu6٢ь= ==9%Q > G٣3Gy#K > Nusing accuracyPremultiplier from config~49ul?~4Y4 iHB"?:Z?C ; ;!~4]Will construct direction to contact in vehicle frame from tetrahedron phase data.a egAaB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.10 m.BjJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.369812 m, bearing: 276.042755 deg, approach rate: -0.615397 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042755 deg. :j+@]HeadingCmd: 4.817855 target range: 78.099998 and range: 549.00 m. jYjYjajaiahahahihifffrfbfǘ?ɛ4VB{q' 隭cI rҽɚiILHv=Iiia'))*Fy2F:FBF0JF"G=G= I Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.G ïG B O- >YSUw, NUA6@Y6J@696=y6H@ϝ?@?a w˽?_TT VG٣TyZ Z> ~Nusing accuracyPremultiplier from config\~49^l?~4Y^\ i^HB  u ?^C^ ;^;^*.~4  AlEZj9EDNOT Ignoring new targets: 78.10 m.BjM㓵JjI} ProNav pure pursuit: ac range: 78.099998 m, nav range: 525.134766 m, bearing: 276.042732 deg, approach rate: -0.659189 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042732 deg. :j}+@HeadingCmd: 4.817854 target range: 78.099998 and range: 549.00 m. jjjjihhhhfffrfbfJ?ɛ OVB o/ ^I =_ӽɚ9i9I=.v=IEiEyiEֵQ)A)Q*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250747Gmb(GI BQ O} > I H) I)  I- II- {SBI- =&I) .I) 6I- <:I- 9FBIčCJIčCRIZI =bI =jI24YUw,GgUA6@Y6@63o 96=y6H A? ?`c@F?? k@?@*=? ww?ɨ6@6];4y>RBBIIJ!IJt6٢Vq= VJ=9ZлQ Z>\bWill construct direction to contact in vehicle frame from tetrahedron phase data.`ibAjchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503838\ jG٣lyr_ r>  Nusing accuracyPremultiplier from config%~49l?-~4Y) iHB)55?zKeJKe+9KaKeKe   ۚC<^<<~4-kB 5A=mEJeJZJJJ\:JS9JJJ;J;J\u:J_u:Zj DNOT Ignoring new targets: 78.10 m.Bj 5Jj% ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.875305 m, bearing: 276.042747 deg, approach rate: -0.522593 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042747 deg. :jM+@UHeadingCmd: 4.817855 target range: 78.099998 and range: 549.00 m. jQjQjQjQiYhYhYhYhafafafrfbf;?ɛxVB # 隵o^I սɚiI1w=Ii*iŏ))*F?2F:FBF0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754935GxA ] 5 Y] xAye BG OPGy B O >o`Uw,ӁUAy SBI IfMb@Mb@Mb@ )YMb?QQ UG٣U 3Gy] ]> eNusing accuracyPremultiplier from configam~49el?m~4Yes ieHBu ?u:uøu?eCe;ep;eVL~4y }AyZjDNOT Ignoring new targets: 78.10 m.BjJj ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.596375 m, bearing: 276.042079 deg, approach rate: -0.774177 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.042079 deg. :j+@HeadingCmd: 4.817843 target range: 78.099998 and range: 549.00 m. jjjjihhhhfffrfbf H?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006617ɛ5VB5, 15bI1 =׽ɚ9i9I= w=IEiEXiEe)A)I*F2F:FBF0JFG= g{G B! OE >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258665yfUw,bUA f>@Yf @f 9fO=yfHù?o?ഉ? I.?@n??t?ɨf>@fV=;fCyBSBII-9I-6٢E:> EZ=9EyQ E>II MG٣IyUr; U> ]Nusing accuracyPremultiplier from configYe~49]Sl?e~4Y]o" i]IBimu?]C]s;]/t;]>Y~4OB AZjDNOT Ignoring new targets: 78.10 m.Bj Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.367371 m, bearing: 276.041479 deg, approach rate: -0.620558 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.041479 deg. :j+@HeadingCmd: 4.817832 target range: 78.099998 and range: 549.00 m. jjjjihhhhqfyfyfyrfbf@ @ɛVB- (]I XؽɚiIw=Ii ~i ) )) g$?IjHbH4<H8>I ILIISBI&I.I6I<:IDF*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511867zKLK9KKK;&{mZ7}6t'U{aE){vuroiG G B O >\lUw,wUA2@Y2@2 92=y2HWչ?ഈ?r A1?d? l?2[?t?ɨ2@2ڇ;0y:bSB:IMb@Mb@Mb@ )Y{Gz?Zd;O?~jthy#?j<D^A )IAI^Ay׏AIAI6٢= @=9mQ > G٣y.: > Nusing accuracyPremultiplier from config ~49wl? ~4Yx) iCIB #? : Q ?>C;/;h~4 yA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762754EB*** querying acoustic contact ***jAjAZjY]DNOT Ignoring new targets: 78.10 m.Bje9(Jjam ProNav pure pursuit: ac range: 78.099998 m, nav range: 524.097900 m, bearing: 276.040500 deg, approach rate: -0.631967 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.040500 deg. :ju+@}HeadingCmd: 4.817816 target range: 78.099998 and range: 549.00 m. jyjyjyjihhhhfffrfbfK@ɛVB* ]I BٽɚiI?Ex=Iii))*FA2FA:FABFE0JFI yIyGm * Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014503G G G B O >کsUw,]UA6@Y6 @6-96=y6H[?=? > ? ?@T?@e[?s?ɨ6@67ڇ;6CJSK[23 K[L.KSKS"KSJBhJB[JB2J@JB(:JBW9JBc3J@aJ@aJ@aJ@aJ@y^vSB^ IIfBIf6٢rW= r\=9rmiQ r>tt vG٣v!3Gyv z> ~Nusing accuracyPremultiplier from config|~49~1l?~4Y~/ i~eIB i ?~\C~:~:~u~4 QAZjA]DNOT Ignoring new targets: 78.10 m.Bjm&Jjq ProNav pure pursuit: ac range: 78.099998 m, nav range: 523.862549 m, bearing: 276.039662 deg, approach rate: -0.637063 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.039662 deg. :jm+@HeadingCmd: 4.817801 target range: 78.099998 and range: 549.00 m. jj jjihhhhfffrf!bf% j @ɛVB - 隝;aI 1۽ɚiIx=Ii'iJH))EtAE*F2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267414Gi"G B O > a Ia H I  I II FTBI =&I .I 6I m<:I FeyUw,-UARWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Rx Time:19:43:18.5489 ZTRx dataTimestamp_ set to:1736365399.665409^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520754r@Yr@r9reY=yrH? ??@ І@? ?s?g?`q?ɨr@ry;rCy%SB-IIE,IE6٢U$= UC=9]Q ]>aa eG٣ayegY m> uNusing accuracyPremultiplier from configiu~49mAl?}~4Ym6 imIBy}t?m~Cm,;m;m~4NB ,AnEzKOKý9KKK`_]WROHD@>=;:7300/,*.0-*(&"#  ZjDNOT Ignoring new targets: 78.10 m.BjJ"JjM ProNav pure pursuit: ac range: 78.099998 m, nav range: 523.597473 m, bearing: 276.038727 deg, approach rate: -0.628527 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.038727 deg. :jUK+@UHeadingCmd: 4.817785 target range: 78.099998 and range: 549.00 m. jYjYjYjYiYhYhYhahafffrfbfUG @ɛ$WB-I) \gI ܽɚiIy=Ii i V) ) *F2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]<]<echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771806G ]UGy B O >^Uw,} VAB@YB@BI9B=yBHT?@*?`k5н?`*??VZ?`p?ɨB@B.(;@yJSBJ$I I f]Mb@Mb@Mb@YYY Y)YY]%C?~jt? G٣y > Nusing accuracyPremultiplier from config~49Sl?~4Ya= iIB{$?:<?Ct;;~4 AZjDNOT Ignoring new targets: 78.10 m.Bj%Jj ProNav pure pursuit: ac range: 78.099998 m, nav range: 523.335327 m, bearing: 276.037753 deg, approach rate: -0.608720 m/s, LOS rate: nan deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.037753 deg. :j'+@HeadingCmd: 4.817768 target range: 78.099998 and range: 549.00 m. jjjjihhhhfffrfbf%y@ɛmCWBmf4 隍hI O޽ɚiIzy=IiNdi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022785*F2F:FBF0JFJJAAJdJZJJJ<:JS9JJG V'SG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:43:18.5489 LVL= 24608, 32753, 20338, 32755, AGC= 69, IDX= 393,-0.37,-1.887, 3.038,-1.733,-2.484, PHS= 0.685,-0.714, 0.748, RAW= 152.2, -10.1, CAL= 158.4, -17.7, ROT= 351.6, 17.7  Ygot valid direction response: 19:43:18.5489 LVL= 24608, 32753, 20338, 32755, AGC= 69, IDX= 393,-0.37,-1.887, 3.038,-1.733,-2.484, PHS= 0.685,-0.714, 0.748, RAW= 152.2, -10.1, CAL= 158.4, -17.7, ROT= 351.6, 17.7  PDAT read: Bearing 351.6, 17.7 (Local)  ~Local bearing/azimuth received: Bearing 351.6, 17.7 (Local)  DAT read: Range 10 to 50 : 545.8 m (Round-trip 727.8 ms) speed 0.5 m/s  *DAT read: user:780>  BDAT read: Tx time:19:43:19.6669  $Ping request sent. a a e gl?C+3?t!aƿ)e ?Ie 3>ie `e  a a  :publishing transmit ping time  Fpublishing direction and range infoa 9e $Qq?",7뿼yEP?ya a a a a )a Ia ia a a a a a )a Ia ia a a e gl?C+3?t!aƿ)a Ia ia a a a 'Uw,2VAM@YM@M7{9M`<=yMHG?}?` m?M?n??D?Cr?ɨM@MU];MCyޥSBޭ6IIEIq6٢ =  B=97Q >99 =G٣="3GyE E> MNusing accuracyPremultiplier from configIu~49Mwl?u~4YMmD iMIBy}Y}?M›CM;M=;M~4 Ak,̛?kyb G k kVA:ksDBkDZk-P@"8?E@1}gq@$Qq?",7뿼yEP?Jk`Rk *~(1cNcMRl@cӡUpG@hT?"kk*kk-c%˛?kEP 2kCkơ?kEP k CkCkqP@ addTargetRange:: Added new target pos. range: 545.799988 m, deltaT: 4.287723 s, deltaX: -3.200012 m, approachRate: -0.746320 m/s, rangeRepo size: 4 I- Added new target pos. range: 545.799988 m, bearing: 186.820386 deg, lat: 36.899525 deg, lon: -122.113763 deg, deltaT: 1910.955811 s, deltaX: 467.699982 m, approachRate: 0.244747 m/s, posRepo size: 2 Zj15FNOT Ignoring new targets: 545.80 m.Bj=Jj9=ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 186.820386 deg.:j=-P@EHeadingCmd: 3.260631 target range: 545.799988 and range: 545.80 m. jAZHiRHmAAHu;>Iq IuIIuTBIq&Iq.Iq6Iuı<:IuVFjjjihhhhfffrf`f@bfQI?ɛ jWB .  {kI  ɚiIy=IiiFB))!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:43:19.6662 *F?2F:FBF0JFG GzK=MK=]9K9K=K= 4imZI9,%  G 󻂻G B O >nUw,\6VAJL֒@YJ@J9J=yJHแ?z?yI`ȼ???@"o?@ݼ?u?ɨJL֒@J";JCyfSBf8IWill construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYe?S㥛?=9_Q > G٣yb => mNusing accuracyPremultiplier from configAm~49El?u~4YEK iEIBu&?u:u u?ECE;E&;E*~4y AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 545.80 m.BjeJje ProNav: ac range: 545.799988 m, nav range: 492.129089 m, bearing: 186.827006 deg, approach rate: 0.014256 m/s, LOS rate: -0.080169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876850 deg. 2j\:j&@ HeadingCmd: 4.814960 target range: 545.799988 and range: 545.80 m. j j j jihhhhfffrfbf%B?ɛWB5 隍rI }ɚiI:Lz=Ii!i3߻))*F]?2FY:FYBFaJFa I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G PG B O >Uw,PVA*J*C="J(J.kJ,J.1J,J.2:J,J.3J,>Ē@Y>8ԙ@>Ŀ9>x=y>H@#?i?~1[? ??M?@#r?ɨ>Ē@>^;>CyNSBNPIIV IV<6٢ = k=9FQ ?! %G٣!y%DȻ %? 5Nusing accuracyPremultiplier from config)5~49-Kl?=~4Y-pQ i-JB9=e=?-C-X:-:-~4EMB MiAMoEZjiuFNOT Ignoring new targets: 545.80 m.BjuJj} ProNav: ac range: 545.799988 m, nav range: 492.133240 m, bearing: 186.801744 deg, approach rate: 0.012648 m/s, LOS rate: -0.076987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.899399 deg. 2jWS:j_@HeadingCmd: 4.815353 target range: 545.799988 and range: 545.80 m. jjjjihhhhfffrfbf ?ɛWB6{< _pI ɚiI)z=Ii$iM ))*F?2F:FBF)1JFG]İ˻GB)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000499OM2> I H] 9>IY  I] II] TBIY &IY .IY 6I] <:I] KF"Uw,jVANWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251752RO@YR@R79R=yRHgK?Ζ?`qջ?@|D?x?`?m?ɨRO@R=;RCynSBnZIIvIvZ6٢~#= L=9㎻Q >   G٣ y ׻  > Nusing accuracyPremultiplier from config%~49:l?%~4Y+X i?JB!%%?#C:7:~4) 5HA5lEZjY]FNOT Ignoring new targets: 545.80 m.BjeJje ProNav: ac range: 545.799988 m, nav range: 492.137604 m, bearing: 186.771724 deg, approach rate: 0.010903 m/s, LOS rate: -0.075002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885129 deg. 2jM:j U@5HeadingCmd: 4.815104 target range: 545.799988 and range: 545.80 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfEU?zKMMKMͼ9KIKMKMɛWBN2 jvI ɚAiAIM2{=Ii+iom/))*F92F9:F9BF=0JF9"GE=GE=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503545G ̻Gq B O >=Uw,PVA 4I6f>渒@Y>6ș@>9>vD=y>H?`?ׂ@)?&G??q ?`l?ɨ>渒@>֗;>CyV TBVfI=Mb@Mb@Mb@999 9)9Y=MbX?{Gz?y&1y=*?=ף<=`e=A =A)9I=A9y=AIM.IM6٢e<@= eD=9mFQ m>ii uG٣u#3GyuN8; u> Nusing accuracyPremultiplier from configy~49}$l?~4Y}^_ i}dJB*?:?}FC} ;}a;}w~4  AZjFNOT Ignoring new targets: 545.80 m.BjAJjA ProNav: ac range: 545.799988 m, nav range: 492.139771 m, bearing: 186.739655 deg, approach rate: 0.005206 m/s, LOS rate: -0.077048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878981 deg. 2jS:jt@HeadingCmd: 4.814997 target range: 545.799988 and range: 545.80 m. jjjjihhhhfffrfbfd?ɛWB; 隥yI hɚiIτ{=Iio#/iY))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756730*F2F:FBF0JFGjGaBiJyJ}BAJdJJJJ<:JJJO^>m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0113411Uw,f-VA6@Y6m̙@6{96S=y6HR?@d?iX?T?`y?`w`?@j?ɨ6@6;6CyBTBBoIIJ3IJr6٢V= VW=9^ѺQ ^>`` bG٣`yb: b> jNusing accuracyPremultiplier from configdj~49fl?n~4Yfe ifJBIM㸿M?fgCf5GzKg%LK 9KKKBO= >[Uw,VA)X X!y,TB5zI9Q YyBWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512442mMb@Mb@Mb@iii i)iYmoʡ?:v?I +ym-?mT G٣$3Gy > Nusing accuracyPremultiplier from config~49l?~4Y n iJB-?:U?C;_;~4 ߤAZjFNOT Ignoring new targets: 545.80 m.BjgJjg ProNav: ac range: 545.799988 m, nav range: 492.141510 m, bearing: 186.673967 deg, approach rate: -0.001220 m/s, LOS rate: -0.080609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866302 deg. 2j H]:j @HeadingCmd: 4.814775 target range: 545.799988 and range: 545.80 m. jjjjihhh!h!f!f)f)rf)bf=|@ɛe;XBm(9 imII M~ɚIiIIMo|=IUiUØ8iU)Q)YEE Eh$?IEf*FI2FI:FIBFM0JFIGUsA GUsA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764748G G B O% >CUw,GVAFђ@YF@@FZ9Fw=yFH@Z?x?`&~*?-e?k(? 5a?@=e?ɨFђ@F;FCy^OTB^IllIv+Iv6٢ X= f=9ItQ >!! %G٣!y5; 5> MNusing accuracyPremultiplier from configA49E5l?4YEdt iEJB?ECEH I  I -II NUBI &I .I 6I <:I uFnUw,7VA6ڒ@Y6@696>y6H`? ?@fQ| Ɍ?p?B??a?ɨ6ڒ@6 *;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267557yFXTBFII 1I 96٢%< %I=9%Q ->)) -G٣)y5-; 5> =Nusing accuracyPremultiplier from config9E49=l?E4Y=v{ i=JBIMܹM?=МC=*:=L:=4Q UAQZjFNOT Ignoring new targets: 545.80 m.BjιJjι ProNav: ac range: 545.799988 m, nav range: 492.142670 m, bearing: 186.614623 deg, approach rate: 0.002127 m/s, LOS rate: -0.081223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880813 deg. 2j^:j@HeadingCmd: 4.815029 target range: 545.799988 and range: 545.80 m. jjjjihhhhfffrfbf @ɛXBA 턿I ɚiIc}=Ii>>i9ǻ))zKLK+9KKKBKrA:KJugJu[JqJq*F2F:FBF1JFJu%:JuW9JqJqJuR$;a-JuU$;a-Ju|:a5Ju|:a=G̻GGEWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:19:43:22.7958 UTRx dataTimestamp_ set to:1736365403.955328Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523360GI BQ Om >  I! UUw,WA2@Y2@2@92}>y2Hv͸?ͅ?3¿zӽ?!?'_?5?^?ɨ2@2x;2CyRTBRI-Mb@Mb@Mb@))) )))Y-d;O?I +?Mby-4?-9<--A -5A)-AI-A)y-AIEIE6٢U= UG=9]! Q ]>aa eG٣aye<: m> uNusing accuracyPremultiplier from configi49mm?4Ym im$KB4?:O?mCmrE>*F2F:FBF0JF"G=G=G ,ɻG B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U %=U 4=m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027897Uw, WA@Yl@_9>yH4?@=?Pg¿x??x?a?`~\?ɨ@3l;CyTB%II54I56٢E= EK=9E"Q E>II MG٣M%3GyU#; U> ]Nusing accuracyPremultiplier from configYe49]-m?e4Y]O i]NKBam2m?]C]n:];]-4q uAyZjFNOT Ignoring new targets: 545.80 m.BjúJjú ProNav: ac range: 545.799988 m, nav range: 492.152008 m, bearing: 186.548446 deg, approach rate: 0.012592 m/s, LOS rate: -0.085597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876856 deg. 2jj:j&@HeadingCmd: 4.814960 target range: 545.799988 and range: 545.80 m. jjjjAiIhIhIhIhQfQfQfQrfQbf]@ IɛXBF OI BɚiIa~=Ii,DCi))H8>I ILIIUBI&I.I6Iױ<:IbF*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:43:22.7958 LVL= 22736, 27057, 18498, 31539, AGC= 64, IDX= 323, 0.16,-2.991, 1.867,-2.885, 2.678, PHS= 0.702,-0.764, 0.717, RAW= 150.5, -8.9, CAL= 156.5, -16.9, ROT= 353.5, 16.9 Ygot valid direction response: 19:43:22.7958 LVL= 22736, 27057, 18498, 31539, AGC= 64, IDX= 323, 0.16,-2.991, 1.867,-2.885, 2.678, PHS= 0.702,-0.764, 0.717, RAW= 150.5, -8.9, CAL= 156.5, -16.9, ROT= 353.5, 16.9 PDAT read: Bearing 353.5, 16.9 (Local) ~Local bearing/azimuth received: Bearing 353.5, 16.9 (Local) DAT read: Range 10 to 50 : 543.5 m (Round-trip 724.7 ms) speed 0.3 m/s  *DAT read: user:781> BDAT read: Tx time:19:43:23.9169 $Ping request sent.ڑڑە^օiە(ە#ۑۑM:publishing transmit ping timeMFpublishing direction and range infoؑ9ؕ5w5Y?<\S׺B8y?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە^օJy Jy G B O >TUw, Q9WAyTBI-monly read 0 of 1 data item for BIT error. Device response is::TS,25010811443015,35.0, +110,1494.4, 0  m@m m@m m@m  m@m Iu+Iu6٢= E=9Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from configU49om?U4Y izKBU+:Q]s:Y]?>Cuf<>84eLB eAenEkF՗͛?k4$ k k7Q-WA:kDBkDZkN@"%#=@?)}e|xmr@5w5Y?<\S׺B8y?Jk(Rk#*rMs~fݶDH#gm@쿦ߚr?"k}'*kk ̛?kC' 2k3Ck ̛?kC' k3CkCkN@} addTargetRange:: Added new target pos. range: 543.500000 m, deltaT: 4.288048 s, deltaX: -2.299988 m, approachRate: -0.536372 m/s, rangeRepo size: 4  Added new target pos. range: 543.500000 m, bearing: 184.912192 deg, lat: 36.899541 deg, lon: -122.113606 deg, deltaT: 4.288048 s, deltaX: -2.299988 m, approachRate: -0.536372 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 543.50 m.BjJj ProNav: ac range: 543.500000 m, nav range: 489.002686 m, bearing: 184.912474 deg, approach rate: 0.000000 m/s, LOS rate: -0.085597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856407 deg. 2j:j9@HeadingCmd: 4.814602 target range: 543.500000 and range: 543.50 m. jjjjihhhAhIfIfIfIrfM@bfU >?ɛXB> bI rDɚiI~=IiEi颡)) If*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G )G ?G ?G9 BI Oe >eUw,,SWA:f@Y:@:u9:h>y:HJ׸?x? ÿv`RZ?@H?? ? O?ɨ:f@:);:Cy^TB^IIfIf6٢rҽ= rW=9rQ v>tt vG٣tyz z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 49~O m? 4Y~И i~KB  :  E:F?~`C~X);~L?~A4 cA!ZjAEFNOT Ignoring new targets: 543.50 m.BjMҺJjMҺ ProNav: ac range: 543.500000 m, nav range: 489.014587 m, bearing: 184.881927 deg, approach rate: 0.035853 m/s, LOS rate: -0.092015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883550 deg. 2j|:j@HeadingCmd: 4.815076 target range: 543.500000 and range: 543.50 m. jjjj i h h hhfffrfbf`{?ɛYBK 隅I VɚiI`=IiBGi*))E*F ?2F :F BF 0JFGtA GWill construct direction to contact in vehicle frame from tetrahedron phase data.G5T IG B OM >H 6>I  I rII UBI &I .I 6I <:I FƻUw,mWA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:qݒ@Y:@:Ѫ9:n >y:H!?`y?ÿu&5??`?r?5O?ɨ:qݒ@:;:CyRUBRIIZIZ" 6٢fԁ= fL=9f@Q f>hh jG٣j&3Gynź n> vbBottom track data is 1.2 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpv49ram?z4Yr irKBz9xz:zZz?rCrG);rN?rH4 /AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 543.50 m.BjJj ProNav: ac range: 543.500000 m, nav range: 489.027344 m, bearing: 184.849185 deg, approach rate: 0.030246 m/s, LOS rate: -0.077632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876963 deg. 2jU:j*@HeadingCmd: 4.814961 target range: 543.500000 and range: 543.50 m. jjjjihhh!h!f!f!f!rf)bf-@ ?ɛ:YBpREzKUKKh9KK 6I  |ɚiI=IKBK%tA:K%tAJ}fJ}YJyJyJ}|":J}[O9JyJyJ};J};J}2n:J}4n:i Jiƻ))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G  I G B O >Uw,߆WA6̒@Y6Qۙ@6"96v >y6H@#? }?@Tÿt?`:?N.?`H? M?ɨ6̒@6;6CyBUBBI        Mb@Mb@Mb@ )YK?S㥛?Mb?y^:?/<<IA A)|AIAy AI}I} 6٢U= ?=9IQ > G٣y > Nusing accuracyPremultiplier from config49m?4Y* iLBT::?:n?C;A;X4 AkEZjFNOT Ignoring new targets: 543.50 m.BjʺJjʺ  ProNav: ac range: 543.500000 m, nav range: 489.041382 m, bearing: 184.813132 deg, approach rate: 0.034402 m/s, LOS rate: -0.088350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867030 deg. 2j r:j @HeadingCmd: 4.814788 target range: 543.500000 and range: 543.50 m. jjjjihhhh!f!f!f)rf1bf5?ɛ]^YB]H aeIa ea/ɚaiaIe-=Imim9Nim-`)i)q}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496926*F ?2F :F BF 1JFG54λG1G5rAG B O5 >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747534JUw,ŠWA2 ϒ@Y2Zޙ@23#92i >y2H@h:?@d~?",ÿr`Wɽ? _?iP?r?M?ɨ2 ϒ@2A;2CyNMUBN,IIVIV6٢v= vU=9z3Q z>|| ~G٣y {:  > Nusing accuracyPremultiplier from config49m?4Y\ i=LB!%`%?ΝC;;we4) -A)ZjQ]FNOT Ignoring new targets: 543.50 m.Bj]տJjeտm ProNav: ac range: 543.500000 m, nav range: 489.054230 m, bearing: 184.780905 deg, approach rate: 0.033432 m/s, LOS rate: -0.083857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878509 deg. 2ju3f:jub@}HeadingCmd: 4.814988 target range: 543.500000 and range: 543.50 m. jyjyjjihhhhfffrfbfL?ɛYBOCI I ɚiIi=Ii˒Qi))EErA IjHQbHQH]5>IY I]II]VBI] =&IY.IY6I]ر<:I]`F*Fq2Fq:FqBFu1JFq"G}=G}=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999617G>uGqBO>zK JK 9K K J J [J J J J W9J J J J ;J |:J |:K '27652/.+))'('"!  Uw,)WA6ɒ@Y6ٙ@6U$96e >y6H?7?` ÿ`q`??`z?/?EM?ɨ6ɒ@6;6Cy^UBbZIeMb@Mb@Mb@aaa a)aYeS?Q?:v?ye:?e A=9eJQ > G٣'3GyȺ > Nusing accuracyPremultiplier from config49m?4YA i|LB:?:(?C|4;2;Uw,7qWA6*Ȓ@Y6{י@6~k%96 >y6H:??ÿ p@??q?@*?`qL?ɨ6*Ȓ@6 ;6CyRUBRnIIZ IZ6٢bp= fX=9fQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rm?v4YrT irLBtz.z?rCr":rC:rx4| ~AZjFNOT Ignoring new targets: 543.50 m.Bj ĺJj ĺ ProNav: ac range: 543.500000 m, nav range: 489.082367 m, bearing: 184.713833 deg, approach rate: 0.036142 m/s, LOS rate: -0.085696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880105 deg. 2j?k:j@HeadingCmd: 4.815016 target range: 543.500000 and range: 543.50 m. jjjjihhh!h!f!f!f!rf)bf- s@ɛYB2K 隕I RɚiI؀=IiLsYi))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755626 IGG?G>H] 4>I] ÍC I] II] kVBIY &IY .IY 6I] <:I] (FBIJIRIZI =bI =jI4G B O > Uw,LWA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007591:Ē@Y:ә@:&9:>y:H?ف?e¿o@????K?ɨ:Ē@:!Ĉ;:CyFUBFIIN IN6٢Z*= ZL=9Z6Q Z>\\ bG٣`yb{ b> fNusing accuracyPremultiplier from configdj49fHm?j4Yf ifLBln;n?fEm>*J]a="J]R=JeJJJJ\:JJJJ;J;JJzK[MKػ9KKK  *F-?2F1:F1BF521JF9G]sA G]tA~G) U{YQyUBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259724GUG B O5 > i$?I Vw,3XA2@Y2A͙@2q'92>y2H@??@¿@n 4T?@_?`??VJ?ɨ2@2g2;2CyN-VBNIeMb@Mb@Mb@aaa a)aYe5^I ?y&1?~jt?ye8?e` ==9,Q > G٣(3Gy > Nusing accuracyPremultiplier from config49!m?4Y i8MBu8?:踿?cCp; ;4 ҠAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 543.50 m.Bj Jj  ProNav: ac range: 543.500000 m, nav range: 489.110199 m, bearing: 184.644634 deg, approach rate: 0.031474 m/s, LOS rate: -0.082203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868303 deg. 2ja:j@HeadingCmd: 4.814810 target range: 543.500000 and range: 543.50 m. jjjjihh!h!h!f!f)f)rf)bf- @ɛUZB]uC Y]{IY ]ɚYiaIe @=Ieimaim#)i)iUWill construct direction to contact in vehicle frame from tetrahedron phase data.UAiQ]BDAT read: Rx Time:19:43:27.0337 eTRx dataTimestamp_ set to:1736365408.238533mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515052*F2F:FBF?1JFGM׹G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763781Vw,\"XAR=@YRΙ@R^(9Rx~>yRH?`?|¿mYb? ???I?ɨR=@R;PyZwVBZIIfIfx 6٢j@> nW=9nQ n>pp rG٣pyv9 z> ~Nusing accuracyPremultiplier from configx49zZ$m?4Yz izvMB ⸿ ?zCz;z;z4JB  BDAT read: Tx time:19:43:28.1169 $Ping request sent.aaeR\"&?o?0 Iɿ)e?IeݟK>ieeaa5:publishing transmit ping time5Fpublishing direction and range infoa9eՠ՟Һ?Dۙ뿔꾮?yaaaa a)aIaiaaaaa a)aIaiaaaeR\"&?o?0 Iɿ)aIaiaaaaG5(G9G=tAGBO >zK LK 9K K K IVw,;XAZ᷒@YZ2Ǚ@Z_)9Z>yZH@#~?? >¿@l@?@E?"??5J?ɨZ᷒@Z;XyVBIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:43:28.1162 UMb@Mb@Mb@QQQ Q)QYUB`"??/$?yU.?U   G٣y > Nusing accuracyPremultiplier from config%49'm?E4Y iMBK/?:n?Ci<li<4 AkGw͛?k>{L k k d/XA:kDBkDZk!Q@"n K@>|bK>Èp@ՠ՟Һ?Dۙ뿔꾮?JkRk**;w~+(P" j@xQ0-{10TcMx?"k,*kk! ̛?k㑡 2kCk! ̛?kkkCk,N@ addTargetRange:: Added new target pos. range: 534.400024 m, deltaT: 4.032399 s, deltaX: -9.099976 m, approachRate: -2.256715 m/s, rangeRepo size: 4 - Added new target pos. range: 534.400024 m, bearing: 187.893824 deg, lat: 36.899542 deg, lon: -122.113606 deg, deltaT: 4.032399 s, deltaX: -9.099976 m, approachRate: -2.256715 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 534.40 m.Bj=Jj9 iIi ProNav: ac range: 534.400024 m, nav range: 489.011627 m, bearing: 184.577449 deg, approach rate: 0.000000 m/s, LOS rate: -0.082317 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852340 deg. 2j:j@HeadingCmd: 4.814532 target range: 534.400024 and range: 534.40 m. jjjjihhhhf f f rf @3@bf *?ɛ}rZB}"> 隅4tI ɚiI̘=Iili!))E*F5?2F1:F1BF50JF1"G==G==e Will construct direction to contact in vehicle frame from tetrahedron phase data.G] G B! O= >C$Vw,͐UXAJ"gJ"^J J J"%:J"d9J J a&@a&@a&@a&@BK@YBÙ@B*9Bݣ>yBH a??d¿k@ ?@e?`8??`H?ɨBK@B7;BCyNVBN&I R=R=IVIVD6٢b@> br=9b5Q f?dd fG٣f)3GyjU j? rNusing accuracyPremultiplier from configlr49n)m?r4Yn inMBtv|v?nʞCn :n ;n4x ~eA|Zj!%FNOT Ignoring new targets: 534.40 m.Bj-XJj-X ProNav: ac range: 534.400024 m, nav range: 489.020782 m, bearing: 184.551923 deg, approach rate: 0.030000 m/s, LOS rate: -0.083644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.898610 deg. 2je:jB@HeadingCmd: 4.815339 target range: 534.400024 and range: 534.40 m. jjjjihhhhfffrfbf8?ɛ%ZB% N !%jII MɚIiIIMā=IUiUoi]>m')Y)Y*F2F:FBF1JFGjWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO@> qIqH I  I xII iWBI =&I .I 6I d<:I FIVw,XoXA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:{@Y:̵@:E+9:4=y:H? ޠ?mh 8l@x??@/O?@H?[^?ɨ:{@:;8yB&WBFOIININz 6٢V)> ZL=9ZQ Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj49f,m?j4Yf if7NBhjj?fCf ;f ;f4p rݞApZj  FNOT Ignoring new targets: 534.40 m.BjJj% ProNav: ac range: 534.400024 m, nav range: 489.032074 m, bearing: 184.520703 deg, approach rate: 0.028238 m/s, LOS rate: -0.078073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881530 deg. 2j%SV:j-@5HeadingCmd: 4.815041 target range: 534.400024 and range: 534.40 m. j1j1j1j9i9h9h9hAhAfAfAfArfIbfM?ɛ}ZB} D y}cIy ɚiI=IiVti5@))*F?2F:FBFy2JFzK}KKػ9KKKGG ?G ?Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> i Ii E0"Vw,-XA6Ѱ@Y6"@6+96~|=y6HD?c?˿jn??W?М?\?ɨ6Ѱ@6Eq;6Cy>SWB>kI=Mb@Mb@Mb@999 9)9Y=L7A`?Q?~jt?y=+'?=<===A ={A)=wAI99y=zAIMIM5٢e== e@=9e&Q e>ii mG٣iym!B; u> }Nusing accuracyPremultiplier from configy49}/m?4Y} tIi}yNB'?:?}C} ;} ;}4IB AnEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 534.40 m.BjJj ProNav: ac range: 534.400024 m, nav range: 489.046722 m, bearing: 184.488920 deg, approach rate: 0.034272 m/s, LOS rate: -0.074357 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879841 deg. 2jL:j@HeadingCmd: 4.815012 target range: 534.400024 and range: 534.40 m. jjjjihhhhfffrfbf }?ɛ5ZB5L@ 15=bI9 =ɚ9i9I=a=IEiE Will construct direction to contact in vehicle frame from tetrahedron phase data. '? "? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7505202\(Vw,XAB@YBc@Bz,9B=yBH?&?`D:j@?? 1u?oC?DY?ɨB@B5;@yNWBNIPRAIVIV6٢^$> ^U=9bQ b>`d fG٣f*3Gyfź f> nNusing accuracyPremultiplier from confighr49jJ2m?r4Yj3 ijNBpr/r?j.Cj;;j2;j=4 Ix AkEZj)-FNOT Ignoring new targets: 534.40 m.Bj5Jj5E ProNav: ac range: 534.400024 m, nav range: 489.059845 m, bearing: 184.460319 deg, approach rate: 0.034095 m/s, LOS rate: -0.074310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889385 deg. 2jMK:jM@UHeadingCmd: 4.815178 target range: 534.400024 and range: 534.40 m. jQjQjQjQihhhhfffrfbf?ɛU[BU¡A QU=\IY ]hMɚYiYI]l3=Ieieie5)a)iHI IIIXBI&I.I6Iv<:IF*F?2F:FBFL2JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002502G &f*GBO% >J J zKe cKKe 9Ka Ke Ke RK ?JK >.Vw,XAJ@YJ꾙@J%,9J*=yJH9???Zi@Y?@? ?(?`U?ɨJ@J;HyRWBRI-Mb@Mb@Mb@))) )))Y-Mb?{Gz?~jt?y-#?-ף<-<) ))--vAI-?A)y-AIEIE6٢].= e@=9uDQ u>yy G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258269yy: > Nusing accuracyPremultiplier from confige495m?m4Y| iNBmD#?m:mm?RC6<3<4y }AyZjFNOT Ignoring new targets: 534.40 m.Bj*Jj*u ProNav: ac range: 534.400024 m, nav range: 489.071533 m, bearing: 184.427722 deg, approach rate: 0.025575 m/s, LOS rate: -0.071325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877399 deg. 2j}C:j:@HeadingCmd: 4.814969 target range: 534.400024 and range: 534.40 m. jjjjihhhh IffYfYfYrfYbfe@ɛ3[B#Z< 1[I +ɚiIR=Iikii.))*F?2F:FBF0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510398G -,G G rAG B O >Vl5Vw,XAJ6fJ6[J4J4J6|":J6W9J4J4^@Y^޼@^~\-9^=y^HT)??;h.y??`?`Z:?@P?ɨ^@^;^CyfWBfIIrIr)6٢vA > zS=9zBQ z>x| ~G٣|y,* >  Nusing accuracyPremultiplier from config 49 c7m?4Y | i "OBϹ? oC : ; Y4! %,A!ZjQUFNOT Ignoring new targets: 534.40 m.Bj]ӬJj]Ӭm ProNav: ac range: 534.400024 m, nav range: 489.081207 m, bearing: 184.400871 deg, approach rate: 0.027219 m/s, LOS rate: -0.075547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894635 deg. 2jmcO:jm@uHeadingCmd: 4.815270 target range: 534.400024 and range: 534.40 m. jqjqjyjyiyhyhyhhfffrfbfQ@ɛP[B%J TI ɚiIv=IiڄiG3))E!>E>*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762428 IGGBHI I4IIXBI&I.I6I<:IFO>ݖ;Vw,XA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014332y2XBII-I-F6٢E?> EE=9EQ M>II MG٣M+3GyU U> ]Nusing accuracyPremultiplier from configYe49]9m?e4Y]@ i][OBiim?]C]:]:]4q uAqZjaeFNOT Ignoring new targets: 534.40 m.BjmJjm ProNav: ac range: 534.400024 m, nav range: 489.092224 m, bearing: 184.370600 deg, approach rate: 0.025085 m/s, LOS rate: -0.068925 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884375 deg. 2j5=:j9@HeadingCmd: 4.815091 target range: 534.400024 and range: 534.40 m. jjjjihhhhfffrfbf6@ɛ[B%hl< QU`SIYzKrKKػ9KKKcA  k{%Q d* ef}ɚi I =IEiM-iQ)Q)*FU?2FQ:FQBFU0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.=<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267735 I fG Gq B O >PBVw, YAyzgXB~IMb@Mb@Mb@ )YMb?Q?~jt?y ?u<D<5A AzA)tAIyAII6٢= ==9Q > G٣y > Nusing accuracyPremultiplier from config49 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:43:31.2300  TRx dataTimestamp_ set to:1736365412.529578 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776272LHVw,$YA $I$~篒@Y~8@~ /9~>y~H9?D?i=¿e}??`? ? #F?ɨ~篒@~ ;~Cy}XB}7IIId6٢> L=9 Q > G٣y <: > Nusing accuracyPremultiplier from config49>m?4Y iOB{?ҟC::4 AZH!RH%@AH)I) I-II-(YBI)&I).I)6I-<:I-7FBIÍCJIÍCRIZI =bIjI4ZjeFNOT Ignoring new targets: 534.40 m.Bjm$Jjm$ ProNav: ac range: 534.400024 m, nav range: 489.111694 m, bearing: 184.310676 deg, approach rate: 0.023682 m/s, LOS rate: -0.072189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888675 deg. 2j+F:j@HeadingCmd: 4.815166 target range: 534.400024 and range: 534.40 m. jjjjihhhhfffrfbf`f@ɛ [B? KI 9ɚiIт=IiE0ivp/))!E1*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.027181)M &= M CzK OK 9K U GG] .-q K  Y y ^BK nWKE7-JHB()G B O >PVw, @YA @6@Y6H̙@6C/96>y6H ߟ?Ɇ?`z|¿ df? ?/?@H?C?ɨ6@6kċ;6Cy>XB>VIzWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 19:43:31.2300 LVL= 21840, 29681, 19346, 31187, AGC= 69, IDX= 407, 0.09, 2.059, 0.645, 2.137, 1.402, PHS= 0.745,-0.710, 0.732, RAW= 149.6, -10.6, CAL= 156.2, -18.6, ROT= 353.8, 18.6 EYgot valid direction response: 19:43:31.2300 LVL= 21840, 29681, 19346, 31187, AGC= 69, IDX= 407, 0.09, 2.059, 0.645, 2.137, 1.402, PHS= 0.745,-0.710, 0.732, RAW= 149.6, -10.6, CAL= 156.2, -18.6, ROT= 353.8, 18.6 MPDAT read: Bearing 353.8, 18.6 (Local) M~Local bearing/azimuth received: Bearing 353.8, 18.6 (Local) ]DAT read: Range 10 to 50 : 531.6 m (Round-trip 708.8 ms) speed 0user:783> :19:43:32.3170 ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.087020,-0.824044,0.559803]mFpublishing direction and range info|9~$+$F?9[^꿁|V?y~D|~PU~s ~K)~yI~Ei~R>?~5~Zd;?~'@~q= ~!z.@)|I~e@i|||~f]k\?HБz?+`(ǿ)~5 ?I~I=>i~F~||T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. I 5@5 5@5 5@5  5@5 I=I=6٢}= })=9!Q > G٣,3Gy*X; > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49Am?4Yo iOB+::H?C;>#4 Ak~eoӛ?k~y% k| k~BYA:k~DBk~DZk~O@"~5J!G@,j`{D#ur@~$+$F?9[^꿁|V?Jk~FRk~*~֍nd}iHF#]n@~-w5O~R2??"k~]D*k~%k~ogsқ?k~- 2k~Ck|k~- k|k~Ck~d{O@ addTargetRange:: Added new target pos. range: 531.599976 m, deltaT: 4.291962 s, deltaX: -2.800049 m, approachRate: -0.652394 m/s, rangeRepo size: 4  Added new target pos. range: 531.599976 m, bearing: 185.959220 deg, lat: 36.899542 deg, lon: -122.113748 deg, deltaT: 4.291962 s, deltaX: -2.800049 m, approachRate: -0.652394 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 531.60 m.BjJj% ProNav: ac range: 531.599976 m, nav range: 490.226746 m, bearing: 185.747537 deg, approach rate: 0.000000 m/s, LOS rate: -0.072189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864839 deg. 2j!:j%n@-HeadingCmd: 4.814750 target range: 531.599976 and range: 531.60 m. j)j)j)j1i1h1h1hYhYfYfYfarfe̜@bfe`v?ɛ\B; KI RɚiIS=Iiޏi)) *F2F:FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:43:32.3163 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531341G G tAG sAG B O >]VVw,ZYA6!ƒ@Y6rՙ@6p>096j[>y6HT??¿b@ý?@j ?`?`? A?ɨ6!ƒ@6];6Cy~XB~gII%:I%5٢U= ]l=9eQ e?ai mG٣iyuAS; }? bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49Cm?4Y & i(PB :^:%?Cۿ;fV?'4 JAZjFNOT Ignoring new targets: 531.60 m.Bj)Jj) ProNav: ac range: 531.599976 m, nav range: 490.230255 m, bearing: 185.722488 deg, approach rate: 0.010728 m/s, LOS rate: -0.076570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.900041 deg. 2j2R:jv@HeadingCmd: 4.815364 target range: 531.599976 and range: 531.60 m. jjjjihhhhfffrfbf{?ɛ!\BDH 15XMI1 5' ɚ1i1I5 =IEiEyiEW\ )A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782481*F?2F:FBF0JF -k$?I)HE1>IA IE!IIEZBIA&IA.IA6IE<:IEuFG 9"G B O- >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034235\Vw,ttYA6Œ@Y6hԙ@6096}>y6H޷?ൄ?@Ϡ¿a??!??Id?`A?ɨ6Œ@6~;6CybYBb}IIjTIj|5٢r= rS=9v۸Q v>tx zG٣xyz8 z> ]bBottom track data is 1.2 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe49U@Fm?e4YUl, iUYPBe9ae3:e(m?U3CU{<;Uw?U+4q uAqZjFNOT Ignoring new targets: 531.60 m.Bj'Jj' ProNav: ac range: 531.599976 m, nav range: 490.234344 m, bearing: 185.694013 deg, approach rate: 0.010431 m/s, LOS rate: -0.072631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889762 deg. 2jbG:j@HeadingCmd: 4.815185 target range: 531.599976 and range: 531.60 m. jjjjihhhhfffrfbf?ɛF\BqE nMI   ɚ i I )=*J%4="J%%=JEgJEaJAJAJE%:JEp9JAJAJER$;a JEU$;a JE“:a5JEÓ:a=zK5NKػ9KKKI}ii/))*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286435 IG ZG B O >hcVw,LYA6’@Y6"ҙ@6196>y6H v̷?m?(¿a}?i-??W?A?ɨ6’@6U9;6Cy>*YB>I E E EE EE  E E EMb@Mb@Mb@AAA A)AYEʡE?~jt?y&1|yE?Eqq uG٣u-3Gy}, }> Nusing accuracyPremultiplier from config49Im?4Y2 iPBT:?:÷?RC* ;;24 ˚AnEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 531.60 m.BjԠJjԠ  ProNav: ac range: 531.599976 m, nav range: 490.243317 m, bearing: 185.664901 deg, approach rate: 0.021668 m/s, LOS rate: -0.070304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887854 deg. 2j @:j @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538362%HeadingCmd: 4.815151 target range: 531.599976 and range: 531.60 m. j!j!j!j!i)h1h1h9h9f9f9f9rfAbfE@:?ɛMs\BMKB iu@RIq u ɚqiqIuH=I}i}i}Z)y)*Fa2Fa:FaBFe0JFiGm Gm"GuGuG ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791222G B O > I fiVw,i;YAjH\bH^ G٣y > Nusing accuracyPremultiplier from config49Km?4Yu9 iPB?rC&:2:94HI I`IIZBI =&I.I6I<:I9F wAZj FNOT Ignoring new targets: 531.60 m.BjJj% ProNav: ac range: 531.599976 m, nav range: 490.252472 m, bearing: 185.635688 deg, approach rate: 0.022331 m/s, LOS rate: -0.071254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887549 deg. 2j-C:j-@5HeadingCmd: 4.815146 target range: 531.599976 and range: 531.60 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfEk?ɛ\B*F 隵QI K' ɚiIok=Iii*)A)I*F?2F:FBF?1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042464GBOC>J-jJ-cJ)J)J-.:J-x9J)J)J-4;J-4;J-:J-:zK KK 9K K K }pVw,(YA6ג@Y6M@6096K >y6Hr?{|?FLÿ(`@ ?@?`=?@? hWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.294092y%gYB-I IMb@Mb@Mb@ )Y)\(?Mb?ai mG٣iymg; u> }Nusing accuracyPremultiplier from configq}49uHOm?4Yuh@ iuPB!?:۵?uCu/;u;uyA4 QAZjFNOT Ignoring new targets: 531.60 m.Bj(Jj( ProNav: ac range: 531.599976 m, nav range: 490.266327 m, bearing: 185.604553 deg, approach rate: 0.032517 m/s, LOS rate: -0.073071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881784 deg. 2jH:j@HeadingCmd: 4.815045 target range: 531.599976 and range: 531.60 m. jjjjihh!h!h!f)f)f)rf1bf5@ɛ]\B]iF Y]WIa e; ɚaiaIe=Imiu$iuYػ)q)yE>E>*F?2F:FBF31JF GB O%M>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546247vVw,>YA6&@Y6w@6z096 >y6H`?Kz?Wÿ@^p ?=?o??dh jG٣j.3Gyj; n> rNusing accuracyPremultiplier from configpz49rRm?4YrF irQB?rCrM;r;rG4! %1A%kEZjIUFNOT Ignoring new targets: 531.60 m.Bj]أJj]أm ProNav: ac range: 531.599976 m, nav range: 490.278259 m, bearing: 185.579000 deg, approach rate: 0.033446 m/s, LOS rate: -0.071622 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.898531 deg. 2jmD:jm?@uHeadingCmd: 4.815338 target range: 531.599976 and range: 531.60 m. jqjqjyjyiyhyhyhhfffrfbf @ɛ5\B=;M 9=\I9 = ɚ9i9IE$=IEiiB))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799511*F!2F!:F)BF-b4JF) IGB O%,>H.>I IIIZBI&I.I6Iı<:IFF= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050231|Vw,ZYAyzYBzIIoIx5٢E9= EB=9MQ M>IQ UG٣QyU ]> eNusing accuracyPremultiplier from configYe49]kUm?m4Y]L i].QBiim?]ҠC]:].:]N4y }AyZjFNOT Ignoring new targets: 531.60 m.BjJj ProNav: ac range: 531.599976 m, nav range: 490.292664 m, bearing: 185.548508 deg, approach rate: 0.034808 m/s, LOS rate: -0.073683 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883711 deg. 2jEJ:j!@HeadingCmd: 4.815079 target range: 531.599976 and range: 531.60 m. jjjjihhhhfffrfbf@@JoJgJJJ>:J9JJJO;JO;JA:JC:ɛ]BJ 隭_I H ɚiI=IUiU7iUH,)Q)YzKMKK+9KKK*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302400 IG ߻G B O >Vw,ZAN(@YN 8@NGH/9N[ >yNH?r?xÿ@'Z@yv? N???>?ɨN(@N`f;NCyVYBVI=Mb@Mb@Mb@999 9)9Y=E?&1?I +y=&?=P==94=+A =rA)=nAI=5A9y=AIMBAIUzIU5٢e8= eH=9e;;Q m>ii mG٣qyu < u> }Nusing accuracyPremultiplier from configy49}Ym?4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554281Y}S i}[QB-0'?-:-5?}C}<}<}V4=GB =əA=lEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 531.60 m.BjӟJjӟE ProNav: ac range: 531.599976 m, nav range: 490.316650 m, bearing: 185.517871 deg, approach rate: 0.054703 m/s, LOS rate: -0.069865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883281 deg. 2jE?:jM@MHeadingCmd: 4.815072 target range: 531.599976 and range: 531.60 m. jIjQjQjQiQhQhQhYhYfYfYfarfbf Ɲ @ɛuE]Bu,6p uv=ufIq }ɚyiI =IiϑiU:))E*Fq2Fq:FqBFu0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809277 a Im fG XGq B O >Vw,>w)ZAZH0RH0H=)>I=C I=II=[BI9&I9.I=MD6I=<:I==FyޕYBޕIInI?5٢&= E=9Q > G٣/3Gy > Nusing accuracyPremultiplier from config49]m?4YZ iQB?C ;;T]4 AZjFNOT Ignoring new targets: 531.60 m.Bj谺Jj谺 ProNav: ac range: 531.599976 m, nav range: 490.341095 m, bearing: 185.486838 deg, approach rate: 0.060917 m/s, LOS rate: -0.077332 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882093 deg. 2jIT:j@HeadingCmd: 4.815051 target range: 531.599976 and range: 531.60 m. jjjjihhhhfffrf bf` @ɛ]k]B] Ye*lIa aɚaiaIem=Imiu6iuz:)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:43:35.4354 TRx dataTimestamp_ set to:1736365416.813692checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060827PExceeded connect timeout, disconnecting.*F2F:FBF1JFG?:GBO>JmJyJ0JJ\8:J9Jـ3JJD;JD;J:J:zK +KK 9K K K 5ːVw,PTCZA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312127 I%*E@Y%{T@%d.9% >y%H!ͻ?o?'zÿW?Â?@T?b???ɨ%*E@%;!yYBIMb@Mb@Mb@ )YK7?&1?~jtyI,?D A pA)lAIِAypAII6٢DM= ,=9:Q > G٣y1; > Nusing accuracyPremultiplier from config 49bm? 4Yb iQB ,? : 尿 ?>C;p;e4 vAZj9EFNOT Ignoring new targets: 531.60 m.BjEJjM] ProNav: ac range: 531.599976 m, nav range: 490.370605 m, bearing: 185.449976 deg, approach rate: 0.064384 m/s, LOS rate: -0.080418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864608 deg. 2j]\:jef@mHeadingCmd: 4.814746 target range: 531.599976 and range: 531.60 m. jijijijiiqhqhqhqhyfyfyfyrfybfO@ɛE]BM{ IM,rII IɚQiQIU=IUi]̐i]F;)y)*F?2F:FBF0JF"GC=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 19:43:35.4354 LVL= 28592, 32753, 24178, 32755, AGC= 68, IDX= 487, 0.35, 2.168, 0.761, 2.350, 1.579, PHS= 0.677,-0.771, 0.768, RAW= 153.0, -9.1, CAL= 158.8, -16.7, ROT= 351.2, 16.7 UYgot valid direction response: 19:43:35.4354 LVL= 28592, 32753, 24178, 32755, AGC= 68, IDX= 487, 0.35, 2.168, 0.761, 2.350, 1.579, PHS= 0.677,-0.771, 0.768, RAW= 153.0, -9.1, CAL= 158.8, -16.7, ROT= 351.2, 16.7 ]PDAT read: Bearing 351.2, 16.7 (Local) ]~Local bearing/azimuth received: Bearing 351.2, 16.7 (Local) mDAT read: Range 10 to 50 : 535.6 m (Round-trip 714.2 ms) speed 0.5 m/s }*DAT read: user:784> BDAT read: Tx time:19:43:36.5170 $Ping request sent.]9?Չ8?4s#Ŀ)?I !>ic2 :publishing transmit ping time؁ Fpublishing direction and range info9.(P߭?H8W;?y )Ii )Ii]9?Չ8?4s#Ŀ)IiG= ;G B! O= >Vw,\ZAZI@YZ=Y@Z.9ZP>yZH?q?DÿW? ?޶?3?@A?ɨZI@Z;ZCyjYBjIIrIr6٢*= =9%!:Q %?!! -G٣)yU: U? ]Nusing accuracyPremultiplier from configYe49]fm?e4Y]?h i]QBaeӰm?]YC]7:]:]#k4 [Ak]r.$͛?k] kY k]9TZA:k]DBk] DZk]PO@"]C~@?@ě*|5@2p@].(P߭?H8W;?Jk]cRk]2*]z~ۂZI~4Nj@]v FH@j`%?"k]FH*k]k]̛?k]k3U 2k]vCk] ̛?k]EP k]Ck]RCk]IKO@} addTargetRange:: Added new target pos. range: 535.599976 m, deltaT: 4.283541 s, deltaX: 4.000000 m, approachRate: 0.933807 m/s, rangeRepo size: 4  Added new target pos. range: 535.599976 m, bearing: 185.834688 deg, lat: 36.899541 deg, lon: -122.113763 deg, deltaT: 4.283541 s, deltaX: 4.000000 m, approachRate: 0.933807 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 535.60 m.BjJj ProNav: ac range: 535.599976 m, nav range: 490.642120 m, bearing: 185.579315 deg, approach rate: 0.000000 m/s, LOS rate: -0.080418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894056 deg. 2j:j@HeadingCmd: 4.815259 target range: 535.599976 and range: 535.60 m. jjjjihhhh!f9f9f9rf=̼@bfeҥ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ]Bϔ 隵wI ɚiI=IiVi8X;)) %l$?I!H5%>I5C I5II58[BI5 =&I5CD.I16I5߱<:I5SFBIIJIMCRIIZIM =bIM =jIMT5E%P=E-sAE-tA*F ?2F :F BF 0JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power offG s;*JMC="JM=}GvA hYvAyBGBO ?zKKKS9KKK7RcrlO@;920//.-*))'3Vw,؀ZAWill construct direction to contact in vehicle frame from tetrahedron phase data.U+@YU ;@U3V/9U=yUH`?X?4@Y 5?@?f?25?N?ɨU+@Uȉ;UCyލYBލ IA @ @  @    @  ISID5٢)= <9Q > G٣03Gy > bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%49lm?%4Y[s i)RB%+:!%~:%O%?C<&?@t45FB 5!A5mEZjQ}FNOT Ignoring new targets: 535.60 m.Bj}ʵJj}ʵ ProNav: ac range: 535.599976 m, nav range: 490.680115 m, bearing: 185.529402 deg, approach rate: 0.060495 m/s, LOS rate: -0.079466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825459 deg. 2j%Z:j @HeadingCmd: 4.814063 target range: 535.599976 and range: 535.60 m. jjjjihhhhfffrfbfX?ɛ^B(Xf ǀI ɚiIB=IiTi6:))Eп8=*FA2FA:FABFE0JFA} Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm ;J lJ cJ J J <5:J x9J J a @a @a @a @GA BI Om >Vw,ZA6@Y6*@6O/968=y6H ??Z@?`v?@? J˾? VK?ɨ6@6‹;6CyB&ZBB(IINVIN5٢V+= Vp=9VQ V?XX ZG٣Xy^\ ^? fbBottom track data is 1.0 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j49b4pm?n4Yb'y ibNRBn :lnN:nn?bCbR;b{?bx4p v˘AvjEB*** querying acoustic contact ***jjZj uFNOT Ignoring new targets: 535.60 m.BjuiJj}i ProNav: ac range: 535.599976 m, nav range: 490.699646 m, bearing: 185.503363 deg, approach rate: 0.058829 m/s, LOS rate: -0.078428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897073 deg. 2jKW:j @HeadingCmd: 4.815312 target range: 535.599976 and range: 535.60 m. jjjjihhhhfffrfbf?ɛ=#^B=5ϟ 9=BI9 9ɚAiAIE~=IEimb'im)i)qEM=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 1I5f*F?2F:FBF0JFG9jH<bHp;GBOg>H">I IIIk[BI =&I.I6I<:I.F} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498309 Vw,rZAZ @YZZ#@Z_.9Z>yZHK??#¿\?@??P{?I?ɨZ @Zˋ;ZCyr+ZBr+IIzIz+6٢H< E=9:Q >    G٣ y > bBottom track data is 1.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%49mtm?-4YL i|RB-9)-':--?СCZ;޲?{49 EAAZjamFNOT Ignoring new targets: 535.60 m.BjmTJjmT} ProNav: ac range: 535.599976 m, nav range: 490.723572 m, bearing: 185.471288 deg, approach rate: 0.057824 m/s, LOS rate: -0.077516 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878965 deg. 2jT:js@HeadingCmd: 4.814996 target range: 535.599976 and range: 535.60 m. jjjjihhhhfffrfbf+y?ɛM^B -I ɚiIt}=Ii i))EE*E"EzK NK ]9K K K $    EEx>EE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754005 )I1*F?2F:FBF0JFG .r:Gq B O >yVw,1ZAyMZB@I =        Mb@Mb@Mb@ )YX9v?Zd;O?MbPy=?j<=A lA)hAIrAyAII6٢= :=9Q > G٣13Gy >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001963 Nusing accuracyPremultiplier from config49xm?4Y iRBT:Q>? :  ?Cb;(;4 ~AZj9=FNOT Ignoring new targets: 535.60 m.BjEúJjEú] ProNav: ac range: 535.599976 m, nav range: 490.746796 m, bearing: 185.433598 deg, approach rate: 0.052702 m/s, LOS rate: -0.085524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862125 deg. 2j]j:j] @eHeadingCmd: 4.814703 target range: 535.599976 and range: 535.60 m. jajajjihhhhfffrfbf@je@ɛ~^BE݊ 隥.I ɚiI{=Ii0ik))J J jJ 1J J J 9J 3J *F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254671 I G >G B O >H?Vw,ZAJz@YJ%@J(9J>yJH!f?@7?Z¿`e+ؿ?@?? ? O?ɨJz@J;HN!>IL INIIN[BIN =&IL.INLD6IN۱<:INLFHybZBb_IIjIjd6٢r[> v[=9vxx zG٣xyzQ: z> Nusing accuracyPremultiplier from config 49|m? 4YÏ iRB   ?C:X:'4 AZjAMFNOT Ignoring new targets: 535.60 m.BjMºJjUº ProNav: ac range: 535.599976 m, nav range: 490.766510 m, bearing: 185.401963 deg, approach rate: 0.053038 m/s, LOS rate: -0.085104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880286 deg. 2ji:j@ HeadingCmd: 4.815019 target range: 535.599976 and range: 535.60 m. j j j j i h hh1h1f9fAfArfAbfEo@ɛ^BMAQ QU҄IQ QɚQiQIUz=I]i]'ieyE)a)a*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506981G- GRG B O- >zK] ŵLK] 9KY K] K]  $/*Vw,[A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757905 @I@y}ZB}wIMb@Mb@Mb@ )Yw/?{Gz?I +?yF?#=94<A kA)fAIЋAy3AI]I]6٢m= m4=9uQ u>qq }G٣yy} }> Nusing accuracyPremultiplier from config49Im?4YИ i*SB2G?:??IC;p;4EB ŗAkEZjFNOT Ignoring new targets: 535.60 m.Bj̺Jj̺ ProNav: ac range: 535.599976 m, nav range: 490.787659 m, bearing: 185.361452 deg, approach rate: 0.046584 m/s, LOS rate: -0.089229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853659 deg. 2jt:j@HeadingCmd: 4.814555 target range: 535.599976 and range: 535.60 m. j j j j i hhhhfffrf!bf-@ɛU^BU7= Y]IY YɚYiYI]uy=IeimO蕺imO)i)qEy*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009814GE 'HG B) OM >J pJ nJ J J A:J 99J J QVw,t[A2@Y2X@2 92&>y2HB?X?,¿p@? ??@?IZ?ɨ2@2s;2Cy>ZBBIIJIJ,6٢RS> Vm=9V4I IGII[BI&I.I6I<:I0FGMGRG) B1 OU >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:19:43:39.6221 M TRx dataTimestamp_ set to:1736365420.849053U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519351;{Vw,8[AnQ@Yn @np'9nO>ynHl?o?¿ C=9%&!! %G٣)y-L -> 5Nusing accuracyPremultiplier from config1=495ˆm?=4Y5 i5SBAEE?5C5 ;5C ;5r4I MAIZj  FNOT Ignoring new targets: 535.60 m.Bj)ɺJj)ɺ- ProNav: ac range: 535.599976 m, nav range: 490.822266 m, bearing: 185.293226 deg, approach rate: 0.044345 m/s, LOS rate: -0.087935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862992 deg. 2j-eq:j-*@5HeadingCmd: 4.814717 target range: 535.599976 and range: 535.60 m. j1j1j1j9i9h9h9h9hAfAfAfArfAbfM " @ɛ}'_B}X y隅iI ɚiIsbw=Iiǖi9f))*FE?2FI:FQBFQJFYzK.LK]9KKK+-+-.*&"!! em$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.՝%=ՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770161Gmb(GI Ba O >kVw,R[AWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 19:43:39.6221 LVL= 20656, 24881, 16370, 30883, AGC= 69, IDX= 310, 0.04,-2.939, 1.863,-2.902, 2.667, PHS= 0.766,-0.757, 0.711, RAW= 148.2, -9.7, CAL= 154.6, -17.9, ROT= 355.4, 17.9 eYgot valid direction response: 19:43:39.6221 LVL= 20656, 24881, 16370, 30883, AGC= 69, IDX= 310, 0.04,-2.939, 1.863,-2.902, 2.667, PHS= 0.766,-0.757, 0.711, RAW= 148.2, -9.7, CAL= 154.6, -17.9, ROT= 355.4, 17.9 mPDAT read: Bearing 355.4, 17.9 (Local) m~Local bearing/azimuth received: Bearing 355.4, 17.9 (Local) }DAT read: Range 10 to 50 : 525.6 m (Round-trip 700.9 ms) speed 0.5 m/s }*DAT read: user:785> BDAT read: Tx time:19:43:40.7170 $Ping request sent.څ?z?vLwſ)>I,>ig:publishing transmit ping time؁Fpublishing direction and range info9 XU?֯鿇?y )Ii )Iiڅ?z?vLwſ)IiyB[BIJK w3 K .-KK"KJlJgJJJ<5:J9JJMb@Mb@Mb@ )YHzG?Zd;O?S㥛?y=J?j<=/<A iA)IAyp}AI}I5٢= =9Q > G٣y% %> UNusing accuracyPremultiplier from configIU49Mm?U4YM iMSB]J?]:]]?M͢CM";MQ;Mw4eDB AlEk Hכ?k 7 k k͏V[A:kfDBkDZk1O@"rc-HA@>5zE>s@ XU?֯鿇?JkgRk*e3(O|:UF=llo@9$W dyyŜ?"k0*kkCQ֛?kA>? 2kCk! ̛?kA>? k3CkUCkN@M addTargetRange:: Added new target pos. range: 525.599976 m, deltaT: 4.036543 s, deltaX: -10.000000 m, approachRate: -2.477367 m/s, rangeRepo size: 4 e Added new target pos. range: 525.599976 m, bearing: 185.490857 deg, lat: 36.899542 deg, lon: -122.113755 deg, deltaT: 4.036543 s, deltaX: -10.000000 m, approachRate: -2.477367 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 525.60 m.BjJj ProNav: ac range: 525.599976 m, nav range: 490.666046 m, bearing: 185.164693 deg, approach rate: 0.000000 m/s, LOS rate: -0.087935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824028 deg. 2j:j @HeadingCmd: 4.814037 target range: 525.599976 and range: 525.60 m. jjjjihhhhfffrfl@bf`?ɛmh_Bur qūIq qɚqiyI}u=IiiKK\))EE A IE f Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:43:40.7163 *Fq 2Fq :Fq BFu 4JFq H >I C I II _\BI =&I .I 6I <:I [FGOlGBO?UFVw,{s[A:ޒ@Y:@:s9:>y:Hȸ??`¿ 9Z?5ӿ? ſ?C?m?ɨ:ޒ@:S;:CyF[BF I J=Ja=IN^IN5٢Vw> Vr=9Z5"=Q Z?\\ ^G٣^33Gyb. b? fNusing accuracyPremultiplier from configdj49fm?n4Yfn ifTBlnn?fCf;f;fN4p rޕAviEZjimFNOT Ignoring new targets: 525.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjӺJjӺ ProNav: ac range: 525.599976 m, nav range: 490.682190 m, bearing: 185.134364 deg, approach rate: 0.049305 m/s, LOS rate: -0.092628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884201 deg. 2jG~:j3@HeadingCmd: 4.815088 target range: 525.599976 and range: 525.60 m. jjjjihhhhfffrfbf ߘ?ɛ]_B]D ]4>=]p|IY YɚaiaIent=IeiM$iMĬ޻)I)I*F2F:FBF0JFzK-MK-H9K)K-K- I G V'SU Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! OE >,Vw,N[A6+ʒ@Y6|ٙ@6w, 96}=y6H*? ͖?~`8?3? '8??~?ɨ6+ʒ@6ha;6CyB[BB'IEMb@Mb@Mb@AAA A)AYE{Gz?{Gz?~jt?yEC?E#=E=EA EgA)AIEvAAyEzAI|IY5٢= ;=9 G٣y > Nusing accuracyPremultiplier from config49וm?4Y i_TBYD?:ٶ?C1;/;ﶀ4 AZjFNOT Ignoring new targets: 525.60 m.BjκJjκ5 ProNav: ac range: 525.599976 m, nav range: 490.699615 m, bearing: 185.096015 deg, approach rate: 0.041018 m/s, LOS rate: -0.090267 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860144 deg. 2j5w:j5@=HeadingCmd: 4.814668 target range: 525.599976 and range: 525.60 m. j9j9j9j9iAhAhAhAhIfIfIfIrfQbfU?ɛ}_B}6 y}X|I ɚiI}t=Ii!ia ))*FE?2FI:FIBFM0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G}߻Ga Bq O > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.zZVw,*;[A2M@Y2ș@2@>92=y2H ??eX|?`5?|?`?@~?ɨ2M@2 S;0yB%\BBbIIJXIJ_5٢RK> R]=9R*TT VG٣TyZ_ Z> ^Nusing accuracyPremultiplier from config\b49^m?b4Y^H i^TBdf$f?^J oJ iJ 2J J >:J ڈ9J c3J J O;a J O;a J k:a J m:a x :=9Q >zK=KK=h9K9K=K= I G٣43Gy >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744238 %Nusing accuracyPremultiplier from config%49am?-4Y iTB)15?jC,;W-;ŀ4UCB Uy6HC?? y?`ؑ??O?2?ɨ6ͷ@6x;4y>\BBIMb@Mb@Mb@ )Y/$?Q??y =9 W   G٣yx %>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250793 UNusing accuracyPremultiplier from configQ]49Uzm?]4YU[ iU%UB]Q=?e:em?UCUb6;U5;U΀4q uAqZjFNOT Ignoring new targets: 525.60 m.Bj\Jj\ ProNav: ac range: 525.599976 m, nav range: 490.749359 m, bearing: 184.978262 deg, approach rate: 0.031470 m/s, LOS rate: -0.081464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846264 deg. 2j_:j@%HeadingCmd: 4.814425 target range: 525.599976 and range: 525.60 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1He>Ia Ie;IIe]BIa&Ia.Ia6Ie<:IeLFbf}i@ɛS`Bf` fI ɚiI8p=IUiUڢi]d&)Y)YE-_>=*F?2F:FBF2JFG G"GG Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500157G) B1 OM >Vw,[A6y@Y6˙@696>y6H`̷? z?` C?Y?Ľ?*?]?ɨ6y@6ᆋ;4J>pJ>nJ>1J<J>A:J>99J>3J<J>T;J>T;J>U:J>W:yN#]BNIIVjIV\5٢^F> ^a=9bRdd fG٣dyj: j> nNusing accuracyPremultiplier from configlr49n[m?r4Yn inXUBtvv?nCn@:n:nԀ4| ~ƒA|Zj%FNOT Ignoring new targets: 525.60 m.Bj%ֺJj%ֺ= ProNav: ac range: 525.599976 m, nav range: 490.761292 m, bearing: 184.948164 deg, approach rate: 0.037239 m/s, LOS rate: -0.093927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884895 deg. 2j=쀻:j=L@EHeadingCmd: 4.815100 target range: 525.599976 and range: 525.60 m. jAjAjAjAiAhIhIhhfffrfbf I@ɛUv`BU QUTIQ QɚYiYI]Qp=I]ieeie)a)aEE*E"EzK.JK9KKK IMWill construct direction to contact in vehicle frame from tetrahedron phase data.M>M%=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755843*F?2F:FBF4JFGBO>glWw,b\ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004209y~V]B~I p= Mb@Mb@Mb@ )YFx?L7A`?S㥫?y+?+=/]=ЅA vdA)hAIAywAIcI5٢%= %6=9-Q ->)) -G٣-53Gy5 => ENusing accuracyPremultiplier from configAM49Em?M4YE iEUBM,?M:U U?ECE";E ;E܀4Y ]_AaZjFNOT Ignoring new targets: 525.60 m.BjJj ProNav: ac range: 525.599976 m, nav range: 490.775146 m, bearing: 184.913623 deg, approach rate: 0.030881 m/s, LOS rate: -0.076985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871567 deg. 2jVS:jd@HeadingCmd: 4.814867 target range: 525.599976 and range: 525.60 m. jjjjihhhhfffrfbfI@ɛm`B_a 隕)TI ɚiIlo=Iii&$))*FM?2FI:FIBFM 5JFIGABQOmV> IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256569ZHa RHe ?AHm >Ii  Im IIm (^BIi &Ii .Ii 6Im w<:Im F֖ Ww,Л0\A6oܒ@Y6@6۽96O>y6Hϸ?@?3H?ط?up? z? ;?ɨ6oܒ@6W;6 CyB]BBOIINXIN_5٢fO]> fc=9f{hh jG٣hyn1< n> %Nusing accuracyPremultiplier from config!-49%sm?-4Y%, i%UB)55?%C%":%e:%$4mBB mAmkEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 525.60 m.BjJj ProNav: ac range: 525.599976 m, nav range: 490.787567 m, bearing: 184.885293 deg, approach rate: 0.032889 m/s, LOS rate: -0.075015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890197 deg. 2jM:j@%HeadingCmd: 4.815192 target range: 525.599976 and range: 525.60 m. j!j!j1j9i9h9h9hAhAfAfAfArfIbfM @ɛ`B91k 隥JI ɚiIn=IiNMiِƻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509698*F?2F:FBF&2JFGBOA>JtJpJJJ;N:J^9JJJj;Jj;J:J:zK UKK 9K K   I fK u Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:43:43.8186  TRx dataTimestamp_ set to:1736365425.137095 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768030~Ww,dtJ\Ayޅ]BޅeI Mb@Mb@Mb@    ) Y Cl?~jt?Zd;O?y d? = j<= EA eA) I A y vAIELIE5٢UN= ]4=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configi}49mխm?}4Ym" imUB}$?}:}ǵ}?m"Cm;m;m4 tAZjFNOT Ignoring new targets: 525.60 m.BjJj ProNav: ac range: 525.599976 m, nav range: 490.805084 m, bearing: 184.854152 deg, approach rate: 0.040205 m/s, LOS rate: -0.071471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881769 deg. 2j3D:j@HeadingCmd: 4.815045 target range: 525.599976 and range: 525.60 m. jjjjihhhhfff rfbf9j@ɛaB%Y >NI! !ɚ!iaImn=Imiu2驺iu}ػ)q)qEE*F=?2FA:FABFEP5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012844G G! G! G B O >nWw,aPd\A6@Y6/@6R,˽96 a>y6H`? ?4߬YD?w?Z?@%? ?ɨ6@6;4yR^BRIVAVAIZ/IZJ5٢b-> bh=9fIdd fG٣j63Gyne< n> rNusing accuracyPremultiplier from configpv49rm?v4Yr ir#VBxz*z?r=Cr:r:r4| AhE n$?IZjFNOT Ignoring new targets: 525.60 m.BjEJjEWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 19:43:43.8186 LVL= 21040, 26929, 16306, 30451, AGC= 71, IDX= 401,-0.22,-2.102, 2.974,-1.879,-2.466, PHS= 0.452,-0.796, 0.584, RAW= 155.0, -3.7, CAL= 158.8, -12.0, ROT= 351.2, 12.0 eYgot valid direction response: 19:43:43.8186 LVL= 21040, 26929, 16306, 30451, AGC= 71, IDX= 401,-0.22,-2.102, 2.974,-1.879,-2.466, PHS= 0.452,-0.796, 0.584, RAW= 155.0, -3.7, CAL= 158.8, -12.0, ROT= 351.2, 12.0 mPDAT read: Bearing 351.2, 12.0 (Local) }~Local bearing/azimuth received: Bearing 351.2, 12.0 (Local) DAT read: Range 10 to 50 : 522.9 m (Round-trip 697.3 ms) speed 0.5 m/s *DAT read: user:786> BDAT read: Tx time:19:43:44.9171 $Ping request sent.K?"-@ A a1@HeadingCmd: 4.815382 target range: 525.599976 and range: 525.60 m. jjjjih!h!)PwVI%@iPwV>H*? UM?Upjmo)A?I=i|ϿAe:publishing transmit ping timeؙeFpublishing direction and range info9@X 7I$!ES?yh)hifqfqfyrf}@3W@bf}J? )Ii )IiH*? UM?Upjmo)IiH>I III^BI =&I.I6I<:ILFɛ4aBE>}Z AM!KII IɚIiIIM]m=IUiULiU)Q)Y*F?2F:FBF`5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:43:44.9164 G= G B O) Ww,-~\A*J2a="J2p=J6vJ6lJ4J4J6{T:J69J4J4J6Nu;J6Pu;J6+:J6,:V@YV)@V$ý9VW>yVH?`?Fҭ̽?`?'[? -?”?ɨV@V;V Cy58^B=IIM4IMe5٢== ;=9 G٣yG; > Nusing accuracyPremultiplier from config49m?4Yx iSVBڴ?^Cn:7:4?B AkMs͛?kM0 kI kM9h\A:kMDBkMDZkMYJ@"MHie8eZe|sn@M@X 7I$!ES?JkM|ϿRkMA*M̧~A~Lrɰ#f@MKjJG“Q?"kM*kMkM6k̛?kMx 2kMmCkIkIkMvCkMkCkM$lN@ addTargetRange:: Added new target pos. range: 522.900024 m, deltaT: 4.283412 s, deltaX: -2.699951 m, approachRate: -0.630327 m/s, rangeRepo size: 4  Added new target pos. range: 522.900024 m, bearing: 181.151124 deg, lat: 36.899542 deg, lon: -122.113755 deg, deltaT: 4.283412 s, deltaX: -2.699951 m, approachRate: -0.630327 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 522.90 m.Bj Jj)e ProNav: ac range: 522.900024 m, nav range: 490.839447 m, bearing: 184.798959 deg, approach rate: 0.000000 m/s, LOS rate: -0.065251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890422 deg. 2ja:je@mHeadingCmd: 4.815196 target range: 522.900024 and range: 522.90 m. jijijqjqiqhyhhhfffrfbf;? I5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKE KKE9KAKEKEBKusA:KusAɛefaBe9W aeKIa aɚiiiIm(l=Imiu4iuҵ)q)q*F12F1:F1BF5r5JF1G ԹG  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >:&Ww,\Ay5Y^B5IMb@Mb@Mb@ )YK7?l??yI ?=<IA hcA)iAIAyfvAII5٢= ==9Q > G٣y >  Nusing accuracyPremultiplier from config 49 [m?4Y  i xVB ?:? |C ; 5; M4! %JA!ZjIMFNOT Ignoring new targets: 522.90 m.BjU>JjU>e ProNav: ac range: 522.900024 m, nav range: 490.858978 m, bearing: 184.771595 deg, approach rate: 0.047504 m/s, LOS rate: -0.066550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893100 deg. 2je6:jex@uHeadingCmd: 4.815243 target range: 522.900024 and range: 522.90 m. jqjqjqjyiyhyhyhhfffrfbf ?ɛMaBUz QULIQ YɚYiYI]z\l=Ieieciea$)a)i*F2F:FBF0JFGtA GtA I }Will construct direction to contact in vehicle frame from tetrahedron phase data.GzQG?G?jHU <bHU 4<Ha Ia  Ie A IIe 1_BIa &Ia .Ia 6Ie <:Ie YFG B O >32,Ww,t'\A6n.@Y6=@6`96L>y6H d? ς? l ޯ` 5???He? W?ɨ6n.@6N;6 Cy>}^BBIIJIJ5٢RM= Re=9RTT VG٣V73GyZh; Z> ^Nusing accuracyPremultiplier from config\j49^m?j4Y^ i^VBhjgj?^C^|;^|;^4r>B rAviEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 522.90 m.BjJj- ProNav: ac range: 522.900024 m, nav range: 490.875702 m, bearing: 184.748983 deg, approach rate: 0.046426 m/s, LOS rate: -0.062771 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.907352 deg. 2j-Q,:j-@5HeadingCmd: 4.815492 target range: 522.900024 and range: 522.90 m. j1j1j1j1i1h1h9hhfffrfbf Ȉ?ɛ aBys NIQ YɚYiYI]]l=Ieie}Pim{:)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F-?2F):F)BF1JF1JwJwJJJW:J9JJJz;Jz;J:J:GUSnG B O5 > ! I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.յ g?յ s? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499210zKU vKKU 9KQ KU KU  -p~eF, 3Ww,\ARC@YRR@R9R>yRH`??```u¾?C?1?@uY?@Ν?ɨRC@R' ;R Cy^^B^IMb@Mb@Mb@ )Y~jt?ˡE?Mb`?y?'=; )IAyuAII٢-P= :=9;Q > G٣y; > Nusing accuracyPremultiplier from config49m?4Y iVB?:𰿑?C^;5k;44 ҏAZjFNOT Ignoring new targets: 522.90 m.BjPJjP% ProNav: ac range: 522.900024 m, nav range: 490.899628 m, bearing: 184.722676 deg, approach rate: 0.051414 m/s, LOS rate: -0.056527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.896272 deg. 2j%-:j-@MHeadingCmd: 4.815299 target range: 522.900024 and range: 522.90 m. jIjQjYjYiYhahahahafififirfibfu`j?ɛaB}j] 隍UI ɚiIk=Iiӧi w;))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748636*F=?2F9:FABFEY4JFAGe ;G9 BI O >D9Ww,\A6+n@Y6}}@6د96>y6H@b? (}?@|j`9`?ݰ?? (F?`١?ɨ6+n@6h;4yR^BRIIZ(IZ5 `Iff٢9*= T=9%P)) -G٣)y5\< 5> MNusing accuracyPremultiplier from configAU49Em?U4eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000591YE iEVBquFu?E̤CE;E;E4 AZjFNOT Ignoring new targets: 522.90 m.Bj4Jj4 ProNav: ac range: 522.900024 m, nav range: 490.921906 m, bearing: 184.699426 deg, approach rate: 0.060822 m/s, LOS rate: -0.063474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905439 deg. 2j?.:j<@ HeadingCmd: 4.815458 target range: 522.900024 and range: 522.90 m. j j j j i hhhhf!f)f)rf)bf5CW@ɛmbBm im[IqH!I! I%m II%x_BI% =&I!.I!6I%<:I%*FBICJICRIZI =bI =jIU)5 iɚiiqIu%Lk=Iui}i}X<)y)yE*FE?2FA:FABFE0JFI"GUp=GU= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251783Gm ;Gy G} sA &G xA 5 Y5 xAy5 BG B O >-@Ww,]A6{@Y6ͣ@6߾96 D>y6H?y?`Jެ t??޲? 0? ?ɨ6{@6d;6 CyB^B@IJ.IJ5٢V: VR=9V^LXX ZG٣Z83Gy^)E< f> jNusing accuracyPremultiplier from confighn49jJm?n4Yj ijVBlnr?jCjK ;j ;j4t vAtZjFNOT Ignoring new targets: 522.90 m.Bj%Jj%5 ProNav: ac range: 522.900024 m, nav range: 490.945343 m, bearing: 184.676057 deg, approach rate: 0.061386 m/s, LOS rate: -0.061203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905083 deg. 2j5(:j5/@=HeadingCmd: 4.815452 target range: 522.900024 and range: 522.90 m. j9j9j9j9iAhAhAhAhIfIfIfIrfIbfU X@ɛ}>bB}hv y隅QfI ɚiI&k=IiעiD<))*F2F:FBF0JF IG*;}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507513zKn2MKh9KKKGBO}7> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755642WWFWw,Ș]A2e@Y2š@2192>y2H ?u?-P`ث?w?@?"B??ɨ2e@2Ō;2 Cyz^BzIMb@Mb@Mb@ )Y#~j?kt?S㥛y? 0=/ݼ/A `cA)jAI|}AyuAI(I5٢} 9=9j& G٣y < > Nusing accuracyPremultiplier from config49cm?4Y& iVB?:?C ;;z#4  A ZjFNOT Ignoring new targets: 522.90 m.JrJqJJJG:Jq9JJa@a@a@a@BjrJjr ProNav: ac range: 522.900024 m, nav range: 490.975403 m, bearing: 184.649295 deg, approach rate: 0.066016 m/s, LOS rate: -0.058771 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894905 deg. 2jU!:j@HeadingCmd: 4.815274 target range: 522.900024 and range: 522.90 m. jjjjihhhhf!f!f!rf!bf%@ɛ}tbB}} }]b=}tIy ɚiIj=Iimit<))*F2F:FBF0JF I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008981ZH1 RH5 AAHI II  IM IIM _BIM =&II .II 6IM <:IM GFG 1X<G ?G >G B O >LWw,~q4]A6<ϓ@Y6ޚ@6B96i>y6H5?zr? F`8?@O1?ք?ED?7?ɨ6<ϓ@6Yˇ;6 CyR^BRIIZ*IZ.5٢zKn ~Y=958-99 =G٣9yEC< E> UNusing accuracyPremultiplier from configI]49Mm?]4YM, iMVBY]e?MCM;M%;M.*4i mAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 522.90 m.BjΐJjΐ ProNav: ac range: 522.900024 m, nav range: 491.002380 m, bearing: 184.625989 deg, approach rate: 0.073276 m/s, LOS rate: -0.063299 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905274 deg. 2j-:j6@HeadingCmd: 4.815455 target range: 522.900024 and range: 522.90 m. jjjjihhhhfffrfbf`| @ɛbB$f 5I ɚ i I Pk=I=i=վi=<)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260885*F2F:FBF0JFGsA GGiG<GaBiO8> I f Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:43:48.0244  TRx dataTimestamp_ set to:1736365429.169257 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519381zKE &(KKE ]9KA KE KE GiSWw,NN]AV@YV@VL9V>yVH@{?q?`@Jm?fk??? K?ɨV@V;V Cye^BeI5Mb@Mb@Mb@111 1)1Y5Gz?l?y5?5=5L1 53aA)5iAI5f|A1y5tAIm>Im5٢}W }4=9g;Q > G٣93Gy; > Nusing accuracyPremultiplier from config49\m?4Y2 iVB?:̮?>C;;14=B A5gEZjy}FNOT Ignoring new targets: 522.90 m.BjϏJjϏ ProNav: ac range: 522.900024 m, nav range: 491.033875 m, bearing: 184.596656 deg, approach rate: 0.067499 m/s, LOS rate: -0.062864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887193 deg. 2j,:j@HeadingCmd: 4.815140 target range: 522.900024 and range: 522.90 m. jjjjihhhhfffrfbf @ɛbBns SI ɚiIk=Ii-iFx<))Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.764076*F?2F:FBF0JFJwJsJJJW:J9JJG] mo<G9 BA Oe >ǛYWw,Mh]A *o$?I,:@Y:3@: }9:,=y:H?r?2?@?X?`>ο?`ǰ?ɨ:@:N;: CyN~^BNI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.019348IjI\5H>I Is II_BI&I.I6I<:IF٢%3 %?=9-A;Q ->11 5G٣1y55; 5> Nusing accuracyPremultiplier from config49m?4Y9 iVB?^Ci::94 AZjYeFNOT Ignoring new targets: 522.90 m.BjeJje ProNav: ac range: 522.900024 m, nav range: 491.065826 m, bearing: 184.567436 deg, approach rate: 0.073408 m/s, LOS rate: -0.067127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887532 deg. 2jF8:j@HeadingCmd: 4.815146 target range: 522.900024 and range: 522.90 m. jjjjihhhhfffrfbf@R@ɛ%cB%T )-&I) )ɚ)iIuRk=IiG!i?<))Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:43:48.0244 LVL= 20080, 22305, 17234, 26099, AGC= 70, IDX= 508,-0.08, 2.833, 1.571, 3.040, 2.443, PHS= 0.478,-0.825, 0.594, RAW= 154.2, -3.7, CAL= 158.1, -12.0, ROT= 351.9, 12.0 % Ygot valid direction response: 19:43:48.0244 LVL= 20080, 22305, 17234, 26099, AGC= 70, IDX= 508,-0.08, 2.833, 1.571, 3.040, 2.443, PHS= 0.478,-0.825, 0.594, RAW= 154.2, -3.7, CAL= 158.1, -12.0, ROT= 351.9, 12.0 - PDAT read: Bearing 351.9, 12.0 (Local) 5 ~Local bearing/azimuth received: Bearing 351.9, 12.0 (Local) m DAT read: Range 10 to 50 : 527.3 m (Round-trip 703.1 ms) speed 0.7 m/s } *DAT read: user:787> } BDAT read: Tx time:19:43:49.1171  $Ping request sent. 33Sb?9>,@ r0@)I@iE% ==g?t?ZeVY)2?I߂=i`Ͽ :publishing transmit ping time؁  Fpublishing direction and range info9 )AK뿨ci?y )Ii )Iig?t?ZeVY)Ii*F ?2F :F BF 2JF "G =G = IG)ş<Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO5?bWw,H]AzK>BKK9KKK  #'('  @Y]@={g9[=yH`۪?y?  m?6?`v?`wl?Ÿ?ɨ @;騑yޭm^BޭIMb@Mb@Mb@ )YRQ?/$?Qy"?,=uA `A)hAI"yAyqAIkI5٢ =9 G٣yb\ > Nusing accuracyPremultiplier from config49m?4YA iVB#?:?CD;;.C4 Ak:AΛ?kѷ k kz]A:kDBkDZkL@"flO8NCH|x]p@ )AK뿨ci?Jk`ϿRk*Ԓc~=­;Ch@/%|kKc?"k*kk9͛?k63= 2ks}Ck9͛?k- kkCk N@e addTargetRange:: Added new target pos. range: 527.299988 m, deltaT: 4.283907 s, deltaX: 4.399963 m, approachRate: 1.027091 m/s, rangeRepo size: 4 } Added new target pos. range: 527.299988 m, bearing: 183.268831 deg, lat: 36.899557 deg, lon: -122.113748 deg, deltaT: 4.283907 s, deltaX: 4.399963 m, approachRate: 1.027091 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 527.30 m.BjJj ProNav: ac range: 527.299988 m, nav range: 489.466064 m, bearing: 184.464778 deg, approach rate: 0.000000 m/s, LOS rate: -0.067127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867784 deg. 2j:j@HeadingCmd: 4.814801 target range: 527.299988 and range: 527.30 m. jjjjih!h!h!h)f)f)f)rf5`fz@bf5`7l?ɛGcB甽 隭XI ɚiIk=Iii,<))Will construct direction to contact in vehicle frame from tetrahedron phase data.E- c=J vJ tJ J J {T:J 9J J *F 2F :F BF 0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G|<GBjHbH<H>IC IZ IIY_BI =&I.I6I<:IFO%?FkWw,jg]A2*ٓ@Y2|@2(`92(=y2H`?z?#) N#?? ?t?`W?ɨ2*ٓ@2;0y>`^B>IIFIF6٢V< V3=9V6;Q V>XX ZG٣^:3Gy^1 ^> bNusing accuracyPremultiplier from config`f49bm?f4YbI ibVBaeήm?bCbRrWw,]A INp“@YNњ@N׌\9N?=yNH?|?~ Q?@?2?@?M?ɨNp“@N;LyV4^BZIIfnIf?5]Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ƽ 9=9";Q >  G٣y%ƻ %>zKLK9KKK Nusing accuracyPremultiplier from configa49em?4Ye.Q ieVB6?e֥Ce;e.;eKS4EJ uJ qJ 0J J [Q:J q9J ـ3J ;xWw,…]A6@Y6@6*X96=y6H$I?w?@ `P? ?`??=?ɨ6@6 ;4y>9^B>ImMb@Mb@Mb@iii i)iYmzG?I +?S㥫ym 7?m94=m/]mA m_A)iImuAiymoAI}I}6٢?< L=9c/;Q > G٣yp > Nusing accuracyPremultiplier from config49!m?4Y6X iVB7?:{?CI;G;Y4 AZjFNOT Ignoring new targets: 527.30 m.BjϺJjϺ  ProNav: ac range: 527.299988 m, nav range: 489.571564 m, bearing: 184.364745 deg, approach rate: 0.089766 m/s, LOS rate: -0.090534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880358 deg. 2j x:j @HeadingCmd: 4.815021 target range: 527.299988 and range: 527.30 m. jjjjihhhhf!f!f!rf!bf-  ? Ifɛ5cB5%ڽ 9=I9 9ɚAiAIE/0m=IMihnii[<))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743619H>I I5 II_BI&I.I6I<:I F*F]?2FY:FYBFe0JFaG T<G rAG rAGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995527Be~Ww,a]A6'@Y6y@6DQ96a=y6HϾ?? ?@?%?@4?a?ɨ6'@6q;4y>^BBIIJIJ%6٢R VZ=9VU;Q V>XX ZG٣Z;3GyZ| ^> bNusing accuracyPremultiplier from config`f49bjm?f4Yb-_ ibVBhjj?bCb:b":bu`4p rApZj FNOT Ignoring new targets: 527.30 m.Bj.Jj. ProNav: ac range: 527.299988 m, nav range: 489.602234 m, bearing: 184.333448 deg, approach rate: 0.081902 m/s, LOS rate: -0.083572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881299 deg. 2jke:j@HeadingCmd: 4.815037 target range: 527.299988 and range: 527.30 m. jjjjihhhhfffrfbf]@ɛM dBUC-ڽ qu̽Iy yɚyiyI}m=IitqgiE<))*F2F:FBF1JF I}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247566Gu5[<zKJ3KKh9KKKBK rA:K Gq B O >~QWw,N^A:;@Y:@:DL9:=y:H?ߐ?` SX?@?`Ѝ? G٣yһ > Nusing accuracyPremultiplier from config49m?4Yg iVBxD?:?FC;; h4 AeEZj15FNOT Ignoring new targets: 527.30 m.Bj=`ȺJj=`ȺWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503986 ProNav: ac range: 527.299988 m, nav range: 489.632690 m, bearing: 184.294596 deg, approach rate: 0.068669 m/s, LOS rate: -0.087591 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858639 deg. 2jsp:j@%HeadingCmd: 4.814641 target range: 527.299988 and range: 527.30 m. j!j!j)j)i)h)h)h1h1f1f1f1rf9bf=`xE@ɛCdBϽ 0ĿI ɚiI%n=IiZ`iQj <))EeJc= I*F 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752727ZH RH ?AH I  I  II ^BI &I .I 6I Ʊ<:I 1FBI]˿CJI]˿CRIYZI] =bIYjI]Й4GiG<G ?G >GBO->Ww,6^AJ]A@YJP@JեJ9Jf=yJH?W?@˼ I??R??`Z?ɨJ]A@JuW;J CyR^BRII^I^6٢b f-=9f}:Q j>hh jG٣hynË n> rNusing accuracyPremultiplier from configpv49rm?v4Yr?q irVBxzz?rtCr\ ;r ;rHp4~;B AfEZj)=FNOT Ignoring new targets: 527.30 m.BjEкJjEкU ProNav: ac range: 527.299988 m, nav range: 489.663055 m, bearing: 184.252424 deg, approach rate: 0.065640 m/s, LOS rate: -0.091158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848678 deg. 2jU>z:jU@]HeadingCmd: 4.814467 target range: 527.299988 and range: 527.30 m. jYjYjYjYiYhahahahafififqrfqbfu@ɛvdB۽ 隭˿I ɚiI_so=Iit^i9;)))Y YE;=~GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004359 5GY1y5B*Fa2Fi:FiBFm0JFiG5'<GBOL>JCKK3 KK .KCKC"KCJ%tJ%oJ%1J!J%;N:J%K9J%3J!J%j;a=J%j;a=J%:a=J%:aE  p$?I f Will construct direction to contact in vehicle frame from tetrahedron phase data. = < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259708ʓWw,O^AzKJ2KKJ9KHKJKJy޵0^B޵IMb@Mb@Mb@ )Yoʡ?X9v?{GztyM?<ףf|A )IqAylAII@ 6٢rD= -=9Q > G٣<3Gy > Nusing accuracyPremultiplier from config 49m? 4Y{ iVB 6M? :  ?Cy;-;x4 A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 527.30 m.BjMֺJjMֺ] ProNav: ac range: 527.299988 m, nav range: 489.691498 m, bearing: 184.208293 deg, approach rate: 0.060296 m/s, LOS rate: -0.093548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842803 deg. 2j]g:j]G@eHeadingCmd: 4.814365 target range: 527.299988 and range: 527.30 m. jajajijiiihihihqhqfqfqfqrfybf} ? @ɛdBֽ ϿI ɚiINp=Ii[iVr;))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:19:43:52.2113 %TRx dataTimestamp_ set to:1736365433.448965-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508936*F 2F :F BF 0JF I G- &<G5 tAG5 tA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759877GBO->Ww,m^A6 @HLIL ILILIN =&IL.IL6IN<:INFY6^@62N96%=y6H@й?t? 6?ݣ?@ѩ??E?ɨ6 @6eh;4yUH^B]III 6٢b= >=9[Q >    G٣ y > Nusing accuracyPremultiplier from config%49m?%4Y2 iVBAMM?ѦCS;;%4Q U\AQZjFNOT Ignoring new targets: 527.30 m.BjѺJjѺ ProNav: ac range: 527.299988 m, nav range: 489.714935 m, bearing: 184.167580 deg, approach rate: 0.052841 m/s, LOS rate: -0.091784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853055 deg. 2j{:j@HeadingCmd: 4.814544 target range: 527.299988 and range: 527.30 m. jjjj i h h h hfffrfbf'@ɛ dB ?޽  ӿI ɚiI,q=Ieie)4]ie)a)i*FU?2FY:FYBF]0JFaG-,;]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:43:52.2113 LVL= 23024, 32737, 20418, 32755, AGC= 70, IDX= 399, 0.40, 0.973,-0.450, 0.980, 0.321, PHS= 0.740,-0.725, 0.656, RAW= 147.1, -9.5, CAL= 153.6, -17.9, ROT= 356.4, 17.9 Ygot valid direction response: 19:43:52.2113 LVL= 23024, 32737, 20418, 32755, AGC= 70, IDX= 399, 0.40, 0.973,-0.450, 0.980, 0.321, PHS= 0.740,-0.725, 0.656, RAW= 147.1, -9.5, CAL= 153.6, -17.9, ROT= 356.4, 17.9 PDAT read: Bearing 356.4, 17.9 (Local) ~Local bearing/azimuth received: Bearing 356.4, 17.9 (Local) DAT read: Range 10 to 50 : 517.5 m (Round-trip 690.0 ms) speed 0.6 m/s *DAT read: user:788> BDAT read: Tx time:19:43:53.3171 $Ping request sent.YY]L?~t?dſ)]Y>I]h(>i]#]#YY :publishing transmit ping timeFpublishing direction and range infoY9]1?ҩfo5$/?yYYYY Y)YIYiYYG)B1OM>YYY Y)YIYiYYY]L?~t?dſ)YIYiYYYYJ] xJ] uJY JY J] Z:J] 9JY JY J] ;J] ;J] j:J] k:náWw,oe^A6MԒ@Y6@6S96/=y6H??O 2?۵?nn?#?_?ɨ6MԒ@6 ;4yRV^BVI `I`I^I^6٢-= -W=9-NQ 5>11 5G٣1y}? }> Nusing accuracyPremultiplier from config49=n?4Y4 iVB?C*:7'<؆4 @Ak%ݛ?kM# k k=}^A:k`DBkDZkR@"L&Mb^@@%YByQ;uOs@1?ҩfo5$/?Jk#Rk#*-Z{ONv O-np@wװK뿅~HjyA?"kMx*kkXtܛ?kҠ 2k? kkCk}M@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:43:53.3164  addTargetRange:: Added new target pos. range: 517.500000 m, deltaT: 4.034148 s, deltaX: -9.799988 m, approachRate: -2.429258 m/s, rangeRepo size: 4 % Added new target pos. range: 517.500000 m, bearing: 188.005062 deg, lat: 36.899557 deg, lon: -122.113755 deg, deltaT: 4.034148 s, deltaX: -9.799988 m, approachRate: -2.429258 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 517.50 m.Bj}Jjy= ProNav: ac range: 517.500000 m, nav range: 489.782623 m, bearing: 184.209177 deg, approach rate: 0.000000 m/s, LOS rate: -0.091784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863838 deg. 2jA:jEI@zKKK]9KKK  HeadingCmd: 4.814732 target range: 517.500000 and range: 517.50 m. j j jjihhahihififqfqrfu,@bfr?ɛ!eB58޽ OٿI ɚiIr=IiC+ai))Q*F2F:FBF0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.G Ƶv;G B O>PϨWw,w^AF"@YFt™@F[9Fi=yFH)? ?d = k ?֥?x_?*[?`?ɨF"@F;Dy^{^B^IMMb@Mb@Mb@III I)IYMK7?Mb?S㥛?yMI?M=M/y G٣=3GyE > Nusing accuracyPremultiplier from config493n?4Y iWBJ?:?'C;;4:B AhEZjFNOT Ignoring new targets: 517.50 m.Bj#Jj# If ProNav: ac range: 517.500000 m, nav range: 489.803070 m, bearing: 184.166616 deg, approach rate: 0.047072 m/s, LOS rate: -0.097978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847510 deg. 2j{:j@HeadingCmd: 4.814447 target range: 517.500000 and range: 517.50 m. jj j j i hhhhfff!rfbf!?ɛMMeBM Mwc=MNڿII QɚQiQIUr=I]i]cei]#.)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH4<H>I I5 II_BI =&I.I6Iܱ<:I@F*F?2F:FBFJF Gb8GBO`> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,^A2`@Y2@2>a92=y2H Ŷ?~?aN??4?-5?=?ɨ2`@2[x;2 CyB^BBIIJhIJ5٢f= fW=9frQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv49rY n?v4Yr ir,WBtzz?rMCr:rX:r4 AZj)-FNOT Ignoring new targets: 517.50 m.Bj5ѺJj5ѺE ProNav: ac range: 517.500000 m, nav range: 489.818939 m, bearing: 184.131779 deg, approach rate: 0.041737 m/s, LOS rate: -0.091621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870679 deg. 2jE{:jED@MHeadingCmd: 4.814852 target range: 517.500000 and range: 517.50 m. jIjIjIjQiQhQhQhhfffrfbfb?ɛ-{eB- )-PۿI)J}J}{J}2JyJ}}:J}-9J}c3JyJ};J};J}:J}: ɚiI@s=Iinki[))*F2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G$zK ^LK 9K K K  G B O >ٵWw,^Ayr^Br IMb@Mb@Mb@ )Yjt?Q?~jt?y@?\=D= \A)InpAy(lAIYI5٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config49 n?4Y iUWB]A?:?wC ;I;34 XAB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 517.50 m.Bj=jȺJj=jȺe ProNav: ac range: 517.500000 m, nav range: 489.837311 m, bearing: 184.093591 deg, approach rate: 0.042149 m/s, LOS rate: -0.087608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860628 deg. 2jep:jm@}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.5HeadingCmd: 4.814676 target range: 517.500000 and range: 517.50 m. j1j1j1j1i9h9h9h9hAfAfAfArfAbfMA?ɛeB{N 隥RݿI ɚiIt=Iiaeri;T))*F2F:FBF0JF IG K- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745901G B O >H >I  I g II n_BI &I .I KD6I <:I FWw,Re^A6|~@Y6΍@6ңs966=y6H Y?@`? jv+ë? u?o?8?!?ɨ6|~@6xW;4yR^BR IIZgIZ5٢f= f\=9fz@Q f>hh jG٣j>3Gyn n> 5Nusing accuracyPremultiplier from config)549-n?E4Y- i-{WBIMM?-C-1l;-tl;-ޣ4Q UAUeEZjyFNOT Ignoring new targets: 517.50 m.BjrǺJjrǺ ProNav: ac range: 517.500000 m, nav range: 489.852692 m, bearing: 184.060214 deg, approach rate: 0.040178 m/s, LOS rate: -0.087184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875059 deg. 2jUo:j@HeadingCmd: 4.814928 target range: 517.500000 and range: 517.50 m. jjjjihhhhfffrfbf8?ɛeB%N ޿I ɚiIqu=Iixxiف))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997543Ee_=EutAEusA*F5?2F1:F1BF50JF1*JC="J%=JJJ1JJ:Jy9J3JJr;Js;J>:J?: I GU TG1 = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250351BI Oe >tWw,9|_AU@YU㓙@Uz9UC=yUH&.??,`? ?bO?æ? ?ɨU@U;U Cyޝ_Bޥ/ IzKEKKE9KAKEKEIZI5٢= #=9n\Q > G٣y: > -Nusing accuracyPremultiplier from config!-49%n?54Y%b i%WB155?%̧C%;%;%4]9B eAefEZjFNOT Ignoring new targets: 517.50 m.BjźJjź ProNav: ac range: 517.500000 m, nav range: 489.873474 m, bearing: 184.016191 deg, approach rate: 0.040797 m/s, LOS rate: -0.086416 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843122 deg. 2j9m:jS@HeadingCmd: 4.814371 target range: 517.500000 and range: 517.50 m. jjjjihhhhfffrfbf@@ɛMfBM۽ QUIQ QɚQiQIU>v=I]i]Tui] r)a)aE-ȝ=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504800*F2F:FBFJFG ځ I fG B O >Ww,{)_AR@YR禙@Rn9R4=yRHĶ??OV@h?*??`B?q?ɨR@Ru ;PyfI_BfQ IMb@Mb@Mb@ )YS?{Gz?S㥫?y/?ף</]=|}A ]A)IqAylAIDI5٢k > N=9 Q > G٣?3GyK; >  Nusing accuracyPremultiplier from config 49 =n?4Y > i WB/?:$? C ; -; e4! %PA!ZjIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753732]FNOT Ignoring new targets: 517.50 m.BjewJjew} ProNav: ac range: 517.500000 m, nav range: 489.883636 m, bearing: 183.985587 deg, approach rate: 0.026922 m/s, LOS rate: -0.081073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883379 deg. 2j}^:j}@HeadingCmd: 4.815073 target range: 517.500000 and range: 517.50 m. jjjjiZHRHAAH>I I II_BI =&I.I6Iı<:I*FhIhIhIhIfQfQfQrfQbf]l@ɛNfBb& I ɚiIw=IidiP))E E *E "E *FA 2FA :FA BFE 3JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006061Gm sGABQOm>Ww,_G_A Vq$?ITnR@Yn@n 9n=>ynH`?/?-l2Q? ?c??A?ɨnR@nӊ;nCy~p_B~i IIm5Im5٢}= }2=9}yQ }> G٣y۬; > Nusing accuracyPremultiplier from config49"n?4Y^ iXBݺ?C:*:b4 AZjFNOT Ignoring new targets: 517.50 m.BjlJjl ProNav: ac range: 517.500000 m, nav range: 489.896576 m, bearing: 183.949323 deg, approach rate: 0.027986 m/s, LOS rate: -0.078431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866397 deg. 2jNW:j@%HeadingCmd: 4.814777 target range: 517.500000 and range: 517.50 m. j!j!j!j!i!h!h!h)h)f1f1f1rf1bf5 @ɛefBe^< imyIi qɚqiqIu?w=I}i}Q:i}JI2)y)yEp>E>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259172*F)2F):F1BF50JF1"GU=GU=zKKK+9KKKG*UG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509617Ww,a_A6ƒ@Y6ՙ@6cW963>y6H8?? ?B|@ K?S٫?G?@{??ɨ6ƒ@6[q;6 Cyn_Bn~ IMb@Mb@Mb@ )Yjt?/$?Zd;O?y ?<j<=`AJJJJJJ9JJa@a@a@a@ \A)gAIsAy=nAII5٢= D=9̻Q > G٣y< > Nusing accuracyPremultiplier from config 49n? 4Y+ i*XB I!? : ٹ ?6C;Y;4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 517.50 m.BjKJj K ProNav: ac range: 517.500000 m, nav range: 489.909607 m, bearing: 183.918952 deg, approach rate: 0.029877 m/s, LOS rate: -0.069632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884076 deg. 2j'?:j.@%HeadingCmd: 4.815085 target range: 517.500000 and range: 517.50 m. j!j!j!j!i!h)h)hIhQfQfQfQrfQbf]m @ Ifɛ fB 5I ɚiI~x=Imimvim)i)q*F?2F!:F!BF!JF!eWill construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:43:56.4164 mTRx dataTimestamp_ set to:1736365437.732746mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.762812H>IC I II9`BI&I.I6I<:IHFBIJIRIZIbI =jI5G .-G B O >6Ww,0{_A.G8D ^Y\y^ B~ݒ@Y~@~ 9~">y~H ?h?Pen*?`5"? 5 ? ?`U?ɨ~ݒ@~a;~ Cy-_B5 III5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013842٢= L=9Q > G٣@3Gy; > Nusing accuracyPremultiplier from config49Hn?4Y iPXB?VC ;y;Ɂ47B xAgEZj  FNOT Ignoring new targets: 517.50 m.BjJj򰺝- ProNav: ac range: 517.500000 m, nav range: 489.922913 m, bearing: 183.889794 deg, approach rate: 0.035298 m/s, LOS rate: -0.077349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887715 deg. 2j-VT:j-@5HeadingCmd: 4.815149 target range: 517.500000 and range: 517.50 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfE@4@ɛ}fB}u y}Iy ɚiIGy=Ii5iY))*FQ2FY:FYBFYJFa aIaG>uU Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:43:56.4164 LVL= 21936, 26673, 18866, 32755, AGC= 71, IDX= 488, 0.36,-0.967,-2.323,-0.787,-1.371, PHS= 0.493,-0.905, 0.582, RAW= 153.1, -2.4, CAL= 156.7, -11.0, ROT= 353.3, 11.0  Ygot valid direction response: 19:43:56.4164 LVL= 21936, 26673, 18866, 32755, AGC= 71, IDX= 488, 0.36,-0.967,-2.323,-0.787,-1.371, PHS= 0.493,-0.905, 0.582, RAW= 153.1, -2.4, CAL= 156.7, -11.0, ROT= 353.3, 11.0  PDAT read: Bearing 353.3, 11.0 (Local)  ~Local bearing/azimuth received: Bearing 353.3, 11.0 (Local)  DAT read: Range 10 to 50 : 521.2 m (Round-trip 695.0 ms) speed 0.2 m/s  *DAT read: user:789>  BDAT read: Tx time:19:43:57.5172  $Ping request sent.  Fpublishing direction and range infoQ 9U dL,N'm3Y/?yU LDQ U UU 1h U I)Q IU GiU j>U gU ?U +@U + U  /@)U DIU Q@iU D>Q Q U R#oB?np?ZeH)U ?IU 7S*=iU GӿU Ww,K_AzK2KK9K KKۑۑj:publishing transmit ping timenFpublishing direction and range infoؑ9ؕdL,N'm3Y/?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەR#oB?np?ZeH)ۑIۑiۑۑۑۑuG@Yu"@uK9u >yuH?@c?E¿@?7 ??UH?ܛ?ɨuG@uk;u Cyޅ_Bޅ IMb@Mb@Mb@ )Y(\?Mb?Zd;O?yz?=j< [A)fAItAymAII5٢E< M(=9UnQ U> G٣yY< > Nusing accuracyPremultiplier from config4Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:43:57.5165 9"n?4Y iuXB?:\?zC <] <Gҁ4 \Ak-Л?k k k _A:kLDBkvDZkBH@"fh,(B#&|.`p@dL,N'm3Y/?JkGӿRk*ئm3~q@ hh@ha"9"^-x?Zb?"kC@*kkϛ?kh 2k7{Ckϛ?k63= ks}CkCkHK@ addTargetRange:: Added new target pos. range: 521.200012 m, deltaT: 4.282381 s, deltaX: 3.700012 m, approachRate: 0.864008 m/s, rangeRepo size: 4  Added new target pos. range: 521.200012 m, bearing: 179.637718 deg, lat: 36.899607 deg, lon: -122.113633 deg, deltaT: 4.282381 s, deltaX: 3.700012 m, approachRate: 0.864008 m/s, posRepo size: 4 Zj 5FNOT Ignoring new targets: 521.20 m.Bj=Jj9M ProNav: ac range: 521.200012 m, nav range: 483.728790 m, bearing: 182.613798 deg, approach rate: 0.000000 m/s, LOS rate: -0.077349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853580 deg. 2jI:jM@uHeadingCmd: 4.814553 target range: 521.200012 and range: 521.20 m. jqjyjyjyihhhhfffrfI@bf .?ɛ.gB I ɚ i)IMy=IUiUiU})Q)YEaJJJJJy:Jľ9JJ*F ?2F :F BF 4JF a Ii u Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH <H >I  I  II `BI =&I .I 6I <:I %FG% G) G- >G B O >NWw,غ_AF!@YFs@FP9F=yFH (? ?@ ҫ??`?K-?@ӥ?ɨF!@F;FCyb_Bb II~I~5٢ ;=  g=9 Q 5>99 =G٣9y=W E> MNusing accuracyPremultiplier from configAm49E%n?u4YEb iEXBqu{u?ECE;E;En؁4y AZjFNOT Ignoring new targets: 521.20 m.BjæJjæ ProNav: ac range: 521.200012 m, nav range: 483.750580 m, bearing: 182.589892 deg, approach rate: 0.066447 m/s, LOS rate: -0.072897 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.903472 deg. 2jH:j@ HeadingCmd: 4.815424 target range: 521.200012 and range: 521.20 m. j j1j1j1i1h1h1h9h9f9f9fArfAbfE@?(?ɛVgB 隵I ɚiI~z=Iiq銺i[&))*F?2F:FBF0JFG}j-Will construct direction to contact in vehicle frame from tetrahedron phase data.GABQOmW> I Ww,^_A68@Y6@6'96V>y6H@n?`I? ':-??P?`?@s?ɨ68@6x;4yF_BF IININ5٢Vu< VQ=9Z{IQ Z>XX ZG٣ZA3Gy^Z<; ^> fNusing accuracyPremultiplier from config`f49bo(n?j4Yb. ibXBhj[j?bCb:b:b/߁4p rApZj  FNOT Ignoring new targets: 521.20 m.Bj)Jj)- ProNav: ac range: 521.200012 m, nav range: 483.774811 m, bearing: 182.563674 deg, approach rate: 0.063901 m/s, LOS rate: -0.069137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.896537 deg. 2j-=:j-@5HeadingCmd: 4.815303 target range: 521.200012 and range: 521.20 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfE J?ɛmgBu: quIqWill construct direction to contact in vehicle frame from tetrahedron phase data.Յ>Յ#@ ɚiIt{=IiXi))*F2F!:F!BF%0JF)zKKK+9KKKGu >GQBaO}>- Will construct direction to contact in vehicle frame from tetrahedron phase data.JE JE JA JA JE s:JE 9JA JA %Ww,]_A6@Y6*@6yN96>y6H ͺ?̓?@ @Ľ???Xz? җ?ɨ6@6 F;6 CyR `BR I5Mb@Mb@Mb@111 1)1 AIAY5S?I +?y5?594=55A 1)5vdAI5vA1y5nAIUIUx5٢mv= m?=9u*Q u> G٣y%6]; %> UNusing accuracyPremultiplier from config1e495M,n?e4Y5 i5XBm?m:mm?5ѨC5n;5;54 ͌AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 521.20 m.Bj0Jj0% ProNav: ac range: 521.200012 m, nav range: 483.809631 m, bearing: 182.534215 deg, approach rate: 0.075024 m/s, LOS rate: -0.063467 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886817 deg. 2j%:.:j%@-HeadingCmd: 4.815133 target range: 521.200012 and range: 521.20 m. j)j)j)j1i1h1h1h9h9f9f9f9rfAbfED?ɛgBX I ɚiI{=Iii ))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HI IA II`BI =&I.I6I<:IF*F2F:FBF0JFG }fG sAG G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751185 Xw,`9`A65@Y6D@6"Ž96O>y6H?}?¿嵾???^? ?ɨ65@6 ;6CyR `BR IIZIZ5٢b; fV=9fQ f>hh jG٣hyj< j> rNusing accuracyPremultiplier from configpv49rs/n?v4Yr irXBtv%v?rCr:rP:r\4~6B ~ŌA~hEZjFNOT Ignoring new targets: 521.20 m.Bj˔Jj˔ ProNav: ac range: 521.200012 m, nav range: 483.838287 m, bearing: 182.510629 deg, approach rate: 0.079026 m/s, LOS rate: -0.065043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904431 deg. 2j2:j@HeadingCmd: 4.815441 target range: 521.200012 and range: 521.20 m. jjjjihhhhfffrfbf@]?ɛegBeV aeIa iɚiiiImL*|=Iiic6;)) 1I5f*FM?2FI:FIBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003058GmzQGI BQ O} >zK KK 9K K K BK :K n7Xw,`Ay`B IMb@Mb@Mb@ )Y)1 5G٣5B3Gy= => ENusing accuracyPremultiplier from configAM49E3n?M4YE iEXBM#?M:MLM?E CE/;E;E44Y ]A]eEZjyFNOT Ignoring new targets: 521.20 m.Bj7Jj7 ProNav: ac range: 521.200012 m, nav range: 483.878967 m, bearing: 182.480320 deg, approach rate: 0.094010 m/s, LOS rate: -0.070036 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884269 deg. 2jB@:j5@HeadingCmd: 4.815089 target range: 521.200012 and range: 521.20 m. jjjjihhhhfffrfbf`@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255124ɛ%hB3X %pI! )ɚ)i1I5^|=IEiMpiU|;)Q)Y*F?2F:FBF0JFJ J J J J :J J J  !I!G;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506992ZH RH @AH I  I a II aBI =&I .I 6I α<:I .Fb Xw,3`A2W@Y2kf@2J1ѽ92>y2H=?@x?@nI¿? ????ɨ2W@2D;2CyN`BN IIVIV5٢z= z`=9~Q ~> G٣ y 6<  > Nusing accuracyPremultiplier from config49r7n?%4Y iYB!%Ů%?'C;+ ;4) 5A1ZjQ]FNOT Ignoring new targets: 521.20 m.Bj])Jj])m ProNav: ac range: 521.200012 m, nav range: 483.913116 m, bearing: 182.455647 deg, approach rate: 0.093278 m/s, LOS rate: -0.067389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901173 deg. 2jm8:ju@}HeadingCmd: 4.815384 target range: 521.200012 and range: 521.20 m. jyjyjyjyiyhhhhfffrfbf 0@ɛShB= lI ɚiIRQ}=Iivji;))*F?2F:FBF0JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759403G]?GYG)B9OU> I _JXw,)M`A6R@Y60b@6lMٽ96;>y6Hy?x?@¿͞_?? ???ɨ6R@6t=;4y> `B> IIFIF5٢NG RP=9R+%Q R>PT VG٣TyV V> ^Nusing accuracyPremultiplier from configXb49ZR;n?b4YZ iZYB`bծb?ZDCZ;Z;Zr4h jȌAhZj|FNOT Ignoring new targets: 521.20 m.BjљJjљ ProNav: ac range: 521.200012 m, nav range: 483.949615 m, bearing: 182.429235 deg, approach rate: 0.092925 m/s, LOS rate: -0.067239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.895956 deg. 2j8:j@%HeadingCmd: 4.815293 target range: 521.200012 and range: 521.20 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011069bf%@ɛhB/ I ɚiI}=Iii&;))*F?2F:FBFJFG B!O=/>zKMKK]9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263256uXw,ޭg`A6I@Y6AY@6d965>y6H/?@z?+¿7 ſ? !?`%?v??ɨ6I@6;6 C Vr$?IXy^`Bb I j=j= Mb@Mb@Mb@    ) Y Cl?v/?:vy d? xi= Լ  YA) `AI "yA y mAI%I%M5٢5e= 53=95)Q =>99 =G٣9yE E> UNusing accuracyPremultiplier from configQ]49U2@n?]4YU iU+YB]7?]:]9e?UhCU;U;Un 4i mAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 521.20 m.BjJj ProNav: ac range: 521.200012 m, nav range: 483.995972 m, bearing: 182.396783 deg, approach rate: 0.101583 m/s, LOS rate: -0.071107 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877840 deg. 2j3C:jJ@HeadingCmd: 4.814977 target range: 521.200012 and range: 521.20 m. jjjjihhhQhQfQfQfQrfYbf] b @ɛhBXo  I ɚiIU~=Iipi6;))mWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:19:44:00.6043 uTRx dataTimestamp_ set to:1736365441.764860uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516303HI Is II#aBI&I.I6Iձ<:I3F*F2F:FBF0JFGBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766927[ Xw,0`Ay~`B~ II /I J5٢%; %^=9%Q ->)1 5G٣5C3Gy5 5> Nusing accuracyPremultiplier from config49LDn?4Y  i?YB?C;::&45B AfEZjFNOT Ignoring new targets: 521.20 m.BjtJjt ProNav: ac range: 521.200012 m, nav range: 484.035095 m, bearing: 182.369496 deg, approach rate: 0.101826 m/s, LOS rate: -0.071015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893331 deg. 2jB:j@%HeadingCmd: 4.815247 target range: 521.200012 and range: 521.20 m. j!j!j!j!i!h!h!h1h1f9f9f9rf9bf=@ɛmhBm& img Iq qɚqiqIuV~=I}i}Ղi}q;))EJJJJJJ[9JJJ%;a5J&;a5J;a=J;a= If*F 2F :F BF0JFGGsAGB!OE0>Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Ս<checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022878zK gKK ͼ9K K K BK% sA:K% tA&Xw,\`Ay~'`B~ IMb@Mb@Mb@ )Yy&1?Q?{Gzy`%?u=ףA )[AI xAy3kAI1I5٢ <  <=9 Q > %G٣!y) 5> ENusing accuracyPremultiplier from config9E49=In?E4Y= i=XYBM*&?M:MM?=C=;=;=4Q ]AYZjyFNOT Ignoring new targets: 521.20 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:44:00.6043 LVL= 23504, 30785, 20114, 31731, AGC= 72, IDX= 409, 0.35, 0.982,-0.340, 1.150, 0.410, PHS= 0.660,-0.704, 0.737, RAW= 152.7, -9.9, CAL= 158.8, -17.4, ROT= 351.2, 17.4 Ygot valid direction response: 19:44:00.6043 LVL= 23504, 30785, 20114, 31731, AGC= 72, IDX= 409, 0.35, 0.982,-0.340, 1.150, 0.410, PHS= 0.660,-0.704, 0.737, RAW= 152.7, -9.9, CAL= 158.8, -17.4, ROT= 351.2, 17.4 PDAT read: Bearing 351.2, 17.4 (Local) %~Local bearing/azimuth received: Bearing 351.2, 17.4 (Local) EDAT read: Range 10 to 50 : 512.2 m (Round-trip 683.0 ms) speed 0.4 m/s U*DAT read: user:790> UBDAT read: Tx time:19:44:01.7172 ]$Ping request sent.].?޹Y?!^)e ?5wƿ);4?I0>i潿 :publishing transmit ping timeYFpublishing direction and range info9 x&?w c|$Ί`?y )Ii )Ii.?޹Y?!^)e ?5wƿ)Ii5 ProNav: ac range: 521.200012 m, nav range: 484.080048 m, bearing: 182.337754 deg, approach rate: 0.106896 m/s, LOS rate: -0.075473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879972 deg. 2j5/O:j5@=HeadingCmd: 4.815014 target range: 521.200012 and range: 521.20 m. j9j9j9j9i9hAhAhAhIfIfIfIrfM@bfUϨ?ɛ1iB I! )ɚ)i)I-}=Ieiebia)a)i I*F?2F:FBF0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I II 7aBI &I .I 6I <:I dFBIMʾCJIMʾCRIIZIM =bIM =jIM)4G ˴G B O5 >,Xw,`AF@YF=.@Fi9F/>yFHѺ? ,? ¿!Ѿ?]?K?@Xm?K~?ɨF@FW;FCyb9`Bb III75٢_6= T=9]Q > G٣y` > Nusing accuracyPremultiplier from config49JM {JM zJI JI JM d:JM 9JI JI JM &;JM ';JM S:JM U: I 3Xw,`A2@Y2H@2H%92Y>y2Hj?? hN ?@?u9?h?`-|?ɨ2@2b;0yB7`BB IIJ&IJK5٢z# ~U=9~"BQ ~> G٣D3Gy   > Nusing accuracyPremultiplier from config49MQn?4Y$ iYB!%%?C5;F;%4) -gA-cEZjQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.UFNOT Ignoring new targets: 512.20 m.BjeJjm ProNav: ac range: 512.200012 m, nav range: 484.158844 m, bearing: 182.280004 deg, approach rate: 0.106737 m/s, LOS rate: -0.078957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889515 deg. 2jX:j@HeadingCmd: 4.815180 target range: 512.200012 and range: 512.20 m. jjjjihhhhfffrfbfgz?ɛiB~@ [I ɚiIJ=IiiC))EE*F}?2Fy:FyBF1JFzKKK 9KKKRK- ?JK-&?G9;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.9Xw,Q`A IF@YF,@FH9F>yFH?@M?>6@;? >?? ?Xw?ɨF@Fz;FCyVS`BV IuMb@Mb@Mb@qqq q)qYu|?5^?:v?yu-?uT=uuf|A uhWA)uZAIu"yAqyuiAIIS5٢d= :=9 Z;Q  >   G٣y > Nusing accuracyPremultiplier from config%49Un?%4Y, iYB-U.?-:--? C[;;-41 =.A9]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 512.20 m.Bju_Jju_ ProNav: ac range: 512.200012 m, nav range: 484.198853 m, bearing: 182.245295 deg, approach rate: 0.090892 m/s, LOS rate: -0.078847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871066 deg. 2jrX:jR@HeadingCmd: 4.814858 target range: 512.200012 and range: 512.20 m. jjjjihhhhfffrfbf 6I I II`aBI =&I.I6Iֱ<:I5F*F2F:FBF1JFG}i"G9BAOeV> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495524@Xw,]aA2В@Y2Wߙ@2 92q>y2H@X?`?@A ?w?`O? u?`s?ɨ2В@2 ;0y^l`B^ IIjIj5٢v= v_=9vQ z>xx zG٣xy~ػ ~> Nusing accuracyPremultiplier from config 49;Yn? 4Y2 iYB󲿑?-Cz::344B A%dEZjimFNOT Ignoring new targets: 512.20 m.BjuJju ProNav: ac range: 512.200012 m, nav range: 484.231873 m, bearing: 182.216276 deg, approach rate: 0.089076 m/s, LOS rate: -0.078278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888136 deg. 2jV:j@HeadingCmd: 4.815156 target range: 512.200012 and range: 512.20 m. jjjjihhhhfffrfbfB?ɛeiBeq- aeIa aɚiiiIm= IJK 23 K S}-KK"KJ%xJ%tJ!J!J%Z:J%9J!J!J% ;J%;J%:J%:IuiMPiM7)I)*FA2FA:FABFE0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750092G *Ga B O >FXw,caAzK.oKK.9K,K.K.3@4$ >ʒ@Y>ٙ@> 9>>y>H*?@|? ˌ@ٟ?@˿?`?S߿?`q?ɨ>ʒ@>ʈ;>Cyvv`Bz IuMb@Mb@Mb@qqq q)qYu/$?~jt?~jt?yu&1?u=u G٣E3GyE̺ > Nusing accuracyPremultiplier from config49\n?4Y: iZB|1?:9?RC;;k;4 AZjFNOT Ignoring new targets: 512.20 m.Bj๺Jj๺  ProNav: ac range: 512.200012 m, nav range: 484.263489 m, bearing: 182.182016 deg, approach rate: 0.074988 m/s, LOS rate: -0.081253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872415 deg. 2j  _:j@%HeadingCmd: 4.814882 target range: 512.200012 and range: 512.20 m. j)j)j)j)i1h1h9hAhAfIfIWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999610frfbf$@ɛ-2jBM7( QUIQ QɚQiQIUd=I]i]i])Y)aEu>Eu>*F?2F:FBF_1JF G IfGBOd>Hm >Im C Im IIm aBIm =&Ii .Im LD6Im б<:Im 3F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251536LXw,?6aA>(@Y>z̙@>@9>Y >y>H@C??@ɱfO?+T??@ڿ?m?ɨ>(@>z;>Cy^`B^ IIf If5٢n(= rW=9rM Q r>tt zG٣xyz z> Nusing accuracyPremultiplier from config|49~`n? 4Y~JA i~AZB  m ?~tC~.:~:~B4 ċAZjAEFNOT Ignoring new targets: 512.20 m.BjMJjM ProNav: ac range: 512.200012 m, nav range: 484.291473 m, bearing: 182.151419 deg, approach rate: 0.073416 m/s, LOS rate: -0.080264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883401 deg. 2jV\:j@HeadingCmd: 4.815073 target range: 512.200012 and range: 512.20 m. jjjjihhhhfffrfbf$@ɛEcjBM6 IMII IɚIiqIu)=I}i}I%i))*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505335 t$?IG- EJ5 |J5 }J1 J1 J5 ;g:J5 S9J1 J1 J5 ي;J5 ڊ;J5 :J5 :GM ?GM >GA BI Oe >$SXw,ePaA6赒@Y6:ř@696^>y6H }?L?x\.?`?=p? rѿ?`]j?ɨ6赒@68;6Cy^`Bb2 IInInN5٢v= vJ=9vQ v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 49\cn? 4YzH itZB  ?C:C:#I4 aA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755570ZjQ]FNOT Ignoring new targets: 512.20 m.BjeܶJjeܶu ProNav: ac range: 512.200012 m, nav range: 484.321045 m, bearing: 182.118989 deg, approach rate: 0.072893 m/s, LOS rate: -0.079935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877901 deg. 2juo[:juL@}HeadingCmd: 4.814978 target range: 512.200012 and range: 512.20 m. jyjyjyjihhhhfffrfbfB@ɛjB?(4 隽I ɚiIL=Iiuii'))*Fu?2Fq:FqBFup5JFqzKLK9KKKGjGiBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007581 I ZXw,jaAR쭒@YR>@RS9R/0=yRH@??y?@*??X?ah?ɨR쭒@R2b;RCyb`BbF IUMb@Mb@Mb@QQQ Q)QYUʡE?? rh?yU-2?U G٣F3Gy >  Nusing accuracyPremultiplier from config 49 sfn?4Y YP i ZB2?:n? C 3; ; P4-3B -A-eEEB*** querying acoustic contact ***jIjIZjQUFNOT Ignoring new targets: 512.20 m.Bj]Jj]m ProNav: ac range: 512.200012 m, nav range: 484.346710 m, bearing: 182.083514 deg, approach rate: 0.058385 m/s, LOS rate: -0.080696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868768 deg. 2ju]:ju@}HeadingCmd: 4.814818 target range: 512.200012 and range: 512.20 m. jyjyjyjyiyhyhhhfffrfbf@ @ɛjBl* 4=I ɚiILo=Ii@i5))EH I  I  II aBI  =&I .I 6I <:I OF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260383*FM?2FI:FIBFMs5JFQGE{#G B) O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:44:04.8002  TRx dataTimestamp_ set to:1736365446.048794 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512690`Xw,ЃaAc@Y@9ʐ=yH?͐?`^ջ?j?`=@? ?@c?ɨc@z; Cy-`B5Z IIEIE5٢U?= UN=9UQ U>YY ]G٣Yye3 e> mNusing accuracyPremultiplier from configiu49min?u4Ym'W imZBy}}?mߪCm;m;m}W4 ڊAZjFNOT Ignoring new targets: 512.20 m.Bj=!Jj=!M ProNav: ac range: 512.200012 m, nav range: 484.368805 m, bearing: 182.052843 deg, approach rate: 0.057987 m/s, LOS rate: -0.080489 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883181 deg. 2jM\:jM @ yI}fHeadingCmd: 4.815070 target range: 512.200012 and range: 512.20 m. jjjjihhhhfffrfbf @ɛ kBV-/  !JJJJJ=:Jy9JJJإ;J٥;J>:J?:Ia iɚiiiIm =Iuiuriu|C)q)y*Fy2Fy:FyBF}1JFy]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.764078G -,G B O] >gXw,؝aAzKVKKVػ9KTKVKV **% 7MSSPBKh:KjsA/@Y@ԡ9>yH`?? q} ?`?T??*^?ɨ/@ڇ;騁yޕ%aBޕu I =%=]Mb@Mb@Mb@YYY Y)YY](\?V-?Q?y].?]<]\=]vA Y)]$TAIYYy]fAIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:44:04.8002 LVL= 24672, 32753, 20306, 32755, AGC= 70, IDX= 497,-0.46,-2.992, 2.054,-2.900, 2.715, PHS= 0.664,-0.613, 0.666, RAW= 150.0, -11.2, CAL= 156.8, -19.0, ROT= 353.2, 19.0  Ygot valid direction response: 19:44:04.8002 LVL= 24672, 32753, 20306, 32755, AGC= 70, IDX= 497,-0.46,-2.992, 2.054,-2.900, 2.715, PHS= 0.664,-0.613, 0.666, RAW= 150.0, -11.2, CAL= 156.8, -19.0, ROT= 353.2, 19.0 I5٢%= %/=9%rлQ ->)) -G٣)y5@: 5> Nusing accuracyPremultiplier from config49ln?4Y|_ i/[Bw.?:?C;r;_4PDAT read: Bearing 353.2, 19.0 (Local) ~Local bearing/azimuth received: Bearing 353.2, 19.0 (Local) DAT read: Range 10 to 50 : 509.1 m (Round-trip 678.9 ms) speed 0.5 m/s *DAT read: user:791> BDAT read: Tx time:19:44:05.9172  A5$Ping request sent.5ککۭj,js)?&Mv?qf|{ȿ)ۭdc?IۭCH>iۭYƹۭ۩۩5:publishing transmit ping time1=Fpublishing direction and range infoة9ح+q?Sʶr꿾'?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکک QIQk kwdaA:kCBkCZkQ@"vGLI@LĬZz3q@+q?Sʶr꿾'?JkYƹRk*t%\0'|V_Ll@gJ>P"7[?"kb*k9k&ڛ?k6 2kPCk`՛?kҠ k;Ck CkRxP@کۭj,js)?&Mv?qf|{ȿ)۩I۩i۩۩۩۩E addTargetRange:: Added new target pos. range: 509.100006 m, deltaT: 4.033053 s, deltaX: -3.100006 m, approachRate: -0.768650 m/s, rangeRepo size: 4  Added new target pos. range: 509.100006 m, bearing: 187.180360 deg, lat: 36.899779 deg, lon: -122.114049 deg, deltaT: 4.033053 s, deltaX: -3.100006 m, approachRate: -0.768650 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 509.10 m.BjJj% ProNav: ac range: 509.100006 m, nav range: 468.076050 m, bearing: 186.632045 deg, approach rate: 0.000000 m/s, LOS rate: -0.080489 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841660 deg. 2j!:j%@-HeadingCmd: 4.814345 target range: 509.100006 and range: 509.10 m. j)j)j)j)i1h1h1h1h9f9f9farfe@bfe`?ɛSkB4e "I ɚi I =I iiޞ<))H >I C I " II ?bBI =&I .I KD6I ۱<:I 7F*F ?2F :F BF 0JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:19:44:05.9165 G5K7GBO%>EnXw,aARf@YR@R4 9Rd>yRH` ?@ދ?I¿XyL@?@$K??_-?`X?ɨRf@Rׇ;RCy^IaB^ IIvIv5٢e= e@=9eQ e>ii mG٣mG3Gyuv8 u> Nusing accuracyPremultiplier from configy49}on?4Y}f i}n[B?},C}:}:}Ng4 9Ak Pڛ?k ͤ$ k  k :k Bk Zk GP@" vGLI@LĬZz3q@ +q?Sʶr꿾'?Jk Rk * j-|hf!Lvи2ol@ f(t>V_q|=xxN?"k `*k lk CUڛ?k P|. 2k Ck CUڛ?k P|. k Ck *Ck cP@ZjAMFNOT Ignoring new targets: 509.10 m.BjM׺JjM׺ ProNav: ac range: 509.100006 m, nav range: 468.079559 m, bearing: 186.597269 deg, approach rate: 0.009509 m/s, LOS rate: -0.094227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870861 deg. 2jU:jJ@HeadingCmd: 4.814855 target range: 509.100006 and range: 509.10 m. jjjjihhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bf@?ɛEkBEϩD IM#II IɚIiIIM=Iuiu[i}A =)y)y qIqJ%@AJ%?AEܝ=*FQ 2FQ :FQ BFU 0JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.G= T:GB9O}?Y6wXw,%@aAysaB IzK56MK5S9K1K5K5LKKJFE=;7631-(" RK=?JK=?Mb@Mb@Mb@ )YNbX9?X9v?V-?y%?<< xA $TA)QAI9zAyfAII_5٢= =9Q > G٣y > Nusing accuracyPremultiplier from config49Msn?4Yo i[B%?:뷿?VCN;;op4 AbEZjFNOT Ignoring new targets: 509.10 m.Bj%ﷺJj%ﷺ5 ProNav: ac range: 509.100006 m, nav range: 468.085876 m, bearing: 186.556692 deg, approach rate: 0.012518 m/s, LOS rate: -0.080404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853459 deg. 2j5\:j5@=HeadingCmd: 4.814551 target range: 509.100006 and range: 509.10 m. j9j9jAjAiAhAhAhIhIfIfIfQrfQbfU?ɛ}kB}'' 隅$I ɚWill construct direction to contact in vehicle frame from tetrahedron phase data.iaI΁=Iiᙺi7=))EeЉ= 1I=fJJJJJ:J9JJa%@a%@a%@a%@*FA2FA:FABFIJFIH >I  I a II bBI &I .I 6I :I 6FBIJIRIZI =bI =jIf5e Will construct direction to contact in vehicle frame from tetrahedron phase data.G Y<G ?G >Gq By O >K}Xw,3aA6@Y6n@6}+96>y6H{[?`?`'¿`mu?@v?@V?5?HK?ɨ6@6݇;6Cy^aBb IIjrIjj5٢r> r]=9r#Q r>tt vG٣tyzE z> ~Nusing accuracyPremultiplier from config|49~un?4Y~u i~[B = ?~tC~ ;~ ;~v42B tAcE-B*** querying acoustic contact ***j)j)ZjAEFNOT Ignoring new targets: 509.10 m.BjMJjM  ProNav: ac range: 509.100006 m, nav range: 468.089935 m, bearing: 186.528040 deg, approach rate: 0.010942 m/s, LOS rate: -0.077239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889230 deg. M~G2j]Ta:jm@y YyUBPExceeded connect timeout, disconnecting.HeadingCmd: 4.815176 target range: 509.100006 and range: 509.10 m. jjjjihhhhfff1rf1bf5?ɛkBfk1 隥F%I ɚiI,ف=IiX2ie))iEqEq*Eq"EqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. YIY*F 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713502G [D=GBO>uaXw,ybA6C@Y6@6,,96iP>y6HO? ?c¿@Sii?@e?z? iB?`H?ɨ6C@6XU;6CyBaBB IIJIJ5٢R6= R-=9RuQ V>TT VG٣VH3GyZ< Z> ^Nusing accuracyPremultiplier from config\b49^Jyn?f4Y^} i^/\Bdf·j?^C^P;^NR;^+4l nIAlZjaeFNOT Ignoring new targets: 509.10 m.BjmڬJjmڬ ProNav: ac range: 509.100006 m, nav range: 468.096375 m, bearing: 186.491373 deg, approach rate: 0.013269 m/s, LOS rate: -0.075560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865187 deg. 2jlO:j{@HeadingCmd: 4.814756 target range: 509.100006 and range: 509.10 m. jjjjihhh!h!fQfQfYrfYbfem ?ɛ]AlB ) 隕"(I ɚiIҁ=I%i%si% ()!))zK=xMK=9K9K=K=*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970259 IJ J J J J M:J 9J J G ]G B O >Xw,>Y0bA6ђ@Y6 @63-96">y6H%F?Ԃ?H¿@eh?? ?z?`E?ɨ6ђ@6Ç;6Cy>aBB I)D D Mb@Mb@Mb@    ) Y y&1?Q?:v?y `%? < T< "yA SA) PAI O{A y I%I%G5٢== =B=9=Q E>AA EG٣AyMU< M> UNusing accuracyPremultiplier from configQHe>Ia Ie IIecBIe =&Ia.Ia6Ieα<:Ie*F49Us|n?4YU} iUe\B%?:?UCU Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472755 I @oXw,6JbA>L@Y>@>j/.9>}r>y>H~?5}? ÿ b`Oܾ? ???2B?ɨ>L@>͇;>CyRbBR IIZIZ+5٢b= fR=9f!Q f>hh jG٣hyjg; n> rNusing accuracyPremultiplier from configpv49rmn?v4Yr ir\Btvv?rݫCrq:r:rZ4| ~A|Zj!-FNOT Ignoring new targets: 509.10 m.Bj-Jj5E ProNav: ac range: 509.100006 m, nav range: 468.111389 m, bearing: 186.428359 deg, approach rate: 0.020848 m/s, LOS rate: -0.082631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884472 deg. 2jEb:jE=@MHeadingCmd: 4.815093 target range: 509.100006 and range: 509.10 m. jIjIjIjIiIhQhQhQhQfYfYfYrfabfe 6@ɛlBtL 隍(I ɚiI=IilҢi))E*F12F1:F1BF50JF1-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726192Gu)+GIBiO>zK} vKK} 9Ky K} K} RK ?JK ?rXw,dbA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.976832y=%bB= IEMb@Mb@Mb@AAA A)AYEw/?Q?yE&?E\=EEuA EQA)ENAIAAyEzdAI]I]d5٢mC= m2= yIy9}Q }> G٣I3Gy > Nusing accuracyPremultiplier from config49En?4Y i\B&'?:s?COe;\b;z40B xAdEJJJJJJb9JJZjFNOT Ignoring new targets: 509.10 m.Bj쨺Jj쨺 ProNav: ac range: 509.100006 m, nav range: 468.123749 m, bearing: 186.391811 deg, approach rate: 0.024972 m/s, LOS rate: -0.073842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865545 deg. 2j%J:j%@-HeadingCmd: 4.814762 target range: 509.100006 and range: 509.10 m. j)j)j)j)i1h1h1h1h9f9f9f9rf9bfe3 @ɛlB%Y* !%Z,I! !ɚ!i)I-=I-i5S5i5)1)1*F2F:FBF0JFHe >IeC Ie IIe\cBIe =&Ia.Ia6Ie±<:Ie F-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228722G ԑGy B O >ÞXw,}bA:@Y:%@:/9:>y:H 6_? p?ÿ`[C?1?`?`e?9?ɨ:@:V;:CyfBbBf$ IIrIr.5٢zV= zf=9zuQ z>|| ~G٣y߀< >  Nusing accuracyPremultiplier from config 49 An?4Y  i \B?  C ; ; 4! ->A)EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 509.10 m.Bj]ĺJjeĺm ProNav: ac range: 509.100006 m, nav range: 468.134369 m, bearing: 186.364428 deg, approach rate: 0.033379 m/s, LOS rate: -0.086063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893039 deg. 2juAl:juv@}HeadingCmd: 4.815242 target range: 509.100006 and range: 509.10 m. jyjyjyjihhhhfffrfbf. @ɛmB=_ 隽-I ɚiILO=Ii#i2ٸ))*FQ2FQ:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481118 mu$?IufGXGiByO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:19:44:08.9966 M TRx dataTimestamp_ set to:1736365450.336540M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733751Xw,ŗbA6@Y6-@6096>y6H?+m?Ŀ@xY`n?I?#?$?@6?ɨ6@6·;6Cy>ubBBD IIJIJ5٢n~= rL=9r"#Q r>tt vG٣tyv; z> ~Nusing accuracyPremultiplier from configx49zn?4Yz? iz(]B?zACz ;z ;z4 ؇AZj9EFNOT Ignoring new targets: 509.10 m.BjEJjMU ProNav: ac range: 509.100006 m, nav range: 468.146942 m, bearing: 186.332914 deg, approach rate: 0.031390 m/s, LOS rate: -0.078673 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880648 deg. 2j]W:j]@eHeadingCmd: 4.815026 target range: 509.100006 and range: 509.10 m. jajajajaiahihihihifqfqfqrfqbf}Y@ɛKmBB 隥`-I ɚiIl=Ii֣i~P7))EsAEtA*Fu?2Fy:FyBFo1JFGuu4GaBiO9>zK}\KK9KKKBK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.984834 qIyJA JE JA JA JA JE =9JA JA (׫Xw,bA2%@Y24@2ټ092>y2H@Ӻ?`Ql?#ĿX@Ċ?q??'? 6?ɨ2%@2*;2Cy>bB>X IH>IC I IIcBI&I.I6Iα<:I(F-Mb@Mb@Mb@))) )))Y-uV?ˡE?{Gzty-r(?-'=-ף-tA -PA)-MAI- xA)y-bAIEIE5٢U= UB=9]ҹQ ]>Ya eG٣eJ3GyeS; e> uNusing accuracyPremultiplier from configiu49mn?}4YmR imX]B}(?}:}F}?mcCm;mS;m驂4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 19:44:08.9966 LVL= 20896, 25649, 18594, 29107, AGC= 65, IDX= 399,-0.47,-0.191,-1.513,-0.028,-0.819, PHS= 0.716,-0.648, 0.788, RAW= 152.5, -12.2, CAL= 159.4, -19.4, ROT= 350.6, 19.4 =Ygot valid direction response: 19:44:08.9966 LVL= 20896, 25649, 18594, 29107, AGC= 65, IDX= 399,-0.47,-0.191,-1.513,-0.028,-0.819, PHS= 0.716,-0.648, 0.788, RAW= 152.5, -12.2, CAL= 159.4, -19.4, ROT= 350.6, 19.4 EPDAT read: Bearing 350.6, 19.4 (Local) E~Local bearing/azimuth received: Bearing 350.6, 19.4 (Local) MDAT read: Range 10 to 50 : 506.4 m (Round-trip 675.2 ms) speed 0.5 m/s U*DAT read: user:792> ]BDAT read: Tx time:19:44:10.1172 ]$Ping request sent.]"]?̏I?۰2˿)o?IY>i) :publishing transmit ping timeYFpublishing direction and range info9pV9?4m-ͯ1{q/m?y )Ii )Ii"]?̏I?۰2˿)Iik%Qb ٛ?kb!N k kbA:k3CBkCZksS@"=|{IN@ʱz^M0?p@pV9?4m-ͯ1{q/m?Jk)Rk *x'+|p-ͯRqNi@{DR .¿آõ?"k*kk1؛?kZ 2kCk1؛?k6 k;Ck)CkP@E addTargetRange:: Added new target pos. range: 506.399994 m, deltaT: 4.286934 s, deltaX: -2.700012 m, approachRate: -0.629824 m/s, rangeRepo size: 4 } Added new target pos. range: 506.399994 m, bearing: 189.301378 deg, lat: 36.899853 deg, lon: -122.114079 deg, deltaT: 4.286934 s, deltaX: -2.700012 m, approachRate: -0.629824 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 506.40 m.BjJj ProNav: ac range: 506.399994 m, nav range: 460.321045 m, bearing: 186.744651 deg, approach rate: 0.000000 m/s, LOS rate: -0.078673 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863983 deg. 2j:jO@HeadingCmd: 4.814735 target range: 506.399994 and range: 506.40 m. jjjjihhhhfffrf`f@bf磰?ɛ}mB(.0 /I ɚiIj=Ii=;i;3:))*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:44:10.1165 G G tAG tA i Ii G B O >⽲Xw,bAF @YF\.@F19F$>yFH?m?` ĿX`p??-?>? 6?ɨF @FHz;FCy=bB=j IIMIM5٢]G= ]J=9eQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configy49}Un?4Y}' i}]B`?}C}":}:}4 \AaEZjFNOT Ignoring new targets: 506.40 m.BjκJjκ- ProNav: ac range: 506.399994 m, nav range: 460.334717 m, bearing: 186.711960 deg, approach rate: 0.037773 m/s, LOS rate: -0.090319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877115 deg. 2j-w:j5/@=HeadingCmd: 4.814964 target range: 506.399994 and range: 506.40 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM`e?ɛmB/T 0I ɚiIڜ=Iiil,#))*F2F:FBF 1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G }:G B1 O >zK ؞KK K K K RK% >JK% ?{Xw,TbA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6@Y6>@63968>y6H?z?A%ÿ@X ?R?\?i?:?ɨ6@6=;6CyBbBB I Mb@Mb@Mb@    ) Y Cl?~jt?{Gzty /? D=  rA MA) pKAI  y `AI%I%5٢5= 5M=95Q => I G٣y% %> =Nusing accuracyPremultiplier from config1E495n?E4Y5 i5]BMN0?M:M䲿M?5C5|;5PB;5t4}/B  AcEZj 5FNOT Ignoring new targets: 506.40 m.Bj5ϻJj5ϻE ProNav: ac range: 506.399994 m, nav range: 460.351013 m, bearing: 186.675968 deg, approach rate: 0.037174 m/s, LOS rate: -0.082098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867215 deg. 2jE_a:jM@uHeadingCmd: 4.814791 target range: 506.399994 and range: 506.40 m. jqjqjqjqiqhqhyhyhyfyffrfbfv?ɛ-mB-'= )-O2I1 1ɚ1i1I5魂=I=i=܃i=Lh)9)AEme>Em>*F2F:FBF0JFHI I< IIdBI&I.I6I:IWill construct direction to contact in vehicle frame from tetrahedron phase data.GE !G B) OE >3Xw,D2bA6@Y6<@6c596- >y6H۸?{? 7ÿ|X6?@ێ?/??7?ɨ6@6;6CyRbBR IIZnIZ5٢bQ= fQ=9f#Q f>hh jG٣jK3Gyj j> rNusing accuracyPremultiplier from configpv49rn?v4Yr ir]BtvLv?rʬCr:r:rľ4x ~A|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 506.40 m.Bj-J˺Jj-J˺E ProNav: ac range: 506.399994 m, nav range: 460.364166 m, bearing: 186.645551 deg, approach rate: 0.038429 m/s, LOS rate: -0.088865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883939 deg. 2jEs:jE)@MHeadingCmd: 4.815083 target range: 506.399994 and range: 506.40 m. jIjIjIjQiQhQhQhYhYfYfafarfabfe|?ɛ -nB [  3I ɚ1i1I5%=I=iE}iE=iǻ)A)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFp5JFGtA GpAG*G?G ? IfGaBqO:>JJJJJ:J9JJJp;aJr;aJ';aJ';a% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499378Xw,cA:ܒ@Y:e@:;d69:>y:H`ٌ?}?&ÿX??`?? 6?ɨ:ܒ@:=;8y^(cBb IfAfAIjrIjj5٢r8> rH=9r Q v>tt vG٣tyz A z> ~Nusing accuracyPremultiplier from config|49~n?4Y~2 i~^B  s ?~C~:~:~ł4 mAZjAEFNOT Ignoring new targets: 506.40 m.BjMJjM ProNav: ac range: 506.399994 m, nav range: 460.378845 m, bearing: 186.611215 deg, approach rate: 0.035977 m/s, LOS rate: -0.084150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872184 deg. 2jg:j{@HeadingCmd: 4.814878 target range: 506.399994 and range: 506.40 m. jjjjihhhhfffrfbf?ɛEfnBE2F AM3II IɚIiIIM=IUi]륺i]ݻ)Y)Y*F?2F:FBFo5JFzK.JKKKK }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751444 IGUV'SGI BY O >p$Xw,2cAZHPRHR?AHPIRC IRt IIRddBIP&IP.IP6IRϱ<:IPBIaJIaRIaZIe =bIe =jIe 05yf\cBf IMb@Mb@Mb@ )YtV? ףp= ?Mbp?y2?Q8=; LA)CIAIsAy _AIIG5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003442٢\= <=9Q > G٣y > Nusing accuracyPremultiplier from config 49n? 4Y iY^B 3?:Y?Ce;hc;͂4 A!ZjAEFNOT Ignoring new targets: 506.40 m.BjMúJjMú] ProNav: ac range: 506.399994 m, nav range: 460.392883 m, bearing: 186.573940 deg, approach rate: 0.032121 m/s, LOS rate: -0.085289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863363 deg. 2j]"j:je8@eHeadingCmd: 4.814724 target range: 506.399994 and range: 506.40 m. jajijijiiihihihqhqfqfyfyrfybf} pK@ɛnBD@ 隝4I ɚiI~=Ii|i)Dٻ)))a eC~~G xA5A YxAy#B*F2F:FBF;4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255490G G B I O > Xw,/LcAJ6J6J4J4J6M:J69J4J4J6#;J6%;J61;J61;Fߒ@YF@F69F# >yFH ?@|?1ÿW@۾?`۵? D??,6?ɨFߒ@FB;FCyRcBR IIXIX٢b= b^=9b2Q f>dd fG٣fL3Gyj̛: j> rNusing accuracyPremultiplier from configlv49nqn?v4Yn in^BtvKz?n4Cn:n:nӂ4~.B ~A~dEZjFNOT Ignoring new targets: 506.40 m.Bj,Jj, ProNav: ac range: 506.399994 m, nav range: 460.404907 m, bearing: 186.542631 deg, approach rate: 0.031423 m/s, LOS rate: -0.081820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881263 deg. 2j`:j@HeadingCmd: 4.815036 target range: 506.399994 and range: 506.40 m. jjjjihhhhfffrfbfc@ɛEnBE@T AE5IA IɚIiIIM;=IUiu.iu-̻)y)y*F 2F :F BFX5JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512480G1G5sAG1G By O >zKU LKU ػ9KQ KU KU     ! DXw,PfcAWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759620>}@Y>@>i69>Jd >y>H@?A|??ÿW?r???o5?ɨ>}@>nч;>CyRcBR I-Mb@Mb@Mb@))) )))Y-/$?l?{Gz?y-&1? III-=-ף<-AnA -ZJA)-GAI))y-\AIeIe~5٢> 6=9 Q  >    G٣ y>p9 > -Nusing accuracyPremultiplier from config!]49%>n?]4Y%~ i%^B]z1?]:ee?%[C%;%3;%ۂ4i m.AiZjFNOT Ignoring new targets: 506.40 m.BjĺJjĺ ProNav: ac range: 506.399994 m, nav range: 460.415405 m, bearing: 186.504676 deg, approach rate: 0.023708 m/s, LOS rate: -0.085712 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861324 deg. 2jJk:j@HeadingCmd: 4.814688 target range: 506.399994 and range: 506.40 m. jjjjihhhhf!f!f!rf!bf%@3@ɛoB~> 15I ɚiI]J=Ii%ik˻))*F2F:FBFp5JFHIC I IIdBI =&I.I6I <:ISFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011489G 4λG B O >Xw,ycA6Ғ@Y6;@6796 >y6HC?@7}?HÿV f?`?? ?3?ɨ6Ғ@6\n;6Cy>dB>7 IIjIj5٢rr!> r`=9v-Q v>tx zG٣xyz z> Nusing accuracyPremultiplier from config 49En? 4Y i_BI?zCX:X:$4 A!mB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 506.40 m.Bj$Jj$ ProNav: ac range: 506.399994 m, nav range: 460.423645 m, bearing: 186.474096 deg, approach rate: 0.022750 m/s, LOS rate: -0.084428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883450 deg. 2jg:j@HeadingCmd: 4.815074 target range: 506.399994 and range: 506.40 m. jjjjihhhhfffrfbf# @ɛMoBRQ 4I ɚiIq=Iii"))E!E!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263524 ev$?Imf*F?2F:FBF15JF*J}4="JyJJJJJ:J9JJJ ;J ;J;J;G$ĻG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:44:13.2028  TRx dataTimestamp_ set to:1736365454.368558 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516377rJXw,bcA6ɒ@Y6.ٙ@6{896 C >y6H ?}?`PÿVM???`?2?ɨ6ɒ@6;6Cy^9dB^Z IIfIfH5٢n> nK=9nQ r>pp rG٣rM3Gyv3 v> zNusing accuracyPremultiplier from configx49zn?4Yz izC_B n ?zCzP;zEP;z,4 EAZj9=FNOT Ignoring new targets: 506.40 m.BjE+ĺJjE+ĺ] ProNav: ac range: 506.399994 m, nav range: 460.432587 m, bearing: 186.440203 deg, approach rate: 0.022623 m/s, LOS rate: -0.085752 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873509 deg. 2j]gk:j]@eHeadingCmd: 4.814901 target range: 506.399994 and range: 506.40 m. jajajajaiahihihihifqfqfyrfybf}i @ɛoB̑S 隭w4I ɚiI=Ii^i ))*F}?2F:FBF0JFzKU*MKQKQKUKUBKa:KamWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770306 YIYG-G B O- >sqXw,0cA jH bH H& >I&C I& II&beBI& =&I$.I$6I&<:I&YFy}rdB}} IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 510.9 m (Round-trip 681.3 ms) speed 0.5 m/s *DAT read: user:793> -X#Rx 1: Read range message, but no direction.ysCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.=Mb@Mb@Mb@999 9)9Y=K7?Q?X9v?y=I,?=<=<=+mA =CIA)=FAI=rA9y=[AIU|IU5٢e`= e4=9eQ e>iq uG٣qy} }> Nusing accuracyPremultiplier from config49n?4Y i_B,?:޷?íCR<]<4y }ӃA}aE  addTargetRange:: Added new target pos. range: 510.899994 m, deltaT: 4.035980 s, deltaX: 4.500000 m, approachRate: 1.114971 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 506.40 m.BjǮJjǮM ProNav: ac range: 506.399994 m, nav range: 460.439209 m, bearing: 186.403109 deg, approach rate: 0.013640 m/s, LOS rate: -0.076402 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863906 deg. 2jMQ:jML@UHeadingCmd: 4.814734 target range: 506.399994 and range: 510.90 m. jQjQjQjQiYhYhYhYhafafafrf`f@bfృ?ɛoB[4 f5I ɚiIۑ=Iii ) ) E>E>*F?2F:FBFo5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՕ A BDAT read: Tx time:19:44:14.3173  $Ping request sent. YXw, cAJK3 KKK"KJ&J&J$J$J&ݒ:J&b9J$J$J&;J&;J&2.;J&3.;J@YJə@J 99J >yJHZ?@܀?$ÿ VԽ?@88?@?@?@61?ɨJ@J;JCyfdBf IIgI5٢KY> c=9Q >99 =G٣9yE䧻 E> UNusing accuracyPremultiplier from configQ}49Un?}4YU iU_B?UCUN;U;U~4-B 1AbEZjFNOT Ignoring new targets: 506.40 m.BjźJjź5 ProNav: ac range: 506.399994 m, nav range: 460.444244 m, bearing: 186.373286 deg, approach rate: 0.014546 m/s, LOS rate: -0.086149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885722 deg. 2j5~l:j5j@=HeadingCmd: 4.815114 target range: 506.399994 and range: 510.90 m. j9j9jAjAiAhAhAhIhQfffrfbf@i?ɛ%oB%izW !%3I! )ɚ)i)I-=I]i],ieG')a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250672*F?2F:FBF0JFG- ׹GY B O5 >Xw,>cA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502569zK&KK$K$K&K&RK.?JK.>Jӯ@YJ&@J#;9J|>yJH@-?"?ÿ@}U? Fc?@?@?0?ɨJӯ@J]x;JCyRdBR I tIt-5only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32:WE,-32768,-32768,-32768,V  5@= =@= =@=  =@= IMBIMǸ5٢= =9HM >II IMt IIMfBIM =&II.II6IM<:IMFQ }>y G٣N3Gy > bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config549͸n?54Y i"`B=+:9=:=B=?CJ<?4I MĂAIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754482ZjFNOT Ignoring new targets: 506.40 m.BjlJjlU ProNav: ac range: 506.399994 m, nav range: 460.451965 m, bearing: 186.326275 deg, approach rate: 0.013241 m/s, LOS rate: -0.080618 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834155 deg. 2j]O]:j] @eHeadingCmd: 4.814214 target range: 506.399994 and range: 510.90 m. jajajajaiahahahihfffrfbf?ɛE QpBE v% A E 5II Q ɚQ iQ IU }=I] i] i] 7)Y )a *F ?2F! :F! BF% 0JF! GM'Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006555 )I-fG9BIOe ?vYw,V dAR@YRT@R =9R>yRHZw?`?¿@_Sr?\?? ?3?ɨR@R;RCy9eB I) I-(I-5٢=)> =R=9=?Q =>AA EG٣AyM M> ]bBottom track data is 0.9 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe49Ugn?e4YU1 iU]`Be :aeN:em?U1CUf9;Uq?U4q u@AqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 506.40 m.BjĺJjĺ ProNav: ac range: 506.399994 m, nav range: 460.456482 m, bearing: 186.296393 deg, approach rate: 0.012997 m/s, LOS rate: -0.085991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885542 deg. 2jl:jd@HeadingCmd: 4.815111 target range: 506.399994 and range: 510.90 m. jjjjihhhhfffrfbf@?ɛ~pBd 隕Q4I ɚiI=Iii;`))*Fy2Fy:FBFp5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258426GD5G B O >wYw,d"$dAQ@Y@=9c>yH>j?@K?3F¿ S?`?@?@?`~2?ɨQ@j;騅CyeB/ IMWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510798'TFailed to parse incomplete device message. I        Mb@Mb@Mb@ )Y~jt?S㥛? %0=9-X9Q ->11 5G٣1y= => MNusing accuracyPremultiplier from configI]49MXn?]4YMh iM`B]T:e?=:=ԸE?MTCM&=M=M 4I MAIZjiuFNOT Ignoring new targets: 506.40 m.BjuݞJj}ݞ= ProNav: ac range: 506.399994 m, nav range: 460.461243 m, bearing: 186.262031 deg, approach rate: 0.009622 m/s, LOS rate: -0.069445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872103 deg. 2j=>:j=x@EHeadingCmd: 4.814877 target range: 506.399994 and range: 510.90 m. jAjAjAjAiAhIhIhIhIfQfQfQJeJeJaJaJe:Je*9JaJaam@am@am@am@rfybf}y?ɛpB'V1 I3I ɚiI[=Ii9 i ]))!*F2F:FBF0JFHE >IA IE IIEfBIE =&IA.IA6IE<:IEF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762504G *UG B O >Yw,D?dA6@Y6庙@6<96C>y6H ?@?¿PS??v?`w?`,?`S2?ɨ6@6;6CyBeBB^ IIJ9IJɶ5٢R\> Ro=9R9;Q V?TT VG٣VO3GyZ; ^? bNusing accuracyPremultiplier from config\b49^n?f4Y^ i^`Bdff?^nC^:^\:^4U+B UA]cEZjy}FNOT Ignoring new targets: 506.40 m.BjJj󮺝 ProNav: ac range: 506.399994 m, nav range: 460.465271 m, bearing: 186.236997 deg, approach rate: 0.012306 m/s, LOS rate: -0.076477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.900084 deg. 2jQ:jx@HeadingCmd: 4.815365 target range: 506.399994 and range: 510.90 m. jjjjihhhhf ffrfbf`@ɛpBY !M1II IɚIiIIMă=IUiU"Mi]%7)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015393 If*F92F9:F9BF=p5JF9G} UGY Bi O >Yw, YdAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266616:@Y:Mϙ@:.<9:>y:H??R¿ R@y?`m?@ `?C?2?ɨ:@:,;:Cyr!fBr IIz5Iz5٢> E=90:Q  >    G٣ y; > %Nusing accuracyPremultiplier from config549=n?54Y iaB9E7E?C{;G;54Y ]lAaZjFNOT Ignoring new targets: 506.40 m.BjJj ProNav: ac range: 506.399994 m, nav range: 460.470917 m, bearing: 186.206530 deg, approach rate: 0.013820 m/s, LOS rate: -0.074576 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883787 deg. 2jL:j$@HeadingCmd: 4.815081 target range: 506.399994 and range: 510.90 m. jjjjih h h h fffrfbf @ɛ1qBG 1I ɚiIփ=I%i-giM)I)Q*F2F:FBFW5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519332 IzKV$KKh9KKKG- .-G B O- >J AAJ AAJ J J J J J 9J J #Yw,rdAV:В@YVߙ@V;9V>yVH&*?`?%¿Qv?Ii?U?i?`0?ɨV:В@Vƈ;VCybZfBb IHAIA IEBIIETgBIE =&IA.IA6IEձ<:IE'FBI CJI CRI ZI bI =jI ^ 5Mb@Mb@Mb@ )Y9v?Q?Zd;O?y?\=j<gA FA)BAIAnAyWAI-I-Ҫ5٢== =8=9EB:Q E>AA MG٣IyMM; M> ]Nusing accuracyPremultiplier from configQ]49Uun?e4YU iUVaBe`?e:ee?UCU;UY;U 4i mAqZjFNOT Ignoring new targets: 506.40 m.BjJj ProNav: ac range: 506.399994 m, nav range: 460.481995 m, bearing: 186.175133 deg, approach rate: 0.025449 m/s, LOS rate: -0.072125 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880998 deg. 2jE:j@HeadingCmd: 4.815032 target range: 506.399994 and range: 510.90 m. jjjjihhhhfffrfbf` @ɛlqBC %1I ɚiI2=I%i% ºi%܂)!))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770605 G*F5? =YAyETA2FA:FABFM 5JFIG jGa Bi O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024076) #Yw, ČdA6J@Y6@6<;96>y6Hϸ?!}?@ÿ6Py"? 0J?EF?J?0?ɨ6J@6;6CyBfBB IIJIJC5٢R-'> Rh=9Vo:Q V>TT VG٣ZP3GyZ; Z> ^Nusing accuracyPremultiplier from config\b49^ n?b4Y^" i^aBdfJf?^ǮC^:^7:^'4h j AhzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 506.40 m.Bj HJjH ProNav: ac range: 506.399994 m, nav range: 460.491364 m, bearing: 186.150307 deg, approach rate: 0.026607 m/s, LOS rate: -0.070502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.900712 deg. 2jA:j@HeadingCmd: 4.815376 target range: 506.399994 and range: 510.90 m. jjjjihhhhfffrfbf @ɛ-qB-?L 1u0Iq yɚyiyI}f=Ii ?úi))*F?2F:FBF)3JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274503GBG B O >;)Yw,dA yIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:44:17.3895 TRx dataTimestamp_ set to:1736365458.657643checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528957@Y@Ɇ:9h >yH`-W?`xx?`Ekÿ`O@?3!?/?`?t/?ɨ@̇;CyfB IzKEKKEػ9KAKEKEmMb@Mb@Mb@iii i)iYmGz?~jt?{Gzt?ym?mD=mף;i mDA)m@AIm+mAiymVABADAIIϮ5٢H= #=9Y:Q > G٣y#; > Nusing accuracyPremultiplier from config49an?4Y* iaB*?:V?CU9;7;/4 ~AZjFNOT Ignoring new targets: 506.40 m.BjJj ProNav: ac range: 506.399994 m, nav range: 460.513153 m, bearing: 186.115703 deg, approach rate: 0.043480 m/s, LOS rate: -0.069048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871378 deg. 2j=:j]@*JR="Jp=JJJJJ:JJJHeadingCmd: 4.814864 target range: 506.399994 and range: 510.90 m. jjjjihhhhfff rf bf `)'@ɛuqB}}2 y}3Iy yɚyiyI=Ii)ĺi))H9I9 I=II=gBI= =&I9.I96I=<:I==F*Fi2Fi:FiBFmp5JFi= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778488G ҸGi Bq O >#B0Yw,fdA2X @Y2@2Ĥ992 >y2H*?`nt?ÿN5???3 ?/?ɨ2X @25s;2Cy>fB> IIFIF(5٢b> f=9n/;Q n ?tt uG٣qy; ? ENusing accuracyPremultiplier from configm49vn?u4Y!/ iaBquu?C<< 64y }}A`EZjFNOT Ignoring new targets: 506.40 m.Bj{Jj{ ProNav: ac range: 506.399994 m, nav range: 460.529083 m, bearing: 186.091420 deg, approach rate: 0.043157 m/s, LOS rate: -0.065781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902342 deg. 2j4:j@HeadingCmd: 4.815404 target range: 506.399994 and range: 510.90 m. jjjjih!h!h)h)f)f)f)rf1bf5 @ɛrB!V 隕3I ɚiI=Ii6OĺiD) %w$?I%f]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:44:17.3895 LVL= 32304, 32753, 24690, 32755, AGC= 67, IDX= 309,-0.44,-1.593,-2.851,-1.484,-2.226, PHS= 0.721,-0.578, 0.739, RAW= 150.7, -13.4, CAL= 157.6, -20.9, ROT= 352.4, 20.9 Ygot valid direction response: 19:44:17.3895 LVL= 32304, 32753, 24690, 32755, AGC= 67, IDX= 309,-0.44,-1.593,-2.851,-1.484,-2.226, PHS= 0.721,-0.578, 0.739, RAW= 150.7, -13.4, CAL= 157.6, -20.9, ROT= 352.4, 20.9 PDAT read: Bearing 352.4, 20.9 (Local) ~Local bearing/azimuth received: Bearing 352.4, 20.9 (Local) DAT read: Range 10 to 50 : 501.0 m (Round-trip 668.0 ms) speed 0.5 m/s *DAT read: user:794> BDAT read: Tx time:19:44:18.5173 $Ping request sent.aae]] ?[?ӒͿ)e ?Ieo>ieODe4aa:publishing transmit ping timeFpublishing direction and range infoa9e h??{ы=d^L?yaaaa a)aIaiaaaaa a)aIaiaaae]] ?[?ӒͿ)aIaiaaaa)*F-?2F):F)BF5a5JF1GU g{G  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:44:18.5166 B) OE > g6Yw,dAr@Yr+@ry89rƬ >yrH|?q?@ڳÿFNq? ? D?d?`0?ɨr@r;rCygB%II5I5|5٢E7= EC=9E;Q M>IQ UG٣UQ3GyU'; ]> eNusing accuracyPremultiplier from configam49en?m4Ye4 iebBimİm?e Ce:e":e<4}*B }1}A}aEkq ޛ?kgiN k khkK,ݛ?k[ 2k{CkCUڛ?k" k{CkCkdP@ addTargetRange:: Added new target pos. range: 501.000000 m, deltaT: 4.284016 s, deltaX: -9.899994 m, approachRate: -2.310914 m/s, rangeRepo size: 4  Added new target pos. range: 501.000000 m, bearing: 190.150535 deg, lat: 36.899907 deg, lon: -122.114117 deg, deltaT: 8.319996 s, deltaX: -5.399994 m, approachRate: -0.649038 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 501.00 m.BjJj ProNav: ac range: 501.000000 m, nav range: 455.023621 m, bearing: 186.564092 deg, approach rate: 0.000000 m/s, LOS rate: -0.065781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901389 deg. 2j:j@HeadingCmd: 4.815388 target range: 501.000000 and range: 501.00 m. jjjjihhhhfffrfP@bf;k?ɛuSrBuL q}4Iy yɚyiyI}6=Ii(ĺiL͹))*F5?2F9:FABFE3JFI )I1}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}AzKuKKu9KqKuKuG pJ J J J J <:J 9J J G B O >y2H4?w? 8Fÿ N`??@F? ?@o?`2?ɨ2@2;0HTIT IVIIV\hBIT&IT.IT6IV<:IVWFy~0gB-I  AMb@Mb@Mb@ )YAIlAyGUAII5٢-= ?=9Q > G٣y *  > uNusing accuracyPremultiplier from config49n?4Y: iBbB?:??C;в;CD4 |AWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 501.00 m.Bj(Jj( ProNav: ac range: 501.000000 m, nav range: 455.044067 m, bearing: 186.533616 deg, approach rate: 0.046680 m/s, LOS rate: -0.069574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883764 deg. 2j>:j#@HeadingCmd: 4.815080 target range: 501.000000 and range: 501.00 m. jjjjihhh h f f frfbfUu?ɛErBE J IM5II QɚQiQIU1R=I]i]ĺi]غ)Y)Y*F2F:FBF|0JFG >G B O > ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.QzCYw,BeA2@Y2-!@2T9921=y2H`.?`?%JNv?R?A ??I?ɨ2@2;2Cy:BgB>8IIJIJҪ5٢R=L= Rc=9R+:Q V>TT VG٣TyZ6 Z> bNusing accuracyPremultiplier from config\b49^Tn?b4Y^E@ i^hbBdff?^YC^:^:^J4h jI|AlzB*** querying acoustic contact ***jxjxZj|FNOT Ignoring new targets: 501.00 m.Bj ֪Jj ֪% ProNav: ac range: 501.000000 m, nav range: 455.061432 m, bearing: 186.507833 deg, approach rate: 0.050297 m/s, LOS rate: -0.074679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897839 deg. 2j%M:j%&@-HeadingCmd: 4.815326 target range: 501.000000 and range: 501.00 m. j)j)j)j)i)h1h1hhfffrfbf ?ɛ rB5W 157I1 9ɚ9i9I==IEiEĺiEBӺ)A)A*F!2F):F)BF-0JF)"G5=G5=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G-ϳG B O5 >IYw, |(eA lIpEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502786@Y%@99=yH`M?@? jN 8? C??@W?I?ɨ@Zf;騱yVgBDI]Mb@Mb@Mb@YYY Y)YY]rh|?㥛 ?Zd;Oy]?]=]j]vdA ]@A)]K=AI]hAYy]RAI}I}g5zK+KKS9KKK٢+(= (=9:Q >!! MG٣MR3GyM̀: M> ]Nusing accuracyPremultiplier from configQ]49Un?e4YUG iUbB!?:ƫ?UCU;UN;US4 {AZjFNOT Ignoring new targets: 501.00 m.BjêJjê- ProNav: ac range: 501.000000 m, nav range: 455.095642 m, bearing: 186.470693 deg, approach rate: 0.068764 m/s, LOS rate: -0.074646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863777 deg. 2j-L:j5G@5HeadingCmd: 4.814731 target range: 501.000000 and range: 501.00 m. j1j9j9j9i9h9hahihifififirfqbf}?ɛ%sB%b$; !%:I! )ɚ)i)I-=I5i5ĺi5+P)1)yEl>E >HI IIIhBI =&I.I6IƱ<:IF*F5?2F1:F1BF5r0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751268Gu pGI BY Ou >4PYw,BeA2@Y29-@2R892֓=y2H?Ռ?@5N@?)??`j?G?ɨ2@2֙;0y>gB>^IIFIFϮ5٢N= Nz=9R:Q V?TT VG٣TyZH; Z ? ^Nusing accuracyPremultiplier from config\b49^n?b4Y^L i^bBdff?^C^:^a:^X4h jQ{AlZj|~FNOT Ignoring new targets: 501.00 m.BjJj ProNav: ac range: 501.000000 m, nav range: 455.118530 m, bearing: 186.446212 deg, approach rate: 0.072755 m/s, LOS rate: -0.077816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901746 deg. 2jU:j@HeadingCmd: 4.815394 target range: 501.000000 and range: 501.00 m. jj!j!j!i!h!h)h)h1f1f1f9rf9bf=@?ɛ1sBv;o P*= ;I ɚiIȄ=Iiúi)) I*F2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003655JUJUJQJQJU\:JU9JQJQJUo;aeJUp;aeJU1;aeJU1;aeG˴GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256093VYw,`\eA6'@Y66@6896=y6Hں? ??@ N@}4??`? :W?E?ɨ6'@6;6Cy>gBBeIIJIJy5٢< C=9%\:Q %>!! -G٣)y-b:; -> 5Nusing accuracyPremultiplier from config1E495n?E4Y5jS i5bBAEzE?5C5;5;5`4M)B U{AUbEZjq}FNOT Ignoring new targets: 501.00 m.Bj}RJj}R ProNav: ac range: 501.000000 m, nav range: 455.148621 m, bearing: 186.414511 deg, approach rate: 0.071919 m/s, LOS rate: -0.075764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880090 deg. 2jO:j@HeadingCmd: 4.815016 target range: 501.000000 and range: 501.00 m. jjjjihhhhfffrfbf`@ɛisB'S =I ɚiI=IiDFúi[2:))*F2F:FBF0JFGsA GsA IfMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510220GGBO>zK- V$KK- 9K) K- K- RK5 ?JK5 ?\Yw,SveAHI I<IIhBI =&I.I6I̱<:I FyMgBUpI Mb@Mb@Mb@    ) Y (\?L7A`?/$y '? +=  IbA x?A) ;AI fA y PAI-I-\5٢="= =9=9EQ E>II MG٣MS3GyM U> ]Nusing accuracyPremultiplier from configQ]49Un?e4YUZ iUcBe(?e:em?UݯCUhH;UF;Ug4q }zAyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759447ZjQ]FNOT Ignoring new targets: 501.00 m.Bj氺Jj氺  ProNav: ac range: 501.000000 m, nav range: 455.177338 m, bearing: 186.378451 deg, approach rate: 0.061586 m/s, LOS rate: -0.077329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867013 deg. 2jGT:j@HeadingCmd: 4.814788 target range: 501.000000 and range: 501.00 m. jjjj9i9h9hAhAhAfAfIfIrfIbfM@ɛsBkB  7= AI !ɚ!i!I% =I-i-Zºi-"q:)))1EY*F?2F:FBF0JF x$?I = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011513G }:G G G B O >cYw,reA @Bs/@YB>@B69Bw>yBH? |? X¿=OF|??/??`>?ɨBs/@B;BCy^gB^zIIjIj5٢r?= rd=9v|;Q v>tt zG٣xyz(.; z> Nusing accuracyPremultiplier from config|49~n? 4Y~` i~5cB  ֭ ?~C~z:~:~n4 zAJ%J%J!J!J%<:J%:J!J!J% ;J% ;J%C;J%C;5_E]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 501.00 m.BjmĺJjmĺ} ProNav: ac range: 501.000000 m, nav range: 455.200989 m, bearing: 186.349243 deg, approach rate: 0.069587 m/s, LOS rate: -0.085930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887569 deg. 2jk:j@HeadingCmd: 4.815146 target range: 501.000000 and range: 501.00 m. jjjjihhhhfffrfbf' @ɛsBlw $=BI ɚiI]=Ii\ºi6:))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267497E]@=*F?2F:FBF~0JFG I G B e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518189O >jYw,eA5.@Y5=@5S595;>y5H $?` y?¿ yP`և???0?NQQ UG٣Qy]wT ]> eNusing accuracyPremultiplier from configam49en?m4Yei ieqcBu4?u:uu?e'Ce;e{;ev4y }0zAyZjFNOT Ignoring new targets: 501.00 m.Bj9ȺJj9Ⱥ ProNav: ac range: 501.000000 m, nav range: 455.235565 m, bearing: 186.306405 deg, approach rate: 0.070650 m/s, LOS rate: -0.087524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846682 deg. 2jDp:j@HeadingCmd: 4.814433 target range: 501.000000 and range: 501.00 m. jjjjihhDReached init depth of 57.943542 m.hhfffrfbf @ɛ%tB%gG %J=-hEI) )ɚ)i)I-ρ=I5i5/i5J:)1)9EE=jHbHH >I I\IIiBI =&I.I6Iͱ<:IBIJIRIZIbIjIģ4*F2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:19:44:21.5860 uTRx dataTimestamp_ set to:1736365462.940766uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768488) &G) ]?YYy]BG h:G B O >qYw,geA6)@Y69@6k596>y6HP?ww?¿gBBIIF&IF5٢N= Rk=9R:Q R?TT VG٣VT3GyVߺ Z? ^Nusing accuracyPremultiplier from config\b49^;n?b4Y^o i^cB`b f?^FC^:^:^|4h jyAhZjq}FNOT Ignoring new targets: 501.00 m.Bj}̿Jj}̿ ProNav: ac range: 501.000000 m, nav range: 455.260040 m, bearing: 186.276105 deg, approach rate: 0.067728 m/s, LOS rate: -0.083842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884293 deg. 2j(f:j6@HeadingCmd: 4.815089 target range: 501.000000 and range: 501.00 m. jjjjihhhhfffrfbfA@ Iɛ5OtB= h 9=FI9 9ɚAiAIEͅ=IEiM iM}d2:)I)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019330JJJJJ\:J:JJJo;Jp;J@;J@;E=EE*F ?2F :F BF {0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:44:21.5860 LVL= 22512, 28225, 16738, 32755, AGC= 65, IDX= 499, 0.21, 2.197, 0.919, 2.409, 1.603, PHS= 0.682,-0.638, 0.803, RAW= 154.3, -12.2, CAL= 160.9, -19.2, ROT= 349.1, 19.2  Ygot valid direction response: 19:44:21.5860 LVL= 22512, 28225, 16738, 32755, AGC= 65, IDX= 499, 0.21, 2.197, 0.919, 2.409, 1.603, PHS= 0.682,-0.638, 0.803, RAW= 154.3, -12.2, CAL= 160.9, -19.2, ROT= 349.1, 19.2  PDAT read: Bearing 349.1, 19.2 (Local)  ~Local bearing/azimuth received: Bearing 349.1, 19.2 (Local)  DAT read: Range 10 to 50 : 498.3 m (Round-trip 664.5 ms) speed 0.4 m/s  *DAT read: user:795>  BDAT read: Tx time:19:44:22.6674  $Ping request sent. ځ ځ ۅ 'a8? <Ť?qL|˿)ۅ o?Iۅ G G:G ?G ?iۅ ~Iۅ :ہ ہ E :publishing transmit ping time E Fpublishing direction and range info؁ 9؅ A?f/uOHRy?y؁ ؁ ؁ ؁ ف )ف Iف iف ف ف ف ف ځ )ځ Iځ iځ ځ ځ ۅ 'a8? <Ť?qL|˿)ہ Iہ iہ ہ ہ ہ G B O >bxYw,eAyލgBލII'I̲5٢s< -=9Q >! %G٣!yM M> UNusing accuracyPremultiplier from configQ]49Uo?]4YUox iUcBaae?UpCU :U:U4'B yA`Ekڛ?kia: k kaneA:k&CBkCZkS@"&N@fz>n@A?f/uOHRy?Jk~IRk:*T8\|tnRjg@U# }ÿ6-?"k*kk_ٛ?k6G 2khyCkkZ kkCk%tR@} addTargetRange:: Added new target pos. range: 498.299988 m, deltaT: 4.284300 s, deltaX: -2.700012 m, approachRate: -0.630211 m/s, rangeRepo size: 4 % Added new target pos. range: 498.299988 m, bearing: 189.491889 deg, lat: 36.899907 deg, lon: -122.114314 deg, deltaT: 4.284300 s, deltaX: -2.700012 m, approachRate: -0.630211 m/s, posRepo size: 4 Zj)=FNOT Ignoring new targets: 498.30 m. IfBjJjMWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:19:44:22.6666 } ProNav: ac range: 498.299988 m, nav range: 457.518311 m, bearing: 188.407936 deg, approach rate: 0.000000 m/s, LOS rate: -0.083842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852014 deg. 2jy:j@HeadingCmd: 4.814526 target range: 498.299988 and range: 498.30 m. jjjjihhhhfffrf$@bf ?ɛEtBEa? AM"KII IɚIiIIm=IuiuWѿi}eJ:)y)y*E>"E=zKMJKIKIKMKME#=JiJi*F 2F :F BF q0JF HE >IA  IE {IIE PiBIA &IA .IA 6IE <:IE FG ?: Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >~Yw,eAy}hB}I Mb@Mb@Mb@    ) Y `"?㥛 ?Mb`?y 7? = ; [A :A) 7AI `A y KAI%#I%5٢5= 52=99Q =>99 =G٣9yA E> MNusing accuracyPremultiplier from configIU49Mo?U4YM iMdB]8?]:]M]?MCM;M;M 4a mxAiZjFNOT Ignoring new targets: 498.30 m.Bj׺Jj׺ ProNav: ac range: 498.299988 m, nav range: 457.538483 m, bearing: 188.367628 deg, approach rate: 0.047201 m/s, LOS rate: -0.094311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854269 deg. 2js:j@HeadingCmd: 4.814565 target range: 498.299988 and range: 498.30 m. jjjjihhhhzBfAfAfArfAbfM =?ɛhBf!% 0<隥 I ;ӳɚiIӄ=IijHi))EE*E"E IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F] ?2FY :FY BFe 4JFa J J J 2J J :J 9J c3J J ";J $;J R>;J R>;G eWill construct direction to contact in vehicle frame from tetrahedron phase data.GyBO>J Yw,fAZtޒ@YZ@Z89Z>yZH`??¿TH;?` ?^?L? 25?ɨZtޒ@Z;ZCyb5hBbIIjIj5٢r= r;=9vQ v>xx zG٣zU3Gyz z> Nusing accuracyPremultiplier from config|49~ o?4Y~ i~UdBx?~C~i;~hL;~4! %ixA!=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 498.30 m.BjUɺJjUɺe ProNav: ac range: 498.299988 m, nav range: 457.555298 m, bearing: 188.328877 deg, approach rate: 0.038289 m/s, LOS rate: -0.088236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858936 deg. 2jm8r:jm@uHeadingCmd: 4.814647 target range: 498.299988 and range: 498.30 m. jqjqjqjqiqhyhyhyhyfffrfbf ?ɛ1= ; 9=HE]>*F2F:FBF0JF IuWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G59G B) OE >zK +KK ]9K K K   &+..*0UzG[2 [=*   .Yw,QK7fAH >I IIIiBI =&IDD.I6Il<:IFZђ@YZ@ZGG99Zl>yZH6??`¿@T&b?| ??i?`5?ɨZђ@Z È;ZCyfthBfImMb@Mb@Mb@iii i)iYm/$?Dl?Mb?ym @=90Q > G٣ys > Nusing accuracyPremultiplier from config49o?4Y idB=?:?Ce;t;4&B cwA^EZjFNOT Ignoring new targets: 498.30 m.Bj@ĺJj@ĺWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500276% ProNav: ac range: 498.299988 m, nav range: 457.568512 m, bearing: 188.290426 deg, approach rate: 0.029483 m/s, LOS rate: -0.085788 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859838 deg. 2jMk:jM@UHeadingCmd: 4.814662 target range: 498.299988 and range: 498.30 m. jQjQjYjYiYhYhYhahezBfafafrfbf?ɛhBߏ; <=I g8ɚiI=Ieieޭºie)i)i*F}?2Fy:FyBF}r0JFyGUG)B1OU> y$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750966Yw,KQfA6[Ғ@Y6@6896>y6H#>??¿Uj[?u?@?@N? %7?ɨ6[Ғ@6;6CyBhBB IIJIJ5٢Vn= V[=9Z:Q Z>XX ZG٣\y^Α9 ^> fNusing accuracyPremultiplier from config`f49bo?f4Yb ibdBhn=?b Cb'wI D`9ɚiI/=IiGĺi))*Fa2Fa:FaBFe0JFa"Gu=Gu=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003887GM AG) BA O] > I TYw,lfAFWill construct direction to contact in vehicle frame from tetrahedron phase data.DiDRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259226=В@Y=<@=m89=>y=H )3? -?¿3V3D?@ ??3?8?ɨ=В@=;=CymhBu,I5Mb@Mb@Mb@111 1)1Y5S?i|?5?S㥛?y5:?5q=5/<59XA 5f8A)5Q4AI11zKE6ANKE9KAKEKEy5HAI]I]5٢m= m=9u&:Q u>qy }G٣}V3Gy} }> Nusing accuracyPremultiplier from config49jo?4YQ i-eB\;?:۲?;C;8;4JJJ1JJJ:J3Ja@a@a@a@ uAZjFNOT Ignoring new targets: 498.30 m.Bj4ҺJj4Һ ProNav: ac range: 498.299988 m, nav range: 457.591400 m, bearing: 188.210207 deg, approach rate: 0.021831 m/s, LOS rate: -0.091887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836075 deg. 2j>|:jQ@HeadingCmd: 4.814248 target range: 498.299988 and range: 498.30 m. jjjjihh h h zBf ffrfbf@ɛEhBESH< AM8>II M,9ɚIiIIM~=IUiUS/ƺiU?)Q)YHiIi ImIImiBIi&Ii.Ii6Im<:ImF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507594Eeժ=Eq*F 2F :F! BF% `5JF! GG ?G > IfGBO >Yw,I*fA2ɒ@Y2@ٙ@2q892+>y2Hl??`yq¿@VI?$?\?I?o9?ɨ2ɒ@2L;2Cy>iB>ZI B=B=fWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758731I= I=5٢Uh0> UA=9UQ U>YY ]G٣Yy] e> uNusing accuracyPremultiplier from configiu49m o?}4Ym. imteBy}}?mbCm:m:m%4 tAZjFNOT Ignoring new targets: 498.30 m.Bj)ͺJj)ͺ ProNav: ac range: 498.299988 m, nav range: 457.600403 m, bearing: 188.172287 deg, approach rate: 0.021293 m/s, LOS rate: -0.089684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861430 deg. 2j2v:j@HeadingCmd: 4.814690 target range: 498.299988 and range: 498.30 m. jjjjihhhhfffrfbf`hy@ɛhB;< !%>I! %j:ɚ)i)I-4|=I5i5)Ⱥi5We)1)9E0f=*FI2FI:FQBFUp0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015990G5 G B O >Yw,ץfAyrdiBrIIzIz5٢-:> -N=95Q 5>11 5G٣9y= E> MNusing accuracyPremultiplier from configAM49E$o?U4YE iEeBQQU?ECEn:E:E4%B sA`EMB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 498.30 m.Bj}ܾJj}ܾ ProNav: ac range: 498.299988 m, nav range: 457.608978 m, bearing: 188.136934 deg, approach rate: 0.020238 m/s, LOS rate: -0.083431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869131 deg. 2je:j @HeadingCmd: 4.814825 target range: 498.299988 and range: 498.30 m. jjjjihhhhfffrfbf/ @ IfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266315ɛ5hB=;< Eo(Iq uTf:ɚyiyI75y=Iifʺi))E=tAE=tAEe~M<JK23 KS}-KK"KJ%J%J!J!J%:J%:J!J!zKMqKKIKIKMKM*F2F:FBF05JFG GjHbHH>IC I*IIljBI =&I.I6I<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:44:25.7327  TRx dataTimestamp_ set to:1736365466.972696 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515789G ׹G B Om >X{Yw,WfAZ@YZș@Z989Z>yZH{?O? y¿X?!? ? y(? 8?ɨZ@ZJ;ZCyfiBfIMb@Mb@Mb@ )Y|?5^?~jt?Q?y2?D=\=$TA 7A)3AIZAyFAII5٢= 3=9Q > G٣W3Gy > Nusing accuracyPremultiplier from config49(o?4Y ifB3?:?C;; ƒ4 rAZj FNOT Ignoring new targets: 498.30 m.BjϺJjϺ- ProNav: ac range: 498.299988 m, nav range: 457.613647 m, bearing: 188.097944 deg, approach rate: 0.010877 m/s, LOS rate: -0.090827 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858216 deg. 2j-Uy:j-|@5HeadingCmd: 4.814634 target range: 498.299988 and range: 498.30 m. j1j1j1j1i9h9h9h9h= {BfAfAfArfAbfMJ @ɛuhB}< y}>Iy }:ɚyiyI|v=Ii}̺ie,)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766863E_<EtAE*Fm?2Fi:FqBFuf5JFqGe ZGI BY O} >8Yw,JfA Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: 19:44:25.7327 LVL= 20688, 26945, 19554, 32755, AGC= 68, IDX= 414,-0.00, 1.667, 0.230, 1.675, 1.022, PHS= 0.734,-0.745, 0.650, RAW= 147.1, -8.9, CAL= 153.4, -17.4, ROT= 356.6, 17.4 .Ygot valid direction response: 19:44:25.7327 LVL= 20688, 26945, 19554, 32755, AGC= 68, IDX= 414,-0.00, 1.667, 0.230, 1.675, 1.022, PHS= 0.734,-0.745, 0.650, RAW= 147.1, -8.9, CAL= 153.4, -17.4, ROT= 356.6, 17.4 2PDAT read: Bearing 356.6, 17.4 (Local) 2~Local bearing/azimuth received: Bearing 356.6, 17.4 (Local) :DAT read: Range 10 to 50 : 495.8 m (Round-trip 661.1 ms) speed 0.6 m/s :*DAT read: user:796> >BDAT read: Tx time:19:44:26.8174 >$Ping request sent.>ff&?O$@ uY+@)|I)@i|> :$?|R? :ÿ)v/>Ih{>in# =:publishing transmit ping time<=Fpublishing direction and range info 9*z ?((ӞD?y  ) I i ) I i :$?|R? :ÿ) I i &@Yzƙ@}69>yH k?? "t¿[c???-? -=9;Q > G٣y  > uNusing accuracyPremultiplier from configi49ml-o?4Ymi imWfB ?mٱCmDI :ɚiIAr=I= i= \кi= QN-)A )A J J @AJ J J J J ܫ:J K:J J zK &KK 9K K K RK >JK t>Hu >Iq  Iu IIu kBIq &Iq .Iq 6Iu <:Iu FBI9JI9RI9ZI= =bI= =jI=̗e5E h%<*F92F9:FABFE0JFIU~G"G]=G]=Will construct direction to contact in vehicle frame from tetrahedron phase data.`wA &Y`wAyBG.-GqBO,?nGYw, gAy5FjB=IMb@Mb@Mb@ )YZd;O?I +?Q?y~*?94=RA "5A)1AIYAyDAII75٢P > <9 Q  >    G٣X3Gy > Nusing accuracyPremultiplier from config%492o?%4Y ifB-+?-:-m-? C[;;Ճ41 5pA5]EZjY]FNOT Ignoring new targets: 495.80 m.BjeкJjmк} ProNav: ac range: 495.799988 m, nav range: 457.624268 m, bearing: 188.004163 deg, approach rate: 0.009624 m/s, LOS rate: -0.091184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820784 deg. 2j}Pz:j}" @Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 4.813981 target range: 495.799988 and range: 495.80 m. jjjjihhhhF{BfffrfbfP?ɛ hB= r ?I ;ɚiI]n=Ii.Ӻi))E E *E "E *FE?2FA:FABFAJFAGM GM"GMGM5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Yw,$gA65@Y6@6I%96}>y6H`M?w?¿ xr@? K???_S?ɨ65@6ƚ;6Cy>jB>TIIJIJk5٢RI> RW=9VM,=Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49b5o?f4Yb ibfBdfj?b-Cb ;b* ;bh܃4n#B n[nAn^EZj|FNOT Ignoring new targets: 495.80 m.Bj ɺJj ɺ ProNav: ac range: 495.799988 m, nav range: 457.627533 m, bearing: 187.973132 deg, approach rate: 0.008592 m/s, LOS rate: -0.081651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882094 deg. 2j%`:j@-HeadingCmd: 4.815051 target range: 495.799988 and range: 495.80 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bf=A6?ɛu"hBu6H= qu#?Iq }D5;ɚyiyI}%l=Iiպi(8)) Ee>E z$?If*F2F:FBF0JFGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.J%J%J!J!J%:J%B:J!J!zK7KK9KKK ZHq RHq H} >Iy  I} II} kBIy &Iy .Iy 6I} <:I} FYw,n>gA6Will construct direction to contact in vehicle frame from tetrahedron phase data.B?@YBʙ@B9Bf>yBH`??`¿8{@ϼ?q?Ȭ?+n? Z?ɨB?@Bˈ;@yRkBRI z@z z@z z@~  ~@~ I~I~75٢ VC>  E=9ڔ G٣yA; %> -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%`9o?54Y% i%3gB=+:9=:=j=?%PC%49;%>%G4A EmAIB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 495.80 m.BjﱺJjﱺ- ProNav: ac range: 495.799988 m, nav range: 457.631470 m, bearing: 187.939221 deg, approach rate: 0.009030 m/s, LOS rate: -0.077782 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873454 deg. 2j-U:j-@UHeadingCmd: 4.814900 target range: 495.799988 and range: 495.80 m. jQjYjYjYiYhYhYhahafafafirfibfmh@?ɛ$hBP= F7?I ^;ɚiIL(i=Ii غi$))*F?2F:FBF0JFGBOE> IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Yw,'KXgA2ؒ@Y2>@2٫921Q>y2H??`¿@|?`I?e?@!?XX ZG٣ZY3Gy^< ^> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j49b i Iq 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258554Yw,;rgA~D@Y~ @~YK 9~[>y~H?~?d¿``>?kJ?`D??Tn?ɨ~D@~cM;~CyskBI        Mb@Mb@Mb@ )Yl?Mb?~jt?y?<<PA 2A)IQAyAAI I M5٢-> 54=9=AA UG٣Qy] < ]> }Nusing accuracyPremultiplier from configyJJJJJ,:J:JJzKlLK9KKK 4B1{=|vtsmdS>- H->I) I-III-@lBI- =&I).I)6I-<:I-FE49}?o?E4Y}T i}gBMT:M?M:M%M?}C}<}<}4Q URkAYZjFNOT Ignoring new targets: 495.80 m.BjJj ProNav: ac range: 495.799988 m, nav range: 457.632629 m, bearing: 187.873427 deg, approach rate: -0.007377 m/s, LOS rate: -0.069099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873989 deg. 2j=:j@ HeadingCmd: 4.814909 target range: 495.799988 and range: 495.80 m. j j j j i h hhh{Bfffrf9bf=;@ɛ*hBfh= ?R?I ;ɚiI {c=Ii]-ںi]^)Y)aEi}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508452*F 2F :FBF0JFG5 G B O5 >dYw,ыgA Iy kB III5٢e0> e[=9eQ e>ii mG٣qyu u> }Nusing accuracyPremultiplier from configy49}Ao?4Y} i}gB?}C}:}:}>4 IjAZjFNOT Ignoring new targets: 495.80 m.BjJj ProNav: ac range: 495.799988 m, nav range: 457.629852 m, bearing: 187.846574 deg, approach rate: -0.008213 m/s, LOS rate: -0.079409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894630 deg. 2jY:j@HeadingCmd: 4.815269 target range: 495.799988 and range: 495.80 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759483hhhfffrfbf@=2@ɛ5,hB5v= 155b?I1 5^;ɚ9i9I=_a=I=iE{ںiEx~)A)A*F2F:FBFq5JFGQpGyBO;> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011363Yw,gA6:@Y6J@6ܟ961 >y6H?u?`¿ ݙ ??C?Z?%~?ɨ6:@6a;4yfkBf IInIn5٢v_= vS=9zN=Q z>xx ~G٣~Z3Gy< >  Nusing accuracyPremultiplier from config 49 SDo?4Y  i gB1? ̲C ; d; 4%"B %iA-_EZjQUFNOT Ignoring new targets: 495.80 m.Bj]mJj]mm ProNav: ac range: 495.799988 m, nav range: 457.628754 m, bearing: 187.818075 deg, approach rate: -0.002821 m/s, LOS rate: -0.073187 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889687 deg. 2jmH:jm@uHeadingCmd: 4.815184 target range: 495.799988 and range: 495.80 m. jyjyjyjyiyhyhyhhfffrfbf K @ɛ/hB9= 隽k?I ;ɚiIP_=IiٺiR;)) I%f*FU?2FQ:FQBF]`5JFYGetA GetA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263475G}]UGQBiO>zKM עNKM ػ9KI KM KM jHQ bHQ H] >I] C I] II] lBIY &IY .I] JD6I] ]<:I] F_$Yw,gA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515438VV@YVe@V>׽9V >yVH\? r?¿`L??!׺?\??ɨVV@VV;VCyflBf2IMb@Mb@Mb@ )Y"~? ]5=9]Ŭaa eG٣aym'; m> uNusing accuracyPremultiplier from configq}49uHo?}4Yu iuhBB?:ܲ?uCu/;u;u4  -hA)EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 495.80 m.Bj]Jj] ProNav: ac range: 495.799988 m, nav range: 457.638397 m, bearing: 187.785645 deg, approach rate: 0.020507 m/s, LOS rate: -0.068959 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877901 deg. 2jM=:jL@HeadingCmd: 4.814978 target range: 495.799988 and range: 495.80 m. jjjAjAiAhAhAhIhM{BfIfIfQrfQbfU@C @ɛ}2hB= y?I Mr;ɚiI1\=Ii^n׺iJ;))EsAEsA I*F2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:44:29.8888 TRx dataTimestamp_ set to:1736365471.256656checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768417G ;JE JE JA JA JE l:JE :JA JA JE Yw,OgA2^n@Y2}@2)ý92A >y2H[?Cr? ¿: JA??v?A?_?ɨ2^n@2G<;2CyB?lBBII)D D Fp=Fp=IJIJ5٢V= Vk=9V% Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:44:29.8888 LVL= 25584, 27697, 18274, 32755, AGC= 68, IDX= 508, 0.30,-0.521,-1.802,-0.344,-0.990, PHS= 0.557,-0.765, 0.642, RAW= 153.1, -6.4, CAL= 158.0, -14.4, ROT= 352.0, 14.4  Ygot valid direction response: 19:44:29.8888 LVL= 25584, 27697, 18274, 32755, AGC= 68, IDX= 508, 0.30,-0.521,-1.802,-0.344,-0.990, PHS= 0.557,-0.765, 0.642, RAW= 153.1, -6.4, CAL= 158.0, -14.4, ROT= 352.0, 14.4  PDAT read: Bearing 352.0, 14.4 (Local)  ~Local bearing/azimuth received: Bearing 352.0, 14.4 (Local) :Yw,HgAVDAT read: Range 10 to 50 : 500.4 m (Round-trip 667.2 ms) speed 0.4 m/s z*DAT read: user:797> ~BDAT read: Tx time:19:44:31.0174 ~$Ping request sent.AJJAAAEzd?lZL\?)E?IE=iEO"ȿEAA:publishing transmit ping time|Fpublishing direction and range infoA9E&bx7y?'mh뿜.?yAAAA A)AIAiAAAAA A)A-@Y@d 9 >yHU?@(q?V¿ҧ?Š? }?_??ɨ-@;Cy=XlB=YIIAiAAAEzd?lZL\?)AIAiAAAAH>I III*mBI =&I.I6Iw<:IFzK=KK9K9K=K=RKM>JKM ?Mb@Mb@Mb@ )Yd;O? ףp= ?{Gzty?Q8=ףnNA .A)Q4AIGAyf>AIeIe5٢r?= =9 G٣[3GyP; > Nusing accuracyPremultiplier from config49-Po?4Y i5hB/?:ϯ?.C(<*<U4 %gA%\EkE!s/؛?kEF kA kEwgA:kE3CBkECZkE@HeadingCmd: 4.814605 target range: 500.399994 and range: 500.40 m. jjjjihhhh{Bfff rf `fF@bf `g?ɛu:hB}= y}΃?Iy <ɚiI`OW=Ii Ѻi5N/<))*F9 2FA :FA BFE 0JFA I Ge *;Gm tAGi G!B)EWill construct direction to contact in vehicle frame from tetrahedron phase data.OU>!Zw,ShAj\@Yj@j9j>yjH`~?^q?` ¿ū@?OX?`뜳? ?g?ɨj\@j ;jCyrlBrxII~I~5٢)> U=9    G٣ y8; > =Nusing accuracyPremultiplier from config9M49=So?M4Y= i=GhBIMM?=KC=}0;=0;=4y }fAyZjFNOT Ignoring new targets: 500.40 m.BjKJjKJJJJJ:J :JJJ <J <Jw;Jw;= ProNav: ac range: 500.399994 m, nav range: 458.832489 m, bearing: 187.674187 deg, approach rate: 0.040526 m/s, LOS rate: -0.077502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890796 deg. 2j=T:jE$@MHeadingCmd: 4.815203 target range: 500.399994 and range: 500.40 m. jIjIjQjQihhhhfffrfbf=&?ɛ=hB= ĉ?I <ɚiIBeU=I i ͺi K<) )1*F?2F:FBFp5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝7?G (<G B O >@ Zw,*hA @I@NQ@YN@N49N.>yNH`;I?w?¤`޲k1?Uʪ??c?x?ɨNQ@N';LyZlBZ~I`bAIfIf75٢r< r`=9r |  G٣ y > %Nusing accuracyPremultiplier from config!-49%rWo?-4Y%" i%WhB)-ޯ5?%fC%*:%K;% 4E!B EfAE]EZjimFNOT Ignoring new targets: 500.40 m.Bju}Jju} ProNav: ac range: 500.399994 m, nav range: 458.845886 m, bearing: 187.647720 deg, approach rate: 0.037504 m/s, LOS rate: -0.074089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.895787 deg. 2jcK:j@HeadingCmd: 4.815290 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbfg?ɛ@hB= ?I 4)<ɚiI[S=IisZ˺i<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF5JFH>I IIIqmBI&I.I6I<:IFBIƻCJIƻCRIZI =bI =jIƍ5zKV$KKKKKGME vAY %Y vAy B Will construct direction to contact in vehicle frame from tetrahedron phase data.&Zw,DhA2@Y2@2Ow92">y2HX?`4z?V`.?F??Ń? q?ɨ2@2W;0yrlBrIMb@Mb@Mb@ )Yl?p= ף?{Gzy?=#LA -A)5AICAy=AIIQ5٢x= ==9x G٣\3Gy"9 > Nusing accuracyPremultiplier from config49O\o?4Y iehB{?:?C;;'4 GfAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 500.40 m.BjPJjP ProNav: ac range: 500.399994 m, nav range: 458.870331 m, bearing: 187.616243 deg, approach rate: 0.057480 m/s, LOS rate: -0.074013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880759 deg. 2j-K:j@HeadingCmd: 4.815028 target range: 500.399994 and range: 500.40 m. jjjjihhhh{Bfffrfbf A? u{$?IufɛDhB%= l?I [:<ɚiIpQ=IiIǺiq(<))*F2F:FBFb5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.J5 J5 J5 2J1 J5 L:J5 :J5 c3J1 J5 C <J5 C <J5 u;J5 u;G% (<G- ?G- >G B O5 >jQZw,^hAR@YR@R*9RP>yRH?`v?`*8 @8\?/~? U???ɨR@R;RCy^lB^IIfIf5٢ntt vG٣tyvQO< z> Nusing accuracyPremultiplier from config|49~`o? 4Y~c i~nhB    ?~C~:~:~.4 eAZjAEFNOT Ignoring new targets: 500.40 m.BjMJjM] ProNav: ac range: 500.399994 m, nav range: 458.893158 m, bearing: 187.588343 deg, approach rate: 0.060439 m/s, LOS rate: -0.073866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.891491 deg. 2j]J:je>@eHeadingCmd: 4.815215 target range: 500.399994 and range: 500.40 m. jajijijiiihihihqhqfqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695627ffrfbf S?ɛHhBa= W?I %G<ɚiIO=Ii\Mĺi||q<))*F92F9:F9BF=p0JFAGE GE"GIGI aIaGBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947227{Zw,vxhAFc@YFК@F9F>yFHQ?@u?0/o???L??ɨFc@FE_;FCHR>IRC IRIIRmBIR =&IP.IP6IRW<:IRFyrlBrI z=z=zKRKK9KKKMb@Mb@Mb@ )YV-?V-?I +y|?h=94ZJA )6AI?Ay;AII5٢< 9=9    G٣ y ; > Nusing accuracyPremultiplier from config%49>fo?%4Yr% iwhB% ?%:-I-?dzC@;{;;641 5eA1ZjY]FNOT Ignoring new targets: 500.40 m.BjeBJjeBu ProNav: ac range: 500.399994 m, nav range: 458.922974 m, bearing: 187.554086 deg, approach rate: 0.067827 m/s, LOS rate: -0.077923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872425 deg. 2juU:ju@}HeadingCmd: 4.814882 target range: 500.399994 and range: 500.40 m. jyjyjyjihhhh{Bfffrfbf>@ɛ=MhB= = =v<=??I9 E#W<ɚAiAIEN=IMim>iu S<)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200124*Fa2Fa:FaBFe3JFaG9BAO]U> I IQ M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452973ic$Zw,ghA2ȓ@Y2ך@25ü92Z>y2H #?`v?C@Gpf?q|?"f??ѷ?ɨ2ȓ@2;0y>lBBIIJIJ 5٢f= f`=9fhh jG٣j]3GyrP; r> vNusing accuracyPremultiplier from configtz49vjo?z4YvM+ iv|hBxz-z?vCvP:v ;v<4 {eAZj!-FNOT Ignoring new targets: 500.40 m.Bj- Jj5  ProNav: ac range: 500.399994 m, nav range: 458.947998 m, bearing: 187.525695 deg, approach rate: 0.068602 m/s, LOS rate: -0.077828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890017 deg. 2jU:j@HeadingCmd: 4.815189 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrf!bf%@ɛQhB?~= 8?I 4f<ɚiI{L=IiiԜ<)JJJ1JJJJ3JJJJJ))*F?2F:FBFp0JF GMsAGIGB!OMR>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702689 9 I= f*Zw,@hA> ϓ@Y>]ޚ@>|9>t>y>H&>?w?Hʼ@\?aS C?G??ɨ> ϓ@>u;`` bG٣`yf; f> jNusing accuracyPremultiplier from confighn49joo?r4Yj1 ijhBprr?jCj2;j 3;jC4vB zeAz^EZjFNOT Ignoring new targets: 500.40 m.Bj%Jj%5 ProNav: ac range: 500.399994 m, nav range: 458.975861 m, bearing: 187.494504 deg, approach rate: 0.069414 m/s, LOS rate: -0.077701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881619 deg. 2j5MU:j5@=HeadingCmd: 4.815042 target range: 500.399994 and range: 500.40 m. j9j9jAjAiAhAhAhIhIfIfIfIrfQbfU`@ɛ}UhB}s= 隅(?I s<ɚiIZ>K=Ii>]i<))*F2F:F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963091GBO>jHbH<H>I IIImBI =&I.IID6I{<:IFzK5 KK59K1K5K5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206750.w1Zw,%hA6Ǔ@Y6֚@6ʙ96>y6H!?Az? rs ?Kt$?s? λ?ɨ6Ǔ@6;4yNlBNIPPmMb@Mb@Mb@iii i)iYmL7A`?/$?I +ym+'?m=ii m,A)m79AImK=Aiym;AIIE5٢~k; <=9( G٣y > Nusing accuracyPremultiplier from config49vo?4Y9 ihB(?:_?)C;U;2K4 B ~eA[EB*** querying acoustic contact ***jjZjq}FNOT Ignoring new targets: 500.40 m.Bj}Jj򳺝 ProNav: ac range: 500.399994 m, nav range: 459.011444 m, bearing: 187.459115 deg, approach rate: 0.079100 m/s, LOS rate: -0.078661 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869029 deg. 2jW:j@HeadingCmd: 4.814823 target range: 500.399994 and range: 500.40 m. jjjji Ihhhh{Bfffrfbfw @ɛmZhBm= im?Ii ux<ɚqiqIu-I=I}i}yi}O<)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:44:34.0752 TRx dataTimestamp_ set to:1736365475.292621 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459773E K'<*F ?2F :F BF p5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.712033G ;G >G >GBO >8Zw,)hAFǓ@YFLך@F89Fk>yFH"?}{?@J@? tUl?`H?ɨFǓ@F ];FCyRlBRII^I^C5٢fNw< f/=9f2hh jG٣j^3Gyn?8 n> rNusing accuracyPremultiplier from configpv49r|o?v4Yr@ ipxz^z?rPCr:;r:;rVS4 aeAZj!-FNOT Ignoring new targets: 500.40 m.Bj5Jj5E ProNav: ac range: 500.399994 m, nav range: 459.049835 m, bearing: 187.421129 deg, approach rate: 0.085301 m/s, LOS rate: -0.084394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861238 deg. 2jEg:jM@HeadingCmd: 4.814687 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbf@%@ɛ`hB= ܐ?I o<ɚiIcH=I |$?I!ixi%1<))))E.<*F?2F:FBFy4JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.GY=<DAT read: 19:44:34.0753 LVL= 31216, 31905, 26738, 32755, AGC= 73, IDX= 408, 0.01, 0.633,-0.903, 0.718,-0.049, PHS= 0.770,-0.807, 0.765, RAW= 149.8, -9.3, CAL= 156.0, -17.3, ROT= 354.0, 17.3 Ygot valid direction response: 19:44:34.0753 LVL= 31216, 31905, 26738, 32755, AGC= 73, IDX= 408, 0.01, 0.633,-0.903, 0.718,-0.049, PHS= 0.770,-0.807, 0.765, RAW= 149.8, -9.3, CAL= 156.0, -17.3, ROT= 354.0, 17.3 8DAT read: $Error in header *Received a bad headerUX#Rx 1: Read direction message, but no range.GqB^direction in FSK: [0.061161,-0.828920,0.556013]Y9]7{P?P](?Y]y]| ]rh)YI]Ii]E?]N] C?Ou>]T'@]6& ]@.@)]#I]@i]#>Y]4d?uOU%n?wĿ)]VV?I]]%>i]z] T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJ] @AJ] @AJe Je Ja Ja Je :Je :Ja Ja au @au @au @au @H >I  I II mBI =&I .I JD6I <:I FzK /KK 9K K K RK ?JK ?!?Zw,thAylBIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Y rh?Mb?~jtxy,?=ĻIA (,A):AI79Ay=:AI}I}\5٢< 1=9Q > G٣y > Nusing accuracyPremultiplier from config49o?4YH ihB8.?:%?yC;>;[4! %>eA!ZjiFNOT Ignoring new targets: 500.40 m.Bj{Jj{ ProNav: ac range: 500.399994 m, nav range: 459.093048 m, bearing: 187.381665 deg, approach rate: 0.090706 m/s, LOS rate: -0.082829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856807 deg. 2j`c:jH@HeadingCmd: 4.814610 target range: 500.399994 and range: 500.40 m. jjjjih1h1h1h=L{Bf9f9f9rf9bfE [{@ɛfhBѯ= 隥9?I Ǔ<ɚiIpF=I%i% i%~<)!))E=tAE=sA !I!E- y <m Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse*F ?2F :F BF 0JF GӔ<G tAG sAGBO ?GZw,q!iANp@YNК@Nm<9N!>yNH B? ΀? {@Y?/@? ?ɨNp@N;LyVlBZIIb"Ib5٢n5Ӽ n.=9rpt vGWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse٣ty׺ > Nusing accuracyPremultiplier from config49͊o?4YKQ ihB??C;;c4B eeA\EZj1=FNOT Ignoring new targets: 500.40 m.Bj=۾Jj=۾ ProNav: ac range: 500.399994 m, nav range: 459.137451 m, bearing: 187.341075 deg, approach rate: 0.091277 m/s, LOS rate: -0.083431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853428 deg. 2je:j@HeadingCmd: 4.814550 target range: 500.399994 and range: 500.40 m. jjjjihhhAhAfIfQfQrfYbf]w@ɛmhBF^= 0= Վ?I E <ɚAiAIM_E=IUiUaiU8<))EE*E"E YI]fWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F 2F :F BF 0JF J J J J J J :J J ZH= AARH= AAHU >IQ  IU IIU mBIQ &IQ .IU ID6IU [<:IU FzK}.JK}]9KyK}K} 6@GKLKIDED@?>:8789:9:530& GGBO?PZw,UBiARWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapse-@Y@<9=yHF?~?avv?`ܔ@@??ɨ-@;騉yޝlBޥIuMb@Mb@Mb@qqq q)qYum?B`"۹?~jthyu.?u=uDuHA u-A)uz G٣_3Gyh > Nusing accuracyPremultiplier from config49wo?4Y[ i}hB0?:~?ԴCN;e;m4 HeAYEZjFNOT Ignoring new targets: 500.40 m.BjƺJjƺ5 ProNav: ac range: 500.399994 m, nav range: 459.192108 m, bearing: 187.293484 deg, approach rate: 0.099747 m/s, LOS rate: -0.086842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832430 deg. 2j5en:j5 @=HeadingCmd: 4.814184 target range: 500.399994 and range: 500.40 m. j9j9j9j9i9h9hAhIhMf{BfIfIfQrfQbfU@ɛ}thB}%= 隅܎?I lU<ɚiID=IiR^if<)) I*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseG G B O% >ݸVZw,1\iAy5lB5IIE#IE5٢]< ]a=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49u o?}4Yu`a iuzhBy?uCu:u:ut4 9eAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 500.40 m.BjºJjº ProNav: ac range: 500.399994 m, nav range: 459.227478 m, bearing: 187.262838 deg, approach rate: 0.098213 m/s, LOS rate: -0.085088 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883257 deg. 2ji:j@HeadingCmd: 4.815071 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbfp@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛzhBm= ?I J˭<ɚiITC=Ii=%i>bj<))EtAEtA*F2F:FBF0JFG%tA G%tA IG= W}g<G B! O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y iY e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse5\Zw,uiAJHm>Ii ImIImqmBIi&Ii.ImJD6Im*<:ImFBI%ºCJI%ºCRI!ZI% =bI% =jI%»H5K KKK"KJ=J=J9J9J=,:J=":J9J9J=AI"5Ay:AzK$MK9KKKI.IY5٢U; U=9YQ ]>aa eG٣e`3Gya m> uNusing accuracyPremultiplier from configiu49m(o?}4Ymj imvhB}4?}:}ڧ}?m$Cm9;m;mV}4 +eAZjFNOT Ignoring new targets: 500.40 m.BjǺJjǺ ProNav: ac range: 500.399994 m, nav range: 459.277283 m, bearing: 187.216419 deg, approach rate: 0.093622 m/s, LOS rate: -0.087249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835944 deg. 2jo:jL@HeadingCmd: 4.814245 target range: 500.399994 and range: 500.40 m. jjjjihhhhD{BfffrfbfR@ɛehBe6= im"?Ii m\Ŷ<ɚiiiImeB=Iuiu;iuj<))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F 2F :F BF 0JF ~$?I G l o<mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseGBO >"eZw,iA2풓@Y2A@25=922=y2H`??⼿@-_?il?׽?ɨ2풓@2ň;2Cy>lB>IIF'IF̲5٢R< Rq=9RM=Q V?TT VG٣TyZ2 ? =Nusing accuracyPremultiplier from config1E495{o?E4Y5Lq i5ohBIMOM?5DC58;5;54uB }eA}ZEZjFNOT Ignoring new targets: 500.40 m.BjºJjº- ProNav: ac range: 500.399994 m, nav range: 459.309692 m, bearing: 187.185541 deg, approach rate: 0.089063 m/s, LOS rate: -0.084846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882562 deg. 2jMh:jM@UHeadingCmd: 4.815059 target range: 500.399994 and range: 500.40 m. jQjQjQjYiYhYhYhahafafafarfibf`@ɛhB$=  ,?I  짽<ɚ i IA=I%i%i%2<))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEE~M<*F ?2F :F BF t0JF I fGRe<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGBO =lZw,iA@Y@I=9+=yHd%?H?枼@}?5^E??ɨ@ժ;CyUlBUII1I5٢5ӻ 5=9eyy G٣yLjHbH<H >I  I II \mBI  =&I .I 6I A<:I FJuJuJqJqJuL:Ju:JqJqJuC <JuC <Jut;Jut; > %Nusing accuracyPremultiplier from config-49>o?-4Y{ iahB)--?yCY;j;Ѝ4Y ]eAYZjFNOT Ignoring new targets: 500.40 m.Bj(ǺJj(Ǻ ProNav: ac range: 500.399994 m, nav range: 459.362976 m, bearing: 187.134379 deg, approach rate: 0.090678 m/s, LOS rate: -0.087059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821716 deg. 2jn:jD @HeadingCmd: 4.813997 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbf@%@ɛehBeZ`= ae?Ii m<ɚiiiImm@A=Iuiu!i}K""<)y)y'TFailed to parse incomplete device message.mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapsePExceeded connect timeout, disconnecting.E} = ) I) *F9 2F9 :FA BFE 4JFA "G] =G] =Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG{*<GiByO ?5uZw,iAyzlBzIMb@Mb@Mb@ )Yn?/$?yV.?=IA -A)?AI3Ay:AI'I̲5٢K =9Q > G٣a3Gy   > Nusing accuracyPremultiplier from config49ɵo?4Y3 iUhB%/?%:%S%?Cr;;"4) -ceA5WEZjY]FNOT Ignoring new targets: 500.40 m.BjeźJjeźu ProNav: ac range: 500.399994 m, nav range: 459.400726 m, bearing: 187.093927 deg, approach rate: 0.080622 m/s, LOS rate: -0.086384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853842 deg. 2ju#m:ju@}HeadingCmd: 4.814558 target range: 500.399994 and range: 500.40 m. jyjyjjihhhh\{Bfffrfbf`_@ɛhB= G?I  <ɚiI@=Iii%<))EE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*Fe?2Fi:FiBFmP5JFi I GM n<G) B1 Ou >"h|Zw, iA>Will construct direction to contact in vehicle frame from tetrahedron phase data.BT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapseyޅlBޅII3Iu5٢%= :=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 ӻo?4Y  i KhB? ɵC : ": Н4) 5'eA1B*** querying acoustic contact ***j!j!H>I IIIHmBI&I.I6I<:IFZj!5FNOT Ignoring new targets: 500.40 m.Bj]Jjeu ProNav: ac range: 500.399994 m, nav range: 459.435791 m, bearing: 187.056594 deg, approach rate: 0.073385 m/s, LOS rate: -0.078125 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863198 deg. 2juwV:ju2@HeadingCmd: 4.814721 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbfi @ɛ%hB%ξ= !%?I) -<ɚ)i)I-?=I5i]փie%<)a)izKKKh9KKK*FI2FI:FIBFM5JFI-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse nManaging dock network, ignoring radio surface power offGm )< I GI Ba O >1mZw,5_jA6f@Y6ku@6g=96nw=y6H,? }?軿@@T?ѳO ?q?ɨ6f@6+Ĉ;6Cy>lBBI Mb@Mb@Mb@    ) Y J +?ˡE?Mb`?y (? = ; GA ) CAI 2A y :A%AA%AAI-I-5٢=( =R=9=b%=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49Uo?]4YU iU>hBe*?e:ee?UCUD;U;U4mB m^eAYEZj15FNOT Ignoring new targets: 500.40 m.Bj=źJj=źm ProNav: ac range: 500.399994 m, nav range: 459.465149 m, bearing: 187.024716 deg, approach rate: 0.079523 m/s, LOS rate: -0.086346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879556 deg. 2jmm:jm@uHeadingCmd: 4.815007 target range: 500.399994 and range: 500.40 m. jqjqjqjyiyhyhyhyhe{Bfffrfbf!@ɛhBl= D?I %<ɚiI&X?=MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseIUiU4iU;)Q)Y*F2F:FBFp0JFJ]JYJYJYJ]:JYJYJYJ]<J]<JYJYGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseZw,3(jAf[@Yfj@fHD=9fR=yfH׼? ?\@?t,E/??ɨf[@f*6;fCyelBeII6I5٢ݼ C=9;Q > G٣b3GyBH > Nusing accuracyPremultiplier from config49do?4Y i0hBު?C ;` ;諄4 eA $?IfZj%FNOT Ignoring new targets: 500.40 m.Bj%!ĺJj-!ĺ= ProNav: ac range: 500.399994 m, nav range: 459.496613 m, bearing: 186.990305 deg, approach rate: 0.078398 m/s, LOS rate: -0.085735 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871962 deg. 2j=[k:j=s@EHeadingCmd: 4.814874 target range: 500.399994 and range: 500.40 m. jAjAjAjAiAhIhIhIhQfQfQfQrfQbf]!@ɛhB8,= 隕?I <ɚiI<>=Ii45im;))*FA2FA:FIBFM{0JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseGm;GI ZHu @ARHq H >I  I II 4mBI &I .I ID6I V<:I FB O= >`{Zw,yBjA2[@Y2,k@2b׏=928=y2H`*ؼ?`? ?a!#2?`?ɨ2[@29;2CyNlBNIzK^&`KK^9K\K^K^mMb@Mb@Mb@iii i)iYm r?Dl?MbP?ym#?mO=m:mZJA ml/A)mDAIm3Aiymz G٣y%8 > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse49o?4Y5 i!hB$?:笿?/C';w;䲄4 eAZjFNOT Ignoring new targets: 500.40 m.Bj Jj  ProNav: ac range: 500.399994 m, nav range: 459.521790 m, bearing: 186.958481 deg, approach rate: 0.062982 m/s, LOS rate: -0.079604 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879722 deg. 2jZ:j%@%HeadingCmd: 4.815010 target range: 500.399994 and range: 500.40 m. j!j)j)j)i)h)h)h1h5{Bf1f9f9rf9bf=f"@ɛehBmLi= imK?Ii mw<ɚqiqIuB>=Ii*|i;))EQEQ*F2F:FBF~0JF IG- ~q;m Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseG B O1 Zw,#[jAJJJJJL:J :JJJC <JC <Jw;Jw;BU@YBGe@Bh1=9Bh=yBHO??"X? O?Ȱ?ɨBU@B;BCynlBnI)! !I-;I-:5٢=m EP=9EP;Q E>II MG٣IyU U> Nusing accuracyPremultiplier from config49o?4Yצ ihB?PCe::깄4 eAZjaeFNOT Ignoring new targets: 500.40 m.BjmJjm ProNav: ac range: 500.399994 m, nav range: 459.547028 m, bearing: 186.926473 deg, approach rate: 0.060704 m/s, LOS rate: -0.076984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879167 deg. 2jUS:jz@HeadingCmd: 4.815000 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbf#@ɛhB= '=?I <ɚiIc%>=I%i%xi%;)9)IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF{0JF IG% O;G B O- >ΜZw,ujAWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣c3Gy 9 > Nusing accuracyPremultiplier from config49o?4Y ihB?qC~;I;4 eAUEB*** querying acoustic contact ***jjZjJ5AAJ5AAHI IIImBI =&I.I6IY<:IFFNOT Ignoring new targets: 500.40 m.Bj Jj M ProNav: ac range: 500.399994 m, nav range: 459.572662 m, bearing: 186.894249 deg, approach rate: 0.060872 m/s, LOS rate: -0.076515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878520 deg. 2jU R:j]c@eHeadingCmd: 4.814989 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbf@\x$@ɛ hB p= ~?I /<ɚiIF==Iijti%|;)9)yzK2QKK 9KKK   RK ?JK ?*Fu?2Fy:FyBF}p0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.WZw,+ِjA^Q@Y^Sa@^=9^)=y^Hr??`-;`?yb:;x?w?ɨ^Q@^;^CyflBfI]Mb@Mb@Mb@YYY Y)YY]-?Zd;?y]5?]y=]]+KA ]=0A)]EFAI]2AYy]=AIu=Iu5٢\W A=9:Q > G٣ybú > Nusing accuracyPremultiplier from config495o?4YH igB?:2?C;;dȄ4B 0fAWEZjaeFNOT Ignoring new targets: 500.40 m.Bjm\Jjm\Will construct direction to contact in vehicle frame from tetrahedron phase data.E>*Fa2Fa:FiBFm0JFiJJJJJ:J!:JJJ<J<Joy;Jpy;G ;M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI U BDAT read: Response Not Received U *response not received] *DAT read: user:799> ] BDAT read: Tx time:19:44:41.9675 e $Ping request sent.e Zw,GwjA I ]V@Y] f@]e=9]H=y]H#?`4?:`^3? ¶+eɾ?@o?ɨ]V@]H2;]CylBIINIp5٢@$ C=9HI;Q %>!! %G٣!y-0: -> UNusing accuracyPremultiplier from configQ]49Uo?]4YU iUgBae e?UCUP:U:Uτ4i mufAiZjFNOT Ignoring new targets: 500.40 m.BjeJje ProNav: ac range: 500.399994 m, nav range: 459.620026 m, bearing: 186.829099 deg, approach rate: 0.057356 m/s, LOS rate: -0.078420 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877549 deg. 2jFW:j?@HeadingCmd: 4.814971 target range: 500.399994 and range: 500.40 m. jj jIjIiIhQhQhQhQfYfYfYrfYbf]&@ɛhBA= p?I =ɚiIs7==Iim^ni;))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:44:41.9667 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250501E<HqIq IuIIumBIq&Iq.Iq6Iuk<:IuFBIqJIqRIqZIu =bIu =jIu 4*J"J<)) 5 C G5 vAI 5Y vAy A*F 2F :F BF p0JF zK 9LK 9K K K    qIHccQA/kF%aJ?7u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501406G%{/;GB O%?Zw,rRjA IfyUlBUvI-only read 0 of 4 data items for water velocity. Device response is::WS32768,V  @ @ @  @ II~5٢ =9Q > G٣d3Gy > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49io?4Y9 igB+::?ݶC*;? ׄ4 fAZjyFNOT Ignoring new targets: 500.40 m.BjJj ProNav: ac range: 500.399994 m, nav range: 459.649078 m, bearing: 186.789669 deg, approach rate: 0.056072 m/s, LOS rate: -0.076094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856906 deg. 2jP:jL@5HeadingCmd: 4.814611 target range: 500.399994 and range: 500.40 m. j1j1j9j9i9h9h9hAhAfffrfbf'@ɛhBH= cj?I =ɚiI==IEiEިiiMۻ;)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754625JJJJJ,:J:JJa-@a-@a-@a5@EE#'=EI*F 2F :F BF `5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005488G%;GB O%>Zw,jA I :*@Y:K:@:WӚ=9:N=y:HQ??ļ5޸?af UX?`}?ɨ:*@:_T;8yFvlBFkIININ5٢V V1=9ZQ ^>\\ ^G٣\ybA= b> fbBottom track data is 1.0 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdj49fSo?n4Yf ifgBn :ln`:nϮn?fCf9;f0z?fU܄4t vfAtZj FNOT Ignoring new targets: 500.40 m.BjJj- ProNav: ac range: 500.399994 m, nav range: 459.673920 m, bearing: 186.754114 deg, approach rate: 0.055317 m/s, LOS rate: -0.079169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868528 deg. 2j-UY:j-@=HeadingCmd: 4.814814 target range: 500.399994 and range: 500.40 m. j9j9j9j9i9hAhAhAhAfAfIfIrfIbfM)'@ɛEhBm= imc?Iq uk =ɚqiqIuc<=I}i}Ohi}h:)y)EE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257643H>I IIIlBI&I.I6Ia<:IF*F=?2FA:FBFi5JFzK /OK h9K K K 1-*&&"   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511967G ~q;G B O >LZw, kAj/@Yj9?@jl =9j=yjHCy?@v? @? =<} /??ɨj/@jpi;jCy~hlBbI = = m$?Imf        Mb@Mb@Mb@ )YbX9?+?yE?=LA 1A)IAI3Ay>AI I_5٢- #=9ٺQ > G٣e3Gy: > Nusing accuracyPremultiplier from config49o? 4Y9 igBT:?:в?'C0;;4-B -%gA-XEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 500.40 m.Bj ؞Jj ؞= ProNav: ac range: 500.399994 m, nav range: 459.690430 m, bearing: 186.717590 deg, approach rate: 0.031389 m/s, LOS rate: -0.069436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865619 deg. 2j=>:j=@EHeadingCmd: 4.814764 target range: 500.399994 and range: 500.40 m. jAjAjAjIiIhIhIhQhU{Bfqfqfyrfybf}>)@ɛhB ۴= 15]?I1 5=ɚ1i1I5<=I=i=afi=C;)A)A*F2F:FBFA5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762657G?:GBO>jZw, K#kA6UA@Y6P@6ɑ=96N=y6Hv? ?@?`YX-v? ?ɨ6UA@67;6CyR?lBRIIIZPIZ5٢b޽ b_=9b:Q f>dd jG٣hynD; n> vNusing accuracyPremultiplier from configpv49ro?z4Yr irgBxzz?rBCr:r:rz4 gAZj!-FNOT Ignoring new targets: 500.40 m.Bj-*Jj5*E ProNav: ac range: 500.399994 m, nav range: 459.703094 m, bearing: 186.690816 deg, approach rate: 0.037254 m/s, LOS rate: -0.078756 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894867 deg. 2jE2X:jE@MHeadingCmd: 4.815274 target range: 500.399994 and range: 500.40 m. jIjIjIjIiIhQhYhYhafafafarfabfm)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013578ɛMhBMZ= QuQ?Iq }=ɚyiyI}F<=IiUdiA;))EsAEsA qIq*F?2F:FBFp0JFGG: Will construct direction to contact in vehicle frame from tetrahedron phase data.խ L?խ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265711G B O >ZH RH ?AH% >I% C I% II% lBI% =&I! .I% JD6I% <:I% F'Zw,6=kAJ0J2J0J0J0J2:J0J0J2 G٣yd; > Nusing accuracyPremultiplier from config49o?4Y i}gB?:?hC;{;74 =hAUEZj FNOT Ignoring new targets: 500.40 m.BjbJjb- ProNav: ac range: 500.399994 m, nav range: 459.713348 m, bearing: 186.653785 deg, approach rate: 0.020503 m/s, LOS rate: -0.074044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864094 deg. 2j-CK:j-S@5HeadingCmd: 4.814737 target range: 500.399994 and range: 500.40 m. j1j1j1j9i9hhhh{Bfffrfbf *@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517624zKDMK+9KKKɛ-iB- = )-G?I1 5=ɚ1i1I5<=I]i]`i]oZ;)Y)a*F2F!:F!BF%5JF! iIqGU !j;G) B9 OU >Zw,WkA.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769339>W@Y>;g@>h=9>}@=y>HK??h`*`C?` `d? ?ɨ>W@>ap;>CyJlBJ'ILNAIVDIV95٢a =9'RQ  ?!! %G٣!y%!; - ? UNusing accuracyPremultiplier from config)U49-o?]4Y-y i-ngBY]]?-C-l;-:-4a mhAiZjFNOT Ignoring new targets: 500.40 m.Bj'Jj' ProNav: ac range: 500.399994 m, nav range: 459.720306 m, bearing: 186.630213 deg, approach rate: 0.020924 m/s, LOS rate: -0.070882 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904474 deg. 2jB:j%@%HeadingCmd: 4.815442 target range: 500.399994 and range: 500.40 m. j)j)j9j9i9hAhAhAhAfIffrfbf` c+@ɛ5 iB5= 1=>?I9 =,=ɚ9i9I=;=Imimu]imC;)i)q*F2F:FBFp0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021530Ge @;GA BQ a Ia Ou >ӦZw,pkA2^@Y2n@2=92=y2Ho??~f]뇺?᧵@lS_?TT ZG٣Zf3GyZ ; Z> bNusing accuracyPremultiplier from config\b49^o?f4Y^~ i^[gBdfmf?^C^:^X:^4h n]iAlZj  FNOT Ignoring new targets: 500.40 m.BjnJjn ProNav: ac range: 500.399994 m, nav range: 459.729065 m, bearing: 186.601417 deg, approach rate: 0.023325 m/s, LOS rate: -0.076687 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888800 deg. 2jR:j@HeadingCmd: 4.815168 target range: 500.399994 and range: 500.40 m. jjjjihhhhfffrfbf ",@ɛiB= m1?I `=ɚiIa;=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273566I}i}Zi6 ;))Ea>E>*F%?2F!:F!BF!JF!HI I\II^lBI =&I.I6IT<:IFJJJ0JJ|:JJـ3JJ<J<JJG ;G B O- >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528859zK KK 9K K K    4Zw,kARb@YRWq@R֛=9Ro=yRH@b ?`-?恽'?`*ϱ V?@)?ɨRb@Rg;RC I!y%kB- IMb@Mb@Mb@ )Y5^I ?Zd;O?y&1|y?PA )I5AyQ@AI%FI%5٢5; =3=9=ߐQ =>AA EG٣AyEue: M> UNusing accuracyPremultiplier from configI]49Mno?]4YM iMFgBe0?e:e\e?MCME5;M3;M4}B }DiA}VEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 500.40 m.BjJj ProNav: ac range: 500.399994 m, nav range: 459.739563 m, bearing: 186.567832 deg, approach rate: 0.022833 m/s, LOS rate: -0.073046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874434 deg. 2jH:j@HeadingCmd: 4.814917 target range: 500.399994 and range: 500.40 m. jjjjihhhh{Bfffrfbf'-@ɛiB%= !%/?I! %Y=ɚ!i)I5{;=I=iEUiE;)I)Q*F?2F:FBF~0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:44:45.0373 TRx dataTimestamp_ set to:1736365486.384621checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782535G- ;G B O) Zw, kA6a@Y6p@6L=96 X=y6H??`͏ t@?@ޙ=@?`s?ɨ6a@6=1;6CyBkBBIIJMIJ75٢R Rh=9RϻQ V>TT VG٣TyZY4 Z> Nusing accuracyPremultiplier from config 49 5o?4Y  i 5gB^? ܷC ; O; 4) -iA)ZjQUFNOT Ignoring new targets: 500.40 m.Bj]Jj]m ProNav: ac range: 500.399994 m, nav range: 459.748077 m, bearing: 186.541033 deg, approach rate: 0.023819 m/s, LOS rate: -0.074967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894792 deg. 2jmM:ju@uHeadingCmd: 4.815272 target range: 500.399994 and range: 500.40 m. jyjyjyjyihhhhfffrfbfy-@ɛ&iBp= "?I =ɚiITE;=Ii.Ri(;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033625*F2F:FBF0JF )I5gG#N;GsAGtAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:44:45.0373 LVL= 21696, 27345, 17986, 26035, AGC= 72, IDX= 75, 0.06, 2.623, 0.824, 2.666, 1.846, PHS= 0.865,-0.975, 0.817, RAW= 148.7, -7.8, CAL= 154.5, -16.2, ROT= 355.5, 16.2  Ygot valid direction response: 19:44:45.0373 LVL= 21696, 27345, 17986, 26035, AGC= 72, IDX= 75, 0.06, 2.623, 0.824, 2.666, 1.846, PHS= 0.865,-0.975, 0.817, RAW= 148.7, -7.8, CAL= 154.5, -16.2, ROT= 355.5, 16.2  PDAT read: Bearing 355.5, 16.2 (Local)  ~Local bearing/azimuth received: Bearing 355.5, 16.2 (Local)  DAT read: Range 10 to 50 : 499.1 m (Round-trip 665.5 ms) speed 0.8 m/s  *DAT read: user:800>  BDAT read: Tx time:19:44:46.1176  $Ping request sent. ک ک ۭ n-֖D?Qpo?4s)ۭ .?Iۭ  >iۭ Ŀۭ E\۩ ۩ = :publishing transmit ping time = Fpublishing direction and range infoة 9ح {<%b?~uH@1?/Z?yة ة ة ة ٩ )٩ I٩ i٩ ٩ ٩ ٩ ٩ ک )ک Iک iک ک ک ۭ n-֖D?Qpo?4s)۩ I۩ i۩ ۩ ۩ ۩ jH bH <H >I  I 7II !lBI &I .I 6I 8<:I F$Zw,qkAJ&J&J$J$J&̶:J&B:J$J$J&;J&;J&%b;J&&b;y޽kB޽II}NI}p5٢5 )=9Q >!! %G٣%g3Gy- M> ]Nusing accuracyPremultiplier from configQ]49Up?e4YU iU gBaae?UCUe:UP:U;4 KjAkwh?kUU k kҸkA:kCBkCZk)T@"`/@b/ Έyw@q@{<%b?~uH@1?/Z?JkĿRkE\*[kw&{e{T'cT.>l@b+*} Ŀ?"k*k4k@?k/Gb 2k\CkK,ݛ?k6G k{CkCkQ@ addTargetRange:: Added new target pos. range: 499.100006 m, deltaT: 15.127996 s, deltaX: -1.299988 m, approachRate: -0.085933 m/s, rangeRepo size: 4  Added new target pos. range: 499.100006 m, bearing: 190.632123 deg, lat: 36.899992 deg, lon: -122.114414 deg, deltaT: 15.127996 s, deltaX: -1.299988 m, approachRate: -0.085933 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 499.10 m.BjJj ProNav: ac range: 499.100006 m, nav range: 450.240723 m, bearing: 187.794912 deg, approach rate: 0.000000 m/s, LOS rate: -0.074967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861711 deg. 2j:j@Will construct direction to contact in vehicle frame from tetrahedron phase data. i AJDAT read: TxSync time:19:44:46.1168 EHeadingCmd: 4.814695 target range: 499.100006 and range: 499.10 m. jAjAjAjAiIhIhIhIhIfQfQfQrfU1@bf]t?zK}bLK}9KyK}K}ɛ3iB= ?I ==ɚiI#";=IiLi; ;)) E !I!*F2F:FBFp0JFGY G B! O= >Zw,kA>Will construct direction to contact in vehicle frame from tetrahedron phase data.^7@Y^G@^gvz=9^=y^H ?`ӗ?ƽ@\`?L޲I ? ?ɨ^7@^̶;^CyfskBfIMb@Mb@Mb@ )YS?X9v?~jty/?<D?OA 2A)I7Ay@AI+I5٢EFڽ E[=9EQ M>II MG٣QyU_ U> ]Nusing accuracyPremultiplier from configYe49]p?e4Y]d i]gBmj?m:mgm?]C];]h;]4q ujAyZjFNOT Ignoring new targets: 499.10 m.BjJj ProNav: ac range: 499.100006 m, nav range: 450.246521 m, bearing: 187.766128 deg, approach rate: 0.016867 m/s, LOS rate: -0.083732 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888835 deg. 2je:j@HeadingCmd: 4.815168 target range: 499.100006 and range: 499.10 m. jjjjihhhhs{Bfffrfbf?ɛ;iB Z=  ?I   =ɚ iIu:=IiJKi%V ;)!)!*F2F:FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.G% &;G ! I! B1 OM >Zw,kA2#@Y23@2Fn=92]=y2Hy ?`e?콿@"?> ĭ@?@P?ɨ2#@2//;2CyBdkBBIFADIJ IJ 5٢R$ Rj=9VX Q V>TT ZG٣XyZ@ Z> bNusing accuracyPremultiplier from config\b49^p?b4Y^ i^fBdff?^9C^:^e:^#4h j(kAhZj FNOT Ignoring new targets: 499.10 m.Bj 7Jj7% ProNav: ac range: 499.100006 m, nav range: 450.251587 m, bearing: 187.738839 deg, approach rate: 0.014463 m/s, LOS rate: -0.077905 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893322 deg. 2j%U:j%@-HeadingCmd: 4.815247 target range: 499.100006 and range: 499.10 m. j)j)j)j)i)h1h1h1h1fffrfbf y?ɛ%DiB-Z= )-?I) -F"=ɚ)i)I5:=IEiE5{JiMt :)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF%0JF!G;G%AGH9Ia I IJJBAJJJ1JJJ9:J3Ja@a@a@a@ Yy]ABIkBI =&I.I6IV<:IFBIUŻCJIUŻCRIQO|>ZIU =bIU =jIUu5E Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5 :KK5 9K1 K5 K5  kY ?  .e"[w, lA @2@Y2(@2b=92=y2Hɺ?!? h@]?^L TX??ɨ2@2;2Cy>IkBBI `I` Mb@Mb@Mb@    ) Y ~jt?V-?Mby $? <  PA 3A) I  y pAAI%(I%5٢5ŀ 5A=9@һQ > G٣h3GyI > Nusing accuracyPremultiplier from config49b p?4YQ ifB$? :  ?]C<<u+4B kAWEUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 499.10 m.BjmJjEU ProNav: ac range: 499.100006 m, nav range: 450.256256 m, bearing: 187.702958 deg, approach rate: 0.009704 m/s, LOS rate: -0.074574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867545 deg. 2j]L:j]@eHeadingCmd: 4.814797 target range: 499.100006 and range: 499.10 m. jajajajaihhhhr{Bfffrfbf[?ɛ]QiBe3= ae>Ia eh$=ɚaiaImh:=IuWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i&JiX))*Fu?2Fq:FqBFu~0JFqG :Gq By O > [w,?`?2?@N?d$ӿ?`_?ɨ2@2/`;2CyF/kBJIRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751591Ib[IbQ5٢zp ~:=9FQ >    G٣ y: > %Nusing accuracyPremultiplier from config!549%p?54Y%r i%fB9=E?%C%s;%n;%24I UkAQZj!-FNOT Ignoring new targets: 499.10 m.Bj-uúJj-uú ]$?I]gm ProNav: ac range: 499.100006 m, nav range: 450.261169 m, bearing: 187.668128 deg, approach rate: 0.012053 m/s, LOS rate: -0.085441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870697 deg. 2jj:jD@HeadingCmd: 4.814852 target range: 499.100006 and range: 499.10 m. jjjjihhhhfffrfbfK?ɛ[iB4m= >I %=ɚ i I `+:=IiIi1o:))*F?2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002714G zQZH! RH% @AH) I)  I- II- kBI) &I) .I) 6I) :I) G B O >[w,ZBlA(@Y7@X=9u>yHTI?`?jm?`Ű@Xi?@A?ɨ(@{b;CykBI %p=%a=Mb@Mb@Mb@ )Y rh?y&1?y&1|yC+?`e=` )HAI79AyAAI^I5٢S% ,=9"Q > G٣y%+!; %> -Nusing accuracyPremultiplier from config)549-p?54Y- 5tIi-fB=+?=:==?-C- ;-* ;-&;4A MAlAMTEZjquFNOT Ignoring new targets: 499.10 m.Bj}WͺJj}Wͺ ProNav: ac range: 499.100006 m, nav range: 450.279449 m, bearing: 187.627931 deg, approach rate: 0.040821 m/s, LOS rate: -0.089762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854599 deg. 2jiv:j@HeadingCmd: 4.814571 target range: 499.100006 and range: 499.10 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254924hhN{Bfffrfbf 6*@ɛeiB= >I @'=ɚiIB9=Ii)aHi*>:)) zKPK+9KKK}hW;0)#  AII*F?2F:FBF0JFG p9G B O U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506593[w,\lA6:&@Y65@6ރP=963v>y6H7??@9y`cj?B a??ɨ6:&@6$~;4yBkBBIIJRIJS5٢r rw=9vŻQ v?tt vG٣zi3Gyzf z? mNusing accuracyPremultiplier from configiu49mp?u4Ym& imfBq}}?mƸCm;m;m.A4B lAZjFNOT Ignoring new targets: 499.10 m.Bj}úJj}ú ProNav: ac range: 499.100006 m, nav range: 450.292847 m, bearing: 187.598537 deg, approach rate: 0.038950 m/s, LOS rate: -0.085455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887007 deg. 2jj:j@HeadingCmd: 4.815136 target range: 499.100006 and range: 499.10 m. jjjjihhhhfffrfbf @JCKKw3 KK.-KCKC"KCJJJJJJ :JJɛoiBo= >I a(=ɚiIѴ9=IiJxGi4:))*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760730 QIYG;G B O >[w,ulA6I@Y6+@6y6H`??P¾*?@W[#訿?)?ɨ6I@6(;6Cy>jBB{IIJvIJM5٢RZ VN=9VdQ V>XX ZG٣XyZH ^> bNusing accuracyPremultiplier from config`f49bp?f4Yb?- ibfBdfǰf?bCb":be:bG4l nlAlZjFNOT Ignoring new targets: 499.10 m.BjxJjx ProNav: ac range: 499.100006 m, nav range: 450.307556 m, bearing: 187.565962 deg, approach rate: 0.038191 m/s, LOS rate: -0.084572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877465 deg. 2j*h:j<@HeadingCmd: 4.814970 target range: 499.100006 and range: 499.10 m. jjjjihhhhfffrfbf$@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011037ɛziBS= 隍9>I -)=ɚiIv9=IiFi%6))HI IIIukBI =&I.I6I <:IF*F?2F:FBFY2JFG7:G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264875O >zK |MK 9K K K  H&~C jZI<1&!  A IA i#[w,kՏlAyjB%I-A)Mb@Mb@Mb@ )YS?Dl?y/?O=QA )GAI:AyIkI5٢ݭ< 9=9Q > G٣y > Nusing accuracyPremultiplier from config49!p?4Y5 ifB/?:ʮ?C<<O4B lAUEB*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 499.10 m.Bj%_Jj%_U ProNav: ac range: 499.100006 m, nav range: 450.329865 m, bearing: 187.527446 deg, approach rate: 0.047442 m/s, LOS rate: -0.081906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859644 deg. 2jU`:jU@]HeadingCmd: 4.814659 target range: 499.100006 and range: 499.10 m. jYjYjajaiahahahihm-{Bfffrfbfi @ɛmiBmY#= quȹ>Iq u9*=ɚqiqIu 69=IioFi *9))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:19:44:49.1824 5TRx dataTimestamp_ set to:1736365490.417198=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516715*FY2FY:FYBF]?1JFaJ%J%J!J!J%L:J%:J!J!G Ga Bi O >Z)[w,^lABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767484yޕjBޕzIIuI5٢߼ K=9Q > G٣j3Gy > Ig Nusing accuracyPremultiplier from config49&p?4Y?< ifB?2C};;V4 lAZj!-FNOT Ignoring new targets: 499.10 m.Bj5!غJj5!غE ProNav: ac range: 499.100006 m, nav range: 450.350464 m, bearing: 187.492170 deg, approach rate: 0.055173 m/s, LOS rate: -0.094477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869365 deg. 2jE:jE@MHeadingCmd: 4.814829 target range: 499.100006 and range: 499.10 m. jIjIjIjQiQhYhYhahafafafarfibfm @ɛiB.= 隝J>I ++=ɚiI>8=IiFi))*FA2FA:FABFM`5JFI5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=5<}DAT read: 19:44:49.1824 LVL= 25136, 27361, 16978, 31347, AGC= 69, IDX= 393, 0.14,-2.999, 1.666,-2.987, 2.511, PHS= 0.861,-0.798, 0.783, RAW= 147.6, -10.4, CAL= 154.3, -18.8, ROT= 355.7, 18.8 Ygot valid direction response: 19:44:49.1824 LVL= 25136, 27361, 16978, 31347, AGC= 69, IDX= 393, 0.14,-2.999, 1.666,-2.987, 2.511, PHS= 0.861,-0.798, 0.783, RAW= 147.6, -10.4, CAL= 154.3, -18.8, ROT= 355.7, 18.8 Gb8PDAT read: Bearing 355.7, 18.8 (Local) ~Local bearing/azimuth received: Bearing 355.7, 18.8 (Local) DAT read: Range 10 to 50 : 495.4 m (Round-trip 660.6 ms) speed 0.5 m/s *DAT read: user:801> BDAT read: Tx time:19:44:50.2676 $Ping request sent.99=M?eI7+?փ8ǿ)=>I=:>i=ݻ=% !99 :publishing transmit ping time Fpublishing direction and range info99=QL?,`2IG?y9999 9)9I9i99999 9)9I9i999=M?eI7+?փ8ǿ)9I9i9999GI BQ Ou >jH bH <H I  I II VkBI &I .I 6I U<:I Fb0[w,ŏlA@Y @A-=9>yH@?`ٗ?\b `V?UN?`?ɨ@;騕CyjBxIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:44:50.2668 Mb@Mb@Mb@ )YV-?#~j?{Gz?yh1?=#<RA )HAI;AyBAI=iI=k5٢u u&=9uSQ u>yy }G٣yy > Nusing accuracyPremultiplier from config49,p?4Y E ifB2?:?]CU;;8_4 I lAzKŔNKh9KKK|3xo5f,xdSE9.&! kuFF`9?kuľ kq kulA:kuCBkuCZkuW@"uEMD@DUxJKأ9r@uQL?,`2IG?JkuݻRku% !*uZAЍz\b&ZW'm@uqJ&dp|ȿd{?"ku*kunku܀R?kuH 2kuCku@?kqku\CkugCku`Q@ addTargetRange:: Added new target pos. range: 495.399994 m, deltaT: 4.033652 s, deltaX: -3.700012 m, approachRate: -0.917286 m/s, rangeRepo size: 4  Added new target pos. range: 495.399994 m, bearing: 192.574682 deg, lat: 36.900097 deg, lon: -122.114414 deg, deltaT: 4.033652 s, deltaX: -3.700012 m, approachRate: -0.917286 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 495.40 m.BjJj ProNav: ac range: 495.399994 m, nav range: 438.807404 m, bearing: 187.646387 deg, approach rate: 0.000000 m/s, LOS rate: -0.094477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828904 deg. 2j:jK @EHeadingCmd: 4.814123 target range: 495.399994 and range: 495.40 m. jAjAjAjAiAhAhIhIhM[{BfIfQfQrfU`f~@bfU?ɛiB?({= 隝F>I y-=ɚiI8=IiGia))*Fi 2Fi :Fi BFm 0JFi = Will construct direction to contact in vehicle frame from tetrahedron phase data.GU K9G BJ5J5J1J1J5|:J5:J1J1OM>*7[w,yNH@;)??t`??6 o`J?@ɶ?ɨN@N;NCybjBbvI f=f=IjhIj35٢r rh=9vݻQ v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|49~51p?4Y~^K i~fB  ꭿ ?~}C~n:~7:~\e4 mAREZjIUFNOT Ignoring new targets: 495.40 m.Bj]޺Jj]޺m ProNav: ac range: 495.399994 m, nav range: 438.826721 m, bearing: 187.614464 deg, approach rate: 0.058875 m/s, LOS rate: -0.097287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879423 deg. 2jm:jm@uHeadingCmd: 4.815004 target range: 495.399994 and range: 495.40 m. jqjqjqjyiyhyhyhyhfffrfbfA?ɛEiBE = AE>II M..=ɚIiIIM`8=IUiUD|IiUٽ)Q)Y*F2F:FBF _5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G%˴ $?IGBOI>] Will construct direction to contact in vehicle frame from tetrahedron phase data.0>[w,lAJÒ@YJҙ@Jz=9JsK >yJH#+?`? h`@?@;@`X?Ů?ɨJÒ@J;JCyVjBVxII^1I^5٢f; jK=9jQ j>ll nG٣nk3Gyn n> vNusing accuracyPremultiplier from configpz49r6p?z4YrR irfBx~r~?rCr@Y;rL;rgl4 B lA SEZj15FNOT Ignoring new targets: 495.40 m.Bj=6кJj=6кM ProNav: ac range: 495.399994 m, nav range: 438.847900 m, bearing: 187.577855 deg, approach rate: 0.052657 m/s, LOS rate: -0.091016 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865364 deg. 2jMy:jM@UHeadingCmd: 4.814759 target range: 495.399994 and range: 495.40 m. jQjQjYjYiYhYhYhahafafafirfibfm?HI IIILkBI =&I.I6I7<:IFɛiBl͂= >I 1/=ɚiI8=IipMiu))EtAErA*F!2F):F)BF5<5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.G%* IG B1 OU >zK կNK 9K K K ,EQIHzdSC5.' "(.38:L}pE[w,5mAy~jB~{IMb@Mb@Mb@ )Y&1?B`"۹?~jt?y0?=<SSA )IAIz< ;=9Q > G٣y > %Nusing accuracyPremultiplier from config=49IY ]Y^0=ɚYiYI]Ο7=Iei\RiL ))J J J J J ,:J 9J J *F?2F:FBF%p5JF!G ׹G  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.B O > I g8K[w,w/mA:¢@Y:@:\=9:b>y:HA&?j?Dmtڵ?fC۠e?`?ɨ:¢@:;:CyFkBFIINHIN5٢V`= V`=9V6Q Z>XX ZG٣Xy^45 ^> fNusing accuracyPremultiplier from config`j49b@p?j4Yb` ibfBlnn?bCbOF;b:G;bhz4p rlAtZj  FNOT Ignoring new targets: 495.40 m.BjJj躝% ProNav: ac range: 495.399994 m, nav range: 438.903961 m, bearing: 187.505116 deg, approach rate: 0.077097 m/s, LOS rate: -0.101793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877154 deg. 2j-:j-1@5HeadingCmd: 4.814965 target range: 495.399994 and range: 495.40 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfE?ɛ}iB}b= 隅>I %1=ɚiIE7=IiViTI))*F%?2F!:F!BF%o0JF!%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994869)) -CGYZHRHAAHI IIIVkBI&I.I6I&<:IFBIaJIaRIaZIe =bIe =jIeDŽb5~GxA1 eYexAyevBGBO>$R[w,HmA @Y m@ 1=9 L>y H9??b?] xp??ɨ @ ; CyE kBEIuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246975 9I9Mb@Mb@Mb@ )YJ +? ףp= ?L7A`?y(?Q=+=TA "5A)I>AyDAIPI5٢< +=9кQ >AA EG٣El3GyM: M> UNusing accuracyPremultiplier from configQ]49UFp?]4YUVi iUfB]z*?e:ee?UCU;U;U4i mblAizKeOKh9KKKkb["~n^PH>5.)#! #oumI. ZjFNOT Ignoring new targets: 495.40 m.BjnźJjnź ProNav: ac range: 495.399994 m, nav range: 438.932587 m, bearing: 187.462832 deg, approach rate: 0.058432 m/s, LOS rate: -0.086304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848346 deg. 2jl:j@HeadingCmd: 4.814462 target range: 495.399994 and range: 495.40 m. jjjjihhhh|Bfffrfbf t@ɛiB 0=  >I  X2=ɚ iI26=Iik]i,=))E)E->*F?2F:FBF4JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498692G hAG rAG sAG B O >^RX[w,hbmAJ:J:J8J8J::J:9J8J8R`@YR@Ryu<9R>yRH+? ? h&?/ԥ_͟? ?ɨR`@R;Py^kB^IIfSIf5٢n < nq=9nVQ n?pp rG٣pyv@( v? zNusing accuracyPremultiplier from configx~49zJp?~4Yzn izfB ?z.CzI K83=ɚiI`6=IiybiA)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752787*F2F:FBFp0JF !I%gGX<G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003176t^[w,ӡ|mAZ@YZִ@Z<9Z?\>yZH G٣y ':  > Nusing accuracyPremultiplier from config49Op?4Yu ifB%%?QC ; ;4-B -MlA-UEHAIA IEIIEjkBIA&IA.IA6IE:<:IEFZjq}FNOT Ignoring new targets: 495.40 m.Bj ϺJj Ϻ ProNav: ac range: 495.399994 m, nav range: 438.975922 m, bearing: 187.399413 deg, approach rate: 0.062066 m/s, LOS rate: -0.090505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869853 deg. 2jsx:j&@HeadingCmd: 4.814837 target range: 495.399994 and range: 495.40 m. jjjjih h h h f ffrf1bfu`@ɛiBN= >I $4=ɚiI5=Iihi #=) ) *F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254759 IGm f AzK OK +9K K K S}_eJ=[? \2iVLJ:130)$  GA BI Om >\e[w,_~mA2@Y2۲@2<92 >y2H`"-?@s?`8?r`V)?@?ɨ2@2y;2Cy:%kB:IUMb@Mb@Mb@QQQ Q)QYUMbX9?MbX? G٣m3Gy > Nusing accuracyPremultiplier from config49!Up?4Y| ifB$?:?sC;ʇ;4 kAREZjFNOT Ignoring new targets: 495.40 m.Bj%Jj%5 ProNav: ac range: 495.399994 m, nav range: 439.004974 m, bearing: 187.364493 deg, approach rate: 0.068247 m/s, LOS rate: -0.082025 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870434 deg. 2j5+a:j5;@=HeadingCmd: 4.814847 target range: 495.399994 and range: 495.40 m. j9j9j9jAiAhAhAhAhM9|BfIfIfIrfIbfU @Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:44:53.3090 TRx dataTimestamp_ set to:1736365494.451669checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511477ɛMiBU$= QU>IQ U5=ɚQiYI]y5=IeienimA)i)iEy*F ?2F :F BF JF GU S:Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758679 $?I 6k[w,GZmAy~kB~II HI 5٢% %P=9%Q ->)) -G٣)ym m> uNusing accuracyPremultiplier from configq}49u2Zp?}4YuT iufB?uCu? ;u ;u4 II Ux5=ɚQiQIUZ5=I]i]xsiY)Y)a*F2F:FBF0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010700jHE<bHE4=He>Ia IeIIekBIa&IaGf A.Ia6Ie;<:IeFGBJJJJJ:J9JJJ;aJ;aJ1;a J1;a O >>rr[w,BmA-O@Y-@-}<9- >y-HG?Ӓ?(@9`w?Sѣࢉ? ۯ?ɨ-O@-';-Cy=kBEImWill construct direction to contact in vehicle frame from tetrahedron phase data. IDAT read: 19:44:53.3090 LVL= 30192, 26865, 20594, 32755, AGC= 72, IDX= 202, 0.20, 1.969, 0.545, 2.086, 1.682, PHS= 0.375,-1.090, 0.401, RAW= 150.9, 4.3, CAL= 152.7, -4.6, ROT= 357.3, 4.6 Ygot valid direction response: 19:44:53.3090 LVL= 30192, 26865, 20594, 32755, AGC= 72, IDX= 202, 0.20, 1.969, 0.545, 2.086, 1.682, PHS= 0.375,-1.090, 0.401, RAW= 150.9, 4.3, CAL= 152.7, -4.6, ROT= 357.3, 4.6 PDAT read: Bearing 357.3, 4.6 (Local) ~Local bearing/azimuth received: Bearing 357.3, 4.6 (Local) DAT read: Range 10 to 50 : 477.9 m (Round-trip 637.3 ms) speed 0.3 m/s *DAT read: user:802>  BDAT read: Tx time:19:44:54.4176  $Ping request sent. mmO>m(@m`= mJ*@)mlImЍ@iml=iimrYc?_?',?)m ?Im im"翉m7 ii}:publishing transmit ping time }Fpublishing direction and range infoi9mt8ʿ߯v+~ G٣yaQ; > Nusing accuracyPremultiplier from config%496`p?%4YY ifB%?-:--?C9;L ;/41 5-lA1km ?km- ki kmuI t7=ɚiIgi4=Ii{im-)))EsAEsA Will construct direction to contact in vehicle frame from tetrahedron phase data. C= R=*F1 2F9 :F9 BF= 34JF9 Gu hAGIBQOm>y[w,mA^@Y^@^h><9^k>y^H}n?T?@ u~?`TS?`F?ɨ^@^;^CyrkBrIIIͰ5٢]?< ee=9eDQ m> G٣n3Gy > Nusing accuracyPremultiplier from config49fdp?4Y ifB?غCb<!c<4B  lASEMWill construct direction to contact in vehicle frame from tetrahedron phase data. IgZjFNOT Ignoring new targets: 477.90 m.BjcJjc ProNav: ac range: 477.899994 m, nav range: 435.894226 m, bearing: 183.499810 deg, approach rate: 0.103917 m/s, LOS rate: -0.080165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890505 deg. 2j\:j@HeadingCmd: 4.815197 target range: 477.899994 and range: 477.90 m. jjjjihhh h f f frfbf?ɛ)jBߴ= aewv>I 7=ɚiIb3=IiiD6))*FU?2FQ:FQBFUo0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.G "H- >I- C I- II- kBI- =&I) .I) 6I- *<:I- FGq By O >{[w,DnA::@Y:@:c<9:#>y:Hs? ?&A S?A@??ɨ::@:p;:CyFjBFIJPJPJVJVJTJTJV:JVO9JTJTJV=;JV>;JVg,;JVh,;IN IN?5٢j nT=9rQ r>pp vG٣tyvP9 v> zNusing accuracyPremultiplier from configx~49zhp?4Yz̖ izfB?zCzp;z;z,4  lAZj1=FNOT Ignoring new targets: 477.90 m.Bj=8Jj=8 ProNav: ac range: 477.899994 m, nav range: 435.932831 m, bearing: 183.470188 deg, approach rate: 0.106097 m/s, LOS rate: -0.081403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886328 deg. 2jv_:j@HeadingCmd: 4.815125 target range: 477.899994 and range: 477.90 m. jjjjihhhhfffrfbf R?ɛ}5jBs= 隅bI>I [8=ɚiI{3=Iid-i>X4))*F?2F:FBFu0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data. IzK-KK-9K)K-K-9E X o w s O  p2RK=?JK=>G- O8G B) OU >[w,(nA>@Y>@>[<9>>y>H ۗ?7?$@`?/u ?|?ɨ>@>";>CyJjBJ~I^Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmGz?YY ]G٣Yy]: e> mNusing accuracyPremultiplier from configa49eemp?4Yen iegB?:?eCe%;el;e4 lAZj FNOT Ignoring new targets: 477.90 m.Bj QJjQ% ProNav: ac range: 477.899994 m, nav range: 435.972107 m, bearing: 183.436739 deg, approach rate: 0.085377 m/s, LOS rate: -0.072702 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874851 deg. 2j%G:j%@MHeadingCmd: 4.814925 target range: 477.899994 and range: 477.90 m. jIjIjIjIiIhQhQhQhUd|BfYfYfYrfYbf]}?ɛDjBg= 0>I 8=ɚiIB2=IiUi,))Ee>E>*F?2F:FBFt0JF qIq}Will construct direction to contact in vehicle frame from tetrahedron phase data.G I6G ?G #?Ga B O > ߌ[w,5nA6ʒ@Y6ڙ@6<<96y >y6H@hf?`?`m0 /?H@M,I?n?ɨ6ʒ@6 ;6CyBjBBvIIRKIRƺ5٢Z Z_=9Z:Q Z>\\ ^G٣^o3Gyb< b> fNusing accuracyPremultiplier from configdj49fqp?j4Yf if gBhnYn?f/Cf ;f ;f4…4p rlArPEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 477.90 m.BjFJjF= ProNav: ac range: 477.899994 m, nav range: 436.003296 m, bearing: 183.410803 deg, approach rate: 0.085832 m/s, LOS rate: -0.071372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897382 deg. 2j=C:j=@MHeadingCmd: 4.815318 target range: 477.899994 and range: 477.90 m. jjjjihhhhfffrfbfm?ɛQjB<d= 隥>IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Bt9=ɚiIv2=Ii݆i))ZHRH@AH>I III&I.I6IE<:IF*Fm?2Fi:FiBFm~0JFiJJJ2JJ:JJc3JJ;J;JJG )+G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996091 I Ɠ[w,OnAy]jBehI Mb@Mb@Mb@  zKQPK 9KKKKst D~`E'y]H7( }zr  ) Y ʡE?V-?~jth?y ? m= D; YA ) I `AA y \GAI=9I=ɶ5٢EK M3=9MQ M>IQ UG٣Qy] ]> eNusing accuracyPremultiplier from configYe49]?up?m4Y]6 iYmb?m:mޯm?]PC]/;];]+ʅ4y }DmAyZjFNOT Ignoring new targets: 477.90 m.BjJj ProNav: ac range: 477.899994 m, nav range: 436.038544 m, bearing: 183.377335 deg, approach rate: 0.081026 m/s, LOS rate: -0.076927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874793 deg. 2j-S:j@HeadingCmd: 4.814923 target range: 477.899994 and range: 477.90 m. jjjjihhhht|Bfffrfbf`[@ɛ_jB)Y=  =I  -K9=ɚ)i1I52=IEim@ƈim)i)i*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245376Ge ;3G! B1 OM >.[w,BinAJX@YJ@Jr<9Jg>yJHA?ƈ?`/Z/@ O?`DN5?@?ɨJX@J ;JCyjBKII-TI-ļ5٢= =]=9=y:Q E>AA EG٣AyMn< M> ]Nusing accuracyPremultiplier from configYe49]xp?e4Y] iYim񮿑m?]kC]q:]:]Ѕ4q umAyZjFNOT Ignoring new targets: 477.90 m.BjJj ProNav: ac range: 477.899994 m, nav range: 436.068817 m, bearing: 183.350165 deg, approach rate: 0.081611 m/s, LOS rate: -0.073239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893683 deg. 2j I:j@HeadingCmd: 4.815253 target range: 477.899994 and range: 477.90 m. jjjjihhhhfffrfbf@ @ɛ ljB -I=  Z=I  9=ɚi =$?I9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.499020I5ĩ1=IUi]8 i]I)a)aEi*F2F:FBF0JFGH;G sAG G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749582B M Ga H >I  I II VkBI &I .I 6I 2<:I FBIʼCJIʼCRIZI =bI =jI5 Y y BOe >^ڠ[w,擃nAJBJ@JB1J@JB:J@JB3J@JB;JB;J@J@V@YVS+@Vz'<9V>yVH@U??@? ́D??ɨV@V ;VCybjBf7IInUIn5٢v vP=9vQ v>xx zG٣zp3Gy~; ~> Nusing accuracyPremultiplier from config 49|p? 4YS i?C:*:ׅ4B unAQEZjIUFNOT Ignoring new targets: 477.90 m.BjSJjS ProNav: ac range: 477.899994 m, nav range: 436.101624 m, bearing: 183.321339 deg, approach rate: 0.083248 m/s, LOS rate: -0.073144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888713 deg. 2jH:j@ HeadingCmd: 4.815166 target range: 477.899994 and range: 477.90 m. j j j j i9h9hAhAhAfAfIfIrfIbfMpd@ɛ{jB;=  ;I 9=ɚiICL1=I-i5L̈i5R\>9)9) )I-g]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005113*F?2F:FBF0JFzKOK9KKKh\VQNLC@<;886/.*(''&$"    RK?JK?G GR Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257367G B O>Zާ[w,nA-/@Y>@<9\>yH셻? ?@+`?`n? *?ɨ-/@-=;Cy%mjB%*IMb@Mb@Mb@ )YV-?~jt?:vyh?D=ThWA )+KAICAyI\I5٢ =9Q > G٣y; > Nusing accuracyPremultiplier from config 49ҁp?4Y igB?:,?Cu;͎;?4! %nA!ZjIMFNOT Ignoring new targets: 477.90 m.BjUJjU ProNav: ac range: 477.899994 m, nav range: 436.144928 m, bearing: 183.280031 deg, approach rate: 0.073330 m/s, LOS rate: -0.069941 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851277 deg. 2j?:j~@HeadingCmd: 4.814513 target range: 477.899994 and range: 477.90 m. jjjjihhhh|Bfffrfbf@ @ɛMjBM1= QU IQ U9=ɚQ aIyiQIX0=Ii‡i:))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:44:57.4770 TRx dataTimestamp_ set to:1736365498.738357checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512952*F?2F:FBFp0JFG f8G B O% >n[w,҉nA28@Y2G@2UK<92S>y2H ѻ?`p?Aݺ?)j??ɨ28@2ኊ;2CyB/jBFIINfIN5٢V< V{=9ZKںQ Z?X\ ^G٣\y^g; ^? fNusing accuracyPremultiplier from config`f49bڄp?j4YbQ ibfBhjj?bȻCb ;bq ;b4l noApB*** querying acoustic contact ***jjMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.761303ZjFNOT Ignoring new targets: 477.90 m.Bj㰺Jj㰺jH<bH<HI IIIkBI&I.I6I,<:IF% ProNav: ac range: 477.899994 m, nav range: 436.170502 m, bearing: 183.255928 deg, approach rate: 0.082045 m/s, LOS rate: -0.077324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902880 deg. 2j-DT:j-@5HeadingCmd: 4.815413 target range: 477.899994 and range: 477.90 m. j1j1j1j1i1h1h1h9h9f9fafarfabfeॉ@ɛjB(= n׽I <9=ɚiIߩ0=IiKix9;)) *F?2F:FBF0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG ;G ?G ? DAT read: 19:44:57.4770 LVL= 16736, 17393, 15506, 23731, AGC= 69, IDX= 113,-0.42, 0.178,-1.170, 0.203,-0.539, PHS= 0.805,-0.584, 0.740, RAW= 147.6, -14.0, CAL= 154.3, -22.0, ROT= 355.7, 22.0  Ygot valid direction response: 19:44:57.4770 LVL= 16736, 17393, 15506, 23731, AGC= 69, IDX= 113,-0.42, 0.178,-1.170, 0.203,-0.539, PHS= 0.805,-0.584, 0.740, RAW= 147.6, -14.0, CAL= 154.3, -22.0, ROT= 355.7, 22.0  PDAT read: Bearing 355.7, 22.0 (Local)  ~Local bearing/azimuth received: Bearing 355.7, 22.0 (Local)  DAT read: Range 10 to 50 : 491.3 m (Round-trip 655.1 ms) speed 0.4 m/s  *DAT read: user:803> % BDAT read: Tx time:19:44:58.5677 - $Ping request sent.-    8?/ d?;FϿ) >I {>i 1 C  m :publishing transmit ping time) m Fpublishing direction and range info Gq By O >9 3-̯?!S|2偶?y     ) I i      ) I i    8?/ d?;FϿ) I i    M[w,->nAzK"MK"9K K"K" BK$:K$y޽jB޽I=Mb@Mb@Mb@999 9)9Y=Zd;?+?Zd;Oy=?===j=9XA =5A)=IAI=CA9y=FAIm\Im5٢} f }%=9Q > G٣q3Gy > Nusing accuracyPremultiplier from config49[p?4Y ifBJ?:8?C|;%;4 0pAk]KQ?k]޵ uWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:19:44:58.5669 kY k]BnA:k]CBk]CZk][@"]:B> R@_qtx4q@]3-̯?!S|2偶?Jk]1Rk]C*]B%] z5!3|_ّl@]]Ӆ gп/?"k]*k]@k]WVo?k]ف 2k]RCk]?k]/Gb k]RCk]Ck](S@ addTargetRange:: Added new target pos. range: 491.299988 m, deltaT: 4.036914 s, deltaX: 13.399994 m, approachRate: 3.319366 m/s, rangeRepo size: 4  Added new target pos. range: 491.299988 m, bearing: 196.824101 deg, lat: 36.900125 deg, lon: -122.114645 deg, deltaT: 4.036914 s, deltaX: 13.399994 m, approachRate: 3.319366 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 491.30 m.BjJju ProNav: ac range: 491.299988 m, nav range: 439.236877 m, bearing: 189.680904 deg, approach rate: 0.000000 m/s, LOS rate: -0.077324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858577 deg. 2jq:j}@HeadingCmd: 4.814641 target range: 491.299988 and range: 491.30 m. jjjjihhhh{Bfffrf̴~@bfB?ɛejBe>= aeIa m8=ɚiiiIma0=Iuiugiu*.;)q)yJEJEJAJAJEm:JE9JAJAaU@aU@aU@aU@*F?2F:FBF|0JF I % Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 G B O= >,DnA2O:@Y2I@29<927>y2H޻?2?[@?-@6??ɨ2O:@29&;2Cy>iB>IIF/IF5٢R Rp=9RrQ V?TT VG٣y :  ? Nusing accuracyPremultiplier from config49wp?4Y ifB%3%? C::4) -pA)ZjQUFNOT Ignoring new targets: 491.30 m.Bj]Jj]u ProNav: ac range: 491.299988 m, nav range: 439.238922 m, bearing: 189.653805 deg, approach rate: 0.006366 m/s, LOS rate: -0.084375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893889 deg. 2jug:ju@}HeadingCmd: 4.815257 target range: 491.299988 and range: 491.30 m. jyjyjyjihhhhfffrfbf?ɛjB< SI q8=ɚiIK0=Ii i;;))*Fe?2Fa:FaBFeJ2JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ%=Օa=H>I I\IIjBI&I.I6I<<:IFG;GBO>Y[w,* oA IWill construct direction to contact in vehicle frame from tetrahedron phase data.mp,@Ym;@m|<9m >ymHlp?` ?@@{?@](`D@y?`?ɨmp,@mȣ;mCy-iB-IMb@Mb@Mb@ )YMb?J +?y&1y#?H=` 6A)ICAyImIN5٢ +=9x+Q > G٣ym > Nusing accuracyPremultiplier from config 491p? 4Y7 ifB#?:Ұ?/C;};4B XqAOEZjFNOT Ignoring new targets: 491.30 m.BjJjm ProNav: ac range: 491.299988 m, nav range: 439.245239 m, bearing: 189.614954 deg, approach rate: 0.012941 m/s, LOS rate: -0.079583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858637 deg. 2jmxZ:jm@uHeadingCmd: 4.814641 target range: 491.299988 and range: 491.30 m. jqjqjqjyiyhyhyhhJ{Bfffrfbf?ɛ-jB-r< 15 I1 5]7=ɚ1i1I540=I]i]3ie>:)a)azK}>LK}9KyK}K}  RK?JK ?*F5?2F1:F9BF=0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq GQ BY JCKK23 KKS}-KCKC"KCJ} Jy Jy Jy J} :Jy Jy Jy O >[w,8&oA2@Y2)@2<92iM >y2Hpۺ?`x?"?ܞd;? S?ɨ2@2֜;2Cy>iB>IIF=IF5٢N Nr=9RuQ R?PP VG٣Vr3GyV1޻ V? ^Nusing accuracyPremultiplier from config\b49^p?b4Y^ i^fB`bf?^KC^e:^:^4Q UrAQZjFNOT Ignoring new targets: 491.30 m.Bj,Jj,  ProNav: ac range: 491.299988 m, nav range: 439.249481 m, bearing: 189.586770 deg, approach rate: 0.012578 m/s, LOS rate: -0.083568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890633 deg. 2j he:j @HeadingCmd: 4.815200 target range: 491.299988 and range: 491.30 m. jjjji!h!hIhihififqfqrfybf}>?ɛjB< jI <6=ɚiI 0=I%i%i%2)!)) IIMgWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF2JFG;G B O >@[w,Q?oAWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH@RHBAAHF>ID IF$IIFbjBIF =&ID.ID6IF <:IFF^v@Y^!@^e<9^K >y^H ?? y ֹ?@ J? ٳ?ɨ^v@^;^Cy~~iB~II I e5٢}p %C=9%YQ %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1E495p?E4Y5 i5fBAE8E?5mC5z:5:5 4I UurAQuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 491.30 m.BjǺJjǺ ProNav: ac range: 491.299988 m, nav range: 439.254608 m, bearing: 189.551919 deg, approach rate: 0.012830 m/s, LOS rate: -0.087212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870635 deg. 2jio:jB@HeadingCmd: 4.814851 target range: 491.299988 and range: 491.30 m. jjjjihhhhfffrfbf`?ɛjB < 隍I ^5=ɚiIR0=Iii$))*F2F:FBFp5JF QIaWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gu4Gi B O >zK ,LK 9K K K BK rA:K sAe7[w,ZoA:@Y:%@:( <9: >y:Hջ?Y?@ W?]OAa/??ɨ:@:;:CyR]iBVIMb@Mb@Mb@ )Y@5^I ?I +?:vyb0?94=ԼdWA 7A)HAI-BAyfFAIIE5٢C :=9:Q >!! %G٣!y%sm: -> 5Nusing accuracyPremultiplier from config)=49-&p?=4Y- i-fB=0?=:=E?-C-%;-;-4I MrAIZjiuFNOT Ignoring new targets: 491.30 m.Bj}κJj}κ ProNav: ac range: 491.299988 m, nav range: 439.256592 m, bearing: 189.512346 deg, approach rate: 0.004535 m/s, LOS rate: -0.090468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856469 deg. 2jYx:j<@HeadingCmd: 4.814604 target range: 491.299988 and range: 491.30 m. jjjjihhhhzBfffrfbf`I@ɛjB< ;I 3=ɚiI,0=IiIi,3) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229867*FA2FA:FABFAJFAJJJ0JJ:J9Jـ3JGm zGm ?Gm > - $?I1 GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481858Q[w,ޫsoAJ@YJ3 @J͊<9JJ>yJH1?@׌?S` ƹ?HY`y?৵?ɨJ@J*u;HyV8iBVlIIbIbd5٢f6ҽ fd=9j\9Q j>hl nG٣ns3Gynغ r> vNusing accuracyPremultiplier from configpv49rp?z4Yr irfBxzz?rCr:r:r4 B sAPEZj)5FNOT Ignoring new targets: 491.30 m.Bj5^ͺJj5^ͺM ProNav: ac range: 491.299988 m, nav range: 439.258240 m, bearing: 189.480111 deg, approach rate: 0.004589 m/s, LOS rate: -0.089773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878482 deg. 2jMqv:jMa@UHeadingCmd: 4.814988 target range: 491.299988 and range: 491.30 m. jQjQjQjQiQhQhYhahafafafarfibfm5@ɛ kB}1< 5 I1 =2=ɚ9i9I=<0=IEiE iES)A)I*F)2F):F)BF-4JF)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.734490HI IIIjBI&I.I6I <:IFG'HGBO >;[w,`oA |IWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.989559 @Y @,<93>yHN\?`Y?K@K?\00? ?ɨ @ ;Cy=-iB=fIeMb@Mb@Mb@aaa a)aYev?&1?Mbye8?eP=ea e6A)aIaaye=FAI}I}D5٢̮ %=9 Q > G٣yR > Nusing accuracyPremultiplier from config49p?4YN ifBV9?:?C;3;!4 sAZjFNOT Ignoring new targets: 491.30 m.Bj>غJj>غ ProNav: ac range: 491.299988 m, nav range: 439.262146 m, bearing: 189.433394 deg, approach rate: 0.007904 m/s, LOS rate: -0.094527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835037 deg. 2j:j +@HeadingCmd: 4.814229 target range: 491.299988 and range: 491.30 m. jjjjihhh!h%zBf!f)f)rf)bf-@2@ɛkBvR< SI 0=ɚiI'0=IiSi ^) ) zK&KKKKK*F?2F:FBFp5JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240006G ïG J% J% J% 1J! J% :J% 9J% 3J! B9 O] >Hj[w,t}oA6<@Y6@6?<96>y6Ho??`~`? G ;?>?ɨ6<@6G;6CyZ&iBZbIIbIb5٢j j=9r7Q r ?pp vG٣tyz z ? Nusing accuracyPremultiplier from config49Zp?4YF ifBڲ?Ct;[;5'4) 5sA1ZjiuFNOT Ignoring new targets: 491.30 m.Bj}|ԺJj}|Ժ ProNav: ac range: 491.299988 m, nav range: 439.264252 m, bearing: 189.403385 deg, approach rate: 0.006518 m/s, LOS rate: -0.092885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885163 deg. 2j~:jV@HeadingCmd: 4.815104 target range: 491.299988 and range: 491.30 m. jjjjihhhhfffrfbf`gu @ɛ&kBZ; I X_/=ɚiIH0=Iii)) Ig*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:45:01.6137 TRx dataTimestamp_ set to:1736365502.768752checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491001Gi"G B O >)  e ~Gy Y y NB% k@% BM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741738(R[w,XoAjH bH<H>I IIIiBI&I.I6I~<:IFBIaJIaRIaZIe =bIajIe 5@Y@Nz<9G>yHM?&? $`O?Ԝ`[`? T?ɨ@sԇ;CyލiBލZIII5٢޼ ==9Q > G٣t3Gyk} > Nusing accuracyPremultiplier from config49֭p?4YZ ifB?'C.::.4 sAUB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 491.30 m.BjKҺJjKҺ ProNav: ac range: 491.299988 m, nav range: 439.266754 m, bearing: 189.362788 deg, approach rate: 0.005666 m/s, LOS rate: -0.091927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853395 deg. 2jZ|:j@HeadingCmd: 4.814550 target range: 491.299988 and range: 491.30 m. jjjjihhhIhIfIfQfQrfQbfUw@ɛ9kBc; I `-=ɚiIe0=Ii8.iqP))*F?2F:FBF3JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998260G5 G B O5 >|[w,]5oAzKcKK9KKKyziB~NI =a=}Mb@Mb@Mb@yyy y)yY}ʡE?:v?MbPy}=?}T=}}hWA }6A)}HAI}1BAyyyIUIUb5٢e|3 m?=9mQ m>qq uG٣qyu u> Nusing accuracyPremultiplier from configy49}Rp?4Y} i}fB)>?:z?}OC}; <}O<}/64 B 9tANEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 481.3 m (Round-trip 641.8 ms) speed 0.9 m/s *DAT read: user:804> %BDAT read: Tx time:19:45:02.7177 %$Ping request sent.%b[w,oA:’@Y:ҙ@:J\<9: >y:H'?ϒ?=Wz?@$4??ɨ:’@:g;8yn&iBnaIIvsIv5٢= e=9Q  >  G٣y1N > %Nusing accuracyPremultiplier from config-49p?-4Y ifB)--?qCX::o<49 =sA9ZjaeFNOT Ignoring new targets: 491.30 m.BjmsJjms캝} ProNav: ac range: 491.299988 m, nav range: 439.268982 m, bearing: 189.286757 deg, approach rate: 0.001365 m/s, LOS rate: -0.103360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871194 deg. 2jލ:jW@HeadingCmd: 4.814861 target range: 491.299988 and range: 481.30 m. jjjjihhhhfffrfbf`?ɛ]XkB]s ae Ia e)=ɚaiaIeq0=Imi iҞ))*F-?2F):F)BF-p0JF)%Will construct direction to contact in vehicle frame from tetrahedron phase data.H5>I1 I5II5iBI1&I1.I16I5<:I5FG TGJJJJJ<:Ju9JJJ ;a J ;a J/;a J/;a B OU >\w,pA PIP@Yl@D<9>yH@bs?? Sն? ?A?ɨ@׈;CWill construct direction to contact in vehicle frame from tetrahedron phase data.yޭ$iBޭ`I5Mb@Mb@Mb@111 1)1Y5-?A`"?Mb?y55>?5Y=5<59XA 1)5IAI5CA1y5 GAIEIE5٢] ]*=9]CQ ]>aa eG٣eu3Gym m> Nusing accuracyPremultiplier from config49غp?4Y ifB>?:?C ;D;D4 sAZjFNOT Ignoring new targets: 491.30 m.BjܺJjܺM ProNav: ac range: 491.299988 m, nav range: 439.268188 m, bearing: 189.239327 deg, approach rate: -0.001613 m/s, LOS rate: -0.096430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832899 deg. 2jM[:jU @UHeadingCmd: 4.814192 target range: 491.299988 and range: 481.30 m. jQjYjYjYiYhYhYhahezBfffrfbff?ɛlkBؕ; I n'=ɚiIc0=I i eEi D:) )zK=FKK=9K9K=K=*F2F:FBFo0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.- ?- ?G G B O > \w,T(pAy8iB%lI11IeiIek5٢}qi= }o=9Q ? G٣y ? Nusing accuracyPremultiplier from config49-p?4Yn' ifB?C ;` ;J4 usAZjFNOT Ignoring new targets: 491.30 m.BjJjຝ ProNav: ac range: 491.299988 m, nav range: 439.267792 m, bearing: 189.206848 deg, approach rate: -0.001199 m/s, LOS rate: -0.098145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877749 deg. 2j:jG@HeadingCmd: 4.814975 target range: 491.299988 and range: 481.30 m. jjjjihhh h f f f rfbf?ɛ=ykBEp AEkIA Ea'&=ɚIiIIMV0=IMiVi&?6)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG-,G B O >H% >I!  I! I! I% =&I! .I! 6I% \<:I% F= Will construct direction to contact in vehicle frame from tetrahedron phase data.\w,IBpARV@YR@R <9RMk >yRH`.?? `ΰ?@ qW???ɨRV@RAՇ;RCybGiBbvIIjIj5٢=  S=9Q > G٣!y%P %> 5Nusing accuracyPremultiplier from config)E49-p?E4Y-/ i-fBAMKM?-C-{;--e;-Q4Q U:sAQZjFNOT Ignoring new targets: 491.30 m.BjݺJjݺ ProNav: ac range: 491.299988 m, nav range: 439.266083 m, bearing: 189.168889 deg, approach rate: -0.004367 m/s, LOS rate: -0.096993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861310 deg. 2j!:j5@EHeadingCmd: 4.814688 target range: 491.299988 and range: 481.30 m. jAjAjAjAiIhIhIhIhQfQfyfyrfybf} ?*JC="J4=JJJJJ:JJJJ!;J";JJɛekBe; aefIi m$=ɚiiI1=IiwiM2))*Fe?2Fa:FaBFaJFa I gWill construct direction to contact in vehicle frame from tetrahedron phase data.GM .-G! B1 OM >\w, d\pAzK.&(KK. 9K,K.K. `Y;{SN:n_PA60-)#BK4:K6rAy=]iB=IMb@Mb@Mb@ )Y$C?A`"?X9v?y:?<hWA 7A)HAIyFAII5٢Q= <=9Q > G٣v3Gy > Nusing accuracyPremultiplier from config49p? 4Y27 ifB :? : v ? Ca;.;+Y4% B -rA-PEmB*** querying acoustic contact ***jiWill construct direction to contact in vehicle frame from tetrahedron phase data.ji-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ZjQUFNOT Ignoring new targets: 491.30 m.Bj]ɺJj]ɺ ProNav: ac range: 491.299988 m, nav range: 439.264008 m, bearing: 189.127866 deg, approach rate: -0.004465 m/s, LOS rate: -0.088255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852119 deg. 2jFr:j@HeadingCmd: 4.814528 target range: 491.299988 and range: 481.30 m. jjjjihhhhzBfffrfbfg@ɛUkBU`/A; Q]IY ].!=ɚYiYIe+,1=Iii~x))y*F12F1:F9BF=p0JF9 i Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264588Gu )|GQ BY O} >\w,xpA:@Y:@:<9:>y:H`x?@?A %?[@2@??ɨ:@:;:CyFiBFI N=N=IRIR5٢Z= ZK=9Z\s:Q ^>\\ ^G٣\yb8; b> jNusing accuracyPremultiplier from configdn49fp?n4Yf> iffBlrVr?f3Cf;f0;f1`4t vFrAxZjFNOT Ignoring new targets: 491.30 m.BjJj㺝 ProNav: ac range: 491.299988 m, nav range: 439.262573 m, bearing: 189.089651 deg, approach rate: -0.003726 m/s, LOS rate: -0.099275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860541 deg. 2jC:j@MHeadingCmd: 4.814675 target range: 491.299988 and range: 481.30 m. jIjIjIjQiQhYhYhhfffrfbf`@ɛkBCv  I M =ɚaiaIe J1=Imim&im g)i)qHIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517869*F?2F:FBF0JF IIIiBI =&I.I6Iw<:IFJ@AJAAJJJ0JJ:JO9Jـ3JJ;J;Jg,;Jh,;G= vG B O% > 9 I9 }$\wWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771299,ӒpAyޥiBޥI5Mb@Mb@Mb@111 1)1Y5Cl?v/?ˡE?y5/?5xi=5'=5 YA 1)5+KAI5DA1y5(HAIMzIM05٢;!= !=9Q > G٣y > Nusing accuracyPremultiplier from config49p?4YG ifB0?:_?_C$;e"; i4 qAZj FNOT Ignoring new targets: 491.30 m.Bj 1պJj 1պ- ProNav: ac range: 491.299988 m, nav range: 439.263763 m, bearing: 189.044113 deg, approach rate: 0.002436 m/s, LOS rate: -0.093193 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838574 deg. 2j-:j-@=HeadingCmd: 4.814291 target range: 491.299988 and range: 481.30 m. j9j9j9j9i9h9hAhAhEl{BfAfIfIrfIbfMI@ɛkB0W?; 隍 I A=ɚiI`1=IitƝij))zKNK9KKK  !#" "3[!+?QRK?JK?*F-?2F):F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023016Gm :_GI Ba O >Ό*\w,?pA:잒@Y:B@:<9:!>y:H ? ? x7?"M%р[?ಭ?ɨ:잒@:=K;:CyViBVII^`I^m5٢fg;> f=9fQ j?hh jG٣jw3Gyn; n? rNusing accuracyPremultiplier from configpv49rbp?v4YrTM irfBxzz?rzCr:r:rWn4| ~qA~MEZj)5FNOT Ignoring new targets: 491.30 m.Bj5̺Jj=̺ ProNav: ac range: 491.299988 m, nav range: 439.265045 m, bearing: 189.016868 deg, approach rate: 0.004212 m/s, LOS rate: -0.089541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893451 deg. 2ju:j@HeadingCmd: 4.815249 target range: 491.299988 and range: 481.30 m. jjjji Ihhhhfffrfbf@^ @ɛMkBM L Qu'Iq u =ɚqiyI}ly1=I}i6iMG))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272774*F2F:FBF0JFGZsGGG B O >jH <bH H I  I II jBI =&I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:45:05.7586  TRx dataTimestamp_ set to:1736365507.052738 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525806*w1\w,%pA6D@Y6@6 1<96 ^>y6H e?`_?¿u@]޶?@YF ;?`3?ɨ6D@6E;6CyFiBFII lI 5٢=< =C=9=&Q =>AA EG٣AyMX; M>JJJ1JJ\:Ju9J3JJo;Jp;J/;J/; Nusing accuracyPremultiplier from configQ49U`p?4YUT iUfB򳿑?UCU89zK xNK 9K K K ^djorsmeWND56XQ8}vpjfa]^WUUTQQN@.#BK sA:K Ԟ7\w,^pAyiBIWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 19:45:05.7586 LVL= 26000, 29585, 19858, 32755, AGC= 69, IDX= 389,-0.34,-1.517,-2.788,-1.308,-1.786, PHS= 0.357,-0.955, 0.475, RAW= 154.3, 1.8, CAL= 156.5, -7.1, ROT= 353.5, 7.1 MYgot valid direction response: 19:45:05.7586 LVL= 26000, 29585, 19858, 32755, AGC= 69, IDX= 389,-0.34,-1.517,-2.788,-1.308,-1.786, PHS= 0.357,-0.955, 0.475, RAW= 154.3, 1.8, CAL= 156.5, -7.1, ROT= 353.5, 7.1 MPDAT read: Bearing 353.5, 7.1 (Local) mMb@Mb@Mb@iii i)iYm~jt?p= ף?I +?ym$?m=m94=mx[A m39A)mKAImDAiymGIAIUI5U~Local bearing/azimuth received: Bearing 353.5, 7.1 (Local) DAT read: Range 10 to 50 : 477.6 m (Round-trip 636.8 ms) speed 0.6 m/s *DAT read: user:805> BDAT read: Tx time:19:45:06.8677 $Ping request sent. G٣y >`direction in FSK: [-0.153554,-0.865420,0.476938]:publishing transmit ping timeةFpublishing direction and range info96)ÿ儱!8&?yCes M)Iiȶ>zt33>Z,@= .@)In@i=`o?X|?p /? Nusing accuracyPremultiplier from config4)r?Ii߿9p?4Yf\ ifB%?:ӱ?ľC-<;}41 5JpA1 :publishing transmit ping timeةMFpublishing direction and range info96)ÿ儱!8&?y )Ii )Ii`o?X|?p /?)Iik H$ޛ?kX' k kpA:kCBkBCZkD@"cƾUR01y,%#yl@6)ÿ儱!8&?Jk߿Rk*)a{z9+[?@],d@]&rDAΰ?-uf?"kA*k%kDݛ?kHN" 2kaCkkkkCk S@m addTargetRange:: Added new target pos. range: 477.600006 m, deltaT: 4.032702 s, deltaX: -3.699982 m, approachRate: -0.917494 m/s, rangeRepo size: 4  Added new target pos. range: 477.600006 m, bearing: 175.981037 deg, lat: 36.900125 deg, lon: -122.114645 deg, deltaT: 8.312912 s, deltaX: -13.699982 m, approachRate: -1.648036 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 477.60 m.BjJj ProNav: ac range: 477.600006 m, nav range: 439.274658 m, bearing: 188.941143 deg, approach rate: 0.000000 m/s, LOS rate: -0.086543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844164 deg. 2j:jy@HeadingCmd: 4.814389 target range: 477.600006 and range: 477.60 m. jjjjih9h9hAhE|BfAfAfIrfM}@bfM`?ɛkBv; 8I +=ɚiI1=IiSi0<)) I*F2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:19:45:06.8669 G K7G ?G ?G B O >i}>\w,epABM@YB˙@B;9B/>yBH`?@LJ?E¿@r?5 |o?`^?ɨBM@B;BCy^ jB^IIv+Iv5] G}vA FYvAycB٢ $= C=9Q > G٣x3Gy; > Nusing accuracyPremultiplier from config 49p? 4Ykc igB ?C;R;℆4 pAk9/ޛ?k*iE k k:kBkZkӲD@HI IIINjBI =&I.I6If<:IFBIJIRIZIbI =jIP4"cƾUR01y,%#yl@6)ÿ儱!8&?JkRk*-O8{܎>@E\w,1qAn@Ynř@nJ;9nc>ynHƷ?{?@ÿz]I?bu1?`?ɨn@nt;lyz"jBzIMb@Mb@Mb@ )Y333333?Q? G٣y > Nusing accuracyPremultiplier from config49p?4Yi i%gB?:?C;[;4B oAB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 477.60 m.Bj-Z˺Jj-Z˺= ProNav: ac range: 477.600006 m, nav range: 439.292999 m, bearing: 188.873466 deg, approach rate: 0.029609 m/s, LOS rate: -0.088892 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878161 deg. 2jEt:jEV@EHeadingCmd: 4.814982 target range: 477.600006 and range: 477.60 m. jIjIjIjIiIhIhIhQhU|BfQfQfYrfbf`?ɛelBe M: aeIi m=ɚiiiIm1=Iui᪺i*))zKu%OKuh9KqKu Ku%Act{}xvrohe`^[WUPNIEC@<5..11///0-**)(&&(%" !*FU?2FQ:FQBFUY2JFQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.J J J 0J J :J 9J ـ3J a @a @a @a @G "G B O- > $?I \K\w,0qA2@Y2ϙ@2w;92S>y2H?`~?d3ÿ@?8 rfW?`١?ɨ2@2;2CyB9jBB IIJIJ^5٢Ri}= R_=9V`Q V>TX ZG٣XyZh\; Z> bNusing accuracyPremultiplier from config\b49^p?f4Y^o i^5gBdftf?^#C^z:^:^w4jB n6oAlZj FNOT Ignoring new targets: 477.60 m.Bj Jj% ProNav: ac range: 477.600006 m, nav range: 439.303040 m, bearing: 188.844690 deg, approach rate: 0.027533 m/s, LOS rate: -0.078910 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888861 deg. 2j%X:j%@-HeadingCmd: 4.815169 target range: 477.600006 and range: 477.60 m. j)j)j)j)i)h1h1h1h1f9f9f9rfAbfE ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229621ɛ0lBἹ aI tu=ɚiIn1=IiRi)) *F2F:FBFP5JFG{#ZHRH@AHI ICIIjBI =&I.I6I_<:IFG B O- >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482269xR\w,ٴJqAfmג@Yf@fG@;9f#B>yfH̸? ?¿_`X?s@G??ɨfmג@fz̋;fCyvOjBvII~I~5٢ ?O=  D=99Q > G٣y; > -Nusing accuracyPremultiplier from config!-49%p?-4Y%v i%GgB155?%CC%@:%L:%4EB EnAEOEZjFNOT Ignoring new targets: 477.60 m.Bj Jj  ProNav: ac range: 477.600006 m, nav range: 439.315369 m, bearing: 188.811906 deg, approach rate: 0.028281 m/s, LOS rate: -0.075200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876835 deg. 2jpN:j%@%HeadingCmd: 4.814959 target range: 477.600006 and range: 477.60 m. j!j!j)j)i)h)h)h1h1f1f1f9rf9bf=?ɛmClBm0\ ; im`Ii u8=ɚqiqIu1=I}i}Vi}޻)y) I gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736113*F?2F:FBF 5JFG jG B O >zK ]NK 9K K K     ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985644UX\w,?dqA (@Y ~ @  ;9 6>y HZ? ?`/u¿ b? Ax? ?ɨ (@ %\; CyKjBI))Mb@Mb@Mb@ )Yi|?5?~jt?Zd;O?y?=j< )LAIGAyJAIMDIM95٢u }6=9';Q > G٣y3Gy=< > Nusing accuracyPremultiplier from configJJJ1JJ:J=9J3J49 p?4Y| iVgB?:?eCW<<4Y nAZj)5FNOT Ignoring new targets: 477.60 m.Bj][Jj][m ProNav: ac range: 477.600006 m, nav range: 439.334534 m, bearing: 188.777846 deg, approach rate: 0.040184 m/s, LOS rate: -0.071409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873014 deg. 2jmD:jm@uHeadingCmd: 4.814892 target range: 477.600006 and range: 477.60 m. jqjqjqjqihhhh|BfffrfbfUY@ɛ[lB01;; quIq }E=ɚyiyI}J1=IiY#iIW)) I*FM?2FI:FQBFUp5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237767G5 G B O5 >^\w,A~qA6@Y68)@6C;96܎>y6Hݺ?@+?@A0¿ V?nTm|@la??ɨ6@6hW;6Cy>RjB>IIJHIJ5٢R< Ro=9R32;Q R?T| ~G٣|y7< ?  Nusing accuracyPremultiplier from config 49 p?4Y ԁ i `gB? ~C ; -; §4! %nA%LEZjQ]FNOT Ignoring new targets: 477.60 m.Bj]VJj]Vu ProNav: ac range: 477.600006 m, nav range: 439.349945 m, bearing: 188.752079 deg, approach rate: 0.050287 m/s, LOS rate: -0.084077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897886 deg. 2juf:ju(@}HeadingCmd: 4.815327 target range: 477.600006 and range: 477.60 m. jyjyjyjyiyhyhhhfffrfbfԻ@ɛhlB$1 I t=ɚiI1=IiSiX))HyIy I}\II}jBIy&Iy.Iy6I}<:I}F-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490733*Fa2Fa:FiBFmo0JFi"Gu=Gu=GEj>GB!OE0>mPExceeded connect timeout, disconnecting. I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742174#e\w,&qAyޭNjBޭIMb@Mb@Mb@ )Y rh?MbX9?y&1?yC ?ʡ=`e<]A )KAIGAyJAIPI5٢` *=9Q > G٣z3Gy   > Nusing accuracyPremultiplier from config-49&p?-4Ys ijgB5 ?5:5ͩ5?Cя;d;4A EnAA]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 477.60 m.Bju͢Jju͢ ProNav: ac range: 477.600006 m, nav range: 439.373688 m, bearing: 188.718445 deg, approach rate: 0.050240 m/s, LOS rate: -0.071166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874291 deg. 2j\C:j@HeadingCmd: 4.814915 target range: 477.600006 and range: 477.60 m. jjjjihhhh|Bfffrfbf@ɛlBA 3 I T =ɚiI#2=Ii̮i*))zK&MK9KK K!!   *F2F:FBF 4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5>5<=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994099J J J 2J J :J J c3J G5 OPG B! OE > I gk\w,qAB6@YB F@B;9B<>yBHû?'?`@p 4?`F?@ĭ?ɨB6@B;BCyJ?jBJI R=Rp=IV[IVQ5٢^8 ^w=9^9;Q b?`` bG٣`yf]/< f? jNusing accuracyPremultiplier from confighn49jp?n4Yj ijqgBlrVr?jCj ;j2 ;j4t voAtZjFNOT Ignoring new targets: 477.60 m.BjyJjy- ProNav: ac range: 477.600006 m, nav range: 439.390961 m, bearing: 188.695002 deg, approach rate: 0.052978 m/s, LOS rate: -0.071898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904862 deg. 2j-^E:j5'@=HeadingCmd: 4.815448 target range: 477.600006 and range: 477.60 m. j9j9j9j9i9h9hAhAhAfAfAfIrfIbfMV @ɛulB}:0 隅I ^ =ɚiII2=Ii im1;)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245910)*F?2F:FBFp0JFGyGBO >HqIq IuhIIujBIu =&Iq.Iq6Iu <:IuFM Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:19:45:09.8952 U TRx dataTimestamp_ set to:1736365511.084556U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498731*J "J p=r\w,qAyz.jBzI nManaging dock network, ignoring radio surface power offISI5٢-  -C=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49Mq?U4YM iMzgBQYe?MԿCMO;MP;M4mB mHoAmMEZjFNOT Ignoring new targets: 477.60 m.Bj颺Jj颺 ProNav: ac range: 477.600006 m, nav range: 439.413116 m, bearing: 188.665115 deg, approach rate: 0.052795 m/s, LOS rate: -0.071214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885531 deg. 2j~C:jc@HeadingCmd: 4.815111 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf2{ @ɛlBp- <I ~ =ɚiId2=I i 9i c;) ) III*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750019GïGiByO>zKE LKE 9KA KE KE BKi :Km tAe Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:45:09.8953 LVL= 24336, 29345, 20978, 32755, AGC= 73, IDX= 401, 0.11,-1.280,-2.649,-1.140,-1.899, PHS= 0.706,-0.704, 0.755, RAW= 151.7, -10.6, CAL= 158.1, -18.2, ROT= 351.9, 18.2 lDy\w,qAYgot valid direction response: 19:45:09.8953 LVL= 24336, 29345, 20978, 32755, AGC= 73, IDX= 401, 0.11,-1.280,-2.649,-1.140,-1.899, PHS= 0.706,-0.704, 0.755, RAW= 151.7, -10.6, CAL= 158.1, -18.2, ROT= 351.9, 18.2 &8DAT read: $Error in header **Received a bad headerbX#Rx 1: Read direction message, but no range.j^direction in FSK: [0.087321,-0.845117,0.527402]9aZ?rb^2 뿃y?_r Q)IIij4?X94GA?Us)@q= r0@)I@i>a6 ?; ?h Efwǿ) ?I<>i⻿7vT****** received valid address query ******vR****** received valid ping request ******zreceived new query, but waiting for acoustic response period to elapseJKw3 KS}.KK"KJEJEJE1JAJE:JEb9JE3JAyu3jB}IMb@Mb@Mb@ )YK7?MbX9?~jtx?yI ?;x[A :A)IGAyfJAIEVIE65٢u< u=9qQ u>yy }G٣}{3Gyy > Nusing accuracyPremultiplier from config49q?4Y~ igB ?:4?C<;:;fƆ4 6oAZjFNOT Ignoring new targets: 477.60 m.BjJj ProNav: ac range: 477.600006 m, nav range: 439.442047 m, bearing: 188.626736 deg, approach rate: 0.053739 m/s, LOS rate: -0.071286 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860057 deg. 2jC:j@HeadingCmd: 4.814666 target range: 477.600006 and range: 477.60 m. jjjjihhhh|Bf!f!f!rf!bf% @ɛulBu͒ qu(#Iq _=ɚiI2=Iiƫi))EtAEuAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse*F12F1:F1BF54JF1G] ;G1 B9 O] >f\w,BrA6_G@H:>I8 I:bII:jBI: =&I8.I86I:N<:I:FY6V@6k<96 >y6H yG??r`÷?j 5?`B?ɨ6_G@6d;4yn jBnIItIt٢~A {=9 :Q  ?  G٣y; ? %Nusing accuracyPremultiplier from config%49 q?-4Y igB)--?C ; ;̆41 =oA9ZjYeFNOT Ignoring new targets: 477.60 m.mWill construct direction to contact in vehicle frame from tetrahedron phase data.m%=m4=uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseBjuͦJj}ͦ ProNav: ac range: 477.600006 m, nav range: 439.459961 m, bearing: 188.603597 deg, approach rate: 0.056451 m/s, LOS rate: -0.072915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.905772 deg. 2j)H:jH@HeadingCmd: 4.815464 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf 5/@ɛUlBUH UhS=U0IQ ]2=ɚYiYI] 3=IiŪiC;))*Fu?2Fy:FyBF}o0JFy u$?IqG; Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapseG B O >Ԇ\w,rA2H@Y2ZW@29<92 >y2H@L?`(?L7? 闿 ??ɨ2H@2];0y^iBbIMb@Mb@Mb@ )YB`"?~jt?Mb`y?=I\A )IyJAInI5٢½ ?=9;8Q > G٣yA9 > Nusing accuracyPremultiplier from config49mq?4Y. igB*?:?/C;&;yӆ4 vpAB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 477.60 m.Bj-ڦJj-ڦE ProNav: ac range: 477.600006 m, nav range: 439.482849 m, bearing: 188.572447 deg, approach rate: 0.053596 m/s, LOS rate: -0.072937 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881743 deg. 2jE9H:jE@MHeadingCmd: 4.815045 target range: 477.600006 and range: 477.60 m. jIjIjIjIiIhIhQhQhUS|BfYfYfYrfYbf]`[@ɛ lBp ;@I ^=ɚiIn3=Ii%Qi% ;)!)!zKUKK9KK K %#'("  RK>JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*FA2FA:FABFEp0JFA i Iq Gu 1;GA BI Om >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse \w,6rAnpN@Yn]@n <9n >ynH?@W?s2@p?rl?o?ɨnpN@n?;lyziBzIII5٢6 T=9x9Q > G٣!y%.; %> -Nusing accuracyPremultiplier from config)549-q?=4Y- i-gB9=E?-KC-F1;-1;-5چ4I MpAMJEZjiuFNOT Ignoring new targets: 477.60 m.BjdJjd ProNav: ac range: 477.600006 m, nav range: 439.503815 m, bearing: 188.544285 deg, approach rate: 0.054478 m/s, LOS rate: -0.073173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890706 deg. 2jH:j!@HeadingCmd: 4.815201 target range: 477.600006 and range: 477.60 m. jjjjihhhhff!f!rf!bf%@y@ɛmlBmvü 隕7FI <ɚiI3=Iiӧi?;))) u~GxA*F? O YxAyB2F:FBF~0JFZHYRH]?AHe>IeC IeIIIejBIa&Ia.Ia6IeV<:IeFBI!JI!RI!ZI% =bI% =jI%̓4uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseGM g;G! B) JI JM JI JI JI JM u9JI JI JM ;aU JM ;a] JI ae JI ae Oi 9 I9 \w,rPrA6P@Y6R`@6 H <96MC >y6H`㓼??`` ?``h:?`%?ɨ6P@6A;6Cy>iB>IIFIF5٢R@| RS=9VGHQ V>TX ZG٣Z|3GyZER: ^> bNusing accuracyPremultiplier from config\b49^_q?f4Y^M i^gBdff?^gC^D<^<^4]B epAeKEZjFNOT Ignoring new targets: 477.60 m.Bj5Jj5 ProNav: ac range: 477.600006 m, nav range: 439.525085 m, bearing: 188.515965 deg, approach rate: 0.052603 m/s, LOS rate: -0.070033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890230 deg. 2j@@:j@HeadingCmd: 4.815193 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf@ɛ mBx ڼ iQI .r<ɚiIM4=Iir3i@;))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE$=*F= ?2FA :FA BFE o0JFA zK LK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ ՝ %= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG ;G B O>\w,DmrAVyS@YVb@V@ <9V >yVH@?`?@m8 ?h (??ɨVyS@V;VCybiBbI YI]gMb@Mb@Mb@ )Y"~?V-?~jtxy?h=ĻZA ;A)IGAyIIe5٢ $=9jdQ > G٣y : > mNusing accuracyPremultiplier from configiu49m>q?u4Ym imgB}?}:}}?mCm];mD;m4 qAZjFNOT Ignoring new targets: 477.60 m.Bj鲺Jj鲺 ProNav: ac range: 477.600006 m, nav range: 439.550934 m, bearing: 188.477048 deg, approach rate: 0.051949 m/s, LOS rate: -0.078209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858442 deg. 2jV:j@HeadingCmd: 4.814638 target range: 477.600006 and range: 477.60 m. jjjjihhhh |Bfffrfbf@ɛ$mBjۼ %bI! %bp<ɚ!i!I%4=I-i-Ai5T;)1)1E%LM=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse*F?2F:FBFp0JFG @;H >I  I *II ljBI &I .I 6I ]<:I FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseҡ\w,rAR@Ya@T <9p6 >yH '? ? #Q?g痿 =@`;9?4?ɨR@E ;騝Cy޵{iB޵III-5٢ G=9oAQ >! %G٣!y%~ %> 5Nusing accuracyPremultiplier from config)U49-"q?]4Y-޽ i)Y] ]?-C-;-5;-4a mrAiJ}J}JyJyJ}:J}*9JyJyJ};J};J}(;J}(;ZjFNOT Ignoring new targets: 477.60 m.BjJj ProNav: ac range: 477.600006 m, nav range: 439.570892 m, bearing: 188.447198 deg, approach rate: 0.049586 m/s, LOS rate: -0.074157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885642 deg. 2jK:jg@HeadingCmd: 4.815113 target range: 477.600006 and range: 477.60 m. jjjjihhhhf!f!f!rf!bf-`@ɛ:mB 隅oI <ɚiIqu5=Iii;))*E="E= YIY]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiY]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseE5lT=*F 2F :F BF o0JF G {/;zKQJK59KKK u{S4 GB Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseO>^\w,MrAnU@Yne@nK<9nl >ynH`ڹ? ?``0?ӣpɀ* ??ɨnU@n;nCyޝSiBޥ}IAMb@Mb@Mb@ )Y~jt?S㥫?{Gzy?/]=#YA )IGAyJAIId5٢! =9[Q > G٣}3GyA: > Nusing accuracyPremultiplier from config49(q?4Y igBH?:&?Ca;;4 rAB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 477.60 m.Bj{Jj%{E ProNav: ac range: 477.600006 m, nav range: 439.588257 m, bearing: 188.406342 deg, approach rate: 0.034277 m/s, LOS rate: -0.080644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852625 deg. 2jEa]:jE@MHeadingCmd: 4.814537 target range: 477.600006 and range: 477.60 m. jIjIjIjQiQhQhQhh{Bfffrfbf`@ɛ]UmBe ae4Ia ey<ɚaiiIm,6= yIImiIRi+;))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F ?2F :F BF I5JF G CQ;jH<bHH I  I II jBI  =&I .I 6I -<:I FGBO>a\w,rA6Will construct direction to contact in vehicle frame from tetrahedron phase data.6=6<6T****** received valid address query ******:R****** received valid ping request ******:received new query, but waiting for acoustic response period to elapse:=I@Y:X@: ;9:>y:HfV?0?vڻ?`A|??ɨ:=I@:;:CyF,iBFeIININ5٢V總 ZA=9Z"RQ Z>\\ ^G٣\y^0l ^> jNusing accuracyPremultiplier from configdj49fk,q?n4Yf ifgBlnXn?fCf :f:fE4t vCsAtZjFNOT Ignoring new targets: 477.60 m.BjJj- ProNav: ac range: 477.600006 m, nav range: 439.602356 m, bearing: 188.372636 deg, approach rate: 0.033209 m/s, LOS rate: -0.079389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874071 deg. 2j5Y:j5@5HeadingCmd: 4.814911 target range: 477.600006 and range: 477.60 m. j9j9j9j9i9h9hhh!f!f!f!rf!bf-*w@ɛukmBuΟ8 q隍臿I <ɚiI_6=Ii͞i-`;))J=J=J9J9J=:J=O9J9J9J=;J=;J=g,;J=h,;*F2F:FBFo0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseGU{/;G) BQ O} >v\w,7rA6A@Y65Q@6j;96s>y6H? ]?Z 4? 3=9pQ > G٣~3Gy? > Nusing accuracyPremultiplier from config490q?4Y i{gB$?:t?C;;4B sAJEZjFNOT Ignoring new targets: 477.60 m.BjJj  ProNav: ac range: 477.600006 m, nav range: 439.613007 m, bearing: 188.336722 deg, approach rate: 0.024841 m/s, LOS rate: -0.083761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867447 deg. 2j e:j @HeadingCmd: 4.814795 target range: 477.600006 and range: 477.60 m. jjjjihhhh%{Bf!f!f!rf!bf-  @ɛ]mB]V ae掿Ia eV<ɚaiaIe]7=ImimfimJ W;)q)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsezKSMK9KKK " %K8!*F2F:FBFJF IgG;GtAGtAG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseٽ\w,MrAb1@Yb1A@bj9;9b>ybH? ?@ڪ`- ?G?Z@A-g ??ɨb1@b{;bCyjhBj@IIrIr)5٢zE zT=9~6ϻQ ~> G٣y  > Nusing accuracyPremultiplier from config 49 w4q?4Y 7 i vgB)--? 7C ~; T; z41 =+tA9ZjFNOT Ignoring new targets: 477.60 m.BjmJjm ProNav: ac range: 477.600006 m, nav range: 439.622223 m, bearing: 188.304463 deg, approach rate: 0.023408 m/s, LOS rate: -0.081931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878410 deg. 2j`:j_@HeadingCmd: 4.814987 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf @ɛ mBGb I <ɚiIrm8=Ii%ʜi%:)!)!*F2F:FBFp0JFHAIA IEIIEiBIE =&IA.IA6IEo<:IEFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG- g;Ju Ju Jq Jq Ju :Ju *9Jq Jq Ju ;Ju ;Ju (;Ju (;G B O5 > I \w,sA2~'@Y26@2Ș,:92X>y2H 2J? e?Q`?㍿Ež?`?ɨ2~'@2ψ;2Cy>hB>'IIHIH٢RT˽ RP=9RQ R>TT VG٣TyZR Z>  Nusing accuracyPremultiplier from config\49^O8q?4Y^ i^rgB!%߱%?^XC^A;^A;^Y4) -tA)ZjQ]FNOT Ignoring new targets: 477.60 m.Bj]'Jj]'m ProNav: ac range: 477.600006 m, nav range: 439.631470 m, bearing: 188.271496 deg, approach rate: 0.023438 m/s, LOS rate: -0.083559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876288 deg. 2jmbe:ju@}HeadingCmd: 4.814950 target range: 477.600006 and range: 477.60 m. jyjyjyjyiyhyhhhfffrfbf@(!@ɛmBU "z=~I d<ɚiI99=IiqPi1!-:)) Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*FU?2FQ:FQBFU0JFQGu:G)B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK LK 59K K K "##"!    T!|B+ RK ?JK $?=\w,-sA6@Y6^(@6b=96I>y6H %׺?ඍ?@g?2뇿`?+?`?ɨ6@6;6CyZhB^I yIyMb@Mb@Mb@ )YV-?X9v?Mbyh1?<x[A :A)&KAIGAyfJAII5٢ 7=9Q > G٣3GyQ >  Nusing accuracyPremultiplier from config49GZH RH H! I!  I% II% iBI! &I! .I! 6I% <:I% Fe\w,eGsA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******2R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse: @Y:'@:}9:>y:H}?E?`3i?೏q?@,? G?ɨ: @:?;:Cy^hB^IIjIj5٢v v\=9z1λQ z>xx zG٣xy~Nr ~> Nusing accuracyPremultiplier from config 49?q? 4Y ijgB?C:z:$4! %uA!ZjQUFNOT Ignoring new targets: 477.60 m.BjUEκJjUEκe ProNav: ac range: 477.600006 m, nav range: 439.635986 m, bearing: 188.197565 deg, approach rate: 0.005260 m/s, LOS rate: -0.090169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874735 deg. 2jew:je@mHeadingCmd: 4.814922 target range: 477.600006 and range: 477.60 m. jijijjihhhhfffrfbfZL#@ɛ]mB]t; aeIa ,<ɚiI:=J J J J J J 9J J J J J '7;J (7; iIqIi-Hin2))*Fy2Fy:FyBF}{0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG b\Ga B O >\w,}asA6@Y6@6#ڻ96 >y6H` ?=?q@LD ?@dz WR{?_q??ɨ6@6놉;6Cy>hB>IUMb@Mb@Mb@QQQ Q)QYUI +?Mb?{GzyU94?U G٣y > Nusing accuracyPremultiplier from config49Bq?4YN ihgBI4?:帿?C;;,4B uAKEZjFNOT Ignoring new targets: 477.60 m.BjRҺJjRҺ ProNav: ac range: 477.600006 m, nav range: 439.631104 m, bearing: 188.158871 deg, approach rate: -0.011601 m/s, LOS rate: -0.091939 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859102 deg. 2jc|:j@HeadingCmd: 4.814650 target range: 477.600006 and range: 477.60 m. jjjjihhh h zBf f f rfbf [$@ɛmBޗ I! %?<ɚ!i!I%;=I-i-LuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAuK@\w,sA ~~G :$Y8y>A~@Y~Q@~9~>y~H`!?K? { @?.?px?vs?@?ɨ~@~Li;~Cy uhB II%I%5٢-# -/=95Q 5>19 =G٣=3Gy=i E> MNusing accuracyPremultiplier from configAM49E!Fq?U4YE iAQUU?ECE;E ;E(44a mvAiZjFNOT Ignoring new targets: 477.60 m.BjѺJjѺ% ProNav: ac range: 477.600006 m, nav range: 439.625397 m, bearing: 188.116033 deg, approach rate: -0.012226 m/s, LOS rate: -0.091772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846672 deg. 2j%{:j%@-HeadingCmd: 4.814433 target range: 477.600006 and range: 477.60 m. j)j)j1j1i1h9h9h9h9fAfAfArfAbfM%@H>I InII Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received *DAT read: user:807> - yH@uE? }?Bzso?XVM\?`i?Ի?ɨ@Gو;CylhBIII5٢ ,=9Q > G٣y: > Nusing accuracyPremultiplier from config49Iq?-4Y i)-I-?C;;<49 =+vA9ZjFNOT Ignoring new targets: 477.60 m.BjκJjκ ProNav: ac range: 477.600006 m, nav range: 439.619202 m, bearing: 188.071165 deg, approach rate: -0.012470 m/s, LOS rate: -0.090312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840582 deg. 2jw:j@HeadingCmd: 4.814326 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf+&@ɛ%nBx 隽6I %<ɚ!i!I% ==I-i-)i-8)))1E9E9*EA"EA}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:19:45:17.8178 $Ping request sent.yFH2I?@4?@`S?s?@??`?ɨFƒ@Fx;FCyRchBRIeMb@Mb@Mb@aaa a)aYeX9v? G٣y > Nusing accuracyPremultiplier from config49Mq?4Y ikgB>?:?GC;;D4B BvALEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 477.60 m.BjdJjdẝ ProNav: ac range: 477.600006 m, nav range: 439.612488 m, bearing: 188.027175 deg, approach rate: -0.015037 m/s, LOS rate: -0.098527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843216 deg. 2j<:jW@HeadingCmd: 4.814373 target range: 477.600006 and range: 477.60 m. jj!j!j!i!h!h!h)h-wzBf)f)f1rf1bf5 &@ɛ]=nBe̩ aeJIa e<ɚaiiIm>=Imiu%iu)q)q*F12F1:F1BF5}0JF9jH<bH<H>I IUIIiBI&I.I6IB<:IFGGBOK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502554 U $?IQ y\w,i5sA2I@Y2@2v92V >y2H|?? 8?)?? \?w?ɨ2I@2-;2Cyr_hBrII~I~5٢-5 -S=9-Q ->11 5G٣53Gy= => ENusing accuracyPremultiplier from configAM49EOq?M4YEB iEngBQUU?ElCEL:E:ElK4i uSvAqZjFNOT Ignoring new targets: 477.60 m.BjۺJjۺ ProNav: ac range: 477.600006 m, nav range: 439.606110 m, bearing: 187.989680 deg, approach rate: -0.016339 m/s, LOS rate: -0.096051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862700 deg. 2jփ:j @HeadingCmd: 4.814713 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf'@ɛSnB淽  I  (_<ɚ i I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893zK &`KK 9K K K 'ZsoaUI?5*%" 8\w,sAJ&J&J$J$J&:J&=9J$J$^\@Y^@^.Zͼ9^ >y^H@̶??{`Vv???`7O?'?ɨ^\@^<ۊ;^C I gy%phB%IMb@Mb@Mb@ )Y?:v?MbP?y@?<:x[A )HAIIAyJAI bI ޿5٢Ux= U9=9]gQ ]>Ya eG٣aye"ƻ e> uNusing accuracyPremultiplier from configiu49mgSq?}4Ym! imygB}@?}:}D}?mCm;m;m&S4 vAIEZjFNOT Ignoring new targets: 477.60 m.Bj)ߺJj)ߺ ProNav: ac range: 477.600006 m, nav range: 439.600891 m, bearing: 187.946459 deg, approach rate: -0.011778 m/s, LOS rate: -0.097551 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845521 deg. 2j养:j@HeadingCmd: 4.814413 target range: 477.600006 and range: 477.60 m. jjjjihhhhzBf f f rfbf@(@ɛ=mnB=1 9=I9 El<ɚAiAIEq@=IMiM/iMw_)I)Q*F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-4>-K?-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258849G.-Gi By O >H >I  I I I &I .I 6I <:I F ]w,1tA6@Y6ꝙ@6l96 >y6Ha??ON?b??G?઱?ɨ6@67;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510475yFohBDIIH5٢-1  -`=95Q 5>99 =G٣9yE? E> MNusing accuracyPremultiplier from configIU49M;Vq?U4YM) iMgBQUgm?MCMy~;M~;MY4q uvAqZjFNOT Ignoring new targets: 477.60 m.BjJjຝ ProNav: ac range: 477.600006 m, nav range: 439.596497 m, bearing: 187.910612 deg, approach rate: -0.012033 m/s, LOS rate: -0.098153 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867647 deg. 2j:j@HeadingCmd: 4.814799 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf I)@ɛnB ͞Ƚ  d¿I  Z<ɚiIYFA=IiGiZXk))!JQJQ*F?2F:FBF0JF IgGm*UG)B1OU1>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762712O]w,"tAy~hB~IMb@Mb@Mb@ )Yx&1??Q?yA@?<u<YA :A)GAIVJAyIAI]I]5٢r= 5=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49Yq?4Y2 igBf@?:湿?C;;a4 B vuAJEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015717ZjFNOT Ignoring new targets: 477.60 m.Bj ֺJj ֺ5 ProNav: ac range: 477.600006 m, nav range: 439.589905 m, bearing: 187.866067 deg, approach rate: -0.013846 m/s, LOS rate: -0.093565 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841550 deg. 2j5l:j5@]HeadingCmd: 4.814343 target range: 477.600006 and range: 477.60 m. jajajajaiahahahihmzBfififqrfqbfu@[D*@zKMK 9KKK I*b6RK>JK>ɛnBӨ I ]A<ɚYiYIe+B=Ieimim~i)i)iJ]J]JYJYJ]:J]9JYJY I*FQ2FQ:FQBFU~0JFQ= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267151G G rAG tAG B O >]w,=tA>5@Y>@>69> >y>HG? ? Q ҄?~̖?š?`o? ?ɨ>5@>r;dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49nC\q?r4Yn8 ingBpr蹿r?nCn:n:ng4Q U&uAQmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 477.60 m.BjJj溝 ProNav: ac range: 477.600006 m, nav range: 439.584991 m, bearing: 187.831663 deg, approach rate: -0.014402 m/s, LOS rate: -0.100847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871974 deg. 2jk:js@HeadingCmd: 4.814874 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf*@ɛEnBEdjڽ amIi mo1<ɚiiiImB=IuiuKWiuj)q)yZH!RH%AAH->I) I-bII-'iBI)&I).I)6I-<:I-iF*Fq2Fq:FqBFu2JFq5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518495G_ I G B O >]w,xCWtA:Y@Y:@:!#9: l>y:HZ??¿?&?`.???ɨ:Y@:Z;:CyJhBJ(IIRIRH5٢Z= ZL=9^ Q b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn49j>_q?n4Yj@ ijgBprr?j.Cj ;j ;jn4t vtAtZjFNOT Ignoring new targets: 477.60 m.Bj޺Jj޺Will construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771010 ProNav: ac range: 477.600006 m, nav range: 439.579407 m, bearing: 187.792423 deg, approach rate: -0.013855 m/s, LOS rate: -0.097354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857465 deg. 2j:j`@HeadingCmd: 4.814621 target range: 477.600006 and range: 477.60 m. jjjjihhhhfffrfbf +@ɛnB] 隝_I n<ɚiI C=IiVis))*FI2FI:FIBFMp5JFIGiGI ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024710By O >zK %MK 9K K K  0d|vsnjfda]XSRNMKHD?=<8530-+$BK :K sAJ% J% J! J! J% :J% b9J! J! ɵ]w,qtA IJ@YJۙ@J )9J>yJHqc?G?,¿^?a?4?`??ɨJ@Jˋ;JCy^hB^1IMb@Mb@Mb@ )YS?l?y&1?y:?=`<ZA 39A)AFAI&KAyGIAII5٢f = 9=9Q > G٣3Gyݨ9  > %Nusing accuracyPremultiplier from config%49bq?-4YVI igB-;?-:--?XC;/;{v49 =dtA9ZjYeFNOT Ignoring new targets: 477.60 m.Bje Jjm ຝ} ProNav: ac range: 477.600006 m, nav range: 439.578430 m, bearing: 187.750060 deg, approach rate: -0.002258 m/s, LOS rate: -0.097939 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848098 deg. 2j}n:j} @HeadingCmd: 4.814457 target range: 477.600006 and range: 477.60 m. jjjjihhhhzBfffrfbf`:,@ɛnBn ý mIi u<ɚqiqIulD=I}i}i}p)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275901*Fa2Fa:FaBFeo5JFaG JiG ?G ?HM >II  IM IIM ZiBII &II .II 6IM h<:IM FGa Bi O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:19:45:20.8358 e TRx dataTimestamp_ set to:1736365522.172573e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527576Ѩ"]w,'tA6I@Y6@6796>y6H@?`?X¿?c?x??,?ɨ6I@6c1;6Cy>hB>GIIJIJ5٢RP= V_=9VQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49beq?f4Yb6P ibgBdj&j?byCb;b;b|4nB nsAnKEZjFNOT Ignoring new targets: 477.60 m.BjʺJjʺ ProNav: ac range: 477.600006 m, nav range: 439.577667 m, bearing: 187.715739 deg, approach rate: -0.001972 m/s, LOS rate: -0.088696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872223 deg. 2j|s:j|@HeadingCmd: 4.814878 target range: 477.600006 and range: 477.60 m. jj j j i h h hhfffrfbf`A_-@ɛenBmʽ imIi mK;ɚiiqIuE=Iui}i} y)y) Ig*F92F9:F9BF=55JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778551GG B O >(]w,ߤtARe@YR@R.AD9R>yRH`? ?@¿ 4V?ۡ?? ??ɨRe@Rݥ;RCyZ)iBZdI}Mb@Mb@Mb@yyy y)yY}ʡE?T㥛 ?ˡE?y}-2?}=}'=}I\A y)yI}LAyy}JAIvIM5٢= <=9Q >! %G٣!y-: -> ENusing accuracyPremultiplier from config9M49=;jq?U4Y=YX i=hBU63?U:Uj]?=C=P|;=e{;=4eB msAiZjFNOT Ignoring new targets: 477.60 m.Bj}غJj}غ ProNav: ac range: 477.600006 m, nav range: 439.588593 m, bearing: 187.674929 deg, approach rate: 0.025335 m/s, LOS rate: -0.094634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852760 deg. 2j䁻:j@HeadingCmd: 4.814539 target range: 477.600006 and range: 477.60 m. jjjjihhhh{{BffWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 19:45:20.8358 LVL= 27088, 32753, 18002, 32755, AGC= 69, IDX= 361,-0.16, 2.931, 1.731, 3.126, 2.623, PHS= 0.396,-0.846, 0.500, RAW= 154.0, -0.8, CAL= 157.0, -9.5, ROT= 353.0, 9.5 Ygot valid direction response: 19:45:20.8358 LVL= 27088, 32753, 18002, 32755, AGC= 69, IDX= 361,-0.16, 2.931, 1.731, 3.126, 2.623, PHS= 0.396,-0.846, 0.500, RAW= 154.0, -0.8, CAL= 157.0, -9.5, ROT= 353.0, 9.5 PDAT read: Bearing 353.0, 9.5 (Local) ~Local bearing/azimuth received: Bearing 353.0, 9.5 (Local) DAT read: Range 10 to 50 : 460.2 m (Round-trip 613.7 ms) speed 0.6 m/s *DAT read: user:808> frfbfLK.@UBDAT read: Tx time:19:45:21.9179 ]$Ping request sent.]i RF)IEi>uX?,@d ^/@))I'@i)>tnQ?YK?,X{苿)?IE_.]w, }tA)B= Dt`wA-A ] Y]`wAy]By XiBII%4I%5٢U= ]A=9]Q ]>aa eG٣e3Gye e> Nusing accuracyPremultiplier from config49Hnq?4Y_ i6hB?C;X;ۋ4 WrAke?ke ފ ka keItA:keCBkeCZkeeF@"eAGb0x,Gʽk@e \\Z S(Q^M?JkeUBؿRke*e"z s1@z2 Rd@eH8Fs?[ҥĢ?"keNA*keke?kerY҇ 2ke\CkakakeaCkeCke0C@m addTargetRange:: Added new target pos. range: 460.200012 m, deltaT: 15.119740 s, deltaX: -17.399994 m, approachRate: -1.150813 m/s, rangeRepo size: 4 } Added new target pos. range: 460.200012 m, bearing: 177.615343 deg, lat: 36.900125 deg, lon: -122.113537 deg, deltaT: 15.119740 s, deltaX: -17.399994 m, approachRate: -1.150813 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 460.20 m.BjJj ProNav: ac range: 460.200012 m, nav range: 437.538269 m, bearing: 174.744323 deg, approach rate: 0.000000 m/s, LOS rate: -0.094634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856060 deg. 2j:j-@HeadingCmd: 4.814597 target range: 460.200012 and range: 460.20 m.jH<bHHI IIIiBI =&I.I6Ig<:IFBIJIRIZIbIjIF5 jj j jihhhhfffArfE@3|@bfEX?ɛ0oB(Ž 隭I p#;ɚiIFkF=Iiúigr))=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FYBF]<5JFY I JK3 KKK"KJ J J J J <:J 9J J J ;a- J ;a5 J 8;a5 J 8;a5 GE iGU tAGU sAG B! OE >5]w,/OtAy wiBII5,I55٢EY= E^=9AQ M>II MG٣IyQ U> ]Nusing accuracyPremultiplier from configYe49]qq?e4Y]Vf i]UhBiim?]C]:]e:]84q }qA}HEWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 460.20 m.Bj'ϺJj'Ϻ ProNav: ac range: 460.200012 m, nav range: 437.603607 m, bearing: 174.712302 deg, approach rate: 0.184798 m/s, LOS rate: -0.090554 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879137 deg. 2jx:jy@HeadingCmd: 4.814999 target range: 460.200012 and range: 460.20 m. jjjjihhhhfffrfbf ?ɛ-DoB-޽ )5I1 5Dap;ɚ1i9I=G=I=iEƺiE[+s)A)A*F?2F:FBFo0JFG݌jGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM AM T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.zKu LKu ]9Kq Ku Ku  s]nz`M@ $?I M;]w,#tA2p@Y2@2Кs92>y2Hj??¿Y?{?n?@.??ɨ2p@2;0yNiBRIMb@Mb@Mb@ )Y#~j?ʡE? ףp= ?y%?=Q8=]A :A)EFAIMAyJAII5٢'= ?=9ݼQ > G٣y 7  > Nusing accuracyPremultiplier from config49Tvq?4Yzm i~hBs'?%:%f%? C;y;4) -FqA)ZjIUFNOT Ignoring new targets: 460.20 m.Bj]ͻJj]ͻm ProNav: ac range: 460.200012 m, nav range: 437.681335 m, bearing: 174.677600 deg, approach rate: 0.183918 m/s, LOS rate: -0.082095 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871101 deg. 2jm]a:jmS@}HeadingCmd: 4.814859 target range: 460.200012 and range: 460.20 m. jyjjjihhhh|Bfffrfbf`A?ɛ]^oBu ý y}:Iy }g+ ;ɚyiyI}tG=Ii'˺i||))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220622*FE?2FA:FABFAJFAGm olH >I  I II jBI &I .I 6I _<:I FG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4698070B]w,a uA6@Y6n@6}96>y6H@{? ?¿ `?@n???՝?ɨ6@635;4yBiBBIIJIJ5٢R> Rb=9R޻Q V>TX ZG٣Xy^ ; ^> bNusing accuracyPremultiplier from config`f49b'zq?j4Ybs ibhBhj-j?b(Cb;b;b4nB nhpArIEZjFNOT Ignoring new targets: 460.20 m.BjJj ProNav: ac range: 460.200012 m, nav range: 437.748016 m, bearing: 174.648093 deg, approach rate: 0.173952 m/s, LOS rate: -0.076965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886678 deg. 2jHS:j@HeadingCmd: 4.815131 target range: 460.200012 and range: 460.20 m. jjjjihhhhfffrfbfA?ɛuvoB}]Iɽ y}ǴIy }w:ɚiI H= IgIi1κi3'))JJJJJL:J :JJJU;JV;JS;JS;*FY2FY:FYBF]p0JFa"Gm=Gm=G5'G= ?G=>GBO5O>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721867 I]w,%uAjӔ@Yj*@j9jy>yjH@ڮ??¿ LƸ?? 2??)?ɨjӔ@jwc;jCyviBvIMb@Mb@Mb@ )Y333333?MbX9?Mb?y?ʡ=@=]A )tEAInNAy KAI%:I%5٢=ژ= =3=9EYGQ E>QQ ]G٣]3Gy]O; e> uNusing accuracyPremultiplier from configq49u~q?4Yuz iuhBd?:[?uKCu~;u};u4 oAZjFNOT Ignoring new targets: 460.20 m.BjFJjF ProNav: ac range: 460.200012 m, nav range: 437.829803 m, bearing: 174.613769 deg, approach rate: 0.184684 m/s, LOS rate: -0.077492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872234 deg. 2jT:j}@HeadingCmd: 4.814879 target range: 460.200012 and range: 460.20 m. jjjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990011h|Bfffrfbf Q@ɛoB̦ I  H8ɚyiyI}wH=IiMxҺi7_)) IzK2NK9KKK:3-(#     *Fu?2Fq:FqBFqJFqG (= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242765G B O >0O]w,ٵ?uA2@Y2ڶ@292i>y2H B??`¿k?,?Q?`?,?ɨ2@2,;0y:jB:IIF,IF5٢N= Ri=9RQ R>TT VG٣TyV; V? ^Nusing accuracyPremultiplier from configX49Zq?4YZ iZhB?ZfCZ =Z =Z4 5oAZjFNOT Ignoring new targets: 460.20 m.Bj 靺Jj 靺% ProNav: ac range: 460.200012 m, nav range: 437.892120 m, bearing: 174.587875 deg, approach rate: 0.166148 m/s, LOS rate: -0.069029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.897515 deg. 2j%~=:j%@-HeadingCmd: 4.815320 target range: 460.200012 and range: 460.20 m. j)j)j)j)i)h)h1h1h1f9f9f9rf9bf= A#@ɛoB,Խ 隭I YvɚH>I I=IIjBI =&I.IID6I<:IFiIH=IiպiA)) *F2F:FBFJFGUWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494973GBO> qIyJJJ0JJ:J/:Jـ3JJ;J;J^;J^;V]w,YuA2@Y2ƙ@2 92i8>y2H ??`s¿Q?;???@?ɨ2@2%;0yN;jBN IIV2IV<5٢^= ^H=9^`` bG٣`yf; f> jNusing accuracyPremultiplier from confighr49jq?r4YjF ijiBpvЭv?jCjyH;jH;j64x znAxZjFNOT Ignoring new targets: 460.20 m.Bj3Jj3 ProNav: ac range: 460.200012 m, nav range: 437.966156 m, bearing: 174.557381 deg, approach rate: 0.187039 m/s, LOS rate: -0.077024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883722 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7461102jqS:j!@ HeadingCmd: 4.815079 target range: 460.200012 and range: 460.20 m. j j j j i h1h1h9h9f9f9f9rfAbfE`@ɛoB ƽ I ɚiI$UI=I iS׺iD*))!*F?2F!:F!BF%0JF!G-sA G)G :_G sAG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998652G B O > Y Ia zK *MK 9K K K [B\]w,8ksuAy_jB"I-Mb@Mb@Mb@))) )))Y-m?Zd;O?l?y-?-j=-=-]A -:A)-DAI- PA)y-JAI=.I=Y5٢M = M4=9UQ ]>YY ]G٣]3Gye e> mNusing accuracyPremultiplier from configiu49m7q?u4YmȌ imBiB}?}:}h}?mCm;m:;m,4 ,nAB*** querying acoustic contact ***jjZj)MFNOT Ignoring new targets: 460.20 m.BjU+JjU+e ProNav: ac range: 460.200012 m, nav range: 438.051697 m, bearing: 174.525994 deg, approach rate: 0.189660 m/s, LOS rate: -0.069578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881043 deg. 2je?:je@HeadingCmd: 4.815032 target range: 460.200012 and range: 460.20 m. jjjjihhhh|Bfffrfbf` @ɛMoBMH½ IM II UXɚQiQIUռI=I]i]ٺi]\.)Y)a Will construct direction to contact in vehicle frame from tetrahedron phase data. = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251425*F2F:FBFJFH >I C I {II jBI =&I .I 6I v<:I FGE $G9 BI Oe >M+c]w,JuA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:19:45:24.9318 6TRx dataTimestamp_ set to:1736365526.2206826checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503006Bڒ@YB @B*9BS}>yBH@\׸?g?`¿`i)?@??Q?`?ɨBڒ@B;BCyJijBJ(IIV IV?5٢b.< bg=9f!Q j>pp vG٣tyz`I< ~> Nusing accuracyPremultiplier from config 49 nq?%4Y  i ciB)-Ԩ-? C Y; Es; tÇ4]B emAeHE IZjIMFNOT Ignoring new targets: 460.20 m.BjuJju ProNav: ac range: 460.200012 m, nav range: 438.120117 m, bearing: 174.501293 deg, approach rate: 0.182314 m/s, LOS rate: -0.065807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901097 deg. 2j4:j@JAAJJJJ1JJ :Jz:J3JJ<J<Jl;Jl;HeadingCmd: 4.815382 target range: 460.200012 and range: 460.20 m. jjjjihhhhfffrfbf$ @ɛUoBU]׽ QUұIQ ])ɚYiYI]\)J=IeiecJۺiedֻ)a)i*F!2F!:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753975Ge -,GA BQ Ou >Zi]w,yH E??ԭ¿`x?%a??K??ɨ@;Cy-jB-8IMb@Mb@Mb@ )Yw/?K??y?^=<I\A )CAIyJAII5٢CX= *=9Q > G٣3Gy%j; %> -Nusing accuracyPremultiplier from config)549-q?54Y-O i-iB5 ?5:=\=?-C-;-;-ˇ4A EmAAeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:45:24.9318 LVL= 25248, 27745, 16498, 30963, AGC= 69, IDX= 509,-0.29,-0.776,-2.376,-0.662,-1.425, PHS= 0.738,-0.904, 0.760, RAW= 150.7, -7.2, CAL= 156.1, -15.4, ROT= 353.9, 15.4 Ygot valid direction response: 19:45:24.9318 LVL= 25248, 27745, 16498, 30963, AGC= 69, IDX= 509,-0.29,-0.776,-2.376,-0.662,-1.425, PHS= 0.738,-0.904, 0.760, RAW= 150.7, -7.2, CAL= 156.1, -15.4, ROT= 353.9, 15.4 PDAT read: Bearing 353.9, 15.4 (Local) ~Local bearing/azimuth received: Bearing 353.9, 15.4 (Local) DAT read: Range 10 to 50 : 457.2 m (Round-trip 609.7 ms) speed 0.7 m/s *DAT read: user:809> BDAT read: Tx time:19:45:26.0179 $Ping request sent.aae.rN?Ct/0?$!)e?IeFe>ieRſe"aa:publishing transmit ping timeFpublishing direction and range infoa addTargetRange:: Added new target pos. range: 457.200012 m, deltaT: 4.047768 s, deltaX: -3.000000 m, approachRate: -0.741149 m/s, rangeRepo size: 4 Zj9e={Rf?oAFde?yaaaa a)aIaiaaaaa a)aIaiaaae.rN?Ct/0?$!)aIaiaaaaFNOT Ignoring new targets: 460.20 m.BjJj ProNav: ac range: 460.200012 m, nav range: 438.208649 m, bearing: 174.470493 deg, approach rate: 0.191144 m/s, LOS rate: -0.066486 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882805 deg. 2j6:j@HeadingCmd: 4.815063 target range: 460.200012 and range: 457.20 m. jjjjihhh $?Igh|Bfffrf@3|@bf`j?ɛpB8½ 隝qI CɚiIƃJ=Iiܺi0))zK>BKK9KKKRK?JK?*Fi2Fi:FiBFu0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:19:45:26.0171 G 4λG ?G ?Gi By O >bp]w,(uA6:@Y6@6 96>y6H`?}?#¿ @s?Aӭ?Ҳ?@I?a?ɨ6:@6/H;4y=jB=<IIuIuҪ5٢}< b=9iQ > G٣y8< > Nusing accuracyPremultiplier from config49>q?4Y: iiB?Co;Ap;!҇4 umAkU?kU?{z kQ kUuXuA:kUCBkUCZkUN@"U0Lm#@w@zo@U={Rf?oAFde?JkURſRkU"*U|0yuWABh@U =hm)v?"kU,*kUakU?kU! 2kU{CkU?kUrY҇ kQkUCkU(F@ZjFNOT Ignoring new targets: 460.20 m.H>I IIIBkBI =&I.I6I6<:IFBjqJjq5 ProNav: ac range: 460.200012 m, nav range: 438.277374 m, bearing: 174.446841 deg, approach rate: 0.188580 m/s, LOS rate: -0.064890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.904242 deg. 2j5"2:j=@]HeadingCmd: 4.815437 target range: 460.200012 and range: 457.20 m. jajajajaiahahahihifififqrfqbfu z?ɛ.pB }I ڻɚiIKJ=IiܺiD))*F2F:FBF&1JF=Will construct direction to contact in vehicle frame from tetrahedron phase data. IG G B O >*v]w,-]uA6h@Y6 @6496 >y6H׹?<?R¿`]?`?@??? Й?ɨ6h@6;6CyRjBV9II^ I^_5٢fwJ fX=9fQ j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rq?v4YrF iriBxz z?rCr:rn:r؇4| ~mA|Zj)-FNOT Ignoring new targets: 460.20 m.Bj5Jj5u ProNav: ac range: 460.200012 m, nav range: 438.347870 m, bearing: 174.422576 deg, approach rate: 0.198188 m/s, LOS rate: -0.068206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902404 deg. 2ju<;:j}@HeadingCmd: 4.815405 target range: 460.200012 and range: 457.20 m. jjjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.՝=՝:?ffrfbf>?ɛDpB\M ۷I ɚiIYfK=Ii}ݺiI))*F2F:FBFP5JFGV'SGiByO>M Will construct direction to contact in vehicle frame from tetrahedron phase data. I J J J J J :J $:J J a @a @a @a @zKU KKQ KQ KU KU BKe rA:Ke oA|]w,[uA2j@Y2@2C顽92 >y2H0? >?@<¿@?b? 7???u?ɨ2j@2;;0y:jB>;I~Mb@Mb@Mb@||| |)|Y~uV?sh|??y&1|?y~r?~=~`;| |)|I~~RA|y~3KAII5٢Z; :=9Q > G٣y"; %> -Nusing accuracyPremultiplier from config)549-q?54Y-f i-iB= ?=:=t=?-0C-C ;-] ;-4A E}mAIeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 460.20 m.BjuJju ProNav: ac range: 460.200012 m, nav range: 438.430756 m, bearing: 174.393113 deg, approach rate: 0.185206 m/s, LOS rate: -0.065821 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886815 deg. 2j4:j@HeadingCmd: 4.815133 target range: 460.200012 and range: 457.20 m. jjjjihhhh!}BfffrfbfXD?ɛ]bpBeC׽ ae9Ia en"ɚiiiImK=Imiuݺiu_C)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FY2FY:FYBF]`5JFYGtA G GvAA YvAyBH>IC IIIukBI =&I.IHD6I9<:IFBIȺCJIȺCRIZI =bI =jI6G ԑG G pAG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498750L]w,(vAj\@Yj @j9j >yjHŃ?a~?f¿)?Nϰ?}?@ _? ?ɨj\@jׇ;jCyrjBr7II~I~5٢   Y= I9qQ >!! %G٣%3Gy-;; -> UNusing accuracyPremultiplier from configQ]49U q?]4YU iUiBae@e?UJCU:U:U4i mmAqZjFNOT Ignoring new targets: 460.20 m.Bj&Jj& ProNav: ac range: 460.200012 m, nav range: 438.500610 m, bearing: 174.368438 deg, approach rate: 0.185846 m/s, LOS rate: -0.065636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.901174 deg. 2j.4:j@HeadingCmd: 4.815384 target range: 460.200012 and range: 457.20 m. jjjjihhhhfffrfbf*?ɛ{pB 隕:I %ɚiIf=L=Ii6ݺihպ))*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752353G]UG B O >É]w,^(vA5n0@Y5?@5X958 >y5H z?`[z?`z¿@ ? w?@:Ŵ?`@j? ?ɨ5n0@50;5Cy}jjB})I Mb@Mb@Mb@    ) Y oʡ?333333?9A EG٣AyE\ < E> UNusing accuracyPremultiplier from configI]49Mq?]4YM iM jB]`?]:]e?MiCM;M;M4mB mmAmIEZjFNOT Ignoring new targets: 460.20 m.BjJj ProNav: ac range: 460.200012 m, nav range: 438.581757 m, bearing: 174.338770 deg, approach rate: 0.186665 m/s, LOS rate: -0.068235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886199 deg. 2jP;:j|@HeadingCmd: 4.815123 target range: 460.200012 and range: 457.20 m. jjjjihhhhV|Bfffrfbf2@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002886ɛpB ſI <ɚiIL=IiUݺi`:) I)JuJuJqJqJu:Ju*:JqJq*F?2F:FBF5JFzKKKػ9KKKRK ?JK?G i"G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255500B O >]w,BvA6\K@Y6Z@6}好96qI >y6HO?>x?`{c¿ @?@m?ᶴ?L?ෙ?ɨ6\K@6{;6Cy>YjB>IIJ)IJ=5٢RG Rh=9Vl#:Q V>TX ZG٣XyZ< Z> bNusing accuracyPremultiplier from config\b49^q?f4Y^ i^jBdfUf?^C^:^:^4h n,nAnFEZj|FNOT Ignoring new targets: 460.20 m.BjJj5 ProNav: ac range: 460.200012 m, nav range: 438.648163 m, bearing: 174.314767 deg, approach rate: 0.188697 m/s, LOS rate: -0.068196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.903188 deg. 2j=5;:j=@EHeadingCmd: 4.815419 target range: 460.200012 and range: 457.20 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfU)@ZHRH@AH>IC IIIkBI =&I.I6I3<:IFɛpB* ˿I OɚiIYJM=IiEۺiMm ;))*F)2F):F)BF-o0JF)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507191 IgGM .r:GU ?GU ?G! B1 Oe >Ԗ]w,\vA2X@Y2g@2#921 >y2H@?x?a3¿`װU??@޴??@'?ɨ2X@27_;2CyRPjBRIIZ+IZ5٢bǤ bH=9bDúQ f>dd fG٣f3Gyj_; j> nNusing accuracyPremultiplier from configlr49nq?r4Ynr in-jBtv v?nCn:n*:n4| ~NnA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758773ZjFNOT Ignoring new targets: 460.20 m.Bj4Jj4 ProNav: ac range: 460.200012 m, nav range: 438.725403 m, bearing: 174.287046 deg, approach rate: 0.181764 m/s, LOS rate: -0.065223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.892039 deg. 2j 3:jR@HeadingCmd: 4.815225 target range: 460.200012 and range: 457.20 m. jjjjihhhhfffrfbf%EW@ɛpBS 隵uϿI [dɚiIM=IiٺiRP;))*FI2FI:FIBFIJFIG;5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011919Gi Bq O > I J J J J J :J ,:J J ]w,$~vvAzK2oKK2]9K0K2K2:_^@Y:m@:69:->y:H?x? ¿`,`?`޳?`??#?ɨ:_^@: ;:CyR5jBRI-Mb@Mb@Mb@))) )))Y-9v?p= ף?/$y-?-=--ZA -b8A)->AI- PA)y)IM&IM5٢]; eA=9eQ e>ii mG٣iym: u> Nusing accuracyPremultiplier from configq-49uoq?54Yu iu:j @5HeadingCmd: 4.815071 target range: 460.200012 and range: 457.20 m. j1j1j1j1i1h9h9h9h= |BfAfAfArfAbfE @ɛpBD ֿI $}ɚ i I ČN=Ii׺i\;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263078*F?2F:FBFp0JFH>I III`kBI =&I.IGD6IJ<:IFG ~q;G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:19:45:29.0291 E TRx dataTimestamp_ set to:1736365530.252624M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515842]w,YvA B$?ID>W@Y> g@>9>>y>H@@?@z?l 7N???`? ?ɨ>W@>;>CyN-jBNIIZ#IZ5٢b# bU=9fQ f>dd jG٣hyj j> rNusing accuracyPremultiplier from configpv49rq?v4Yr irJjBtv嫿v?rCr:r:r 4| ~nAZj!%FNOT Ignoring new targets: 460.20 m.Bj-%Jj-% ProNav: ac range: 460.200012 m, nav range: 438.878021 m, bearing: 174.228573 deg, approach rate: 0.207732 m/s, LOS rate: -0.079621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.891740 deg. 2jZ:jG@HeadingCmd: 4.815219 target range: 460.200012 and range: 457.20 m. jjjjihhhhfffrfbf`W @ɛ-qB5= Y]ڿIa m>QɚyiyI CO=IiAֺiЌ;))*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769919GQGYG]sAG) B1 OM > ]w,;VvAWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 19:45:29.0291 LVL= 23024, 31857, 17346, 32755, AGC= 67, IDX= 419, 0.03, 0.263,-0.985, 0.445,-0.174, PHS= 0.525,-0.763, 0.616, RAW= 153.4, -5.7, CAL= 158.1, -13.8, ROT= 351.9, 13.8 ]Ygot valid direction response: 19:45:29.0291 LVL= 23024, 31857, 17346, 32755, AGC= 67, IDX= 419, 0.03, 0.263,-0.985, 0.445,-0.174, PHS= 0.525,-0.763, 0.616, RAW= 153.4, -5.7, CAL= 158.1, -13.8, ROT= 351.9, 13.8 qIugPDAT read: Bearing 351.9, 13.8 (Local) ~Local bearing/azimuth received: Bearing 351.9, 13.8 (Local) DAT read: Range 10 to 50 : 455.1 m (Round-trip 606.9 ms) speed 0.6 m/s *DAT read: user:810> BDAT read: Tx time:19:45:30.1180 $Ping request sent.뿢%?yCYq| C)ICiff?SC-?uY+@%˽ r0@)ϢvI@iϢv>tR?}?6|),'?I6=i8!ʿ2Be:publishing transmit ping timeeFpublishing direction and range info9}>뿢%?y )Ii )Iiy޵ jB޵I ==tR?}?6|)IiJ=J=J9J9J=:J=7/:J9J9'mTFailed to parse incomplete device message.Mb@Mb@Mb@ )Y"~j?Zd;O?yS#?j<=̼5XA )v)1 5G٣53Gy5 5> ENusing accuracyPremultiplier from config949=q?4Y= i=`jB#?:հ?=C=ͻ<=<=4B ZoAGEk~r?kZ/ k ktvA:kCBkCZkM@"rlJ &xC}$`M|l@}>뿢%?Jk8!ʿRk2B*y>z؝:=dee@1H%ϛȰ0ƜUrQ?"k*kky+?k 2kogCkkkkCk+E@-  addTargetRange:: Added new target pos. range: 455.100006 m, deltaT: 4.032991 s, deltaX: -2.100006 m, approachRate: -0.520707 m/s, rangeRepo size: 4 ]  Added new target pos. range: 455.100006 m, bearing: 184.064357 deg, lat: 36.900174 deg, lon: -122.113786 deg, deltaT: 8.080759 s, deltaX: -5.100006 m, approachRate: -0.631130 m/s, posRepo size: 4 ZjY e FNOT Ignoring new targets: 455.10 m.Bje Jja  ProNav: ac range: 455.100006 m, nav range: 431.765350 m, bearing: 177.032095 deg, approach rate: 0.000000 m/s, LOS rate: -0.079621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815655 deg. 2j :j f @ HeadingCmd: 4.813891 target range: 455.100006 and range: 455.10 m. j j j j i h h h h {Bf f f rf q|@bf .?ɛ] 0qB] ip a e Ia e ɚa ia Ie O=Im  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:45:30.1172 im UӺi d;) ) *Fe ?2Fi :Fi BFm `5JFi H>IC IIIBkBI =&I.IFD6IQ<:IFGCQ;GQBYOu?]w,vA69@Y65I@696 W>y6H`?@?` t? %?` ?ho?`~?ɨ69@6Q;6Cy>iBBIIJIJ{5٢RH R_=9R0Q R>TT VG٣TyZ& Z> ^Nusing accuracyPremultiplier from config\b49^q?b4Y^ i^mjB`fPf?jWill construct direction to contact in vehicle frame from tetrahedron phase data.^+C^_;^_;^4p roAp 1I1ZjFNOT Ignoring new targets: 455.10 m.BjκJjκ ProNav: ac range: 455.100006 m, nav range: 431.819305 m, bearing: 177.002522 deg, approach rate: 0.164828 m/s, LOS rate: -0.090331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886479 deg. 2jw:j@HeadingCmd: 4.815127 target range: 455.100006 and range: 455.10 m. jjjjihhhhfff!rf!bf-`}?ɛFqB( v=隕I AɚiI@P=IiҺi0:))*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G;G B O- >L]w,vAJ:@YJ#@Jw9J=yJH`s?y?``F??z?fǿ?@?ɨJ:@J[m;JCy^iB^II]I]\5٢%m8 -5=9EKQ E>QY ]G٣aym?$ >  Nusing accuracyPremultiplier from config49q?4Y ijB걿?RC;!;\#4! %pA)ZjIUFNOT Ignoring new targets: 455.10 m.Bj]ĺJj]ĺu ProNav: ac range: 455.100006 m, nav range: 431.889252 m, bearing: 176.963494 deg, approach rate: 0.153639 m/s, LOS rate: -0.085713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858120 deg. 2juLk:jux@}HeadingCmd: 4.814632 target range: 455.100006 and range: 455.10 m. jyjyjyjyiyhyhhhfffrfbf@R?ɛeqBO 隽eI Y+ɚiIRQ=IiҺic))Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I1*F?2F:FBFJF"G=G=zKMKKKK KG :G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ >՝ p=+]w, wAF@YF @Fպ9F>yFH@낹?Y?9` $W?ɳ?VR?@G? Ŝ?ɨF@FA;FCy^iB^IMMb@Mb@Mb@III I)IYMn?X9v?:vyMV.?M G٣3Gy/ > Nusing accuracyPremultiplier from config49Xq?4Y; ijB.?:յ ?sC;;)4 ApADE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 455.10 m.BjMO̺JjMO̺] ProNav: ac range: 455.100006 m, nav range: 431.941315 m, bearing: 176.930040 deg, approach rate: 0.139007 m/s, LOS rate: -0.089310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874838 deg. 2j]+u:j]@eHeadingCmd: 4.814924 target range: 455.100006 and range: 455.10 m. jajajajaiahihihqhuzBfqfqfqrfybf}?ɛqB^F& 隵I ᄐɚiIR=IiLӺi))Hݽ>IC IIIkBI =&I.I6Ig<:IF*Fa2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IGb(J) J) J= J= J9 J9 J= K:J= f4:J9 J9 J= m]w,nwA2@Y2+@2A 92!>y2H+? ?E?@W?kط?@"??ɨ2@2҈;2CybiBbIIjFIj5٢%* %P=9%vQ ->)) -G٣)y5Ae 5> =Nusing accuracyPremultiplier from config9E49=q?E4Y= i=jBIMM?=C=:=:=04Q UpAYZjFNOT Ignoring new targets: 455.10 m.BjʺJjʺ ProNav: ac range: 455.100006 m, nav range: 431.993317 m, bearing: 176.896477 deg, approach rate: 0.136881 m/s, LOS rate: -0.088336 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874509 deg. 2jr:j@HeadingCmd: 4.814919 target range: 455.100006 and range: 455.10 m. jjjjihhhhfffrfbf?ɛqB) OI [&˼ɚiIpS=I i E_Ժi ǻ) )=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.725292E=Pz=*F2F:FBFJF I g Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978176G ҸG% rAG% tAG B O >`]w,i8wA:hޒ@Y:@:9:>y:H@??C@k ڻ?4?J'? ??ɨ:hޒ@:X;:CyjiBjIzKz>KKz9KxKz!Kz &2?HNNU^bdijouv{|xutxy{|~}x{|}||ulmsvuMb@Mb@Mb@qqq q)qYuK?S㥛?:vyu^:?u/ G٣y > Nusing accuracyPremultiplier from config49Hq?4Y_ ijB:?:?C#;^;Y84B 1pAEEZjFNOT Ignoring new targets: 455.10 m.BjغJjغ  ProNav: ac range: 455.100006 m, nav range: 432.054688 m, bearing: 176.854523 deg, approach rate: 0.138726 m/s, LOS rate: -0.094820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849344 deg. 2j &:j7@HeadingCmd: 4.814479 target range: 455.100006 and range: 455.10 m. jjjjihhhhzBfffrfbf@@ɛUqBU Y]PIY ]"ڼɚYiYIe]T=Ii!պi{,))) CEUW=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230280]&GxA 5Y=xAy=B*F?2F:FBFp0JFH=ڽ>I=C I={II=jBI= =&I9.I=ED6I==<:I=FBIǷCJIǷCRIǔCZI =bI =jI/I6G İ˻G B O >  I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480617C]w,&QwA2 ג@Y2`@2H0Ľ92qA>y2H`Ѭ?`?6 ۨ?r?p|?J ??ɨ2 ג@2q;0y:iB>IIF6IF5٢Nhd= R\=9RYfQ R>TT VG٣V3GyV Z> ^Nusing accuracyPremultiplier from configXb49Z]q?b4YZh iZjBdff?ZCZ*;Z+;Z>4h joAhZj!%FNOT Ignoring new targets: 455.10 m.Bj-ԺJj-Ժ ProNav: ac range: 455.100006 m, nav range: 432.105927 m, bearing: 176.819442 deg, approach rate: 0.135989 m/s, LOS rate: -0.093094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869957 deg. 2j:j)@HeadingCmd: 4.814839 target range: 455.100006 and range: 455.10 m. jjjjihhhhfffrfbf@@J9J=J9J9J9J=9:J9J9J9J=<J=Q;J=Q;ɛqB. 隭I ɚiImKU=Iuiu$׺iuM)q)yEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733402*F 2F :F BF o0JF G5 UG1BaO>i]w,pwA $I$BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.984797J2Ȓ@YJי@Jǽ9J">yJH!6??9f`'#J? ?6?`r8?`?ɨJ2Ȓ@JK݈;JCyViBVI=Mb@Mb@Mb@999 9)9Y=x&1?Mb? G٣y b > Nusing accuracyPremultiplier from config 49.q? 4Y ijBA?:_?C1<1<H4a eoAaZjFNOT Ignoring new targets: 455.10 m.Bj ߺJj ߺ ProNav: ac range: 455.100006 m, nav range: 432.173157 m, bearing: 176.767742 deg, approach rate: 0.126808 m/s, LOS rate: -0.097500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820112 deg. 2jӅ:j @HeadingCmd: 4.813969 target range: 455.100006 and range: 455.10 m. jjjjihhhhPzBf f f rf bf5@ɛ}qB}[ y}I ɚiIDV=Ii<ٺi։))zKRNK9KK"K~ynjfeY:   BK:KsA*F2F:FBFp0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.238561G} ;3Ga Bq O >H ׽>I  I uII jBI =&I .I 6I <:I F}]w,swAJl@YJΙ@J˽9J>yJH y? Ǝ?@2`??@~g?Q?`f?ɨJl@JP;JCyRiBRIIZ/IZ5٢b= fa=9f5Q f>dh jG٣hyj A j> rNusing accuracyPremultiplier from configlv49nq?v4Yn inkBtvv?n5Cn@;n;n^N4~B ~oAGEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 455.10 m.Bj-Jj-庝E ProNav: ac range: 455.100006 m, nav range: 432.219330 m, bearing: 176.732157 deg, approach rate: 0.130445 m/s, LOS rate: -0.100521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868444 deg. 2jE:jE@MHeadingCmd: 4.814813 target range: 455.100006 and range: 455.10 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbfe' @ɛrB v> 隕I yɚiIZ9W=Iiۺiu`#))*F12F1:F1BF50JF1 e$?IegWill construct direction to contact in vehicle frame from tetrahedron phase data.սAiսABDAT read: Rx Time:19:45:33.1259 TRx dataTimestamp_ set to:1736365534.287893checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493339J@AJJcKk 3 KkS}-KcKc"KcJJJJJ:J>:JJJA%<JB%<J̕;J̕;Gu׹GQBaO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740590]w, QwA6@Y6@6(ѽ96>y6HX? ?@? r?@o?w??ɨ6@6w;6Cy>jBBIIJ(IJ5٢RH= RM=9R߻Q V>TT VG٣V3GyZW Z> Nusing accuracyPremultiplier from config\49^q?4Y^ i^BkBκ?^[C^]X<^X<^XU4) -nA)ZjIUFNOT Ignoring new targets: 455.10 m.Bj]ۺJj]ۺm ProNav: ac range: 455.100006 m, nav range: 432.269684 m, bearing: 176.692974 deg, approach rate: 0.123055 m/s, LOS rate: -0.095746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857649 deg. 2jmk:jug@uHeadingCmd: 4.814624 target range: 455.100006 and range: 455.10 m. jyjyjyjyiyhyhhhfffrfbf@ɛ,rB0 I GɚiI+X=Ii O޺iD))*F]?2Fa:FaBFm0JFq QIYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000009G}jGQBYOyzK] @MK] ý9KY K] #K] RKm ?JKm ?O]w,.wAy~5jBIMb@Mb@Mb@ )YMbX9? rh?{Gz?yA?C<ף<~RA 2A)7AILAyfBAII5٢U= 6=9Q >    G٣ y   > Nusing accuracyPremultiplier from config%49q?%4Y! ipkB%A?%:%຿%?C;;1]415Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:45:33.1259 LVL= 21200, 29793, 19522, 32755, AGC= 70, IDX= 403, 0.05, 1.453, 0.144, 1.634, 0.952, PHS= 0.589,-0.761, 0.679, RAW= 153.2, -7.3, CAL= 158.4, -15.2, ROT= 351.6, 15.2 Ygot valid direction response: 19:45:33.1259 LVL= 21200, 29793, 19522, 32755, AGC= 70, IDX= 403, 0.05, 1.453, 0.144, 1.634, 0.952, PHS= 0.589,-0.761, 0.679, RAW= 153.2, -7.3, CAL= 158.4, -15.2, ROT= 351.6, 15.2 PDAT read: Bearing 351.6, 15.2 (Local) ~Local bearing/azimuth received: Bearing 351.6, 15.2 (Local) DAT read: Range 10 to 50 : 452.8 m (Round-trip 603.8 ms) speed 0.7 m/s nA*DAT read: user:811> BDAT read: Tx time:19:45:34.2180 $Ping request sent.99=%G4?o;`?0*I)=oT?I=6>i={ſ=R99:publishing transmit ping timeFpublishing direction and range info99=c'vķ?#5!֬s#?y9999 9)9I9i99999 9)9I9i999=%G4?o;`?0*I)9I9i9999h)hYh]zBfififqrf}L|@bf}?ɛ NrB ~{%  I  cɚiI'Y=Iii?))QjH<bH<HԽ>IC IIIkBI&I.I6I<:IF*F=?2F9:F9BF=p0JF9 a Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data.G] ei@J% J% J% 0J! J% {:J% A:J% ـ3J! J% .<J% .<J% {;J% |;G9 BA O] >]w,ywAV@@YV@VS ݽ9V1>yVH?@?`¿9'?@6?q??g?ɨV@@V@ ;VCyncjBr$III5٢%= %Y=9-{Q ->)I UG٣QyU} U> ]Nusing accuracyPremultiplier from configYe49]Tq?e4Y]) i]kBimEm?]C];];]c4 mAk]).{?k]$ kY k]1wA:k]fCBk]CZk]&M@"]!΁%@kmxlt9l@]c'vķ?#5!֬s#?Jk]{ſRk]R*]p!u zq,'=y3e@]"&}sRTv{8]?"k]9*k]]k]?k]@) 2k]EiCk]y+?k] k]ogCk]Ck]M@u addTargetRange:: Added new target pos. range: 452.799988 m, deltaT: 4.286817 s, deltaX: -2.300018 m, approachRate: -0.536533 m/s, rangeRepo size: 4  Added new target pos. range: 452.799988 m, bearing: 184.001666 deg, lat: 36.900276 deg, lon: -122.114373 deg, deltaT: 4.286817 s, deltaX: -2.300018 m, approachRate: -0.536533 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 452.80 m.BjJj ProNav: ac range: 452.799988 m, nav range: 421.182953 m, bearing: 183.626118 deg, approach rate: 0.000000 m/s, LOS rate: -0.092890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871631 deg. 2j:jg@-HeadingCmd: 4.814868 target range: 452.799988 and range: 452.80 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bf=`?ɛgrB'!< 隭@I <ɚiIZ=Iiim))EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF}0JFyG O8G B O% > i Ii ]w,LwA:Will construct direction to contact in vehicle frame from tetrahedron phase data.N@YNٝ@N99N>yNHd??` `Yb??A?|?F?ɨN@N+;NCyZ|jBZ4I ^p=^a=Mb@Mb@Mb@ )YK?Mb? rh?y^:?=C =QA 1A)5AIyAAII~5٢4n= >=9˻Q > G٣3Gyp׺ > Nusing accuracyPremultiplier from config49q?4Y1 ikB:?:츿?C;{;Ok4B hmAHEZj!-FNOT Ignoring new targets: 452.80 m.Bj-@Jj5@m ProNav: ac range: 452.799988 m, nav range: 421.202362 m, bearing: 183.584415 deg, approach rate: 0.048474 m/s, LOS rate: -0.104148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850083 deg. 2jm:jmR@uHeadingCmd: 4.814492 target range: 452.799988 and range: 452.80 m. jqjqjqjqiyhyhyhhzBfffrfbf`f?ɛrB]: Y]AIY eɚaiaIe%Z=ImimtimIr)i)q*F?2F:FBF0JFzK-"KK- 9K)K-$K-BK5sA:K1GþaG ?G!?GBO`>Will construct direction to contact in vehicle frame from tetrahedron phase data.HU н>IQ  IU IIU LkBIU  =&IU ED.IU DD6IU !<:IU kF^w, xA2y@Y20@2F92f>y2H ž?`?-¿wv??E?_?-?ɨ2y@2,;2CyRjBRXIXZ@AIZIZ5٢f[ > f]=9fS1Q j>hh jG٣hynQ n> rNusing accuracyPremultiplier from configpv49rUq?v4Yr8 irkBxzCz?rCrv:ra:rq4y }{lAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 452.80 m.Bj ֺJj ֺ ProNav: ac range: 452.799988 m, nav range: 421.218567 m, bearing: 183.548429 deg, approach rate: 0.042134 m/s, LOS rate: -0.093563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867234 deg. 2jl:j@HeadingCmd: 4.814792 target range: 452.799988 and range: 452.80 m. jjjjihhhhff!f)rf)bf-1n?ɛrBZe7 aI Ig B#ɚi!I%[=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Iii))*Fm?2Fi:FiBFu0JFqG |`Ga Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490591 ^w, &xANYd@YNs@Nd9N: >yNH`!??h¿? ?w:? ?|?ɨNYd@N=;NCyVjBVxIIbIb5٢j= jH=9n~Q n>pp rG٣pyrѻ v> zNusing accuracyPremultiplier from configtz49vSq?~4Yv? iv-lB?vCv@;vA;vx4  kAEEZj1=FNOT Ignoring new targets: 452.80 m.Bj=>JjE>躝M ProNav: ac range: 452.799988 m, nav range: 421.235962 m, bearing: 183.508424 deg, approach rate: 0.044146 m/s, LOS rate: -0.101521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855179 deg. 2jUX:jU @]HeadingCmd: 4.814581 target range: 452.799988 and range: 452.80 m. jYjYjYjYiYhahahahafififirfibfm`~?ɛUrBU#6 Y]-IY e)ɚaiaIe\=Iii`=))*F?2F:FBFo5JFGf I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742833GBO%o>JJJ1JJ:J,J:J3Ja@a@a@a@zK FKK S9K K %K J@^w,?xA>q@Y>B@>y9>! >y>H`|?`?`d¿ᙹ?D??V?,y?ɨ>q@>D; G٣3Gyx; > Nusing accuracyPremultiplier from config49q?4YG iilBJ3?:z?CCh;;뀈4 jAZj!-FNOT Ignoring new targets: 452.80 m.BjMѺJjMѺm ProNav: ac range: 452.799988 m, nav range: 421.260101 m, bearing: 183.465590 deg, approach rate: 0.051662 m/s, LOS rate: -0.091667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846691 deg. 2j{:j@HeadingCmd: 4.814433 target range: 452.799988 and range: 452.80 m. jjjjihhhhd{Bfffrfbfw@ɛrB_, I 0ɚiILL]=I%i%iM)Q)YE}sAE}rAZHRH?AH̽>IC IIIkBI =&I.I6Ib<:IF*Fq2Fq:FqBFu1JFy I Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՍ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247210G ňG sAG G B O >>]^w,ZxA64u@Y6@6o96!]>y6H ??@S¿@׹? ?.?@*?@t?ɨ64u@6q;6Cy>bkBBIIJIJJ5٢fR5> fU=9jQ j>hh nG٣lyr3: r> vNusing accuracyPremultiplier from configtU49vq?U4YvyN ivlBYeqe?vbCv} "I ;_6ɚ i I p^=IiTi8))*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500146G5GBO > I = Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,1~txAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753401z@Yz@zc9zz>yzH@? ?`~Bÿ,ks?@7?u!? !?on?ɨz@z;zCy kB IMb@Mb@Mb@ )Yv/?)\(?kt?yx)?Ga= 0=QA  1A)|3AIy@AIIݜ5٢> <=9 Q > G٣yBx; > Nusing accuracyPremultiplier from config49q?4YU ilBi*?:JJJ0JJ :JF:Jـ3JsM?Ck<k<׎4]B ]hA]FEZjFNOT Ignoring new targets: 452.80 m.BjSȺJjSȺ ProNav: ac range: 452.799988 m, nav range: 421.308105 m, bearing: 183.393453 deg, approach rate: 0.065587 m/s, LOS rate: -0.087569 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860163 deg. 2jdp:j@HeadingCmd: 4.814668 target range: 452.799988 and range: 452.80 m. j j j jihhhh{Bfffrfbf%@@ɛ sB>, 隕I J=ɚiI ^=Iii))zK2KK9KK&KBK1:K1*F?2F:FBF@5JF ~G!9 mYqyut BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002717G 'H Ƚ>I  I PII JlBI  =&I .I CD6I <:I FBIEʴCJIEʴCRIAZIE =bIE =jIE5G B! O= >h#^w,bLxAB @YBb@B:9B>yBH%??Zÿ@ڝٱ?T ?@[?` ? k?ɨB @B;BCyNkBNI)P PIZIZ5٢b> f\=9fQ f>dh jG٣j3Gyjm: j> =Nusing accuracyPremultiplier from config1E495 r?E4Y5P\ i5 mBAE^M?5C5A;5s;54Q UhAQmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 452.80 m.BjҺJjҺ ProNav: ac range: 452.799988 m, nav range: 421.333618 m, bearing: 183.359796 deg, approach rate: 0.069812 m/s, LOS rate: -0.092091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874224 deg. 2j|:j@HeadingCmd: 4.814914 target range: 452.799988 and range: 452.80 m. jjjjihhhhfffrfbf @ɛ!sBJ= cI *BɚiIK_=Iii|))Ep>E =$?I=gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255912*Fu?2Fq:FqBFuo0JFq"G=G=GGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:45:37.2333  TRx dataTimestamp_ set to:1736365538.572608 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507728)^w,;5xAF@YF@F9F>yFHgA?`K? T^ÿ5oٺ?m? ?u?j?ɨF@F;FCy^kB^IIrIrݜ5٢  =  F=9nHQ >!! %G٣)y-ފ: 5> MNusing accuracyPremultiplier from configIe49Mr?e4YM6c iMAmBamOm?MCMj;M;M4y }cgAyZjFNOT Ignoring new targets: 452.80 m.Bj%ǺJj%Ǻm ProNav: ac range: 452.799988 m, nav range: 421.361115 m, bearing: 183.323895 deg, approach rate: 0.066677 m/s, LOS rate: -0.087053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867490 deg. 2jmn:ju@uHeadingCmd: 4.814796 target range: 452.799988 and range: 452.80 m. jyjyjyjyiyhyhyhhfffrfbf@&` @ɛ}@sB 7, 隅I TIɚiIo_=IiBiDw)) AIA*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758752JAJAJE1JAJAJAJE3JAG k}G B O >zK KK 9K K 'K RK >JK ?z0^w,xABO@YB@B$9Bd>yBH-?O?@|}ÿۺ?`Ͻ?Y?9?@h?ɨBO@B7;@yN:lBNFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:45:37.2333 LVL= 22400, 28081, 18018, 29683, AGC= 69, IDX= 509,-0.09,-2.370, 2.498,-2.202,-3.067, PHS= 0.784,-0.671, 0.862, RAW= 152.6, -13.0, CAL= 159.6, -20.1, ROT= 350.4, 20.1 Ygot valid direction response: 19:45:37.2333 LVL= 22400, 28081, 18018, 29683, AGC= 69, IDX= 509,-0.09,-2.370, 2.498,-2.202,-3.067, PHS= 0.784,-0.671, 0.862, RAW= 152.6, -13.0, CAL= 159.6, -20.1, ROT= 350.4, 20.1 PDAT read: Bearing 350.4, 20.1 (Local) ~Local bearing/azimuth received: Bearing 350.4, 20.1 (Local)  DAT read: Range 10 to 50 : 458.3 m (Round-trip 611.1 ms) speed 0.4 m/s  *DAT read: user:812> uBDAT read: Tx time:19:45:38.3180 }$Ping request sent.}aaeE? O,׆?JU̿)e?Ieie`ִe8 aa:publishing transmit ping timeqFpublishing direction and range infoa9e7 L?i$)%c?yayz@AII35٢> $=9PQ > G٣y > Nusing accuracyPremultiplier from config4jH-<bH)H5ƽ>I5C I5II5lBI5 =&I1.I16I5?<:I5xFa9r?m4Yk imBu}"?u:uu?C}<<84aa a)aIaiaaaaa a)aIaiaaaeE? O,׆?JU̿)aIaiaaaa  cfA keR?ke9E ka keQxA:ke&CBkeCZkeT@"eiD2N@_KxggLVm@e7 L?i$)%c?Jke`ִRke8 *eN5yB:RBif@e´쿲*Ŀk+J3?"keA*keke ?keb < 2kerCke?ke@) keEiCkeCke'%M@ addTargetRange:: Added new target pos. range: 458.299988 m, deltaT: 4.032051 s, deltaX: 5.500000 m, approachRate: 1.364070 m/s, rangeRepo size: 4  Added new target pos. range: 458.299988 m, bearing: 190.240321 deg, lat: 36.900308 deg, lon: -122.114402 deg, deltaT: 4.032051 s, deltaX: 5.500000 m, approachRate: 1.364070 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 458.30 m.BjMJjI} ProNav: ac range: 458.299988 m, nav range: 417.958374 m, bearing: 183.655466 deg, approach rate: 0.000000 m/s, LOS rate: -0.087053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835079 deg. 2jy:j}-@HeadingCmd: 4.814230 target range: 458.299988 and range: 458.30 m. jjjjihhhh%|Bfffrf̤|@bf`?ɛ5csB=$ 9=I9 =]Pɚ9iAIEb`=IEiMqiMw})I)IEy 9IEg*F ?2F :F BF P5JF G  G E Will construct direction to contact in vehicle frame from tetrahedron phase data.G yG B O >d7^w,xAy~wlB~lII ~I Z5٢)> b=9%Q %>!) -G٣-3Gy- -> =Nusing accuracyPremultiplier from config9E49= r?E4Y=p i=mBAAM?= C=:=:=4UB UaeA]GEZjyFNOT Ignoring new targets: 458.30 m.BjߺJjߺ ProNav: ac range: 458.299988 m, nav range: 417.989990 m, bearing: 183.624869 deg, approach rate: 0.101129 m/s, LOS rate: -0.097862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.883402 deg. 2jS:j@HeadingCmd: 4.815073 target range: 458.299988 and range: 458.30 m. jjjjihhhhfffrfbf@?ɛvsB (J IM߿II UQUɚQiQIUa=I]ieaia)a)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}=}<*F?2F:FBFp0JFG GB I O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.=^w,mxAJFJFJF4JDJF{:JF,J:JF3JDy]lB]IMb@Mb@Mb@ )Y333333?J +?S㥛?y?=/< )1AIjNAyQ@AI-I-Ù5٢== E:=9IQ M>QQ UG٣QyY ]> eNusing accuracyPremultiplier from configam49er?m4Yew iemBm?u:u˩u?e.Ce";e ;eA4y }dADEZjFNOT Ignoring new targets: 458.30 m.BjLJjL ProNav: ac range: 458.299988 m, nav range: 418.037415 m, bearing: 183.589397 deg, approach rate: 0.107721 m/s, LOS rate: -0.080563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868783 deg. 2j(]:j@HeadingCmd: 4.814818 target range: 458.299988 and range: 458.30 m. jjjjihhhh|Bfffrfbf?ɛsB, ݿI G[ɚiIa=I%i%Di%})!))zK MKK ]9K K (K  '-6COWaBK:KrA*Fe?2Fa:FaBFmo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.HŽ>I IIIgmBI =&I.I6I_<:IFG k}G B O >`rD^w,yA 0I4>e@Y>rt@>A 9>ڔ>y>H ?Z?eÿ 2???q? oa?ɨ>e@>Ɉ;>CyJlBJIIZIZt5٢b= bf=9bQ f>dd fG٣dyjL j> nNusing accuracyPremultiplier from configlr49nTr?r4Yn } innBpvSv?nICn~ ;n ;no4x zcAx B*** querying acoustic contact ***j j Zj!-FNOT Ignoring new targets: 458.30 m.Bj5Jj5E ProNav: ac range: 458.299988 m, nav range: 418.074707 m, bearing: 183.560950 deg, approach rate: 0.105287 m/s, LOS rate: -0.080306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889853 deg. 2jEt\:jE@MHeadingCmd: 4.815187 target range: 458.299988 and range: 458.30 m. jIjIjQjQiQhQhQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hhfffrfbf@?ɛsB~5 隝ۿI a`ɚiI9 b=Ii8m iM))*FA2FI:FIBFIJFI"G]=G]=GG?G>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498044ĠJ^w,,yA6l@Y6{@6$96[>y6H E?DŽ?dÿ @9???? `?ɨ6l@6';6CyFlBFIININƕ5٢V= VK=9Z Q Z>\\ ^G٣^3Gyb; b> fNusing accuracyPremultiplier from configdj49f)r?n4Yf0 ifEnBln4n?fhCf%-;fF-;fz4p v=cAtZj%FNOT Ignoring new targets: 458.30 m.Bj%ﶺJj%ﶺ5 ProNav: ac range: 458.299988 m, nav range: 418.117523 m, bearing: 183.528555 deg, approach rate: 0.105701 m/s, LOS rate: -0.079966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878012 deg. 2j=[:j=P@EHeadingCmd: 4.814980 target range: 458.299988 and range: 458.30 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfUJJJ0JJ :JJـ3JzK] &MK] 9KY K] )K] ku|PQ^w,IiFyA.Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001282VQ{@YV@V z9VB>yVH?@X?@iÿ$??@?? u`?ɨVQ{@Vs~;VCy~-mB~IMb@Mb@Mb@ )Yx?S㥻?Mb?yK?/=<QA .A)90AILAy\?AIIǓ5٢-r= 54=95w99 =G٣9y=; => MNusing accuracyPremultiplier from configAHYIY I]PII]mBIY&IY.IY6I]f<:I]Fm49E !r?u4YE iEynBu?u:uCu?ECE;EG;EbȈ4y }bAZjFNOT Ignoring new targets: 458.30 m.BjJj ProNav: ac range: 458.299988 m, nav range: 418.171295 m, bearing: 183.492712 deg, approach rate: 0.118422 m/s, LOS rate: -0.078926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867672 deg. 2jX:j@HeadingCmd: 4.814799 target range: 458.299988 and range: 458.30 m. jjjjihhhh|Bfffrfbf@ɛsB", 隍0׿I lɚiI+b=Ii¬ iR))*F%?2F!:F)BF-~0JF) YIYPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253252G ܣG G Gy B O >WW^w,;`yA>@Y>N@>09>V>y>H`? M?@Zÿ+?`?@??``?ɨ>@>;xx zG٣xy~(; ~>  Nusing accuracyPremultiplier from config 49%r?4Yk inB"?C:X:Έ4! %$bA!ZjQ]FNOT Ignoring new targets: 458.30 m.Bj]pJj]pm ProNav: ac range: 458.299988 m, nav range: 418.214722 m, bearing: 183.464002 deg, approach rate: 0.120643 m/s, LOS rate: -0.079751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.889066 deg. 2jmZ:ju@}HeadingCmd: 4.815173 target range: 458.299988 and range: 458.30 m. jyjyjyjyiyhhhhfffrfbfU@ɛsB (; '׿I qɚiI yc=Ii4Eic))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504299*F2F:FBF0JFGsA GGGBO> M $?IU g- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759031]^w,zyA6@Y6Z@696I>y6Hq#?`?Wÿ `%?`q4?&?Ϭ?>_?ɨ6@6{;4ybfmBbI}Mb@Mb@Mb@yyy y)yY} +?1Zd?{Gzt?y}?}"=}ף;}jNA }-A)}.AI}KAyy}=AII5٢= ?=9eQ > G٣3Gy: > Nusing accuracyPremultiplier from config49`+r?4Yו inBA?:榿?C#;";4ֈ4B aAEEZj  FNOT Ignoring new targets: 458.30 m.BjJj% ProNav: ac range: 458.299988 m, nav range: 418.266571 m, bearing: 183.430123 deg, approach rate: 0.121446 m/s, LOS rate: -0.079345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873562 deg. 2j-Y:j-@=HeadingCmd: 4.814902 target range: 458.299988 and range: 458.30 m. j9j9j9jAiAhAhAhAhM|BfIfIfIrfIbfU@3A@ɛtB1 ֿI %tvɚ!i!I%Bc=I-i-=im%w)q)q*F2F:FBF0JFzKEOKE+9KAKE*KE}|zvtqr~{p_TKB;7441.-+%%#!!!}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008428HYIY I]II]ZnBIY&IY.IY6I]z<:I]FG ~G B O > 9 IA d^w,yA2l@Y2ġ@2M92>y2Hl?o?@hÿe@|?Q?&??]?ɨ2l@2;2Cy>mB>IIJIJT5٢R޸= R\=9V GQ V>TX ZG٣XyZ+K; ^> bNusing accuracyPremultiplier from config\b49^A0r?f4Y^f i^nBdff?^C^:^:^܈4nB n aAnBEzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 458.30 m.BjqJjq% ProNav: ac range: 458.299988 m, nav range: 418.311859 m, bearing: 183.400809 deg, approach rate: 0.121870 m/s, LOS rate: -0.078877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.887252 deg. 2j%X:j%@-HeadingCmd: 4.815141 target range: 458.299988 and range: 458.30 m. j)j)j1j1i1 =nManaging dock network, ignoring radio surface power offh1hAhAhAfAfIfIrfIbfM9 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260335ɛ%6tB%l7 !%տI! -Y|ɚ)i)I-hd=Iui}'i}ªo)y)yJmAAJmBAJ}JyJ}1JyJ}{:JyJ}3JyJyaJyaJ};aJ};a*F?2F :F BF 4JF GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:45:41.3179  TRx dataTimestamp_ set to:1736365542.624675 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513548,j^w,˭yA2h@Y2@292>y2H1??sÿ@?^v?@N?@?\?ɨ2h@2ɫ;2CyNmBR#IIZIZ5٢bo= bI=9bFQ b>dd fG٣dyf: j> nNusing accuracyPremultiplier from confighr49j5r?v4Yj} ij"oBtvz?jCjP;jP;j4| ~`A|Zj!%FNOT Ignoring new targets: 458.30 m.Bj-Jj-= ProNav: ac range: 458.299988 m, nav range: 418.361694 m, bearing: 183.368693 deg, approach rate: 0.122481 m/s, LOS rate: -0.078921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878852 deg. 2j=X:j=o@EHeadingCmd: 4.814994 target range: 458.299988 and range: 458.30 m. jAjAjIjIiIhIhIhQhQfQfQfQrfYbf]w @ɛ%QtB-7 )- ֿI) -ɚ)i1I5d=I]i]fi]@k)Y)a I*F)2F1:F1BF=p5JF9"G]=G]p=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767804G݌j) ! G ] $ YY y] BG B O >zK ҷNK ػ9K K +K   )q^w,yA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: 19:45:41.3179 LVL= 20976, 27121, 17938, 32755, AGC= 69, IDX= 288,-0.38, 0.509,-0.844, 0.698,-0.043, PHS= 0.641,-0.754, 0.738, RAW= 153.3, -8.7, CAL= 159.0, -16.3, ROT= 351.0, 16.3 >Ygot valid direction response: 19:45:41.3179 LVL= 20976, 27121, 17938, 32755, AGC= 69, IDX= 288,-0.38, 0.509,-0.844, 0.698,-0.043, PHS= 0.641,-0.754, 0.738, RAW= 153.3, -8.7, CAL= 159.0, -16.3, ROT= 351.0, 16.3 BPDAT read: Bearing 351.0, 16.3 (Local) F~Local bearing/azimuth received: Bearing 351.0, 16.3 (Local) JDAT read: Range 10 to 50 : 446.7 m (Round-trip 595.7 ms) speed 0.5 m/s N*DAT read: user:813> RBDAT read: Tx time:19:45:42.4181 R$Ping request sent.R "Gm?la?dt.Vÿ)"$?I"I>i"s" M:publishing transmit ping timePMFpublishing direction and range info 9"AL?YZ?U ?m̝@Ym$@m9m>ymH Ķ?@~?@ÿG?`?Uj??Y?ɨm̝@m;iymB-IHƽ>I IIInBI =&I.I6I<:I\FBICJICRICZI =bI =jI-5y  ) I i ) I i "Gm?la?dt.Vÿ) I i Mb@Mb@Mb@ )Y +?~jt?MbP?y=:MA ,A)-AIVJAyii uG٣u3Gyu: u> }Nusing accuracyPremultiplier from configy49}e=IiДi_))Will construct direction to contact in vehicle frame from tetrahedron phase data.AiJDAT read: TxSync time:19:45:42.4173 J J J 0J J :J "I:J ـ3J J g1<J g1<J ;J ;*F ?2F :F BF 0JF G GBO>)y^w,nyAB@YBo@B^9BA>yBH`%? r~?@xÿp @? `???W?ɨB@B̋;@y^mB^?I~Will construct direction to contact in vehicle frame from tetrahedron phase data.IfeIfЇ5٢ =  \=9TQ M>IQ UG٣QyUd ]> mNusing accuracyPremultiplier from configau49e@r?}4Ye ie~oBy}٨?eECe\;et;e4 _AZjFNOT Ignoring new targets: 446.70 m.BjmɺJjmɺ ProNav: ac range: 446.700012 m, nav range: 415.642365 m, bearing: 183.780011 deg, approach rate: 0.119831 m/s, LOS rate: -0.088050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884437 deg. 2jq:j ;@HeadingCmd: 4.815092 target range: 446.700012 and range: 446.70 m. jjjjih!h!h)h)f1f1f1rf9bf= .r?ɛtB`K 隅׿I %&ɚiIe=IiiTf))*Fy2Fy:FyBF}r1JFy YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.G ^Gy B O >m ^w,P8zA6@Y6쯙@6m96 >y6Hض??`>ÿ ``?@? e?7? \?ɨ6@6"F;4yRmBRUImMb@Mb@Mb@iii i)iYm\(\?/$?~jthym?m=mDmKA m$,A)mS+AIiiym;AIIq5٢= >=9UQ > G٣y: > Nusing accuracyPremultiplier from config49Er? 4Y ioB ^? :  ?eCf;;4B Z_ADEZj9EFNOT Ignoring new targets: 446.70 m.BjEJJjMJe ProNav: ac range: 446.700012 m, nav range: 415.683868 m, bearing: 183.745369 deg, approach rate: 0.099669 m/s, LOS rate: -0.083182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871272 deg. 2jeYd:jeY@mHeadingCmd: 4.814862 target range: 446.700012 and range: 446.70 m. jijijijiiqhqhqhyh}|Bfyfyfyrfbft?ɛtBx; 隭ֿI 3ɚiIHf=IiREi[))EtAEzKLK9KK,K  $2>KWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fy:FyBF`5JFGtA GHŽ>I IIInBI&I.I6I<:IVFG_ i Im gG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.~7^w,4zA6@Y6墙@696u >y6Ho?˃? )ÿ?R8?@?]? ZX?ɨ6@6;4y>nB>`IIFtIF#5٢NF= Rb=9VѻQ V>XX ZG٣Z3Gy^6 ^> bNusing accuracyPremultiplier from config`f49bIr?f4Yb5 iboBdf㫿j?bCbn:b:bN4lJJJJJ[:JC:JJJ,<J,<JF;JF; n_AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 446.70 m.BjJj ProNav: ac range: 446.700012 m, nav range: 415.719391 m, bearing: 183.715565 deg, approach rate: 0.090503 m/s, LOS rate: -0.075928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885782 deg. 2joP:j5m@=HeadingCmd: 4.815115 target range: 446.700012 and range: 446.70 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfU@?ɛ}tB}z? 隅׿I ݳɚiIf=Ii=i+v))E{=Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF0JF e $?Ia Gm WG1 B9 O>}M^w,7zAVWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755575u@Y͙@z9>yH`&?`?cÿ ?k? G٣y3 > Nusing accuracyPremultiplier from config49{Or?4Y ipBH?:b?C;5; 4 ^AZj!%FNOT Ignoring new targets: 446.70 m.BjȺJjȺ ProNav: ac range: 446.700012 m, nav range: 415.765869 m, bearing: 183.671376 deg, approach rate: 0.091996 m/s, LOS rate: -0.087456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842634 deg. 2jp:jA@ HeadingCmd: 4.814362 target range: 446.700012 and range: 446.70 m. j j j j i h hhhh|Bfffrfbf ?ɛmtBuP52 quٿIq uPbɚqiyI}m-g=I}i62iٟ))zKMLKIKIKM-KMV_gnrw~nVE>974664001/--++-+-=7+)&))''(-9AA7-'&# ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005628Ew=ZH RH @AH ƽ>I  I $II DoBI &I .I 6I <:I RF*Fe ?2Fi :Fi BFm }0JFi "G =G I GvGBO? ߕ^w,0XzA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256686Ny@YNѱ@Nl9N >yNH@?V?|ÿ`L? |?]?:?@R?ɨNy@N7ˉ;NCyV,nBVxIIvIvn5٢ p== 3=9BQ > G٣!y-; 5> =Nusing accuracyPremultiplier from config9U49=gTr?U4Y= i=/pBY]e?=C=;=;=4q up^A}AEZjFNOT Ignoring new targets: 446.70 m.BjJjJ3Kw3 K@o/KK"KJJJ1JJJA:J3JJ,<JJ{;J|; ProNav: ac range: 446.700012 m, nav range: 415.806824 m, bearing: 183.633422 deg, approach rate: 0.087591 m/s, LOS rate: -0.081165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861337 deg. 2j^:j@HeadingCmd: 4.814689 target range: 446.700012 and range: 446.70 m. jjjjihhhhfffrfbf@ɛmuBm: iuڿIq ubɚqiqIug=I}i}i}'OV)y)EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509666*F2F:FBFp0JFG  ~ ) I1 G B O >wӜ^w,uzA6櫒@Y6>@6 .96h>y6H,?}?`\ÿ~ ??`ir??Q?ɨ6櫒@6hQ;6CyrJnBrIIzIz5٢ (= 3=9%uQ ->AI ]G٣]3Gym"; u> Nusing accuracyPremultiplier from config49pYr?4Y i]pBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762742ۭ?Cko<q<4%B ]ABEZjimFNOT Ignoring new targets: 446.70 m.Bju묺Jju묺 ProNav: ac range: 446.700012 m, nav range: 415.848999 m, bearing: 183.594831 deg, approach rate: 0.082619 m/s, LOS rate: -0.075589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859427 deg. 2jO:j@HeadingCmd: 4.814655 target range: 446.700012 and range: 446.70 m. jjjjihhhhfffrf!bf%@ɛ5#uB57 15 ۿI9 =WɚAiAIEh=IMiM: iMJ)I)Q*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012001zK bNK ػ9K K .K     BK rA:K sAH Ž>I  I JII oBI &I .I 6I a<:I FG TG B O >Ӷ^w, zA2I@Y2@292>y2H@N?x{?ÿ@~QҼ??~~?E? O?ɨ2I@2;2Cy:fnB:I%Mb@Mb@Mb@!!! !)!Y%V-?I +?MbPy%|?%94=%%GA %(A)%(AI%VJA!y%8AI5I5v5٢~= ?=9eQ > G٣y: > Nusing accuracyPremultiplier from config49\r?4Y ipB?:,?C ;; "4 |]AZj!-FNOT Ignoring new targets: 446.70 m.Bj-zݺJj5zݺ 9I=gM ProNav: ac range: 446.700012 m, nav range: 415.874664 m, bearing: 183.559847 deg, approach rate: 0.071031 m/s, LOS rate: -0.096815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870241 deg. 2jM℻:jU4@]HeadingCmd: 4.814844 target range: 446.700012 and range: 446.70 m. jYjYjYjYiYhahahqhuf|Bfyfyfrfbf @ɛ]8uBeP ec=e[ڿIa eɚaiiImh=Iuiu!iuE)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264393*F-?2F):F)BF-t1JF)GM KG! B1 OM >2^w,xzA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:19:45:45.4152 *TRx dataTimestamp_ set to:1736365546.657766.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518656@YǙ@E9(V>yH&?`{?ÿe|?@?ݔ?M? IO?ɨ@Tj;騅Cy޵nB޵III5٢|= G=9ܺQ > G٣y  ;  > Nusing accuracyPremultiplier from config49j`r?4Y; ipB!% %?4C::6)4) - ]A1MB*** querying acoustic contact ***jIjIZjFNOT Ignoring new targets: 446.70 m.BjcJjc ProNav: ac range: 446.700012 m, nav range: 415.900543 m, bearing: 183.525179 deg, approach rate: 0.061803 m/s, LOS rate: -0.082787 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871189 deg. 2jCc:jV@HeadingCmd: 4.814860 target range: 446.700012 and range: 446.70 m. jjjjihhhhfffrfbf` @ɛ]RuB]G aeٿIa eɚaiaIe$8i=Ii3"i>7)) )I1*F]?2FY:FaBFet3JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771724Ge f AJ J J J J :J F:J J a @a @a @a @G9 BI Oe >Ȱ^w,bJzAy%nB-IMb@Mb@Mb@ )Y+?L7A`?Mb`?yv?+=;pEA (A)?'AIAFAy6AIIY5٢= >=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49cr?4Y ipB?:W?UC9;;04 z\AZj!-FNOT Ignoring new targets: 446.70 m.Bj5úJj5úE ProNav: ac range: 446.700012 m, nav range: 415.922882 m, bearing: 183.489067 deg, approach rate: 0.052932 m/s, LOS rate: -0.085563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866857 deg. 2jEj:jE@MHeadingCmd: 4.814785 target range: 446.700012 and range: 446.70 m. jIUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:45:45.4152 LVL= 26304, 32753, 17874, 32755, AGC= 67, IDX= 419, 0.48, 3.110, 1.974,-2.933, 2.676, PHS= 0.522,-0.655, 0.671, RAW= 155.9, -8.6, CAL= 161.1, -16.0, ROT= 348.9, 16.0 Ygot valid direction response: 19:45:45.4152 LVL= 26304, 32753, 17874, 32755, AGC= 67, IDX= 419, 0.48, 3.110, 1.974,-2.933, 2.676, PHS= 0.522,-0.655, 0.671, RAW= 155.9, -8.6, CAL= 161.1, -16.0, ROT= 348.9, 16.0 PDAT read: Bearing 348.9, 16.0 (Local) ~Local bearing/azimuth received: Bearing 348.9, 16.0 (Local) DAT read: Range 10 to 50 : 444.6 m (Round-trip 592.9 ms) speed 0.3 m/s *DAT read: user:814> BDAT read: Tx time:19:45:46.5181 $Ping request sent.I IiIIoBI&I.I6Ie<:IFɛnuB^direction in FSK: [0.051259,-0.885417,0.461963]:publishing transmit ping time Fpublishing direction and range infoQ9UUIǐ>?4UU쿦 ΐ?yULCQUfU UE)QIUCiUˡ?U'U+?UX$.@U` UP3@)U5IU@iU5>QQU7QMe?7$??~a"ÿ)UW ?IU|>iUUQQ%:publishing transmit ping time%}B !%ؿI! -'ɚ)i)I-i=I5i5?3$i59)1)9Fpublishing direction and range infoQ9UUIǐ>?4UU쿦 ΐ?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU7QMe?7$??~a"ÿ)QIQiQQQQ*F]?2FY:FYBF]/1JFY I Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:45:46.5173 G} -,GY Ba O} >A^w,lvzA*J4="J=y5nB5IIEIE5٢u}= }_=9yQ }> G٣y > Nusing accuracyPremultiplier from config49mfr?4Y iqB?rC::274 \Ak]?k]ĕ kY k]?4UU쿦 ΐ?Jk]Rk]*] 5 z~8,mC+Vb@]A?w~X_[?"k]l*k]fk]|u3?k]cE 2k]zQCk]|u3?k],~V k]ogCk]Ck]%N@} addTargetRange:: Added new target pos. range: 444.600006 m, deltaT: 4.032048 s, deltaX: -2.100006 m, approachRate: -0.520829 m/s, rangeRepo size: 4  Added new target pos. range: 444.600006 m, bearing: 185.325958 deg, lat: 36.900321 deg, lon: -122.114530 deg, deltaT: 4.032048 s, deltaX: -2.100006 m, approachRate: -0.520829 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 444.60 m.BjJj ProNav: ac range: 444.600006 m, nav range: 418.119202 m, bearing: 184.553610 deg, approach rate: 0.000000 m/s, LOS rate: -0.085563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876010 deg. 2j:j@HeadingCmd: 4.814945 target range: 444.600006 and range: 444.60 m. jjjjihhhhfff)rfE{@bfM ?ɛuuBu&P quؿIq }+8ɚyiyI}Yj=Ii8%i))MWill construct direction to contact in vehicle frame from tetrahedron phase data.Epu=*F! 2F! :F! BF% 0JF! "G5 =G5 = I gGM .- Will construct direction to contact in vehicle frame from tetrahedron phase data.GIByO>n^w, zAJfJfJf0JdJf:Jf=:Jfـ3Jdmɒ@YmXؙ@m9m7 >ymHU?`??@>¿xg? ?^?:?T?ɨmɒ@mDT;mCy}nB}I~GvAMb@Mb@Mb@ )YZd;?V-?Mbp? YvAy By?<;DA $A)%AIDAy4AI%I% 5٢5== 5=958Q 5>99 =G٣=3GyEs; E> MNusing accuracyPremultiplier from configIU49MUjr?U4YM iM=qBU'?U:U]?MCMT&;M%;M@4eB e[AmCEZjFNOT Ignoring new targets: 444.60 m.BjAźJjAź- ProNav: ac range: 444.600006 m, nav range: 418.139679 m, bearing: 184.508583 deg, approach rate: 0.039216 m/s, LOS rate: -0.086227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840111 deg. 2j-l:j5@MHeadingCmd: 4.814318 target range: 444.600006 and range: 444.60 m. jIjIjIjIiIhQhQhqhu{Bfyfyfyrfybf?ɛuB,< ٿI 륽ɚiIj=I i |&i !) )QWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLKh9KK0K ,9EIIMLHC<840'$HŽ>I IIIoBI&I.I6Ik<:IFBIJIRIZI =bI =jIX4E] Ď=*F ?2F :F BF o0JF Q IQ Will construct direction to contact in vehicle frame from tetrahedron phase data.G1G JJAABO=?H^w,֌{AfGǒ@Yf֙@f9fF >yfH?v~?M<ÿww? 9?^?|;?Q?ɨfGǒ@fI;fCyrnBrI v=v=I~<I~v}5٢= 1=9 Q > G٣y %> -Nusing accuracyPremultiplier from config!549%mr?54Y% i%oqB155?%C%y;%;%H4A E'[AAZjamFNOT Ignoring new targets: 444.60 m.BjmuJjuu} ProNav: ac range: 444.600006 m, nav range: 418.157410 m, bearing: 184.469897 deg, approach rate: 0.038560 m/s, LOS rate: -0.084130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859134 deg. 2jf:j@HeadingCmd: 4.814650 target range: 444.600006 and range: 444.60 m. jjjjihhhhfffrfbfEB?ɛuBE 隵9ٿI ɚiIkk=Ii~'i4#))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%p0JF! e $?Ii GE jG! BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data.+^w,rp;{AJ}J}JyJyJ} :J}B:JyJyymoBuIMb@Mb@Mb@ )YʡE?11 5G٣1y= => ENusing accuracyPremultiplier from configAM49Epr?M4YE< iEqBU?U:U$U?ECE;E;EQ4Y ]ZA]@E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 444.60 m.Bj@Jj@ ProNav: ac range: 444.600006 m, nav range: 418.172211 m, bearing: 184.426541 deg, approach rate: 0.028393 m/s, LOS rate: -0.083166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845125 deg. 2jMd:j@HeadingCmd: 4.814405 target range: 444.600006 and range: 444.60 m. jjjjihhhh{Bfffrfbf8F?ɛuB[C %ٿI VɚiIfk=Ii(i))*F92F9:FABFE0JFAGMsA GMrAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK}MK}9KyZHRHHƽ>I III8pBI&I.I6IK<:I|FK}1K}    G (+G B O > I ^w,"6U{ABf@YB@B;9B_I >yBHNĹ?Zv?@6~ÿ@uo2?@ي??`e?:R?ɨBf@B=;BCyN Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.49487239^w,o{A:@Y:@:zK9:+ >y:H@3?@t?ÿtբ?v?੕?s?R?ɨ:@:#;8yFOoBF+IHJAINdIN5٢VvB= VO=9ZI:Q Z>X\ ^G٣\yb; b> jNusing accuracyPremultiplier from confighn49jur?n4Yj ijqBlrr?j"Cjh;j;jp^4t vYAtZjFNOT Ignoring new targets: 444.60 m.Bj úJj ú- ProNav: ac range: 444.600006 m, nav range: 418.196747 m, bearing: 184.366058 deg, approach rate: 0.035288 m/s, LOS rate: -0.085297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876266 deg. 2j-'j:j-@5HeadingCmd: 4.814949 target range: 444.600006 and range: 444.60 m. j1j1j1j9i9h9h9hAhAfAfAfArfIbfMc@ɛ vBP %׿I! %bɚ!i!I%Pm=I-i-v)i-p6)))Q I!g*F?2F:FBFo5JFG󻂻GBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747614JJJ1JJ:J"I:J3J ^w,-{A64"@Y61@696r >y6H@κ? q?7ÿnr ? <_? ?p?R?ɨ64"@6W;6CyNnoBR?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.998467mMb@Mb@Mb@iii i)iYm?I +?~jthym ?m9 G٣y; > Nusing accuracyPremultiplier from config49yr?4Y irB ?:߶?DC;;f4ߒB =YAAEZjFNOT Ignoring new targets: 444.60 m.Bj Jj  ProNav: ac range: 444.600006 m, nav range: 418.214447 m, bearing: 184.329448 deg, approach rate: 0.040730 m/s, LOS rate: -0.084241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865361 deg. 2jAg:j@%HeadingCmd: 4.814759 target range: 444.600006 and range: 444.60 m. j!j!j!j)i)h)h)h1HIII IMIIMupBIM =&II.IMDD6IMa<:IMFh5{BfYfafarfabfe u@ɛ$vBOzKMK9KK2K BKsA:K ֿI XɚiIm=Ii(i%R)!)!*F2F:FBFp5JF qIq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251351G- g{G1 G1 G B O5 >J^w,Ǣ{A6,@Y6;@696q&>y6H] ?`o?@ÿeq`kG?MU??? /R?ɨ6,@6OA;6CyNoBRIIIZfIZ 5٢bH.= bY=9b8Q b>dd fG٣f3Gyjf\; j> nNusing accuracyPremultiplier from configlr49n{r?r4Yn in:rBprv?nbCn ;n;nl4x zXAxZj%FNOT Ignoring new targets: 444.60 m.Bj%Jj-5 ProNav: ac range: 444.600006 m, nav range: 418.230255 m, bearing: 184.297711 deg, approach rate: 0.042154 m/s, LOS rate: -0.084627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879979 deg. 2jPh:j@HeadingCmd: 4.815014 target range: 444.600006 and range: 444.60 m. jjjjihhhhfffrfbfe @ɛyH@?m?̿ÿp@ƒ?B???*R?ɨ;@;;yMoBMRIMb@Mb@Mb@ )Y r?X9v?Mbpy#?<>A !A)AI>Ay/AIoI5٢EL< E'=9M:Q U>QQ UG٣QyeOz; m> }Nusing accuracyPremultiplier from configq49u r?4Yu$ iukrB#?:?uCu;u;u&u4 XAUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 444.60 m.Bjm4Jjm4 ProNav: ac range: 444.600006 m, nav range: 418.256317 m, bearing: 184.255343 deg, approach rate: 0.050880 m/s, LOS rate: -0.082708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848092 deg. 2j c:j @HeadingCmd: 4.814457 target range: 444.600006 and range: 444.60 m. jjjjihhhhQ{Bfffrfbf@ɛ-XvB-:J )-NٿI1 5aźɚ1iqI}Bpo=Ii|'iM:))*F5?2F1:F9BF=o5JF9}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010879H=Ž>I9 I=II=pBI9&I9.I=CD6I=C<:I=vFzK KK K K 3K 9@'>?;2.$|]:Ar6mI A IA Ge SnGI Ba O} >v^w,{A2;@Y2K@292  >y2H?@o?`ÿo~?CR? ?`@_?JS?ɨ2;@2ª;2CyJoBJlIIVXIV5٢^> ^{=9bwQ b ?dd fG٣dyf8 j ? nNusing accuracyPremultiplier from confighn49j‚r?r4Yj7* ijrBppr?jCj BDAT read: Tx time:19:45:50.6182 $Ping request sent.ڡڡۥb]G?h~DS?Y&\п)ۥN?IۥBY>iۥSۥe ۡۡ:publishing transmit ping timeFpublishing direction and range infoءbf!@ɛnvB4#\ ֿI JɚiIR.p=*J=R="J==JEJEJAJAJE :JEG:JAJAJE 0u Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 OU >s^w,1{A:S9@Y:H@:Ed9: >y:H ?`o? ÿeov?`b?๘?`8\?R?ɨ:S9@:0;:CyRoBRvIIZIZ+p5٢z= zH=9~ Q ~> G٣3Gy ,?  > Nusing accuracyPremultiplier from config %49 2r?%4Y 0 i rB!-ȴ-? C  ]; ]; 45ݒB 5WA5BEk:Q?kZ3 k ki{A:kCBkVCZkW@"0S@xxD?m@\?1꿤Vy{?JkSRke *D$c]yxH6uW>Nh@b$@>=!ʿ'?2?"k*kk*?kG 2kg~Ck ?kcE kEiCkCkhN@ addTargetRange:: Added new target pos. range: 459.700012 m, deltaT: 4.284002 s, deltaX: 15.100006 m, approachRate: 3.524743 m/s, rangeRepo size: 4  Added new target pos. range: 459.700012 m, bearing: 193.019846 deg, lat: 36.900344 deg, lon: -122.114594 deg, deltaT: 4.284002 s, deltaX: 15.100006 m, approachRate: 3.524743 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 459.70 m.BjJj I"g ProNav: ac range: 459.700012 m, nav range: 416.167847 m, bearing: 184.995724 deg, approach rate: 0.000000 m/s, LOS rate: -0.083537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879506 deg. 2j:j@HeadingCmd: 4.815006 target range: 459.700012 and range: 459.70 m. jjjjihhhhfffrf@3|@bf=?ɛ%vB-a )-9׿I) -ɚ1i1I5p=I=i='i=:)9)A*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gt:GBO>~_w,v |A6)@Y6`8@696 >y6H?`r? rÿ o7?}? ?h@?SR?ɨ6)@6O;6CyoBIMWill construct direction to contact in vehicle frame from tetrahedron phase data.H½>I I1IIpBI =&I.I6I<:IFMb@Mb@Mb@ )YHzG?~jt?y=*?=>A A)EAI?Ay /AI\I҅5٢-= -8=9-(Q 5> G٣yʍ > Nusing accuracyPremultiplier from config49\r?4Y8 irB*?:?CB;A;4 PWAzK gPK  9K K 4K )ui]QG>3&{urmfb\WTMJIHB><851.,,*Zj9=FNOT Ignoring new targets: 459.70 m.BjEκJjEκu ProNav: ac range: 459.700012 m, nav range: 416.191254 m, bearing: 184.954248 deg, approach rate: 0.050823 m/s, LOS rate: -0.090051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850766 deg. 2ju4w:juk@}HeadingCmd: 4.814504 target range: 459.700012 and range: 459.70 m. jyjyjyjyihhhhu{Bfffrfbf`?ɛvBP ֿI  ½ɚiIeq=Imim&iu)q)q I*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G% 7:Ja Je @AJm Jm Jm 0Ji Jm :Jm dP:Jm ـ3Ji Jm 6<Jm 6<Jm ;Jm ;G B1 OM >t_w,zP$|A6@Y6"@6 961 >y6HY?t?`"vÿ p`ҿ?@#?A?K?P?ɨ6@6D;6CyN pBRIIZAIZ5٢b= bd=9b,Q f>dd fG٣dyjy j? vNusing accuracyPremultiplier from configpv49rjr?v4Yr> ir sBxz]z?rCr:r:r4| VAZj!%FNOT Ignoring new targets: 459.70 m.Bj-ҺJj-Һ= ProNav: ac range: 459.700012 m, nav range: 416.208221 m, bearing: 184.923311 deg, approach rate: 0.050542 m/s, LOS rate: -0.092148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882380 deg. 2j=|:jE@EHeadingCmd: 4.815056 target range: 459.700012 and range: 459.70 m. jAjIjIjIiIhIhIhQhQfQfQfrfbf e?ɛ-vB-:b 15ԿIq }i3ŽɚyiyI}1mr=Ii&iE;))QUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF!JF) IGM 'HGU tAGQ G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.|_w,L>|A)   G%xAA mHYmxAyuBQ@Y"@=9 >yH`W?`u?WÿUqĿ? ҳ??`Q/? FR?ɨQ@׈;騅Cyޕ#pBޝI-  G٣3Gyi} > %bBottom track data is 0.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49r?-4YeG iFsB-+:15:5^5?3C(;?64A E[VAE?E%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 459.70 m.Bj=.ĺJjE.ĺ ProNav: ac range: 459.700012 m, nav range: 416.233826 m, bearing: 184.877149 deg, approach rate: 0.047569 m/s, LOS rate: -0.085757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836709 deg. 2jjk:jh@HeadingCmd: 4.814259 target range: 459.700012 and range: 459.70 m. jjjjihhhhfffrfbf ?ɛvB K IտI Ƚɚi!I%0s=I%i-&i-2#)I)QUWill construct direction to contact in vehicle frame from tetrahedron phase data.Ux?U?]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ZHRH?AH>IC IWII6qBI =&I.I6IX<:IFBIJIRIZIbIjI5z5*F?2F:FBF n0JF zK 66OK 9K K 5K '#"#! 2632.'!  $?I GE OPG! BI !] bCommunications Fault in component: RDI_PathfinderOu >P_w,t|Z|A2f@Y2$@2s92iU >y2Hh? v?` OÿqͿ?,?E?`'?NS?ɨ2f@2+~;2Cy>WpB>IF@FPowering downFF FFIJIJv5٢R> Rx=9V:Q V?XX ZG٣XyZI: ^? nbBottom track data is 0.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from configdv49fr?z4YfM ifksB~ :|Q:V?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005646fOCfMuq_w,0t|A I: @Y:Z@:y9:b >y:H?@u?@kÿr@Q?g?`?H?%R?ɨ: @:җ;:CyFpBFIIRqIRy5٢Vy= ZK=9Z2iQ Z>\\ ^G٣\y5 > %bBottom track data is 1.3 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-49%r?-4Y%T i%sB5915):5|5?%rC%(;% ?%؞4EےB ETAEAEZjquFNOT Ignoring new targets: 459.70 m.Bj}ںJj}ں ProNav: ac range: 459.700012 m, nav range: 416.271301 m, bearing: 184.810034 deg, approach rate: 0.053332 m/s, LOS rate: -0.095731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863602 deg. 2jf:jA@HeadingCmd: 4.814728 target range: 459.700012 and range: 459.70 m. jjjjihhhhfffrfbf og@ɛvB] οI ͽɚiI t=Ii&i[))*F2F:FBF0JFG GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509897GpG?G?GBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761534 k#_w,.V|AH>I III}qBI&I.I6IQ<:IzFyEpBEII]~I]Z5٢e= m==9mQ m>qq G٣3Gy > bBottom track data is 1.7 s old, using for 20.0 s.zK MKKK6K Nusing accuracyPremultiplier from config49]r?4Y`[ isB9 :?C-;? 4 OTAZjFNOT Ignoring new targets: 459.70 m.Bj wͺJj wͺ ProNav: ac range: 459.700012 m, nav range: 416.292816 m, bearing: 184.771685 deg, approach rate: 0.050391 m/s, LOS rate: -0.089815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860146 deg. 2jv:j@%HeadingCmd: 4.814668 target range: 459.700012 and range: 459.70 m. j!j!j!j!i!h)h)h1h1f1f1f1rf9bf=@ɛe wBebW ae%ͿIa mPнɚiiiIm}u=Iuiu&iuR)q)y I#g*F!2F!:F!BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013540GmOPJ J J 1J J =;J S:J 3J J LD<J MD<J ;J ;GA BY !m dClearing failed state for component RDI_Pathfinderm Ou >)_w,2|A 6r@Y6@6Al96 >y6H f?~? ¿fuN?`8??T?T?ɨ6r@6p;6Cy^pBbI=j:Expecting PD13 message formatIriIr5٢~= ~T=9Q >    G٣yQD > bBottom track data is 2.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49r? 4Yib isB 9  9  ?C(; @49 =SAAZjFNOT Ignoring new targets: 459.70 m.Bj˺Jj˺ ProNav: ac range: 459.700012 m, nav range: 416.312592 m, bearing: 184.734594 deg, approach rate: 0.047492 m/s, LOS rate: -0.089071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863921 deg. 2jt:jL@HeadingCmd: 4.814734 target range: 459.700012 and range: 459.70 m. jjjjihhhhfffrfbf8 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265927ɛm$wBBW 隭˿I #ӽɚiICv=Iim'iz))*F?2F:FBF0JF IG ]U Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:45:53.6314  TRx dataTimestamp_ set to:1736365554.976668 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518731G B OM >m0_w,|A:%Β@Y:}ݙ@:* 9:1>y:H6?#?¿v@R?` ?z?@S?`T?ɨ:%Β@:c;:Cy^ qB^<IIfrIf5٢n'> nL=9rIQ r>pp rG٣pyv v> ~bBottom track data is 2.5 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx49z r?4Yzh iztB o9  9 r ?zCzAp;z@z`4 RAZjAEFNOT Ignoring new targets: 459.70 m.BjMvҺJjMvҺ] ProNav: ac range: 459.700012 m, nav range: 416.329865 m, bearing: 184.701165 deg, approach rate: 0.047538 m/s, LOS rate: -0.092000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874902 deg. 2j]|:j]@eHeadingCmd: 4.814925 target range: 459.700012 and range: 459.70 m. jajajijiiihihihqhqfqfyfyrfybf} @ɛ6wB|Pa 隵ſI VսɚiIIv=IiD,(i))*F2F:FBF3JF"G=Gp=GGsAGGBOA>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770360jH9bH=<HE>IA IEIIEqBIE =&IA.IA6IE_<:IEFzKKKh9KK7K%%{@$     I :6_w,Z|AB@YB)љ@B 9Bx>yBHշ?@X?¿Mw),?@&??`]?`T?ɨB@B+7;BCy^FqBbaIIflIf]5٢n> rJ=9r%Q r>pt vG٣tyvEt v> ubBottom track data is 2.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configxWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:45:53.6314 LVL= 23856, 30113, 17890, 32755, AGC= 66, IDX= 392, 0.15,-2.094, 3.060,-1.900,-2.691, PHS= 0.685,-0.485, 0.788, RAW= 154.2, -15.9, CAL= 160.4, -22.7, ROT= 349.6, 22.7 Ygot valid direction response: 19:45:53.6314 LVL= 23856, 30113, 17890, 32755, AGC= 66, IDX= 392, 0.15,-2.094, 3.060,-1.900,-2.691, PHS= 0.685,-0.485, 0.788, RAW= 154.2, -15.9, CAL= 160.4, -22.7, ROT= 349.6, 22.7 PDAT read: Bearing 349.6, 22.7 (Local) ~Local bearing/azimuth received: Bearing 349.6, 22.7 (Local) DAT read: Range 10 to 50 : 456.7 m (Round-trip 609.0 ms) speed 0.5 m/s 49zkr?4Yzo izKtBB99?zCz =z9@z4  QA *DAT read: user:816> %BDAT read: Tx time:19:45:54.7182 %$Ping request sent.%,@مq څ$+3@)څbʾIڅ@@iڅb>ځځۅ}*lu?L&ZI?hѿ)ۅ?Iۅ@>iۅZۅ}ہہ:publishing transmit ping time!Fpublishing direction and range info؁9؅=! ?֑*M뿜ؓ?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځFNOT Ignoring new targets: 459.70 m.Bj%}ځځۅ}*lu?L&ZI?hѿ)ہIہiہہہہ=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.Jjm} ProNav: ac range: 459.700012 m, nav range: 416.348419 m, bearing: 184.664740 deg, approach rate: 0.041751 m/s, LOS rate: -0.081958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865917 deg. 2j`:j@HeadingCmd: 4.814768 target range: 459.700012 and range: 456.70 m. jjjjAiAhAhAhIhIfIfIfQrfU@3|@bfU?ɛSwBRJ I ؽɚiIw=Ii)i/))*F2F:FBF0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:19:45:54.7174 = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.232497G} >u I G9 BI O] ><_w,i|AF@YF@F!9F+>yFH E??1¿wv?iR?&!?౜? S?ɨF@F;FCybqBbIIj7Ij?{5٢r > rI=9vQ v> G٣3Gy! > %bBottom track data is 3.3 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49Ωr?U4Yv iytBU9QUl9U뵿U?C ;,R@Q4]ْB ePAeBEkϿ=?k˗ۊ k k|A:kYCBkCZk"c )-I) -ڽɚ1i1I5^x=I=i=*i=M)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.484403*F?2F:FBFg5JFG.-J J J 2J J ;J \:J c3J a@a@a@a@GBOd>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735361wC_w,S}AH}>Iy I} II}]rBIy&Iy.Iy6I}s<:I}FyqBII5@I5<5٢M8> ME=9MQ M>QQ UG٣Qy] ]> mbBottom track data is 3.7 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau49e3r?u4Ye} ietBu8q}?9y}?e?Ce9;eI_w,4)}Ay=rB=IIMIMo5٢e/> eI=9iQ u> G٣y > %bBottom track data is 4.1 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config 549 r?=4Y  i tB=89E9AE? bC ; @ M4]ڒB ]NA]?EZjFNOT Ignoring new targets: 459.70 m.BjɺJjɺ ProNav: ac range: 459.700012 m, nav range: 416.405029 m, bearing: 184.552162 deg, approach rate: 0.044774 m/s, LOS rate: -0.088165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859990 deg. 2jr:j@HeadingCmd: 4.814665 target range: 459.700012 and range: 456.70 m. jjjjihhhhfffrfbf 1?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239509ɛ wB mM SI ,߽ɚiIKy=I%i%"-i%[J)!)*FA2FA:FABFE4JFA IG f AGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491694J3K K.KK"KJ J J 0J J ;J ^:J ـ3J P_w,= C}A2y@Y2t@2%92>y2Hq?? &;¿@KwM?@?ɢ?S?Q?ɨ2y@2E;2Cy>XrBB IIF:IF|5٢N|2> NX=9R-Q R>PT VG٣V3GyV V> ^bBottom track data is 4.5 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb49Zr?b4YZ. iZuBf8df8fĶf?ZCZ`F;ZC@Z쫉4h juMAlZjFNOT Ignoring new targets: 459.70 m.BjǺJjǺ ProNav: ac range: 459.700012 m, nav range: 416.420074 m, bearing: 184.519727 deg, approach rate: 0.040527 m/s, LOS rate: -0.087366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877887 deg. 2jo:jL@HeadingCmd: 4.814978 target range: 459.700012 and range: 456.70 m. jjjjihhhhfffrfbf(?ɛewBeHQ ae\Ia m>ɚiiiIm)z=Ii/i)))*FM?2FI:FIBFMo0JFIH>I IjIIrBI =&I.IBD6Iu<:IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744104 }$?I}%gGhAzK4OKh9KK9KW9# RK ?JK $?Gi Bq O >V_w,\}A22@Y2@2B%92C>y2Hhܵ?@? z¿:w 'T??@e?@?O?ɨ22@29;2Cy>rB>*IIFPIF)5٢f> fG=9fګ:Q j>ll rG٣pyr0; r> zbBottom track data is 4.9 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~49vѶr?~4Yv: iv/uB~88?vCv<;vm@v~4 ؒB LA @EZj15FNOT Ignoring new targets: 459.70 m.Bj=qٺJj=qٺM ProNav: ac range: 459.700012 m, nav range: 416.437775 m, bearing: 184.482622 deg, approach rate: 0.045344 m/s, LOS rate: -0.095051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863876 deg. 2jMw:jMK@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995536HeadingCmd: 4.814733 target range: 459.700012 and range: 456.70 m. jjjjihhhhfffrfbf\Q@ɛwB2M 隕))*F?2F:FBFJFG]5GiGiG9BqOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247362 i Ii ]_w,{v}A6\@Y6@6G%96>y6H? ? ¿wh?@???N?ɨ6\@6;6CynrBn^IIv'Iv(t5٢J> G=9MAQ >    G٣ y 19 > bBottom track data is 5.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%49r?%4Y: i^uB-[8)-8--?C=7;@4A MAKAIeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 459.70 m.Bj}̺Jj}̺ ProNav: ac range: 459.700012 m, nav range: 416.455536 m, bearing: 184.445761 deg, approach rate: 0.043122 m/s, LOS rate: -0.089488 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864610 deg. 2ju:jf@HeadingCmd: 4.814746 target range: 459.700012 and range: 456.70 m. jjjjihhhhfffrfbf@n@ɛwBF`L NI  UɚiI+{=Ii2i ))*F2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500555GJJJ1JJ;JV:J3J %Y!y%l BGD&GBO >H >I C I II sBI &I .I 6I "<:I PFBI˱CJI˱CRIZI =bI =jI6s5= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755467rc_w,}Aff@Yf@f5%9f;>yfH> ?߉?`]¿v@??y?@я?`D?N?ɨff@fh;fCyn0sBnIIvIvk5٢~gC> ~K=9/9Q >   G٣ 3Gy :  > %bBottom track data is 5.7 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-49%Mr?54Y%* i%uB51815855?%C%),;%y@%S4A EJAAZjFNOT Ignoring new targets: 459.70 m.BjuɺJjuɺ I  ProNav: ac range: 459.700012 m, nav range: 416.473511 m, bearing: 184.409226 deg, approach rate: 0.043328 m/s, LOS rate: -0.088065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865585 deg. 2j q:j@=HeadingCmd: 4.814763 target range: 459.700012 and range: 456.70 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM@zK/LK 9KK:KUvp/v\7i)f8V/ BKrA:KtAɛwBE *Iq uZbɚqiqIu{=I}i}y4i} )y)*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007407G Ga Bi O >!j_w,J|}AJ@YJ@J ]%9Je >yJH ?@?=¿@uv"????L?ɨJ@J%;JCyVqsBVII^I^+p5٢f$> fM=9fŹQ j>hh jG٣hyn9 n> vbBottom track data is 6.1 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz49rxr?z4Yr iruB~8X8?r Cr;r5@r4  IA ZjFNOT Ignoring new targets: 459.70 m.Bj˺Jj˺ ProNav: ac range: 459.700012 m, nav range: 416.491272 m, bearing: 184.373491 deg, approach rate: 0.044266 m/s, LOS rate: -0.089057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867988 deg. 2jzt:j@5HeadingCmd: 4.814805 target range: 459.700012 and range: 456.70 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfE1 @ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262856ɛwB^D 隍I DɚiI|=Iiw6in))EEtA I*Fy2Fy:FBFJFG 'G G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:45:57.7160  TRx dataTimestamp_ set to:1736365559.016673 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516537J J J J J J X:J J q_w,XS}A:l@Y:ġ@:K%9: >y:H\? [? ÿ u)? ?o?~*?@J?ɨ:l@:_;:CyRsBRIIZIZn5٢v5> vH=9v19Q v>xx zG٣xyu,; > -bBottom track data is 6.5 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-49%r?54Y% i%uB5715/85`5?%,C%;%|@%ޭ4a eGAiZjFNOT Ignoring new targets: 459.70 m.BjNҺJjNҺ ProNav: ac range: 459.700012 m, nav range: 416.510162 m, bearing: 184.336386 deg, approach rate: 0.046804 m/s, LOS rate: -0.091931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863876 deg. 2j]|:jK@HeadingCmd: 4.814733 target range: 459.700012 and range: 456.70 m. jjjjih!h!h!h!f)f)f)rf)bf-`B @ɛ xB@ 隕艿I ɚiIb|=Ii 8iqay))*Fe?2Fa:FaBFe0JFaH>I IDIIYtBI =&I.I6I@<:IeF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%=%=-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768510 I&gzKM qOKM 9KI KM ;KM xtqjie^\WTPMIC?>=;86744-*'%""  Gi GA B O k1w_w,w+}AB@YB䫙@B]%9B͓ >yBH@??Fÿt]? ˻?Ô?J?WI?ɨB@Bw;BCyJsBNIIVIVi5٢^> ^M=9b=Q b>`` fG٣f3GyfK; f> nbBottom track data is 6.9 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr49jr?r4Yj ijvBr7pv 8v8v?jMCj9;j@j4zגB zFAzAEZj1}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 445.1 m (Round-trip 593.5 ms) speed 0.5 m/s *DAT read: user:817> BDAT read: Tx time:19:45:58.8183 $Ping request sent.[}_w,}A6)@Y6@6%&%96{ >y6H^?`?uÿ9t@.?|?@?@ns?`/H?ɨ6)@6 ;4yBBtBB7IHHIJIJe5٢V=> VK=9Z :Q Z>XX ^G٣\y^P?; ^> fbBottom track data is 7.3 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j49bEr?j4Yb ibDvBj7hn7nn?bnCb7H >I  I II uBI &I .I 6I <:I F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752881C_w,~A2ޝ@Y26@2*&92G>y2H7?`?3ÿsN~???~?`xF?ɨ2ޝ@2씇;2CyBqtBBTIIJIJr^5٢RM= RK=9VI!Q V>TT VG٣XyZ$ Z> bbBottom track data is 7.7 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f49^r?f4Y^ i^svBfw7df7f3j?^C^(;^@^X4l nDAlZj FNOT Ignoring new targets: 459.70 m.Bj غJj غ% ProNav: ac range: 459.700012 m, nav range: 416.567505 m, bearing: 184.228397 deg, approach rate: 0.050535 m/s, LOS rate: -0.094751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866355 deg. 2j% :j%@-HeadingCmd: 4.814776 target range: 459.700012 and range: 445.10 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bfE^? aIaɛ DxB < tI1 5ɚ1i9I=X}=I=iE@im_w,'+~A:F@Y:@:'9:i=y:H??T@~r?"? ?4?XX ZG٣Z3Gy^; ^> fbBottom track data is 8.1 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`f49br?j4Ybp ibvBjH7hj7j1j?bCb~(;bAbs4p raDAv>EZj  FNOT Ignoring new targets: 459.70 m.Bj κJj κ% ProNav: ac range: 459.700012 m, nav range: 416.587128 m, bearing: 184.191941 deg, approach rate: 0.048482 m/s, LOS rate: -0.090068 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865824 deg. 2j-@w:j-@5HeadingCmd: 4.814767 target range: 459.700012 and range: 445.10 m. j1j1j1j1i1h1h1h9h9fAfAfArfAbfE`IG?ɛWxB< 隝vpI fɚiIu}=Ii=ik))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258600*F?2F:FBF"5JF QIQG5iGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509003V_w,^E~A6B@Y6@6^'96>y6HL?H?`-[p@L?<? ?`?$R?ɨ6B@6V;6CyNtBNIIVIV:5٢b*> bI=9bt$Q f>dd fG٣dyj/; j> rbBottom track data is 8.5 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv49n2r?v4Ynh invBv"7tvt7v⵿z?nCni);nYAn4~ՒB YCA @EZjQUFNOT Ignoring new targets: 459.70 m.Bj]˺Jj]˺m ProNav: ac range: 459.700012 m, nav range: 416.607697 m, bearing: 184.155261 deg, approach rate: 0.049783 m/s, LOS rate: -0.088773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865152 deg. 2jms:juy@}HeadingCmd: 4.814755 target range: 459.700012 and range: 445.10 m. jyjyjyjyiyhyhyhhfffrfbf ?ɛ5lxB58 1=eI9 =ɚ9i9I=A}=IMiM/?iMG)I)q*F?2F:FBF%4JF!G5sA G5rAZH!RH%@AH->I) I-II-uBI)&I).I)6I-C<:I-eFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761079 9I='gGM-kGU ?GU#?G! B1 OM >zK LK ]9K K =K _w,s_~A2@Y2Ι@26&920)>y2HZ??u¿oA8???@`?O?ɨ2@2F;0yBtBBIIJIJT5٢fU= jJ=9~:Q ~> G٣y S;  > bBottom track data is 8.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.01326249r?4Yl iwB7E7?C<^A4  CA JJJJJ];J`:JJJI<JI<JZ;J[;ZjFNOT Ignoring new targets: 459.70 m.Bj Jj = ProNav: ac range: 459.700012 m, nav range: 416.629059 m, bearing: 184.118321 deg, approach rate: 0.046543 m/s, LOS rate: -0.080479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864372 deg. 2j=\:j=]@EHeadingCmd: 4.814742 target range: 459.700012 and range: 445.10 m. jAjAjIjIiIhIhihqhqfqfqfyrfybf}L@ɛxB56 eI kɚiI~=Iih@i1))*F2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264943G hA - $?I) G B O >v_w,Yy~AyruBrIIzIzV5٢ .=  F=9 Q > G٣3Gy > -bBottom track data is 9.3 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%r?54Y%c i%/wB=69= 79=?%C%<;%oA%4A EBAAeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 459.70 m.Bj}nJj}n ProNav: ac range: 459.700012 m, nav range: 416.650421 m, bearing: 184.081670 deg, approach rate: 0.060499 m/s, LOS rate: -0.103790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865241 deg. 2ju:j}@HeadingCmd: 4.814757 target range: 459.700012 and range: 445.10 m. jjjjihhhhfffrfbfcr@ɛxBH% >I!  I% ^II% "vBI%  =&I! .I! 6I% ><:I% `F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768931_w,*~A `I`yޭuBޭIIIW5٢< <=9 Q  >   G٣y > %bBottom track data is 9.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49r?-4Y iawB-6)5715?>C<;fA49 =]BA9ZjamFNOT Ignoring new targets: 459.70 m.BjuκJjuκ ProNav: ac range: 459.700012 m, nav range: 416.673431 m, bearing: 184.042510 deg, approach rate: 0.052930 m/s, LOS rate: -0.090074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857712 deg. 2jDw:ji@HeadingCmd: 4.814625 target range: 459.700012 and range: 445.10 m. jjjjihhhhfffrfbf#@ɛxB 9 dI WvɚiIm~=Ii|wBi_5))zKKK9KK>K *Fi2Fi:FiBFiJFi"Gu=Gq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021109G4n/JJJJJ%;JJJJ K<J K<JJGsAGtAG B O >ٿ_w,~A2^@Y2+@2"92\>y2H?io? %ÿ`k'? ?`}>?ҫ? qI?ɨ2^@2;2CyZ3uBZIIfIfN5٢r= r^=9rk;tt vG٣tyz< z> ~dBottom track data is 10.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|49~r? 4Y~ i~wB 6  6 : ?~]C~i);~F"A~4 AAZjAMFNOT Ignoring new targets: 459.70 m.BjM2ͺJj2ͺ ProNav: ac range: 459.700012 m, nav range: 416.695740 m, bearing: 184.009444 deg, approach rate: 0.060520 m/s, LOS rate: -0.089698 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875995 deg. 2jM /@U ~ BУ_w,~A>8/@Y>>@> "9>Y>y>H/?n? 5ÿjHi?R?`,?Ѓ?@K?ɨ>8/@>;>CyJ7uBJIIfIfW5٢r< rK=9r :Q r>tt vG٣v3Gyv-; z> dBottom track data is 10.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx49zr? 4Yz izwB b6  6  ?zCzlK;z(AzŮ4ӒB AAAEZjIMFNOT Ignoring new targets: 459.70 m.BjUKͺJjUKͺm ProNav: ac range: 459.700012 m, nav range: 416.720917 m, bearing: 183.973243 deg, approach rate: 0.062417 m/s, LOS rate: -0.089741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866591 deg. 2jmZv:jm@uHeadingCmd: 4.814780 target range: 459.700012 and range: 445.10 m. jqjqjqjqiqhyhyhyhyfffrfbf` @ɛxB5#? 隽dI CɚiIC=IiBi8))*FQ2FQ:FQBFQJFQG-p®H>I IIIsvBI =&I.I6I#<:IKFBIİCJIİCRIZI =bI =jIċH4GB O%+>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777043 IzK% KK! K! K% ?K% RK- ?JK- >6Ϸ_w,L~A>B@Y> R@>ɂ!9>i >y>HBɻ?@o?`ÿMi}?? ?>7?`N?ɨ>B@>A;>Cy^GuB^IIfIf^5٢n"= nJ=9r:Q r>pp rG٣tyv; v> ~dBottom track data is 10.9 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx49zYr?4Yz izwB766  ?zCz:;z//Az̮4 |AAEWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 452.1 m (Round-trip 602.8 ms) speed 0.3 m/s ]*DAT read: user:818> ]BDAT read: Tx time:19:46:02.9183 e$Ping request sent.e I (gG B OU > _w,~AyAuBII%I%]5٢5҂ 5D=95Q =>99 =G٣9yE E> UdBottom track data is 11.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]49M/r?]4YM iMxBe6ae_6am?MCM};M5AMѮ4q uAAqB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 459.70 m.Bj5jɺJj5jɺE ProNav: ac range: 459.700012 m, nav range: 416.774048 m, bearing: 183.899537 deg, approach rate: 0.063656 m/s, LOS rate: -0.088046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862990 deg. 2jEq:jE*@MHeadingCmd: 4.814717 target range: 459.700012 and range: 452.10 m. jIjQjQjQiQhQhQhYhYfYfYfarfabfm@ Q?ɛxB@ 隕kI aɚiI:=Ii@i|:))*F2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G;G B O >H >I  I II vBI &I .I 6I -<:I RF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751683_w,qA @ $I(>2@Y>gA@>m"9>>y>HE?`~?`¿i 7?6?7?᥿? Y?ɨ>2@>㑌;>Cyz4uBzIII&Q5٢ M=9aQ > G٣%3Gy% %> 5dBottom track data is 11.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=49-r?=4Y- i-AxB=5AE56E೿E?-C-*C;-9EZjq}FNOT Ignoring new targets: 459.70 m.Bj׺Jj׺ ProNav: ac range: 459.700012 m, nav range: 416.799622 m, bearing: 183.863694 deg, approach rate: 0.067339 m/s, LOS rate: -0.094375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867663 deg. 2j:j@HeadingCmd: 4.814799 target range: 459.700012 and range: 452.10 m. jjjjihhhhfffrfbfF?ɛyBGE rI ɚiId9=IivZ@i^))*F?2F:FBF0JFzK MKK 9K K @K ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003764G:JJAAGBO5 >JU JU JU 1JQ JU e ;JU lm:JU 3JQ JU U<JU U<JU ;JU ; _w,ML.A2A!@Y20@2"92>y2H?l~?hO¿` k ?H?`H?`? V?ɨ2A!@2oƎ;2CyNGuBRIIZIZ0E5٢b:= fO=9fQ f>hh jG٣hyj n> rdBottom track data is 12.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv49r`r?v4Yr irmxBz5xz6z#z?rCr!*;rBArخ4| AAZj!-FNOT Ignoring new targets: 459.70 m.Bj5ͺJj5ͺ ProNav: ac range: 459.700012 m, nav range: 416.824524 m, bearing: 183.828248 deg, approach rate: 0.063263 m/s, LOS rate: -0.090044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868855 deg. 2j/w:j@HeadingCmd: 4.814820 target range: 459.700012 and range: 452.10 m. jjjjihhhhfffrfbf?ɛeyBm6B imsIi m5?ɚiiqIo=IiG(@ig%))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256681 9IA*FI2FI:FIBFM)1JFIG5!G5tAG1G B O1 m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507952_w,'HA61#@Y62@6"96">y6H vк?Z|?@h¿`k`?`:?A?C? U?ɨ61#@62;4yR6uBRIIZIZJH5٢b& bK=9b:Q b>dd fG٣dyj: j> 5dBottom track data is 12.6 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from configl=49nr?E4Yne inxBE5AE5EE?n(CngIuC IuIIuvBIu =&Iq.Iq6Iu5<:IuVFWill construct direction to contact in vehicle frame from tetrahedron phase data.??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759948 )I)GUi"G1B9OU>zK MKK S9K K AK e_w,bAV.@YV)>@V "9V:>yVH~,?x?`K¿ jD?@?@+?=?S?ɨV.@V;VCyb/uBbIIjIjc5٢rʌ rH=9v,:Q v>tt vG٣v3Gyz&c; z> dBottom track data is 13.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 49~r? 4Y~d i~xB 5 5?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011883~KC~N;~OA~ݮ4) -AA)ZjIUFNOT Ignoring new targets: 459.70 m.Bj]ҺJj]Һm ProNav: ac range: 459.700012 m, nav range: 416.876892 m, bearing: 183.755210 deg, approach rate: 0.066665 m/s, LOS rate: -0.092018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864739 deg. 2jm|:jmj@uHeadingCmd: 4.814748 target range: 459.700012 and range: 452.10 m. jqjqjyjyiyhhhhfffrfbf@D@ɛe5yBeI aeӀIa m0ɚiiIo=Ii?ih٧))*F 2F:FBFb5JFGMïWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264448  $?I )gGA BI Oe >L_w,{Ay:uBII%I%Kk5٢=o< =D=9EQ E>II MG٣IyU U> edBottom track data is 13.4 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe49]r?m4Y]# i]xBmO5im5qu?]nC];;]3VA]ޮ4y }AAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 459.70 m.BjκJjκ ProNav: ac range: 459.700012 m, nav range: 416.904175 m, bearing: 183.717770 deg, approach rate: 0.065630 m/s, LOS rate: -0.090059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862873 deg. 2j9w:j&@HeadingCmd: 4.814715 target range: 459.700012 and range: 452.10 m. jjjjihhhhfffrfbfR@ɛ GyB;J I ɚiIF1=Ii%W:?i%E)!)!*F2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515968*JY"J]R=JeJeJaJaJe;Jeu:JaJaam@am@am@am@GzQG ?G>GBO>H] >IY  I] II] vBI] =&IY .IY 6I] $<:I] GF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767762 I -_w,9A6;@Y6+K@6p!96?,>y6H@Q?t? ÿ"j|?@???R?ɨ6;@6;6Cyz9uBxI  I h5٢= M=9%g:Q %>!! -G٣)y-; 5> EdBottom track data is 13.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M49=0s?M4Y=N* i=$yBM(5IM|5MU?=C=\(;=\A=உ4Y ]AAaZjFNOT Ignoring new targets: 459.70 m.BjͺJjͺ ProNav: ac range: 459.700012 m, nav range: 416.930847 m, bearing: 183.681978 deg, approach rate: 0.067013 m/s, LOS rate: -0.089919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867819 deg. 2jv:j@HeadingCmd: 4.814802 target range: 459.700012 and range: 452.10 m. jjjjihhhhfffrfbf@ɛXyBM ܃I ɚiI;y=Ii>i&:))*Fq2Fq:FqBFuo0JFqzKm:KKmػ9KiKmBKmBKq:KusA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019722GGBO>W_w,A :4@Y:\C@:_!9:'>y:H@U?^w?q¿ jW?@??`{?bT?ɨ:4@:b;:CyF1uBFIIR IRg5٢Z ZR=9ZjQ Z>\\ ^G٣^3Gyb b> fdBottom track data is 14.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdj49fs?j4Yf0 ifPyBn5lnL5nڳr?fCfTE;fbAfᮉ4vϒB vAAv@EZjFNOT Ignoring new targets: 459.70 m.BjtͺJj%tͺ5 ProNav: ac range: 459.700012 m, nav range: 416.956818 m, bearing: 183.647018 deg, approach rate: 0.066720 m/s, LOS rate: -0.089810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870312 deg. 2j5v:j56@=HeadingCmd: 4.814845 target range: 459.700012 and range: 452.10 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfMj @ɛ}hyB}P y}醿I )dɚiIā=IiK>iQ,^9)) I*gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275377*F5?2F1:F1BF9JF9GU?:G9BAOe>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:19:46:05.9112 u TRx dataTimestamp_ set to:1736365567.084739u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528914J J J J J T;J :J J @_w,XrA22@Y28B@2 !92L>y2HL?w? ¿jR??'?@ˇ?`ST?ɨ22@2;0yBHuBBII%I%i5٢-X= 5B=95eQ 5>99 =G٣9yE E> MdBottom track data is 14.6 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIU49M s?]4YM"8 iMyB]4Y]%5]޳]?MCM9;MiAM⮉4i m^AAiZjFNOT Ignoring new targets: 459.70 m.Bj̺Jj̺ ProNav: ac range: 459.700012 m, nav range: 416.985016 m, bearing: 183.609238 deg, approach rate: 0.066761 m/s, LOS rate: -0.089439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861857 deg. 2ju:j@HeadingCmd: 4.814698 target range: 459.700012 and range: 452.10 m. jjjjihhhhfffrfbf = @ɛ zyB gN EI LɚiI=Ii%=i!)!)!jH<bHH%>I! I!I!I!&I!.I!6I%H<:I%`F*FU?2FQ:FQBFQJFQ"G]=G]= IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779812GmGusAGqGI BQ Om >zK KK 9K K CK `_1 -0( <[pw{tne[ULi_w,IA-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.034320M&@YM5@M"9Mz>yMH?ez?¿j`$!?-?BՈ;MCyޕfuBޕII I1h5٢ = -==9-Q 5>99 =G٣9yEb E> MdBottom track data is 15.0 s old, using for 20.0 s. MNusing accuracyPremultiplier from configIU49Ms?]4YM? iMyB]4Y]5]]?MCM#9;MpAM㮉4a m@AiZjFNOT Ignoring new targets: 459.70 m.Bj5_κJj=_κU ProNav: ac range: 459.700012 m, nav range: 417.014038 m, bearing: 183.570050 deg, approach rate: 0.066815 m/s, LOS rate: -0.090213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857631 deg. 2jUw:j]f@eHeadingCmd: 4.814624 target range: 459.700012 and range: 452.10 m. jajajajiiihihhhfffrfbf`w@ɛ]yB]\J Y]Ia QɚiI`=Ii$=iO))*F=?2FA:FABFEn0JFA yIWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:46:05.9113 LVL= 29072, 28785, 20002, 32755, AGC= 66, IDX= 297,-0.36, 1.951, 0.827, 2.220, 1.420, PHS= 0.619,-0.546, 0.797, RAW= 157.0, -13.7, CAL= 163.4, -20.2, ROT= 346.6, 20.2  Ygot valid direction response: 19:46:05.9113 LVL= 29072, 28785, 20002, 32755, AGC= 66, IDX= 297,-0.36, 1.951, 0.827, 2.220, 1.420, PHS= 0.619,-0.546, 0.797, RAW= 157.0, -13.7, CAL= 163.4, -20.2, ROT= 346.6, 20.2 % PDAT read: Bearing 346.6, 20.2 (Local) % ~Local bearing/azimuth received: Bearing 346.6, 20.2 (Local) 5 DAT read: Range 10 to 50 : 441.5 m (Round-trip 588.7 ms) speed 0.5 m/s 5 *DAT read: user:819> = BDAT read: Tx time:19:46:07.0184 = $Ping request sent.= ?+M!v?4[{;'Gο)Z%?It>iV+m :publishing transmit ping time9 u Fpublishing direction and range info9}R^c?uNH쿋9LS?y )Ii )Ii?+M!v?4[{;'Gο)IiGe K9GI Bq O >_w,BAG`wAA % Y%`wAy%[ByEzuBEIWill construct direction to contact in vehicle frame from tetrahedron phase data.         Mb@Mb@Mb@ )Yp= ף?ˡE?Mb?yE?'=<!A  A)AAI$AyfAJK 3 KS}-KK"KJEJE4JAJAJE;JEr:JAJAI-I-r^5٢(= =9Q > G٣3Gy > Nusing accuracyPremultiplier from config49s?4YI iyB-T:-qE?5:5㴿5?*Cgp<i<49 E@AE=Ek8?kc,0 k kjA:kCBkICZkV@"VOP@!VYcxzGCmh@}R^c?uNH쿋9LS?JkVRk+*nNUy`tU̡Bb@`H'>ɿ0ކ?"k'*kk G?k3? 2k-UCkZ?kG kdCkCk"U@ addTargetRange:: Added new target pos. range: 441.500000 m, deltaT: 4.286845 s, deltaX: -10.600006 m, approachRate: -2.472682 m/s, rangeRepo size: 4 - Added new target pos. range: 441.500000 m, bearing: 192.124450 deg, lat: 36.900407 deg, lon: -122.115242 deg, deltaT: 16.395966 s, deltaX: -18.200012 m, approachRate: -1.110030 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 441.50 m.Bj5Jj9U ProNav: ac range: 441.500000 m, nav range: 417.645538 m, bearing: 191.488805 deg, approach rate: 0.000000 m/s, LOS rate: -0.090213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826392 deg. 2jQ:jU @]HeadingCmd: 4.814079 target range: 441.500000 and range: 441.50 m. jYjYjYjYiYhahahhzBfffrf{@bfW?ɛyBH $I mɚi I =I ih:=iI}))*F ?2F :F BF @5JF G  G sAH >I C I II vBI  =&I .I AD6I b<:I qFBIɯCJIɯCRIZI =bI =jI5 Y IY  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 'HGBO>`w,AF@YF@F9$9FwA=yFH&? 6?#@Kl ??p? ?@Z?ɨF@F;FCyVuBVIZAZAI^I^R5٢n&= nz=9neQ n?pp rG٣pyvWI v? zNusing accuracyPremultiplier from configx~49zs?~4Yz0P iz+zB`?zJCz:z:z4 ΒB ?A?E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 441.50 m.Bj=GJjEG] ProNav: ac range: 441.500000 m, nav range: 417.634186 m, bearing: 191.455306 deg, approach rate: -0.038896 m/s, LOS rate: -0.114774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874689 deg. 2j]:j]@eHeadingCmd: 4.814922 target range: 441.500000 and range: 441.50 m. jajajajaiahihihqhqfqfqfqrfybf}`?ɛyB{_ 隥I SɚiI=IiW=i?Z))zKm"oNKm9KiKmDKmECB=93-+*%! ! *Fi2Fi:FiBFmo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GM >G!B1OM> I +g `w,5A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994389Bc@YB@BE$9Bm=yBHU???9m o?P?{~?P?W?ɨBc@B4;BCyNuBN'IIZIZm?5٢b6= bM=9bqQ f>dd fG٣dyjӻ j> rNusing accuracyPremultiplier from configlr49ns?v4YnX infzBtvv?npCn%-;n:nĉ4x ~N?A|Zj%FNOT Ignoring new targets: 441.50 m.Bj%gJj-gE ProNav: ac range: 441.500000 m, nav range: 417.619568 m, bearing: 191.413862 deg, approach rate: -0.036602 m/s, LOS rate: -0.103777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850849 deg. 2jEq:jEn@MHeadingCmd: 4.814506 target range: 441.500000 and range: 441.50 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf]?ɛyBO 隍x}I ~ɚiI;=Ii=i׻))*FY2FY:FaBFep0JFaGUTG!B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248380J J 8J 0J J $;J :J ـ3J ,`w,OA6ɒ@Y6gؙ@6nq&96>y6H@x? ۊ?f[oS??? ۢ? bT?ɨ6ɒ@6H;4yBuBBAIEMb@Mb@Mb@AAA A)AYEPn?y&1?:v?yED?E`Ia IeIIevBIe =&Ia.Ia6Ie<:Ie=FI}I}>5٢B= >=9}Q > G٣3Gyh6 > Nusing accuracyPremultiplier from config496s?4Y` izBVD?:?C;;̉4 >AZjFNOT Ignoring new targets: 441.50 m.BjEJjE뺝  ProNav: ac range: 441.500000 m, nav range: 417.596588 m, bearing: 191.369502 deg, approach rate: -0.053274 m/s, LOS rate: -0.102845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842100 deg. 2j):j.@HeadingCmd: 4.814353 target range: 441.500000 and range: 441.50 m. jjj!j!i!h!h!h)h-zBf)f)f)rf1bf5ܚ?ɛ]yBe|GL ae$wIa e ɚaiaIm~=Imiu>iu.)q)q $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499386*F)2F):F)BF)JF)"G5=G5=G}QpGGsAzK- MK- 9K) K- EK- GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752541`w,g{iARQђ@YR@RW%9RR>yRH)J?"?@¿oɕ? EO=9M:Q M>II MG٣IyU'; U> ]Nusing accuracyPremultiplier from configYe49]k!s?e4Y]Gh i]zBimm?]C]:]:]҉4q u=AyZjFNOT Ignoring new targets: 441.50 m.BjJj뺝 ProNav: ac range: 441.500000 m, nav range: 417.576111 m, bearing: 191.328933 deg, approach rate: -0.051971 m/s, LOS rate: -0.102969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853474 deg. 2jU:j@HeadingCmd: 4.814551 target range: 441.500000 and range: 441.50 m. jjjjihhhhf ffrfbf?ɛUyBU͢L QUImIQ ]m ɚYiYI]O=Ieie?ie)a)i*F2F:FBF0JFG-, IGBOD>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]~?]<echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002856 `w,MA:R͒@Y:ܙ@:%9:V>y:H*?`?¿ ov?}?e?ӿ?@T?ɨ:R͒@:;:Cy^gvBbIMMb@Mb@Mb@III I)IYM%C?y&1? rh?yMZD?IMC =MA MlA)MAIMAIyM=AImIm#U5٢> G=9Q > G٣y > Nusing accuracyPremultiplier from config49$s?4Y[p i+{BD?:˸?C;;/ډ4̒BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254578 I]C I]II]4wBI] =&I]FD.IY6I] <:I];F I,gm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506871G G B O >&`w,c%A:˒@Y:3ۙ@:=%9:I5>y:H`E?ň?&¿@*pr?7? u?6?S?ɨ:˒@:%;:CyFvBFIININZ5٢V7> VY=9Z }9Q Z>`` bG٣f3GyfE f> jNusing accuracyPremultiplier from confighn49j's?n4Yjw iji{BprӸr?j Cj;j`;j4t v;AxmB*** querying acoustic contact ***jijiZjqFNOT Ignoring new targets: 441.50 m.BjSJjS񺝊 ProNav: ac range: 441.500000 m, nav range: 417.534576 m, bearing: 191.247714 deg, approach rate: -0.053766 m/s, LOS rate: -0.105492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858426 deg. 2jː:j@HeadingCmd: 4.814638 target range: 441.500000 and range: 441.50 m. jjjjihhhhfffrfbf`m@ɛyBI 隍TI  ɚiId2=IiM}AzKLK9KKFK  %VT2  %^j RxHRBK:KtAi^")!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760340*F?2F:FBF0JFJJ<J1JJJ:J3JJ| i Ii -`w,CAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010607>`˒@Y>ڙ@>S%9>g>y>H ?`?!¿CpHp?q?`? V ?S?ɨ>`˒@>Y;>CyFvBFIPRAIVIV)M5٢^{-> ^I=9b8Q b>`` bG٣dyf f> jNusing accuracyPremultiplier from confighn49j*s?n4Yj ij{Bprոr?j3Cj ;j ;j4t v:AtZjFNOT Ignoring new targets: 441.50 m.Bj%Jj%򺝊5 ProNav: ac range: 441.500000 m, nav range: 417.513580 m, bearing: 191.206145 deg, approach rate: -0.053638 m/s, LOS rate: -0.106200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850475 deg. 2j5đ:j5`@=HeadingCmd: 4.814499 target range: 441.500000 and range: 441.50 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU /@ɛe zBe9D aeFIi mt ɚiiiImd=IicBiI#))*FI2FI:FQBFU2JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:46:10.0065 TRx dataTimestamp_ set to:1736365571.116785checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263674Gm"JJ@AGi By O >4`w,ЀAjH~<bH~p<HI IXIIwBI&I.I6IC<:IUFyHwBI-monly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2768,V  u@u u@u u@u  u@u II I J5٢t>> 6=9%Q %>!! -G٣)y- -> EbBottom track data is 0.5 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M49=.s?M4Y= i={BM+:IM_:IM?=^C=dE;= >=:4Y ]A9AYZjFNOT Ignoring new targets: 441.50 m.BjdJjd꺝 ProNav: ac range: 441.500000 m, nav range: 417.490479 m, bearing: 191.159828 deg, approach rate: -0.051102 m/s, LOS rate: -0.102461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836228 deg. 2j:jW@HeadingCmd: 4.814250 target range: 441.500000 and range: 441.50 m. jjjjihhhhfffrfbf@($ @5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515647ɛzB/= 5I 5& ɚiI⏄=IiLnCi)))))*F2F:FBF1JFG G"GGzK ?OK K K GK `@sh_YPIA;81,*%#!!  RK ?JK ?GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766982J J AJ J J L*;J /:J J J <J <J ;3:`w,ꀵAJ=; ˒@Ydڙ@(%92>yH??¿ 6p@)?@?0?@Co?[P?ɨ ˒@;騥Cy޽wB޽CIII>5٢D> L=9'Q >   G٣ 3Gy Ӹ > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config5491s?=4Yk i7|BE :AE5:E۸M?C;[?4]ʒB ]7Ae>EZjFNOT Ignoring new targets: 441.50 m.BjJj纝 ProNav: ac range: 441.500000 m, nav range: 417.470093 m, bearing: 191.118655 deg, approach rate: -0.049998 m/s, LOS rate: -0.100986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851661 deg. 2j:j@HeadingCmd: 4.814520 target range: 441.500000 and range: 441.50 m. jjjjihhhhfffrfbfb`@ɛ,zB =  t%I   ɚiI=IiKDiz$))E) I*F?2F:FBF`5JFGBOD>=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 19:46:10.0066 LVL= 23328, 32753, 16338, 32755, AGC= 70, IDX= 393,-0.17, 0.805,-0.431, 0.958, 0.121, PHS= 0.772,-0.505, 0.834, RAW= 152.4, -16.6, CAL= 158.5, -23.6, ROT= 351.5, 23.6 }Ygot valid direction response: 19:46:10.0066 LVL= 23328, 32753, 16338, 32755, AGC= 70, IDX= 393,-0.17, 0.805,-0.431, 0.958, 0.121, PHS= 0.772,-0.505, 0.834, RAW= 152.4, -16.6, CAL= 158.5, -23.6, ROT= 351.5, 23.6 PDAT read: Bearing 351.5, 23.6 (Local) ~Local bearing/azimuth received: Bearing 351.5, 23.6 (Local) DAT read: Range 10 to 50 : 438.0 m (Round-trip 584.0 ms) speed 0.7 m/s *DAT read: user:820> BDAT read: Tx time:19:46:11.1200 $Ping request sent.99=v?_i?[`=6=ҿ)=R?I=>i=`Q=c 99:publishing transmit ping timeؙ Fpublishing direction and range info99=]?!+?]11r\?y9999 9)9I9i99999 9)9I9i999=v?_i?[`=6=ҿ)9I9i9999A`w,A6ǒ@Y6"י@6%96>y6H@??¿ ApN?`??I?N?ɨ6ǒ@6:;6CyBwBB~I } } }     Mb@Mb@Mb@ )YM? rh?/$?yn2?C =,=A A)-AIAyGAWill construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝AJDAT read: TxSync time:19:46:11.1192 IIV85٢o> N=9Q > G٣y > %Nusing accuracyPremultiplier from config!-49%4s?-4Y% i%x|BUT:U2?u:uu?%C%T'<%&<%4y }z6AkuЃ?kuA kq kuA:kuCBkuCZkuX@"u(4qbV@.=vl*,k@u]?!+?]11r\?Jku`QRkuc *u{xYxjzRXAg@uD?ss쿈ovm̿8I/?"ku*ku2kuW?kuh哚 2ku xCku*?ku3? kuMpCku?Cku0V@ addTargetRange:: Added new target pos. range: 438.000000 m, deltaT: 4.032051 s, deltaX: -3.500000 m, approachRate: -0.868045 m/s, rangeRepo size: 4 ] Added new target pos. range: 438.000000 m, bearing: 194.202143 deg, lat: 36.900423 deg, lon: -122.115286 deg, deltaT: 4.032051 s, deltaX: -3.500000 m, approachRate: -0.868045 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 438.00 m.BjeJja ProNav: ac range: 438.000000 m, nav range: 416.495270 m, bearing: 191.653360 deg, approach rate: 0.000000 m/s, LOS rate: -0.100986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850199 deg. 2j:jV@HeadingCmd: 4.814494 target range: 438.000000 and range: 438.00 m. jjjjihhh h |Bf f frf`{@bf QL?ɛ]=zBe4 a隍I -ɚiIτ=IiaEi,D*))*F]?2FY:FYBF]_5JFaH >I  I II oxBI  =&I .I @D6I T<:I ^FGYBaO}{> I-gM Will construct direction to contact in vehicle frame from tetrahedron phase data.BG`w,vqAPExceeded connect timeout, disconnecting.-ƒ@Y-֙@-I%9-7 >y-H@?3?@¿'p@)?D??x?@ L?ɨ-ƒ@-*;-CyE mQ=9m+˹Q m>qq uG٣qy}$ }> Nusing accuracyPremultiplier from config497s?4Ym i|B?C;L;4 a5AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 438.00 m.Bj ߺJj ߺ ProNav: ac range: 438.000000 m, nav range: 416.477844 m, bearing: 191.617534 deg, approach rate: -0.047439 m/s, LOS rate: -0.097536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867705 deg. 2j:j@HeadingCmd: 4.814800 target range: 438.000000 and range: 438.00 m. jjjjihhhhfffrfbf` l?ɛJzBu5 XI ыɚiI=I i==Fi=ã+)9zKMNKMػ9KIKMHKMBK]sA:K]rA)aWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FI2FI:FQBFU0JFQJJDJJJ+;J:JJJ><J><JC;JC;GYBaOY> I U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995073qM`w,d8A2@Y2ř@2&92 ` >y2H w? ڂ?¿q?@?@H?`J?@K?ɨ2@2瓇;0yZxBZIIbnIb."5٢jc> jS=9nbQ n>ll nG٣pyr r> zNusing accuracyPremultiplier from configt~49v:s?~4YvJ iv|B|~෿~?vCv +;v:vU4  4A ZjFNOT Ignoring new targets: 438.00 m.Bj ϺJj Ϻ ProNav: ac range: 438.000000 m, nav range: 416.459930 m, bearing: 191.581444 deg, approach rate: -0.044923 m/s, LOS rate: -0.090508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866911 deg. 2jux:j@HeadingCmd: 4.814786 target range: 438.000000 and range: 438.00 m. jjjjihhhhff f rf bf 7?ɛUXzB]. Y]IY ] ɚYiYIe=Ii`Gi[I))E-sAE-qA) eG*F2FA:FBFo0JF YyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247251G vϻG B O >"ST`w,#RA6o@Y6Ⱥ@6*'96k >y6H ? ł?sÿ`&q@`ͼ?@??@?XI?ɨ6o@6.;4ZHPRHR@AHV>IT IV?IIV0yBIV =&IT.IT6IVQ<:IVZFBImCJImCRIiZIm =bIm =jIm5yxB I iIi @ @ @  @ IZIQ5٢ 5> ?=9Q > G٣3GyP > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49*>s?4Y i;}B+:v:?C\(;>h 4 2AZj  FNOT Ignoring new targets: 438.00 m.BjۺJjۺ ProNav: ac range: 438.000000 m, nav range: 416.439819 m, bearing: 191.541352 deg, approach rate: -0.048179 m/s, LOS rate: -0.096050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854906 deg. 2jփ:j@HeadingCmd: 4.814576 target range: 438.000000 and range: 438.00 m. jjjjihhhhfffrfbf (?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499250ɛ}gzB8) 隅¾I =ɚiIU=Ii7Hi6KZ))*F ?2F :F BF JF GI6 %nManaging dock network, ignoring radio surface power offGBOf>zK KK K K IK RK >JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752396J J UJ J J ,;J :J J J <J <J };J };~Z`w,lA2C@Y2Ι@2%92dS >y2H ?À?2ÿq]?? ?@?2K?ɨ2C@2;2Cy^9yB^EIII,5٢%a> %S=9% a;Q %>)) -G٣)y5; 5> =bBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E49=*As?M4Y=ϳ i=y}BM :IMG:MM?=2C=(;=Q?=4]ȒB ]]1A]?EZjyFNOT Ignoring new targets: 438.00 m.BjֺJjֺ ProNav: ac range: 438.000000 m, nav range: 416.422424 m, bearing: 191.505112 deg, approach rate: -0.045056 m/s, LOS rate: -0.093872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866461 deg. 2j؀:j@HeadingCmd: 4.814778 target range: 438.000000 and range: 438.00 m. jjjjihhhhfffrfbf`W?ɛ-tzB-& )-2I) =wɚ9i9I==IEiEIiE#3)A)I*F2F:FBFJF YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003193GhAGGrAGBO >ea`w,مA6 В@Y6yߙ@6f$96T >y6H B?~?@\!ÿ@Nq׽?@2?Dv? ?L?ɨ6 В@6F;6CyZyBZxI U U UU UU  U U }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255173UMb@Mb@Mb@QQQ Q)QYUd;O? }*=9}:;Q }> G٣yW; > Nusing accuracyPremultiplier from config49 Fs?4Yݺ i}BT:,?:ҭ?UC] ;;@4I M0AIZjFNOT Ignoring new targets: 438.00 m.BjJj ProNav: ac range: 438.000000 m, nav range: 416.425812 m, bearing: 191.467416 deg, approach rate: 0.006737 m/s, LOS rate: -0.074974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862102 deg. 2jM:j @HeadingCmd: 4.814702 target range: 438.000000 and range: 438.00 m. jjjjihhhh}Bfffrfbf`N@ɛzBj yI -ɚiIu=Ii $Ji ) ) ER>E>*F2F:FBFJFGsA GtAHI IIIzBI&I.I6I<:I*F E$?IE.g- Will construct direction to contact in vehicle frame from tetrahedron phase data.- >- 4=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507370G -,GY Bi O >g`w,RA2e@Y2@2m"92 >y2H`? /|? +ÿ0q8z?F?@C? ?N?ɨ2e@2ط;2Cy:yB>IIFqIF#5٢NZ> R=9R;Q R?TT VG٣V3GyVH< V? ^Nusing accuracyPremultiplier from configXb49Z;Is?b4YZl iZ}B`fzf?ZlCZ ;Z!;Z4h j/AhZjx]FNOT Ignoring new targets: 438.00 m.BjexJjmx ProNav: ac range: 438.000000 m, nav range: 416.428589 m, bearing: 191.443052 deg, approach rate: 0.009640 m/s, LOS rate: -0.084571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.902094 deg. 2j)h:j@HeadingCmd: 4.815400 target range: 438.000000 and range: 438.00 m. jjjjihhhhfffrfbf !@ɛUzBU Y]@IY ]'ɚYiYI]=IeieNKim|)i)izK/KKh9KKJK{vXD3$ *F 2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760517G}jGI Bq O > 1 I1 = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011331m`w,mA6 @Y6c@6Q!963 >y6HtG?z? 6ÿ`qǾ?]?/!?@?O?ɨ6 @6;4y>yB>IIFhIF5٢N= RJ=9Rq-;Q R>TT VG٣TyVR; V> ^Nusing accuracyPremultiplier from configXb49ZgMs?b4YZY iZ"~B`bQb?ZCZ ;Z ;Z&4d jF.AhzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 438.00 m.Bj ᲺJj Ჺ5 ProNav: ac range: 438.000000 m, nav range: 416.432556 m, bearing: 191.411372 deg, approach rate: 0.009792 m/s, LOS rate: -0.078194 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880149 deg. 2j5V:j=@MHeadingCmd: 4.815017 target range: 438.000000 and range: 438.00 m. jIjIjIjIiIhQhQhQhQfffrfbf%@ɛezBm im I ɚiI߄=IiKi)̻))*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263213JJAAJJEJJJ2;JB:JJa@a@a@a@G Ga Bq O >Et`w,akӁAjH&<bH&<H*>I( I*9II*zBI* =&I(.I(6I*0<:I*?FF@YF@Fc 9FuG >yFH'̹?Px?Hÿq6C??@?$?@P?ɨF@F';D dIdyjBzBrIMb@Mb@Mb@ )Ysh|??bX9ȶ?{Gz?y ?E=ף<A pA)AIAy AIbI5٢ a>  5=9 Z;;Q > G٣y3; %> -Nusing accuracyPremultiplier from config!-49%Rs?54Y%z i%X~B= ?=:=j=?%C%I;%H;%.4I M=-AU2z`w,I큵Afj@Yf*@f(h9fp >yfH ? v?@<ÿ@Qq ?ܝ?Ӹ?Q? T?ɨfj@f;fCyrqzBrIIzgIz5٢= S=9Q;Q > G٣3Gy< > Nusing accuracyPremultiplier from config49\Ws? 4Y i~B?C<<54UƒB Up,A]>EZjiFNOT Ignoring new targets: 438.00 m.BjsJjs ProNav: ac range: 438.000000 m, nav range: 416.462219 m, bearing: 191.349279 deg, approach rate: 0.032751 m/s, LOS rate: -0.066642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888188 deg. 2j6:j@ I/gHeadingCmd: 4.815157 target range: 438.000000 and range: 438.00 m. jjjjihhhhfffrfbf࿹@ɛzBV I [!ɚiI=Ii !KiK)) Will construct direction to contact in vehicle frame from tetrahedron phase data. = R=]DAT read: 19:46:14.1045 LVL= 21728, 30369, 18386, 30771, AGC= 66, IDX= 404,-0.04,-2.337, 2.719,-2.085,-2.871, PHS= 0.622,-0.646, 0.783, RAW= 155.9, -11.2, CAL= 161.9, -18.2, ROT= 348.1, 18.2 mYgot valid direction response: 19:46:14.1045 LVL= 21728, 30369, 18386, 30771, AGC= 66, IDX= 404,-0.04,-2.337, 2.719,-2.085,-2.871, PHS= 0.622,-0.646, 0.783, RAW= 155.9, -11.2, CAL= 161.9, -18.2, ROT= 348.1, 18.2 PDAT read: Bearing 348.1, 18.2 (Local) ~Local bearing/azimuth received: Bearing 348.1, 18.2 (Local) DAT read: Range 10 to 50 : 435.3 m (Round-trip 580.4 ms) speed 0.2 m/s *DAT read: user:821> BDAT read: Tx time:19:46:15.2184 $Ping request sent.  *F2F:FBF0JF #NLm?wh?sȿ) j ?I H>i ,F u  M:publishing transmit ping timeرMFpublishing direction and range info 9 }).?ҴB3Q;?y     ) I i      ) I i    #NLm?wh?sȿ) I i    G% g{G B O% > `w,)A+@Y`:@G9 >yH@? u?`-ÿq(1? s??Q?$V?ɨ+@ ;Cy-zB5I]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:19:46:15.2176 Mb@Mb@Mb@ )Y#~j?"~j?I +?y?S=94< A)ZAIvAy AI>I 5*JC="J%=JJDJJJ0;J:JJ٢E= 7=9 ";Q > G٣y_; > Nusing accuracyPremultiplier from config49q]s?4Y i~B%?%:%%?C;;D=41 5+A1k=?k=x k9 k=wA:k=CBk=3CZk=XJS@"=%BF@fw!ei@=}).?ҴB3Q;?Jk=,FRk=u*=$'yC/H8P+>c@=:ÿvPn?"k=*k=>k=Z?k= 2k=6WCk= G?k9k9k=,Ck=U@ addTargetRange:: Added new target pos. range: 435.299988 m, deltaT: 4.033748 s, deltaX: -2.700012 m, approachRate: -0.669356 m/s, rangeRepo size: 4  Added new target pos. range: 435.299988 m, bearing: 189.157010 deg, lat: 36.900443 deg, lon: -122.115286 deg, deltaT: 4.033748 s, deltaX: -2.700012 m, approachRate: -0.669356 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 435.30 m.BjJj!5 ProNav: ac range: 435.299988 m, nav range: 414.347412 m, bearing: 191.376813 deg, approach rate: 0.000000 m/s, LOS rate: -0.066642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.892233 deg. 2j1:j=Y@=HeadingCmd: 4.815228 target range: 435.299988 and range: 435.30 m. j9jAjAjAiahahihihm}Bfifqfqrfu4{@bfu@?ɛzBs |I %/ɚi I J=I iKi ))HM>II IMIIMj{BIM =&II.IMAD6IM8<:IMEF I*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G %úG B O >`w,!A>@Y>i!@>9>^ >y>HM? !x?!ÿ`q@>3P; I % Will construct direction to contact in vehicle frame from tetrahedron phase data.>`w,:A:@Y:+@:99: >y:H?`]x?{¿mq@?W?`??iV?ɨ:@:;:ސCyFzBF?IIN+IN~5٢V= VL=9ZO:Q Z>X\ ^G٣^3Gy^P; b> fNusing accuracyPremultiplier from config`j49bkgs?j4YbJ ibBlnܠn?bCb);bp;bJ4p v*AtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.30 m.BjƬJjƬ- ProNav: ac range: 435.299988 m, nav range: 414.391602 m, bearing: 191.324085 deg, approach rate: 0.063749 m/s, LOS rate: -0.075525 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888415 deg. 2j-TO:j-@5HeadingCmd: 4.815161 target range: 435.299988 and range: 435.30 m. j1j1j1j1i1h9h9h9hAfAfAfArfAbfM?ɛzB& pּI :ɚiI@=I i VkKi q) ) *F ?2F :F BF o0JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GV'SGBJ@AJ@AJJKJ2JJ6;J^:Jc3JOu >ZH9 RH= AAHE >IA  IE IIE {BIA &IA .IE @D6IE <:IE F`w,дTA $?I>/@Y>>?@>ܝ9>>y>H`9?#w?¿!p@;?ڄ?ן?@ض?)X?ɨ>/@>$V;>ߐCy zB MIMb@Mb@Mb@ )Yy&1?!rh?y`?l=A p@)Z@IAy= AI'I5٢Y= 9=9:Q > G٣y; > Nusing accuracyPremultiplier from config49ms?4Y i0Bz?:?/C[; ;Q4 *AZj!-FNOT Ignoring new targets: 435.30 m.Bj=Jj=M ProNav: ac range: 435.299988 m, nav range: 414.420593 m, bearing: 191.292364 deg, approach rate: 0.065933 m/s, LOS rate: -0.072135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880030 deg. 2jMF:jM@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489768HeadingCmd: 4.815015 target range: 435.299988 and range: 435.30 m. jjjjihhhhD}Bfffrfbf@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742706zK KK 9K K MK  RK ?JK #?k`w,ōnAfiK@YfZ@f9fy>yfH@? t?¿jo? >?d?^?m[?ɨfiK@f;fCynzBnKIIv`Iv5٢~": X=9;Q >    G٣ y < > Nusing accuracyPremultiplier from config%49rs?%4Y iTB!%K-?IC ;o;\X41 5*A5;EZjQ]FNOT Ignoring new targets: 435.30 m.BjeJjeu ProNav: ac range: 435.299988 m, nav range: 414.446136 m, bearing: 191.265205 deg, approach rate: 0.067706 m/s, LOS rate: -0.071983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.893716 deg. 2juE:ju@}HeadingCmd: 4.815254 target range: 435.299988 and range: 435.30 m. jyjyjyjihhhhfffrfbf?ɛ {B I UFɚiIj=Iib\Jiͻ<;)) !I!*F2F:FBFo0JF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993819GzQGBO> ~GU xA jY xAy B`w,*tA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=Ai9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246307yMzBMRI-only read 0 of 1 data item for BIT error. Device response is::TS,25010811470, +11.1, 0.0,1493.7, 0  @ @ @  @ IPI5٢7< @=9Q > G٣3Gy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49xs?4Y i}B+::?eC);>b^4ŒB k*AIC III5|BI&I.I6I<:IFBIJIRIZI =bI =jIj4Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500825G |;GY Bi O >.,`w,=GA6@l@Y6{@6b%96Q>y6H?@q?¿ n?L?l??V_?ɨ6@l@6+ņ;6Cy>zB>VIIDID٢R,< R\=9V;Q V>TX ZG٣XyZ0< Z> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config`j49bQ~s?j4Ybr ibBj :hn:n˞n?b~Cb#s;bM?bb4p rS*AtZjFNOT Ignoring new targets: 435.30 m.BjJj ProNav: ac range: 435.299988 m, nav range: 414.501221 m, bearing: 191.207859 deg, approach rate: 0.069730 m/s, LOS rate: -0.071288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894972 deg. 2jC:j@ HeadingCmd: 4.815276 target range: 435.299988 and range: 435.30 m. j j j j i hhhhfffrfbf%஗@ɛM({BM  Q]KIY ]ZɚYiYI]S=Ieie}Hiep{;)a)i*F ?2F :FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750869zKm̭KKiKiKmNKm9\\XTPLHIDA<<:751/)$!  BK}rA:KyGM: I G) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002581U`w,) AJUq@YJ@Ju9J >yJHA?@Aq?-¿@o1 ????!`?ɨJUq@JѦ;HyVzBVWIIfFIft5٢n; nG=9r:Q r>pp rG٣tyv: v> ~bBottom track data is 1.2 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx49z7s?4Yz izB 9  S:  ?zCzW;z?ztf4 H*A=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 435.30 m.BjU@JjU@e ProNav: ac range: 435.299988 m, nav range: 414.530334 m, bearing: 191.178342 deg, approach rate: 0.074272 m/s, LOS rate: -0.075297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886640 deg. 2jmN:jm@mHeadingCmd: 4.815130 target range: 435.299988 and range: 435.30 m. jqjqjqjqiqhqhhhfffrfbf 9@ɛ}6{B} y}{Iy gɚiIL=IipAGi);))E*F2F:FBFp0JFG G]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253933G O;G B O5 > I jH <bH <H >I  I 3II ]|BI  =&I .I 6I <:I F}=`w,ՂA6t@Y6J@696W>y6H^? q?`V¿]o@@+?j? S?_~?`?ɨ6t@6d;6ސCyBzBBQI u u uu }}  } } }Mb@Mb@Mb@yyy y)yY} ףp= ?Q?Mby}Q?}=}}A }5@)}@I} Ayy}(AIYI5٢i >=9 :Q > G٣3Gy(: > Nusing accuracyPremultiplier from config49s?4YF iBT:f?:a?C ;;m4 q*AZjFNOT Ignoring new targets: 435.30 m.Bj pJj p% ProNav: ac range: 435.299988 m, nav range: 414.562012 m, bearing: 191.142938 deg, approach rate: 0.074099 m/s, LOS rate: -0.082810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868983 deg. 2j%Sc:j%@-HeadingCmd: 4.814822 target range: 435.299988 and range: 435.30 m. j)j)j)j1i1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:46:18.2008 TRx dataTimestamp_ set to:1736365579.432530checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506799hhhh|Bfffrfbf|> @ɛ%F{B%u )-&I) -zɚIiIIUqJ=IUiUEi];)Y)Y*F)2F):F)BF-0JF)GM ;G) BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757973Ou >zKM ;MKM ػ9KI KM OKM kMR:k# +>  RKU ?JKU >JSK[3 K[ .KSKS"KSJ J HJ J J <5;J Е:J J J WyH4?r?@ˣ¿@p`9??@A?g?a?ɨo@q‡;Cy5zB5OIIECIE 5٢U UP=9U 8Q U>YY eG٣ayeKغ e> mNusing accuracyPremultiplier from configiu49m4s?u4Ym, im By}v}?mCm ;mh;mt4 *A9EZjFNOT Ignoring new targets: 435.30 m.Bj-Jj- ProNav: ac range: 435.299988 m, nav range: 414.590912 m, bearing: 191.110628 deg, approach rate: 0.073583 m/s, LOS rate: -0.082258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878265 deg. 2ja:jY@HeadingCmd: 4.814984 target range: 435.299988 and range: 435.30 m. jjjj1i9h9h9h9hAfAfAfArfAbfMT@ }$?IyɛT{B ԽI ɏɚiIJ=IiqDi;) )1*F 2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:46:18.2008 LVL= 26704, 31985, 21794, 32755, AGC= 66, IDX= 413, 0.15,-0.253,-1.515,-0.071,-0.856, PHS= 0.692,-0.611, 0.783, RAW= 153.3, -12.7, CAL= 160.3, -19.8, ROT= 349.7, 19.8 Ygot valid direction response: 19:46:18.2008 LVL= 26704, 31985, 21794, 32755, AGC= 66, IDX= 413, 0.15,-0.253,-1.515,-0.071,-0.856, PHS= 0.692,-0.611, 0.783, RAW= 153.3, -12.7, CAL= 160.3, -19.8, ROT= 349.7, 19.8 PDAT read: Bearing 349.7, 19.8 (Local) ~Local bearing/azimuth received: Bearing 349.7, 19.8 (Local) -DAT read: Range 10 to 50 : 433.7 m (Round-trip 578.3 ms) speed 0.4 m/s 5*DAT read: user:822> 5BDAT read: Tx time:19:46:19.3184 =$Ping request sent.=I?(?,Ҧ;̿)=?Ic>i~=:publishing transmit ping time1Fpublishing direction and range info9 A RR?Qa?y )Ii )IiI?(?,Ҧ;̿)IiGI G B O- >4X`w,o AyvzBvMI Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:46:19.3176 Mb@Mb@Mb@ )Yp= ף?(\µ?{Gzty%?=ףA @)@IAyAIUSIU75٢ 7=9Q > G٣y > Nusing accuracyPremultiplier from config49s?4Yy tIi"B&?:L?C;o;|4 *Ak)*?k k k/A:kCBkhCZk[U@">hdL@([*1wK$k@ A RR?Qa?Jk~Rk=* $]x#FSz`w,#A6J@Y6KZ@6968>y6H`m?Kx?3y¿@rh?K??lL?`|a?ɨ6J@6W;4yBzBBCIIJCIJ 5٢R=E Rp=9V!:Q V?TT ZG٣Z3Gy~Q ~>  Nusing accuracyPremultiplier from config 49s?4Y: i5Bީ?C:;4EÒB E*AE:EZjFNOT Ignoring new targets: 433.70 m.BjغJjغ ProNav: ac range: 433.700012 m, nav range: 410.972076 m, bearing: 191.139292 deg, approach rate: 0.033299 m/s, LOS rate: -0.094458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881173 deg. 2j:j@HeadingCmd: 4.815035 target range: 433.700012 and range: 433.70 m. jjjjihhhhff!f!rf!bf%V?ɛo{Bێ 隝I lɚiI|Q=IiJBi:))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFw4JFzK"*NK9KKPK   JJVJJJ$9;J:JJJ<J<J1<J1< YI]1gG;Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ʣ`w,^g=Ay-zB)I=II=5٢M M@=9UQ U>QQ ]G٣Yye e> mNusing accuracyPremultiplier from configiu49m$s?u4Ym imJBqy}?m=Cm ;mG;m4 *AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 433.70 m.BjкJjк ProNav: ac range: 433.700012 m, nav range: 410.985352 m, bearing: 191.102011 deg, approach rate: 0.032481 m/s, LOS rate: -0.091214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863348 deg. 2jfz:j7@HeadingCmd: 4.814723 target range: 433.700012 and range: 433.70 m. jjjjihhhhfffrfbf@[?ɛ}{B %&I! %ɚ!i!I%W=I-i-Bi-5$;)))1*F2F:FBF@5JFG;GBO%M>=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.JAAJ I II ZH RH ?AH >I  I &II I|BI &I .I 6I <:I F`w,HWAynzBlMb@Mb@Mb@ )Y> ףp=? rh?Mb`?y1?C=; A @)x@I AyzAIIY4٢7; D=9Q > G٣y > Nusing accuracyPremultiplier from config49(s?4Yz" icB2?:V?bC;};N4 *AZjFNOT Ignoring new targets: 433.70 m.BjwۺJjwۺ- ProNav: ac range: 433.700012 m, nav range: 410.989746 m, bearing: 191.061969 deg, approach rate: 0.010529 m/s, LOS rate: -0.095936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855064 deg. 2j-:j5@=HeadingCmd: 4.814579 target range: 433.700012 and range: 433.70 m. j9j9j9j9i9hAhAhAhE{BfIfIfIrfIbfM?ɛ{B:] 隍3I EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497757ɚiIu_=IiOAi))*F2F:FBFJFG :G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749597zK 4MK +9K K QK  =46W\B* J J UJ J J 6;J :J J J <J <J };J };`w,~qAN"@YN{$@Nޚ9N=yNHkj??v@?@X?`@? $Q?d?ɨN"@N%G;NݐCy``IjQIjT59 Q >   G٣3GyȌ > 5Nusing accuracyPremultiplier from config)=49-s?E4Y-K) i-yBAE*E?-C-=3;-C*;-4I QQZjFNOT Ignoring new targets: 433.70 m.BjٺJjٺ ProNav: ac range: 433.700012 m, nav range: 410.992279 m, bearing: 191.025142 deg, approach rate: 0.006545 m/s, LOS rate: -0.095164 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864705 deg. 2j:ji@HeadingCmd: 4.814747 target range: 433.700012 and range: 433.70 m. jjjjihhhhfffrfbf`:;? Iɛ{B tAI #8ɚiI!f=Iei GAik))*FE?2FA:FABFE4JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.եi?ե?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001845Gm ;GI BY Ou >`w, ARZ@YR'@R89R>yRH??vd?@$E? t4? ? c?ɨRZ@RE;RސCy^zB^RI~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253821Mb@Mb@Mb@ )Y1Zd?Q?~jt?y";?u=D< A @)K@I~Ay\AIXIn5٢4< <9`:Q > G٣y?m: >  Nusing accuracyPremultiplier from config 49 |s?4Y c1 i B;?:T? C "; '!; 4%B %L*A%;EZjY]FNOT Ignoring new targets: 433.70 m.BjeJje纝} ProNav: ac range: 433.700012 m, nav range: 410.990204 m, bearing: 190.981563 deg, approach rate: -0.004823 m/s, LOS rate: -0.101283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844449 deg. 2j}:j}@HeadingCmd: 4.814394 target range: 433.700012 and range: 433.70 m. jjjjihhhh{Bfffrfbf@ɛM{BM IMM7IQ U_ɚQiQIUql=I]i]4Ai])Y)a $?I*F2F:FBFo0JFH)I) I- II-?|BI)&I).I)6I-<:I-,FG}GG?GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505528`w,ӤA6@Y6X@6X96=y6H ?Z?wR?c?`G?`z?`c?ɨ6@6!;6CyR{BR]I)T TIZWIZ5٢bqE= f`=9fֺQ f>dh jG٣hyjo j> rNusing accuracyPremultiplier from configlr49ns?v4Yn68 inBtvv?nCn:n:n4x ~*A~8EZjFNOT Ignoring new targets: 433.70 m.BjۺJjۺ  ProNav: ac range: 433.700012 m, nav range: 410.988159 m, bearing: 190.944828 deg, approach rate: -0.005330 m/s, LOS rate: -0.095768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864980 deg. 2jr:j5s@EHeadingCmd: 4.814752 target range: 433.700012 and range: 433.70 m. jAjAjAjIiIhIhhhfffrfbf (@l%JTimed out from 2025-01-08T19:36:22.3Zq6%l-fCompleted lineCaptureHoming:MicromodemComms:CheckIn16- l-Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInk-VCompleted lineCaptureHoming:MicromodemComms Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758048ɛ{B %2I! %ɚ!i!I%q=Imim_XAiu)q)qEJuJuSJqJqJu2;Ju:JqJqJuQ<JuQ<Ju;Ju;zK_LMK]9KKRK*F!2F!:F!BF%m0JF!"G-=G-= I2gG g{G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009601`w,4A6s@Y6@6>96rL=y6H@ι?]?w?>u?T?v?@3c?ɨ6s@6;6ސCy> {B>cIDDIJFIJt5٢RT< RI=9RQ R>TT VG٣V3GyZ Z> bNusing accuracyPremultiplier from config\b49^ s?f4Y^? i^ɀBdff?^C^);^;^4h j)AlzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 433.70 m.Bj Jj 񺝊 ProNav: ac range: 433.700012 m, nav range: 410.985809 m, bearing: 190.903838 deg, approach rate: -0.006064 m/s, LOS rate: -0.105779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852217 deg. 2j0:j@%HeadingCmd: 4.814529 target range: 433.700012 and range: 433.70 m. j!j!j!j)i)h)h)h1h1f1f1f1rf9bf=@E@5MkMnAggregate::initialize lineCaptureHoming:MicromodemComms16M lM~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6M) C5~~GQi %YywBɛ{B2 隽4I ɚiIv=IiAi+))*Fa2Fa:FaBFeo0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262860G5_vGB i Iq jH bH 4<H >I  I &II I|BI &I .I 6I +<:I 6FBIʬCJIʬCRIZI =bI =jI4Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:46:22.2970 TRx dataTimestamp_ set to:1736365583.464714checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514710O ?=+`w,JC⃵A>@Y>@>PF9><4=y>H2?`6?x@??`fu? [S?~b?ɨ>@>o;>ߐCyF5{BF}I%Mb@Mb@Mb@!!! !)!Y%jt??/$?y%@?%L=%<%$ A %@)%@I% A!y%AI=XI=n5٢M)= M=9UQ U>YY ]G٣Yyet e> mNusing accuracyPremultiplier from configiu49mսs?u4YmJ imBuDA?}:},}?m)Cm";m!;m4 6)AZjFNOT Ignoring new targets: 433.70 m.BjJj캝 ProNav: ac range: 433.700012 m, nav range: 410.974548 m, bearing: 190.844871 deg, approach rate: -0.019763 m/s, LOS rate: -0.103491 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798281 deg. 2j :j@HeadingCmd: 4.813588 target range: 433.700012 and range: 433.70 m. jjjqjqiqhyhyhyh}+{Bfffrfbfr @ɛ{B_ I %ɚ!i!I%&t=I-i-5Bi-J޻)))QEaEa*F2F :F BF U4JF GtA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766624zKKK59KKSK IGm BhGq Gu tAGA BI Om >E`w,An@Yn@n9nҵ=ynH@/ڸ?? | y@???@DC?$b?ɨn@nw>;nސCyvl{BzIWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 430.8 m (Round-trip 574.4 ms) speed 0.4 m/s *DAT read: user:823> -X#Rx 1: Read range message, but no direction.yfCT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.I51I5&5٢E- > EM=9MQ M>QQ UG٣Qy]` ]> eNusing accuracyPremultiplier from configam49es?m4YeR ieBquXu?eOCe.:e:e4B J(A:E addTargetRange:: Added new target pos. range: 430.799988 m, deltaT: 4.031057 s, deltaX: -2.900024 m, approachRate: -0.719420 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 433.70 m.BjnJjn캝 ProNav: ac range: 433.700012 m, nav range: 410.966522 m, bearing: 190.803602 deg, approach rate: -0.020100 m/s, LOS rate: -0.103352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851377 deg. 2jۍ:j@HeadingCmd: 4.814515 target range: 433.700012 and range: 430.80 m. jjjjihhhhfffrfz@bf`S?ɛ{B% %I! %8ɚ!i!I%)p=I-i-_Bi-)))1*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձBDAT read: Tx time:19:46:23.4185 $Ping request sent. I .aw,ϼAH&>I$ I&FII&||BI& =&I$.I$6I&V<:I&TFFՒ@YF@F~r9F[=yFH`s??esy[?3?{?"?a?ɨFՒ@Fχ;FܐCy^{B^I df=Mb@Mb@Mb@ )Y}?5^I?I +? rh?yMB?94=C = A @)@Iy\@I}>I} 5٢!= 7=9Q > G٣3Gye > Nusing accuracyPremultiplier from config49s?4YD[ i3BB?:⵿?zC;@;Ŋ4 'AZjIUFNOT Ignoring new targets: 433.70 m.BjU~Jjm~뺝} ProNav: ac range: 433.700012 m, nav range: 410.953674 m, bearing: 190.756872 deg, approach rate: -0.028302 m/s, LOS rate: -0.102942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834993 deg. 2j}K:j*@HeadingCmd: 4.814229 target range: 433.700012 and range: 430.80 m. jjjjihhhhG{Bfffrfbf? Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908ɛE{Be imIi mɚiiiIme=IuiuCi}T)y)y*F2F:FBFJFG% ;3G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796`h aw,/AZ̒@YZjۙ@Z9Zd=yZH`)(?Ҍ?`֦@y?@?`?V?(`?ɨZ̒@Z1G;ZސCyb{BbIIj Ij4٢vO> vg=9vQ z>|| ~G٣|ywY >  Nusing accuracyPremultiplier from config 49 Ts?4Y b i OB ? C : ;  ; ̊4! %&A!zK=>BKK=+9K9K=TK=ZjYeFNOT Ignoring new targets: 433.70 m.BjeJjeu ProNav: ac range: 433.700012 m, nav range: 410.943542 m, bearing: 190.720480 deg, approach rate: -0.029056 m/s, LOS rate: -0.104367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866009 deg. 2j@:j@HeadingCmd: 4.814770 target range: 433.700012 and range: 430.80 m. jjjjihhhhff f rf bf ? yI}3gɛ{BE 隅I ɚiIW=IiDiY%))*F?2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754948G- ׹G- ?G- +?G! B1 OU >qOaw,IAJ@YJę@J#9J[>yJH`'o??`k¿`tz7?@?`?x?RX?ɨJ@J;;HyR|BRIIrIr4٢J= H=9%wQ ->11 G٣yܻ > Nusing accuracyPremultiplier from config498s?4Y_j iqBr ?C<eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009486<yӊ4 %AB*** querying acoustic contact ***jjZj)MFNOT Ignoring new targets: 433.70 m.J J[JJJ9;J:JJBjUMۺJjMۺ ProNav: ac range: 433.700012 m, nav range: 410.930389 m, bearing: 190.676109 deg, approach rate: -0.028416 m/s, LOS rate: -0.095864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842068 deg. 2j:j-@HeadingCmd: 4.814353 target range: 433.700012 and range: 430.80 m. jjjjihIhIhIhIfQfQfQrfQbf]4?ɛ|B  tI ɚiI==IiEiM)) iIqH5>I1 I5xII5|BI5 =&I1.I16I5v<:I5kF*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258768G jG B O >yaw,cAy~:|BI  AMb@Mb@Mb@ )YA`"?Zd;O?+?y9?j<==A @)@I$ Ay@II4٢= >=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49s?4Yq iB9?:۵?C0;S.;ڊ4 B %A8EZj1EFNOT Ignoring new targets: 433.70 m.BjEJjE ProNav: ac range: 433.700012 m, nav range: 410.919952 m, bearing: 190.635679 deg, approach rate: -0.027992 m/s, LOS rate: -0.108433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853897 deg. 2jՔ:j@HeadingCmd: 4.814559 target range: 433.700012 and range: 430.80 m. jjjjihhhh{Bf f f1rf1bf=F?ɛ|B ex='=I ɚiI$=I%i%zGi%vH)Q)QmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511849*F2F:FBFJFzK>KK9KKUKRK>JK? U$?I]4gGE hAG! B) OM >raw,Pn}AfWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765135y=~|B=HIIM#IM5٢+> L=9Q > G٣y > Nusing accuracyPremultiplier from config49ss?4YTy iB? C;G;4  #AZjQ]FNOT Ignoring new targets: 433.70 m.BjeݺJjeݺ ProNav: ac range: 433.700012 m, nav range: 410.909943 m, bearing: 190.596105 deg, approach rate: -0.024506 m/s, LOS rate: -0.096888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856462 deg. 2j:j;@HeadingCmd: 4.814603 target range: 433.700012 and range: 430.80 m. jjjjihhhhfffrfbf @ɛ|B 隽h=I ɚiI%=IiFHiaH))*F?2F:FBFp0JFGsA GrA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017494J J QJ J J \8;J z:J J G G G rAG B O > I II H >I  I II G}BI &I .I 6I D<:I EFc%aw,EA6Y@Y6͙@6i 96]>y6H ?g?౴¿wD?@?C? F?T?ɨ6Y@6;6ݐCyF|BFoIMb@Mb@Mb@ )Y(\?~jt?+?y.?=A @)=@I Ay=@II4٢5> J=9mIQ > G٣y]?; > Nusing accuracyPremultiplier from config49s?4YZ iсB.?:Ƕ?0C;;4 "AZj!-FNOT Ignoring new targets: 433.70 m.Bj-׺Jj-׺ ProNav: ac range: 433.700012 m, nav range: 410.898712 m, bearing: 190.558588 deg, approach rate: -0.028255 m/s, LOS rate: -0.094393 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862631 deg. 2j:j@HeadingCmd: 4.814711 target range: 433.700012 and range: 430.80 m. jjjjihhhh{Bfffrfbf@ɛ&|B z>I! %ɚ!i!I%ۃ=I-iM PIiM%7)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.n?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267753*F?2F :F BF 0JF G) G B O5 >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518827+aw,y!ANڒ@YN@N{9Nv >yNH J?@:?]¿Av???`r?S?ɨNڒ@N;;LyV}BVI ^=^=IbIbv4٢nD> nZ=9r;Q r>pt vG٣v3Gyv< v> zNusing accuracyPremultiplier from configx~49zs?4Yzۆ izBY?zPCz-;z`;z?4 B !AzK}V$KKyKyK}VK})IlPWcE,oR5}yvpjjhecaZj IFNOT Ignoring new targets: 433.70 m.BjR̺JjR̺ ProNav: ac range: 433.700012 m, nav range: 410.889282 m, bearing: 190.523820 deg, approach rate: -0.024225 m/s, LOS rate: -0.089316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870883 deg. 2j/u:jK@%HeadingCmd: 4.814855 target range: 433.700012 and range: 430.80 m. j!j!j!j!i!h!h)h)h)f)fqfqrfqbfu@ @ɛ2|B V>I ɚiIT=Ii2Ji))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771996E x=*F 2F :F BF p0JF G N<8Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026462G1ByO? J4aw,фAJJaJJJ3;JƢ:JJnݒ@Yn@n39n >ynH ?~?¿v?@r? ? ?3T?ɨnݒ@nZdž;nڐCy~@}B~IMb@Mb@Mb@ )YuV?V-?Mb?yr(?m==A S@)S@IAy@IIk4٢)= =9BQ:Q > G٣y.: > Nusing accuracyPremultiplier from config49 s?4Y iBL)?:?}C;90;4  AB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 433.70 m.Bj5ӺJj=ӺjHbH<H>IC I II}BI&I.I6Ie<:I\F ProNav: ac range: 433.700012 m, nav range: 410.888214 m, bearing: 190.474866 deg, approach rate: -0.002017 m/s, LOS rate: -0.092457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828324 deg. 2j}:j5 @HeadingCmd: 4.814112 target range: 433.700012 and range: 430.80 m. jjjjihhh!h% |Bf!f)f)rf)bf-cU @ɛu@|B} \>I 8[ɚiIMl=Ii&Ji5))Ew=*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276168Gu GI Ba O >n:aw,;넵AJ@YJA@Jy9JA>yJH@?~?`¿@v@??a? g??>U?ɨJ@J;JݐCyV}BVII^I^4٢f5> f\=9j%:Q j>hh nG٣lyr; r> vNusing accuracyPremultiplier from configtz49vs?z4Yv- iv/B|~౿~?vCv;v;v=4B A 9EZj)5FNOT Ignoring new targets: 433.70 m.Bj=6ϺJj=6ϺM ProNav: ac range: 433.700012 m, nav range: 410.887878 m, bearing: 190.441369 deg, approach rate: -0.000908 m/s, LOS rate: -0.090580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874694 deg. 2jMx:jM@UHeadingCmd: 4.814922 target range: 433.700012 and range: 430.80 m. jQjQjQjQiQhahahihififqfqrfqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:46:26.3939 TRx dataTimestamp_ set to:1736365587.748741checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528019bf`m@ɛ=J|B=F AEV>IA E0!ɚAiAIE5=IMiM)wKiU>)Q)qEyEy*Ey"Ey yI}5gzK=OK9KKWK^ZVVQKGE@?=<98766241/-**+)'#!  *F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778774 ) a G   q Y y BG B O>;Baw,d[ A2q@Y2@2[92 ? >y2H`?}?¿@u^\??`?3?`U?ɨ2q@2";2ܐCy>}B>I`bAIfIf4٢n= n0=9n*9Q n>pp rG٣r3GyvRt: v> zNusing accuracyPremultiplier from configx~49z?s?4Yz izQB ӱ ?zCz:G;zG;zT4 AZjYeFNOT Ignoring new targets: 433.70 m.Bjm˺Jjm˺} ProNav: ac range: 433.700012 m, nav range: 410.887787 m, bearing: 190.399637 deg, approach rate: -0.000195 m/s, LOS rate: -0.089076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849993 deg. 2j}t:j}O@HeadingCmd: 4.814491 target range: 433.700012 and range: 430.80 m. jjjjihhhhfffrfbfg@ɛV|B  >I ɚiI=IiLi}@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:46:26.3939 LVL= 22480, 32753, 20082, 32755, AGC= 68, IDX= 405,-0.17,-1.653,-2602,-2.412, PHS= 0.847,-0.358, 0.807, RAW= 148.3, -21.1, CAL= 153.5, -28.1, ROT= 356.5, 28.1 !unknown deviceResponse_: 19:46:26.3939 LVL= 22480, 32753, 20082, 32755, AGC= 68, IDX= 405,-0.17,-1.653,-2602,-2.412, PHS= 0.847,-0.358, 0.807, RAW= 148.3, -21.1, CAL= 153.5, -28.1, ROT= 356.5, 28.1 PDAT read: Bearing 356.5, 28.1 (Local) ~Local bearing/azimuth received: Bearing 356.5, 28.1 (Local) 5DAT read: Range 10 to 50 : 428.4 m (Round-trip 571.2 ms) speed 0.4 m/s E*DAT read: user:824> UBDAT read: Tx time:19:46:27.5185 ]$Ping request sent.eI I~IIx~BI&I.I6I:<:I;FBIiJIiRIiZIm =bIm =jIm4GM AG B O5 >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:19:46:27.5177 [Haw, #A2@Y2;@2692V >y2HMa?@|?@¿u[?~?ࣲ?z?U?ɨ2@2;2ݐCy^~B^8IMMb@Mb@Mb@III I)IYMGz?Zd;?I +?yMp?My=M9 B=96:Q > G٣y+R; > Nusing accuracyPremultiplier from config 49s? 4YĤ ilBP?:?Cm(;';4! %A!U addTargetRange:: Added new target pos. range: 428.399994 m, deltaT: 4.289803 s, deltaX: -2.399994 m, approachRate: -0.559465 m/s, rangeRepo size: 4 ZjY]FNOT Ignoring new targets: 433.70 m.Bje_úJje_úu ProNav: ac range: 433.700012 m, nav range: 410.891571 m, bearing: 190.362760 deg, approach rate: 0.008764 m/s, LOS rate: -0.085404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864557 deg. 2j}rj:j}d@HeadingCmd: 4.814745 target range: 433.700012 and range: 428.40 m. jjjjihhhh|Bfffrf`fz@bf?ɛb|BRm k>I WsɚiI=IiLiĻ))*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչ IGUzK NK ]9K K XK     G B O >mNaw,yBH??d`{v꯽?`?*? ߿? Z\?ɨBڒ@B];BސCyn9~BnXIIzIz"4٢> R=9UQ >    G٣ y  > Nusing accuracyPremultiplier from config%49;s?-4Y iB15^=?C1;O;{4I UAU6EZjyFNOT Ignoring new targets: 433.70 m.BjJj ProNav: ac range: 433.700012 m, nav range: 410.894379 m, bearing: 190.331222 deg, approach rate: 0.007437 m/s, LOS rate: -0.083545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880573 deg. 2jWe:j@HeadingCmd: 4.815024 target range: 433.700012 and range: 428.40 m. jjjjihhhhfffrfbf@?ɛk|Bkݽ LS=>I ɚiI[=Ii/Mi)Will construct direction to contact in vehicle frame from tetrahedron phase data.)*F)2F):F)BF-a5JF)GMѻG) BQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >J @AJ I mUaw,eVAHB>I@ IBIIBBIB =&I@.I@6IB0<:IB1FVޒ@YV@V1F9V]>yVH(?P?ZH¿Wv`?`?`??=? Z?ɨVޒ@V ;VېCyzY~BzlI = a=Mb@Mb@Mb@ )Y^I +?kt?~jt?yX? =<A @)@I(Ay@IIƕ4٢= 4=99Q > G٣3Gy: > Nusing accuracyPremultiplier from config49s?4Y iB?:?$C;;4B lA7EB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 433.70 m.BjEJjE񼺝u ProNav: ac range: 433.700012 m, nav range: 410.910217 m, bearing: 190.293200 deg, approach rate: 0.034407 m/s, LOS rate: -0.082594 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861127 deg. 2jub:j}@}HeadingCmd: 4.814685 target range: 433.700012 and range: 428.40 m. jyjjjihhhhx|Bfffrfbf ?ɛMw|BMi IU>IQ UɚQiQIUT=I]i]Mi]_7)Y%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.)Y*F]?2FY:FYBF] 1JFYG} G ?G ?GQ Ba O} >[aw,pA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487371>G@Y>@>I9>>y>H?܀? u¿`duH???×?W?ɨ>G@>Ɉ;>ݐCyJ~BJIIRIR4٢Z/H> Zj=9^"Q ^?\` bG٣`yb)`; b? jNusing accuracyPremultiplier from configdj49fs?n4YfҶ ifBlnsn?f>Cf ;f:f#4p rTAtJ&JZJJJ>;J%:JJJpbaw,Ay~~B~II I 4٢= %D=9%Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1E495s?E4Y5" i5тBAAE?5]C5 ;5%;5*4I UAQZj!5FNOT Ignoring new targets: 433.70 m.BjeJjm ProNav: ac range: 433.700012 m, nav range: 410.937256 m, bearing: 190.230534 deg, approach rate: 0.035985 m/s, LOS rate: -0.083091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872236 deg. 2jd:j%}@Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001702HeadingCmd: 4.814879 target range: 433.700012 and range: 428.40 m. jIjIjIjIiIhIhQhQhQfQfQfYrfYbf]uj@ IɛE|BEԽ AE?II MɚIiIIMF=IUiU$OiUS)Q)YHe>Ia Ie-IIeBIa&Ia.Ia6IeH<:IeBFE Hu=e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252749*F} ?2F :F BF 0JF G;3GBO ?jaw,y筅AZB@YZQ@Z9Z >yZH`һ?`s?`ÿsy?A? ?^?[?ɨZB@Z;ZِCyj~BjIprAmMb@Mb@Mb@iii i)iYmQ? ףp= ?Q?ym?mQ=mu G٣3Gy< > Nusing accuracyPremultiplier from config49t?4Y| iB?:?C;H;44 LAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503477ZjFNOT Ignoring new targets: 433.70 m.Bj෺Jj෺ ProNav: ac range: 433.700012 m, nav range: 410.964294 m, bearing: 190.184936 deg, approach rate: 0.047666 m/s, LOS rate: -0.080379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838403 deg. 2j\:j@HeadingCmd: 4.814288 target range: 433.700012 and range: 428.40 m. jjjjihhhh|BJcKc KkKcKc"KcJM*JMiJIJIJMA;JM:JIJIJM#<JM$<JM<JM<fffrfbf`ܘ@ Iɛ|BԽ ?I ɚiI=IiH^Ni~#;)) zKNK 9KKZK3881*& BK:KE%Q=*F 2F :F BF p0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755388G UGBO>2saw,bgͅA2,_@Y2n@292bK >y2H@?o?^ÿ s ? T???^?ɨ2,_@2;2ܐCy>B>IIJIJ4٢R5= R1=9V;Q V>TX ZG٣XyZ; Z> bNusing accuracyPremultiplier from config\b49^ t?f4Y^P i^ Bdf?f?^C^;^Z;^<4l n|AlZj|FNOT Ignoring new targets: 433.70 m.BjúJjú% ProNav: ac range: 433.700012 m, nav range: 410.987549 m, bearing: 190.147645 deg, approach rate: 0.053187 m/s, LOS rate: -0.085287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863319 deg. 2j5 j:j56@EHeadingCmd: 4.814723 target range: 433.700012 and range: 428.40 m. jAjjjihhhhfffrfbfyJ@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010829 Iɛ5|B]Hͽ Y]$?IY ]z ɚaiaIe=Ieim"Mim;)i)iEE*E"EH=>I=C I=rII=BI= =&I9.I=?D6I=ذ<:I= F*F ?2F :F BF o0JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260491G :G B O >6Xyaw,1煵A6m@Y6!}@6 96 >y6H X)?`m?+ÿxs`? L??``? #`?ɨ6m@6#;4y^0B^IMb@Mb@Mb@ )YZd;?|?5^?y&1?y?=`e<tA @)@ItAy@I I 4٢-Ui= -4=95n};Q =>AA EG٣AyM; U> eNusing accuracyPremultiplier from configYu49]t?u4Y]: i]'B}#?}:}Ȥ?]C];]j;]D4B A6E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 433.70 m.BjE鵺JjM鵺U ProNav: ac range: 433.700012 m, nav range: 411.016632 m, bearing: 190.109766 deg, approach rate: 0.061061 m/s, LOS rate: -0.079520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861561 deg. 2j]KZ:j]@eHeadingCmd: 4.814692 target range: 433.700012 and range: 428.40 m. jajajajihhhh|Bfffrfbf @ɛ|B k ?I EV ɚAiAIE8)=IMiMKiMd;)I)QE]x>E]>Will construct direction to contact in vehicle frame from tetrahedron phase data.AiABDAT read: Rx Time:19:46:30.5031 TRx dataTimestamp_ set to:1736365591.802642checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515071*FY2FY:FYBF]0JFYJ&J_JJJ>;J:JJJp<Jq<J9< IJ9<zK[LK9KK[K  G] ;G9 BQ Ou >Naw,IA6@Y6_@696 >y6Hý?j?6ÿ sV?H?H?9?qb?ɨ6@6}܇;4yBQBBI)D D Na=LIZIZ4٢b:= fb=9j;Q j>ll nG٣n3Gyr; r> vNusing accuracyPremultiplier from configtz49v>t?z4Yv ~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763576ivWill construct direction to contact in vehicle frame from tetrahedron phase data. I 7g*J R="J p= DAT read: 19:46:30.5031 LVL= 17904, 21393, 13042, 17875, AGC= 69, IDX= 19, 0.16,-0.929,-2.421,-0.663,-1.593, PHS= 0.751,-0.781, 0.927, RAW= 155.4, -11.0, CAL= 161.4, -18.1, ROT= 348.6, 18.1  Ygot valid direction response: 19:46:30.5031 LVL= 17904, 21393, 13042, 17875, AGC= 69, IDX= 19, 0.16,-0.929,-2.421,-0.663,-1.593, PHS= 0.751,-0.781, 0.927, RAW= 155.4, -11.0, CAL= 161.4, -18.1, ROT= 348.6, 18.1  PDAT read: Bearing 348.6, 18.1 (Local)  ~Local bearing/azimuth received: Bearing 348.6, 18.1 (Local)  DAT read: Range 10 to 50 : 435.3 m (Round-trip 580.4 ms) speed 0.6 m/s  *DAT read: user:825> % BDAT read: Tx time:19:46:31.6185 % $Ping request sent.- -;i&qM :publishing transmit ping time! U Fpublishing direction and range info9SM@?{UE'L`]?y )Ii )Ii-;I% C I% II% 5BI%  =&I! .I% >D6I% b<:I% IFvaw,Ay~bB~I Mb@Mb@Mb@    ) Y Cl?1Zd?Q?y d? "= u< @ z@) z@I @ y @IeIe4٢uz= u2=9}Q }>y G٣y > Nusing accuracyPremultiplier from config49t?4Y iWB?:壿? CK;;R4 9Ak(!?kH k kA:kCBk1CZkS@"MwE@~w2~ i@SM@?{UE'L`]?JkRk&q*5; y߰@QLmJ,}c@?5s ѳĿD}_$?"k҈*kNkn#??kf 2k[Ckn#??kz k[CkACkoS@ addTargetRange:: Added new target pos. range: 435.299988 m, deltaT: 4.048919 s, deltaX: 6.899994 m, approachRate: 1.704157 m/s, rangeRepo size: 4  Added new target pos. range: 435.299988 m, bearing: 189.690584 deg, lat: 36.900514 deg, lon: -122.115256 deg, deltaT: 12.369779 s, deltaX: 1.599976 m, approachRate: 0.129346 m/s, posRepo size: 4  Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:46:31.6178 Zj)5FNOT Ignoring new targets: 435.30 m.Bj=Jj9m ProNav: ac range: 435.299988 m, nav range: 406.511322 m, bearing: 189.772809 deg, approach rate: 0.000000 m/s, LOS rate: -0.087536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849221 deg. 2jq:ju2@uHeadingCmd: 4.814477 target range: 435.299988 and range: 435.30 m. jyjyjyjyiyhyhyhh|Bfffrf4{@bf ?ɛ|B½ !%a(?I! % ɚ!i)I-~=I-i5Ii5;)1)1*F2F:FBF_5JFG ~q;G! G% tA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O} >:aw,H5A $?IJ"%J"]J J J"=;J":J J J"Ô<J"Ĕ<J"S<J"SyjHC? q?`R¿ w1?X? ?x?j?ɨjz@jX;jސCyvBv!IIIƕ4٢ = a=9S! %G٣!y% %> 5Nusing accuracyPremultiplier from config)549->#t?=4Y-= i-lB9=裿=?-(C- ;- ;-YY4A EAIZjFNOT Ignoring new targets: 435.30 m.BjȺJjȺ ProNav: ac range: 435.299988 m, nav range: 406.537720 m, bearing: 189.741946 deg, approach rate: 0.075085 m/s, LOS rate: -0.087780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.882604 deg. 2jp:j@HeadingCmd: 4.815060 target range: 435.299988 and range: 435.30 m. jjjjihhhhf!f!f!rf!bf%?zKMLKh9KK\Kɛ|BȪ 隥-?I b ɚiIhO~=IiGi!;))E*Fe?2Fa:FaBFej0JFaGi Gi)F= ېCWill construct direction to contact in vehicle frame from tetrahedron phase data.A]vAG--; mYmvAyu BG B O5 >aw,UOAy~B~0II I 4٢x= %J=9%Q %>!) -G٣-3Gy- -> UNusing accuracyPremultiplier from configIe49M0)t?e4YMu iMBaam?MGCM;Mg;Mt`4q u_AqeWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjqFNOT Ignoring new targets: 435.30 m.BjmJjm )I58g ProNav: ac range: 435.299988 m, nav range: 406.567352 m, bearing: 189.707466 deg, approach rate: 0.071169 m/s, LOS rate: -0.082805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871754 deg. 2jPc:jk@ HeadingCmd: 4.814870 target range: 435.299988 and range: 435.30 m. j j jjihhhhfffrf!bf%?H>IC IIISBI =&I.I?D6Im<:IVFBIuĪCJIuĪCRIuĔCZIu =bIu =jIu6ɛ|BMκ 1?I  ɚiI }=I i3Fi};))*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G =;G B O >aw,hAVf@YVu@V 9V=yVH?>{?j||?~4?׫??r?ɨVf@V;TyfBj9IMb@Mb@Mb@ )YT㥛 ?q= ףp? rh?y!?=C<-@ /@)@I-@y\@II<4٢= A=9G;Q > G٣y > Nusing accuracyPremultiplier from config49/t?4Y# iB#?:{?iC8;o7;g4B A7EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.30 m.BjȺJjȺ ProNav: ac range: 435.299988 m, nav range: 406.600250 m, bearing: 189.670431 deg, approach rate: 0.077979 m/s, LOS rate: -0.087778 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864090 deg. 2jp:jS@HeadingCmd: 4.814737 target range: 435.299988 and range: 435.30 m. jjjjih h hYh]_|Bfafafarfabfm?ɛ|B 3?I W- ɚiI|=Ii-8Ei-e;)))1mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFn0JF !I!zK &`KK 9K K ]K RK% ?JK% ?G ^n;G ?G =?G B O5 >aw,ǂAB^k@YBz@BK 9B=yBH ?}?t,~@ȱ?? i? iܾ? w?ɨB^k@B;BېCyJBJFIbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.715743IjIjE4٢ 8j=  V=9;Q >!! %G٣!y-: -> 5Nusing accuracyPremultiplier from config14955t?4Y58 i5Bf?5C5L<5L<5n4 A4EZj=FNOT Ignoring new targets: 435.30 m.BjMɺJjMɺ} ProNav: ac range: 435.299988 m, nav range: 406.630493 m, bearing: 189.636714 deg, approach rate: 0.079182 m/s, LOS rate: -0.088272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874042 deg. 2j}Rr:j@HeadingCmd: 4.814910 target range: 435.299988 and range: 435.30 m. jjjjihhhhfffrfbf8?ɛ |B   6?I1 5? ɚ1i1I5q6|=I=i=#Di=;)9)AEErA*F2F:F BF JF "G=GG=͚;GBOf>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970923 ) I1 J J dJ J J $9;J T:J J a @a @a @a @H >I  I II rBI  =&I .I 6I M<:I =FԦaw,AyrBrSIMb@Mb@Mb@ )YNbX9?v/?Zd;O?y%?x=j<@ @)@I@y@II\4٢8= @=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471845 % $?I! aw,=~A6x@Y6퇚@696P=y6H?`?m@O??z???ɨ6x@6LJ;6ڐCyBBBhIIJIJ4٢V׹= V]=9VIXX ZG٣Xy^͎; ^> bNusing accuracyPremultiplier from config`f49bAt?f4Yb, ibBhjn?bCb2;b2E;bd|4p rApZjIMFNOT Ignoring new targets: 435.30 m.BjU,ʺJj],ʺm ProNav: ac range: 435.299988 m, nav range: 406.691956 m, bearing: 189.564977 deg, approach rate: 0.076561 m/s, LOS rate: -0.088376 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874789 deg. 2jmr:jm@uHeadingCmd: 4.814923 target range: 435.299988 and range: 435.30 m. jqjqjqjqihhhhfffrfbf@ɛ|B5 1=D@?I9 =qɚ9i9I=z=IEiEAiE;)A)IzKKK9KK^KBK):K)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725243G-t;G5rAG5sAG B O5 >aw,XІA6 x@Y6f@6+969=y6H@V? ?` ?yB?b?д?@?ɨ6 x@6ژ;6ܐCyBBBcIIJIJy4٢Rަ RK=9Rx;Q R>TT VG٣TyZ' Z> bNusing accuracyPremultiplier from config`f49bHt?f4Yb ibBdf"f?bCb:b:bq4l n AlZjFNOT Ignoring new targets: 435.30 m.Bj wӺJj wӺ ProNav: ac range: 435.299988 m, nav range: 406.723633 m, bearing: 189.528503 deg, approach rate: 0.080288 m/s, LOS rate: -0.092439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865773 deg. 2j}:j%@%HeadingCmd: 4.814766 target range: 435.299988 and range: 435.30 m. j)j)j)j)i)h)h)h1h1fffrfbf @ɛ |B  2IQ IUIIUBIU =&IQ.IQ6IU<:IUF*F%?2F!:F!BF%o0JF!G-sA G) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228029GE G;G! B) O >?aw,9ꆵAVY@YV@Vl9V=yVH ƽ?S?@??R?J?y?ɨVY@V;VېCybBbvIeMb@Mb@Mb@aaa a)aYeK7?)\(?/$?yeI,?eG=e G٣3Gy; > Nusing accuracyPremultiplier from config49Nt?4Y1 iB.?:?C;;4B zA5EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.30 m.BjֺJjֺ ProNav: ac range: 435.299988 m, nav range: 406.756195 m, bearing: 189.487452 deg, approach rate: 0.074529 m/s, LOS rate: -0.093950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852045 deg. 2j:j@HeadingCmd: 4.814527 target range: 435.299988 and range: 435.30 m. jjjjihhhh|Bfffrfbfi @ɛE}BE AE-B?II %ɚiIy=Ii>ip;))MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:19:46:34.6008 ]TRx dataTimestamp_ set to:1736365595.833979echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.483491*F?2F:FBF0JF IzK N KK 9K K _K RK ?JK ?G ;Gy B O >aw,A6x@Y6Ҏ@696e=y6HȽ?@~?: ?M?@?[?`҄?ɨ6x@6̆;4yB BBIVWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734015IbIb(4٢j= jX=9n;Q n>pp rG٣pyr$8 v> zNusing accuracyPremultiplier from configtz49vTt?~4Yv iv0B|~~?v1Cv ;vh;v4 B AA 2EZj)5FNOT Ignoring new targets: 435.30 m.Bj5s׺Jj5s׺m ProNav: ac range: 435.299988 m, nav range: 406.784454 m, bearing: 189.451953 deg, approach rate: 0.074980 m/s, LOS rate: -0.094181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868698 deg. 2jmE:jm@uHeadingCmd: 4.814817 target range: 435.299988 and range: 435.30 m. jqjyjyjyiyhhhhfffrfbf@v@ɛ }Bf D?I ɚiIx=Ii=i;))*F2F:FBFo5JFG1X<G ?G?eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 433.5 m (Round-trip 578.1 ms) speed 0.5 m/s *DAT read: user:826> IBDAT read: Tx time:19:46:35.7186  $Ping request sent. IM C IM 4IIM BIM  =&II .II 6IM <:IM FO >"aw,AynBrIMb@Mb@Mb@ )YDl?zG?I +?yO-? =9<K@ @)z@IK@yf@II4٢܇= ;=9Q > G٣y > Nusing accuracyPremultiplier from config49@[t?4Y! iKBy/?:?WC;g;K4 A = addTargetRange:: Added new target pos. range: 433.500000 m, deltaT: 4.031411 s, deltaX: -1.799988 m, approachRate: -0.446491 m/s, rangeRepo size: 4 Zj9=FNOT Ignoring new targets: 435.30 m.BjE?غJjE?غU ProNav: ac range: 435.299988 m, nav range: 406.815063 m, bearing: 189.410665 deg, approach rate: 0.070084 m/s, LOS rate: -0.094529 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851331 deg. 2jU:jU@eHeadingCmd: 4.814514 target range: 435.299988 and range: 433.50 m. jajajajaiahihihihm{Bfqfqfqrf}{@bf}6?ɛ}B~h 隭I?I ɚiICx=Ii4] Will construct direction to contact in vehicle frame from tetrahedron phase data. I eNaw,t7A6@Y6ݝ@6se968=y6HhC?`y?~iu?|| ~G٣~3GyD; >  Nusing accuracyPremultiplier from config 49 `t?4Y ' i aBx? wC ; ; ۟4! %jA!ZjIUFNOT Ignoring new targets: 435.30 m.Bj]׺Jj]׺m ProNav: ac range: 435.299988 m, nav range: 406.841980 m, bearing: 189.375152 deg, approach rate: 0.071555 m/s, LOS rate: -0.094400 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868657 deg. 2jm:jm@uHeadingCmd: 4.814816 target range: 435.299988 and range: 433.50 m. jqjqjqjqiyhyhyhyhfffrfbf`ͬ?ɛ}BRM M?I FɚiIqw=Ii0:i-<))*Fm?2Fi:FiBFm4JFizK2KK+9KK`KWill construct direction to contact in vehicle frame from tetrahedron phase data.GG;GiBqO>3aw,,QA:w@Y:N@:'9:l=y:HL??8`>?`?7?@Ʉ?@?ɨ:w@:-;:ڐCyB2BBIIRIRt4٢VR= ZO=9Z ;Q Z>\\ ^G٣\ybt b> fNusing accuracyPremultiplier from configdj49fft?j4YfS. ifxBhjɦj?fCf7:f:f¦4t vAxZjIMFNOT Ignoring new targets: 435.30 m.BjejԺJjejԺ} ProNav: ac range: 435.299988 m, nav range: 406.869812 m, bearing: 189.337770 deg, approach rate: 0.069136 m/s, LOS rate: -0.092853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863047 deg. 2j~:j,@HeadingCmd: 4.814718 target range: 435.299988 and range: 433.50 m. jjjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data. ]$?IYfrfbf@J^?J!J!JEVJEJE2JAJEd;JE:JEc3JAZHRHAAH>I ILIIBI =&I.I>D6IG<:I4Fɛ }B P?I %oɚ!i!I-v=I5i5y9i5C;)9)9*F?2F:FBFa5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G l<G tAG G B O >^aw,=~kABn@YBb}@B9Bw=yBHD?@?`t?鶺?`~?c??ɨBn@B銈;BܐCy^5BbIMMb@Mb@Mb@III I)IYM> ףp=?Cl?:v?yM1?M;=M=9u(;Q }> G٣y8 > Nusing accuracyPremultiplier from config49mt?4Y5 iB74?:Ϧ?C;_;E4B A4EB*** querying acoustic contact ***jjZjquFNOT Ignoring new targets: 435.30 m.Bj}׺Jj}׺ ProNav: ac range: 435.299988 m, nav range: 406.901062 m, bearing: 189.296013 deg, approach rate: 0.070658 m/s, LOS rate: -0.094406 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849927 deg. 2j:jL@HeadingCmd: 4.814489 target range: 435.299988 and range: 433.50 m. jjjjihhhh{Bf ffrfbf?ɛ&}Bt P?I YɚiI,Xv=Ii8i&;))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. QIU:g*F]?2FY:FYBF]c0JFYG%;GBOn>zK 2QKK 9K K aK   xAI Jaw,'kA jYxAyB>Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742307Fx@YF@F9Fŏ=yFHߙ? |?Gc$`R? .?H?D?@?ɨFx@FR;FېCyNMBRITVAIZIZ4٢]e= eK=9ewr;Q e>ii mG٣m3Gy>Q; > Nusing accuracyPremultiplier from config49st?4Y = iB?C;;]4 /A1EZj!MFNOT Ignoring new targets: 435.30 m.BjUJjU㺝e ProNav: ac range: 435.299988 m, nav range: 406.931030 m, bearing: 189.256617 deg, approach rate: 0.075770 m/s, LOS rate: -0.099601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857006 deg. 2je:jeO@HeadingCmd: 4.814613 target range: 435.299988 and range: 433.50 m. jjjjihhQhQhQfYfYfYrfbf@M?ɛ--}B5Ï 15)[?I1 5kɚ1i9I=u=Imiu6iuǟ;)q)y*F5?2F1:F1BF5o0JF9 )I1MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999711*J5 C="J1 H] s>I] C I] fII] ȀBI]  =&I] GD.I] oaw,1A>@Y>L@>Ey9>X>y>Ho@>;QQ ]G٣Yy]; e> mNusing accuracyPremultiplier from configam49eyt?u4YeD ieńBu5?u:u$u?eCe;eA;eJ4 AZjFNOT Ignoring new targets: 435.30 m.BjJj溝 ProNav: ac range: 435.299988 m, nav range: 406.959808 m, bearing: 189.217744 deg, approach rate: 0.074446 m/s, LOS rate: -0.100553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858576 deg. 2j:j@HeadingCmd: 4.814641 target range: 435.299988 and range: 433.50 m. jjYjYjYiYhYhYhahe{BfafafirfibfmH@ɛ3}BSp ^?I rɚiI~ u=Ii>5iG'<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251758*F2F:FBFJFG3V;G B O > ! I! u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504623JE fJE JE 1JA JE p;JE :JE 3JA JE y6H2k? \s?¿X??\?U??ɨ6@6/H;4ynBII5I5d4٢e3= eI=9el!;Q e>ii mG٣iyu: u> }Nusing accuracyPremultiplier from configy49}Et?4Y}WK i}ބB?},C};};}eË4 'AZjFNOT Ignoring new targets: 435.30 m.BjߺJjߺ ProNav: ac range: 435.299988 m, nav range: 406.989655 m, bearing: 189.177880 deg, approach rate: 0.073264 m/s, LOS rate: -0.097848 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855603 deg. 2jN:j@HeadingCmd: 4.814589 target range: 435.299988 and range: 433.50 m. jjjjihhhhfffrfbf@ɛ-9}B-} 15h?I ɚiI_t=Ii3i+,!<))zKrKK+9KKbK*Fi2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754110G)<G B O >?aw,t҇A2H@Y2@2A92>y2H!?@p?J¿@Aa ?@???Dž?ɨ2H@2y;2ܐCy:}B: I B=Bp=IFIFt4٢N= RW=9R4o;Q R>PT VG٣V3GyV־: V> ^Nusing accuracyPremultiplier from configX^49Z&t?b4YZR iZB`bb?ZNCZX ;Z ;Zʋ4fB jAj2EZjxzFNOT Ignoring new targets: 435.30 m.BjJjẝ ProNav: ac range: 435.299988 m, nav range: 407.017792 m, bearing: 189.140724 deg, approach rate: 0.074492 m/s, LOS rate: -0.098361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863727 deg. 2j:jE@%HeadingCmd: 4.814730 target range: 435.299988 and range: 433.50 m. j!j!j!j!i!h)h)h)h)f1f1f1rf9bf=H@ɛe?}Be, q ae o?Ii mXɚiiiIms=Iuiui2 $?Ii(<))-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010171JAAJ*F?2F:FBF0JFHU^>IUC IUIIUBIU. =&IQ.IU8D6IU<:IUSFGn<G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259033B O >aw,쇵Ay~B~IMb@Mb@Mb@ )YtV?Mb?{Gz?y2?=ף<@  @)Ij@y@II]4٢ = 9=9Q > G٣y > Nusing accuracyPremultiplier from config49t?4YY iB_4?:?uC>;$;ы4 _A %B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 435.30 m.Bj=Y޺Jj=Y޺M ProNav: ac range: 435.299988 m, nav range: 407.046021 m, bearing: 189.097554 deg, approach rate: 0.063561 m/s, LOS rate: -0.097196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845686 deg. 2jMh:jM@UHeadingCmd: 4.814415 target range: 435.299988 and range: 433.50 m. jQjQjQjQiYhYhYhYh]{Bfafafirfibfm @ɛF}B1 隝-q?I 9&ɚiIr=Ii30iU'<))E I;g-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:19:46:38.6855 =TRx dataTimestamp_ set to:1736365599.869731=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512747*FE?2FI:FIBFM|0JFIGQ GQJ rJ J J J y;J :J J J <J <J /<J /<Ge )<GA BI zKe 7KKe h9Ka Ke cKe Ou >bw,GA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.762308N@YNu@N&9N\>yNHB?`ms?g1¿` ? _?U??;?ɨN@N;NېCyVBV4II^I^@4٢f > f[=9j3;Q j>hl nG٣lyn n> vNusing accuracyPremultiplier from configpv49rt?v4Yr` ir#Bxz+z?rCr ;r%;rB؋4| A/EZj!-FNOT Ignoring new targets: 435.30 m.Bj-Jj-ຝ= ProNav: ac range: 435.299988 m, nav range: 407.069489 m, bearing: 189.061241 deg, approach rate: 0.063287 m/s, LOS rate: -0.097921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866254 deg. 2jEg:jE@EHeadingCmd: 4.814775 target range: 435.299988 and range: 433.50 m. jIjIjIjIiIhhh!h)f1f1f9rf9bf=`@ɛL}Bc 隭|?I ɚiI2r=Ii^.i <))*F2F:FBF0JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:46:38.6855 LVL= 26096, 23889, 21394, 32755, AGC= 69, IDX= 267,-0.30,-1.925, 3.075,-1.704,-2.492, PHS= 0.655,-0.669, 0.785, RAW= 154.6, -11.1, CAL= 160.8, -18.2, ROT= 349.2, 18.2  Ygot valid direction response: 19:46:38.6855 LVL= 26096, 23889, 21394, 32755, AGC= 69, IDX= 267,-0.30,-1.925, 3.075,-1.704,-2.492, PHS= 0.655,-0.669, 0.785, RAW= 154.6, -11.1, CAL= 160.8, -18.2, ROT= 349.2, 18.2 = PDAT read: Bearing 349.2, 18.2 (Local) u ~Local bearing/azimuth received: Bearing 349.2, 18.2 (Local) G <HE Y>IE C IE IIE BIE 3 =&IA .IE 7D6IE ֱ<:IE mFG B O > DAT read: Range 10 to 50 : 422.0 m (Round-trip 562.7 ms) speed 0.5 m/s  *DAT read: user:827>  BDAT read: Tx time:19:46:39.7686  $Ping request sent. 115؎?+?"rrȿ)5?I5E>i5F511U :publishing transmit ping time U Fpublishing direction and range info195^3S? =뿔ߪ?y1111 1)1I1i11111 1)1I1i1115؎?+?"rrȿ)1I1i1111bw,{ A6x@Y6釚@696S>y6H`ʞ?vv?¿ ?d?@?i?c?ɨ6x@6f;6ؐCyNBRGIXZA5Mb@Mb@Mb@111 1)1Y5Gz?zG?X9v?y50?5 =5<5@ 5 @)5M@I11y5@IMIM<4٢= 2=90:Q > G٣3Gy > Nusing accuracyPremultiplier from config49t?4Yh i@B2?:n?C;;g4 AkmNO?kmf ki kmA:kmCBkmCZkm~T@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:46:39.7678 "m;|tD@arvkfi@m^3S? =뿔ߪ?JkmFRkm*m"xNZbQZfc@m;4hlyſ#k?"km*kmkmr?km 2km#^Ckm׼C?kikm#^CkmCkmB]S@- addTargetRange:: Added new target pos. range: 422.000000 m, deltaT: 4.035070 s, deltaX: -11.500000 m, approachRate: -2.850013 m/s, rangeRepo size: 4 m Added new target pos. range: 422.000000 m, bearing: 190.235153 deg, lat: 36.900596 deg, lon: -122.115256 deg, deltaT: 8.066481 s, deltaX: -13.299988 m, approachRate: -1.648797 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 422.00 m.Bj}Jjy ProNav: ac range: 422.000000 m, nav range: 398.050415 m, bearing: 189.223150 deg, approach rate: 0.000000 m/s, LOS rate: -0.097921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829138 deg. 2j:jS @HeadingCmd: 4.814126 target range: 422.000000 and range: 422.00 m. jjjjihhhh!|Bfffrf`z@bfC?ɛ5S}B5r{ Y]d?IY eɚaiiImTq=IuiV,ie.;))*F12F1:F1BF5p0JF1 I E Will construct direction to contact in vehicle frame from tetrahedron phase data.J% oJ% J! J! J% w;J% :J! J! J% <J% <J% ,<J% ,<G] O <G1 B9 OU >%hbw,3my6H@V?`,w?@>¿ɖ+x?=?Q~?%z? ?ɨ6To@6u;6ڐCy>BBWII^UI^4٢f= fW=9f:Q f>hh jG٣hy~? ~> Nusing accuracyPremultiplier from config 49t?4YSo iXB1==?Cg;;4A EAAZjFNOT Ignoring new targets: 422.00 m.BjJj꺝 ProNav: ac range: 422.000000 m, nav range: 398.076538 m, bearing: 189.185990 deg, approach rate: 0.072196 m/s, LOS rate: -0.102691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863715 deg. 2j:jE@HeadingCmd: 4.814730 target range: 422.000000 and range: 422.00 m. jjjjihhh h f ffrfbf`h ?ɛ5X}B54 5I+=5?I9 =ɚ9i9I=sp=IEiE+zKm2KKm9KiKmdKmBKsA:KtAiE ;)) *F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G o;G B O >TMbw, =VA $I$:&M@Y:\@:9:h>y:HG?@h?]ÿ`>&?/?Wȼ?lf?@mv?ɨ:&M@:;:ݐCyF܀BFIININr4٢V;#> VM=9V}:Q Z>XX ZG٣Xy^, ^> bNusing accuracyPremultiplier from config`f49bwt?f4YbAv ibqBhj;j?bCb:b:b4nB rAr0EEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 422.00 m.Bj޺Jj޺J@AJAA ProNav: ac range: 422.000000 m, nav range: 398.102753 m, bearing: 189.147041 deg, approach rate: 0.065327 m/s, LOS rate: -0.097056 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858347 deg. 2j7:j@HeadingCmd: 4.814636 target range: 422.000000 and range: 422.00 m. jjj!j!i!h)hhhfHX>I III.BI4 =&I.I6I<:IvFfIfQrfYbfeY?ɛe^}BeI 隍n?I ɚiIo=Ii%+i7V';))*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ԡ;G B O >xbw,pA6@@Y6P@6$ 96y>y6H? n?@ÿHѿ?@KE?`̱??z?ɨ6@@6;6ؐCy>BBI-Mb@Mb@Mb@))) )))Y- rh?J +?y&1?y-C+?-=-`<-@ -@)-7@I-&@)y-p@IE@IE3٢]l= ]?=9eT:Q e>aa mG٣m3Gym)i m> Nusing accuracyPremultiplier from configq 49uet?4Yu} iuB=-?:%?u(CuE>*F2F:FBF22JFG! G%pAzK KK +9K K eK RK ?JK ?G ;G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678642O >^"bw,A2f9@Y2H@292p >y2H9?`#t?`ÿ ~?L?ג??@G?ɨ2f9@2Ћ;2ِCy>B>II%I%4٢5 > 5M=9]P:Q ]>aa eG٣aye e> uNusing accuracyPremultiplier from configiu49mt?4Ym` imB(?mJCm;m;mf4 T AZjFNOT Ignoring new targets: 422.00 m.Bj%Jj%庝5 ProNav: ac range: 422.000000 m, nav range: 398.152802 m, bearing: 189.067761 deg, approach rate: 0.063461 m/s, LOS rate: -0.100456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859682 deg. 2j}≻:j@HeadingCmd: 4.814660 target range: 422.000000 and range: 422.00 m. jjjjihhhhfffrfbf=?ɛEg}BE AMP?II M:ɚIiIIm=Ii7*i:)) !I!eWill construct direction to contact in vehicle frame from tetrahedron phase data.mAimAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.934753EugW=HV>I III[BI&I.I6Ij<:IF*F ?2F :F! BF% 0JF! G-L:G%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186510BAOu?*bw, cAV:@YVJ@V}ݽ9V>yVH B?`!|?@2¿x`FB?? ʰ?@?@{?ɨV:@V풊;TybBbIMb@Mb@Mb@ )YQ?Zd;O??y(?j=<S@ @) @I@y@@AIIb4٢{v= =9v;Q  >    G٣ yٝ9 > Nusing accuracyPremultiplier from config%49 t?%4YG iB-*?-:-奔-?wC5;;41 5 A5-EZjYeFNOT Ignoring new targets: 422.00 m.BjeݺJjeݺu ProNav: ac range: 422.000000 m, nav range: 398.182465 m, bearing: 189.017854 deg, approach rate: 0.057595 m/s, LOS rate: -0.096893 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825477 deg. 2ju:ju @HeadingCmd: 4.814063 target range: 422.000000 and range: 422.00 m. jjjjihhhhT|Bfffrfbfv@ɛEm}B]ʋ8 Y]?IY ]ɚYiaIel=Ieims)im0:)i)iE5+,=*F?2F:FBFp5JF I=gEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.434917G ?:G B O >)5 = 5 ֐Ci0bw,ĈA> GHzKN KKN9KLKNfKNBKRrA:KRrAl YyFBU2@YUA@Uڽ9U>yUH z?`T?` ?^?O?@/_? ?ɨU2@U>;UאCye2BeIquAI}I}r4٢> S=9|;Q > G٣3Gyo( > Nusing accuracyPremultiplier from config49/t?4Yȓ iԅB ?C;>;e 4B  A.EZjFNOT Ignoring new targets: 422.00 m.Bj׺Jj׺ ProNav: ac range: 422.000000 m, nav range: 398.204132 m, bearing: 188.981381 deg, approach rate: 0.056072 m/s, LOS rate: -0.094382 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865773 deg. 2j:j@HeadingCmd: 4.814766 target range: 422.000000 and range: 422.00 m. jjj j i h h hhfffrfbf@ɛEr}BEh; IMS?II M53ɚIiIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688406IMk=I5i5K )i5p9)1)9EAEA*EA"EA*Fi2Fi:FiBFm0JFi  I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.938774J xJ J 1J J ~;J v:J 3J a% @a% @a- @a- @jH <bH H U>I  I YII BI 3 =&I .I 6I <:I 0FBIˠCJIˠCRI˓CZI3 =bI2 =jI6G1 GM ?GM ?G)B9OU>#8bw, ∵AN)@YN8@N #׽9NN>yNH@o4?܀?`t@2??׺?Ju?@v?ɨN)@N;NِCyVFBVImMb@Mb@Mb@iii i)iYmNbX9?EԸ??ym%?m=im=@ m@)m@Im@iymG@I}zI}=X4٢3= .=9";Q > G٣y > Nusing accuracyPremultiplier from config49t?4Y iB'?:ᨿ?C;? ;4 = AZjFNOT Ignoring new targets: 422.00 m.BjҺJjҺ ProNav: ac range: 422.000000 m, nav range: 398.232941 m, bearing: 188.937897 deg, approach rate: 0.061107 m/s, LOS rate: -0.092229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844745 deg. 2j.}:j@HeadingCmd: 4.814399 target range: 422.000000 and range: 422.00 m. jjjjihh!-PExceeded connect timeout, disconnecting.h)h-|Bf1f1f1rf1bf=@ @ɛew}Bef im?Ii m׼ɚqiqIuϺj=Iui}Q(i}7)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191708*FA2FA:FABFE05JFAGe}:G9 BA Oe >  I u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iu A} BDAT read: Rx Time:19:46:42.7444 } TRx dataTimestamp_ set to:1736365603.908895 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443957F>bw,~A>@Y>%@>ӽ9>!>y>H๞?? `c?n? j?_??ɨ>@>j;>ؐCyJSBJI)L LIRiIR:4٢ZE= ZZ=9^;Q ^>\` bG٣`yb˻ b> jNusing accuracyPremultiplier from confighr49jt?r4Yj ijBpr.r?jCjb;j;j*4x z AxmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 422.00 m.Bj̺Jj̺ ProNav: ac range: 422.000000 m, nav range: 398.255554 m, bearing: 188.903136 deg, approach rate: 0.058284 m/s, LOS rate: -0.089588 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870908 deg. 2ju:jL@HeadingCmd: 4.814856 target range: 422.000000 and range: 422.00 m. jjjjihhhhfffrfbf @ɛ-{}B-$ȼ )-~?I) 5ɚAiIIMNi=I]i][(i]%)Y)a*F2F:FBF`0JFzKE/KKAKAKEgKE Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.694667G'HGBO>-Ebw,A `IdybB$I -=-a=I5mI53A4٢E= MA=9MQ M>IQ UG٣U3GyU U> eNusing accuracyPremultiplier from configYe49]@t?m4Y] i]Biim?]C]7:]:]"4q }Z AyZjFNOT Ignoring new targets: 422.00 m.BjQںJjQںEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.949588*J"JJJJ2JJu;J=:Jc3JHR>IC IIIBI4 =&I.I6I<:I ProNav: ac range: 422.000000 m, nav range: 398.281158 m, bearing: 188.864095 deg, approach rate: 0.062593 m/s, LOS rate: -0.095434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858072 deg. 2j:jv@5HeadingCmd: 4.814631 target range: 422.000000 and range: 422.00 m. j9j9jAjAiihqhyhhfffrfbf`m@ɛ}B> ?I ɚiIh=IiϞ(i())*F2F:FBF`5JF 5nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 19:46:42.7444 LVL= 14448, 16081, 10562, 17347, AGC= 70, IDX= 16,-0.35,-0.997,-2.063,-0.801,-1.590, PHS= 0.681,-0.426, 0.785, RAW= 154.5, -17.6, CAL= 160.2, -24.3, ROT= 349.8, 24.3 M Ygot valid direction response: 19:46:42.7444 LVL= 14448, 16081, 10562, 17347, AGC= 70, IDX= 16,-0.35,-0.997,-2.063,-0.801,-1.590, PHS= 0.681,-0.426, 0.785, RAW= 154.5, -17.6, CAL= 160.2, -24.3, ROT= 349.8, 24.3 U PDAT read: Bearing 349.8, 24.3 (Local) ] ~Local bearing/azimuth received: Bearing 349.8, 24.3 (Local) m DAT read: Range 10 to 50 : 428.6 m (Round-trip 571.5 ms) speed 0.4 m/s u *DAT read: user:828> } BDAT read: Tx time:19:46:43.8687  $Ping request sent. B)) CI Fi V.? ھ ,@ nF 2@) %پI |]@i %>  LG)?OA?|>eLӿ) 3?I ؜>i N 6  :publishing transmit ping timey  Fpublishing direction and range info 9 \f?0*,)ˉԘ?y  ) I i ) I i  LG)?OA?|>eLӿ) I i G b(G sAG tAG B O >Kbw,0Af}@Yf@fZɽ9f>yfH?? >`&?`k? ? q?@:?ɨf}@fM;fِCyrkBr/I %$?I!-Mb@Mb@Mb@))) )))Y-ʡE?EԸ??y-?))-&@ -@))I-@)y-@IevIe&Q4٢= "=9=$ G٣y̦ > Nusing accuracyPremultiplier from config49t?4Y i1B? :  ?(Cn;o;j+45B 5 A=-Ek3?k k k*A:kLCBkCZkϳ\@"*蠂X@T9v(ji@\f?0*,)ˉԘ?JkNRk6**Zwpx]׏ǜd@CV'(osmѿ߁?"k*kk;D?k1 2keCkkkWill construct direction to contact in vehicle frame from tetrahedron phase data.k'CkR@ addTargetRange:: Added new target pos. range: 428.600006 m, deltaT: 4.291307 s, deltaX: 6.600006 m, approachRate: 1.537994 m/s, rangeRepo size: 4  Added new target pos. range: 428.600006 m, bearing: 197.583047 deg, lat: 36.900596 deg, lon: -122.115256 deg, deltaT: 4.291307 s, deltaX: 6.600006 m, approachRate: 1.537994 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 428.60 m.BjJj = ProNav: ac range: 428.600006 m, nav range: 398.312195 m, bearing: 188.819241 deg, approach rate: 0.000000 m/s, LOS rate: -0.095434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825075 deg. 2j9:j= @uHeadingCmd: 4.814056 target range: 428.600006 and range: 428.60 m. jqjqjqjqiqhqhyhyh}|Bfffrfz@bf@N?ɛ}B4꽼 E?I ɚiIug=Ii,(iS)) *F?2F:FBFP5JFzK &KK +9K K hK BK sA:K G e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B Oe >:Sbw,BLAb@Ybc@bJ]ƽ9bŜ>ybHB?11 =G٣9y=  => Nusing accuracyPremultiplier from config49t?4Y[ iCB?EC;;14  AZjFNOT Ignoring new targets: 428.60 m.Bj?ѺJj?Ѻ ProNav: ac range: 428.600006 m, nav range: 398.333740 m, bearing: 188.787377 deg, approach rate: 0.061852 m/s, LOS rate: -0.091469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879600 deg. 2j{:j@HeadingCmd: 4.815007 target range: 428.600006 and range: 428.60 m. jj!j!j!i!h!h!h)h)f)f)f1rf1bf5m}?ɛ]}B]pݻ ae ?Ia mҲɚiiiImTf=IuiuH)iuy)q)q*F12F1:F1BF=o0JF9 I>gGg{GBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.JMJMJM1JIJMi;JMY:JM3JIZHRH@AHP>I IIIBI&IHD.I6I<:I2Fy5Ybw,fA:-ђ@Y:@:jý9:V>y:H~?@?6x??k? ??ɨ:-ђ@:Z;:אCybBbQIWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5V-?B`"۹?I +?y5|?5=59<5@ 5V@)5@I5r@1y5f@I]SI]4٢B= 5=9@;Q > G٣3Gyܻ > Nusing accuracyPremultiplier from config49gt?4Yw iYB!?:?hC;j;94  -' A)Zjy}FNOT Ignoring new targets: 428.60 m.BjʺJjʺ ProNav: ac range: 428.600006 m, nav range: 398.361542 m, bearing: 188.747475 deg, approach rate: 0.061722 m/s, LOS rate: -0.088581 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855488 deg. 2j+s:j@HeadingCmd: 4.814587 target range: 428.600006 and range: 428.60 m. jjjjihhhh|BfffrfbfM`B?ɛU}B]ȼ Y}=?I ɚiIVe=Ii>W*iN*))*F=?2F9:F9BF=d0JF9"GE=GE= I Will construct direction to contact in vehicle frame from tetrahedron phase data.G] Ga Ge 2?G1 BA O] >"`bw,A6ɒ@Y6,ٙ@6H96[>y6H@JE? /?u@۶=?@??T?`?ɨ6ɒ@6;6ؐCy>B>ZIIF*IF3٢RV== Vr=9V;Q V?XX ZG٣Xy^. ^? bNusing accuracyPremultiplier from config`f49bt?f4Yb ibiBdfҨj?bCb ;b;bY?4l nAl~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 428.60 m.Bj ѺJj Ѻ% ProNav: ac range: 428.600006 m, nav range: 398.382233 m, bearing: 188.717662 deg, approach rate: 0.063652 m/s, LOS rate: -0.091708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885754 deg. 2j%{:j%l@HeadingCmd: 4.815115 target range: 428.600006 and range: 428.60 m. jjjjihhhhfffrfbfu}?ɛ5}B5: =^==?I9 =(ɚ9i9I=bd=IEi +i!))zK+LK9KKiK *F=?2FA:FABFEo0JFAG;3=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.GBOEQ> I Jfbw,aA2͒@Y2!ݙ@2O92P>y2Hsf?l?@Ȝ θI?G?=6?҄?@w?ɨ2͒@2;2ِCy>B>VINWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749529IJlIJm?4٢ZW ZJ=9Z;Q ^>\\ ^G٣\yb: b> fNusing accuracyPremultiplier from configdj49ft?j4Yf; if{BlnǨn?fCf ;f ;fkF4p r ApZjJJJJJ;Jb:JJ-FNOT Ignoring new targets: 428.60 m.Bj-t̺Jj-t̺HO>I IIIBI5 =&I.I6D6Iy<:IFe ProNav: ac range: 428.600006 m, nav range: 398.407562 m, bearing: 188.681492 deg, approach rate: 0.062592 m/s, LOS rate: -0.089375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866683 deg. 2jYu:j@HeadingCmd: 4.814782 target range: 428.600006 and range: 428.60 m. jjjjihh1hAhfffrfbf ?ɛ}}B}@ y}|?I Lv޽ɚiI,Hc=Iid,i ))*FE?2FA:FIBFIJFIMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001170G ZG B O% >qlbw,1Ay~B~ZI a=  IMb@Mb@Mb@ )YMb?+η?:v?y ?v=T<@ )@IE@y@I]I$4٢w< :=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49t?4YK iBM"?:K?C<;:;N4B A.EZj!-FNOT Ignoring new targets: 428.60 m.Bj-ͺJj5ͺE ProNav: ac range: 428.600006 m, nav range: 398.432129 m, bearing: 188.641956 deg, approach rate: 0.055952 m/s, LOS rate: -0.090040 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856586 deg. 2jE,w:jE@@MHeadingCmd: 4.814606 target range: 428.600006 and range: 428.60 m. jIjIjIjIiIhQhhh|Bfffrfbf @ɛ}}B}pFλ y隅?I eܽɚiIlEb=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253581Ii,iT))*J-R="J-4=*F2F:FBFp0JFG ׹zKe KKe 9Ka Ke jKe (G/BKu rA:Ku sAG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505219o]sbw,ΉANp@YN@N孽9N@>yNH`d??@l ?@???U?ɨNp@NK;NؐCyVBZ[IIbVIbn4٢jM; j[=9jll nG٣lyr)< r> vNusing accuracyPremultiplier from configtz49vit?z4YvL ivBx~ԩ~?vCv ;v ;vT4 A+EZj)-FNOT Ignoring new targets: 428.60 m.Bj5KκJj5KκE ProNav: ac range: 428.600006 m, nav range: 398.454041 m, bearing: 188.608334 deg, approach rate: 0.058772 m/s, LOS rate: -0.090177 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874327 deg. 2jEw:jM@MHeadingCmd: 4.814915 target range: 428.600006 and range: 428.60 m. jQjQjYjYiYhahahqhyfffrfbf -@ɛ}Bk 隽ݰ?I mfڽɚiIUa=IiS-in)) m$?Im?gE.=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758649jH<bHHM>I I IIBI&I.I6I}<:I!F*F2F:FBFo0JFG G B O >bzbw,`뉵A.Will construct direction to contact in vehicle frame from tetrahedron phase data..>,2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009599>e@Y> @>3\9> >y>H̹?,?`A[¿&ࠁ?@wS?Y%?S?W?ɨ>e@>&;>אCy^B^WIMMb@Mb@Mb@III I)IYMMb?J +?11 5G٣9y=}M; => ENusing accuracyPremultiplier from configAu49E/t?u4YE iEBu%?u:uڨu?ECEr;E;Em]4 AZjFNOT Ignoring new targets: 428.60 m.Bj˺Jj˺5 ProNav: ac range: 428.600006 m, nav range: 398.486847 m, bearing: 188.562135 deg, approach rate: 0.063318 m/s, LOS rate: -0.089158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836602 deg. 2j5t:j5e@=HeadingCmd: 4.814257 target range: 428.600006 and range: 428.60 m. j9j9j9j9i9hAhAhihmU|Bfififirfqbfu @ɛ}B ?I p׽ɚiIF`=Ii-i))Er= I*Fu?2Fq:FqBFup0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261574JAAJJJJ2JJQ;J :Jc3JJM ~G1 Ebw,VA 2&Y4y:gBvZ @Yv@vy9v>yvHUE?){? ¿ٺ]?@L?I?A??ɨvZ @v;ty~B~aI  IbI-4٢%1= %^=9%^)) -G٣-3Gy5G; 5> =Nusing accuracyPremultiplier from config9E49=-t?E4Y= i=BIMM?=,C=:=z:=c4Q UAQ}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 428.60 m.BjٺJjٺ ProNav: ac range: 428.600006 m, nav range: 398.511414 m, bearing: 188.528334 deg, approach rate: 0.068954 m/s, LOS rate: -0.094869 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873789 deg. 2j7:j@HeadingCmd: 4.814906 target range: 428.600006 and range: 428.60 m. jjjjihhhhfffrfbf @ɛ}Bէ9 J?I |սɚiI`_=I i v-i hZ) )EE*E"EzKYLK9KKkK   RK?JK>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:19:46:46.8423 }TRx dataTimestamp_ set to:1736365608.196822checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514548*FU?2FQ:FYBFYJFY I% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765578G} TH L>I C I  II BI 6 =&I .I 6I <:I &FBI˟CJI˟CRIZI5 =bI5 =jIxf5G B Oe>4}bw,#An @Yn@n=9n١>ynHg?x?ÿ?Gg?³? ?`?ɨn @n?;ly~B~KIMb@Mb@Mb@ )YK7?|?5^? G٣y{: %> UNusing accuracyPremultiplier from configQ]49Uu?e4YU iUӆB+?:e?U[CU8;Un;UTm4 < AZjFNOT Ignoring new targets: 428.60 m.BjպJjպ- ProNav: ac range: 428.600006 m, nav range: 398.549896 m, bearing: 188.476746 deg, approach rate: 0.069645 m/s, LOS rate: -0.093353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820439 deg. 2j-":j5 @5HeadingCmd: 4.813975 target range: 428.600006 and range: 428.60 m. j1j9j9j9eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:46:46.8423 LVL= 26544, 30865, 20882, 32755, AGC= 63, IDX= 411,-0.05,-0.514,-1.673,-0.273,-1.153, PHS= 0.726,-0.474, 0.877, RAW= 155.8, -17.3, CAL= 161.5, -23.9, ROT= 348.5, 23.9 Ygot valid direction response: 19:46:46.8423 LVL= 26544, 30865, 20882, 32755, AGC= 63, IDX= 411,-0.05,-0.514,-1.673,-0.273,-1.153, PHS= 0.726,-0.474, 0.877, RAW= 155.8, -17.3, CAL= 161.5, -23.9, ROT= 348.5, 23.9 PDAT read: Bearing 348.5, 23.9 (Local) ~Local bearing/azimuth received: Bearing 348.5, 23.9 (Local) DAT read: Range 10 to 50 : 427.1 m (Round-trip 569.5 ms) speed 0.5 m/s *DAT read: user:829> BDAT read: Tx time:19:46:47.9687 $Ping request sent.iim?&V?cGӿ)m62 ?Im>imJmMii9hhhh{Bfff rf z@bf ?i]:publishing transmit ping time]Fpublishing direction and range infoi9m0Xɼ2?F7A뿁b|=?yiiii i)iIiiiiiii i)iIiiiiim?&V?cGӿ)iIiiiiiiɛ}Bɼ E)=隅?I TBҽɚiI^^=Ii-i>L))*Fi2Fq:FqBFqJFq i Ii GU ]UGa Ga  Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:19:46:47.9679 G1 B9 O] >bw,x=AJJJJJ];J:JJJ<J<JG<JGyVHH?`v?`-ÿ``\?Q?? =?M?ɨV@V'D;VؐCyrBrNII5hI5V84٢Ej< Ef=9E;Q M>Iq uG٣qyu! ; u> Nusing accuracyPremultiplier from configy49} u?4Y} i}߆BO?}xC}t;};}Zs4B  A,Ek{.]?kL k k,A:kCBkCZk$]@""egW@RwzY<=dh@0Xɼ2?F7A뿁b|=?JkJRkM*A >wµl[^_]ddb@~8dҿD ?"k*kkTbb?k 2kSCkr?k kkCkƛS@u addTargetRange:: Added new target pos. range: 427.100006 m, deltaT: 4.035706 s, deltaX: -1.500000 m, approachRate: -0.371682 m/s, rangeRepo size: 4  Added new target pos. range: 427.100006 m, bearing: 197.978323 deg, lat: 36.900666 deg, lon: -122.115320 deg, deltaT: 4.035706 s, deltaX: -1.500000 m, approachRate: -0.371682 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 427.10 m.BjJj ProNav: ac range: 427.100006 m, nav range: 391.816772 m, bearing: 189.441772 deg, approach rate: 0.000000 m/s, LOS rate: -0.093353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877279 deg. 2j:j5@HeadingCmd: 4.814967 target range: 427.100006 and range: 427.10 m. jjjj i h h h hfffrfAbfE`?ɛ}B8 隕?I YнɚiIT]=Ii\-i!))*F2F:FBF0JFzKӂLK 9KKlK$,,*'('&##&$" mWill construct direction to contact in vehicle frame from tetrahedron phase data.m a Ii 7bw,WAyz|BzDI ==I 8I 3٢ B=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49u?4Y iB?C^;<;z4 ] A )EZjIUFNOT Ignoring new targets: 427.10 m.Bj]Jj]庝 ProNav: ac range: 427.100006 m, nav range: 391.842499 m, bearing: 189.400773 deg, approach rate: 0.062982 m/s, LOS rate: -0.100363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852199 deg. 2j:j@HeadingCmd: 4.814529 target range: 427.100006 and range: 427.10 m. jjjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.frfbf M?ɛ}Btػ !%?I!H5K>I1 I5 II5BI57 =&I1.I16I5U<:I5F e4νɚaiiIm\=Imiul-iu #()q)q*F!2F):F)BF- 2JF)Ge *G9 BI ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Om >eśbw,_qA6R@Y6@6O896>y6H@K?@C{?ÿ`c?餬?C?&?!?ɨ6R@6d;6ِCyfBfLIUMb@Mb@Mb@QQQ Q)QYUI +?+η?~jtx?yU94?Uv=U;U@ U@)QIU@QyU@iiIu7Iu3٢- = N=9a G٣y > Nusing accuracyPremultiplier from config49u?4Y iB5?:?C;;4 & AZjFNOT Ignoring new targets: 427.10 m.BjJj ProNav: ac range: 427.100006 m, nav range: 391.860931 m, bearing: 189.360303 deg, approach rate: 0.047292 m/s, LOS rate: -0.103829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853782 deg. 2j:j@ HeadingCmd: 4.814557 target range: 427.100006 and range: 427.10 m. j j j j i h hhhx{Bfffrfbf%>?ɛ}BP  ?I /̽ $?I@gɚ i1I5Y[=I=i= I.i=J)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.JEJEJE1JAJE;JE:JE3JAJE<JE<JEI<JEI<E5;=*F?2F:FBF0JFG b(G ?G :?zKU ?MKU ]9KQ KU mKU u Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO->bw,mAJu@YJ@J9JJ>yJH?A}?¿`@ڻ?\? h?@$??ɨJu@J;J֐CyVBVHII^BI^3٢f\v j9=9n;Q n>pt vG٣ty~ > -Nusing accuracyPremultiplier from config!549%/u?54Y% i% B1==?%C%3;%0;%m4A EA AAB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 427.10 m.BjzJjz㺝% ProNav: ac range: 427.100006 m, nav range: 391.882080 m, bearing: 189.314022 deg, approach rate: 0.045442 m/s, LOS rate: -0.099438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836352 deg. 2j%|:j%[@uHeadingCmd: 4.814252 target range: 427.100006 and range: 427.10 m. jqjqjqjqiyhyhhhfffrfbf`?ɛ5}B=E AE?I tɽɚiItZ=Ii].i)) IE`=(=*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H]L>IY I]II]BI]6 =&IY.IY6I]y<:I]FGE GA BI Oe >©bw,見AyB%PI15AMb@Mb@Mb@ )YS?J +?:v?y/=?=T<E@ @)IM@y@IpIF4٢< 9=9Q > G٣3Gy >  Nusing accuracyPremultiplier from config 49 U"u?4Y M i B>?:? C ; >; 4%B % A%+EZjIeFNOT Ignoring new targets: 427.10 m.BjeJjmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017999 ProNav: ac range: 427.100006 m, nav range: 391.903564 m, bearing: 189.267126 deg, approach rate: 0.051623 m/s, LOS rate: -0.112675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834508 deg. 2j:j@%HeadingCmd: 4.814220 target range: 427.100006 and range: 427.10 m. j!j!j!j!i!h!h)hIhMs{BfQfQfQrfQbfUb@ɛ}Bû N?I ǽɚiI$ Z=Ii5/i}C))EE*E)"E) IE*Fa 2Fi :Fi BFm 0JFi "Gu =Gu R= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270058J J J J J ;J :J J a @a @a @a @G) G BO5>ᚱbw,ZƊA6@Y6@6~}96o>y6Hpȹ?~?O¿@8Ȼ?@?@?p??ɨ6@62;6ؐCyJBJSIIRbIR-4٢^4< ^@=9^x`` bG٣`yfZ: f> jNusing accuracyPremultiplier from confighn49je(u?n4Yjh ij.Bprr?j:Cjz:jC:jq4t vAtZjFNOT Ignoring new targets: 427.10 m.BjJj캝 ProNav: ac range: 427.100006 m, nav range: 391.925171 m, bearing: 189.221048 deg, approach rate: 0.048546 m/s, LOS rate: -0.103524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836960 deg. 2j:jr@HeadingCmd: 4.814263 target range: 427.100006 and range: 427.10 m. jjjjihhhhfffrfbf @ɛ}B@yC ?I %.Ľɚ!i!I%>Y=I-i-Z/i-)))1*F2F:FBF;5JFzKXKK9KKnKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522350 I AgG GB O5 >Hu K>Iq  Iu IIu BIq &Iq .Iq 6Iu <:Iu KF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773989bw,2wAvR@Yv@vt9v>yvH??x¿Gi??-?` ??ɨvR@vs;vՐCy~BfIIrIJ4٢%D= %E=9-S;Q 5>9A MG٣IyU0 U> eNusing accuracyPremultiplier from configam49eZ.u?m4Yeh" ie=Bim̫m?ebCe:e:eȟ4q }qAyZjFNOT Ignoring new targets: 427.10 m.BjJj= ProNav: ac range: 427.100006 m, nav range: 391.946381 m, bearing: 189.175570 deg, approach rate: 0.053012 m/s, LOS rate: -0.113663 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838760 deg. 2j=:jE@}HeadingCmd: 4.814294 target range: 427.100006 and range: 427.10 m. jjjjihhhhfff rf bf5J@ɛ%}B%0 !%x?I! U.½ɚYiaIe.jX=Ii 0id(λ))*Fe?2Fa:FaBFeh5JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026990G T  I Gy B O >bw,B[A2p@Y2@2l92r\ >y2H@Q?`?`@¿$?(?`L???ɨ2p@2p;2אCy>BJpI]Mb@Mb@Mb@YYY Y)YY]Pn?&1?~jt?y]D?]=]<]\@ Y)YI] @Yy]z@Iu_Iub(4٢= D=9j;Q > G٣3Gyh > Nusing accuracyPremultiplier from config49e4u?4Y* iMBE?:﫿?CL$;";4 3A'EZj%FNOT Ignoring new targets: 427.10 m.Bj-Jj-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280981 ProNav: ac range: 427.100006 m, nav range: 391.967926 m, bearing: 189.129204 deg, approach rate: 0.051211 m/s, LOS rate: -0.110201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836097 deg. 2jB:jR@HeadingCmd: 4.814248 target range: 427.100006 and range: 427.10 m. jjjjih!h!h!h%{Bf)J-J-J-2J)J--;J-X:J-c3J)fIfIrfQbfU. @ɛ}B7; M?I hɚiIW=IiV0iK߻))EEsA*F2F:FBF4JFG GsAG ̻zK KK 9K K oK   $6@NXY\YXWXZZWRWZ% Will construct direction to contact in vehicle frame from tetrahedron phase data.% =% %=- BDAT read: Rx Time:19:46:50.9237 5 TRx dataTimestamp_ set to:1736365612.2450845 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531566G B O >bw,>A2ؒ@Y2@2B3g92 >y2H ̸?@? }0¿^F?@?z??u?ɨ2ؒ@2{4;2֐CyZB^|IIdId٢nL= nU=9nc;Q r>pp rG٣pyv鰻 v> ~Nusing accuracyPremultiplier from configx 49z9u?4Yz2 iz\B!%3%?zCz;z ;z4-B -A5)EMB*** querying acoustic contact ***jIjI $?IBgZjFNOT Ignoring new targets: 427.10 m.BjJj ProNav: ac range: 427.100006 m, nav range: 391.987457 m, bearing: 189.086312 deg, approach rate: 0.049288 m/s, LOS rate: -0.108237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846516 deg. 2j:j@%HeadingCmd: 4.814430 target range: 427.100006 and range: 427.10 m. j!j!j!j!i!h)h)h9h9f9fAfArfAbfE @ɛ}BE< ?I! MkϽɚIiIIM5V=I]ieS1i))*F2F:FBFn0JFH5I>I1 I1I1I1&I1.I16I5h<:I5FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782931G UGy B O >8bw, .A6В@Y6rߙ@62`96V >y6HC?@S?<¿D??@ ?˟?`?ɨ6В@6;6ؐCyVBZIrWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:46:50.9237 LVL= 28784, 22721, 22194, 31811, AGC= 69, IDX= 245,-0.35,-0.320,-1.622,-0.137,-0.861, PHS= 0.629,-0.714, 0.721, RAW= 153.3, -9.2, CAL= 159.1, -16.8, ROT= 350.9, 16.8 %Ygot valid direction response: 19:46:50.9237 LVL= 28784, 22721, 22194, 31811, AGC= 69, IDX= 245,-0.35,-0.320,-1.622,-0.137,-0.861, PHS= 0.629,-0.714, 0.721, RAW= 153.3, -9.2, CAL= 159.1, -16.8, ROT= 350.9, 16.8 -PDAT read: Bearing 350.9, 16.8 (Local) -~Local bearing/azimuth received: Bearing 350.9, 16.8 (Local) 5DAT read: Range 10 to 50 : 413.1 m (Round-trip 550.8 ms) speed 0.9 m/s =*DAT read: user:830> EBDAT read: Tx time:19:46:52.0187 E$Ping request sent.E?xsB=?yrCprpprX rV)rC|IrEir%!?r6ru8?r<+@rl$ rg1@)rQ Ir@irQ >ppr#Sh?nU?2ȿ#lĿ)r?Ir$>ir rpp:publishing transmit ping timeAFpublishing direction and range infop9r[ƃ>?xsB=?ypppp p)pIpippppp p)pIpipppr#Sh?nU?2ȿ#lĿ)pIpippp @ @ @  @ I^I&4p٢\= 9=9Xi;Q  >    G٣ y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49Au?4Y; ioB-+:)-^:-V-?C@<?41 5,A9 Ikr|?kr'W kp krT/A:krCBkr!CZkr~Q@"r߽>}59@&AvI%?1i@r[ƃ>?xsB=?Jkr Rkr*ru5wqYv'J Wc@rv5Hf:tA(w?"kriT*krkr_?kr 2kr^CkrTbb?kpkpkrxCkrWHS@ addTargetRange:: Added new target pos. range: 413.100006 m, deltaT: 4.047832 s, deltaX: -14.000000 m, approachRate: -3.458642 m/s, rangeRepo size: 4  Added new target pos. range: 413.100006 m, bearing: 187.996504 deg, lat: 36.900712 deg, lon: -122.115320 deg, deltaT: 4.047832 s, deltaX: -14.000000 m, approachRate: -3.458642 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 413.10 m.BjJj  ProNav: ac range: 413.100006 m, nav range: 386.939667 m, bearing: 189.150000 deg, approach rate: 0.000000 m/s, LOS rate: -0.108237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810082 deg. 2j :j  @HeadingCmd: 4.813794 target range: 413.100006 and range: 413.10 m. jjjjihhh9h9fAfAfArfEy@bfE@|?ɛ .= 隕۹?I ɚiIU=Iim2iX))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:46:52.0179 *F?2F:FBF$5JF"G=G=) F= ېC% ~~GE `wA] A Y `wAy ~BG JGq B O >bw,ԜJA6x@Y6͙@6C]96>y6H n? ?`=D¿?@圤??`/?q?ɨ6x@6و;4y^ցB^IttIzIz#3٢J= E=9-;Q M>II UG٣U3GyU U> ebBottom track data is 0.9 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm49]SFu?u4Y]*C i]}Bu :qu4:uu?]C]f;]]?]踌4 vAZjFNOT Ignoring new targets: 413.10 m.Bj = Jj =  ProNav: ac range: 413.100006 m, nav range: 386.957367 m, bearing: 189.108398 deg, approach rate: 0.051423 m/s, LOS rate: -0.120859 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850384 deg. 2j㥻:j]@%HeadingCmd: 4.814497 target range: 413.100006 and range: 413.10 m. j!j)j)j)i)h)h)h1h1f1f1f9rf9bf=`b?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}B<zKMK9KKpK_egihe`]YXQID@:3/(#   =?I ɚiI U=IiJ3i8))*F2F:FBFo0JF 9I9G׹G B H G>I  I  II BI 8 =&I .I 6I <:I 4FBIɞCJIɞCRIZI6 =bI6 =jIQ5O= >U Will construct direction to contact in vehicle frame from tetrahedron phase data.J 3K 3 K /.KK"KJe Je Ja Ja Je ;Je ~:Ja Ja Je yBH "?D?Qÿ7?ջ?`?@r?@b?ɨB@BJ;B֐Cy^B^IIeCIe3٢== =9=9MQ M> G٣y} > =bBottom track data is 1.3 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E495Lu?E4Y5NL i5Bu9qu:uu?52C5:<5?524 AZjFNOT Ignoring new targets: 413.10 m.BjJj- ProNav: ac range: 413.100006 m, nav range: 386.978668 m, bearing: 189.055858 deg, approach rate: 0.045657 m/s, LOS rate: -0.112606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817578 deg. 2j-:j- @5HeadingCmd: 4.813925 target range: 413.100006 and range: 413.10 m. j1j1j1j9i9h9h9h9hAfAfAfirfibfu`?ɛ1=`"< 9=Q?I9 e8ɚaiaIeT=Imiu45iubf)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FyBF}j0JFy 1 I1 G .-Gq B O >bw,1~AjWill construct direction to contact in vehicle frame from tetrahedron phase data.y]B]I        Mb@Mb@Mb@ )YCl?~jt?V-?yd;?=<@ |@)@I @y@I I2٢= %G=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config1E495Qu?E4Y5S i5BMT:M$=?M:MM?5VC5*;5\(;5Ì4UB UAU'EZjyFNOT Ignoring new targets: 413.10 m.Bj JJj J ProNav: ac range: 413.100006 m, nav range: 386.994568 m, bearing: 189.014435 deg, approach rate: 0.043388 m/s, LOS rate: -0.113036 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850921 deg. 2j&:jq@EHeadingCmd: 4.814507 target range: 413.100006 and range: 413.10 m. jAjAjAjAiAhIhIhIhM*|BfQfQfQrfQbfU`5z?ɛE< g?I DɚiIS=Ii5U6iь`))*FI2FI:FIBFMo0JFQGY G]tAG%:_GB)O]>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKhMK 9KKqK    I Cgbw,A6w@Y6熙@6ta96Di>y6H`ȵ?`?"ÿ@?+l?*? ??ɨ6w@6Q;6ِCyBBB IIJEIJ3٢%Q= %]=9%ߚQ %>)) -G٣-3Gy-j 5> =Nusing accuracyPremultiplier from config9E49=Vu?E4Y=Z i=BAEFM?=yC=:=:=Vʌ4Q U3AQmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 413.10 m.BjJj ProNav: ac range: 413.100006 m, nav range: 387.008789 m, bearing: 188.974253 deg, approach rate: 0.038461 m/s, LOS rate: -0.108669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854645 deg. 2j(:j@HeadingCmd: 4.814572 target range: 413.100006 and range: 413.10 m. jjjjihhhhfffrfbf@7&?ɛ)- = )?I 尽ɚiI~Q=Ii,8i #))HUD>IUC IU. IIU;BIQ&IQ.IU5D6IU<:IQWill construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJ"JJJ;Ji;JJJ<J<J[<J[<E.=*FA 2FA :FA BFE n0JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003819G GBO>2bw,XA IB@YB@BpU9BL>yBH@T? >?¿` e@? nţ?@?r?YY ]G٣Yye; e> ubBottom track data is 0.5 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}49m\u?}4Ymc imÇB+:h:䭿?mCmg;m>m9ь4 gAZjFNOT Ignoring new targets: 413.10 m.BjJj ProNav: ac range: 413.100006 m, nav range: 387.028809 m, bearing: 188.921410 deg, approach rate: 0.041029 m/s, LOS rate: -0.108292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816669 deg. 2j:j @HeadingCmd: 4.813909 target range: 413.100006 and range: 413.10 m. jjjjihhhhfffrfbf`q@ɛ%< !%?I! %yɚ)i)I-P=I5i5:i5Q{)1)9E%Ƣ=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256480*F?2F:FBFp0JFG}͍GQBYOuX>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507678bw,e6ыAzK:LK:]9K8K:rK:BK@:K@65@Y6@6N96v>y6H`??`ÿ V]? ¢?@ҩ? ҉??ɨ65@6.[;6אCyzSBzL II OI  4٢5> =L=9=;Q =>AA EG٣AyEI; M> ubBottom track data is 0.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configq}49uFbu?}4Yudk iuӇB :<:?uCu(;ud?uՌ4 AZjFNOT Ignoring new targets: 413.10 m.Bj Jj - ProNav: ac range: 413.100006 m, nav range: 387.046295 m, bearing: 188.877432 deg, approach rate: 0.042420 m/s, LOS rate: -0.106682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843258 deg. 2j5m:j5X@5HeadingCmd: 4.814373 target range: 413.100006 and range: 413.10 m. j9j9j9j9i9h9h9hAhAfAffrfbfs@ $?IɛM}BMt< QU?IQ U}2ɚQiQIU,O=I]ie^;ie%"d)a)ajH<bH<HC>I Is IIsBI9 =&I.I6I\<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759907*JC="Ja=JJ%JJJ;J0;JJJ<J<J\<J\<EE2g=*F ?2F :F BF m0JF G=D&GAGEsAG!B1OM?>bw,MAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011764>@Y>@>"I9>>y>Hi?E?ÿ`? ?n?E??ɨ>@>;>ՐCyFdBFa I % % %% %%  - - -Mb@Mb@Mb@))) )))Y-Mb?RQ? rh?y-#?-=-C =-@ -O@))I-@)y-@I=[I=K!4٢UU= U"=9U1;Q U>YY ]G٣]3GyF; >  Nusing accuracyPremultiplier from config49hu?4Ys iBT:%?:t?C* ;v;ތ4%B %A%(EZjimFNOT Ignoring new targets: 413.10 m.BjuٺJjuٺ ProNav: ac range: 413.100006 m, nav range: 387.071869 m, bearing: 188.828226 deg, approach rate: 0.049516 m/s, LOS rate: -0.095267 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827580 deg. 2j‚:j @HeadingCmd: 4.814099 target range: 413.100006 and range: 413.10 m. jjjjihhhh|Bfffrfbf@@ IDgɛ)- = )-ocw,fA> @Y>fʙ@>@B9>t>y>H@;?`?`&ÿl??@E?? C?ɨ> @>(;>אCyJ}BJ IIVYIV4٢^u= ^;=9bz;Q b>`d fG٣dyfy; j> nNusing accuracyPremultiplier from confighn49jmu?r4Yjz ijBpr:r?jCj:j:j;4x zAxZjFNOT Ignoring new targets: 413.10 m.Bj%aںJj%aں= ProNav: ac range: 413.100006 m, nav range: 387.092957 m, bearing: 188.788954 deg, approach rate: 0.051261 m/s, LOS rate: -0.095461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857376 deg. 2j=:j=]@EHeadingCmd: 4.814620 target range: 413.100006 and range: 413.10 m. jAjAjAjAiAhIhIhQhQfQfQfQrfYbf]* @ɛ}BDC= 隅?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:46:54.9707 TRx dataTimestamp_ set to:1736365616.276789checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516968 ԣɚiIM=Ii̓>i8))zKeKKe9KaKesKeRK} ?JK}%?*Fe?2Fa:FaBFep0JFa iIqG*UGiHI I IIBI&I.I6IM<:I FBO >JE JE JA JA JE ݒ;JE :JA JA JE <JE <JE cT<JE cT<e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772122 cw,P,AyzB~ I) AMb@Mb@Mb@ )Yx?+η?X9v?yK?v=< )G@I@yG@IFI%3٢= "=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49su?4Yk i B\?:0?@C;#;4 tA %E5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 413.10 m.BjEǺJjEǺU ProNav: ac range: 413.100006 m, nav range: 387.119324 m, bearing: 188.744829 deg, approach rate: 0.052217 m/s, LOS rate: -0.087379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842821 deg. 2j]o:j]H@eHeadingCmd: 4.814365 target range: 413.100006 and range: 413.10 m. jajajajaiahahahihm}Bfqfqfqrfqbf}_@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:46:54.9707 LVL= 32752, 30705, 24466, 32755, AGC= 69, IDX= 405,-0.41, 0.654,-0.587, 0.861, 0.084, PHS= 0.658,-0.623, 0.774, RAW= 154.3, -12.0, CAL= 160.8, -19.1, ROT= 349.2, 19.1 -Ygot valid direction response: 19:46:54.9707 LVL= 32752, 30705, 24466, 32755, AGC= 69, IDX= 405,-0.41, 0.654,-0.587, 0.861, 0.084, PHS= 0.658,-0.623, 0.774, RAW= 154.3, -12.0, CAL= 160.8, -19.1, ROT= 349.2, 19.1 5PDAT read: Bearing 349.2, 19.1 (Local) =~Local bearing/azimuth received: Bearing 349.2, 19.1 (Local) eDAT read: Range 10 to 50 : 410.7 m (Round-trip 547.7 ms) speed 0.5 m/s m*DAT read: user:831> uBDAT read: Tx time:19:46:56.0688 u$Ping request sent.u#?M`?CЪʿ)=6?IV>iKͷ:publishing transmit ping timeqFpublishing direction and range info9]I@d?g(]뿨7AJ"?y )Ii )Ii#?M`?CЪʿ)Ii aIaɛ}Bxb< 隍?I >ɚiIK=Ii/@iԉ<))*Fq2Fq:FqBFuf0JFqG}tA Gy} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:46:56.0680 G GY6G ?G >Gq By O >cw,FA>@Y>@>09>>y>H`U`?x?dÿ ཾ?[d???=?ɨ>@>C;>֐CyVBV I `b=If*If3٢n= nW=9n9pp rG٣pyr%z< v> zNusing accuracyPremultiplier from configx~49zxu?~4Yz5 izB|y?z]Cz;z;z4  q@kF?kG! k k+2A:kYCBkCZkoV@"h5מH@ Q!9vP[h@]I@d?g(]뿨7AJ"?JkKͷRk*lzrw՝!S0]b@R:;P͘ȿH1 I1  I5 !II5 BI1 &I1 .I1 6I5 e<:I5 F)cw,y`A6`@Y6@6/96>y6He?`w?xÿ  eú?)?D?`V??ɨ6`@6?҇;6ӐCyBBB IIJ$IJ<3٢Rw» RO=9V :Q V>XX ZG٣XyZc9 ^> bNusing accuracyPremultiplier from config`f49bn}u?f4Yb8 ib'Bdfwf?b{Cb:b:b4l n@*Jn4="Jnp=pWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj FNOT Ignoring new targets: 410.70 m.BjN˺JjN˺5 ProNav: ac range: 410.700012 m, nav range: 387.350098 m, bearing: 191.819397 deg, approach rate: 0.024174 m/s, LOS rate: -0.088871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870848 deg. 2j5s:j5J@=HeadingCmd: 4.814855 target range: 410.700012 and range: 410.70 m. j9j9jAjAiAhAhAhIhIfIfIfIrfQbfU?ɛ5}B5F = 9=?I9 =pɚ9i9IEI=IEiM+AiM{޻)I)I*FI2FI:FIBFM|0JFQG5#GABqOa>Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I Ycw,'jzA2@Y29@2X)92>y2H Mr?x?)\ÿl ?? ?@??ɨ2@25;2ՐCyNBN I5Mb@Mb@Mb@111 1)1Y5ʡE?I +?=9]z;Q e>aa eG٣aym9 m> Nusing accuracyPremultiplier from config49u?4Y i3Bq?:$?Ciz;;Z4B M@'EZjaeFNOT Ignoring new targets: 410.70 m.BjpJjp ProNav: ac range: 410.700012 m, nav range: 387.361023 m, bearing: 191.782270 deg, approach rate: 0.024369 m/s, LOS rate: -0.082809 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863810 deg. 2jSc:jH@HeadingCmd: 4.814732 target range: 410.700012 and range: 410.70 m. jjjjihhhhu}Bfffrfbf @?ɛ}}BJJ J1JJ;J;J3Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.}a= 9E?IA EK"ɚAiAIEG=IMiMAiMhٻ)Q)QeGvAA*F?2F:F BF o0JF  YvAy%]B"G%=G%=G] ,ɻGY G] tAG9 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.ս >ս x?-$cw,P4AzK>:MK<K<K>uK>: 5 6 '%u4vdUE;b@Yb @b~!9b>ybHP?Qv?@/Pÿ 6چ?@'?.?? ?ɨb@b;`yjBj IppIvIv٢ %O=9% ;Q %>)) -G٣-3Gy- < 5> eNusing accuracyPremultiplier from configam49e>u?m4Ye0 ie>Bquu? IEgeCeG;e;e 4 T@ZjFNOT Ignoring new targets: 410.70 m.BjHJjH- ProNav: ac range: 410.700012 m, nav range: 387.371338 m, bearing: 191.750088 deg, approach rate: 0.026520 m/s, LOS rate: -0.082741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.878642 deg. 2j-#c:j-g@UHeadingCmd: 4.814991 target range: 410.700012 and range: 410.70 m. jYjYjYjYiYhYhYhahafafafirfibfm?ɛE}BM= 隍?I ɚiIDF=IiAi^f))HI I4!IIBI&I.I6I3<:I FBIŝCJIŝCRIZI9 =bI9 =jIb5JJWill construct direction to contact in vehicle frame from tetrahedron phase data.E)*F 2F :F BF JF G-Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO->h,cw,x AyMBU IMb@Mb@Mb@ )YV-?RQ?11 5G٣1y= => ENusing accuracyPremultiplier from configAM49Eu?M4YEݡ iEJBUr?U:U!U?ECE;E;ED4Y ]m@Y}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 410.70 m.BjĺJjĺ ProNav: ac range: 410.700012 m, nav range: 387.389557 m, bearing: 191.705523 deg, approach rate: 0.035206 m/s, LOS rate: -0.086110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841501 deg. 2jcl:j@HeadingCmd: 4.814342 target range: 410.700012 and range: 410.70 m. jjjjihhhhf}Bfffrfbf@ɛ}BT= ?I =2ɚiI0D=I igAi.w))E<*F?2F:FBFp0JFJ5J5J52J1J5ݒ;J5;J5c3J1MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G g{Gq By O >K3cw,͌A6h@Y6w@696Yg>y6HK?Jn?@ÿ@K #?}?Or?^??ɨ6h@6dd;4yBBB IIJGIJ3٢R燽 Rg=9VTX ZG٣Z3GyZ= ^> bNusing accuracyPremultiplier from config\b49^u?f4Y^ i^QBdff?^C^q:^:^q4l nAn$EZj FNOT Ignoring new targets: 410.70 m.BjHºJjHº% ProNav: ac range: 410.700012 m, nav range: 387.404297 m, bearing: 191.675566 deg, approach rate: 0.041789 m/s, LOS rate: -0.084928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.885318 deg. 2j%$i:j%\@-HeadingCmd: 4.815107 target range: 410.700012 and range: 410.70 m. j)j)j)j)i1h1h1h9h9f9f9f9rfAbfEI@ɛm}Bu}(= qu?Iq };uɚyiyI}C=Ii@i;))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499409zKOK9KKvK1(! 4c{}vi\T>& &  I*FU?2FQ:FQBFQJFQG]sA GYH I  I A!II BI 8 =&I .I 6I u<:I Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752595GI GU ?GU >G) B9 OU >w9cw,-猵A>@Y>^@>X߼9>>>y>H@V? k?¿`4??@>湈;>אCyJBJ IIRHIR<3٢Z` ZI=9Z7 \\ bG٣`yf$< f> nNusing accuracyPremultiplier from configlr49nu?v4Yn inYBtvz?nCnU\;ne;n!4 sAZjAMFNOT Ignoring new targets: 410.70 m.BjMJjU ProNav: ac range: 410.700012 m, nav range: 387.422424 m, bearing: 191.641003 deg, approach rate: 0.044023 m/s, LOS rate: -0.083933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871502 deg. 2jhf:jb@HeadingCmd: 4.814866 target range: 410.700012 and range: 410.70 m. jjjjihhhhfffrfbf@%@ɛ}Bj= )-4?I1 =ɚAiAIE`B=I}i20?i~<))Will construct direction to contact in vehicle frame from tetrahedron phase data.ս>ս4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003818*F?2F:FBF0JFGux;GqBy IO>U\@cw,EA:@Y:K@:ż9:V>y:H 4?8j?`~¿qƿ?y?@?`x? ԧ?ɨ:@:;:ՐCy^Bb IJJJ1JJє;J;J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255472uMb@Mb@Mb@qqq q)qYubX9?kt?~jthyuE?u =uDu@ u@)ul@Iul@qyu@IRIW4٢C ==9;Q > G٣yK< > Nusing accuracyPremultiplier from config49u?4Ys i^B?:ᦿ?7C@;;)4B A%EZjFNOT Ignoring new targets: 410.70 m.Bj+Jj+ ProNav: ac range: 410.700012 m, nav range: 387.438843 m, bearing: 191.603213 deg, approach rate: 0.036688 m/s, LOS rate: -0.084440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861823 deg. 2jg:j@HeadingCmd: 4.814697 target range: 410.700012 and range: 410.70 m. jjjjihhhh|Bfffrfbf9 @ɛU}BUD^}= QU?IQ ]օɚYiYI]2A=IeieL=iezB<)a)i*F%?2F!:F!BF%o5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:46:59.0172 TRx dataTimestamp_ set to:1736365620.313155checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508828Gm ;GA I By O >zK MK K K wK RK ?JK ?Fcw,ZAb@Yb˚@b=9b)>ybH`?^h?G¿S,?d?XG?`l??ɨb@b;bԐCyjpBjp IIpIp٢z) zV=9~11 =G٣9y=; => MNusing accuracyPremultiplier from configAM49Eu?M4YEM iEcBQUU?ETCE*:E:E/4Y ejAaZjFNOT Ignoring new targets: 410.70 m.BjUӺJjUӺ ProNav: ac range: 410.700012 m, nav range: 387.454407 m, bearing: 191.569204 deg, approach rate: 0.042279 m/s, LOS rate: -0.092381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873164 deg. 2j}:j@HeadingCmd: 4.814895 target range: 410.700012 and range: 410.70 m. jjjjihhhhfffrfbfQ @ɛ }B =  ?I 0ɚiI>@=IiU;i~wf<)!)!HA>I I4!IIBI9 =&I.I6I<:I=F*F?2F:FBF4JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759454G2<GGGaBqO9> Will construct direction to contact in vehicle frame from tetrahedron phase data.үLcw,Y65A^DAT read: 19:46:59.0172 LVL= 27312, 32753, 19794, 32755, AGC= 71, IDX= 398,-0.20,-0.856,-2.019,-0.561,-1.359, PHS= 0.591,-0.613, 0.795, RAW= 157.7, -11.7, CAL= 163.5, -18.5, ROT= 346.5, 18.5 bYgot valid direction response: 19:46:59.0172 LVL= 27312, 32753, 19794, 32755, AGC= 71, IDX= 398,-0.20,-0.856,-2.019,-0.561,-1.359, PHS= 0.591,-0.613, 0.795, RAW= 157.7, -11.7, CAL= 163.5, -18.5, ROT= 346.5, 18.5 fPDAT read: Bearing 346.5, 18.5 (Local) j~Local bearing/azimuth received: Bearing 346.5, 18.5 (Local) vDAT read: Range 10 to 50 : 408.2 m (Round-trip 544.3 ms) speed 0.3 m/s z*DAT read: user:832> %$?I%Fg]BDAT read: Tx time:19:47:00.1188 ]$Ping request sent.e ?y C j  RM) I Gi K?  K? '0@ Q 6@) MQI @i MQ> 靋V?)?ؓ"٨ɿ) vv(?I bQ>i b⸿ t :publishing transmit ping timeYFpublishing direction and range info 9 CQ?J.YG쿦> ?y  ) I i ) I i 靋V?)?ؓ"٨ɿ) I i Mb@Mb@Mb@ )Y'1Z?/$?Mby"?=@ )(@I@y\@IPI 4٢| !=9Q > G٣3Gy% %> 5Nusing accuracyPremultiplier from config)549-ȩu?=4Y-w i-gB=>$?=:=1=?-}C- ;-Y;-84 Ak b?k x-! k  k 74A:k CBk CZk IX@" y6J2G@*`vA.6vf@ CQ?J.YG쿦> ?Jk b⸿Rk t* cVգwV.Gv^@ [̿9LLL?"k o*k k 5R(?k O1 2k F=Ii8i7wa<))*F 2F :F BF 0JF G I3<GBO>Tcw,TAWill construct direction to contact in vehicle frame from tetrahedron phase data.V@YVr̚@VEn9V>yVH 8?m?¿'`v?/j`wȍ?@? I?ɨV@V;VӐCybIBb@ IIjIj3٢rx rX=9vKxx zG٣xy~4:9 ~> Nusing accuracyPremultiplier from config 49u? 4Y ijB/?C;:;??4 A!=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 408.20 m.BjUJjUe ProNav: ac range: 408.200012 m, nav range: 390.193451 m, bearing: 193.560112 deg, approach rate: 0.015125 m/s, LOS rate: -0.111695 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868366 deg. 2jeO:je@mHeadingCmd: 4.814811 target range: 408.200012 and range: 408.20 m. jijqjqjqiqhqhqhyhfffrfbf? Iɛ}B = ?I [xyɚiI==Ii6iFb<))zKe KKe9KaKexKeBKmsA:KmrA*F2F:FBF4JFZHIRHM>AHU>>IUC IU!IIUBIQ&IQ.IQ6IU/<:IU FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=P<GB1 O >Zcw,mAy;B/ IMb@Mb@Mb@ )Yi|?5?sh|??y&1|y1?=`@ )V@IV@y@IhIV84٢s /=9Q > G٣3Gy >MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.948297 Nusing accuracyPremultiplier from config49u?4Yq imB2?:ȩ?Cu;k;G4eB eAm#E IGgZjFNOT Ignoring new targets: 408.20 m.Bj%ܺJj%ܺ5 ProNav: ac range: 408.200012 m, nav range: 390.196259 m, bearing: 193.509590 deg, approach rate: 0.005361 m/s, LOS rate: -0.096461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823621 deg. 2j5f:j5 @HeadingCmd: 4.814030 target range: 408.200012 and range: 408.20 m. jjjjihhhh|Bfffrfbf $ ?ɛ%}B%Ne)= !%?I) -Iqɚ)i1I5<=I5i=ji3i=Ƈc<)9)9EI*F2F:FBFo1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200203G zQ<G ?G 8?G B O->bcw,A2@Y2@2`992>y2H ?`Ԃ?s4?p#?d??ɨ2@2\l;2ԐCy>(BB IIF(IF̍3٢R߿ RQ=9RTT VG٣TyV Z> ^Nusing accuracyPremultiplier from config\b49^ u?b4Y^ i^pB`bf?^C^n:^:^:N4h jAhZjFNOT Ignoring new targets: 408.20 m.Bj )Jj ) ProNav: ac range: 408.200012 m, nav range: 390.196686 m, bearing: 193.472119 deg, approach rate: 0.001278 m/s, LOS rate: -0.112049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862777 deg. 2j˙:j%#@%HeadingCmd: 4.814714 target range: 408.200012 and range: 408.20 m. j)j)j)j)i)h)h)h1h1f9f9f9rf9bf=z?ɛe}Bm̬= imI  I II BI ; =&I .I 6I h<:I FG P<J J J- J- J- 2J) J- ;J- ;J- c3J) J- <] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709831am J- Hicw,񦍵Ar@Yrv@r9r,>yrH ?`؀?@J ?@j h_~? -??ɨr@ra;rӐCy~B~ II XI 4٢M) M6=9ub yy G٣y) > Nusing accuracyPremultiplier from config49ju?4Y; irB?C;s;JV4 -A)Zjy}FNOT Ignoring new targets: 408.20 m.BjSJjS㺝 ProNav: ac range: 408.200012 m, nav range: 390.197357 m, bearing: 193.424776 deg, approach rate: 0.001409 m/s, LOS rate: -0.099372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833157 deg. 2je:j @HeadingCmd: 4.814197 target range: 408.200012 and range: 408.20 m. jjjjihhhhf)f)f)rf1bf5X?ɛ}B?:= }?Iy }9WfɚyiyI}*;=Ii}0i,<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960212 IE} V<*F ?2F :F BF 0JF )Q QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221649AGxA MYMxAyUOBGeQ;GiGi-[@- BGQBiO ?iKrcw,ǟɍAyBIMb@Mb@Mb@ )YʡE?ʡE?~jthy=?=D@ @)?@I@y̼@IKI4٢ =9Q > G٣3Gy > Nusing accuracyPremultiplier from config49u?4Y iuB>?:Ь?FC;;9;_4 bAZj%FNOT Ignoring new targets: 408.20 m.Bj%Jj%5 ProNav: ac range: 408.200012 m, nav range: 390.192047 m, bearing: 193.365148 deg, approach rate: -0.010027 m/s, LOS rate: -0.112600 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796302 deg. 2j5:j5@HeadingCmd: 4.813553 target range: 408.200012 and range: 408.20 m. jjjjih9h9hIhM{BfQffrfbf9@ɛE}BE8= AE'?IA M_ _ɚIiIIM<:=Ii:.it<))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464262 $?IzK=:KK=9K9K=zK=*F 2F :F BF p0JF jH <bH H @>I  I II BI : =&I .I 6I r<:I FBIU˜CJIQRIQZIQbIQjIUcf5J] J] *JY JY J] є;J] |;JY JY J] <J] < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718279J] "_<J] #_<G1X<GBO>ycw,鍵AR|Z@YRi@R|2;9R G >yRH߼??@@ͅ?/Vf?w?ɨR|Z@R>;RҐCybBbIIvMIv{4٢ /=9  G٣yh %> Nusing accuracyPremultiplier from config49fu?4Y ivBc?tCN;4;>h4B A%EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 408.20 m.BjJj ProNav: ac range: 408.200012 m, nav range: 390.186096 m, bearing: 193.312399 deg, approach rate: -0.012324 m/s, LOS rate: -0.109240 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816937 deg. 2j:j @HeadingCmd: 4.813914 target range: 408.200012 and range: 408.20 m. jjjjih h h h fffrfbf@ %@ɛM}BMi= IM?IQ U_YɚQiQIUz9=I]i]-i]rm};)Y)a*F%?2F):F)BF5m2JF15Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.969457 IHgG4<GY Bi O >Mcw,KABUH@YBW@BC,;9Bi} >yBHuO??` *?&Et@j"?+?ɨBUH@B݌;BՐCyRBRIeMb@Mb@Mb@aaa a)aYeS㥛?l?~jtx?yeD?e=e;ez@ e@)eV@Iaaye@I}_I}b(4٢8 B=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2209839-;Q > G٣y9 > Nusing accuracyPremultiplier from config49u?4Y iyBE?:׮?C;;_o4 A"EZjFNOT Ignoring new targets: 408.20 m.Bj  Jj  % ProNav: ac range: 408.200012 m, nav range: 390.177551 m, bearing: 193.266130 deg, approach rate: -0.020997 m/s, LOS rate: -0.113697 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836376 deg. 2j%:j%\@-HeadingCmd: 4.814253 target range: 408.200012 and range: 408.20 m. j)j)j)j)i)h1h1h1h=p{Bf9f9f9rf9bfEh @ɛM}}BM0E>*FA2FA:FABFE2JFIGI GIM Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:19:47:03.0644 ] TRx dataTimestamp_ set to:1736365624.349621e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474326Ge `; I Gi B O >zK KK h9K K {K ӆcw,jA61@Y6A@6d;96M>y6H?N?"?p{ ??ɨ61@6\;6ҐCynBl v=vp=IzUIz4٢'; T=9Ξ;Q >    G٣ 3GyM > Nusing accuracyPremultiplier from config%49u?%4Y i{B!-1-?C; :v41 5A1ZjQ]FNOT Ignoring new targets: 408.20 m.BjeJjeu ProNav: ac range: 408.200012 m, nav range: 390.168976 m, bearing: 193.222760 deg, approach rate: -0.022442 m/s, LOS rate: -0.113502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845074 deg. 2juʛ:ju@HeadingCmd: 4.814405 target range: 408.200012 and range: 408.20 m. jjjjihhhhfffrfbf @ɛz}B p= H>>I If IIiBI9 =&I.I6IA<:I F隵?I NɚiI:7=Ii+,ii7))J;c3K;3 K;.K3K3"K3JuJu.JqJqJu;Ju;JqJqJu<Ju<Ju`<Ju`<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724370*F2F:FBF\5JFG ,!;G B9 O} >] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:47:03.0644 LVL= 31024, 29425, 24994, 32755, AGC= 67, IDX= 398, 0.12, 1.191,-0.170, 1.442, 0.607, PHS= 0.672,-0.730, 0.832, RAW= 155.3, -10.4, CAL= 161.2, -17.6, ROT= 348.8, 17.6 I U Ygot valid direction response: 19:47:03.0644 LVL= 31024, 29425, 24994, 32755, AGC= 67, IDX= 398, 0.12, 1.191,-0.170, 1.442, 0.607, PHS= 0.672,-0.730, 0.832, RAW= 155.3, -10.4, CAL= 161.2, -17.6, ROT= 348.8, 17.6 ] PDAT read: Bearing 348.8, 17.6 (Local) ] ~Local bearing/azimuth received: Bearing 348.8, 17.6 (Local) m DAT read: Range 10 to 50 : 406.1 m (Round-trip 541.5 ms) speed 0.5 m/s  *DAT read: user:833>  BDAT read: Tx time:19:47:04.1688  $Ping request sent. Y Y ] ~h8?>DJ4?CX%ǿ)] K?I] H.:>i] y] Y Y  :publishing transmit ping timeؑ  Fpublishing direction and range infoY 9] U-?ݐd(ό?yY Y Y Y Y )Y IY iY ɍcw,E9A )Ii~h8?>DJ4?CX%ǿ)Iie@Ye)@e3 <9e>yeHܺ? g?`|X?䣖l&>??ɨe@eV;eӐCyBI-only read 0 of 1 data item for BIT error. Device response is::TS,25010811481012,35.0, +11.0, .5, 0  @ @ @  @ ILI4٢'; =9E;Q > G٣y׹ > UbBottom track data is 0.5 s old, using for 20.0 s. UNusing accuracyPremultiplier from config]49ru?]4Y i~Be+:ae^:ee?C}<?[}4 Aku?k_M k kw6A:k CBkCZkU@"NA@*Ivẓ&g@U-?ݐd(ό?JkyRk*3?Lww4R\9ia@^G8`ſ3ǿC&b?"kї*kfkHT)?kD 2k OCk5R(?kD kSCk5CkU@M addTargetRange:: Added new target pos. range: 406.100006 m, deltaT: 4.035923 s, deltaX: -2.100006 m, approachRate: -0.520329 m/s, rangeRepo size: 4  Added new target pos. range: 406.100006 m, bearing: 191.509271 deg, lat: 36.900757 deg, lon: -122.115571 deg, deltaT: 4.035923 s, deltaX: -2.100006 m, approachRate: -0.520329 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 406.10 m.BjJj ProNav: ac range: 406.100006 m, nav range: 386.417938 m, bearing: 191.329598 deg, approach rate: 0.000000 m/s, LOS rate: -0.113502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780382 deg. 2j:j[@HeadingCmd: 4.813276 target range: 406.100006 and range: 406.10 m. jjjjihhh%Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:19:47:04.1680 h)f)f)f1rf5ay@bf5nK?ɛs}B6= 隭?I FɚiIB7=Ii ,i))E*F?2F:FBF0JF"G=Gp=G zQG  Will construct direction to contact in vehicle frame from tetrahedron phase data. i B O>cw,CWA I^ @Y^@^pU#<9^?>y^H\?? ` ˹?` j@?@0?ɨ^ @^1;\yfBjIIrIrT3٢z< zM=9zO;Q ~> G٣yR  > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 u?%4Y  i B% :!%4:%ѯ%? C J; j? 45B 5A5#EZjQ]FNOT Ignoring new targets: 406.10 m.Bj]Jjem ProNav: ac range: 406.100006 m, nav range: 386.417908 m, bearing: 191.283887 deg, approach rate: -0.000089 m/s, LOS rate: -0.132963 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838054 deg. 2ju:ju@}HeadingCmd: 4.814282 target range: 406.100006 and range: 406.10 m. jjjjihhhhfffrfbf ?ɛ=p}BE樰= AE`?IA EBɚIiIIM6=IMiuϜ,iuw)q)yzKLK9KK|K*Fm?2Fi:FiBFm`5JFiZHIRHMAAHYIY I]G II]OBI]: =&IY.IY6I]B<:IYJ=J=?J=1J9J=;J= ;J=3J9J=<J=<J=h<J=h<uWill construct direction to contact in vehicle frame from tetrahedron phase data.G|Gi By O >cw,qAz@YzZ@zn<9zb >yzH!??3 ?: f? ?ɨz@z;zԐCy5 B=II%KI%4٢e1< m5=9mQ m>q G٣3GyU. > bBottom track data is 1.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config4Will construct direction to contact in vehicle frame from tetrahedron phase data. IIg93u?%4Y iB%9!%:-r-?JC)<?(41 5oA1uB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 406.10 m.BjHJjH ProNav: ac range: 406.100006 m, nav range: 386.416443 m, bearing: 191.231766 deg, approach rate: -0.003087 m/s, LOS rate: -0.109844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818824 deg. 2jŖ:j @HeadingCmd: 4.813947 target range: 406.100006 and range: 406.10 m. jjjjihhhhfffrfbf`߹?ɛEj}BEZu= AmX?Ii m;ɚiiqIu5=Iui}Z-i}8)y)y*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G OPG B O >cw,A>Ԓ@Y> @>؝<9>Wu >y>H`?1?PM`Y@%? JӃ``??ɨ>Ԓ@>;aa eG٣aye呻 m> uNusing accuracyPremultiplier from configiu49mu?}4YmB% imB}T:}D?:?mnCm";mH!;m4 .AZjFNOT Ignoring new targets: 406.10 m.BjU Jj]  ProNav: ac range: 406.100006 m, nav range: 386.417480 m, bearing: 191.190183 deg, approach rate: 0.003008 m/s, LOS rate: -0.120541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850438 deg. 2js:j_@HeadingCmd: 4.814498 target range: 406.100006 and range: 406.10 m. jjjjihhhh{Bfffrfbf ?ɛe}B%&= !%?I! %6ɚ)i)I-4=IUiU.iU9)Q)Y*F2F:FBF`4JFGtA GG߻G?G?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472096 $?I GaBiOZ>zK KK 9K K }K HM <>II  II II II &II .IM 4D6II :IM FǨcw,gӤABRŒ@YBԙ@Bi$<9B< >yBH11 5G٣1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.724017yMu M> UNusing accuracyPremultiplier from configQe49Uu?e4YU4- iUBaeȯe?UCU2;U3;U4q uAu EZjFNOT Ignoring new targets: 406.10 m.Bj8Jj8 ProNav: ac range: 406.100006 m, nav range: 386.418274 m, bearing: 191.144582 deg, approach rate: 0.001981 m/s, LOS rate: -0.113846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838384 deg. 2jC:j@HeadingCmd: 4.814288 target range: 406.100006 and range: 406.10 m. jjjjihhhhfffrfbf ?ɛ%a}B-D$= 9=?IA Ma1ɚIiQIU4=I]i]/i]^+)Y)a*F!2F!:F!BF%g0JF) IWill construct direction to contact in vehicle frame from tetrahedron phase data.iA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977869GM UG! B1 O >Gcw,`Ay].B] I m=m=Mb@Mb@Mb@ )Y1Zd?(\µ?Mb?y";?=<@ 1@)@Iy @I=2I=?3٢Mv= M9=9UQ U>YY ]G٣]3Gy] ]> mNusing accuracyPremultiplier from configam49eu?u4Ye5 ieBup I Jg Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479938cw,؎Ay55B5' IIM:IM3٢eh = eX=9Q > G٣y > Nusing accuracyPremultiplier from config49|u?4Y< iB?Cl;;4 AZjFNOT Ignoring new targets: 406.10 m.Bj 4Jj 4 ProNav: ac range: 406.100006 m, nav range: 386.426056 m, bearing: 191.054305 deg, approach rate: 0.009772 m/s, LOS rate: -0.109373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848127 deg. 2j%:j% @-HeadingCmd: 4.814458 target range: 406.100006 and range: 406.10 m. j)j)j)j)i)h1h1h1h1f9f9f9rfAbfE#@ɛuV}Bu|= qu?Iq }%ɚyiyI}2=Ii 1i))'uTFailed to parse incomplete device message.*F%?2F!:F!BF)JF)jH<bH<H;>I IS IIYBI; =&I.I6II<:I F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.733960G"GrAGBKrA:KsAGa Bq O >mcw,>xA#@Y@_<9>yHXa?? }?$+`B? ?ɨ#@;yIB? I IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984126Mb@Mb@Mb@ )Y|?5^?MbX? rh?y2?=C<@ G@)@Iy@I0I(3٢= +=9D G٣y< > Nusing accuracyPremultiplier from config49v?4YbE iB4?:? C;|;.4 mAB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 406.10 m.Bj-Jj-= ProNav: ac range: 406.100006 m, nav range: 386.440155 m, bearing: 191.005290 deg, approach rate: 0.030024 m/s, LOS rate: -0.104371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828149 deg. 2j=B:j=/ @EHeadingCmd: 4.814109 target range: 406.100006 and range: 406.10 m. jIjIjIjQiQhQhQhYh]s|BfYffrfbf @ɛ=O}B=t= 9=U?IA EtɚAiAIEb%1=IUiu1i}p˻)y)y*F-?2F):F1BF1JF1e ~Gy Y y NBJ! J% @J! J! J! J% 0 ;J! J! ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237094GU {#G1 B9 OU >=cw,OW AyQB%J I-A-AI52I5?3٢E`Y= E|=9MQ M ?QQ UG٣U3GyU ] ? eNusing accuracyPremultiplier from configYe49]u v?m4Y]8K i]Biiu?]*C];];]ү4y }'AyZjFNOT Ignoring new targets: 406.10 m.BjJj ProNav: ac range: 406.100006 m, nav range: 386.450043 m, bearing: 190.971526 deg, approach rate: 0.030545 m/s, LOS rate: -0.104301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873898 deg. 2j):j@HeadingCmd: 4.814908 target range: 406.100006 and range: 406.10 m. jjjjihhhhfffrfbf8 @ɛ5K}B5= =Uҟ<=?I9 =ɚ9i9I=50=IEiE2iMNۻ)I)I*F?2F:FBF0JFGU IKgGBWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:47:07.1249 TRx dataTimestamp_ set to:1736365628.380952checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489310OB>zK &`KK 9K K K   XT:B  91is r4jXJB7/& H :>I  I l II nBI &I .I 6I /<:I FBIJIʜCRIZI: =bI: =jI"5"cw,&A6@Y6v@6V<96P>y6H [?@?X¿B@?塠`ђ Y??ɨ6@6R;4yBZBBT IJpJrBAIR)IRW3٢z%+= ~P=9~;Q ~> G٣y  K;  > Nusing accuracyPremultiplier from config4Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7400859v?-4YRR iB)-Ѫ-?NC{;P|;45B =A=#EZjyFNOT Ignoring new targets: 406.10 m.BjJj캝 ProNav: ac range: 406.100006 m, nav range: 386.462555 m, bearing: 190.930475 deg, approach rate: 0.031530 m/s, LOS rate: -0.103442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852037 deg. 2j:j@HeadingCmd: 4.814526 target range: 406.100006 and range: 406.10 m. jjjjihhhhfffrfbfp@ɛE}BH= ?I HQɚiIM4/=Ii2i))!*F2F:FBF0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G̻G?G?E DAT read: 19:47:07.1249 LVL= 23024, 24817, 18994, 28627, AGC= 63, IDX= 31,-0.22, 2.880, 1.661,-3.103, 2.393, PHS= 0.575,-0.686, 0.784, RAW= 157.6, -9.8, CAL= 162.8, -16.9, ROT= 347.2, 16.9  Ygot valid direction response: 19:47:07.1249 LVL= 23024, 24817, 18994, 28627, AGC= 63, IDX= 31,-0.22, 2.880, 1.661,-3.103, 2.393, PHS= 0.575,-0.686, 0.784, RAW= 157.6, -9.8, CAL= 162.8, -16.9, ROT= 347.2, 16.9 G B O >e PDAT read: Bearing 347.2, 16.9 (Local) m ~Local bearing/azimuth received: Bearing 347.2, 16.9 (Local) u DAT read: Range 10 to 50 : 413.8 m (Round-trip 551.8 ms) speed 0.2 m/s } *DAT read: user:834>  BDAT read: Tx time:19:47:08.2189  $Ping request sent. 8?`a 7??Yſ)!'?I(/>i`;m5 :publishing transmit ping time 5 Fpublishing direction and range info9B(z?/Bڴ쿣]?y )Ii )Ii8?`a 7??Yſ)IiAcw,?ARj@YR @R G<9Rf>yRH@&?~?oB¿?  }Hi?`?ɨRj@R|;PybB^ I-Mb@Mb@Mb@))) )))Y-MbX?J +?I +?y-*?-=-9<-@ ))-@I))y-@Ie-Ie3٢= 1=9;Q > G٣yF!; > Nusing accuracyPremultiplier from config49Bv?4Y_Z iB,?:0 ?vC;S;׾41 5A5 EkLA?kF k kq8A:kCBkxCZkAU@"{?@E&^3wg%f@B(z?/Bڴ쿣]?Jk`;Rkm*Z?xz,AtR:rV^@pbaƿ;N?"k*kk4`?kdl 2k Will construct direction to contact in vehicle frame from tetrahedron phase data.Z'cw,YAjߒ@Yj^@j2ž<9j>yjHX??o¿ 2` ? דL??ɨjߒ@jʉ;jҐCyvlBvk I z=za=I~I~ 3٢ as=  k=9:Q ? G٣3Gyi. %? -Nusing accuracyPremultiplier from config!-49%v?54Y%N` i%B155?%C%z:%C:%č4A ECAAZjimFNOT Ignoring new targets: 413.80 m.BjuoJjuo򺝊 ProNav: ac range: 413.799988 m, nav range: 386.489624 m, bearing: 190.849551 deg, approach rate: 0.034214 m/s, LOS rate: -0.105976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872248 deg. 2jv:j}@HeadingCmd: 4.814879 target range: 413.799988 and range: 413.80 m. jjjjihhhhfffrfbf T?ɛ9}Bg!= ?I *\ɚiI--=IiQ3i}))zKOK9KKKH;>I I IIBI&I.I6Im<:IFEr==Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFG g{G B O >cw,HuA iIqؒ@Y@M6<9Kx>yHjָ?`ƃ?@h¿ ַ?pArFɼ? ?ɨؒ@];騡=Will construct direction to contact in vehicle frame from tetrahedron phase data.yesBet I=Mb@Mb@Mb@999 9)9Y=Mb?&1?/$?y= ?===<9 9)9I99y9IU7IU3٢e< e"=9m[:Q m>ii uG٣qyu]Ǻ u> Nusing accuracyPremultiplier from config49!v?4Yh iB"?:Ԩ?Cn;;͍4  AB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 413.80 m.Bj-ֺJj5ֺE ProNav: ac range: 413.799988 m, nav range: 386.510193 m, bearing: 190.801153 deg, approach rate: 0.039869 m/s, LOS rate: -0.093807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829999 deg. 2jE€:jEs @MHeadingCmd: 4.814142 target range: 413.799988 and range: 413.80 m. jIjIjIjIiIhQhQhQh]|BfYfYfYrfabfenk?ɛ1}B= 隝?I "lɚiI,=Ii,G4iH ))Eԅ<*F!2F):F)BF-0JF)J] J] :JY JY J] t;J] ;JY JY  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G gG sAG rAG B O >/cw,lЎA2@Y2G@2 <92o>y2H _?m?@C¿`X? !@ ?7?ɨ2@2DG;2ԐCyBtBBu IIJIJ?13٢Rz; R=9V;Q V?TT VG٣XyZ; Z? ^Nusing accuracyPremultiplier from config\b49^%v?b4Y^m i^Bdff?^C^:^:^Ӎ4h jAhZjFNOT Ignoring new targets: 413.80 m.Bj }׺Jj }׺ ProNav: ac range: 413.799988 m, nav range: 386.522675 m, bearing: 190.773023 deg, approach rate: 0.041799 m/s, LOS rate: -0.094197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.890801 deg. 2jK:j$@%HeadingCmd: 4.815203 target range: 413.799988 and range: 413.80 m. j!j!j!j!i)h)h)h)h)f1f1f1rf1bf=1?ɛ-}B|g= 隭?I ɚiI*=Ii4iIһ))EE*E"E iIuLgEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.456593*F12F1:F1BF=1JF9zKm vKKm h9Ki Km Km H I  I II BI : =&I .I 6I <:I FG} G9 BA Oe >rcw,LŨANWill construct direction to contact in vehicle frame from tetrahedron phase data.N?N?Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.709652j@Yjw @j<9jlM>yjH`t??¿@L?Ϣw?1?ɨj@j;hyzB~ I  I%VI%n4٢EmN= E@=9U};Q U>YY ]G٣e3Gye; m> uNusing accuracyPremultiplier from configq}49u+v?}4Yurt iuBy}?}?uCu:uz:uڍ4B A!EZjFNOT Ignoring new targets: 413.80 m.BjK׺JjK׺M ProNav: ac range: 413.799988 m, nav range: 386.541382 m, bearing: 190.732740 deg, approach rate: 0.043707 m/s, LOS rate: -0.094112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854342 deg. 2jM-:jU@eHeadingCmd: 4.814567 target range: 413.799988 and range: 413.80 m. jajijijiiihqhqhhfffrfbf@p?ɛ&}B=  ?I RKɚiI)=I-i-4i-L)))1*F2F:FBF4JF iIiEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.960477G G B O% >cw,MA6@Y6Q"@6nQ<96>y6H鷺?́? `x?@V@I`hg?[?ɨ6@6m;4yByBB{ IEMb@Mb@Mb@AAA A)AYEʡE?|?5^?{Gz?yE?E=Eףqq }G٣yy}; }> Nusing accuracyPremultiplier from config491v?4Yz iB?:S?C';;4 AEZjFNOT Ignoring new targets: 413.80 m.BjҺJjҺ ProNav: ac range: 413.799988 m, nav range: 386.560730 m, bearing: 190.695354 deg, approach rate: 0.047703 m/s, LOS rate: -0.092170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863036 deg. 2j}:j,@HeadingCmd: 4.814718 target range: 413.799988 and range: 413.80 m. jjjjihhhh}Bfffrfbf<@ɛ-!}B5 = 15 m $?Iq e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465108vcw,xb܏A:'@Y:w6@:v<9:>y:HD?`? G@n?]Wu`m??ɨ:'@:7@;:ѐCyBvBBw IINLIN4٢V VW=9Z;Q Z>XX ZG٣\y^z; b> fNusing accuracyPremultiplier from config`f49b`6v?j4Yb ibBhjj?b8Cb:b*:bI4p rApZj FNOT Ignoring new targets: 413.80 m.Bj ӺJj Ӻ- ProNav: ac range: 413.799988 m, nav range: 386.579590 m, bearing: 190.660303 deg, approach rate: 0.049758 m/s, LOS rate: -0.092469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870040 deg. 2j-}:j-,@5HeadingCmd: 4.814840 target range: 413.799988 and range: 413.80 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfE@ɛ}B= ?I ͼɚiI'=Ii4i))zKMJKM 9KIKMKMjH<bH<H9>I I IIBI; =&I.I6I<:I!F*F2F:FBFn0JFJMJM>JM1JIJMH;JM ;JM3JIJMXcw,KAR6@YRXF@R[<9R>yRH»?`}?(¿N@ m?#v X~??ɨR6@R1K;P IyztB%u I M=M>ImMIm{4٢ <=9;Q > G٣3Gy; >]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.979325 Nusing accuracyPremultiplier from config49Bdw,?5ABF@YBV@B<9B.J>yBHN??|?`Nm׺?U`R}v?`u?ɨBF@B;@yJnBNm I}Mb@Mb@Mb@yyy y)yY}333333?|?5^?!) -G٣)y5; 5> =Nusing accuracyPremultiplier from config9E49=NBv?E4Y=W i=BE?M:MM?={C=-;=;=C4Q ]'AYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 413.80 m.BjѺJjѺ ProNav: ac range: 413.799988 m, nav range: 386.624756 m, bearing: 190.582156 deg, approach rate: 0.055437 m/s, LOS rate: -0.091597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870054 deg. 2jr{:j-@HeadingCmd: 4.814841 target range: 413.799988 and range: 413.80 m. jjjjihhhh/}Bfffrfbfƪ @ɛ}BR= m?I ɚiI_%=Iiؒ3i';))E I *F?2F:FBFo0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:47:11.1555 mTRx dataTimestamp_ set to:1736365632.429975mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.482827G}:GGtAH <>I zK KK +9K K K  I II BI &I .I 6I k<:I FG B O > dw,)AJJ+JJJ;J;JJJ<J<J_<J_<bWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.733768vR@Yvb@v=9v <>yvH$?{?@P$?``wt?@ ?ɨvR@v2;vАCy gB e IIFI%3٢- -\=9-У;Q 5>11 5G٣1y=v; => ENusing accuracyPremultiplier from configAM49E}Gv?M4YE iEĈBIUU?ECE:En:E4B OAEZjq}FNOT Ignoring new targets: 413.80 m.Bj}Jj} ProNav: ac range: 413.799988 m, nav range: 386.645386 m, bearing: 190.548849 deg, approach rate: 0.051475 m/s, LOS rate: -0.083101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875271 deg. 2j d:j@HeadingCmd: 4.814932 target range: 413.799988 and range: 413.80 m. jjjjih!h!h!h!f!f)f)rf)bfU @ɛ }BP= `?I Τɚ i I  E BDAT read: Tx time:19:47:12.2689 e $Ping request sent. ځځۅ]? ?%z?[E)ƿ)ۅj?Iۅ.2>iۅۨۅK ہہU :publishing transmit ping timea ] Fpublishing direction and range info؁9؅Ͷd?J#\J`?y؁G ;؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ]? ?%z?[E)ƿ)ہGA BI Ou >Iہiہہہہdw,CA)b= b֐C5~~GIY ?YyB}c@Y}Zs@}t/ =9}#>y}H&?hz?@\? m??ɨ}c@}.4;}ѐCyޭ_Bޭ[ IAA]Mb@Mb@Mb@YYY Y)YY]5^I ?B`"۹?~jt?y]?]=]D<]\@ ]@)]7@I]l@Yy]p@IWI44Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:47:12.2681 ٢E E!=9M\;Q M>II MG٣U3GyUX; U> }Nusing accuracyPremultiplier from configy49}Nv?4Y}ޛ i}ňBF?:}?}C} ;}& ;}4 Ak9ք?kG| k k;A:kCBkECZkvV@"ą?>@ r*udv+j@Ͷd?J#\J`?JkۨRkK *g0qmv  ES c@Zj]]ȿ`4?"k(*kkkp/?k: 2kt^CkQ?kdl kk3CkU@M addTargetRange:: Added new target pos. range: 399.299988 m, deltaT: 4.050087 s, deltaX: -14.500000 m, approachRate: -3.580170 m/s, rangeRepo size: 4 } Added new target pos. range: 399.299988 m, bearing: 192.122917 deg, lat: 36.900779 deg, lon: -122.115581 deg, deltaT: 4.050087 s, deltaX: -14.500000 m, approachRate: -3.580170 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 399.30 m.BjJj ProNav: ac range: 399.299988 m, nav range: 384.399323 m, bearing: 190.694480 deg, approach rate: 0.000000 m/s, LOS rate: -0.083101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851231 deg. 2j:j|@HeadingCmd: 4.814512 target range: 399.299988 and range: 399.30 m. jjjjihhhh:}Bfffrfx@bf`f?ɛ}B4D= 隵?I ɚiI&#=Iid1iʱ;))*F?2F:FBFJF  I } Will construct direction to contact in vehicle frame from tetrahedron phase data.G l;G B O>qdw,PaA:U@Y:e@:b2=9:V>y:H[?R|? [@(?@bš`c? ?ɨ:U@:H;:АCyFVBFP IIN)INW3٢VM Vo=9Zd=:Q Z?XX ^G٣\y^0 ^? -Nusing accuracyPremultiplier from configd549fNSv?=4Yf ifƈB9==?fCf ;f ;f 4Q UA]EZHqRHu?AHyIy I} II}BI}9 =&Iy.Iy6I}o<:I}FBIAJIARIAZIE; =bIAjIE5ZjFNOT Ignoring new targets: 399.30 m.Bj9˺Jj9˺ ProNav: ac range: 399.299988 m, nav range: 384.417633 m, bearing: 190.664144 deg, approach rate: 0.053624 m/s, LOS rate: -0.088836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.884184 deg. 2js:j2@HeadingCmd: 4.815087 target range: 399.299988 and range: 399.30 m. jjjjihhhhfffrfbf?ɛ%}B%f9 > !%S?I! %Vɚ)zK-KK-9K)K-K-    BYRK=?JK=>i)I=^ "=IEiEʺ0iE:bj;)A)I*F 2F :F BF0JFJJ&J2JJĖ;Jr;Jc3JJE<JF<JX]<JX]<Will construct direction to contact in vehicle frame from tetrahedron phase data.G%~q;G-?G->G B O- > 9 I9 )dw,N*{ABWill construct direction to contact in vehicle frame from tetrahedron phase data.uM^@Yum@u=9uX9>yuH@n?@y?`$\?s4W;??ɨuM^@u6;qyލIBލ@ IMb@Mb@Mb@ )YQ? ףp= ?~jtx?y(?Q=;r@ @)z@Iy@IU*IU3٢ee e2=9e;Q m>ii uG٣qyu; u> }Nusing accuracyPremultiplier from configy49}^Yv?4Y}B iy%?%:%*%?}C}_<}7<}41 5AA9ZjYeFNOT Ignoring new targets: 399.30 m.BjmEѺJjmEѺ} ProNav: ac range: 399.299988 m, nav range: 384.437775 m, bearing: 190.622072 deg, approach rate: 0.043797 m/s, LOS rate: -0.091479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848978 deg. 2j} {:j})@HeadingCmd: 4.814473 target range: 399.299988 and range: 399.30 m. jjjjihhhh"}Bfffrfbf໸?ɛ|B= ?I 7zɚiIA!=Ii/i>a;))*Fa2Fa:FaBFe0JFa-Will construct direction to contact in vehicle frame from tetrahedron phase data.G} ']?;GY Ba O >$dw,A6^]@Y6l@6u=96t>y6H`?`|?S?⪿@@.D??ɨ6^]@6];4yB $?I q?I ,fɚiI =Ii.i;)) Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFo5JFH;>I I IIBI&I.I6Im<:IFG=͚;zKu;OKuh9KqKuKuD8r"~gQA5*! BK:KrAGBO>J J @AJ J 'J J J ;J ;J J J <J <J ]<J ]<E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733724(+dw,ͮAbPExceeded connect timeout, disconnecting.^Yj@Y^y@^K=9^!U>y^H9X?/|?ڊӧ?,7? U?ɨ^Yj@^;o;\y]/Be IIUI4٢Rh 9=9/;Q > G٣yk; > Nusing accuracyPremultiplier from config49cv?4Y iĈB?2dw,ȐAy~$B IMb@Mb@Mb@ )YMb?~jt?{Gzt?y ?=ף;\@ @)d@IyIJI)4٢g K=9Q > G٣y > Nusing accuracyPremultiplier from config49hv?4Y" iˆB!?:5?]Cn;';f)4 _AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237827Zj!-FNOT Ignoring new targets: 399.30 m.Bj-'ֺJj5'ֺE ProNav: ac range: 399.299988 m, nav range: 384.485779 m, bearing: 190.512106 deg, approach rate: 0.031082 m/s, LOS rate: -0.093614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861858 deg. 2jE~:jE@MHeadingCmd: 4.814698 target range: 399.299988 and range: 399.30 m. jIjIjIjIiIhQhhh|Bfffrfbf]@ɛ5|B51C= 15?I1 = .2ɚ9i9I=@=IEiEwo,iEF;)A)A*F?2F:FBFP5JF IG O; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490626G B O >;8dw,…␵A6S@Y6@63=96>y6H`Ht?zz?VB?@0Ep@?[?ɨ6S@6҇;6ѐCyBBBIDFAIJNIJ@ 4٢VϽ V]=9ZYV\\ ^G٣b3Gyb7B< b> fNusing accuracyPremultiplier from configdj49fbmv?j4Yf ifBlnn?f{Cf ;f ;f/4p rApZj FNOT Ignoring new targets: 399.30 m.BjUغJjUغjH!bH%4=H!I! I% II%BI%: =&I!.I!6I%<:I%"FM ProNav: ac range: 399.299988 m, nav range: 384.498505 m, bearing: 190.477329 deg, approach rate: 0.034605 m/s, LOS rate: -0.094567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870859 deg. 2jḾ:jUJ@UHeadingCmd: 4.814855 target range: 399.299988 and range: 399.30 m. jQjjjihhhhfffrf bf _@zKuINKu]9KqKuKuɛ|B= 隍U?I ɚiI=Ii[*i]$<))*FU?2FQ:FYBF]0JFYJ]3K]3 K](.KYKY"KYJJ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742815J1JJ;J;J3JJ<J<J5Z<J5Z< nManaging dock network, ignoring radio surface power offG1G B O5 > I h>dw,rpA2Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996044@Yk@_;=9A>yHؾ?y? #?^¯@} ?N?ɨ@\;騕АCyޭBޭIMb@Mb@Mb@ )YS㥛?/$?y$?=@ @)@I@y@II٢ +=9;Q > G٣yU; > Nusing accuracyPremultiplier from config49sv?4Y iBB&?: $ ?Cc;F;084 AEZj9EFNOT Ignoring new targets: 399.30 m.BjMtܺJjMtܺ] ProNav: ac range: 399.299988 m, nav range: 384.519196 m, bearing: 190.431366 deg, approach rate: 0.043384 m/s, LOS rate: -0.096368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837307 deg. 2j]E:j]~@eHeadingCmd: 4.814269 target range: 399.299988 and range: 399.30 m. jjjjih h h h |Bfffrfbf~( @ɛ|B/|= 隭??I -ɚiI]=Ii(im2<))E*F?2F:FBFW5JFGsA G Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246460G <G ?G ?G B O >Edw,AB@YBW@BB=9B5>yBH?z?:d-?JPY??ɨB@Bʉ;BΐC LIPy^B^IIfTIf4٢r rd=9r7;Q v>tt vG٣tyzz: z> ~Nusing accuracyPremultiplier from config|49~xv?4Y~ i~B   ?~C~:~L:~v>4 A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 399.30 m.BjMܺJjMܺ] ProNav: ac range: 399.299988 m, nav range: 384.535065 m, bearing: 190.396711 deg, approach rate: 0.044235 m/s, LOS rate: -0.096598 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871226 deg. 2je:jeX@eHeadingCmd: 4.814861 target range: 399.299988 and range: 399.30 m. jijijijiiihihihqhqfyfyfyrfybf ; @ɛ|B2 > 隭?I ڻɚiI7=Iic'iV9<))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:47:15.2171 TRx dataTimestamp_ set to:1736365636.460855checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499636*F?2F:FBFl0JFH}<>Iy I}Z II}^BIy&Iy.Iy6I}v<:I} FG(<zKE>BKKES9KAKEKEGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ <Յ < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751291Kdw,e1AB@YBb@B%.I=9B&>yBH?y?k>? .# ?.?ɨB@B"p;BАCyJ߁BNI R=Rp=IV_IVb(4٢fࡽ fL=9nT{;Q r>tt zG٣z3Gy~p: ~> Nusing accuracyPremultiplier from config -49 )~v?54Y  i B9EE? C ; ; E4eB eyAmEZj FNOT Ignoring new targets: 399.30 m.Bj54кJj54кM ProNav: ac range: 399.299988 m, nav range: 384.553284 m, bearing: 190.357615 deg, approach rate: 0.042415 m/s, LOS rate: -0.091014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857905 deg. 2jMy:jup@uHeadingCmd: 4.814629 target range: 399.299988 and range: 399.30 m. jyjyjyjyiyhyhyhhfffrfbf`]@ $?Iɛ-|B5= 1=l?I9 mꤻɚqiqI}yX=Ii$Will construct direction to contact in vehicle frame from tetrahedron phase data.i4><))mDAT read: 19:47:15.2171 LVL= 16240, 25697, 21170, 30435, AGC= 74, IDX= 47, 0.45,-0.732,-1.952,-0.529,-1.291, PHS= 0.647,-0.614, 0.759, RAW= 154.2, -12.0, CAL= 160.7, -19.0, ROT= 349.3, 19.0 Ygot valid direction response: 19:47:15.2171 LVL= 16240, 25697, 21170, 30435, AGC= 74, IDX= 47, 0.45,-0.732,-1.952,-0.529,-1.291, PHS= 0.647,-0.614, 0.759, RAW= 154.2, -12.0, CAL= 160.7, -19.0, ROT= 349.3, 19.0 PDAT read: Bearing 349.3, 19.0 (Local) ~Local bearing/azimuth received: Bearing 349.3, 19.0 (Local) DAT read: Range 10 to 50 : 408.0 m (Round-trip 544.1 ms) speed 0.4 m/s 5*DAT read: user:836> =BDAT read: Tx time:19:47:16.3189 E$Ping request sent.E,@PwV 3@)ɩI@iɩ>_;?vЯOי?RK ʿ)}?IU>i*F2F:FBF5JFWm:publishing transmit ping timeAFpublishing direction and range info97_Hʽ??ǯ$G6?y )Ii )Ii_;?vЯOי?RK ʿ)IiG &<G tAG tAJ J J 2J J m;J `;J c3J a @a @a @a @Gq By  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:47:16.3181 O >ZSdw,NAyԁBI-Mb@Mb@Mb@))) )))Y-?ʡE?~jthy-,?--=-D-@ -@)-z@I))y-Q@IDI3٢( =9Q > G٣y > Nusing accuracyPremultiplier from config49fv?4Y iB;.? :   ?C@;;zN49 =A9k9?k>' k k=A:kCBkCZkJZ@"} &1G@Bv "Rh@7_Hʽ??ǯ$G6?JkRkWm*Zv#d YXb@O';(kϿJQ"?"kK*kkc?k, 2kQCkHT)?k: kk Ck(U@  addTargetRange:: Added new target pos. range: 408.000000 m, deltaT: 4.032087 s, deltaX: 8.700012 m, approachRate: 2.157695 m/s, rangeRepo size: 4  Added new target pos. range: 408.000000 m, bearing: 195.224215 deg, lat: 36.900812 deg, lon: -122.115645 deg, deltaT: 4.032087 s, deltaX: 8.700012 m, approachRate: 2.157695 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 408.00 m.BjmJji} ProNav: ac range: 408.000000 m, nav range: 382.098572 m, bearing: 191.251085 deg, approach rate: 0.000000 m/s, LOS rate: -0.091014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837584 deg. 2jy:j}@HeadingCmd: 4.814274 target range: 408.000000 and range: 408.00 m. jjjjihhhh|Bfffrfy@bf@} ? IIMOgɛU|BU[= QUJ?IQ ]3^ɚYiyIw=Ii"i))*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH! RH% @AH5 ;>I1  I5 ( II5 6BI5 9 =&I1 .I1 6I5 <:I5 FG} 2<Gq B O >JYdw,hAzKF}\KKF9KDKFKF^@Y^X@^P=9^5>y^H`d?@{?q8 w?@  ?@?ɨ^@^dҊ;^ϐCynBnII~JI~)4٢ d=9;Q >!! %G٣)y5[ 5> ENusing accuracyPremultiplier from config949=lv?4Y= i=BT?=-C=m<=m<=T4 AZj15FNOT Ignoring new targets: 408.00 m.Bj=FJj=FWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 408.000000 m, nav range: 382.111145 m, bearing: 191.214709 deg, approach rate: 0.034644 m/s, LOS rate: -0.100224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866064 deg. 2j:j@=HeadingCmd: 4.814771 target range: 408.000000 and range: 408.00 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU?ɛ|B/= 隝 ?I ɚiI=IiE!i%<))*F2F:FBFk0JF Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.G ^,<G B O >C`dw,CA ybBbIlnA]Mb@Mb@Mb@YYY Y)YY]Gz?~jt?y]0?]=]]@ Y)]@I]@Yy]@Iu%Iu)3٢} D=9Q > G٣3Gy > Nusing accuracyPremultiplier from configUG`wA49v?4Y=  Y`wAyDBiB1?:?SC=A=\41 5A1Zjy}FNOT Ignoring new targets: 408.00 m.BjBJjBẝ ProNav: ac range: 408.000000 m, nav range: 382.120941 m, bearing: 191.171026 deg, approach rate: 0.022082 m/s, LOS rate: -0.098468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844140 deg. 2j':jx@HeadingCmd: 4.814388 target range: 408.000000 and range: 408.00 m. jjjjihhhha|Bfffrfbfw#?ɛ5|B5J= 1=Q?I9 =NOɚ9i9I=(=IEiEimv)<)i)qJ5J5"J51J1J5є;J5i;J53J1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFG% (<G- ?G- ? I PgG B O- > fdw,!AB^@YBm@BlN=9Bn>yBHP?~?f W? Ѱ!ͩ7??ɨB^@B ;BΐCyJBJzIIV&IV3٢b4- bX=9b κQ b>dd fG٣dyfm j> nNusing accuracyPremultiplier from confighr49j̔v?r4Yj ijBprr?jtCj2 ;ju ;jb4zB z"AzEB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ZjAEFNOT Ignoring new targets: 408.00 m.BjMJjM] ProNav: ac range: 408.000000 m, nav range: 382.128082 m, bearing: 191.132283 deg, approach rate: 0.021538 m/s, LOS rate: -0.116847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858962 deg. 2jea:je@eHeadingCmd: 4.814647 target range: 408.000000 and range: 408.00 m. jijijijiiqhhhhfffrfbfco?ɛU|BuI> q}?Iy }39ɚyiyI}'=Iiid;))*F 2F :F BF 0JF HI III BI: =&I.I6I<:I,FBIQJIQRIQZIU: =bIQjIU84zKJKKKKJ1J1GIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.688119GI BQ O} >#ldw,c ABTm@YB|@Be S=9BA6>yBH@k?@~?28@Ǿ@ P?!^??ɨBTm@B;BϐCyNBNmIIVZIV4٢^Q bJ=9b3;Q b>`d fG٣dyf; f> nNusing accuracyPremultiplier from confighn49j v?r4Yj ijBprcr?jCj:j:ji4t zwAx yIyZjFNOT Ignoring new targets: 408.00 m.BjJj纝 ProNav: ac range: 408.000000 m, nav range: 382.136505 m, bearing: 191.090200 deg, approach rate: 0.020256 m/s, LOS rate: -0.101206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848939 deg. 2j銻:j(@HeadingCmd: 4.814472 target range: 408.000000 and range: 408.00 m. jjjjihhhhff frfbf$?ɛe|Bee= ae?Ia m:ɚiiI90=Ii3i^;))=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.942423*FA2FI:FIBFU0JFQG !j;Gy B O >JE JE /JA JA JE ;JE ;JA JA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190625Lsdw,#ϑAf&t@Yf@fl[=9fb>yfH?.?@v?_@Cj w??ɨf&t@fs;dyB[IMb@Mb@Mb@ )YʡE?ʡE?MbPy-2?=@ @)@I@y@I_Ib(4٢=w =5=9=N;Q E>AA EG٣E3GyM}: M> UNusing accuracyPremultiplier from configQ]49Uv?]4YU7 iUBeC3?e:e1e?UCU;U;Uq4i mAqZjFNOT Ignoring new targets: 408.00 m.Bj*Jj* ProNav: ac range: 408.000000 m, nav range: 382.146759 m, bearing: 191.042796 deg, approach rate: 0.023466 m/s, LOS rate: -0.108481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832980 deg. 2j攻:j @HeadingCmd: 4.814194 target range: 408.000000 and range: 408.00 m. jjjjihhhh>|Bfffrfbf@ɛ|B= !%?I! %/C;ɚ!i!I%e=I-i-Ni5;;)1)1 u$?Iy*F2F:FBF<1JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.442587G- o;G- sAG- sAG B O5 >jH bH <H I  I II BI &I .I 6I <:I #FUydw,I鑵Afyx@YfՇ@fy2i=9f^">yfH@?`?߿`Z?s@G"\??ɨfyx@f1;fӐCyzBzMIIcIy/4٢xzKE2KKE9KAKEKE'>&$A605Q:Miua ]_=9]aa eG٣ayeA: m> uNusing accuracyPremultiplier from configi}49mv?}4Ym imBy}}?mCm ;m" ;mx4 BAZjFNOT Ignoring new targets: 408.00 m.BjJj񺝊 ProNav: ac range: 408.000000 m, nav range: 382.155609 m, bearing: 191.003475 deg, approach rate: 0.023715 m/s, LOS rate: -0.105362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857226 deg. 2j:jW@HeadingCmd: 4.814617 target range: 408.000000 and range: 408.00 m. jjjjihhhhfffrfbf@+@ɛ|Bh= k?I ;ɚ!i!I%6=I%i-i-;)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694502*F2F:FBF`5JF YIYG&;GBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949847;ـdw,!ANsz@YNω@NNo=9NW>yNH`н?@Q?` &?ڲ쭿??ɨNsz@N;NΐCyZBZHIMb@Mb@Mb@ )Y7A`?EԸ?~jth?y6?=D;@ @)I@y@I`I(*4٢ @=9r;Q > G٣yS: > Nusing accuracyPremultiplier from config49?v?4Y iB68?:?C;o;f4B YAEZj!%FNOT Ignoring new targets: 408.00 m.Bj-Jj-M ProNav: ac range: 408.000000 m, nav range: 382.173218 m, bearing: 190.958482 deg, approach rate: 0.042084 m/s, LOS rate: -0.107524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840217 deg. 2jM:jM@HeadingCmd: 4.814320 target range: 408.000000 and range: 408.00 m. jjjjihhhhG|Bfffrfbfwx @ɛU|BU= Q]?IY ]M;ɚYiYI]=IeieLiec;)a)iJ J J J J  ;J ;J J *F?2F:FBF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199884G- 1X<G B O- > I IM Qgdw,wAB3r@YB@Bs=9B6 >yBH뎽?@'?>? @s~?@|?ɨB3r@B5;B̐CyNwBR>ITVAXZAAIZnIZB4٢b , b\=9f4;Q f>dd jG٣j3Gyj1 j> rNusing accuracyPremultiplier from configlr49nΰv?r4Yns inBtv%v?n*Cn:n:n兎4~Will construct direction to contact in vehicle frame from tetrahedron phase data.~BDAT read: Rx Time:19:47:19.2665 TRx dataTimestamp_ set to:1736365640.492722checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451672  AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 408.00 m.BjcJjc纝 ProNav: ac range: 408.000000 m, nav range: 382.188843 m, bearing: 190.918471 deg, approach rate: 0.039501 m/s, LOS rate: -0.101147 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855158 deg. 2j Պ:j  @uHeadingCmd: 4.814581 target range: 408.000000 and range: 408.00 m. jqjqjqjqiqhqhyhyhyfyffrfbf M @ɛ |B'= ?I ;ɚiI.=IeimJjim{;)i)iH5<>I1 I5II5ƁBI59 =&I1.I16I5<:I5F*F?2F:FBF4JFzKM\"OKM+9KIKMKM/[~y+l I} #7[k:    BK]sA:K]sAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.702493G ^n;G ?G >G B O >3dw,F_7A hIlyMlBM0IIeeIe34٢ L 7=9Q >)1 5G٣1yE M> mNusing accuracyPremultiplier from configa}49ev?4Ye ie}B?eTCe;e;eՍ4 A Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj-DAT read: 19:47:19.2665 LVL= 26608, 32753, 24562, 32755, AGC= 69, IDX= 432, 0.39, 0.665,-0.630, 0.974, 0.105, PHS= 0.648,-0.688, 0.866, RAW= 157.4, -11.3, CAL= 163.1, -18.2, ROT= 346.9, 18.2 EFNOT Ignoring new targets: 408.00 m.Bj3ݺJj3ݺYgot valid direction response: 19:47:19.2665 LVL= 26608, 32753, 24562, 32755, AGC= 69, IDX= 432, 0.39, 0.665,-0.630, 0.974, 0.105, PHS= 0.648,-0.688, 0.866, RAW= 157.4, -11.3, CAL= 163.1, -18.2, ROT= 346.9, 18.2 PDAT read: Bearing 346.9, 18.2 (Local) ~Local bearing/azimuth received: Bearing 346.9, 18.2 (Local)  DAT read: Range 10 to 50 : 407.4 m (Round-trip 543.3 ms) speed 0.5 m/s  ProNav: ac range: 408.000000 m, nav range: 382.208160 m, bearing: 190.869594 deg, approach rate: 0.038218 m/s, LOS rate: -0.096694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828563 deg. 2j:j> @%HeadingCmd: 4.814116 target range: 408.000000 and range: 408.00 m. j!j!j!j!i!h!h)*DAT read: user:837> BDAT read: Tx time:19:47:20.3690 $Ping request sent.zCA?7}?M\x&ɿ}s= 隍?I tY <ɚiISs=Iiiȿ;)))L'?I/J>i򹿉:p5:publishing transmit ping timeؑ5Fpublishing direction and range info9!?H쿣Ha?y )Ii )IizCA?7}?M\x&ɿ)Ii*FA 2FA :FA BFE 2JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ ձ  JDAT read: TxSync time:19:47:20.3682 Ge o;G!B9Oe>'dw,ZUAFjg@YFv@Ft"|=9F& >yFHn8?`?@׺`4ٺ?`6??ɨFjg@Fʣ;FΐCyPP=Mb@Mb@Mb@999 9)9Y=7A`?S㥻?~jth?y9=/=9=@ =(@)=@I=@9y=@IdI?149';Q > G I٣y= > Nusing accuracyPremultiplier from config49v?4Y( iwB8?:e?~C<;<;;4 k-0p?k- η k) k-v?A:k-CBk-KCZk-X@"-X/E@4 vZ>f@-!?H쿣Ha?Jk-Rk-:p*- Hhw+ޢW.=^@-)\ynBnͿr|:a?"k-*k-Kk- Sr?k-F! 2k- (?I _<ɚiIڻ=Iiip;))yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFl4JFH=>I IIIBI&I.I6I<:I6FG1 G B O5 >zK @PK 9K K K *J %="J %=J J J J J M;J :J J J y6H!4?u?A,?䲿6鮿ঋ?4?ɨ6F@6@k;6АCyB_BB I F=F=IJNIJ@ 4٢fM f<9f'HQ f>hh jG٣j3Gyn/ n> vNusing accuracyPremultiplier from configpv49rv?z4Yr. irrBxz⧿z?rCr:r :rC4 _ AZj!-FNOT Ignoring new targets: 407.40 m.Bj-RJj5R ProNav: ac range: 407.399994 m, nav range: 382.251221 m, bearing: 190.780597 deg, approach rate: 0.051750 m/s, LOS rate: -0.109423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854195 deg. 2j1:j@HeadingCmd: 4.814564 target range: 407.399994 and range: 407.40 m. jjjjihhh!h!f!f!f)rf)bf-?ɛ|B= 隝?I i-<ɚiI4=Iiy9iUo;))*Fm?2Fi:FiBFme0JFi $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GO;GtAGrAG B O5 >0dw,80Ayr\BrIuMb@Mb@Mb@qqq q)qYud;O?Cl?~jtx?yu4?u;=u;uK@ u?@)uE@Iu@qyu@IOI 4٢O ==9Q > G٣y > Nusing accuracyPremultiplier from config49Bv?4Y6 imB6?:?C;;ˣ4B h AEZjFNOT Ignoring new targets: 407.40 m.BjJj ProNav: ac range: 407.399994 m, nav range: 382.273865 m, bearing: 190.734594 deg, approach rate: 0.052527 m/s, LOS rate: -0.106706 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837186 deg. 2jv:jz@HeadingCmd: 4.814267 target range: 407.399994 and range: 407.40 m. jjjjihhhh\|Bfffrfbf@\?ɛ5|B5= 15?I1 =C<ɚ9i9I=+;=IEiEȅiEU6;)A)I}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JF IRgG :G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.Zdw,x A2"@Y2S2@2zy=92} >y2H{?`?W@и? g* :?$?ɨ2"@2q;2ѐCyR`BR!IIZ<IZ3٢bO< bY=9bͭ:Q f>dd fG٣dyj[= j> rNusing accuracyPremultiplier from configlv49nv?v4Yn= iniBtv,v?nCn :n;n[4 I AEB*** querying acoustic contact ***jjZjH?>IC IfIIBI8 =&I.I5D6I<:I!FFNOT Ignoring new targets: 407.40 m.Bj?Jj?躝 ProNav: ac range: 407.399994 m, nav range: 382.292603 m, bearing: 190.694513 deg, approach rate: 0.047464 m/s, LOS rate: -0.101524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854950 deg. 2jY:j@HeadingCmd: 4.814577 target range: 407.399994 and range: 407.40 m. jjjjihhh h f f f rfbf?ɛE|BE= AE*?IA MU<ɚIiIIMt=IUiUTiUf#)Q)Y*F2F:FBFJFzK2KKػ9KKKJJJJJq;J:JJJ<J<JI<JI<}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G.A;GBO> I dw,C伒A6/.@Y6=@6gS=96v >y6Hq?2?]{`^ ?@'Xh?h?ɨ6/.@6;6ΐCy>]B>IIFvIF&Q4٢f` jM=9n;Q r>pp vG٣v3Gyvv\; v> zNusing accuracyPremultiplier from configx~49zBv?~4YzE izdB?zCz ;zq ;zy4  _ A Zj15FNOT Ignoring new targets: 407.40 m.Bj=DJj=DM ProNav: ac range: 407.399994 m, nav range: 382.313507 m, bearing: 190.651046 deg, approach rate: 0.053934 m/s, LOS rate: -0.112138 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844794 deg. 2jM뙻:jM@]HeadingCmd: 4.814400 target range: 407.399994 and range: 407.40 m. jajajijiiihqhyhhfffrfbf@@ɛ|Be= 隽?I pbi<ɚiIޱ=Iiij:))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.932177E *F2F:FBF|0JFG GsA)]F= ]ېCGxA  5 Y5xAy5BGG?G>GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183444mdw,C֒A6t0@Y6?@6}ۄ=96 >y6H ؂??:p ?@`ty?@?ɨ6t0@6;6ѐCyRZBRI AIAMMb@Mb@Mb@III I)IYM(\?1Zd?y&1|?yMz4?M"=M`;M&@ Ml@)Mr@IM@IyM@IeIeb4٢uO u==9u;Q }>yy }G٣yyl+: > Nusing accuracyPremultiplier from config49v?4YL i_B6?:Q?6C<<ฎ4! %v A!ZjquFNOT Ignoring new targets: 407.40 m.Bj}5Jj}5꺝 ProNav: ac range: 407.399994 m, nav range: 382.334747 m, bearing: 190.605906 deg, approach rate: 0.048177 m/s, LOS rate: -0.102380 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839775 deg. 2j:j@HeadingCmd: 4.814312 target range: 407.399994 and range: 407.40 m. jjjjihhhhx|Bfffrfbf@ɛ |B-!= )-?I) -X#<ɚ)i1I5 =I5i=i=x0:)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436467*F2F:FBFo0JFjH<bHp<HA>I IYIIBI7 =&I.I6IW<:I FBIyJI}ǝCRIyZI}9 =bI}9 =jI}65G% :G B O5 >J J J 2J J Q;J J c3J J M<J M<J J zK5 7KK5 9K1 K5 K5 dw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687643Z)@YZ]8@ZnΆ=9Z5 >yZH@G?? @Ƹ?_Wְ ?@?ɨZ)@Z`1;Z͐CyE^BMII]I]i4٢m~< mK=9m;Q m>qq uG٣qy}# }> Nusing accuracyPremultiplier from config49v?4YT iZBo?[C:X:迎4B N AEZjIuFNOT Ignoring new targets: 407.40 m.Bju%Jj}%󺝊 ProNav: ac range: 407.399994 m, nav range: 382.354858 m, bearing: 190.563018 deg, approach rate: 0.049843 m/s, LOS rate: -0.106288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846529 deg. 2j㑻:j@HeadingCmd: 4.814430 target range: 407.399994 and range: 407.40 m. jjjjihhhhff1f9rf9bfE@@ =$?I=Sgɛ]|B]L= ae?Ia e8<ɚiI(& =IiL=i-kM))*F=?2F9:F9BF=~0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939546G5 7:G B) OE >}dw,?s A(@Y8@p =9 >yHD?8? ?@H@?@Z?ɨ(@;АCyIMb@Mb@Mb@ )Ygfffff?V-?I +?y33?=94<b@ @)@I@y@ItIM4٢ 2';  3=9;Q > G٣3Gy؋ > -Nusing accuracyPremultiplier from config!-49%v?54Y%C\ i%UB55?5:5Ӧ5?%C%%;%;%ǎ49 EI AAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191796Zjq}FNOT Ignoring new targets: 407.40 m.Bj} Jj}  ProNav: ac range: 407.399994 m, nav range: 382.381927 m, bearing: 190.514550 deg, approach rate: 0.061295 m/s, LOS rate: -0.109742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829794 deg. 2j:jk @HeadingCmd: 4.814138 target range: 407.399994 and range: 407.40 m. jjjjihhhh|Bfffrfbf'K @ɛ|B4H> 7?I ,<ɚiI{^ =IiSi/))*F?2F:FBF0JF !I!G !G sAG tAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443531dw,P$AN!@YN<1@N=9Nv>yNH ?)?:u?ԴxT??ɨN!@NK;N͐CyZ`BZ!IIbsIbK4٢j< jw=9rc#;Q r?pt vG٣tyv% v? zNusing accuracyPremultiplier from configx49zAv?4YzBb izRB樂?zCz0;z;z͎4B > AE-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 407.40 m.BjEtJjEt󺝊U ProNav: ac range: 407.399994 m, nav range: 382.401581 m, bearing: 190.479340 deg, approach rate: 0.059406 m/s, LOS rate: -0.106423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869564 deg. 2jU:jU@HmC>ImC ImSIImBIm6 =&Ii.Ii6Im<:Im&FHeadingCmd: 4.814832 target range: 407.399994 and range: 407.40 m. jjjjihhhhf f f rf bf W @ɛ|Bd > 隥?I E<ɚiI =Iiik))*Fy2Fy:FyBF}o5JFG G"GGJJAAJJJJJJ:JJJJJG<JG<zK&`KK]9KKK]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.695513G B O5 > I dw,|+>A2@Y2-@2g=92A>y2H ?`?z`7J?9@z??ɨ2@2sN;0y>cB>%IIFIF1h4٢Nr< nN=9r;Q r>pp vG٣tyv v> zNusing accuracyPremultiplier from configx~49zv?~4Yzi izMB?zCz ;zC ;zԎ4  & AZj15FNOT Ignoring new targets: 407.40 m.Bj=JjE򺝊U ProNav: ac range: 407.399994 m, nav range: 382.425476 m, bearing: 190.436572 deg, approach rate: 0.059269 m/s, LOS rate: -0.106074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846891 deg. 2jU:jU@]HeadingCmd: 4.814436 target range: 407.399994 and range: 407.40 m. jYjYjajaiahahahihifififirfqbfu`@ɛ|B"> 隥Z?I ѧ<ɚiI =Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.950060IiiD*))*FY2FY:FYBFe4JFaGQBaO}>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.199605,dw, XA2i@Y2$@23΍=92t>y2H`+? w?R ?-`&??ɨ2i@2G;2ΐCy<@ PIT]Mb@Mb@Mb@YYY Y)YY]/$?y&1? G٣ys > Nusing accuracyPremultiplier from config49v?4Yp iKBw.?:9?C;l;8܎4B  AEZjFNOT Ignoring new targets: 407.40 m.BjJj躝 ProNav: ac range: 407.399994 m, nav range: 382.449432 m, bearing: 190.393190 deg, approach rate: 0.056126 m/s, LOS rate: -0.101632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845049 deg. 2j:j@HeadingCmd: 4.814404 target range: 407.399994 and range: 407.40 m. j j j j i h h hh|Bfffrf!bf%4@ɛM|BU6> Y]?IY ]-в<ɚYiYI]r =Ieieie )i)i*F2F:FBF`0JFG1G5 ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.452773GB O5->ZHQRHU>AH]E>IY I]MII]BI]5 =&IY.IY6I]K<:I] Fjdw,qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7034926l@Y6%@6Ϗ=96>y6H?@E?# ?,o@.?`N?ɨ6l@6?L;6̐CzKN+KKN 9KLKNKNyVfBV(IIbIbm4٢jY< jV=9n';Q r>pp rG٣r3Gyv+9 v> zNusing accuracyPremultiplier from configx~49zw?~4Yzw izHB6?zCz~ ;z ;z4   A ZjFNOT Ignoring new targets: 407.40 m.Bj*ݺJj*ݺu ProNav: ac range: 407.399994 m, nav range: 382.471100 m, bearing: 190.354352 deg, approach rate: 0.053940 m/s, LOS rate: -0.096679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858680 deg. 2ju:ju@}HeadingCmd: 4.814642 target range: 407.399994 and range: 407.40 m. jyjyjyjyiyhhhhfffrfbf{@ɛ{|B6>  ?I) -߽<ɚ)i1I5 =I5i=hi=uG)9)9 ITg*F2F:FBFJFGBOF>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.955555dw,A2@Y20@2* =92V>y2H@}??a`ȷ? ߋ@@e??ɨ2@2;2͐CyBbBB#IUMb@Mb@Mb@QQQ Q)QYU(\?J +? rh?yU'?U=UC G٣yR > Nusing accuracyPremultiplier from config49w?4Y~ iDB)?:f?2C;;S4  AZjFNOT Ignoring new targets: 407.40 m.BjJj ProNav: ac range: 407.399994 m, nav range: 382.489960 m, bearing: 190.312242 deg, approach rate: 0.046529 m/s, LOS rate: -0.103884 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848862 deg. 2j:j%@HeadingCmd: 4.814471 target range: 407.399994 and range: 407.40 m. jj j j i h h hh?}Bfffrfbfd@ɛEw|BMM > IM?II M<ɚIiQIUAK=I]i]i]!#,)Y)YJJJ1JJJu:J3Ja@a@a@a@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.208279*F?2F:FBFi0JF $?IG;GGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.459497dw,A6@Y6V@6=96H>y6Hu??q` ? ǵ`[g? ?ɨ6@6;4ybfBf(I ja=ja=IrIrm4٢zޝ< zT=9zn!;Q z>H F>I  I SII BI 4 =&I .I 6D6I P<:I  F|! %G٣!y% %> 5Nusing accuracyPremultiplier from config)549- w?=4Y-V i-AB9=j=?-SC->/;-A;-#4I M AQmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 407.40 m.BjJjẝ ProNav: ac range: 407.399994 m, nav range: 382.507416 m, bearing: 190.273644 deg, approach rate: 0.044651 m/s, LOS rate: -0.098727 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859397 deg. 2j:j@HeadingCmd: 4.814655 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf@ɛt|B > ?I 5<ɚiI6r=I i1i))*FM?2FI:FIBFMo0JFQG%i"GBO J>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.711605zKyK}9KyK}K} q Iq !dw,tA2 @Y2@2|˔=92>y2Hmb?z?@-ॾ`E?`???ɨ2 @2a;2ϐCyBaBB"IIJ{IJZ4٢f(ȼ fL=9j;Q j>hl nG٣n3GyrA r> vNusing accuracyPremultiplier from configtz49vCw?z4Yv iv>B|~ru?vtCvK IM0?II M<ɚIiIIMz=IUiU`i]B=)Y)Y*F?2F:FBFJFGm*Gu?Gu>JKY3 K.KK"KJJJJJ;J:JJM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=6.215767GY Ba O} > a Ie Ugdw,ٓA2P @Y2@20=92">y2H_?`?ټ"h?\5`mвD??ɨ2P @2 ;2̐CyB]BFI%Mb@Mb@Mb@!!! !)!Y%jt?ʡE?I +?y% ?%-=%9<%@ %@)%@I%/@!y%@I5I54٢E MA=9MW ;Q M>QQ UG٣QyU# ]> eNusing accuracyPremultiplier from configam49ew?u4Ye ie;Buf"?u:uu?eCe9;e7;em4B 9 AEZj!-FNOT Ignoring new targets: 407.40 m.Bj-ٺJj-ٺe ProNav: ac range: 407.399994 m, nav range: 382.540375 m, bearing: 190.194451 deg, approach rate: 0.036026 m/s, LOS rate: -0.095118 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855051 deg. 2je:je@mHeadingCmd: 4.814579 target range: 407.399994 and range: 407.40 m. jijijijiiqhqhhhJ}Bfffrfbf`@ɛm|B> 隍?I -<ɚiI=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.467708*F?2F:FBFJFjHbH<HG>I III&IGD.I6Iz<:IFG ?G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.719427E9dw,EA:@Y:p@:=9:>y:HIu?ƍ? ıA@s? v. ?&?ɨ:@:;8yFXBFIzKJ/KKJ9KHKJKJPPIZIZv}4٢^#ؼ bT=9b(;Q b>dd fG٣dyje: j> nNusing accuracyPremultiplier from configlr49nQw?r4Yn' in8Btv󪿑v?nCn:ne ;n)4x zb A|ZjFNOT Ignoring new targets: 407.40 m.BjkֺJjkֺ ProNav: ac range: 407.399994 m, nav range: 382.554443 m, bearing: 190.157893 deg, approach rate: 0.036071 m/s, LOS rate: -0.093730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865515 deg. 2j:j@-HeadingCmd: 4.814762 target range: 407.399994 and range: 407.40 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf=@ɛj|B> ?I I <ɚ!i!I%=I-i-i-!()))1E=tAE=tA*F ?2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.971504G5 OP ~G 5 #Y1 y5 AG BA Ou >ew, A6 @Y6@67=96q>y6Ha?B? ~?SB??ɨ6 @6w;4y>SB>I-^only read 0 of 1 data item for BIT error. Device response is::TS,250108135.0, +10.9,4  ^@^ ^@^ ^@^  ^@^ IfIfa4٢jUͼ nJ=9r:Q r>pt vG٣v3Gyv> v> ~bBottom track data is 0.4 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx49z\"w?4Yz iz6B+:  :  ?zCz ;;z >z 4  AZjFNOT Ignoring new targets: 407.40 m.BjsۺJjsۺ ProNav: ac range: 407.399994 m, nav range: 382.569336 m, bearing: 190.119446 deg, approach rate: 0.037160 m/s, LOS rate: -0.095929 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859851 deg. 2j:j@HeadingCmd: 4.814662 target range: 407.399994 and range: 407.40 m. jjjjih h h h fff1rf9bf=@J}J}J}2JyJ}̈́;J}F:J}c3Jyɛg|B\> ?I *<ɚiI`=Iiqi<))%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.226517*F2F:FBF0JF"Ge>G= IG*GtAGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.475490D ew,L&AHZI>IX IZMIIZBIZ3 =&IX.IX6IZ(<:IZ FBImCJImCRIiZIm4 =bIm4 =jIm#5yrFBrIIzIzq4٢Հ G=9 Q  >   G٣y > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config549t'w?54Yd i3B5 :15[:9=?C ;Q?4I M AQ}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 407.40 m.Bjz޺Jjz޺ ProNav: ac range: 407.399994 m, nav range: 382.584564 m, bearing: 190.080638 deg, approach rate: 0.038164 m/s, LOS rate: -0.097252 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858769 deg. 2j|:j@HeadingCmd: 4.814644 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf@ű@ɛd|B:P> ?I 2=ɚiI/=Ii< i?:))*F!2F!:F!BF-1JF)%Will construct direction to contact in vehicle frame from tetrahedron phase data.%=%%=-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.727893zKKػ9KKK  I Gi GA BI O} >R1ew,@AB@YB !@B3=9B>yBHɈ?Q?@`?XQ?c?ɨB@BG;@yNBBNI V=V=IZIZa4٢b\ bN=9bh;Q b>dd fG٣dyf: j> rbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv49ng,w?v4Yn׬ in0Bv9tv1:z調uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.979511}?nCn*> Y]m?Ia e =ɚaiaIeS=Imimim)i)q*F 2F:FBF0JFJJJJJi;J:JJ- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.232212GU OP $?I VgG1 B9 O] >]ew,5ZA6u@Y6'@62=96I>y6H  G٣3Gy: > Nusing accuracyPremultiplier from config491w?4Y i+BT:?:?:CP;b6;4B ^ AEZjamFNOT Ignoring new targets: 407.40 m.BjuEںJjuEں ProNav: ac range: 407.399994 m, nav range: 382.617920 m, bearing: 190.003816 deg, approach rate: 0.044436 m/s, LOS rate: -0.095414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857630 deg. 2j:jf@HeadingCmd: 4.814624 target range: 407.399994 and range: 407.40 m. jjjjihhhh}Bfffrfbf} !@ɛ_|B<> 隭?I  =ɚiI=I i _i mѺ) )}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.483866*F2F:FBF_5JFGtA GsAZHRHAAHI I@IIzBI&I.I6I{<:IFG pG ?G ?G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.735632ew,otAb\@Yb'@b\=9bJ>ybH8? ? =@9ѷ?T 곿?q?ɨb\@bLj;b̐Cyr&BrIIzIz<4zK~JK~9K|K~K~٢䯽 O=9Е:Q >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)549-h6w?54Y-^ i-&B99=?-WC-6;-;-"4A M AIZjiuFNOT Ignoring new targets: 407.40 m.BjuϺJjuϺ ProNav: ac range: 407.399994 m, nav range: 382.633911 m, bearing: 189.969788 deg, approach rate: 0.042700 m/s, LOS rate: -0.090858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873107 deg. 2jky:j@HeadingCmd: 4.814894 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf!@ɛ]|BD> ؽ?I =ɚQiQIUX=I]i]i]xߺ)a)a I*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.987524G5i"G B1 OU >h#ew,jLA:z@Y:.@:=9:1>y:H`C?`?`@?l9??ɨ:z@:D;:ːCyFBJILNAEMb@Mb@Mb@AAA A)AYEA`"?{Gz?qq uG٣qy}[ ; }> Nusing accuracyPremultiplier from config49S;w?4Yƿ i!Bx?:骿?wC;{;)4  AZjFNOT Ignoring new targets: 407.40 m.BjͺJjͺ ProNav: ac range: 407.399994 m, nav range: 382.649384 m, bearing: 189.932398 deg, approach rate: 0.037198 m/s, LOS rate: -0.089890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863020 deg. 2jv:j+@HeadingCmd: 4.814718 target range: 407.399994 and range: 407.40 m. jjjjihhhh}Bfffrfbf`k"@ɛ[|BU^>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.239626 Ը?I S =ɚiIh Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.491588)ew,('AH&K>I&C I&'II&fBI$&I$.I$6I&<:I&4FV%!@YV0@V=9V >yVHB?Z?`?`[7q?@?ɨV%!@Vr;VʐCyfBfII~I~4٢: P=9%:Q %>)) -G٣-3Gy5: 5> MNusing accuracyPremultiplier from configAU49E@w?U4YE iEBᪿ?ECE6 隅Ƕ?I u=ɚiIQPz0ew,h”A:&@Y:Z6@:0=9:@ >y:HS0?@*?x@`9? A˷W?!?ɨ:&@:b;:̐CyFBFIININ4٢V9 ZQ=9Z:Q ^>`d fG٣dyje: v> Nusing accuracyPremultiplier from config| 49~Dw?4Y~ i~B!%ʪ%?~C~?;~i;~74) - A1]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=9.996031ZjQmFNOT Ignoring new targets: 407.40 m.Bj}غJj}غ ProNav: ac range: 407.399994 m, nav range: 382.679596 m, bearing: 189.861153 deg, approach rate: 0.040449 m/s, LOS rate: -0.094449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868512 deg. 2j:j@HeadingCmd: 4.814814 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf,$@ɛW|B#o> x?I I=ɚiI a Ia T6ew,۔AyBI 5=5=Mb@Mb@Mb@ )YS?Mb?~jtx?y?=;@ )@I@y@I5I5v}4٢EJ E3=9EQ U>ai uG٣qy} }> Nusing accuracyPremultiplier from config49Jw?4Y iB~?:?C7%;";?4B  AEZjFNOT Ignoring new targets: 407.40 m.BjѺJjѺ ProNav: ac range: 407.399994 m, nav range: 382.703674 m, bearing: 189.819688 deg, approach rate: 0.053262 m/s, LOS rate: -0.091715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850800 deg. 2j{:jl@HeadingCmd: 4.814505 target range: 407.399994 and range: 407.40 m. jjjjihhhhi}Bfffrfbf Y%@ɛU|B> ?I ?0%=ɚiIM^*Ju C="Jq J} J} J} 1Jy J} ;J} v:J} 3Jy J} <J} <J} i:<J} i:< Will construct direction to contact in vehicle frame from tetrahedron phase data. yFH@+? ?}]/? v귿ve? ?ɨFk&@Fe;DybɀBfgII I )4٢_  ]`=9ew:Q e>ii mG٣m3Gym0F u> Nusing accuracyPremultiplier from config49Ow?4Y i B?Cs;b;F4  A $?IWgzKN KKKKKRKU ?JKU?ZjYeFNOT Ignoring new targets: 407.40 m.Bje3ǺJje3Ǻ ProNav: ac range: 407.399994 m, nav range: 382.723511 m, bearing: 189.785767 deg, approach rate: 0.050923 m/s, LOS rate: -0.087078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873428 deg. 2j o:j@HeadingCmd: 4.814899 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf5%@ɛT|B > !%ħ?I! %8D)=ɚ!i!I% BDAT read: Tx time:19:47:31.3191 $Ping request sent.G) BQ O >1Cew,A6+(@Y67@6=96& >y6H@a9??G]`#'C?`U귿{}?@?ɨ6+(@6.ڇ;6ʐCyBBBJIMMb@Mb@Mb@III I)IYM~jt?Cl?~jthyM$?M;=MDM@ M@)IIM@IyM@IeIeF4٢uA uE=9}E'9Q }>yy G٣y : > Nusing accuracyPremultiplier from config49Uw?4Y iB&?:?CS;NR; M4 AEZjFNOT Ignoring new targets: 407.40 m.BjJj㺝% ProNav: ac range: 407.399994 m, nav range: 382.750641 m, bearing: 189.746744 deg, approach rate: 0.069267 m/s, LOS rate: -0.099623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858127 deg. 2j%:j%x@-HeadingCmd: 4.814632 target range: 407.399994 and range: 407.40 m. j)j)j)j)i)h)h1hQhU0}BfQfYfYrfYbf]+&@ɛS|B> 隍?I A-=ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՍ A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501106G B O >RIew,t)AH}M>Iy I}II}BI}0 =&Iy.Iy6I}<:I} FV"@YV<2@Vuբ=9V!_ >yVH`?ؐ?`-?簷1U{0??ɨV"@VI0;VǐCyjBj;ItvAI~}I~]4٢~ P=9%Q %>!) -G٣)y-׺ -> =Nusing accuracyPremultiplier from config1=495j[w?E4Y5 i5BAE E?57C5 ;5;5S4I MAQZjqFNOT Ignoring new targets: 407.40 m.BjnJjnẝ- ProNav: ac range: 407.399994 m, nav range: 382.777130 m, bearing: 189.708647 deg, approach rate: 0.068523 m/s, LOS rate: -0.098544 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860902 deg. 2j-B:j-@5HeadingCmd: 4.814681 target range: 407.399994 and range: 407.40 m. j1j9j9j9i9h9h9hAhAfAfAfIrfIbfMr'@ɛR|B*=> 隽 ?I Pp1=ɚiIcSEe>JMfJMJIJIJMp;JM:JIJIJM<JM<JM,<JM,<*Fe?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753141 IzKMUKKIKIKMKM    Ge zQGA Ba O >Pew,yJH삺?`ǔ?M θ?C@??ɨJ @J҇;JȐCyVBV II^I^b4٢f[ݽ fO=9fGQ f>hh jG٣j3Gyn n> vNusing accuracyPremultiplier from configpv49r4aw?z4Yr irBxzRz?rXCr:r:rZ4 AB*** querying acoustic contact ***jjUWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009016) ZjFNOT Ignoring new targets: 407.40 m.%~~G=vAI }Y}vAy}?ABjpԺJjpԺ  ProNav: ac range: 407.399994 m, nav range: 382.803314 m, bearing: 189.670483 deg, approach rate: 0.063719 m/s, LOS rate: -0.092865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860704 deg. 2j ~:j @HeadingCmd: 4.814678 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrf!bfyk(@ɛQ|B= ?I E`6=ɚiI9Wew,K^AN@YNC@Np=9N>yNH2?@?[`??㶿ɳ^?`?ɨN@N#;NʐCy^wB^IMb@Mb@Mb@ )YHzG?ʡE?Mb`y=*?= @)@I@y@IcIy/4٢"׽ 6=9 Q > G٣y3 > Nusing accuracyPremultiplier from config49.hw?4Y3 iB,?:?C];j;b4B FAEZj  FNOT Ignoring new targets: 407.40 m.BjGJjG% ProNav: ac range: 407.399994 m, nav range: 382.835968 m, bearing: 189.625305 deg, approach rate: 0.075291 m/s, LOS rate: -0.104159 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839665 deg. 2j%:j%@-HeadingCmd: 4.814311 target range: 407.399994 and range: 407.40 m. j)j)j)j1i1h9h9h9h=|BfAfAfArfIbfM)@ɛP|B] > Ó?I (9=ɚiIIC ILIIBI. =&I.I8D6I7<:I FBI%şCJI%şCRI%ŔCZI%2 =bI%1 =jI%5O`>J ZJ J J J ;g;J ":J J J <J <J B&<J B&<u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760314\]ew,xAJf@YJ@Jzş=9J 5>yJH@v?h?mշ?` ?'?ɨJf@JR};J̐CyZcBZI b=ba=IfIf4٢nҽ nY= pIrXg9%':Q ->)) -G٣)y50; 5> ]Nusing accuracyPremultiplier from configYe49]:nw?e4Y] i]Bimm?]C]C:]e:]i4q uAzKLK9KKKZj FNOT Ignoring new targets: 407.40 m.Bj;ݺJj;ݺ- ProNav: ac range: 407.399994 m, nav range: 382.864655 m, bearing: 189.586317 deg, approach rate: 0.071160 m/s, LOS rate: -0.096708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858231 deg. 2j-:j-|@5HeadingCmd: 4.814634 target range: 407.399994 and range: 407.40 m. j1j1j1j1i9h9h9h9hAfAfAfArfAbfM])@ɛ-O|B-> 15?I1 52==ɚ1i1I=Gdew,󑕵A2@Y2"@2;=92>y2Hn?`?`)ս~4? g?~?ɨ2@2<;2ʐCy>OBBIMb@Mb@Mb@ )YM?X9v?~jthyn2?=D )I&@y@I!I!٢= =D=9=f:Q E>AA EG٣E3GyML: M> UNusing accuracyPremultiplier from configQ]49Utw?]4YU iU؇Be5?e:e"e?UCU;U';Up4i mA E5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264547ZjQUFNOT Ignoring new targets: 407.40 m.Bj]Jj]꺝 ProNav: ac range: 407.399994 m, nav range: 382.894806 m, bearing: 189.543892 deg, approach rate: 0.072909 m/s, LOS rate: -0.102581 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847921 deg. 2ǰ:j@HeadingCmd: 4.814455 target range: 407.399994 and range: 407.40 m. jjjjihhhh|Bfffrfbf`S*@ɛ~"= ?I @=ɚiI ]njew,AH2a>I2C I2II2BI2* =&I0.I29D6I2<:I2 FB@YB&@B9=9B1=yBH@?? 'ڹa?I0`! W?`?ɨB@B;BːCyr@BrIIzIzb4٢S  N=9 h:Q  > G٣y: > -Nusing accuracyPremultiplier from config!-49%{w?54Y%/ i%χB155?%C%:%7:%w49 EAAZjq}FNOT Ignoring new targets: 407.40 m.Bj}Jj} ProNav: ac range: 407.399994 m, nav range: 382.924805 m, bearing: 189.502183 deg, approach rate: 0.080125 m/s, LOS rate: -0.111394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850070 deg. 2j嘻:jQ@HeadingCmd: 4.814492 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf`z+@ɛ= *?I C=ɚiI=DM<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769806 IGb(zK-V$KK-]9K)K-K- !'  GiByO>kUqew,ŕAJX@YJ@J~}=9JVe=yJH`zu?@Ɲ?\ٺ?In @,?`m?RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020507ɨJX@Jn;JɐCyZ.BZI``IfIf44٢n nM=9rlQ r>pp rG٣tyv v> zNusing accuracyPremultiplier from configx~49zpw?~4YzL izƇB.?z CzC ;z ;zz~4~B A%EmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 407.40 m.BjJj꺝 ProNav: ac range: 407.399994 m, nav range: 382.954742 m, bearing: 189.460473 deg, approach rate: 0.073603 m/s, LOS rate: -0.102539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850066 deg. 2j:jHeadingCmd: 4.814492 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf`K,@ɛiuL= qu?Iq }kG=ɚyiyI};- I wew,PsߕA6d@Y6@63=96s=y6H`>?`=?(@ԻU? 綿@ﳿC?`?ɨ6d@6;6ʐCyB&BBIEMb@Mb@Mb@AAA A)AYE1Zd?Zd;?MbpyE";?E=EE@ E@)EC@IES@AyEz@I]I](4٢m mA=9u~Q u>qq }G٣}3Gy} }> Nusing accuracyPremultiplier from config49kw?4Y> iB=?:?4C;7;݅4 AZjFNOT Ignoring new targets: 407.40 m.BjJj ProNav: ac range: 407.399994 m, nav range: 382.987030 m, bearing: 189.413932 deg, approach rate: 0.078154 m/s, LOS rate: -0.112646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835576 deg. 2j:j?@HeadingCmd: 4.814239 target range: 407.399994 and range: 407.40 m. jjjjihhhhf f f rf bf-@ɛAEb= AE?IA MJ=ɚIiIIMIC IIIXBI' =&I.I:D6I<:I FG*GqByO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776438W}ew,]A (I6YgA@Y @1=9]=yHι?m?@ͽnO? ䷳`X?@1?ɨA@+;yBII5I54٢=Ͼ E==9E[Q E>IIzKM9LKM 9KIKMKM  ]G٣YyeL e> mNusing accuracyPremultiplier from configi}49mw?}4Ymg imB?m^Cmҿ;m;mr4 dAZjFNOT Ignoring new targets: 407.40 m.BjJj캝 ProNav: ac range: 407.399994 m, nav range: 383.019867 m, bearing: 189.366157 deg, approach rate: 0.071107 m/s, LOS rate: -0.103444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831876 deg. 2j:j @HeadingCmd: 4.814174 target range: 407.399994 and range: 407.40 m. jjjjihhhhfffrfbf'.@ɛ= 隕%u?I [qN=ɚiI BDAT read: Tx time:19:47:35.3691 $Ping request sent.ڹڹ۽z-?<Ԯk?n m|1ɿ)۽]?I۽N>i۽3۽k۹۹:publishing transmit ping timeءFpublishing direction and range infoع9ؽ#A(,~?`na?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽z-?<Ԯk?n m|1ɿ)۹I۹i۹۹۹۹G ]UG B! O= >ew,F Anx@Yn@nH=9nq=ynHu?@?⼿2` ?{g? ?ɨnx@n[;n̐Cy5 B5I Ep=E=JEJJJJV;J\:JJ-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:19:47:35.3683 aIaMb@Mb@Mb@ )Y1Zd?)\(?yG=@ &@)I@yp@II(4٢ü 3=9Q >   G٣ y +  > ]Nusing accuracyPremultiplier from confige49w?e4Y( iBe>=?e:e>m?Cm ;G ;k4q uAuEk<?kd k k)xA:kCBk3CZkX@"]R+RE@*seux_ٓh@#A(,~?`na?Jk3Rkk*5|SFv~.gV+ UBb@}H쿈SͿLr~.?"k*k2kHE?kt 2kVCkc?kF! kQCkdCk0oW@ addTargetRange:: Added new target pos. range: 397.100006 m, deltaT: 15.118756 s, deltaX: -10.299988 m, approachRate: -0.681272 m/s, rangeRepo size: 4  Added new target pos. range: 397.100006 m, bearing: 194.221874 deg, lat: 36.900873 deg, lon: -122.115902 deg, deltaT: 15.118756 s, deltaX: -10.299988 m, approachRate: -0.681272 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 397.10 m.BjJjU ProNav: ac range: 397.100006 m, nav range: 380.788666 m, bearing: 192.866840 deg, approach rate: 0.000000 m/s, LOS rate: -0.103444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829710 deg. 2jY:j]h @eHeadingCmd: 4.814137 target range: 397.100006 and range: 397.10 m. jajajajaiahahhh|Bfffrfx@bfM?ɛ%P|Be*= im4r?Ii mw5R=ɚiiiImI C I II :BI # =&I .I ;D6I <:I FG G B O >|ew,-0AFܒ@YF3@FX=9F>yFH 9?#?`@`S?@u*`f;RC?@E?ɨFܒ@FBf;FɐCy^B^wIIvIv:4٢~ d=9cQ >    G٣ 3Gy ۻ > Nusing accuracyPremultiplier from config%49w?%4Y/ iB!%%?Ca;r;49 =AAZjamFNOT Ignoring new targets: 397.10 m.BjuJj} ProNav: ac range: 397.100006 m, nav range: 380.794434 m, bearing: 192.827168 deg, approach rate: 0.018172 m/s, LOS rate: -0.124991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856171 deg. 2j:j1@HeadingCmd: 4.814599 target range: 397.100006 and range: 397.10 m. jjjjihhhhfffrfbf?ɛ> n?I .[T=ɚiIpzKmgLKm9KiKmKme Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia bew,uJAJB̒@YJۙ@JP=9J>yJHc?H?@20`?`5Ƶ??ɨJB̒@J냉;JȐCyVBZnIIbIb҅4٢j jM=9n^ll rG٣pyr r> vNusing accuracyPremultiplier from configtz49vw?~4Yv>7 ivB|~ҩ~?vCv;v;v4}B A E%B*** querying acoustic contact ***j!j!ZjFNOT Ignoring new targets: 397.10 m.BjJj ProNav: ac range: 397.100006 m, nav range: 380.800476 m, bearing: 192.782982 deg, approach rate: 0.015248 m/s, LOS rate: -0.111500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842632 deg. 2j :jA@HeadingCmd: 4.814362 target range: 397.100006 and range: 397.10 m. jjjjihhhhfffrfbf ?ɛuQ|Bu= y隅j?I JW=ɚiIŻ≘ew,BcA>@Y>f@>$w=9>J=y>H?@G?|ѽ@$?i=?ͫ?ɨ>@>ˉ;>ːCybBbrIdfAUMb@Mb@Mb@QQQ Q)QYUZd;?S㥻?Mb`?yU9?U/=U;Q US@)U@IQQyU@ImIm4٢< ?=9GoQ > G٣yy > Nusing accuracyPremultiplier from config49*w?4YF? iB;?:?C;;4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482839ZjFNOT Ignoring new targets: 397.10 m.BjJj  ProNav: ac range: 397.100006 m, nav range: 380.805511 m, bearing: 192.735788 deg, approach rate: 0.011093 m/s, LOS rate: -0.103968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833606 deg. 2j :j  @=HeadingCmd: 4.814205 target range: 397.100006 and range: 397.10 m. j9j9j9j9iAhAhAZHqRHuAAhIh|Bfffrfbf?Hw>IC III%BI! =&I.I6I<:I Fɛ R|B = ml?I Z=ɚiI ew,}A2@Y2ƙ@2x=928h=y2H?M?`@a?c% N??ɨ2@2N;2ɐCyRBReIIZIZ4٢bd bX=9b:Q f>dd fG٣f3Gyj ; j> rNusing accuracyPremultiplier from configlr49nw?v4YnXF inBtvdv?nCn:n:n4| /AZj!-FNOT Ignoring new targets: 397.10 m.Bj-Jj5E ProNav: ac range: 397.100006 m, nav range: 380.810394 m, bearing: 192.694234 deg, approach rate: 0.013867 m/s, LOS rate: -0.118014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850527 deg. 2jE:jEb@MHeadingCmd: 4.814500 target range: 397.100006 and range: 397.10 m. jIjIjIjIiIhQhQhQzK]KK]+9KYK]K] hQfffrfbf ?ɛeS|Be75= imf?Ii m]=ɚiiiImHgJK3 K(.KK"KJ= ;J= J= 1J9 J= O;J= S:J= 3J9 Қew,A6@Y6tř@6GE=96(=y6H@[??PμZ? eXIJޕ? ?ɨ6@6Έ;6ʐCy>BBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238170>bI AIAEMb@Mb@Mb@AAA A)AYEn?|?5^?Mb?yE6?E=E G٣yҹ > Nusing accuracyPremultiplier from config49Cw?4YN iB7?: ?FC; ;ظ4 BA EZjFNOT Ignoring new targets: 397.10 m.Bj%&Jj%&5 ProNav: ac range: 397.100006 m, nav range: 380.814911 m, bearing: 192.643740 deg, approach rate: 0.009664 m/s, LOS rate: -0.108038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823709 deg. 2j5J:j5 @=HeadingCmd: 4.814032 target range: 397.100006 and range: 397.10 m. j9j9j9j9iAhAhAhAhM|BfIfIfQrfQbfUe@ɛT|BT= 隅Ue?I `=ɚiIS6I C I II BI  =&I .I ƫew,aA:߸@Y:=ș@:& =9:=y:H`Oɷ??J`1b? CݲW??ɨ:߸@:;:ǐCyFBFfI N=Np=IRIRפ4٢ZV< Zk=9Z:Q ^?`` bG٣`yfB: f? jNusing accuracyPremultiplier from confighn49j w?n4Yj0U rtIij|Bprr?jfCj%;j%;jǾ4v{B vAzEZjFNOT Ignoring new targets: 397.10 m.BjJj- ProNav: ac range: 397.100006 m, nav range: 380.818451 m, bearing: 192.607081 deg, approach rate: 0.010464 m/s, LOS rate: -0.108361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865211 deg. 2j-:j5|@5HeadingCmd: 4.814756 target range: 397.100006 and range: 397.10 m. j1jAjAjAiAhIhIhIhIfQfQfQrfQbf]@@ɛV|B6= 隝f?I Qc=ɚiI] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997914ew,9˖A@YǙ@W=9S=yHƷ?`?` #mZ? @沿O? ?ɨ@;ȐCyޥBޭrIMb@Mb@Mb@ )Y/$?J +?y&1?y,?=`e<3@ @)@I@y@II4٢= =99Q > G٣3Gy5 > Nusing accuracyPremultiplier from config%49w?-4Y3_ iuB--?5:5 5?CG;K;ȏ4A MAIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251041JJqJJJJ:JJ B*** querying acoustic contact ***j j  E$?IIZjYeFNOT Ignoring new targets: 397.10 m.BjeܺJjmܺ ProNav: ac range: 397.100006 m, nav range: 380.824280 m, bearing: 192.548285 deg, approach rate: 0.009558 m/s, LOS rate: -0.096407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798800 deg. 2jS:j@HeadingCmd: 4.813597 target range: 397.100006 and range: 397.10 m. jjjjihQhQhYh]"}BfYfYfarfabfeA @ɛX|Bc= 隵j?I h=ɚiICIC III =&IFD.I=D6I<:I FGBO?ew,^i억A5긒@Y5Hș@5j=95=y5H@ɷ?ϣ? Q?@ A첿п??ɨ5긒@5I{;1yޝBޝnIII"4٢x T=9 m9Q > G٣y8 > Nusing accuracyPremultiplier from config49w?4Ye ipB ?C ;e ;|Ϗ4 AZj!-FNOT Ignoring new targets: 397.10 m.Bj-Jj-= ProNav: ac range: 397.100006 m, nav range: 380.828369 m, bearing: 192.509445 deg, approach rate: 0.011769 m/s, LOS rate: -0.111774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858670 deg. 2j=k:jE@EHeadingCmd: 4.814642 target range: 397.100006 and range: 397.10 m. jIjIjIjIiIhIhIhQhQfQfQfYrfYbf]r; @ɛZ|Bw> 隍h?I evj=ɚiIzK /KK 9K K K $K!*-,.(" {tqlgc_[WROKKFBA=:0//.,'%&wew,}%A^O@Y^Й@^f=9^j>y^H ?á?`xXz?ֵ@V?,?ɨ^O@^;\yfBfxIlnAIrIrb4٢z%= zY=9~ʕ:Q ~> G٣yv2;  > Nusing accuracyPremultiplier from config 49 w?4Y \l i lB? C ` ;  ; ֏4) -A)ZjIUFNOT Ignoring new targets: 397.10 m.BjUJj]꺝m ProNav: ac range: 397.100006 m, nav range: 380.832794 m, bearing: 192.471017 deg, approach rate: 0.011812 m/s, LOS rate: -0.102579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859903 deg. 2jm̌:jm@uHeadingCmd: 4.814663 target range: 397.100006 and range: 397.10 m. jqjqjqjqiqhyhyhyhyfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:47:38.2968 LVL= 23072, 26289, 21074, 32755, AGC= 65, IDX= 381,-0.49, 3.025, 1.762,-2.985, 2.456, PHS= 0.656,-0.647, 0.839, RAW= 156.5, -12.1, CAL= 162.6, -18.9, ROT= 347.4, 18.9 Ygot valid direction response: 19:47:38.2968 LVL= 23072, 26289, 21074, 32755, AGC= 65, IDX= 381,-0.49, 3.025, 1.762,-2.985, 2.456, PHS= 0.656,-0.647, 0.839, RAW= 156.5, -12.1, CAL= 162.6, -18.9, ROT= 347.4, 18.9  PDAT read: Bearing 347.4, 18.9 (Local)  ~Local bearing/azimuth received: Bearing 347.4, 18.9 (Local) DAT read: Range 10 to 50 : 392.6 m (Round-trip 523.5 ms) speed 0.4 m/s *DAT read: user:840> %BDAT read: Tx time:19:47:39.4192 %$Ping request sent.%5@)[䨾IW@i[>J4>)? #q?^Yʿ)#?IpW>iݷ.:publishing transmit ping timeiIF)? #q?^Yʿ)Ii*Fm?2Fi:FiBFm`0JFiGmI6G) B9 OM >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:19:47:39.4184 I (ew," Af ǒ@Yf~֙@f=9f>yfH:??`?徿>զ?I7`??ɨf ǒ@fÈ;dyrBrtI%Mb@Mb@Mb@!!! !)!Y%x&1?bX9ȶ? rh?y%!?%E=%C<%QA %@)%@I%@!y%@I]I]ƕ4٢Y .=9C:Q > G٣3Gy^: > 5Nusing accuracyPremultiplier from config)=49-w?=4Y-t i-gB=1#?=:==?-C-;-;-Vޏ4mzB mAu EkD)!?k k k A:kLCBkCZkaX@"vHuG@g>1u>F,f@ ?KvJ쿃-?JkݷRk.*:vaAVq4e_@9T}V] kͿ0P?"kW*kkGU?k 2k?Ckp/?k, kkCkչW@- addTargetRange:: Added new target pos. range: 392.600006 m, deltaT: 4.036714 s, deltaX: -4.500000 m, approachRate: -1.114768 m/s, rangeRepo size: 4 = Added new target pos. range: 392.600006 m, bearing: 194.213871 deg, lat: 36.900949 deg, lon: -122.115933 deg, deltaT: 4.036714 s, deltaX: -4.500000 m, approachRate: -1.114768 m/s, posRepo size: 4 ZjAeFNOT Ignoring new targets: 392.60 m.BjmJji ProNav: ac range: 392.600006 m, nav range: 373.172638 m, bearing: 193.127878 deg, approach rate: 0.000000 m/s, LOS rate: -0.102579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822238 deg. 2j:jW @Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 4.814006 target range: 392.600006 and range: 392.60 m. jjjjihhhh}Bff f rf x@bfc?H>I III&I.I6I<:I Fɛ^|Bl= j?I Uq=ɚiI} Will construct direction to contact in vehicle frame from tetrahedron phase data.} >} :? I \gG B O >r ew,:AyBrII-I-b4٢=.  E`=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam49ew?m4Yez iedBiqu?eCe ;eh;e4y }AyZjFNOT Ignoring new targets: 392.60 m.BjJJjJﺝ ProNav: ac range: 392.600006 m, nav range: 373.173035 m, bearing: 193.092514 deg, approach rate: 0.001173 m/s, LOS rate: -0.104601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869094 deg. 2j:j @HeadingCmd: 4.814824 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbf?ɛm`|Bm|> quh?Iq u\s=ɚqiqI}ew,(TA~@Y~P̙@~u4=9~ >y~H?`?J?&?²??ɨ~@~2;~ɐCyBiI =R= Mb@Mb@Mb@    ) Y Cl?ˡE?/$?y d? = < A @) @I K@ y  @I%I%)4٢5 5;=9=&VQ =>99 EG٣AyE ; M> UNusing accuracyPremultiplier from configIU49Mw?]4YM݀ iMaB]?]:]]?M@CM;M ;MB4i mAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 392.60 m.BjֺJjֺ IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 392.600006 m, nav range: 373.171478 m, bearing: 193.051551 deg, approach rate: -0.003570 m/s, LOS rate: -0.093967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852298 deg. 2j:j@HeadingCmd: 4.814531 target range: 392.600006 and range: 392.60 m. jjjjihhhh}BfffrfbfM?ɛc|BTd= 隭hd?I v=ɚiInZH RH @AH >I  I I I &I .I 6I <:I F7ew,nA2!͒@Y2ܙ@2jЖ=924y>y2HCj?̚?`VԿZZ˵?@aеղ?g?ɨ2!͒@2Շ;2ʐCyNBNbIIZIZ4٢n rd=9rY:Q r>tt vG٣v3GyvӴ; z> ~Nusing accuracyPremultiplier from configx49zw?4Yz iz^B[?z\Cz ;z:z4 +AZjAEFNOT Ignoring new targets: 392.60 m.BjMֺJjMֺ] ProNav: ac range: 392.600006 m, nav range: 373.170746 m, bearing: 193.017873 deg, approach rate: -0.002041 m/s, LOS rate: -0.093863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874153 deg. 2j]Հ:j]@eHeadingCmd: 4.814912 target range: 392.600006 and range: 392.60 m. jajajajaiahihihihifffrfbf?ɛe|B> a?I `Yy=ɚiI4zKe MKe h9Ka Ke Ke ew,WxAR@YRp@Rv=9R>yRH??ڗ@Rn?D 8W??ɨR@Re;RȐCy^B^cIIfIfE4٢n; nJ=9n3t;Q n>pp rG٣pyvM; v>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.009390 Nusing accuracyPremultiplier from configx49zw?4Yzڌ iz[B?z{Cz+ew,cBA>@Y>J@>(_=9>.>y>H@? ?Ɗ~:?vζ𦳿`??ɨ>@>=?;>͐CyFBJRILLEMb@Mb@Mb@AAA A)AYEtV?Mb? rh?yE?E=ECyy }G٣yy< > Nusing accuracyPremultiplier from config49w?4Y" iWB?:h?C#;";4xB A EZjIMFNOT Ignoring new targets: 392.60 m.BjuѺJjuѺ ProNav: ac range: 392.600006 m, nav range: 373.166382 m, bearing: 192.942462 deg, approach rate: -0.010758 m/s, LOS rate: -0.091592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862941 deg. 2jo{:j)@HeadingCmd: 4.814717 target range: 392.600006 and range: 392.60 m. jjjjihhhh}Bfffrfbff@ɛ5k|B5&= 15Y?I1 =]=ɚ9i9I= l!iE D)A)IE}sAEyUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511515HI IIIBI&I.I6I<:I F*F2F:FBF0JFG UG B O- >J! J% AAJ) J- tJ) J) J) J- :J) J) J) J) J- <J- < I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763148Uew,A6@Y6"@6,=96|a>y6H@[??ѷ?@9@b??ɨ6@6b;6ǐCyBBBFIIJIJ4٢fL fU=9j7c;Q j>hh jG٣hyn/; n> rNusing accuracyPremultiplier from configpv49rw?v4YrҘ irTBxzz?rCr:r:r4 AZjFNOT Ignoring new targets: 392.60 m.BjCƺJjCƺ ProNav: ac range: 392.600006 m, nav range: 373.163116 m, bearing: 192.908572 deg, approach rate: -0.008350 m/s, LOS rate: -0.086667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873516 deg. 2j%m:j%@-HeadingCmd: 4.814901 target range: 392.600006 and range: 392.60 m. j)j)j)j)i)h)h1hQhQfYfYfYrfYbf]@ɛn|B = 隵jS?I S=ɚiIRAew, ֗AyB3I I]gMb@Mb@Mb@ )Ym?㥛 ?{Gz?y?=#<A @)QAIx@y@II4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266606٢҆ .=9Q > G٣3Gy > Nusing accuracyPremultiplier from config49w?4Y iNB?:u?C_;%;4 RA B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 392.60 m.Bj-vϺJj-vϺ= ProNav: ac range: 392.600006 m, nav range: 373.164795 m, bearing: 192.868169 deg, approach rate: 0.003768 m/s, LOS rate: -0.090688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853979 deg. 2j=x:j=@EHeadingCmd: 4.814560 target range: 392.600006 and range: 392.60 m. jAjIjIjIiIhIhIhQhU}BfQfQfYrfYbf]@Fg @ɛr|Bu= 隍J?I h=ɚiIkjH <bH p<H >I  I lII BI &I .I 6I <:I FBIʨCJIʨCRIʓCZI =bI =jIʏ47jew,AJoM@YJ\@J=9Ja>yJH `??>C~?>@BʹP? ?ɨJoM@J;HyRqBRIIZIZʴ4٢b fq=9fm?I1 5}=ɚ1i1I5*F2F:FBF<3JF I JYJ]{JYJYJYJ]@:JYJYJYJYJ]<J]<Will construct direction to contact in vehicle frame from tetrahedron phase data.ս=ս<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770730GIG! B1 OM >zK KK ػ9K K K RK! JK% )? Ofw,\ AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022474y-PB-II=I=4٢# ;=9Q > G٣y > Nusing accuracyPremultiplier from config49w? 4Y iDB?CQ;;n4! -A)ZjIUFNOT Ignoring new targets: 392.60 m.Bj] ͺJj] ͺm ProNav: ac range: 392.600006 m, nav range: 373.171051 m, bearing: 192.801156 deg, approach rate: 0.008545 m/s, LOS rate: -0.089631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861871 deg. 2jm v:jm@uHeadingCmd: 4.814698 target range: 392.600006 and range: 392.60 m. jqjqjqjqiyhyhyhyhyfffrfbfHR@ɛy|B~= 5?I W=ɚiI I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274399zfw,6#A6g@Y6vv@6)=96>y6H*??@}@7?@ @F?s?ɨ6g@6ԫ;6ʐCyN!BNI]Mb@Mb@Mb@YYY Y)YY]> ףp=?Mb?~jth?y]?]=]D;] A ]K@)]hAIYYy]@IuIu4٢` O=9,;Q > G٣3Gy"< > Nusing accuracyPremultiplier from config49w?4Y iIq Iu@IIuBIq&Iq.Iq6Iu<:Iu FGm;GA BQ Ou > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778505ˣfw,bg=A6/q@Y6@6q=96 >y6Hlz?@?; L?@ ((?'?ɨ6/q@6B;6ȐCyBBBIDFAHJ@AININ4٢V VZ=9Vu:Q V>XX ZG٣Xy^ W; ^> bNusing accuracyPremultiplier from config`f49bx?f4Yb ib5Bdjj?bICbz:b:b*4l nApZjiFNOT Ignoring new targets: 392.60 m.BjºJjº ProNav: ac range: 392.600006 m, nav range: 373.172241 m, bearing: 192.733549 deg, approach rate: 0.002045 m/s, LOS rate: -0.085088 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876162 deg. 2ji:j @HeadingCmd: 4.814947 target range: 392.600006 and range: 392.60 m. jj!j!j!i!h!h)hYhYfafafarfabfe`^@ɛ|B2=  ?I \܆=ɚiIAB̐fw,XWAU|@YUJ@U)g=9U3> $?IyUH׽?? ?渿F`?@?ɨU|@U纈;UʐCy޵~B޵IJ4JqJJJI;J:JJa@a@a@a@]Mb@Mb@Mb@YYY Y)YY]Cl?l?{Gzty]d?]=]ף]MA ]b@)YI]@Yy] @IuIus4٢ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282539 /=9:Q > G٣yH; > Nusing accuracyPremultiplier from config49x?4Y] i+B?:{?mCD;;34 MAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 392.60 m.Bj;ܺJj;ܺ ProNav: ac range: 392.600006 m, nav range: 373.177094 m, bearing: 192.689688 deg, approach rate: 0.010650 m/s, LOS rate: -0.096270 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843605 deg. 2j#:je@HeadingCmd: 4.814379 target range: 392.600006 and range: 392.60 m. jjj!j!i!hhhh}Bfffrfbf W@ɛ|B== AEY?IA E=ɚAiAIEfw, qA:ԅ@Y:2@:]a=9:>y:HH?ы?``A1?e`y?ढ़?ɨ:ԅ@:Ȉ;:ɐCyF~BFIININ4٢V Vo=9Vη:Q Z?XX ZG٣Z3Gy^cQ; ^? bNusing accuracyPremultiplier from config`f49b x?f4Yb ib#BhjWj?bCb:b:b84p rApZj  FNOT Ignoring new targets: 392.60 m.BjֺJjֺ% ProNav: ac range: 392.600006 m, nav range: 373.181000 m, bearing: 192.657860 deg, approach rate: 0.011481 m/s, LOS rate: -0.093549 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879703 deg. 2j-g:j-@-HeadingCmd: 4.815009 target range: 392.600006 and range: 392.60 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfE@ɛu|B}= y}?Iy }(=ɚiI5zK= iLK= 9K9 K= K= "fw,A2҈@Y20@2Ɠ=92r>y2H4??C\֩ N?`[ l ??ɨ2҈@2 k;2ȐCyNw~BR~IIZIZD4٢b fI=9jv9Q j>pp vG٣tyzh: ~>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039866 Nusing accuracyPremultiplier from config490x?4Y iBJ?C;:@4 A EZjFNOT Ignoring new targets: 392.60 m.BjֺJjֺ- ProNav: ac range: 392.600006 m, nav range: 373.186310 m, bearing: 192.616820 deg, approach rate: 0.012136 m/s, LOS rate: -0.093798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852069 deg. 2j-:j-@5HeadingCmd: 4.814527 target range: 392.600006 and range: 392.60 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM^@ɛ|B= 隝>I |=ɚiIƪ(fw,ӤA:=@Y:@:ū=9:>y:HG??|h?Fr dV?`?ɨ:=@:;8yFJ~BFbI%Mb@Mb@Mb@!!! !)!Y%y&1?/$?:vy%`%?%=%T%7A %K@)%AI!!y%@I=I=4٢MԽ MB=9Mn9Q U>QQ UG٣Qye9: e> mNusing accuracyPremultiplier from configiu49mzx?u4Ym im Bu&?}:}}?mCm;m;m{G4 AZjFNOT Ignoring new targets: 392.60 m.BjPJjP㺝 ProNav: ac range: 392.600006 m, nav range: 373.194000 m, bearing: 192.577929 deg, approach rate: 0.019650 m/s, LOS rate: -0.099366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858518 deg. 2jc:j@HeadingCmd: 4.814640 target range: 392.600006 and range: 392.60 m. jQjqjyjyiyhyhhh|Bfffrfbf`@ɛ%|B%1= )->II mb:=ɚqiqIuO Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794362.fw,$A2y@Y2ח@23_=927+>y2H82??W?de`IK?t?ɨ2y@2g;2ǐCy>~B>HIIJIJ4٢R߽ RU=9RQ V>TT VG٣V3GyZg Z> bNusing accuracyPremultiplier from config\b49^x?b4Y^Q i^Bdff?^C^:^:^*N4juB j1An EZjY]FNOT Ignoring new targets: 392.60 m.BjepݺJjepݺ ProNav: ac range: 392.600006 m, nav range: 373.201630 m, bearing: 192.539828 deg, approach rate: 0.019383 m/s, LOS rate: -0.096798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860885 deg. 2j܄:j@HeadingCmd: 4.814681 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbf`@ɛ|B= >I! %ϊ=ɚ!i!I%dz5fw,tؘA IJ5JsJJJSJ;J:JJ@@Y@=9Ȏ>yH`??ӽ@:?l฿\8?+?ɨ@@u;y}B1I  AuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.298515Mb@Mb@Mb@ )Yi|?5?K?I +y1?^=94A x@)~AI@yQ@I I4٢{ (=9蔹Q >!! %G٣!y-] -> 5Nusing accuracyPremultiplier from config1=495!x?=4Y5 i5B=43?=:=E?5C5;5^;5V4I MAImB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 392.60 m.BjtJjt ProNav: ac range: 392.600006 m, nav range: 373.212280 m, bearing: 192.487946 deg, approach rate: 0.022476 m/s, LOS rate: -0.109482 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819545 deg. 2jE:j @HeadingCmd: 4.813959 target range: 392.600006 and range: 392.60 m. jjjjiAhAhAhIhM|BfIfIfQrfQbfU@|@ɛ|BD۷= >I }=ɚiIE>*F?2F:FBFa1JFjH bH <H >I  I rI% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550610I d~BI  =&I .I 6I "<:I FG9 G B O= >+;fw,?8A6|@Y6ዚ@6I=96>y6Hӽ?? `?ٺ`B ?@4?ɨ6|@6m;4yJ}BNIIVIV+4٢^  ^}=9^Q ^ ?`` bG٣`yf? f ? nNusing accuracyPremultiplier from confighr49j^&x?r4Yj ijBpr2r?j2Cju*;jB;jE\4x ztAxZjFNOT Ignoring new targets: 392.60 m.Bj%Jj% ProNav: ac range: 392.600006 m, nav range: 373.219299 m, bearing: 192.453407 deg, approach rate: 0.021758 m/s, LOS rate: -0.107062 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871574 deg. 2j:je@HeadingCmd: 4.814867 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbf@*@ɛ%|B%/= im>Ii m=ɚiiqIuAG9 BI O > &G Y y AzK GqMK K K K      Bfw, A2t@Y2P@2Rw=92\>y2H5? ? @۬@Ϻ?` (y??ɨ2t@2);2ƐCyB}BBIIJIJ4٢R RL=9VMQ V>TT ZG٣Z3GyZ@ Z> bNusing accuracyPremultiplier from config\b49^&,x?f4Y^ i^߆BdfPf?^VC^:^:^Dc4h jAlWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054493Zj  FNOT Ignoring new targets: 392.60 m.BjJj% ProNav: ac range: 392.600006 m, nav range: 373.227966 m, bearing: 192.410535 deg, approach rate: 0.021733 m/s, LOS rate: -0.107502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846574 deg. 2j%:j%@-HeadingCmd: 4.814431 target range: 392.600006 and range: 392.60 m. j)j)j1j1i1h1h1h9hfffrfbf. @ɛ%|B%o= !%>I! %N=ɚ)i)I-FIfw,%A:k@Y:bz@:O=9:>y:HI?`?@U O팺?gt Կ?}?ɨ:k@:;:ǐCyB}BBI J=Ja=-vonly read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V  v@v v@v v@v  v@v Iz Iz4٢C D=9 葺Q  >  G٣y> > -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%"2x?54Y%A i%ӆB5+:9=u:=x=?%{C%V;%)>%)i4EsB E4AM EZjimFNOT Ignoring new targets: 392.60 m.BjuJju󺝊 ProNav: ac range: 392.600006 m, nav range: 373.236877 m, bearing: 192.365939 deg, approach rate: 0.021298 m/s, LOS rate: -0.106584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841401 deg. 2jK:j@HeadingCmd: 4.814341 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbfE @ɛ|Bj= q>I M=ɚiIz ) I- `gJ J BA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.8103904Ofw,?Ayz}BzII  I <4٢-c 5G=95Q 5>99 =G٣9yE E> MbBottom track data is 0.8 s old, using for 20.0 s. MNusing accuracyPremultiplier from configIU49M8x?]4YM iMdžB] :Y]G:Y]?MCM8;M_T?Mm4a mQAiZjFNOT Ignoring new targets: 392.60 m.BjJj ProNav: ac range: 392.600006 m, nav range: 373.245850 m, bearing: 192.322013 deg, approach rate: 0.021854 m/s, LOS rate: -0.106989 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843414 deg. 2jْ:j^@HeadingCmd: 4.814376 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbf!@ɛ|B4= )f>I k=ɚ i I FiVfw,YA $$ tItQ@Y a@=9j=yH? ?@`α`׹?̴2^??ɨQ@;ŐCy%v}B%IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314565 E M MM MM  M M MMb@Mb@Mb@III I)IYMCl?)\(?Mb`yM;??MG=MMdA M@)M AIM-@IyM@IeIe4٢u(q }+=9}7Q }> G٣3GyNԻ > Nusing accuracyPremultiplier from config49?x?4Y iBT:KA?:?C`;;I ix=ɚiImZH RH AAH I  I II }BI &I .I 6I <:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566336B\fw,lsA6I@Y66Y@6!=96=y6H C??@b ϲ ̚?"]Fh??ɨ6I@6x;6ƐCyBl}BBIIJIJ4٢fP j=9j,Q j ?ll rG٣pyr E r ? zNusing accuracyPremultiplier from configtz49vDx?~4Yv ivB3?vCv},;v,;v{4  A Zj15FNOT Ignoring new targets: 392.60 m.BjsJjs ProNav: ac range: 392.600006 m, nav range: 373.271637 m, bearing: 192.230106 deg, approach rate: 0.035431 m/s, LOS rate: -0.126290 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865540 deg. 2jW:j@HeadingCmd: 4.814762 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrf bf n#@ɛ|B= 8>I Ʋ=ɚiI`zK5 KK5 9K1 K5 K5 RKE ?JKE >t*cfw,IGA2 7@Y2jF@2}=92NQ=y2H`0??@s`U4 ?벷⏴@[??ɨ2 7@2;2ŐCyBq}BBIIJIJB4nWill construct direction to contact in vehicle frame from tetrahedron phase data.r    G٣ y > }Nusing accuracyPremultiplier from configy49}Kx?4Y} i}B~?}C}:}:}#4rB A EZjIuFNOT Ignoring new targets: 392.60 m.Bj}Jj} ProNav: ac range: 392.600006 m, nav range: 373.284790 m, bearing: 192.181340 deg, approach rate: 0.029917 m/s, LOS rate: -0.110916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828895 deg. 2j=:jJ @HeadingCmd: 4.814122 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbf@'J$@ɛ=|B=)= 9=@9>I9 Ev=ɚAiIIMW Vifw,(Ay%r}B!EMb@Mb@Mb@AAA A)AYE+?v/??Ex=Etyy }G٣}3Gy} }> Nusing accuracyPremultiplier from config49Rx?4YW iB@?:?@C&D;A;͊4 AEZjFNOT Ignoring new targets: 392.60 m.Bj& Jj&  ProNav: ac range: 392.600006 m, nav range: 373.299988 m, bearing: 192.130781 deg, approach rate: 0.036044 m/s, LOS rate: -0.119906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823514 deg. 2j:j @HeadingCmd: 4.814028 target range: 392.600006 and range: 392.60 m. jjjjihhhh|Bfffrfbf.%@ɛ=|B== 9=f6>I9 =N=ɚAiAIEMI=C I=II=}BI9&I9.I96I=J<:I=8F*F2F:FBF0JFGBOE> I agJ 3J vJ J J H;J :J J J 6<J 7<J <J < Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received *DAT read: user:841>  BDAT read: Tx time:19:47:50.3693  $Ping request sent. 1Y ]G٣ayeM$ e> uNusing accuracyPremultiplier from configi49mXx?4Yme! imBy?mcCm%;mW;m;4 AZj=FNOT Ignoring new targets: 392.60 m.Bj=#JjE#M ProNav: ac range: 392.600006 m, nav range: 373.311951 m, bearing: 192.088357 deg, approach rate: 0.031838 m/s, LOS rate: -0.112901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847921 deg. 2jU:jU@]HeadingCmd: 4.814455 target range: 392.600006 and range: 392.60 m. jYjYjYjYiYhahahahafififirfibfm%@ɛ|BA= j'>I !=ɚiIC i))*F2F:FBFf2JFGBO=>zK}KK}9KyK}K}M'BK:KsAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:47:50.3685 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251011{lvfw,sڙA I Rn@YR@R=9Rd=yRH ^.?@#?R>I?j3T; ^?p?ɨRn@RM;Py~X}B~II=!I=5٢V D=9xQ >!) -G٣1y=e E>]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505723 Nusing accuracyPremultiplier from config49_x?4Y) iBè?C:i:4 3AZjFNOT Ignoring new targets: 392.60 m.BjJj ProNav: ac range: 392.600006 m, nav range: 373.325836 m, bearing: 192.037348 deg, approach rate: 0.031408 m/s, LOS rate: -0.115375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822165 deg. 2j\:jT @HeadingCmd: 4.814005 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbf`&@ɛ=|B}}= y}>Iy ֎=ɚiI B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754225jH <bH p<H% >I!  I! I! I%  =&I! .I% >D6I% .<:I% %FM|fw,VA2Xߒ@Y2@2:=92ʛ=y2H?`Q?+#r?誶kڳ b'?A?ɨ2Xߒ@2;0yNp}BRIeMb@Mb@Mb@aaa a)aYed;O?Cl? G٣3Gy4L > Nusing accuracyPremultiplier from config49ex?4Y0 iB6?:s?CV;bU;x4qB AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 392.60 m.BjsJjs  ProNav: ac range: 392.600006 m, nav range: 373.335754 m, bearing: 191.996533 deg, approach rate: 0.027136 m/s, LOS rate: -0.111667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852745 deg. 2j E:j @HeadingCmd: 4.814538 target range: 392.600006 and range: 392.60 m. jjjjihhh!h%3}Bf!f!f!rf)bf-5{'@ɛ]|B]= Y]*>IY et=ɚaiaIe8&xfw,A6ƒ@Y6cՙ@6H=963=y6HS0?0?R ˯? _@7??ɨ6ƒ@69;6ŐCyN}}BRITTbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258017IZIZ&4٢n;=zKn0MKnػ9KlKnKn vV=9z Q z>xx zG٣xy~( ~> Nusing accuracyPremultiplier from config 49jx? 4Y7 iB٩?C7:7:+4 A!ZjAEFNOT Ignoring new targets: 392.60 m.BjMJjM] ProNav: ac range: 392.600006 m, nav range: 373.345276 m, bearing: 191.954541 deg, approach rate: 0.024943 m/s, LOS rate: -0.110001 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849216 deg. 2j]:je2@eHeadingCmd: 4.814477 target range: 392.600006 and range: 392.60 m. jajijijiiihihihqhqfqfqfrfbf%;I(@ɛ|B<= 隍3>I ^=ɚiIa )I-bgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513235Vfw,l(A2Ò@Y2Oә@2K=92F=y2H?`)? az@? K F8D??ɨ2Ò@2;0y^}B^IMb@Mb@Mb@ )YQ?MbX?I +?y(?=9< A C@)AI@yAII4٢< ;=917Q > G٣y > Nusing accuracyPremultiplier from config49gpx?4Y? iB*?:?C;;­4 AEZjFNOT Ignoring new targets: 392.60 m.BjIߺJjIߺ ProNav: ac range: 392.600006 m, nav range: 373.353973 m, bearing: 191.910067 deg, approach rate: 0.019088 m/s, LOS rate: -0.097606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841766 deg. 2j:j"@HeadingCmd: 4.814347 target range: 392.600006 and range: 392.60 m. jjjjih!h!h!h%}Bf)f)fIrfIbfU6,)@ɛ|BY=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762315HI III}BI&I.I6IZ<:IEF  3>I  *=ɚ i I   $?I! J 7J kJ 1J J K;J :J 3J J <J <J <J <} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014329dfw,tDBAy=}B=IIMIM4٢e#< eR=9mQ m>ii mG٣u3Gyu u> Nusing accuracyPremultiplier from config49ux?4YE iB?Ci::4 \AZjFNOT Ignoring new targets: 392.60 m.BjJj) C% ProNav: ac range: 392.600006 m, nav range: 373.362000 m, bearing: 191.870180 deg, approach rate: 0.021785 m/s, LOS rate: -0.108260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855528 deg. EYAyM3 B2j%:jM@UHeadingCmd: 4.814587 target range: 392.600006 and range: 392.60 m. jQjQjQjYiYhahahahafififrfbf1)@ɛ|Bo[= S9>I =ɚ!i!I% I fw,\Ay}BI -=-=IU"IU5٢  H=9Q > G٣y >  Nusing accuracyPremultiplier from config%49({x?-4YL i}BMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5211711?=C<c<黐4 kAZjAMFNOT Ignoring new targets: 392.60 m.BjmٺJjuٺ} ProNav: ac range: 392.600006 m, nav range: 373.370819 m, bearing: 191.827138 deg, approach rate: 0.019437 m/s, LOS rate: -0.094858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846064 deg. 2j3:j@HeadingCmd: 4.814422 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbf`f*@ɛ-|B5= 151>I1 5G=ɚ1i1I=/ZH RH H >I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770446 I II }BI &I .I 6I !<:I FBIɩCJIɩCRIZI =bI =jI5ߜfw,GuA2e@Y2@2?ƥ=92W:=y2Hv?e?k`ض?R`;?N?ɨ2e@2݈;0yB}BBIMb@Mb@Mb@ )Yrh|?EԸ?:v?y?=<I A @) AI@yAI-I-4٢= EO=9E9II MG٣IyM_< M> ]Nusing accuracyPremultiplier from configQe49Ux?e4YUR iU{Be?e:eᨿe?U[CU;U;U4uoB ubAuEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 392.60 m.Bj%Jj-ẝ] ProNav: ac range: 392.600006 m, nav range: 373.381531 m, bearing: 191.790937 deg, approach rate: 0.029220 m/s, LOS rate: -0.098745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866589 deg. 2j]:j]@eHeadingCmd: 4.814780 target range: 392.600006 and range: 392.60 m. jajajajaiahihihihm}Bfffrfbf +@ Icgɛ|Bũ= ,>I %=ɚ!i!I%"y ǣfw,؏A2y@Y2@2r=92=y2H??1Ἷࣻf? ŷS봿@S?`?ɨ2y@2K܈;2ƐCRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274202zKV2KKVh9KTKVKV`E y}BII-*I- 5٢5j: =K=9=8 ;Q =>AA EG٣E3GyM$: M> UNusing accuracyPremultiplier from configQ]49UTx?]4YUPY iUyBYeبe?U{CU ;UK ;Uɐ4i m_AiZjFNOT Ignoring new targets: 392.60 m.Bj=Jj=⺝ ProNav: ac range: 392.600006 m, nav range: 373.393005 m, bearing: 191.752822 deg, approach rate: 0.029773 m/s, LOS rate: -0.098897 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860843 deg. 2j:j@HeadingCmd: 4.814680 target range: 392.600006 and range: 392.60 m. jjjjihhhhfffrfbfM,@ɛ|Bs= )>I dɐ=ɚiISsE>*F12F1:F1BF=0JF9G 'H IGB1OUT>J1JmJJJ4G;J:JJa@a@a@a@eWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:19:47:53.2862 }TRx dataTimestamp_ set to:1736365674.524591checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532393.fw,tAJ@YJ@J=9J=yJH$?`d?`> .? .??ɨJ@J9;Hyc}BI!%AMb@Mb@Mb@ )YGz?MbX9?~jt?y?ʡ=< A @) AIy\AI"I5٢ߩ A=9;Q > G٣y; > Nusing accuracyPremultiplier from config49x?4Y_ ivB-?:$?C;;ѐ4  A Zj15FNOT Ignoring new targets: 392.60 m.Bj=AȺJj=AȺM ProNav: ac range: 392.600006 m, nav range: 373.400024 m, bearing: 191.715624 deg, approach rate: 0.016519 m/s, LOS rate: -0.087538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863597 deg. 2jMNp:jA@HeadingCmd: 4.814728 target range: 392.600006 and range: 392.60 m. jjjjihhhh~Bf f frfbf2-@ɛe|Be= aHu>Iq IqIqIu =&Iq.Iq6Iq:IuFew>I =ɚiI] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:47:53.2862 LVL= 30832, 24945, 19314, 31475, AGC= 68, IDX= 303,-0.36, 1.270,-0.154, 1.397, 0.722, PHS= 0.636,-0.829, 0.672, RAW= 151.2, -6.5, CAL= 156.4, -14.7, ROT= 353.6, 14.7  Ygot valid direction response: 19:47:53.2862 LVL= 30832, 24945, 19314, 31475, AGC= 68, IDX= 303,-0.36, 1.270,-0.154, 1.397, 0.722, PHS= 0.636,-0.829, 0.672, RAW= 151.2, -6.5, CAL= 156.4, -14.7, ROT= 353.6, 14.7  PDAT read: Bearing 353.6, 14.7 (Local)  ~Local bearing/azimuth received: Bearing 353.6, 14.7 (Local)  DAT read: Range 10 to 50 : 384.5 m (Round-trip 512.7 ms) speed 0.4 m/s  *DAT read: user:842>  BDAT read: Tx time:19:47:54.3693  $Ping request sent. Y Y ] =1?x?K )] l ?I] =i] Sǿ] MY Y  :publishing transmit ping time  Fpublishing direction and range infoY 9] s}?u뿈27?yY Y Y Y Y )Y IY ذfw,ÚAiّّّّّ ڑ)ڑIڑiڑڑڑە=1?x?K )ۑIۑiۑۑۑۑj@Yj* @j8=9j=yjH@Ϲ?@ߢ? g$? "Ei{??ɨj@jӈ;jŐCyv]}BvI)x zAI|I|٢ 8  X=9;Q > =G٣9yEU=: E> MNusing accuracyPremultiplier from configIU49MSx?U4YMe iMsBQ?MCMvYOfw,⚵A@Y@ƪ=9=yHF?@?l7@^ _ ?U`lR #[?ڷ?ɨ@ ;騥ĐCyE}BIMb@Mb@Mb@ )Y(\?MbX9?I +?y?94<vA @)3 AI@y(AI]I]4٢' =9"Q > G٣3Gys > Nusing accuracyPremultiplier from config49x?4YJm ikB?:?C<<45pB 5jA5EZjFNOT Ignoring new targets: 384.50 m.BjH˺JjH˺ ProNav: ac range: 384.500000 m, nav range: 370.008209 m, bearing: 191.741930 deg, approach rate: 0.018727 m/s, LOS rate: -0.088862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827051 deg. 2js:j @HeadingCmd: 4.814090 target range: 384.500000 and range: 384.50 m. jjjjihh h h ~Bf ffrfbf`L?ɛ}|B"= 隅Ĭ=I {i=ɚiI^fw,;Ay}BII%I% 4٢=5; Et=9EQ E?II MG٣IyU U? ]Nusing accuracyPremultiplier from configYe49]_x?e4Y]r i]fBaae?]C]*:]:]4unB uZAuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 384.50 m.BjѺJjѺ ProNav: ac range: 384.500000 m, nav range: 370.014404 m, bearing: 191.713032 deg, approach rate: 0.019678 m/s, LOS rate: -0.091793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.888493 deg. 2j{:j@HeadingCmd: 4.815163 target range: 384.500000 and range: 384.50 m. jMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.jjjihhhhfffrfbf I?ɛe|Beb= m+zK oKK 9K K K {fw,AN@YN@Nӭ=9N=yNH_?ϭ?pǹ@k?x/??ɨN@Nٌ;NÐCyn|BnIIvIv&4٢~[ ~O=9Q >   G٣ y ~:  > Nusing accuracyPremultiplier from config49œx?%4Yw iaB!%%?C ; ;h4) 5A1ZjFNOT Ignoring new targets: 384.50 m.Bj Jj  ProNav: ac range: 384.500000 m, nav range: 370.021912 m, bearing: 191.678876 deg, approach rate: 0.018162 m/s, LOS rate: -0.082630 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872720 deg. 2jb:j%@%HeadingCmd: 4.814887 target range: 384.500000 and range: 384.50 m. j!j)j)j)i)h)h)h1h1 9I9fAfAfArfAbfM͎?ɛ|B= 隍I h=ɚiIƆbfw,0AH&>I$ I&II&[}BI$&I$.I$6I&<:I&FbWill construct direction to contact in vehicle frame from tetrahedron phase data.`i`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751687v@Yv@v㏫=9vN=yvH@t??`I@η?T k??ɨv@v";vCy|BqIAMb@Mb@Mb@ )YK7? rh?Mb`yI ?C=A @) AII@yAI0I5٢ާ >=9v ;Q > G٣3Gy&#< > Nusing accuracyPremultiplier from config49?x?4Y} iXB] ?:?1Cj;;4 m AZjFNOT Ignoring new targets: 384.50 m.BjyĺJjyĺ ProNav: ac range: 384.500000 m, nav range: 370.027527 m, bearing: 191.642274 deg, approach rate: 0.013176 m/s, LOS rate: -0.085885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865385 deg. 2jk:j@HeadingCmd: 4.814759 target range: 384.500000 and range: 384.50 m. jjjjihhhh}Bfffrfbf@"t?ɛe|Be-= aeqIi mM=ɚiI1fw,JAJ_4@YJC@J+T=9Jw>yJH떻?`i?~@?`㵿/?`ڡ?ɨJ_4@J^;HyR|BRLII^7I^ 5٢fM" f\=9f;Q f>hh jG٣hyjTE< -> 5Nusing accuracyPremultiplier from config1=495Rx?=4Y50 i5PBAEiE?5LC5 ;5 ;54I M_!AIZjq}FNOT Ignoring new targets: 384.50 m.Bj˺Jj˺ ProNav: ac range: 384.500000 m, nav range: 370.033569 m, bearing: 191.609675 deg, approach rate: 0.016529 m/s, LOS rate: -0.089169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877391 deg. 2jt:j9@HeadingCmd: 4.814969 target range: 384.500000 and range: 384.50 m. jjjjihhhhfffrfbf0@ɛ}B|= I X =ɚiIKK9KKKBKrA:KE*F?2F:FBFd5JF )I)J /J oJ J J E;J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511045G i"G B O >fw,.fAy5^|B54IMb@Mb@Mb@ )Y7A`?99 =G٣AyE M> Nusing accuracyPremultiplier from config49Ԫx?4Y| iDB?:c?qC;;4  !AZjQUFNOT Ignoring new targets: 384.50 m.Bj]gͺJj]gͺ ProNav: ac range: 384.500000 m, nav range: 370.041992 m, bearing: 191.565641 deg, approach rate: 0.017175 m/s, LOS rate: -0.089789 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843088 deg. 2j|v:jR@HeadingCmd: 4.814370 target range: 384.500000 and range: 384.50 m. jjjjihhhihm}Bfififqrfqbfu`@ɛ }Btw= +I Ð=ɚiITnI III|BI =&I.I6I-<:I(F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760798EE <EM R>EM > i Ii *F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011374G:GBO?fw,A>~GHT r Ypyr0BUSf@YUu@U箳=9UK>yUH;!?`6?? 깿 }n? i?ɨUSf@U;UƐCym!|BuI }=}p=ILI5٢ #=9;Q > G٣4GyG< > Nusing accuracyPremultiplier from config 49x? 4Y i6B  ?C ;: 4mB "AE5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 384.50 m.BjMeԺJjMeԺe ProNav: ac range: 384.500000 m, nav range: 370.052643 m, bearing: 191.520462 deg, approach rate: 0.021888 m/s, LOS rate: -0.092845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839653 deg. 2je~:je@mHeadingCmd: 4.814310 target range: 384.500000 and range: 384.50 m. jijijqjqiqhqhqhyhyfyfyfrfbfg @ɛ}B0a= 隵oI U=ɚiIldJK?*F!2F!:F!BF%0JF! I egGE 7:G! E Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:19:47:57.2839 e TRx dataTimestamp_ set to:1736365678.555140} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521138B O >fw,MؤA+i@Yx@/=9>yH7?`c?ؾͪ2'? 칿 j??ɨ+i@ک;Cy]{B]IMb@Mb@Mb@ )Yjt?ʡE?/$y ?=A ) AIyAIYI5٢H =9pQ > G٣y,: > Nusing accuracyPremultiplier from config 49 Fx?4Y l i %B"?:>? C ; ; 4) -#A1ZjquFNOT Ignoring new targets: 384.50 m.Bj} ݺJj} ݺ ProNav: ac range: 384.500000 m, nav range: 370.065918 m, bearing: 191.469292 deg, approach rate: 0.025070 m/s, LOS rate: -0.096629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821683 deg. 2j:jB @HeadingCmd: 4.813996 target range: 384.500000 and range: 384.50 m. jjjjihhhhP}Bfffrfbff @ɛ}BmT= ꜾI 8=ɚiIII IM9IIMh|BIM =&II.II6IMȰ<:IM FBIJIRIZI =bI =jIƕ5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768304*F2F:FBF1JFG GtA  $?I G5 O;G B O5 >"fw,AJXh@YJw@JJղ=9J=>yJH1?`8?*@$ ?ݹ@dS?Ҙ?ɨJXh@J2;JÐCyV{BVIJ^2J^lJ\J\J^G;J^z:J\J\J^ =BDAT read: Tx time:19:47:58.3694 =$Ping request sent.=qqu["?$ND?'+ſ)u?IuP.>iu+ue>qq:publishing transmit ping time9Fpublishing direction and range infoqbfe@@9u7gA?`% Dh?yqqqq q)qIqiqqqqq q)qIqiqqqu["?$ND?'+ſ)qIqiqqqqɛ }B $*= er=-I =ɚiIļzK] DNK] +9KY K] K] uHfw,\ZڛA pIpy%}{B%I))I5HI5W5٢E EE=9MQ M>II MG٣U4GyU U> eNusing accuracyPremultiplier from configam49ex?m4Yez ie Biim?eCe:e:e#4y }u%Ayk%M ?k, k k%ÛA:kfCBkCZkX@"w2L;@@tNзj@7gA?`% Dh?Jk+Rke>*SdAu 6@s,Te{d@ă?jH] <bH] <Ha Ia  Ie IIe {BIa &Ia .Ia 6Ie ʰ<:Ie FU Will construct direction to contact in vehicle frame from tetrahedron phase data.vfw,$FAyEJ{BEIMb@Mb@Mb@ )Yn?=9Q >   G٣y > Nusing accuracyPremultiplier from config%493x?%4Y iB-`/?-:-y-?"CZ;R;i+41 =A&A9ZjYeFNOT Ignoring new targets: 382.80 m.BjmJjm} ProNav: ac range: 382.799988 m, nav range: 367.843933 m, bearing: 191.854450 deg, approach rate: 0.011174 m/s, LOS rate: -0.108303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838532 deg. 2j:j@HeadingCmd: 4.814291 target range: 382.799988 and range: 382.80 m. jjjjihhhh|Bfffrfbf`[?ɛM)}BM*J= IMtII U$=ɚQiQIUT!Ygw, A62@Y6A@6<=96m>y6HY??``a?@긿7a?Ӓ?ɨ62@6^%;6Cy{BlII<I 5٢%g %Z=9-F"Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E49=x?M4Y= i=BIMOU?=CC=e";=";=14]lB ]&AeE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 382.80 m.BjJj򺝊 ProNav: ac range: 382.799988 m, nav range: 367.846558 m, bearing: 191.814705 deg, approach rate: 0.006986 m/s, LOS rate: -0.105788 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855951 deg. 2j4:j)@HeadingCmd: 4.814595 target range: 382.799988 and range: 382.80 m. jjjjihhhhfffrfbf݊?ɛ-}B< /I ڌ=ɚiIt gw,:*Ab @Ybg/@b3=9b# >ybH@T?ю?\L}?&j}??ɨb @bH ;`yj{BnaI rp=r=mMb@Mb@Mb@iii i)iYmZd;?+? G٣4GyX > Nusing accuracyPremultiplier from config49x?4Y iB:?:?mCV;;94 E'AEZj%FNOT Ignoring new targets: 382.80 m.Bj%Jj- ProNav: ac range: 382.799988 m, nav range: 367.849274 m, bearing: 191.763120 deg, approach rate: 0.005923 m/s, LOS rate: -0.112495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820435 deg. 2jh:j @HeadingCmd: 4.813975 target range: 382.799988 and range: 382.80 m. jjjjihhhh|Bfffrfbf 4?ɛ=3}BE = AE, IA ENj=ɚAiAIM<HI III~{BI&I.I6IҰ<:I FIeim iuH)q) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744553 IE% =*F 2F :F BF i5JF J J JKY3 K.KK"KJ 0J vJ 2J J lF;J :J c3J J 0<J 0<J <J < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994808GiGBO?gw,x KA:5 @Y:@:=9:Ӣ>y:H`0L? ז?`N?}P g??ɨ:5 @:t*;:ŐCyNzBRHIIZsIZe$5٢b b(=9ffQ f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr49nx?v4Yn2 inՅBtvv?nCnn:n:ncB4| ~'A|Zj!-FNOT Ignoring new targets: 382.80 m.Bj-Jj-M ProNav: ac range: 382.799988 m, nav range: 367.851532 m, bearing: 191.708025 deg, approach rate: 0.004689 m/s, LOS rate: -0.114394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809902 deg. 2jM:jM @UHeadingCmd: 4.813791 target range: 382.799988 and range: 382.80 m. jQjYjYjYiYhYhYhahafafafirfibfmL@ɛ9}BY< 隝I h=ɚiIgw,FdAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499050yލzBލAI]Mb@Mb@Mb@YYY Y)YY]Zd;O?ˡE?MbP?y]j G٣y > Nusing accuracyPremultiplier from config49}x?4Y iɅB=?:í?CE;~C;J4 (AZjFNOT Ignoring new targets: 382.80 m.BjJj ProNav: ac range: 382.799988 m, nav range: 367.854980 m, bearing: 191.651347 deg, approach rate: 0.007001 m/s, LOS rate: -0.115072 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805155 deg. 2j:j @HeadingCmd: 4.813708 target range: 382.799988 and range: 382.80 m. jj j j i h h hh|Bfffrfbf:@ɛ?}Bj<  I  i=ɚ i I CEM >ZHRH@AHI I~II7{BI&I.I6I7<:I1F*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751001G% OP ] $?IY G B O >gw,~A2d@Y2@2=92&>y2H??`^"@X?్Y??ɨ2d@2];2ÐCy:zB>6IDFAIHIH٢rHb r=9rQ r ?tt vG٣v4Gyz z ? ~Nusing accuracyPremultiplier from configx49zx? 4Yz iz…B  j ?zCz<;z<;zP4jB P(AEZjAEFNOT Ignoring new targets: 382.80 m.BjMJjM] ProNav: ac range: 382.799988 m, nav range: 367.856171 m, bearing: 191.614742 deg, approach rate: 0.003743 m/s, LOS rate: -0.115130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865374 deg. 2j]:j]@eHeadingCmd: 4.814759 target range: 382.799988 and range: 382.80 m. jajajajiiihihihihqfqfqfqrfybf}@ɛB}BW< 隭6 I =ɚiIr Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255112%gw,AzK>iJK> 9K<K>K>RKF?JKF?NȒ@YNCؙ@N =9N%>yNH(H??`$!`?.XR??ɨNȒ@N{;NĐCyVzBV0IIbvIb%5٢j jK=9jQ j>lp vG٣tyzY ~>  Nusing accuracyPremultiplier from config 49x? 4Y\ iBȮ?C ::W4 %u(A!=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 382.80 m.BjMJjU ProNav: ac range: 382.799988 m, nav range: 367.857056 m, bearing: 191.568001 deg, approach rate: 0.002185 m/s, LOS rate: -0.115411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834962 deg. Igg2ji:j(@ HeadingCmd: 4.814228 target range: 382.799988 and range: 382.80 m. j j j j i h hhhfffrf!bf%?- @ɛMG}BMU< IM#I ]=ɚiI,gw,dAH$I$ I&eII&{BI$&I$.I$6I&+<:I&)FV@YVmƙ@Vǔ=9VGS>yVHh??B"Z6?i͔@s?E?ɨV@VwՈ;VCydd]Mb@Mb@Mb@YYY Y)YY]\(\?+η?I +?y]:?]v=]94 G٣y? >Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.759243 Nusing accuracyPremultiplier from config49gx?4Yf iB5i J% -J% fJ% 2J! J% D;J% ]:J% c3J! J% *<J% *<J% [<J% [<)Q U CG  G  5 rY1 y5 BG B @ B BDAT read: Tx time:19:48:02.3694  $Ping request sent. x2gw,NC̜A"JDAT read: TxSync time:19:48:02.3686 "R#Rx 1: Read range and direction messages.&^direction in FSK: [0.086051,-0.871885,0.482090]*:publishing transmit ping time*Fpublishing direction and range infoؑ9ؕtu?87f|뿼n?yؕfCؑؕxؕAp ٕ\)ّIّiٕ?ٕ'ٕy]H???- ۱@M?@?ɨ]@];YyuzBu9I ==IoI"5٢= C=9qݻQ > G٣4Gy˻  > Nusing accuracyPremultiplier from config =49 x?=4Y L i B9=E? ]C ; ; Zf4MkB M=(AMEkA:?kcq k k|ƜA:kfCBkCZk6V@"N'Xb@@jCG9t踨f@tu?87f|뿼n?Jkm Will construct direction to contact in vehicle frame from tetrahedron phase data.y,9gw,5z朵AZ{@YZڣ@Z=9Z >yZH??@￿tI?@>ݳn??ɨZ{@Z;ZĐCy}zB}:IIM9IM 5٢ ; ?=9sQ > G٣yt > Nusing accuracyPremultiplier from config49x?4Yy iBڭ?C<;w;m4jB .(AEZj9eFNOT Ignoring new targets: 380.80 m.Bju Jju  ProNav: ac range: 380.799988 m, nav range: 355.600555 m, bearing: 191.976956 deg, approach rate: 0.002314 m/s, LOS rate: -0.121206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821703 deg. 2j]:jC @HeadingCmd: 4.813997 target range: 380.799988 and range: 380.80 m. jjjjihhhhfffrfbfU?ɛS}B!< %"I! %T"=ɚ!i!I%hI! I!I!I!&I!.I!6I% <:I%FBIJIRIZIbIjIY4*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I G *UG B O >@gw,2;A6(@Y6@6=96s=y6H9"?w?{P S? sZȿ??ɨ6(@60;6ÐCyBzBBCIMb@Mb@Mb@ )Y G٣y > Nusing accuracyPremultiplier from config49x?4Y! iB4?:{?C;j;Gt4 'AZjFNOT Ignoring new targets: 380.80 m.BjJj ProNav: ac range: 380.799988 m, nav range: 355.600281 m, bearing: 191.935352 deg, approach rate: -0.000765 m/s, LOS rate: -0.115899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850373 deg. 2j:j]@ HeadingCmd: 4.814497 target range: 380.799988 and range: 380.80 m. j j j jihhhh)}Bff!f!rf!bf%GR?ɛ]V}B]y< aeIa eQ=ɚaiaIm Will construct direction to contact in vehicle frame from tetrahedron phase data.7Fgw,fA6~@Y6o@6y=96w">y6H?`N?P}yֳ?`A>k1`p?`ͬ?ɨ6~@6u͈;6ĐCzK^UOK^9K\K^K^,f ;tU@+"Umpwvrojdba^[^]^WA  RKf?JKf&?yzzBz?IAI .I 5٢F Q=9 Q >!! %G٣%4Gy-к -> 5Nusing accuracyPremultiplier from config1=495y?=4Y5= i5B9EE?5C5 ;5 ;5{4I M(AI e$?IauB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 380.80 m.Bj Jj  ProNav: ac range: 380.799988 m, nav range: 355.600006 m, bearing: 191.890929 deg, approach rate: -0.000703 m/s, LOS rate: -0.113696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841920 deg. 2j:j'@HeadingCmd: 4.814350 target range: 380.799988 and range: 380.80 m. jjjjihhhhfffrfbf?ɛY}B< ("I *N=ɚiIaa eG٣aye e> uNusing accuracyPremultiplier from configq}49u"y?}4Yu iuB}(?}:}7}?uCu;u;u႑4 (AZjFNOT Ignoring new targets: 380.80 m.BjJj󺝊 ProNav: ac range: 380.799988 m, nav range: 355.603058 m, bearing: 191.843670 deg, approach rate: 0.006878 m/s, LOS rate: -0.106508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833411 deg. 2j0:j @HeadingCmd: 4.814201 target range: 380.799988 and range: 380.80 m. jjjjihhhhw}Bfffrfbf ?ɛ]}BjC< !%u"I! %&=ɚ!i!I-=9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.935339G B O >QKSgw, MA2٢@Y28@2| n=924 >y2H| ?@?Z?ѱ 漭`P]?@O?ɨ2٢@2FP;2CyNzBNQIIVOIVq5٢^= bh=9bQ b>dd fG٣dyf'Q< f> nNusing accuracyPremultiplier from confighr49jl y?r4Yj ihpvv?j CjC;j,3;j4zhB ~'A~EZj%FNOT Ignoring new targets: 380.80 m.Bj%VJj-V򺝊= ProNav: ac range: 380.799988 m, nav range: 355.606567 m, bearing: 191.806377 deg, approach rate: 0.009969 m/s, LOS rate: -0.105934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863308 deg. 2j=g:j=6@EHeadingCmd: 4.814723 target range: 380.799988 and range: 380.80 m. jAjAjAjAiIhIhIhIhIfQfQfYrfYbf]XR@ɛ`}Br< 隍I D=ɚ1i1I5!,EM>*F?2F:FBF`0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187220 9I=igzKUt2OKUh9KQKUKU G fG B! OU >J ,J mJ J J LC;J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437601uYgw,gAV@YVǙ@VDh=9V >yVH@ͷ?? S9Þ?@L`^?Ƥ?ɨV@V|;VÐCyrzBrRI =>IebIe5٢; ,=9l0Q >   G٣4Gy; > Nusing accuracyPremultiplier from config%49Ty?%4Y iB)M]M?5C;[;b4]iB ]'A]EZjFNOT Ignoring new targets: 380.80 m.Bj Jj ﺝ ProNav: ac range: 380.799988 m, nav range: 355.612427 m, bearing: 191.755604 deg, approach rate: 0.012059 m/s, LOS rate: -0.104496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822872 deg. 2jm:jn @ HeadingCmd: 4.814017 target range: 380.799988 and range: 380.80 m. j j j j i hhhhfffrfbf@G@ɛc}Bpt< 隕I ~=ɚiI\CZ`gw,_}A6 Β@Y6hݙ@6:c=96|>y6Hx?`y? `K?5h@_? 3?ɨ6 Β@6vP;6CyBzBBMIMb@Mb@Mb@ )YA`"?sh|??S㥛?y?=/<A A)EAIMAy AImGIm5٢}g }e=9}Q > G٣y&; > Nusing accuracyPremultiplier from config49Zy?4YM iB?:!?QCy;:;4 'AZjFNOT Ignoring new targets: 380.80 m.BjdJjd㺝 ProNav: ac range: 380.799988 m, nav range: 355.616943 m, bearing: 191.721259 deg, approach rate: 0.013072 m/s, LOS rate: -0.099401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872151 deg. 2jo:jz@HeadingCmd: 4.814878 target range: 380.799988 and range: 380.80 m. jjjjihhh h }Bf f frfbf@@ɛEf}BM\< IMII MUU|=ɚIiIIU* Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.197546fgw,[A6ߒ@Y6&@6\=96]>y6Hr?@d?*x?Aa?`?ɨ6ߒ@6;6CyVzBZKI dIhIr@Ir 5٢ R=9(Q >  G٣y%; %> =Nusing accuracyPremultiplier from config1M495y?M4Y5c$ i5BQU۫U?5oC5I;zK]KK]9KYK]K]5b;5g4 'A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 380.80 m.BjM7ѺJjM7Ѻ] ProNav: ac range: 380.799988 m, nav range: 355.622589 m, bearing: 191.683078 deg, approach rate: 0.013524 m/s, LOS rate: -0.091455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860646 deg. 2je{:je@mHeadingCmd: 4.814677 target range: 380.799988 and range: 380.80 m. jijijijiiihihqhqhqfyfyfyrfybf} P @ɛi}BH< 隭M!I .z=ɚiI&H I  I II A{BI &I .I 6I Ӱ<:I Flgw,.7A2 @Y2l @2Y=92:>y2H`׹?`?>J`2?o `- ??ɨ2 @2 ;2Cy<AA EG٣E4GyE< M> UNusing accuracyPremultiplier from configI}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.70518149My?4YMj* iI?:b?MCM  BDAT read: Tx time:19:48:06.3694  $Ping request sent. - P7- ]?- 7@- | - 5o;@)- cI- @i- c>) ) - i[c?ݛ<$?K֞Jtÿ)- <#D?I- W=>i- - U) )  :publishing transmit ping timeؑ  Fpublishing direction and range info) 9- q?ƔE$=+#?y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - i[c?ݛ<$?K֞Jtÿ)) I) i) ) ) ) G% 'G B O >Әsgw,7ϝAV @YVI@VjS=9VZ>yVH *V?೉?"7C?@XAj?@?ɨV @V:;VÐCy%zB%9II=SI=75٢M M<9}3]Q }> G٣yܙ; > Nusing accuracyPremultiplier from config49d"y?4Y0 i"?C;>;4gB "(AEk];>(?k]S kY k]rȝA:k]@CBk]CZk]OHT@"]1f%6@9*,*v)4{9_@]q?ƔE$=+#?Jk]Rk]U*]Λ(v.VTPY&R@]I)ш-Fſg8{?"k]*k]k]$Z?k]z 2k]CkYkYk]FCk]ѱCk]V@e addTargetRange:: Added new target pos. range: 376.500000 m, deltaT: 4.037369 s, deltaX: -4.299988 m, approachRate: -1.065047 m/s, rangeRepo size: 4  Added new target pos. range: 376.500000 m, bearing: 190.045130 deg, lat: 36.901120 deg, lon: -122.115974 deg, deltaT: 4.037369 s, deltaX: -4.299988 m, approachRate: -1.065047 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 376.50 m.BjJj ProNav: ac range: 376.500000 m, nav range: 355.640320 m, bearing: 191.606743 deg, approach rate: 0.000000 m/s, LOS rate: -0.093511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861385 deg. 2j:j@HeadingCmd: 4.814690 target range: 376.500000 and range: 376.50 m. jjjjihhhIhIfQfQfQrfUw@bf]`R?ɛp}B7< k*I u=ɚiIr'iG))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:06.3686 *F2F:FBF0JF $?IjgzK.JK 9KKKGe G! BA Ou >Je 3Je mJa Ja Je H;Je :Ja Ja = Will construct direction to contact in vehicle frame from tetrahedron phase data.[ygw,蝵A@Y@T7L=9MV>yH?` ?y`?D5$?˥?ɨ@=*;CyUzB]7IIBI5٢MNͻ u;=9̃Q > G٣y: >  Nusing accuracyPremultiplier from config549'y?=4Y/7 i9= E?CQ<;4I m-(AiZjFNOT Ignoring new targets: 376.50 m.BjyֺJjyֺ ProNav: ac range: 376.500000 m, nav range: 355.650787 m, bearing: 191.564782 deg, approach rate: 0.023388 m/s, LOS rate: -0.093753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849307 deg. 2j:j6@HeadingCmd: 4.814479 target range: 376.500000 and range: 376.50 m. jjjjihhhhf)f)f)rf1bf5Q?ɛu}B@v< !%,,I! %;s=ɚ!i!I-.Ii Im~IIm7{BIi&Ii.Ii6Im<:Im F*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I G= ?G B! OE >gw,(A6@Y6"@6HF=96<>y6Hฅ? ?8D@?@ٯƨ@??ɨ6@68;4y>zB>)I Fa=Fa= Mb@Mb@Mb@    ) Y Gz?I +? rh?y ? 9=  A ) \AI A y fAI%I%4٢| W=9}Q > G٣4GyLd8 > Nusing accuracyPremultiplier from config49,y?4Ys< ir?:?Ci);(;꺑4 (AZj FNOT Ignoring new targets: 376.50 m.BjXۺJjXۺ% ProNav: ac range: 376.500000 m, nav range: 355.661346 m, bearing: 191.531560 deg, approach rate: 0.030476 m/s, LOS rate: -0.095883 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875524 deg. 2j%:j%@*J1"J5p==HeadingCmd: 4.814936 target range: 376.500000 and range: 376.50 m. j9j9j9j9iAhAhAhAhM~BfIfIfQrfQbfU ?ɛ}x}B}Z{; y隅2I mq=ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.)Ćgw,5aA 4I4BB@YB#@B<=9B3>yBH 8?`?`и? ;??ɨBB@BS;@yR}zBR IIZ$IZd5٢v vX=9vͻQ v>xx zG٣xy~: ~> Nusing accuracyPremultiplier from config 490y? 4YA iB ?C;\C;4%hB %L)A%EZjIMFNOT Ignoring new targets: 376.50 m.BjUAҺJjUAҺe ProNav: ac range: 376.500000 m, nav range: 355.672638 m, bearing: 191.496771 deg, approach rate: 0.029832 m/s, LOS rate: -0.091910 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870823 deg. 2jeN|:jeI@mHeadingCmd: 4.814854 target range: 376.500000 and range: 376.50 m. jijijijqiqhqhqhyhyfyfyfrfbf@?ɛ{}B0ɏ;zK5V$KK59K1K5K5 RKE>JKE> 隵?I o=ɚiI,"H I  I kII {BI &I .I 6I ٰ<:I FBIIJIIRIIZIIbIIjIMˠO4}gw,2=6AyrlzBvI}Mb@Mb@Mb@yyy y)yY}/$?ʡE?{Gzt?y}&?}-=}ף;y }~A)}AI} Ayy}AITI5Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙ٢ >=9Q > G٣y > Nusing accuracyPremultiplier from config495y?4Y=H iB?:?#Cc;l;ɑ4 )AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 376.50 m.BjҺJjҺ- ProNav: ac range: 376.500000 m, nav range: 355.685852 m, bearing: 191.457201 deg, approach rate: 0.030784 m/s, LOS rate: -0.092179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856482 deg. 2j- }:j-<@5HeadingCmd: 4.814604 target range: 376.500000 and range: 376.50 m. j1jIjIjIiIhIhIhQhU}BfQfYfYrfYbf]Y?ɛ%}B%o; )-E QIQI) ]Dl=ɚYiYI]0JE!>*F)2F):F)BF-0JF)J],J]JYJYJ]LC;J]S:JYJYJ]}דgw,PA6A7@Y6F@6U==96 >y6H5?]? ?C??ɨ6A7@6f?;6Cy>SzB>IDDIJlIJK!5٢R R]=9R+L:Q R>TT VG٣V 4GyZ%=< Z> ^Nusing accuracyPremultiplier from config\b49^[:y?b4Y^M i^B`ff?^>C^L:^:^{ϑ4l n)AlZjFNOT Ignoring new targets: 376.50 m.Bj  ӺJj  Ӻ ProNav: ac range: 376.500000 m, nav range: 355.698303 m, bearing: 191.423070 deg, approach rate: 0.033656 m/s, LOS rate: -0.092254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872798 deg. 2j@}:j@%HeadingCmd: 4.814888 target range: 376.500000 and range: 376.50 m. j!j!j)j)i)h)h)h1h1f1f1f9rf9bf=-G@ɛ}B`` \LI  i=ɚ i I  ogw,iAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516295E%>@YEM@Ed<=9E< >yEH? ?`Bb!??׮s ?]?ɨE%>@E0;ECyޭ;zB޵I) IgI5٢}qK }0=9E;Q > G٣yY: > ENusing accuracyPremultiplier from config949=a@y?4Y=T i=B⧿?=aC=k<=e<=ב4fB G*AEZj%FNOT Ignoring new targets: 376.50 m.Bj-̺Jj-̺= ProNav: ac range: 376.500000 m, nav range: 355.715057 m, bearing: 191.378233 deg, approach rate: 0.033343 m/s, LOS rate: -0.089228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840682 deg. 2j=t:j=@}HeadingCmd: 4.814328 target range: 376.500000 and range: 376.50 m. jyjjjihhhhfffrfbfu@ZH!RH%?AH)I) I-?II-zBI)&I).I)6I-<:I- Fɛ}B0; 隅SI ~@f=ɚiIsgw,A6xC@Y6R@69=96] >y6H!?`?ޱS?ǃ`53,j?U?ɨ6xC@61r;6Cy>zB>IJb-JbpJb2J`JbD;Jb:Jbc3J`Jb*<Jb*<Jb <Jb <Mb@Mb@Mb@ )Yd;O?Zd;O?y?j=A  A)IyIRI5٢ @=9kκQ >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019961 G٣yO: > Nusing accuracyPremultiplier from config49Ey?4YZ iB?:?C;>;ߑ4 *AZj!FNOT Ignoring new targets: 376.50 m.BjJjẝ ProNav: ac range: 376.500000 m, nav range: 355.731171 m, bearing: 191.339919 deg, approach rate: 0.041528 m/s, LOS rate: -0.098741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860250 deg. 2j:j@HeadingCmd: 4.814670 target range: 376.500000 and range: 376.50 m. jjjjihhhh}Bf!f)f)rf)bf-&@ɛu}Bup y}e^Iy },c=ɚyiyI}1Ծgw,|A6A@Y6P@6?5=96* >y6H?`?@}\M?@o??ɨ6A@6ص;6Cy>yB>IIFkIF 5٢N R_=9R1Q V>XX ZG٣Z 4GyZ" ^>zK^+KK^h9K\K^K^ jNusing accuracyPremultiplier from confighn49jpJy?n4YjL` ijBlrr?jCj ;j` ;jz4t v+AtZj FNOT Ignoring new targets: 376.50 m.BjBغJjBغ ProNav: ac range: 376.500000 m, nav range: 355.745850 m, bearing: 191.305200 deg, approach rate: 0.039970 m/s, LOS rate: -0.094534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871034 deg. 2j:jQ@HeadingCmd: 4.814858 target range: 376.500000 and range: 376.50 m. jjjjihhhhfffrfbf`7w @ɛ }B X 5skI1 =`=ɚ9i9I=tH >I  I II zBI &I .I 6I <:I Fgw, RA&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777380-C@Y-RS@ I-.1=9-y >y-H &?@#?I8j?<7(]?|?ɨ-C@-4;-CyyBIMb@Mb@Mb@ )YV-?Mb?~jthy?=DA )I Ay3AIuIH%5٢K8 "=9Q > G٣y: > Nusing accuracyPremultiplier from config493Qy?4Y1h iB?:?C;;84gB ,AEB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 376.50 m.BjJj㺝- ProNav: ac range: 376.500000 m, nav range: 355.765961 m, bearing: 191.255348 deg, approach rate: 0.040135 m/s, LOS rate: -0.099480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825641 deg. 2j-:j- @5HeadingCmd: 4.814065 target range: 376.500000 and range: 376.50 m. j1j1j1j9i9h9h9hAhEg}BfAfAfArfIbfM[@ɛ}B豻 rI ]=ɚiIG eBDAT read: Tx time:19:48:10.3695 e$Ping request sent.e(*#d?ex:?RaGRƿ)~<"?I)}3>iۍ:publishing transmit ping timeaFpublishing direction and range info91w?E`%Siy"?y )Ii )Ii(*#d?ex:?RaGRƿ)IiG G B O >4Ѵgw,n4ԞA2>@Y2M@2<,=92 >y2H?4?``"N?Ĭ`􅥿`H??ɨ2>@2};0yByBBwIIJiIJ5٢v{P z=9zQ z? G٣y % ? -Nusing accuracyPremultiplier from config!549%Uy?54Y%9m i%B155?%C%;%;%4a e-Aak%?k% k! k%˞A:k%CBk%>CZk%qV@"%"v=@tflylVe@%1w?E`%Siy"?Jk%ۍRk%*%Yu"0bR|;^@%QQDsɿHR?"k%*k%Mk%Ө>?k%a؆ 2k%59Ck%Ө>?k!k!k%Ck%U@e addTargetRange:: Added new target pos. range: 375.000000 m, deltaT: 4.040213 s, deltaX: -1.500000 m, approachRate: -0.371268 m/s, rangeRepo size: 4 MWill construct direction to contact in vehicle frame from tetrahedron phase data. Added new target pos. range: 375.000000 m, bearing: 191.978129 deg, lat: 36.901142 deg, lon: -122.115974 deg, deltaT: 4.040213 s, deltaX: -1.500000 m, approachRate: -0.371268 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 375.00 m.BjJj ProNav: ac range: 375.000000 m, nav range: 353.451508 m, bearing: 191.298448 deg, approach rate: 0.000000 m/s, LOS rate: -0.099480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871038 deg. 2j:jQ@HeadingCmd: 4.814858 target range: 375.000000 and range: 375.00 m. jjjjihhhhfffrf pw@bf a?ɛU}BUR iIi 隍큿I +Y=ɚiI gw,WAy}yBoIAHQIUC IUIIU/zBIQ&IQ.IQ6IU<:IUFMb@Mb@Mb@ )Y/$?K?Mbpy1(?^=nA A)EAI3 AyAAAI5I5٢߼ #=9Q > G٣ 4Gy > Nusing accuracyPremultiplier from config49F\y?4Yu iB)?:v?C6;(4;u4eB 5-AEZjFNOT Ignoring new targets: 375.00 m.BjJj%5 ProNav: ac range: 375.000000 m, nav range: 353.467987 m, bearing: 191.245203 deg, approach rate: 0.035384 m/s, LOS rate: -0.114323 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815458 deg. 2j5ꜻ:j5_ @EHeadingCmd: 4.813888 target range: 375.000000 and range: 375.00 m. jAjAjAjAiAhIhIhIhM}BfQfQfQrfQbf]`t2?ɛ}B 隅)I :cV=ɚiI>G1 B9 O] >gw,EAJCKC KCKCKC"KCJ>*J>hJ>2J<J>A;J>g:J>c3J<J>#<J>$<J>@<J>A&gw,"AzKJK9KKKy-9yB-EIIEKIE5٢MW UM=9QQ U> G٣y > Nusing accuracyPremultiplier from config49Ofy?4Y iB?EC:C:N 4 E.AZjFNOT Ignoring new targets: 375.00 m.BjJj ProNav: ac range: 375.000000 m, nav range: 353.492981 m, bearing: 191.166291 deg, approach rate: 0.034317 m/s, LOS rate: -0.107876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844526 deg. 2j:j@HeadingCmd: 4.814395 target range: 375.000000 and range: 375.00 m. jjjjih h h h fffrfbf?ɛE}BE׼ AEwIA EO=ɚIiIIMq=IMiUiQ)Q)Y*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.սC?ս?G5:G B9 HQ IU C IU IIU yBIQ &IQ .IQ 6IU <:IU FOu >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Jgw,;A6 @Y6)@66o=969>y6Hy??. `g?쨿@Lx??ɨ6 @6ru;4y>&yB>9I F=FR= n$?Il-eonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 97.88, 82.76, 86.32  m@m m@m m@m  m@m Iu}Iu(5٢: G=9zQ > G٣ 4Gyq > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ky?4Y iB+::8?gCQ:;>4 .AZjFNOT Ignoring new targets: 375.00 m.BjJj ProNav: ac range: 375.000000 m, nav range: 353.505463 m, bearing: 191.122849 deg, approach rate: 0.030749 m/s, LOS rate: -0.107015 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844867 deg. 2jⒻ:j@HeadingCmd: 4.814401 target range: 375.000000 and range: 375.00 m. jjjjihhh!h!f!f!f!rf)bf- X\?ɛ]}B]& Y]IIa eTL=ɚaiaIe=Imim(iui)q)q*F!2F!:F!BF%3JF!) eGxAJJ YxAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm:GA Ba O} >.gw,oUAJ @YJ@J- =9J>yJHa?`f? J ?eD` ?`R?ɨJ @J;JCyV yBV(IIzIz%.5٢Ŏ S=9ҪQ >    G٣ yn~ > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49py?-4Y i|B- :)-R:5E5?CL;K?w4A E/AEE]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 375.00 m.Bju,Jju, ProNav: ac range: 375.000000 m, nav range: 353.517426 m, bearing: 191.081335 deg, approach rate: 0.030884 m/s, LOS rate: -0.107173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850648 deg. 2j:jg@HeadingCmd: 4.814502 target range: 375.000000 and range: 375.00 m. jjjjihhhhfffrfbf @ɛ}BI I lgH=ɚiIo=IiBiYhP))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ImgE;=*F12F1:F1BF=Y5JF9zKQJK9KKKBK:KtAJ J nJ J J J :J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506331G} g{GQ Bi O >gw,@pAyޥxBޭ!III-5٢<μ %6=9-Q 5>AA MG٣Iy] e> bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}vy?4Y}I i}yB9*:?}C}[;}o?}4dBHI I}IIyBI&I.I6I<:IFBIiJIiRIiZIibIijImfT4 ='/A=EZjFNOT Ignoring new targets: 375.00 m.Bj$Jj$麝 ProNav: ac range: 375.000000 m, nav range: 353.531921 m, bearing: 191.032083 deg, approach rate: 0.029997 m/s, LOS rate: -0.101914 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827438 deg. 2j⋻:j @HeadingCmd: 4.814097 target range: 375.000000 and range: 375.00 m. jjjjihh1h9h9f9f9f9rfAbfE7@ɛ-}B5@mƼ 15I1 5hC=ɚ1i9I=z=I=iEheiEUM)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759082EMBJ= yIy*F2F:FBF@5JFG *Je C="Je 4=G B O >Ngw,fA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010578:`@Y:@: =9:>y:H'??K`?񺦿Sc?3?ɨ:`@:;:CyFxBFIHJA    %%  % % %Mb@Mb@Mb@!!! !)!Y%zG?/$?Mb`y% 7?%=%%A %7A)!I%I A!y%AI5I525٢M& MK=9MɼQ M>QQ UG٣U 4GyU > Nusing accuracyPremultiplier from config49[|y?4Yߞ ivBT:L8?:?Cs;q;4 j/AZjIMFNOT Ignoring new targets: 375.00 m.BjU Jju  ProNav: ac range: 375.000000 m, nav range: 353.539764 m, bearing: 190.984293 deg, approach rate: 0.020161 m/s, LOS rate: -0.122843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831820 deg. 2j:j @HeadingCmd: 4.814173 target range: 375.000000 and range: 375.00 m. jjjjihhhh|Bfffrfbf E@ɛ }B-]8& 15rI1 5q?=ɚ1i1I=5_=I=i=xiE)A)AEqEq*Eq"EqWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:19:48:13.2713 -TRx dataTimestamp_ set to:1736365694.4498765checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265097 I*F2F:FBFP5JFG g{G ?G ?zK }\KK 9K K K RK >JK >Gq By O >gw,;A2`@Y2 @29<921>y2H@??NMC ?2᥿??ɨ2`@2l;2CyZxBZIJ%5J%eJ%1J!J%SJ;J%٤:J%3J!IzIzB-5٢ 1=9ZQ > G٣yJ > Nusing accuracyPremultiplier from config494y?4Y$ isB0?CT ; ;&4 u/A-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514448ZjFNOT Ignoring new targets: 375.00 m.BjJj ProNav: ac range: 375.000000 m, nav range: 353.548248 m, bearing: 190.932228 deg, approach rate: 0.018737 m/s, LOS rate: -0.114985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818995 deg. 2jӝ:j @HeadingCmd: 4.813950 target range: 375.000000 and range: 375.00 m. jjj!j!i!h)h)h)h)f1f1f1rf1bf5|} @ɛ}Bb 隵+I |H;=ɚiIP=Iiiz)) EtAE*F2F:FBF`0JFHI IdIImyBI&I.I6Ih<:IXF Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769751 a Ia G} Gq B O >{gw,ŸAy~xB~IMb@Mb@Mb@ )Y$C?/$?Mbp?y:?;A )\AI3 AyAII +5٢ M=9Q > G٣y > Nusing accuracyPremultiplier from config49ty?4Y irBZ;?:?#C;V;-4 /AZjFNOT Ignoring new targets: 375.00 m.Bj Jj - ProNav: ac range: 375.000000 m, nav range: 353.555389 m, bearing: 190.884850 deg, approach rate: 0.018391 m/s, LOS rate: -0.122013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833056 deg. 2j-x:j- @HeadingCmd: 4.814195 target range: 375.000000 and range: 375.00 m. jjjjihhhh|Bfffrfbff@ɛ}B ( 隝BI w7=ɚiI6=Ii8i|+))MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:48:13.2713 LVL= 29728, 32753, 20738, 32755, AGC= 69, IDX= 421,-0.31,-1.472,-2.695,-1.102,-1.835, PHS= 0.451,-0.813, 0.730, RAW= 159.8, -5.2, CAL= 163.4, -12.9, ROT= 346.6, 12.9 Ygot valid direction response: 19:48:13.2713 LVL= 29728, 32753, 20738, 32755, AGC= 69, IDX= 421,-0.31,-1.472,-2.695,-1.102,-1.835, PHS= 0.451,-0.813, 0.730, RAW= 159.8, -5.2, CAL= 163.4, -12.9, ROT= 346.6, 12.9 PDAT read: Bearing 346.6, 12.9 (Local) ~Local bearing/azimuth received: Bearing 346.6, 12.9 (Local) DAT read: Range 10 to 50 : 373.2 m (Round-trip 497.7 ms) speed 0.5 m/s *DAT read: user:847> BDAT read: Tx time:19:48:14.3695 $Ping request sent.M PMH:?M2@M޹ M6@)MfIM@iMf>IIM~?\̟b?1PmJ)My1?IM|=iM}ʿMcѾII:publishing transmit ping timeعFpublishing direction and range infoI9Mˎᱷxo}+]μci?yIIII I)IIIiIIIII I)IIIiIIIM~?\̟b?1PmJ)IIIiIIII*F2F:FBFe0JFGA G B O5 >Wgw,۟A:D@Y:@:t<9:>y:H{)?P?Ĩ @? ?J?ɨ:D@:x;:CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yRxBV I Za=Za=I^cI^N5٢fE  f[=9j*BQ j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz49vQy?z4 $?IngYv ivqB!%-?vGCv+sgw,AjH"<bH"p<H,I.C I.^II.cyBI. =&I,.I,6I.<:I.Fsɒ@Yؙ@8]<9ܐ>yHr\?ј?`-@Nm?r)떿`5?i?ɨsɒ@;CyxBIMb@Mb@Mb@ )Y㥛 ?V-?!! %G٣%4Gy5 5> =Nusing accuracyPremultiplier from config9E49=xy?E4Y= i=rBEm6?M:MfM?=oC=#9;=o7;= <4Y ]u/A]EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 373.20 m.BjJj ProNav: ac range: 373.200012 m, nav range: 355.893982 m, bearing: 190.717136 deg, approach rate: 0.004051 m/s, LOS rate: -0.126386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820952 deg. 2jy:j( @HeadingCmd: 4.813984 target range: 373.200012 and range: 373.20 m. jjjjihhhh|Bfffrfbf`RC?ɛ}B& 隕BI JP/=ɚiIS=IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i.iI "))ER>E> I*F2F:FBFp0JFG ;3Gq B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994220mhw,A^+@Y^@^S<9^_>y^Hz??[ ,϶?ʗ#ȥ? ?ɨ^+@^;Έ;^CyfxBj IIrGIr5٢z z`=9z5Q ~>|| G٣y` >  Nusing accuracyPremultiplier from config 49 y?4Y  i !%İ%? C &@; Y@; jB4) -/A)ZjQUFNOT Ignoring new targets: 373.20 m.Bj]BJj]Bm ProNav: ac range: 373.200012 m, nav range: 355.894775 m, bearing: 190.675366 deg, approach rate: 0.002180 m/s, LOS rate: -0.114754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849879 deg. 2jm:jmJ@uHeadingCmd: 4.814488 target range: 373.200012 and range: 373.20 m. jyjyjyjyiyhyhyhhfffrfbfYm?ɛ}B>M 隽I +=ɚiI=IiiBH))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245550 IGU"G) B9 OU >zK JK 9K K K RK% ?JK% ? hw,hw)AJR@YJ@Jف<9JB>yJH@%??@{i`6l?!` ; {?સ?ɨJR@J1;JCy^xB^ IdfAInQInT5٢zM= zJ=J (J gJ 0J J ,@;J :J ـ3J 92Q > G٣y< > Nusing accuracyPremultiplier from config49gy?4Y itB?C::I4 &/AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499140ZjAUFNOT Ignoring new targets: 373.20 m.Bj]uJj]um ProNav: ac range: 373.200012 m, nav range: 355.895386 m, bearing: 190.626128 deg, approach rate: 0.001403 m/s, LOS rate: -0.113183 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827471 deg. 2jmZ:jm @uHeadingCmd: 4.814097 target range: 373.200012 and range: 373.20 m. jqjqjqjqiqhyhyhyhyfffrfbfi?ɛ}BY !%AI! 5Ø'=ɚ1i9I=% =IEiEziEW_)A)I*F?2F:FBFw1JFHiIi ImdIImmyBIm =&Ii.Ii6Im:<:Im6FGf AG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749472O > I ] PExceeded connect timeout, disconnecting.,hw,KCA6@Y6@6ĎY<96X)>y6H)?? @? 1@=??ɨ6@67;6CyRxBRI)T T5Mb@Mb@Mb@111 1)1Y5d;O?p= ף?Q?y54?5=5u<1 57A)5AI5` A1y1IMIM(*5٢]t eD=9eWԻQ e>ii mG٣m4Gym9 u> Nusing accuracyPremultiplier from config49y?4Y" iwB5?:,?C;;Q4%bB -"/A-EZjIUFNOT Ignoring new targets: 373.20 m.BjuJj} ProNav: ac range: 373.200012 m, nav range: 355.893585 m, bearing: 190.579474 deg, approach rate: -0.004447 m/s, LOS rate: -0.115220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835225 deg. 2j&:j2@HeadingCmd: 4.814233 target range: 373.200012 and range: 373.20 m. jjjjihhhh|Bfffrfbf1?ɛ5}B=n- 9=I9 =#=ɚ9iAIEKB =IEiMiM;[)I)E%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001556*FE?2FA:FABFEo5JFAGm UGA BI Om >hw,(]A6@Y6ꮙ@6&<96>y6H??@6D x?@wL?\?ɨ6@665;6C @IFogFWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255191yN yBN)II%I%25٢M*'= UK=9UQ U>YY ]G٣Yye+~ e> mNusing accuracyPremultiplier from configiu49mעy?u4Ym: imzBq}:}?mCm ;m* ;mW4 .AZjFNOT Ignoring new targets: 373.20 m.BjJj ProNav: ac range: 373.200012 m, nav range: 355.891968 m, bearing: 190.535417 deg, approach rate: -0.004221 m/s, LOS rate: -0.114965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843015 deg. 2j̝:jO@HeadingCmd: 4.814369 target range: 373.200012 and range: 373.20 m. jjjjihhhhfffrfbf@i@ɛ}B~> I -=ɚiI =I%i%H!i-a))))*Fm?2Fi:FiBFm 5JFizK2KKh9KKK=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507661GOXG B O > hw,4wAHI IwIIyBI&I.I6IH<:IAF]@Y]!@]N!;9]} >y]H|I?@X?@oӶ?D~`i"? ?ɨ]@]py;]CyuyBu/I }=}=Mb@Mb@Mb@ )YFx?Q?99 =G٣9y=;; E> MNusing accuracyPremultiplier from configAU49E$y?U4YE iEBU,?U:U]?E%CE;E;E__4a e.Aa}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 373.20 m.BjJj ProNav: ac range: 373.200012 m, nav range: 355.889771 m, bearing: 190.488438 deg, approach rate: -0.005069 m/s, LOS rate: -0.108382 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834250 deg. 2jÔ:j@HeadingCmd: 4.814216 target range: 373.200012 and range: 373.20 m. jjjjihhhh+}BfAfIfIrfIbfM@@ iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757612ɛ}B; I =ɚiI =Ii"i S)) nManaging dock network, ignoring radio surface power off*F?2F:FBF4JFAG E YA yE 5BG _G G tAJ- ,J- eJ- 1J) J- LC;J- ٤:J- 3J) J- }= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010231 $hw,ANO@YN@N2;9N >yNH@?॓?@>?`eUr b0??ɨNO@N;NCyZyBZ1IIbIb,5٢j; jb=9nfQ n>pt vG٣v4Gyvqh; v> ~Nusing accuracyPremultiplier from configx~49zǪy?4Yz% izBb?zECz;z:;ze4 .AZj1=FNOT Ignoring new targets: 373.20 m.Bj=YJjEYU ProNav: ac range: 373.200012 m, nav range: 355.888397 m, bearing: 190.449044 deg, approach rate: -0.003784 m/s, LOS rate: -0.108562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857004 deg. 2jU:jUO@]HeadingCmd: 4.814613 target range: 373.200012 and range: 373.20 m. jajajijiiihihihqhqfqfqfqrfybf}@ɛ%}B%$0*hw,fAzK.JK9KKKNո@YN5ș@Ns&:9N2 >yNHٷ? ?*@[`?{@d^ C?` ?ɨNո@N5`;NCyZ.yBZ>IIbwIb+&5٢jW= jL=9jQ n>pp rG٣pyvV; v> zNusing accuracyPremultiplier from configx~49zͮy?~4Yz" izB|~D?zgCz%;zy;zl4 aB M.A EZj)5FNOT Ignoring new targets: 373.20 m.BjJj ProNav: ac range: 373.200012 m, nav range: 355.887360 m, bearing: 190.405636 deg, approach rate: -0.002592 m/s, LOS rate: -0.108439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844963 deg. 2jה:j@Will construct direction to contact in vehicle frame from tetrahedron phase data.==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515807%HeadingCmd: 4.814403 target range: 373.200012 and range: 373.20 m. j!j!j)j)i)hQhQhQhQfYfYfYrfYbfeoS @ɛ}B5+ 㒿I 19=ɚiI =Ii2%ij7))*FI2FI:FIBFIJFQH I  I II yBI &I .I 6I <:I kFBIŪCJIŪCRIZIbIjI4 e $?Ii Gu O8 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:48:17.2667 LVL= 23520, 32753, 20082, 32755, AGC= 71, IDX= 390,-0.22,-0.889,-2.079,-0.617,-1.358, PHS= 0.557,-0.674, 0.738, RAW= 156.8, -9.4, CAL= 162.0, -16.6, ROT= 348.0, 16.6  Ygot valid direction response: 19:48:17.2667 LVL= 23520, 32753, 20082, 32755, AGC= 71, IDX= 390,-0.22,-0.889,-2.079,-0.617,-1.358, PHS= 0.557,-0.674, 0.738, RAW= 156.8, -9.4, CAL= 162.0, -16.6, ROT= 348.0, 16.6  PDAT read: Bearing 348.0, 16.6 (Local)  ~Local bearing/azimuth received: Bearing 348.0, 16.6 (Local) 5 DAT read: Range 10 to 50 : 369.8 m (Round-trip 493.1 ms) speed 0.6 m/s = *DAT read: user:848> = BDAT read: Tx time:19:48:18.3695 E $Ping request sent.E )ڭ VIڭ \@iڭ V>ک ک ۭ K?!x?o!Ŀ)ۭ D$?Iۭ o'>iۭ tۭ ۩ ۩ M :publishing transmit ping timeA M Fpublishing direction and range infoة 9ح ch4)?C ꌇV9:?yة ة ة ة ٩ )٩ I٩ i٩ ٩ ٩ ٩ ٩ ک )ک Iک iک ک ک ۭ K?!x?o!Ŀ)۩ I۩ i۩ ۩ ۩ ۩ 1hw,SĠAy%!! %G٣!y- U> ]Nusing accuracyPremultiplier from configQ]49U"y?e4YU iUBe]#?e:ee?UCU];U;U%u4 .AEk)?k k kA:kCBkCZkS@" 8@ ntd d@ch4)?C ꌇV9:?JktRkJJJ'JkJJJd?;J:JJJ<J<J <J <*OϒuL#]@ ;ZYÿL?"ke*kk}A?k 2k5Ckk k5CkaCkzwS@E addTargetRange:: Added new target pos. range: 369.799988 m, deltaT: 3.779489 s, deltaX: -3.400024 m, approachRate: -0.899599 m/s, rangeRepo size: 4 ] Added new target pos. range: 369.799988 m, bearing: 189.444593 deg, lat: 36.901120 deg, lon: -122.115901 deg, deltaT: 3.779489 s, deltaX: -3.400024 m, approachRate: -0.899599 m/s, posRepo size: 4 ZjaFNOT Ignoring new targets: 369.80 m.BjJj ProNav: ac range: 369.799988 m, nav range: 354.763763 m, bearing: 189.314844 deg, approach rate: 0.000000 m/s, LOS rate: -0.108439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812600 deg. 2j:j @HeadingCmd: 4.813838 target range: 369.799988 and range: 369.80 m. jjjjihhhhP}Bfffrfw@bf P?Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:48:18.3687 ɛe}Ber amLIi mQ=ɚiiiIm~ =Iuiu&iu9)q)y*F2F:FBFJFG= -,G B! OM >!=7hw,\ޠA I pg6Will construct direction to contact in vehicle frame from tetrahedron phase data.BВ@YB=@BK9B,! >yBH?p?6y? 2 zi?@ו?H?ɨBВ@Bމ;BCyJ7yBNCIIV0IV5٢^ ^{=9b4zQ b ?`d fG٣f4Gyf< f ? nNusing accuracyPremultiplier from confighn49jy?r4Yjp ijBpr5v?jCj;jM;jz4x z..AxZjFNOT Ignoring new targets: 369.80 m.BjJj5 ProNav: ac range: 369.799988 m, nav range: 354.765503 m, bearing: 189.281812 deg, approach rate: 0.005729 m/s, LOS rate: -0.108793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.876091 deg. 2j=S:j= @=HeadingCmd: 4.814946 target range: 369.799988 and range: 369.80 m. jAjAjAjAiIhIhIhIhIfQfQfQrfQbf]7?ɛ}By I 5 =ɚ i I =Ii7'i ))*F2F:FBF}0JFzKUKK{9KKKGN<8Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO >^=hw,AHaIa IeIIeyBIa&Ia.Ia6Ie&<:Ie(Fؒ@Y@ϻ9>yH`ո?@? 1`rԸ?I{y? ??ɨؒ@;騅Cyޕ;yBޕFIeMb@Mb@Mb@aaa a)aYeQ?Mb? G٣y; > Nusing accuracyPremultiplier from config49 y?4Y iB?:?C;3;ӂ4 .AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 369.80 m.BjDJjD I% ProNav: ac range: 369.799988 m, nav range: 354.768280 m, bearing: 189.236172 deg, approach rate: 0.005992 m/s, LOS rate: -0.098472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838266 deg. 2j-):j-@=HeadingCmd: 4.814286 target range: 369.799988 and range: 369.80 m. j9j9jAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jAihhhhE}Bfffrf!bf-Ct?ɛy}F^ y隥I `w=ɚiI9=Ii (i))*F2F:FBFo0JF*J% R="J% %=J5 )J5 dJ5 2J1 J5 @;J5 T:J5 c3J1 J5 w<J5 w<J5 v<J5 v<= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240740GE G1 B9 O] >(JDhw,A2ג@Y2@2E92ˑ >y2HNθ?@?഍ @?m??`?ɨ2ג@2ȉ;0yBFyBBMI F=FR=IJ6IJ] 5٢R= Ro=9V#Q V?TT ZG٣XyZ Z? ^Nusing accuracyPremultiplier from config\b49^y?b4Y^1 i^Bdf$f?^C^:^Z;^ʈ4l n-AlZjFNOT Ignoring new targets: 369.80 m.BjmPJjmP⺝ ProNav: ac range: 369.799988 m, nav range: 354.770447 m, bearing: 189.202449 deg, approach rate: 0.006356 m/s, LOS rate: -0.098930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874019 deg. 2jʇ:j@HeadingCmd: 4.814910 target range: 369.799988 and range: 369.80 m. jjjjihhhhfffrfbf%?ɛS #I ;=ɚiI{=I%i%|(i%$@ )!))*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493450GJG B O >.mJhw,Z+A>@Y>o@>H9>W >y>H z!?`?u@ R?:X`??Ӱ?ɨ>@>?;>CyJJyBJOIzKRKKR9KPKRKRRKV ?JKV>I^VI^5٢f < fI=9f^ɻQ j>hh jG٣j4GynM; n> vNusing accuracyPremultiplier from configtz49vy?z4Yv ivBxzz?vCv:vQ;vꏒ4`B -AEZj!-FNOT Ignoring new targets: 369.80 m.Bj-vJj5v⺝E ProNav: ac range: 369.799988 m, nav range: 354.773468 m, bearing: 189.162196 deg, approach rate: 0.007430 m/s, LOS rate: -0.098994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854428 deg. 2jE:jE@MHeadingCmd: 4.814568 target range: 369.799988 and range: 369.80 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbfe?ɛ}B bQ 隍I =ɚiIz=IiNX)i))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744750*FU?2FQ:FQBFU_5JFQHI IIIyBI =&I.I6I<:IFGGqByO> I Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997140UQhw,tEAy%UyB%VIMb@Mb@Mb@ )Yv?X9v?Mbp?y?}=;OA )IAyAIgI5٢-< -6=95Q 5>19 =G٣9y= => MNusing accuracyPremultiplier from configI]49M>y?]4YM iMB]?]:exe?M*CMH;MC;Mė4i m-AiZjFNOT Ignoring new targets: 369.80 m.BjݺJjݺ ProNav: ac range: 369.799988 m, nav range: 354.784363 m, bearing: 189.118688 deg, approach rate: 0.024200 m/s, LOS rate: -0.096639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844670 deg. 2j:j@HeadingCmd: 4.814398 target range: 369.799988 and range: 369.80 m. jjjjihhhh}Bfffrfbf@ɛ}B- =I  1<ɚ i I R=Ii*i))JJcJ1JJJϣ:J3JJJJ<J<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250064*FE?2FA:FABFE`5JFAGm ;3GA BI O > I Whw,6s_A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500841>@Y>K@>#j9>&>y>H`O?ځ?`¿`ƺ?<=@"D??@c?ɨ>@>^;>CyRByBVJIXXI^nI^."5٢f"V fd=9fTQ j>hh jG٣hyngz< n> rNusing accuracyPremultiplier from configpv49ry?v4Yr* irBtzŮz?rFCra:rL:r4| ~-AZj!-FNOT Ignoring new targets: 369.80 m.Bj5qݺJj5qݺ ProNav: ac range: 369.799988 m, nav range: 354.794373 m, bearing: 189.084038 deg, approach rate: 0.027964 m/s, LOS rate: -0.096801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871237 deg. 2j݄:jX@ HeadingCmd: 4.814861 target range: 369.799988 and range: 369.80 m. j j j j i h hh1h1f9f9f9rf9bfE.@ɛxL 隭I 9W<ɚiIb=Ii*iK))*F?2F:FBF 5JF zKKKKKK.M( BKrA:KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752754GI G) B1 OM >ZH RH @AH I C I II yBI  =&I .I 6I 2<:I 0FO]hw,ayA@Y %@}9'U>yH`??67@?RF?C?!??ɨ@;Cy9yBEI qIuqgMb@Mb@Mb@ )YzG?ʡE?Mbp?y ?= A A)^AI/AypAIiI5٢ ,=9&Q > G٣4GyC: > Nusing accuracyPremultiplier from config49ny?4Ym$ iBS?:T%?jCa;;Z4) -.A)MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 369.80 m.Bj]ںJj]ںmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004986} ProNav: ac range: 369.799988 m, nav range: 354.815369 m, bearing: 189.038409 deg, approach rate: 0.044054 m/s, LOS rate: -0.095732 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838310 deg. 2j}f:j}@HeadingCmd: 4.814287 target range: 369.799988 and range: 369.80 m. jjjjihhhhb}Bfffrfbf@@ɛ@ I &<ɚiI=Ii*i))EE*Fy2Fy:FyBF}3JFyG *G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257510Gdhw,N(A:*@Y:(@:9: 3>y:H`׺?Q? +?[????ɨ:*@:xz;:CyF6yBFCIINgIN5٢V Zy=9ZRQ Z?X\ ^G٣\y^: b? fNusing accuracyPremultiplier from config`j49b7y?j4Ybm) ibBhjFj?bCb:b:b4p r(.ArEZj FNOT Ignoring new targets: 369.80 m.BjںJjں- ProNav: ac range: 369.799988 m, nav range: 354.830017 m, bearing: 189.007021 deg, approach rate: 0.044643 m/s, LOS rate: -0.095653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.881027 deg. 2j-J:j-@5HeadingCmd: 4.815032 target range: 369.799988 and range: 369.80 m. j1j1j1j1i1h1h9h9hAfAfAfArfAbfM @ɛ}B-o I ^<ɚi!I%IO=I%i-*i-Jz))))*F?2F:F!BF5_0JF1 m$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:48:21.2653 TRx dataTimestamp_ set to:1736365702.514084checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511321G5pG B O5 >Pjhw,BA6@Y6S-@696 >y6H{?`1? ]?ui?]?@٪?B?ɨ6@67;4yR5yBRBIIZyIZ'5Jf+JfkJdJdJfB;Jf:JdJdaj@aj@aj@aj@٢ry rG=9r[Q v>tt vG٣tyzt: z> ]Nusing accuracyPremultiplier from configYe49]y?e4Y]/ i]Bae1e?]C]:] :]x4q u..AqZjFNOT Ignoring new targets: 369.80 m.BjۺJjۺWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761102zKZMK9KKK/cdnO5$ 4h8B-n6 RK ?JK?  ProNav: ac range: 369.799988 m, nav range: 354.849213 m, bearing: 188.966552 deg, approach rate: 0.045530 m/s, LOS rate: -0.095984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853787 deg. 2j :j @5HeadingCmd: 4.814557 target range: 369.799988 and range: 369.80 m. j1j9j9j9i9h9h9hAhAfAfAfArfIbfM~Z@ɛ}B M I <ɚiI=Ii)i))*F?2F:FBFh0JFG GHQIUC IQIQIQ&IQ.IQ6IU<:IUF qI}rgGi"Gi By  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:48:21.2653 LVL= 22768, 31265, 17586, 32755, AGC= 66, IDX= 406, 0.27, 0.257,-0.752, 0.582,-0.171, PHS= 0.516,-0.534, 0.750, RAW= 159.9, -12.3, CAL= 165.4, -18.7, ROT= 344.6, 18.7  Ygot valid direction response: 19:48:21.2653 LVL= 22768, 31265, 17586, 32755, AGC= 66, IDX= 406, 0.27, 0.257,-0.752, 0.582,-0.171, PHS= 0.516,-0.534, 0.750, RAW= 159.9, -12.3, CAL= 165.4, -18.7, ROT= 344.6, 18.7  PDAT read: Bearing 344.6, 18.7 (Local)  ~Local bearing/azimuth received: Bearing 344.6, 18.7 (Local)  DAT read: Range 10 to 50 : 368.7 m (Round-trip 491.6 ms) speed 0.5 m/s  *DAT read: user:849>  BDAT read: Tx time:19:48:22.3696  $Ping request sent.  Fpublishing direction and range info؉ 9؍ ME?绮+L3=r?y؍ YC؉ ؍ X؍ !z ٍ D)ى Iٍ Biٍ ?ٍ 9ٍ @?ٍ )2@ٍ [ ڍ 8@)ڍ Iڍ v@iڍ >ډ ډ ۍ uO#?V&i?`s0R˿)ۍ 2?Iۍ AG\>iۍ Eۍ ZѾۉ ۉ - :publishing transmit ping time - Fpublishing direction and range info؉ 9؍ ME?绮+L3=r?y؉ ؉ ؉ ؉ ى )ى Iى iى ى ى ى ى ډ )ډ Iډ iډ ډ ډ ۍ uO#?V&i?`s0R˿)ۉ Iۉ iۉ ۉ ۉ ۉ qhw,CơA6@Y6J.@6TX96&w >y6H`? ? }:q?@Is?ʓ? G`?`?ɨ6@6;6C)  y%#yB57Iu~G YyEBUMb@Mb@Mb@QQQ Q)QYU$C?#~j?yU?U=UUA UA)UbAIUAQyUAImpIm#5٢  #=9h6Q > G٣4Gyv9 > Nusing accuracyPremultiplier from config 49 y?4Y 7 i B?:? C ; ; 4M_B Mk.AMEk>K ?k` k kA:kYCBkCZkW@"FYoG@tYZSb@ME?绮+L3=r?JkERkZѾ*%'u[֗tT?kk#CkCCk8S@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:22.3688  addTargetRange:: Added new target pos. range: 368.700012 m, deltaT: 4.032024 s, deltaX: -1.099976 m, approachRate: -0.272810 m/s, rangeRepo size: 4  Added new target pos. range: 368.700012 m, bearing: 193.337008 deg, lat: 36.901142 deg, lon: -122.115901 deg, deltaT: 4.032024 s, deltaX: -1.099976 m, approachRate: -0.272810 m/s, posRepo size: 4 ZjeFNOT Ignoring new targets: 368.70 m.BjeJjau ProNav: ac range: 368.700012 m, nav range: 352.529724 m, bearing: 188.978219 deg, approach rate: 0.000000 m/s, LOS rate: -0.095984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827887 deg. 2jy:j}% @HeadingCmd: 4.814105 target range: 368.700012 and range: 368.70 m. jjjjihhhh#}Bfffrf@3 w@bf`F?ɛ%}B%>; )-%I) -<<ɚ)i)I-\4=I5i5)i5u)9)EE>*F2F:FBF%`0JF! a Ia GU ˴ Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 B9 O] >Txhw,⡵Ayv,yBv=II~:I~# 5٢5< 5h=95Q =>99 =G٣9yE E> UNusing accuracyPremultiplier from configIU49MEy?U4YM< iMBYY]?MCM:MC:M)’4a eF.AiZjFNOT Ignoring new targets: 368.70 m.Bj[Jj[ ProNav: ac range: 368.700012 m, nav range: 352.547058 m, bearing: 188.943972 deg, approach rate: 0.052519 m/s, LOS rate: -0.103757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872451 deg. 2jj:j@HeadingCmd: 4.814883 target range: 368.700012 and range: 368.70 m. jjjjihhhhafafifirfibfm|?ɛ}Bm ᒿI k<ɚiI&=I iÈ)i))*F?2F:FBFo0JFJK23 KL.KK"KJ/JhJJJE;Jg:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.zKeNKaKaKeKeG}ܾGY By O >H9 I= C I= II= yBI9 &I9 .I9 6I= i<:I= XFBI JI RI ZI bI jI #4x~hw,A IU"@YUY2@UY9Uz>yUH$?p?5` ڨ?{?v_???ɨU"@U7;UCyeyBe3IquAMb@Mb@Mb@ )Y~jt?I +?y&1|?y?9=`;A QA)zAI3AyA15@AI=eI=15٢M M;=UWill construct direction to contact in vehicle frame from tetrahedron phase data.9UQ ]>YY ]G٣Yye͓: e> Nusing accuracyPremultiplier from config49y?4YD iDžBG?:k?C<;s:;ʒ4) -.A)eB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 368.70 m.Bj޺Jj޺ ProNav: ac range: 368.700012 m, nav range: 352.572540 m, bearing: 188.898791 deg, approach rate: 0.054898 m/s, LOS rate: -0.097330 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839653 deg. 2j:j@HeadingCmd: 4.814310 target range: 368.700012 and range: 368.70 m. jjjjihhhh1}Bfffrfbf?ɛe}BeW aeIa m!<ɚiiiIm="=IuiuuM)iu2y)q)y*F=?2F9:F9BF=l0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G] ˴GA BI O >\hw,|}AB@YB(@B{ļ9B >yBH@ں?)?@@q`q?@?Ǝ?@? t?ɨB@Bq;BCyJ yBJ5IIVBIV5٢Z#< ^h=9^ǻQ ^>`` bG٣b4GyfU f> jNusing accuracyPremultiplier from confighr49j=y?r4YjOI ijͅBprv?j"CjN;jkO;jϒ4x zv.AxZjFNOT Ignoring new targets: 368.70 m.Bj%Jj%麝5 ProNav: ac range: 368.700012 m, nav range: 352.591187 m, bearing: 188.865598 deg, approach rate: 0.057246 m/s, LOS rate: -0.101900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875613 deg. 2j5݋:j5@=HeadingCmd: 4.814938 target range: 368.700012 and range: 368.70 m. j9j9j9j9iAhAhAhAhAfIfIfIrfIbfU ?ɛ}}Bҋ 隅I 5<ɚiIU=IiT<)i))E*F2F:FBF1JF IeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499885GGRGGsAGBO>J ,J J J J LC;J J J 燋hw,-]0A:B@Y:@:B?ּ9:`4 >y:HO?5? _?҇? ǚ?@?v?ɨ:B@:O;:CyF$yBF8IINbIN5٢V< VK=9ZWQ Z>fWill construct direction to contact in vehicle frame from tetrahedron phase data.f>f\?jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753058hh nG٣lynr r> vNusing accuracyPremultiplier from configpv49rRy?z4YrO irԅBxzԩz?rBCr:r\:rג4 j.AEZj!-FNOT Ignoring new targets: 368.70 m.Bj-Jj-㺝U ProNav: ac range: 368.700012 m, nav range: 352.613556 m, bearing: 188.825170 deg, approach rate: 0.055060 m/s, LOS rate: -0.099502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853911 deg. 2jUzK>KKh9KKK;OH/_:jU@HeadingCmd: 4.814559 target range: 368.700012 and range: 368.70 m. jjjjihhhhfffrfbf0?ɛ]}B]a aegIa e] <ɚaiaIm=Imia)i~))HIC III&I.I6I$<:I%F*F5?2F1:F1BF5N3JF1 I%sgmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003602G}*GA BQ Ou >nhw,3JA:@Y:`@:-ݼ9:W >y:H@.?[?b8?jz?@⤛?6{? :?ɨ:@:܊;:CyF)yBJ;I R=R=MMb@Mb@Mb@III I)IYM+?|?5^?{Gz?yM?M=M#=9}Q }> G٣y: > Nusing accuracyPremultiplier from config499y?4YV i݅B!?:E?eC;\;ޒ4^B N.AEZjFNOT Ignoring new targets: 368.70 m.BjۺJjۺJJBA ProNav: ac range: 368.700012 m, nav range: 352.643097 m, bearing: 188.781833 deg, approach rate: 0.065502 m/s, LOS rate: -0.096084 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845186 deg. 2j⃻:j@HeadingCmd: 4.814407 target range: 368.700012 and range: 368.70 m. jjjjihhhh }Bfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257530ɛ }B` I <ɚiI g=Ii%;p)i%֛;)!))*F?2F:FBF2JFG } $?I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511768Ӛhw,PdAV&@YV&@V\9VL >yVH`ź??$/?`D?`? N??ɨV&@V}l;VCy$yB8II-I-v35٢U/ UL=9]Q ]>Ya eG٣e4Gye"; e> uNusing accuracyPremultiplier from configi}49my?4Ym\ imB"?mCmUw;mw;m4 _.AZjFNOT Ignoring new targets: 368.70 m.BjIJjI ProNav: ac range: 368.700012 m, nav range: 352.671387 m, bearing: 188.741036 deg, approach rate: 0.074964 m/s, LOS rate: -0.108098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852806 deg. 2j_:j@HeadingCmd: 4.814540 target range: 368.700012 and range: 368.70 m. jjjjihhhhf)f)f1rf1bf=@%9@ɛ}Bo 隕ܒI <ɚiI{=IiUa)i))EEsAJ.JdJJJD;JT:JJ*Fu?2Fy:FyBF}m5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764253zKAOKKKKFk=oO.taPA2$ xrkhf`[YXRKHFCB<ZH RH H I  I I I  =&I .I 6I C<:I =FG *G G >Ga Bq O >ƞhw,}A `Idy#yB7IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015400Mb@Mb@Mb@ )YT㥛 ?Mb?/$?y!?=<&A ) AIAy(AI-zI-'5٢5$ =/=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49Uz?]4YUd iUB]"?e:m\m?UCU1h;U:f;U4q ud.AqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 368.70 m.Bj/Jj/뺝 ProNav: ac range: 368.700012 m, nav range: 352.699585 m, bearing: 188.693206 deg, approach rate: 0.060615 m/s, LOS rate: -0.102807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831709 deg. 2j:j @HeadingCmd: 4.814171 target range: 368.700012 and range: 368.70 m. jjjjihhhh|Bfffrfbfϥ@ɛ}Bt I M2<ɚiI[?=IiR)i ))*FQ2FQ:FYBF]E5JFY*J4="Ja= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268606G pG B O >hw,ȗAFz@YF%@F9F`>yFHͿ?@j? `Q$ ?VM?@G??~?ɨFz@F3;FCyj)yBn;IppIvIv,5٢~< w=9.&Q ?    G٣ y ( ? Nusing accuracyPremultiplier from config%49=z?%4Yi iB!-Y-?C\::j41 5N.A1ZjamFNOT Ignoring new targets: 368.70 m.BjmfJjmf꺝 ProNav: ac range: 368.700012 m, nav range: 352.719727 m, bearing: 188.659335 deg, approach rate: 0.060933 m/s, LOS rate: -0.102464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873578 deg. 2j:j@HeadingCmd: 4.814902 target range: 368.700012 and range: 368.70 m. jjjjihhhhfffrfbfD @ɛ}B0荽 БI <ɚiIH=IiI)i))*FQ2FQ:FYBF]`0JFY IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:19:48:25.2606 mTRx dataTimestamp_ set to:1736365706.548689uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520703Gu*GIBaO>'ݫhw,±AJJ*JJbJHJHJJA;JJJ:JHJHR@YR'@R"|9Rj>ZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771877yRHϺ? ݇?>?19?@n?b??ɨR@R;RCyfyBf4IInxIn&5٢vpμ vK=9z Q z>xx zG٣~4Gy~#: ~> Nusing accuracyPremultiplier from config49 z?4Yap iB%P%?C};G~;w4-]B -n.A-EZjQUFNOT Ignoring new targets: 368.70 m.Bj]Jj]꺝m ProNav: ac range: 368.700012 m, nav range: 352.744568 m, bearing: 188.617984 deg, approach rate: 0.061587 m/s, LOS rate: -0.102510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851143 deg. 2ju:juy@uHeadingCmd: 4.814511 target range: 368.700012 and range: 368.70 m. jyjyjyjyiyhyhyhhfffrfbf@~@ɛ}B~ zKE OKE9KAKEKE;:7631.+()*(%"## BZ=,%  RKU?JKU?隅ВI z<ɚiI=Ii5)i))E]>E >H>I IIIyBI =&I.I6IF<:I?F*Fe?2Fi:FiBFma0JFq IeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiaDAT read: 19:48:25.2606 LVL= 29552, 32753, 21794, 32755, AGC= 65, IDX= 390,-0.15,-1.204,-2.400,-0.882,-1.655, PHS= 0.539,-0.698, 0.770, RAW= 158.4, -9.0, CAL= 163.3, -16.1, ROT= 346.7, 16.1 Ygot valid direction response: 19:48:25.2606 LVL= 29552, 32753, 21794, 32755, AGC= 65, IDX= 390,-0.15,-1.204,-2.400,-0.882,-1.655, PHS= 0.539,-0.698, 0.770, RAW= 158.4, -9.0, CAL= 163.3, -16.1, ROT= 346.7, 16.1 5 PDAT read: Bearing 346.7, 16.1 (Local) = ~Local bearing/azimuth received: Bearing 346.7, 16.1 (Local) M DAT read: Range 10 to 50 : 365.1 m (Round-trip 486.9 ms) speed 0.5 m/s U *DAT read: user:850> G} w*Gy Gy  BDAT read: Tx time:19:48:26.3696  $Ping request sent. aaeW$?!k̝?! ÿ)ee+?Ieaw >ieG9 BA O] >e޾aau :publishing transmit ping time u Fpublishing direction and range infoa9e2 ?C?yaaaa a)aIaiaaaaa a)aIaiaaaeW$?!k̝?! ÿ)aIaiaaaahw,ˢA2E@Y2&@2 92!>y2H ź??@"` ?`n?@??ƴ?ɨ2E@2";2CyB/yBB>IuMb@Mb@Mb@qqq q)qYuw/?EԸ?y&1?yu&?u=u`e G٣yf > Nusing accuracyPremultiplier from config49iz?4Yw iB(?:58=?D52<1<4A E-.AEEk_ ?kdB k kVâA:kCBkSCZke,S@"PQ"6@F4[KtWy8c@2 ?C?JkRk޾*{}}uط^dK`hXr[@+}#4ÿd_??"k"[*kkpm?k" 2k,Ck}A?k" k,CkLCkS@ addTargetRange:: Added new target pos. range: 365.100006 m, deltaT: 4.036199 s, deltaX: -3.600006 m, approachRate: -0.891930 m/s, rangeRepo size: 4 5 Added new target pos. range: 365.100006 m, bearing: 189.052268 deg, lat: 36.901165 deg, lon: -122.115925 deg, deltaT: 4.036199 s, deltaX: -3.600006 m, approachRate: -0.891930 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 365.10 m.BjEJjAu ProNav: ac range: 365.100006 m, nav range: 350.601318 m, bearing: 188.990113 deg, approach rate: 0.000000 m/s, LOS rate: -0.102510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835036 deg. 2jq:ju+@}HeadingCmd: 4.814229 target range: 365.100006 and range: 365.10 m. jyjyjyjyiyhhhh}Bfffrfv@bf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:26.3688 ɛ}B($d SI %<ɚ)i)I-g=I-i5 %)i5 )1)1*F?2F:FBF`0JF I tgG% i"G B O% >} Will construct direction to contact in vehicle frame from tetrahedron phase data.hw,Z墵A6 @Y6@6996>y6H@Y??`+ @CF??~? D?`?ɨ6 @6&;6CyB4yBBBI F=F=IJFIJt5٢Y< V=9 gQ  >    G٣y6 > %Nusing accuracyPremultiplier from config!-49%z?-4Y%} i%B)-h5?%D%&:%:%49 =.A9ZjimFNOT Ignoring new targets: 365.10 m.BjuJju ProNav: ac range: 365.100006 m, nav range: 350.623901 m, bearing: 188.949560 deg, approach rate: 0.063839 m/s, LOS rate: -0.114630 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853536 deg. 2jV:j@HeadingCmd: 4.814552 target range: 365.100006 and range: 365.10 m. jjjjihhhhfffrfbf@?ɛ}Bi dI <ɚiI=Ii=)i]q))*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GpzKm NKiKiKmKm    BK}sA:K}rAGBO>jH <bH <H I  I II yBI &I .I 6I :<:I 6Fhw,ZA $I$%Will construct direction to contact in vehicle frame from tetrahedron phase data.yE9yBEEIMb@Mb@Mb@ )Yw/?J +?Q?y=u<A 7A)` AIAyIpI#5٢0< .=9Q > G٣4Gy   > Nusing accuracyPremultiplier from config49z?4Y߅ i&B(?:=?)D[< <4 .AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 365.10 m.BjAJjA뺝- ProNav: ac range: 365.100006 m, nav range: 350.652557 m, bearing: 188.899271 deg, approach rate: 0.058603 m/s, LOS rate: -0.102837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824330 deg. 2j-':j- @UHeadingCmd: 4.814043 target range: 365.100006 and range: 365.10 m. jQjYjYjYiYhYhYhahe}BfafafirfibfmP?5~~GU`wAi Y`wAyBɛ}Bj ` 隵II !r<ɚiI=Ii\e)ic))E*F?2F:FBFm0JFJ,JeJJJLC;J٤:JJJ};hw,[%A6v@Y6@6f96g>y6H??@`dI?,?@? ??ɨ6v@6Q};6CyBByBBJIIJUIJ5٢Z< Zn=9^Q ^?`` bG٣`yb b? jNusing accuracyPremultiplier from configdM49f!z?M4Yf if/BQUU?f7DfAdhw,3AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716620:@Y: @:z9:O>y:H ? ?P@NJ?e͗?:?@?O?ɨ:@:ı;8yJKyBJPIPRAIVIV|+5٢^< ^J=9^9Q b>`` bG٣`yf\; f> jNusing accuracyPremultiplier from confighn49j'z?n4Yjr ij:Blryr?jHDj ;j? ;j4v\B v-AvEZj!%FNOT Ignoring new targets: 365.10 m.Bj-=Jj-=zKLK9KKKDk{}wrjc^VQNGCA><93.'RK?JK? ProNav: ac range: 365.100006 m, nav range: 350.697540 m, bearing: 188.819218 deg, approach rate: 0.062854 m/s, LOS rate: -0.110699 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845546 deg. 2j:j@HeadingCmd: 4.814413 target range: 365.100006 and range: 365.10 m. jjjjihhh!h!f!f!f!rf)bf-H?ɛ}B7{ 隝KI X<ɚiId=Ii *H>I IIIzBI&I.I6I<:I!FBIJIRIZIbIjI 4iϙ))*F?2F:FBFI2JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970927GG B O >Ihw,GMA2,@Y2@292&>y2H$?.?;  -?@7?~?`C?1?ɨ2,@2 E;2Cy>LyBP5Mb@Mb@Mb@111 1)1Y5K7?kt?{Gz?y5)?5 =5#<5+A 5A)5d AI5A1y5QAIMIM_,5٢]p: ]A=9]Q e>aa eG٣e4Gym; m> Nusing accuracyPremultiplier from config49|,z?4Y iDB++?:ϫ?ZD+;#;Y%4 -AZjFNOT Ignoring new targets: 365.10 m.BjJjJ*JgJ2JJA;J:Jc3JJ#<J$<J<J< ProNav: ac range: 365.100006 m, nav range: 350.718811 m, bearing: 188.772933 deg, approach rate: 0.050126 m/s, LOS rate: -0.109066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836342 deg. 2j:j[@HeadingCmd: 4.814252 target range: 365.100006 and range: 365.10 m. jjjjihhhh-}Bfffrfbfh @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220576ɛm}Bu@(y quɊIy }!H<ɚyiyI}7'=Ii&A*i))EE*FE?2FA:FABFEo5JFA IugG g{G G tAGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472502{uhw,mgA6;@Y6@696M>y6H M?d?`C` Y?W ?:??ܲ?ɨ6;@6);6CyBTyBBUIIJIJB-5٢r< rR=9vQ v>xx zG٣xy~Y: ~>  Nusing accuracyPremultiplier from config 49 t1z?4Y d i MB!%%? kD p; }f; %,41 5-A=EZjyFNOT Ignoring new targets: 365.10 m.BjJj ProNav: ac range: 365.100006 m, nav range: 350.738647 m, bearing: 188.730659 deg, approach rate: 0.050196 m/s, LOS rate: -0.106968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848373 deg. 2jҒ:j@HeadingCmd: 4.814462 target range: 365.100006 and range: 365.10 m. jjjjihhhhfffrfbf%@ɛ%}B%T !%aI! -;<ɚ)i)I-ʁ=I5i5`*i5i)1)1*F?2F:FBF@5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.724538zKM:NKM59KIKMKM   BK]rA:K]sAH>I IIIzBI&I.I6I<:I FGG B O > I Q`hw,A"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977209Y@u9z>yH/yy G٣y| > ]Nusing accuracyPremultiplier from configYm49]7z?u4Y] i]XB}+?}:}0}?]D];];]44 -AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 365.10 m.BjEJjE ProNav: ac range: 365.100006 m, nav range: 350.762299 m, bearing: 188.678285 deg, approach rate: 0.048815 m/s, LOS rate: -0.108091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818075 deg. 2j]:j @HeadingCmd: 4.813933 target range: 365.100006 and range: 365.10 m. jjjjihhhh%}Bfffrfbf @ɛ5}B5De 1];IY ]L*<ɚaiaIe=Imim*im})i)i*FI2FI:FIBFM`5JFQJ.JJ1JJD;JJ3JJ֚<Jך<JJU Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231618Gu V'SGI BY O} >0hw,AB@YB8@BY9BW >yBH@Q?? \(m?@!,?@?~?H?ɨB@B;;BCyJ]yBJ[IIVzIV'5٢^!H< ^h=9^CQ ^>`` bG٣`yfv: f> jNusing accuracyPremultiplier from confighn49j;z?n4Yj< ij`Bln&r?jDj3;j4;j;:4x zp-AxZjFNOT Ignoring new targets: 365.10 m.Bj%SJj%S5 ProNav: ac range: 365.100006 m, nav range: 350.778534 m, bearing: 188.642835 deg, approach rate: 0.051383 m/s, LOS rate: -0.112190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868842 deg. 2j5:j5@=HeadingCmd: 4.814820 target range: 365.100006 and range: 365.10 m. j9j9jAjAiAhAhAhIhIfIfQfQrfQbfUd @ɛ}BP^ 隍UI CK <ɚiI)=IiǬ*iTg))Ee>E> 1I5vg*Fe?2Fa:FaBFe`0JFaG=}GE?GE??}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:48:29.2421 TRx dataTimestamp_ set to:1736365710.580778checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481675GB!O=/>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- =- =5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732674Ihw,6wAR@YR@R#9R>yRHwH??@[{#@l?M?/s?@ ??ɨR@R{;RCyvTyBvUII~IE)5٢  F=9,&Q > G٣4Gy% %> -Nusing accuracyPremultiplier from config)549-@z?54Y-V i-jB1=*=?-D-;-;-uA4E[B E-AMEZjquFNOT Ignoring new targets: 365.10 m.Bj(Jj( ProNav: ac range: 365.100006 m, nav range: 350.799316 m, bearing: 188.597797 deg, approach rate: 0.050261 m/s, LOS rate: -0.108915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840079 deg. 2j~:j@HeadingCmd: 4.814318 target range: 365.100006 and range: 365.10 m. jjjjihhhhfHU>IQ IUIIU$zBIQ&IQ.IQ6IUS<:IUHFzKFLK+9KKKffrfbf@ɛ}Bs ȇI <ɚiIgw=Ii*ir)) 5$?I1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 19:48:29.2421 LVL= 23472, 25745, 16114, 27315, AGC= 68, IDX= 419, 0.17,-1.461,-2.551,-1.123,-2.010, PHS= 0.637,-0.494, 0.884, RAW= 159.7, -15.9, CAL= 165.2, -22.1, ROT= 344.8, 22.1 uYgot valid direction response: 19:48:29.2421 LVL= 23472, 25745, 16114, 27315, AGC= 68, IDX= 419, 0.17,-1.461,-2.551,-1.123,-2.010, PHS= 0.637,-0.494, 0.884, RAW= 159.7, -15.9, CAL= 165.2, -22.1, ROT= 344.8, 22.1 }PDAT read: Bearing 344.8, 22.1 (Local) ~Local bearing/azimuth received: Bearing 344.8, 22.1 (Local) DAT read: Range 10 to 50 : 351.3 m (Round-trip 468.4 ms) speed 0.4 m/s *DAT read: user:851> BDAT read: Tx time:19:48:30.3696 $Ping request sent.)٭jI٭Di٭o#?٭٭Mb?٭b2@٭q ڭ8@)ڭ|žIڭ@iڭ|>ککۭn?'Y?KxGѿ)ۭF1?IۭqM>iۭ lۭѾ۩۩u :publishing transmit ping time} Fpublishing direction and range infoة9ح]B;'?W3LMd?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭn?'Y?KxGѿ)۩I۩i۩۩۩۩G sGi Bq O >hw,:\ϣA6@Y60@6R'96S >y6H@H?`ކ?@gu?'????ɨ6@6';6CyNfyBN`IRAPJJJ56J5kJ1J1J5K;J5:J1J1J5=<J5=<J5 <J5 <Mb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:30.3688 YHzG?p= ף?~jth?y=D;A A)I AIAyAIrI#5٢%.= m-=9mQ m>qq uG٣qy}G7 }> Nusing accuracyPremultiplier from config49.Fz?4Y itB +?:?D;;I4 A-Akt$?k@ k kƇţA:kCBkxCZk\@"$R|BQ@5$s ۹~a@]B;'?W3LMd?Jk lRkѾ*ggؖ"tGXR&%X@3GYY-pѿv?"kT*kkM8?k 2k!CkAKA?kk#Ck$Ck5R@ addTargetRange:: Added new target pos. range: 351.299988 m, deltaT: 4.034244 s, deltaX: -13.800018 m, approachRate: -3.420720 m/s, rangeRepo size: 4  Added new target pos. range: 351.299988 m, bearing: 197.026515 deg, lat: 36.901169 deg, lon: -122.115925 deg, deltaT: 4.034244 s, deltaX: -13.800018 m, approachRate: -3.420720 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 351.30 m.BjJj ProNav: ac range: 351.299988 m, nav range: 350.282440 m, bearing: 188.558537 deg, approach rate: 0.000000 m/s, LOS rate: -0.108915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808313 deg. 2j:jY @HeadingCmd: 4.813763 target range: 351.299988 and range: 351.30 m. jjjjihhhh}Bfffrfu@bf0?ɛ}B:ap 䄿I 9;ɚiI=Ii+ivq))*F?2F:FBFJFG G"GG I Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 B9 O] >hw,T飵AND@YN@N-9N >yNH R??@l@`W?? I? ??ɨND@N ;NCy^_yB^\II-aI-k5٢= =o=9=ƓQ =?AA EG٣AyM M? UNusing accuracyPremultiplier from configQ]49UIz?]4YUc iU{BYee?UDUz:U:UO4q u^-AqZjFNOT Ignoring new targets: 351.30 m.Bj|Jj| ProNav: ac range: 351.299988 m, nav range: 350.293427 m, bearing: 188.522088 deg, approach rate: 0.035968 m/s, LOS rate: -0.119325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865843 deg. 2jȣ:j@HeadingCmd: 4.814767 target range: 351.299988 and range: 351.30 m. jjjjihhhhfffrfbf@?ɛ }B  iI D@;ɚiIq=Ii(+i捻)!))E1*F?2F:FBFp0JFGtAGGBO">Will construct direction to contact in vehicle frame from tetrahedron phase data.jH)bH)H1I1 I5II59zBI1&I1.I16I5Q<:I5FFzKM>KKMh9KIKMKM     BK]sA:K]rA I iw,AeWill construct direction to contact in vehicle frame from tetrahedron phase data.@YD@[29 >yH? ?@ ? ?I?f??ɨ@ш;騵CymyBeIMb@Mb@Mb@ )Y?Q?~jth?y,?u=nA  A)3 AIAyfAIFIt5٢1< 4=9*Q > G٣4Gy| > Nusing accuracyPremultiplier from config49Nz?4YZ iB{-?:?D<;;;W4  &-A 5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 351.30 m.BjMJjM] ProNav: ac range: 351.299988 m, nav range: 350.305603 m, bearing: 188.471796 deg, approach rate: 0.026679 m/s, LOS rate: -0.110187 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824316 deg. 2j]=:j] @eHeadingCmd: 4.814043 target range: 351.299988 and range: 351.30 m. jajajajiiihihihqhu|Bfqfyfyrfybfg:?ɛ}B0x 隭I ;ɚiIbY=IiE+i2#))*FY2FY:FYBFYJFYGBOi> Will construct direction to contact in vehicle frame from tetrahedron phase data. > p= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.iw,A69@Y6@6:96 >y6H |??V׺??P?rB?@?ɨ69@6?;6CyBwyBBkIIJXIJn5٢~< ~n=9Q ? G٣ y '  ? Nusing accuracyPremultiplier from config49]Rz?4YY iB!%%?DT ; ;]4-ZB -,A-EZjQeFNOT Ignoring new targets: 351.30 m.BjeJjeu ProNav: ac range: 351.299988 m, nav range: 350.314819 m, bearing: 188.433923 deg, approach rate: 0.027114 m/s, LOS rate: -0.111418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.861570 deg. 2ju:j}@HeadingCmd: 4.814692 target range: 351.299988 and range: 351.30 m. jjjjihhhhff Iwgfrfbfள?ɛ}BQ MI ;ɚiI=Ii:,iqλ))*Fm?2Fq:FqBFu62JFqGIBQmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.474200O>J /J iJ J J E;J :J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725543 iw,z6Afu@Yf@fIu;9f 3 >yfH]͹??ј'?@1? l??@?ɨfu@f';fCyryBhII-|I-b(5٢E* EF=9M Q M>IQ UG٣QyUE; ]> eNusing accuracyPremultiplier from configYm49]Vz?m4Y] i]Bimﰿm?]D]:]G:]d4y } -AZjFNOT Ignoring new targets: 351.30 m.Bj>Jj> ProNav: ac range: 351.299988 m, nav range: 350.326477 m, bearing: 188.388158 deg, approach rate: 0.028089 m/s, LOS rate: -0.110264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837899 deg. 2jX:j@HIC IIICzBI&I.I6I9<:I4FzKULKU+9KQKUKU%s8RK]>JK]?HeadingCmd: 4.814280 target range: 351.299988 and range: 351.30 m. jjjjihhhhfffrfbfձ?ɛ}{}B}/{ y}&Iy ;ɚiI=Ii*f,i)) I*F%?2F!:F!BF%1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980839)= G5 WqGU ?GU ? G xA G B O- > = q YE xAyE BViw,=PAy%yB%qIMb@Mb@Mb@ )YDl?S㥫?Mb`?yO-?/]=; A) AI/AyAIIY45٢-a = -==95Q 5>11 =G٣=4Gy= => ENusing accuracyPremultiplier from configAM49E5[z?M4YE4 iEBU-?m:mm?E DEҢ;E;Erl4q u,AyZjFNOT Ignoring new targets: 351.30 m.BjJj ProNav: ac range: 351.299988 m, nav range: 350.336365 m, bearing: 188.340173 deg, approach rate: 0.022755 m/s, LOS rate: -0.110426 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831235 deg. 2j:j @HeadingCmd: 4.814163 target range: 351.299988 and range: 351.30 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229762hh|Bfffrfbf$@ɛw}B { B}I ~;ɚ!i!I% =I=i=,iE )A)A*F2F:FBF`5JF IG- [6G B O)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481582.!iw,|jAN@YNR@N`<9N>+ >yNHr@??n ?@n/??? ?ɨN@NA;LyVyBZwI`bBAIbIb25٢jA< jc=9n/#Q n>lp rG٣pyr; r> vNusing accuracyPremultiplier from configtz49v^z?~4Yv ivBձ?vDvH<;v=;vr4  ,A ZjqFNOT Ignoring new targets: 351.30 m.BjfJjf ProNav: ac range: 351.299988 m, nav range: 350.345245 m, bearing: 188.300235 deg, approach rate: 0.024243 m/s, LOS rate: -0.109021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855377 deg. 2j:j@HeadingCmd: 4.814585 target range: 351.299988 and range: 351.30 m. jjjjihhhhfffrfbf\@ɛur}BuA牽 y}yIy }/N;ɚiIc=Ii ,iBh))*Fa2Fa:FaBFm4JFiJ&JfJJJ>;J]:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733589ZHRHHIC IIIWzBI&I.I6Iݰ<:I FBIJIRIZIbIjI('4G-j>zK!MK9KKKG B O- > I t !iw,eAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.988678C @Y@7=9p >yHR?? 5 ?M? ???ɨC @;y yB xIMb@Mb@Mb@ )Y?Mb?{Gzt?y,?@=ף;A  A)3 AIAy AII-5٢2p; =9Q > G٣yf : > Nusing accuracyPremultiplier from config49dz?4Y iB9-?:'?0DmG;.F; |4 ,AB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 351.30 m.Bj%Jj%= ProNav: ac range: 351.299988 m, nav range: 350.354858 m, bearing: 188.241429 deg, approach rate: 0.018298 m/s, LOS rate: -0.111935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798773 deg. 2j=:j=@EHeadingCmd: 4.813597 target range: 351.299988 and range: 351.30 m. jAjAjAjAiAhAhIhIhM|BfIfQfQrfQbf]@^A @ɛk}Bk &=隍}wI [ ;ɚiIr=Ii-i))*F2F:FBF`5JFGsA GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237544G WqG sAG sAG B O >me'iw,AF @YF@Fjk?9F>yFH&v?@?`9 !׻?т?2? ??ɨF @FLJ;FCyNyBRI ^$?I^xgIZIZ"25٢f= f=9jȺQ j?ll rG٣r4Gyr: r? vNusing accuracyPremultiplier from configt~49vfz?~4Yv ivB|~~?v<Dv$;vz%;v4 YB ,,A EZj15FNOT Ignoring new targets: 351.30 m.Bj=Jj=M ProNav: ac range: 351.299988 m, nav range: 350.360352 m, bearing: 188.209621 deg, approach rate: 0.019095 m/s, LOS rate: -0.110568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.879766 deg. 2jM×:jU@]HeadingCmd: 4.815010 target range: 351.299988 and range: 351.30 m. jYjajajaiahahahihififqfqrfqbfu`z @ɛg}B 隥oI ):ɚiII=Ii9-iQG))*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:19:48:33.2547 TRx dataTimestamp_ set to:1736365714.614057checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492818GxGBO>JK KS}-KK"KJe *Je dJa Ja Je A;Je T:Ja Ja  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741717-iw,TɸAHU>IQ IUIIUkzBIQ&IQ.IQ6IU<:IUFzKuMKKu9KqKuKuy޽yB޽I ==II)5٢W; ,=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%kz?-4Y%A i%B115?%QD%,;%-;%c49 E ,AAZjamFNOT Ignoring new targets: 351.30 m.BjmJjm} ProNav: ac range: 351.299988 m, nav range: 350.369598 m, bearing: 188.157179 deg, approach rate: 0.019493 m/s, LOS rate: -0.110550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817865 deg. 2j:j @HeadingCmd: 4.813930 target range: 351.299988 and range: 351.30 m. jjjjihhhhfffrfbf Y@ IɛU`}BUpp Y]0mIY eGA:ɚiIM =Ii)-iM))*Fu?2Fy:FyBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:48:33.2547 LVL= 24912, 22577, 15826, 26579, AGC= 68, IDX= 56, 0.00, 1.568, 0.167, 1.892, 1.022, PHS= 0.634,-0.808, 0.867, RAW= 157.4, -8.9, CAL= 162.4, -16.1, ROT= 347.6, 16.1 ]Ygot valid direction response: 19:48:33.2547 LVL= 24912, 22577, 15826, 26579, AGC= 68, IDX= 56, 0.00, 1.568, 0.167, 1.892, 1.022, PHS= 0.634,-0.808, 0.867, RAW= 157.4, -8.9, CAL= 162.4, -16.1, ROT= 347.6, 16.1 PDAT read: Bearing 347.6, 16.1 (Local) ~Local bearing/azimuth received: Bearing 347.6, 16.1 (Local) DAT read: Range 10 to 50 : 360.6 m (Round-trip 480.9 ms) speed 0.4 m/s *DAT read: user:852> BDAT read: Tx time:19:48:34.3697 $Ping request sent.|< ?Ğ1?طÿ)'?I;`>i-"% :publishing transmit ping time% Fpublishing direction and range info9'nu?OxBy _?y )Ii )Ii|< ?Ğ1?طÿ)IiG {7G B O >s4iw,mҤA6}@Y6@6FiC96 >y6H@׃???`?j?@?@?ɨ6}@6 Ј;6Cy>yBBIMb@Mb@Mb@ )YK7?Mb?{Gzt?yI,?A A) AIAy AII|+5٢ g=  [=9s+Q 5>99 =G٣9y=: E> MNusing accuracyPremultiplier from configAM4UWill construct direction to contact in vehicle frame from tetrahedron phase data.9E*oz?4YE iEɆB,?:?EaDE  G٣4Gy > Nusing accuracyPremultiplier from config49Itz?4Y iՆB?xDb:;K;-4ZB +AEZj FNOT Ignoring new targets: 360.60 m.Bj Jj % ProNav: ac range: 360.600006 m, nav range: 348.685638 m, bearing: 188.296913 deg, approach rate: 0.019640 m/s, LOS rate: -0.120306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800218 deg. 2j%!:j%1 @-HeadingCmd: 4.813622 target range: 360.600006 and range: 360.60 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bf=4R?ɛuR}Buq quaIy }lUdɚyiyI}`=Ii(A-i"B))jH<bHHI IIIzBI&I.I6I<:IFEMh%=zKKKh9KKK *F2F:FBF`0JF AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.G<G! B1 OM >MCiw,RAJ@YJ%@JQ9J<>yJH E?&?f9??F8?@ ?@.?ɨJ@J*g;JCyVyBVIuMb@Mb@Mb@qqq q)qYuJ +?S㥫?{Gz?yu(?u/]=u# G٣yD > Nusing accuracyPremultiplier from config49Fxz?4Y i߆BI)?: ?D2;F1;/4YB 2+AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 360.60 m.BjJj ProNav: ac range: 360.600006 m, nav range: 348.695007 m, bearing: 188.253491 deg, approach rate: 0.023359 m/s, LOS rate: -0.108261 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844925 deg. 2j:j@HeadingCmd: 4.814402 target range: 360.600006 and range: 360.60 m. jjjjih!h!h!h%|Bf)f)f)rf)bf-@>?ɛeL}Be?y aeYIa m ˺ɚiiiIm=Iui֣-iZĻ))E!E!*E!"E!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. 9I=yg*FU?2FQ:FQBFU}4JFQGetA Ga Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451939G @KGq B O >vJiw,+AB@YB7@BN9B >yBHi?Ć??`؀?m֩?`?l?ɨB@B`;BCyNyBNIIVfIV5٢^= ^C=9^w:Q b>`` bG٣`yf>z; j> nNusing accuracyPremultiplier from configlr49ny|z?r4Yn inBpvֱv?nDn);n;n4x z*AxZjFNOT Ignoring new targets: 360.60 m.Bj%[Jj%[5 ProNav: ac range: 360.600006 m, nav range: 348.705444 m, bearing: 188.208118 deg, approach rate: 0.024974 m/s, LOS rate: -0.108566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839073 deg. 2j5:j=@=HeadingCmd: 4.814300 target range: 360.600006 and range: 360.60 m. jAjAjAjAiAhAhIhIhIfQfQfYrfYbf]/?ɛF}Bcq 隍HTI e@ɚiI=Ii-i ))*F2F:FBFo0JF GmGBO">Will construct direction to contact in vehicle frame from tetrahedron phase data.E?i?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704473HI I,IIzBI&I.I6I<:IF I zK "KK K K K X^XO#  VQiw,EA2 @Y2[@2~K92i>y2H*w?`6?@ޏ`?@ ?@o??e?ɨ2 @2oՇ;0yBzBBI N=Na=I^I^|+5٢= G=9 :Q  >    G٣ 4Gy+l; > -Nusing accuracyPremultiplier from config!E49%z?M4Y%" i%BmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959151Q?%D%=%=%4y `*AZjq}FNOT Ignoring new targets: 360.60 m.Bj}EԺJjEԺ ProNav: ac range: 360.600006 m, nav range: 348.716278 m, bearing: 188.163636 deg, approach rate: 0.022600 m/s, LOS rate: -0.092791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841746 deg. 2j~:j!@HeadingCmd: 4.814347 target range: 360.600006 and range: 360.60 m. jjjjihhhhf)f)f)rf)bf- @ɛu?}B}ىV y}rIIy }_FɚiI֪=Ii-i-A))*FY2Fa:FaBFe`0JFaJ@AJ@AJ(J^JJJ,@;J8:JJJʖWiw,`s_A6@Y6d-@6E96 >y6H??@A .e?(?@?.?`G?ɨ6@6[;6C @IDyb*zBbIMMb@Mb@Mb@III I)IYM{Gz?)\(?~jt?yM#?MGa=MD G٣y%; > Nusing accuracyPremultiplier from config49ڄz?4Y) iBx$?:?D;;4 *AZjFNOT Ignoring new targets: 360.60 m.Bj;Jj; ProNav: ac range: 360.600006 m, nav range: 348.728668 m, bearing: 188.119694 deg, approach rate: 0.035309 m/s, LOS rate: -0.125223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843364 deg. 2jૻ:j\@HeadingCmd: 4.814375 target range: 360.600006 and range: 360.60 m. jjjjihhh h I}Bf f f rfbf@ɛ;}B2x 'DI ]iɚiI=Ii>-i-٭))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460912*F?2F:FBFp0JFGOPG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711975#]iw,XyA^'@Y^o6@^RC9^"z>y^H??? 奼? m͠?@g? f??ɨ^'@^r!;^Cy~7zB~IIIv35٢%= %P=9%:Q %>)) -G٣)y57; 5>ZH9RH9HAIA IEEIIEzBIA&IA.IA6IE<:IEF ]Nusing accuracyPremultiplier from configYe49]z?e4Y]/ i] Bimϰm?]D]:]z:]4q u)AqZjFNOT Ignoring new targets: 360.60 m.BjJj𺝊 ProNav: ac range: 360.600006 m, nav range: 348.740936 m, bearing: 188.077862 deg, approach rate: 0.030872 m/s, LOS rate: -0.105263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849696 deg. 2j{:jD@HeadingCmd: 4.814486 target range: 360.600006 and range: 360.60 m. jjjjihhhQhQfQfQfQrfYbf]`@ɛ5}Bah 隭?I sɚiI=Ii-i )) u$?IqzKKNK]9KKK*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966614[GG ˴I Y y BG B OM >ϑdiw,*A24@Y2D@2 ?92?>y2H v?? @o?=)??s?Y?ɨ24@2ˤ;0yBNzBBIDD-~only read 2 of 4 data items for bottom velocity. Device response is::BS, +69, +11,A  ~@~ ~@~ ~@~  ~@~ II)5٢c= K=9';Q > %G٣% 4Gy%B; %> 5bBottom track data is 0.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)*JC="JR=J.JkJJJD;J:JJJ֚<Jך<J <J <49-z?4Y-06 i-B+: :  ?-D-0<->-“4=XB =)AEEB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:48:37.2513 TRx dataTimestamp_ set to:1736365718.392638checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217039ZjFNOT Ignoring new targets: 360.60 m.BjGغJjGغ% ProNav: ac range: 360.600006 m, nav range: 348.753784 m, bearing: 188.036085 deg, approach rate: 0.029076 m/s, LOS rate: -0.094543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849858 deg. 2j-ā:j-J@UHeadingCmd: 4.814488 target range: 360.600006 and range: 360.60 m. jQjQjQjQiQhQhYhYhYfYfafarfabfe@U @ɛ0}B-Y t8I ɚiI =Ii-ic:))*F2F:FBF0JF iIiG b\G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469548G B O >ûjiw,A6@@Y6HP@6RN;96>y6H ?@? y`w_?'A?g??w?ɨ6@@6f;4yRbzBRIIZIZ.5٢G= K=9 ;Q  >    G٣yt; > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49 z?-4Y< iB- :)-X:5h5?DC*;PM?-Ǔ49 =9)A=EZjiuFNOT Ignoring new targets: 360.60 m.BjuJju ProNav: ac range: 360.600006 m, nav range: 348.767365 m, bearing: 187.993836 deg, approach rate: 0.037846 m/s, LOS rate: -0.117734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848447 deg. 2j:j@HeadingCmd: 4.814464 target range: 360.600006 and range: 360.60 m. jjjjihhhhfffrfbf@ @ɛ,}Bxm e2I ɚiIT(=IiO,i;))*FQ2FQ:FYBF]`5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722579HaIa IeeIIe{BIa&Ia.Ia6Ie<:Ie FBIJIRIZIbIjI:3G7:GBO> Q IU zgzKE KKE 9KA KE KE -=DPSX__\\[XUUVTROMNLIC@710//,),%(*(jqiw,XƥABI@YBX@B669B% >yBHN?t?Z??{???ɨBI@B ;BCyNfzBNIIjuIjH%5٢.<  J=9 N;Q > G٣y?"; > -bBottom track data is 1.2 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%Uz?54Y%C i%'B591EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEADAT read: 19:48:37.2513 LVL= 26352, 32753, 20050, 32755, AGC= 65, IDX= 405, 0.35,-0.555,-1.712,-0.266,-1.115, PHS= 0.648,-0.550, 0.846, RAW= 157.5, -14.3, CAL= 163.7, -20.7, ROT= 346.3, 20.7 %Ygot valid direction response: 19:48:37.2513 LVL= 26352, 32753, 20050, 32755, AGC= 65, IDX= 405, 0.35,-0.555,-1.712,-0.266,-1.115, PHS= 0.648,-0.550, 0.846, RAW= 157.5, -14.3, CAL= 163.7, -20.7, ROT= 346.3, 20.7 /:PDAT read: Bearing 346.3, 20.7 (Local) H?%D%V=%?%ʓ4 ')AU~Local bearing/azimuth received: Bearing 346.3, 20.7 (Local) DAT read: Range 10 to 50 : 358.1 m (Round-trip 477.5 ms) speed 0.4 m/s *DAT read: user:853> ZjFNOT Ignoring new targets: 360.60 m.BjtɺJjtɺ BDAT read: Tx time:19:48:38.3697  $Ping request sent. II jjjjihhhhffMɓҖ?ư>?YϿ)M'?IMx>iMMCII:publishing transmit ping timefrfav@bf 0H? Fpublishing direction and range infoI9M?:5Yv`'9U?yIIII I)IIIiIIIII I)IIIiIIIMɓҖ?ư>?YϿ)IIIiIIIIɛ5%}B5 E 1=/I zûɚiI9=Ii+i7;))*Fu?2Fq:FqBF}1JFyJ/J_JJJE;J:JJJ<J<J9<J9<Will construct direction to contact in vehicle frame from tetrahedron phase data.G} : A IA GY Ba O >wiw,᥵ARK@YRZ@RF59Rn >yRH`b? @?n?j?E?`U?֮?ɨRK@R;RCy^}zB^ I b=`        Mb@Mb@Mb@ )YS?~jt?y&1?y?=`e<A ~A)zAIvAy AI.I5٢AA= -=9:Q > G٣!4Gy': > -Nusing accuracyPremultiplier from config)549-z?54Y-J i-4B5T:5?=:=K=?-D-;-;-Aӓ4 (AkU[?kUۍ kQ kU6ɥA:kU C%Will construct direction to contact in vehicle frame from tetrahedron phase data.BkUٱCZkUZZ@"Uep]M@su-kc@U?:5Yv`'9U?JkURkUC*U2ijqtњXV͈\@U;\C;%1пsEf?"kU2*kUkUeZ/?kU`ٝ 2kU0CkU8f ?kU+* kQkUCkUYV@ addTargetRange:: Added new target pos. range: 358.100006 m, deltaT: 4.031385 s, deltaX: -2.500000 m, approachRate: -0.620134 m/s, rangeRepo size: 4  Added new target pos. range: 358.100006 m, bearing: 195.481118 deg, lat: 36.901247 deg, lon: -122.116202 deg, deltaT: 4.031385 s, deltaX: -2.500000 m, approachRate: -0.620134 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 358.10 m.BjMJjI ProNav: ac range: 358.100006 m, nav range: 346.207153 m, bearing: 191.896702 deg, approach rate: 0.000000 m/s, LOS rate: -0.088063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859992 deg. 2j:j@HeadingCmd: 4.814665 target range: 358.100006 and range: 358.10 m. jjjjihhhhs}Bfffrfbf?ɛ5 }B5ԗO 15(I1 ='ֻɚ9i9I=P=IEiER*iE|B;)A)I*F2F:FBFX3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G- ;G jH bH <H >I  I II A{BI &I .I 6I <:I FB1 OU >~iw,ARDD@YRS@Rt69R+>yRH6(?`K?" `~j?CS?̦?r?Ҳ?ɨRDD@RΩ;RCyZzB^IIjyIj'5٢nÊ= r]=9rkQ r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~:z?4Y~P i~=Bc ?~D~/#;~*$;~ٓ4WB ^(AEZj9=FNOT Ignoring new targets: 358.10 m.BjE JjM ] ProNav: ac range: 358.100006 m, nav range: 346.212555 m, bearing: 191.860101 deg, approach rate: 0.016651 m/s, LOS rate: -0.112823 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.865385 deg. 2j]ۚ:je@mHeadingCmd: 4.814759 target range: 358.100006 and range: 358.10 m. jijijijiiihqhqhqhqfyfyfyrfybf}G? I{gɛ}B8p 隽!I ɚiIZs=Ii*o*i[ ;))zK-NK9KKK$## ! *F2F:FBF`0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G;GBO >Oliw,AJB+JBjJ@J@JBB;JBp:J@J@JBИ<JBИ<JB& <JB&    G٣ y   > Nusing accuracyPremultiplier from config%49Ƥz?%4YzW iHB%?%:%L%?0DT;;J41 5`(A1UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 358.10 m.BjmJjm溝} ProNav: ac range: 358.100006 m, nav range: 346.223694 m, bearing: 191.815779 deg, approach rate: 0.025351 m/s, LOS rate: -0.100868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842226 deg. 2j}r:j}2@HeadingCmd: 4.814355 target range: 358.100006 and range: 358.10 m. jjjjihhhhm}Bfffrfbf`O?ɛ}B@jJ  Ii u!ɚqiqIuC=I}i}õ)i};)y) I*F!2F!:F)BF)JF)U Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******] R****** received valid ping request ******] Querying Benthos address 50 with one ping in standard two-way mode.Gu ;Gy G} tAGA B O >siw,10A6H@Y6W@6-96>y6H@J??nk~??`?U? ?ɨ6H@6;6CyRzBR'IIZIZ/5٢b4J= ba=9fL;Q f>dh jG٣j"4GyjC: j> rNusing accuracyPremultiplier from configlr49ncz?v4Yn)] inQBtv?v?n?Dn:n:n4x ~(A|ZjFNOT Ignoring new targets: 358.10 m.BjۺJjۺ ProNav: ac range: 358.100006 m, nav range: 346.233185 m, bearing: 191.778989 deg, approach rate: 0.024802 m/s, LOS rate: -0.096138 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864819 deg. 2j:jm@HeadingCmd: 4.814749 target range: 358.100006 and range: 358.10 m. jjjjihhhhfffrfbf g?ɛ-}B-Q )-I) -ɚ1i1I5=I=i=)i=l3;)A)A*F 2F :F BF f0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673724H>I IIIj{BI&I.I6IŰ<:I F $?IGIG) B1 OU >zK !MK h9K K K RK ?JK ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924548iw,JAF]@YFl@Fc$9F>yFH?7? ]@?q*? ? q?±?ɨF]@FѦ;FCyrzBr3II%I%(*5٢e8= -@=95K;Q =>QY ]G٣ay; > Nusing accuracyPremultiplier from config49oz?4Yd i\B먿?QDn$;$;4! -'A)ZjimFNOT Ignoring new targets: 358.10 m.BjuJju캝 ProNav: ac range: 358.100006 m, nav range: 346.246460 m, bearing: 191.731230 deg, approach rate: 0.028793 m/s, LOS rate: -0.103583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831916 deg. 2j,:j @HeadingCmd: 4.814175 target range: 358.100006 and range: 358.10 m. jjjjihhhhfffrf!bf%3@ɛm}Bm: imIq u< ɚqiqIu=Ii'ią;))*Fq2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176839 I G G B O >yiw,PdA6j@Y6z@6[96a>y6H`[? ~?S@Wl??c?`?b?ɨ6j@6+;6Cy>zBB:IEMb@Mb@Mb@AAA A)AYEK?333333?~jtx?yE^?E=E;EEA EVA)E AIE AAyE AIUuIUH%5٢m < mK=9u a;Q u>qq uG٣yy}l; > Nusing accuracyPremultiplier from config49z?4Yj icB?:ƪ?_D+?;@>;$4 'AEZjFNOT Ignoring new targets: 358.10 m.BjJj꺝 ProNav: ac range: 358.100006 m, nav range: 346.253418 m, bearing: 191.695426 deg, approach rate: 0.019930 m/s, LOS rate: -0.102552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867777 deg. 2jŒ:j@HeadingCmd: 4.814801 target range: 358.100006 and range: 358.10 m. jjjjihhhh}Bf f f rf bf s@ɛ= }B=MW 9=6I9 E{`ɚAiAIE=IMiM'iM};)I)QEYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430092*F 2F :FBFo0JFG5;G5?G5?G B O5 >J *J kJ J J A;J :J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680571ZH RH H I  I II ~{BI  =&I .I 6I <:I F ՞iw,5~A6r@Y6쁚@6;96X>y6Hԙ?K}?$O/?h?@O? U?Ų?ɨ6r@6;6CyrzBr@IIzsIze$5٢2< Q=9  ;;Q  >    G٣ #4Gy ; > Nusing accuracyPremultiplier from config%49jz?%4Y&p ikB)--?nDL::4 AIE|gMVB Mn'AMEZjquFNOT Ignoring new targets: 358.10 m.Bj}WJj}W亝 ProNav: ac range: 358.100006 m, nav range: 346.261414 m, bearing: 191.656199 deg, approach rate: 0.020346 m/s, LOS rate: -0.099815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857509 deg. 2j:jb@HeadingCmd: 4.814622 target range: 358.100006 and range: 358.10 m. jjjjihhhhfffrfbf`@ɛ }B~F  I >ɚiIX=Ii%iLi;))*F2F:FBF0JFzK؞KK9KKK%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933791G;G B O1 riw,A*J24="J2=yzB%?I}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:48:41.2481 TRx dataTimestamp_ set to:1736365722.424744checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185807Mb@Mb@Mb@ )Y~jt?{Gz?~jt?y?ף=D</A )~AI Ay3 AII٢1 ==9Q u>qy }G٣yy} }> Nusing accuracyPremultiplier from config49z?4Y.w iuB?:詿?D;k;4 s'AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 358.10 m.Bj5TJj5T亝E ProNav: ac range: 358.100006 m, nav range: 346.272522 m, bearing: 191.610731 deg, approach rate: 0.024385 m/s, LOS rate: -0.099810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838786 deg. 2jE:jE@MHeadingCmd: 4.814295 target range: 358.100006 and range: 358.10 m. jijijqjqiqhqhqhyh}j}Bfyfyfyrfbf @ɛ}B9  1I97 I9 =!ɚAiAIE=ImimU$im;)i)q*F2F:FBF0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.438453G% ;G B O% >5iw,䱦A2|@Y2ݐ@2A`92>y2H`'?}?-` ?@ۓ?@ ??@/?ɨ2|@2nY;2Cy:zB:CIIFIF+5٢Njx< Nc=9R;Q R>PT VG٣TyVf; V? ZNusing accuracyPremultiplier from configXb49ZPz?b4YZ| iZ}B`ff?ZDZ.;Z.;Z 4h j\'AhZj|FNOT Ignoring new targets: 358.10 m.Bj Jj 캝 ProNav: ac range: 358.100006 m, nav range: 346.281555 m, bearing: 191.575875 deg, approach rate: 0.026834 m/s, LOS rate: -0.103538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.870623 deg. 2j:jB@%HeadingCmd: 4.814851 target range: 358.100006 and range: 358.10 m. j!j!j!j)i)h)h)h)h1f1f1f1rfbf@g @ɛ}B 2S   I  'ɚ iIM=IiJ(#i] <))!E)E-tAJ+JdJJJB;JT:JJ*F?2F:FBF`5JFGsA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.692992H>I III{BI =&I.I6I<:IF !I!Go;GBO>zK% 2KK% 9K! K% K% ) ſ= ېC ~G! E Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:48:41.2481 LVL= 27360, 32753, 21186, 32755, AGC= 65, IDX= 403,-0.37,-1.304,-2.430,-1.068,-1.839, PHS= 0.623,-0.544, 0.768, RAW= 155.8, -13.5, CAL= 162.3, -20.2, ROT= 347.7, 20.2 diw,>̦AYgot valid direction response: 19:48:41.2481 LVL= 27360, 32753, 21186, 32755, AGC= 65, IDX= 403,-0.37,-1.304,-2.430,-1.068,-1.839, PHS= 0.623,-0.544, 0.768, RAW= 155.8, -13.5, CAL= 162.3, -20.2, ROT= 347.7, 20.2 "PDAT read: Bearing 347.7, 20.2 (Local) &~Local bearing/azimuth received: Bearing 347.7, 20.2 (Local) .DAT read: Range 10 to 50 : 355.6 m (Round-trip 474.2 ms) speed 0.9 m/s PV*DAT read: user:854> bBDAT read: Tx time:19:48:42.3698 f$Ping request sent.f99= u=?a1?7Ϳ)=q?I=q>i=®=99E:publishing transmit ping timedEFpublishing direction and range info99=2۶L?*6ulj8?y9999 9)9I9i99Uk@YU̗@U/ 9UB>yUHH?U}?+?@D?`y?ҙ? ?ɨUk@U;UCyezBeBI999 9)9I9i999= u=?a1?7Ϳ)9I9i9999Mb@Mb@Mb@ )YCl?ʡE?{Gzt?y;?-=ף;A @)AI Ay AII +5٢] e=9e:Q e>ii mG٣m$4Gymø: u> Nusing accuracyPremultiplier from configq49uUz?4Yu* iuB ?:W?uDu-kyFH ? V?y` ??[?z??ɨF@FnB;FCyzzBz<IIrI#5٢Լ c=9 (:Q >!! -G٣)yM^) U> ]Nusing accuracyPremultiplier from configQ]49U4z?e4YU iUBaeue?UDUP:U:U4 'AZjFNOT Ignoring new targets: 355.60 m.BjJj  ProNav: ac range: 355.600006 m, nav range: 338.997070 m, bearing: 194.814558 deg, approach rate: -0.002855 m/s, LOS rate: -0.113282 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858934 deg. 2j}:j@HeadingCmd: 4.814647 target range: 355.600006 and range: 355.60 m. jjjjihhh!h!f!f)f)rf1bf5*?ɛ]|B]H^ Y] Ia e8ɚaiaIe}=Imimfimټ<)q)q*F%?2F!:F!BF%1JF!J]&J]fJ]2JYJ]>;J]]:J]c3JYuWill construct direction to contact in vehicle frame from tetrahedron phase data.jH)bH-p<H1I1 I5II5{BI1&I1.I16I5<:I5FBIJIRIZIbIjI4GEjx< $?IG9 BQ Om >zK- KK- +9K) K- K- iw,aQA^P@Y^z_@^R 9^g>y^H@#??@(n?$?蒡?@(??`?ɨ^P@^a@;^CyjzBjEIIr`Ir5٢z= zL=9~Q ~>| G٣yu  > Nusing accuracyPremultiplier from config 49 Zz?4Y Y i B6? D : P: "4) -I'A-EZjQUFNOT Ignoring new targets: 355.60 m.Bj]Jj]m ProNav: ac range: 355.600006 m, nav range: 338.994751 m, bearing: 194.772615 deg, approach rate: -0.006037 m/s, LOS rate: -0.109170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849356 deg. 2jmؕ:jm7@uHeadingCmd: 4.814479 target range: 355.600006 and range: 355.60 m. jqjqjqjyiyhyhyWill construct direction to contact in vehicle frame from tetrahedron phase data.h h fffArfAbfE`Y?ɛ|BE I A?ɚiI=I i;i=~78;)A)QE]>E;>*FU?2FQ:FQBFU82JFQ"G]=G]]>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} ?} R?G} >;GQ BY O} > I }g<iw,\"ARV@YRf@R( 9RB>yRH?p?`?q?@ID?:?/?ɨRV@R;RCyZzBZHIMMb@Mb@Mb@III I)IYM{Gz?Zd;?Mbp?yM#?My=M;MA Mv@)MdAIMI AIyM AIe=Iew 5٢}&8< D=9:Q > G٣%4Gy: > Nusing accuracyPremultiplier from config49z?4YI iB$?:?D;Y;)4 6'AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 355.60 m.BjJj ProNav: ac range: 355.600006 m, nav range: 338.980957 m, bearing: 194.727195 deg, approach rate: -0.032900 m/s, LOS rate: -0.108337 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838921 deg. 2j:j@HeadingCmd: 4.814297 target range: 355.600006 and range: 355.60 m. jjjjih h h h 0}Bfffrfbf ?ɛ|BE I DFɚiI =Iii X;))*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G']?;GYBaOZ>J -J aJ 1J J D;J Ƣ:J 3J aHiw,;AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727578^e@Y^Fu@^9^_>y^H@6?? r`E?Z?\?`?޺?ɨ^e@^و;^CHpIrC IpIpIp&Ip.Ip6Ir;<:Ir4Fy]zB]GIImIm05٢C H=9ݍ;Q > G٣y; > Nusing accuracyPremultiplier from config49z?4Y iBo?D::14 >'AZjFNOT Ignoring new targets: 355.60 m.BjJj ProNav: ac range: 355.600006 m, nav range: 338.968231 m, bearing: 194.682938 deg, approach rate: -0.031128 m/s, LOS rate: -0.108260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842411 deg. 2j:j9@%HeadingCmd: 4.814358 target range: 355.600006 and range: 355.60 m. j!j!j!j!i!h!h)h)h)f1f1f1rf1bf=9? aIaɛu|B}24J y}Iy }MɚyiI/C=Iii;))*F!2F):F)BF-_0JF)zKUKKU9KQKUKU"),.0168<@DEKRTX\[WRQRKe?JKe?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981684G$;G B O- >-iw,UA6f@Y6v@696>y6Hq=?/?m v@?3p?y?? /?ɨ6f@6;6CyBzBBEIEMb@Mb@Mb@AAA A)AYE?Mb?~jth?yEf&?E=ED;EvA E@)E~AIE AAyE AI]I])5٢mK mN=9ug5;Q u>qq uG٣yy}e9 }> Nusing accuracyPremultiplier from config49#z?4Y iB4'?:?D; ; 84 I'AZjFNOT Ignoring new targets: 355.60 m.BjJj ProNav: ac range: 355.600006 m, nav range: 338.956696 m, bearing: 194.639174 deg, approach rate: -0.029022 m/s, LOS rate: -0.110108 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843890 deg. 2j!:jo@HeadingCmd: 4.814384 target range: 355.600006 and range: 355.60 m. jjjjihhhh!}Bfffrfbf @ɛE|BEK IMII MSɚIiIIM=IUi]i]վ;)Y)YEiUWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.232483*F2F:FBF`0JFG G QIQGO;GGsAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483608]Xiw,ȕoA @6h@Y6w@696L>y6H@L? Ն?/S ~?{ ???'?ɨ6h@6;6CyRzBRKIIZzIZ'5٢zn< ~R=9~";Q > G٣&4Gy E:  > Nusing accuracyPremultiplier from config%49z?%4YC iB!--?D);;>41 5#'A1ZjQ]FNOT Ignoring new targets: 355.60 m.BjeJjeu ProNav: ac range: 355.600006 m, nav range: 338.945648 m, bearing: 194.596271 deg, approach rate: -0.028423 m/s, LOS rate: -0.110384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846476 deg. 2ju:j}@}HeadingCmd: 4.814429 target range: 355.600006 and range: 355.60 m. jyjjjihhhhfffrfbf @ɛ|BrXK I }SZɚiIh=Iiiq;))*FQ2FQ:FQBFQJFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.736601ZHRH?AHI III&I.I6I<:IFG ; 9I9GBO>Biw,xAzK.pMK.+9K,K.K.QPPSRPPMNNMKOMLB1:1a@Y:p@:9: s~ɽ? x_?D?ֿ?׼?ɨ:1a@:.;:Cy^zB^LIIfIf)5٢n; nL=9r:Q r>pp rG٣tyv v> zNusing accuracyPremultiplier from configx~49z>z?~4Yz izB?zDz ;z;zE4 UB 'A EZj15FNOT Ignoring new targets: 355.60 m.Bj=Jj=M ProNav: ac range: 355.600006 m, nav range: 338.934265 m, bearing: 194.552137 deg, approach rate: -0.028479 m/s, LOS rate: -0.110425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842779 deg. 2jM:jMG@UHeadingCmd: 4.814365 target range: 355.600006 and range: 355.60 m. jQjYjYjYiYhYhYhahafafafarfibfm{@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987819ɛ5|B5A[J 9=/I9 E`ɚIiIIMK =Ii{i1C;))*Fi2Fq:FqBFum0JFyJKş3 K.-KK"KJm,JmmJm2JiJmLC;Jm:Jmc3JiJm} 9 I= ~gkiw,QAFA\@YFk@Fw9FEa=yFH??@+!@۝??@卝?ܳ??ɨFA\@F;FCynzBnBImMb@Mb@Mb@iii i)iYm!rh?A`"?Mb`?yml'?mY=m;mA i)iIiiyiIqI#5٢ ?=9ݟ:Q > G٣y븺 > Nusing accuracyPremultiplier from config49z?4Y< iB'?:U?)D;;QM4 R'AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 355.60 m.BjJj ProNav: ac range: 355.600006 m, nav range: 338.917358 m, bearing: 194.504873 deg, approach rate: -0.039398 m/s, LOS rate: -0.110146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833388 deg. 2j/:j @HeadingCmd: 4.814201 target range: 355.600006 and range: 355.60 m. jjjjihhhh}Bfffrfbf @ɛ|BD |I hɚiIRP =Ii%]i%T;)!))E1E1Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.493215*F2F:FBFl0JF"G=G=G w;G B OM >!iw,%AWill construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: 19:48:45.2456 LVL= 30032, 29601, 21362, 32755, AGC= 66, IDX= 409, 0.30,-1.106,-2.358,-0.802,-1.690, PHS= 0.672,-0.621, 0.885, RAW= 157.5, -13.2, CAL= 163.7, -19.7, ROT= 346.3, 19.7 HDIFC IDIDID&ID.ID6IFѰ<:IF FRYgot valid direction response: 19:48:45.2456 LVL= 30032, 29601, 21362, 32755, AGC= 66, IDX= 409, 0.30,-1.106,-2.358,-0.802,-1.690, PHS= 0.672,-0.621, 0.885, RAW= 157.5, -13.2, CAL= 163.7, -19.7, ROT= 346.3, 19.7 VPDAT read: Bearing 346.3, 19.7 (Local) V~Local bearing/azimuth received: Bearing 346.3, 19.7 (Local) ^DAT read: Range 10 to 50 : 353.7 m (Round-trip 471.6 ms) speed 0.4 m/s b*DAT read: user:855> fBDAT read: Tx time:19:48:46.3698 f$Ping request sent.fΏܶ?{RK?87Ϳ)$'?Ik>igMfz:publishing transmit ping timedzFpublishing direction and range info9W8!7?Lhslv?y $?I )Ii )IiΏܶ?{RK?87Ϳ)IiyzBEI a=I%yI%'5٢< .=9Q > G٣'4Gy %> UNusing accuracyPremultiplier from configQ]49Uz?]4YU iUćBYY]?U>DU:U;:UU4 D'AEkO?ku] k kpA:kٰCBkCZkVY@"9EB*I@ (ŧsz*2B;c@W8!7?Lhslv?JkgRkMf*+:t U,vW1\@XKHYOsοL?"kL*kסk).h?k l 2k1CkM8?kk0CkCkcY@ addTargetRange:: Added new target pos. range: 353.700012 m, deltaT: 3.778066 s, deltaX: -1.899994 m, approachRate: -0.502901 m/s, rangeRepo size: 4  Added new target pos. range: 353.700012 m, bearing: 194.572706 deg, lat: 36.901387 deg, lon: -122.116402 deg, deltaT: 3.778066 s, deltaX: -1.899994 m, approachRate: -0.502901 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 353.70 m.Bj%Jj!5 ProNav: ac range: 353.700012 m, nav range: 335.108215 m, bearing: 194.617654 deg, approach rate: 0.000000 m/s, LOS rate: -0.110146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803812 deg. 2j1:j5 @eHeadingCmd: 4.813684 target range: 353.700012 and range: 353.70 m. jajajijiiihqzK}MK}9KyK}K} RK ?JK>hhhfffrf@3v@bfD?ɛ|B> I qɚiI =I%i%ri%=;)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:46.3690 *F?2F:FBF`0JFG @;Gy B O >iw, ٧AJr+JrgJr1JpJrB;Jr:Jr3JpJrИ<JrИ<Jr<Jr= I9Q > G٣y > Nusing accuracyPremultiplier from config49z?4Y iʇB*?:?PDQ9<k4<n]4A EY'AAZjiuFNOT Ignoring new targets: 353.70 m.BjPJjP ProNav: ac range: 353.700012 m, nav range: 335.089874 m, bearing: 194.568638 deg, approach rate: -0.044590 m/s, LOS rate: -0.119173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828129 deg. 2j:j. @HeadingCmd: 4.814109 target range: 353.700012 and range: 353.70 m. jjjjihhhh}Bfffrfbfp?ɛ]|Ben#T aeIa e&axɚaiiIm =Ii$i))*FM?2FI:FIBFMm0JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.GI G) B1 OU >LIiw,UA6&@Y6W6@696o=y6H *C?໓?#D C?XM?`ſ?`?`~?ɨ6&@6&;6CyLLIVLIV59biQ f?dd jG٣hyjo j? nNusing accuracyPremultiplier from configlr49nz?r4Yn= in·Btvuv?n]Dn?;n ;nb4zTB zR'A~EZj%FNOT Ignoring new targets: 353.70 m.Bj% Jj% = ProNav: ac range: 353.700012 m, nav range: 335.075775 m, bearing: 194.534009 deg, approach rate: -0.047712 m/s, LOS rate: -0.117188 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871298 deg. 2jE٠:jEZ@MHeadingCmd: 4.814862 target range: 353.700012 and range: 353.70 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbf]3w?ɛ|B.q 隕I }ɚiI,!=IiE >*FQ2FQ:FQBF]2JFYGetA GaWill construct direction to contact in vehicle frame from tetrahedron phase data.jH=<bH==HAIEC IEIIE{BIA&IA.IA6IE<:IEF qIqGCQ;GaBiO>} PExceeded connect timeout, disconnecting.E ~~GU vAq zK &KK h9K K K    Y vAy uB,jw,P A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6Ai6Av@Yv%@vF@9v=yvH?@? d`I?S~?@? ? ?ɨv@v;tyzB<I  AI:I# 5٢%= %<9-黹Q 5> G٣(4Gy* > Nusing accuracyPremultiplier from config49+{?4Y iԇB EE?pD3<q<mj4 v'AZj!-FNOT Ignoring new targets: 353.70 m.Bj5Jj5庝e ProNav: ac range: 353.700012 m, nav range: 335.055084 m, bearing: 194.484192 deg, approach rate: -0.041590 m/s, LOS rate: -0.100143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825724 deg. 2jet:je @mHeadingCmd: 4.814067 target range: 353.700012 and range: 353.70 m. jijijqjqiqhqhqhyhyfyfyfrfbfg{?ɛe|BeE aeIi mm ɚiiiIm{!=IuiuIiu3X )q)yJ*JmJJJA;J:JJJ#<J$<J~ <J~ <*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. i Im gG ïG B O > jw,&(A>f@Y>%@>@9>=y>H ?n?`8#@?~??醞? ??ɨ>f@>;>CyRzBR;IMb@Mb@Mb@ )YJ +??Mbp?y(?L=;`A h@)AI AyAI/IC5٢[a 4=9S:Q > G٣yH\ > Nusing accuracyPremultiplier from config 49o{? 4Y+ iڇB 1)?: ?DH!;;q4 |'A5B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 353.70 m.Bj]Jj]m ProNav: ac range: 353.700012 m, nav range: 335.034332 m, bearing: 194.435744 deg, approach rate: -0.055776 m/s, LOS rate: -0.130224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829835 deg. 2ju:jum @uHeadingCmd: 4.814139 target range: 353.700012 and range: 353.70 m. jyjyjyjyiyhyhyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hh|BfffrfbfT?ɛ|B^ 隭I  IɚiI!=Ii?i())*Fq2Fq:FyBF}|2JFyG J] Will construct direction to contact in vehicle frame from tetrahedron phase data.] [?] ?e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995176Gy H I  I I I  =&I .I 6I &<:I %FBIEʩCJIEʩCRIAZIAbIAjIE*4B O > I jw,BA>R @Y>/@>ku9>?=y>H?ُ?3? *? ?Ͽ?6?ɨ>R @>;>CybzBbKIIjgIj5٢r= r^=9rNJ;Q v>tt vG٣tyzDW; z> ~Nusing accuracyPremultiplier from config|49~ {?4Y~z i~B  ?~D~ ;~;~cx4 'AZjAMFNOT Ignoring new targets: 353.70 m.BjMJjMe ProNav: ac range: 353.700012 m, nav range: 335.016998 m, bearing: 194.394212 deg, approach rate: -0.046886 m/s, LOS rate: -0.112344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850585 deg. 2je3:jed@mHeadingCmd: 4.814501 target range: 353.700012 and range: 353.70 m. jijijijiiihqhqhqhqfyffrfbf @ɛ|Bh_ 隵I uɚqiqI};"=I}iiS))E unManaging dock network, ignoring radio surface power off*FI2FI:FIBFM5JFQzKLK9KKKodI;4.! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246884GupGq B O >jw,_\A6$@Y6*4@6 $96P>y6H f2? ? M^`ݻ??`?@??ɨ6$@6;4JbAAJbAAJdJfkJdJdJdJf:JdJdJdJdJf <Jf  G٣)4Gyx: > Nusing accuracyPremultiplier from config49 {?4Y iB.?:t?D;p;x4 R'AZjAEFNOT Ignoring new targets: 353.70 m.BjMJjM} ProNav: ac range: 353.700012 m, nav range: 334.993683 m, bearing: 194.340483 deg, approach rate: -0.049707 m/s, LOS rate: -0.114555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813989 deg. 2j}<:j}) @HeadingCmd: 4.813862 target range: 353.700012 and range: 353.70 m. jjjjihhhh|Bfffrfbfn@ɛM|BMSL QUmIQ UH*ɚQiQI]o"=I]i]ie8)a)a*F?2F:FBF;5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750779G% G B O- >yjw,!=vA2>(@Y27@2Qڼ92X>y2HN? i?`dX?>M?`hI?@?ٻ?ɨ2>(@2;2CyBzBBCIIJwIJ+&5٢Ry; Rm=9R ;Q V?TT VG٣TyZѣ: Z? ^Nusing accuracyPremultiplier from config\b49^0{?b4Y^ i^Bdfff?^D^;^e:^^4h jF'AjEZjFNOT Ignoring new targets: 353.70 m.Bj Jj % ProNav: ac range: 353.700012 m, nav range: 334.976929 m, bearing: 194.301258 deg, approach rate: -0.050678 m/s, LOS rate: -0.118654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857504 deg. 2j%ܢ:j%b@-HeadingCmd: 4.814622 target range: 353.700012 and range: 353.70 m. j)j)j)j)i)h1h1h1h1f1ffrfbf @ɛM|BMe IMIQ  ɚiI"=IiTib))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003788ZHQRHU@AHYIY IYIYI] =&IY.IY6I]<:I] F )I-g*Fe?2Fa:FaBFe`0JFaG- !G B O- >zK MK 9K K K   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254778#jw,DA2A&@Y25@2ؼ92+>y2H H>?ċ? ?Q?o?`sX?` ?ɨ2A&@2=!;2Cy8:BIIbI5٢]u e?=9mP:Q m> G٣y > Nusing accuracyPremultiplier from config49{?4YP iBo?D <<4y J'AZjFNOT Ignoring new targets: 353.70 m.BjJj纝5 ProNav: ac range: 353.700012 m, nav range: 334.955444 m, bearing: 194.250588 deg, approach rate: -0.042917 m/s, LOS rate: -0.101223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823169 deg. 2j5:j=y @HeadingCmd: 4.814023 target range: 353.700012 and range: 353.70 m. jjjjihhhhfffrfbf  @ɛ5|B5L 9=yI9 =5ɚ9i9I='#=Ii Fi.ֹ))EE*F2F:FBF_0JFG G"G G =Will construct direction to contact in vehicle frame from tetrahedron phase data.=%===EBDAT read: Rx Time:19:48:49.2425 ETRx dataTimestamp_ set to:1736365730.488949Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508189JU-JQJQJQJUD;JQJQJQJU*<JU*<JQJQ $?IGy B O >j *jw,K!AJ"@YJ2@JԼ9J>yJH !?``?jû?u?z?_S?`O?ɨJ"@Ji ;JCyZzBZRI``MMb@Mb@Mb@III I)IYMDl?)\(?~jth?yMO-?MGa=MD;MvA MQ@)MhAIM~AIyMAImUIm5٢}u= }G=9}l:Q }> G٣*4Gy O  > Nusing accuracyPremultiplier from config49{?4Y iB%-?%:%=%?D;$;N41 5&A1MB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 353.70 m.BjmJjm} ProNav: ac range: 353.700012 m, nav range: 334.937775 m, bearing: 194.202061 deg, approach rate: -0.049873 m/s, LOS rate: -0.136976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829598 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7590032j:jd @HeadingCmd: 4.814135 target range: 353.700012 and range: 353.70 m. jjjjihhhh|Bfffrfbf(S@ɛQc I Hܖɚi I Pz#=I iiWK))*F)2F):F)BF5`0JF1G BO5P>H I  I I I &I .I 6I <:I F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 19:48:49.2425 LVL= 26496, 26209, 19026, 31795, AGC= 63, IDX= 410, 0.00,-0.911,-1.936,-0.568,-1.372, PHS= 0.549,-0.516, 0.801, RAW= 160.4, -13.7, CAL= 166.2, -19.8, ROT= 343.8, 19.8 u Ygot valid direction response: 19:48:49.2425 LVL= 26496, 26209, 19026, 31795, AGC= 63, IDX= 410, 0.00,-0.911,-1.936,-0.568,-1.372, PHS= 0.549,-0.516, 0.801, RAW= 160.4, -13.7, CAL= 166.2, -19.8, ROT= 343.8, 19.8 } PDAT read: Bearing 343.8, 19.8 (Local) } ~Local bearing/azimuth received: Bearing 343.8, 19.8 (Local)  DAT read: Range 10 to 50 : 351.4 m (Round-trip 468.6 ms) speed 0.4 m/s  *DAT read: user:856>  BDAT read: Tx time:19:48:50.3698  $Ping request sent. 1 1 5 t #ڮ?H[$?-g$Iο)5 o4?I5 t>i5 ~5 C̾1 1  :publishing transmit ping timeؑ  Fpublishing direction and range info1 95 C<7?e&|v?y1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 5 t #ڮ?H[$?-g$Iο)1 I1 i1 1 1 1 I 0jw,|èA28@Y2$@2ռ92+>y2Hݶ?`?@wZ?@5r??@{X? ?ɨ28@2b;0y>zB>IIIJmIJ!5٢f> jW=9jйQ j>l| ~G٣|yw >  Nusing accuracyPremultiplier from config 49 {?4Y # i B)-r-? D ; ; 49 ='AAk}cK>?k}S ky k}~A:k}CBk}CZk}Y@"}NcM K@Ն s9Ia@}C<7?e&|v?Jk}~Rk}C̾*} ^mtM9U|qW@}2 F)+7gMeϿM/{?"k}a*k}nk}?k}H 2k}Ck}?kykyk}|Ck}X@5 addTargetRange:: Added new target pos. range: 351.399994 m, deltaT: 4.032144 s, deltaX: -2.300018 m, approachRate: -0.570421 m/s, rangeRepo size: 4 M Added new target pos. range: 351.399994 m, bearing: 194.772096 deg, lat: 36.901368 deg, lon: -122.116402 deg, deltaT: 4.032144 s, deltaX: -2.300018 m, approachRate: -0.570421 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 351.40 m.BjuJjy ProNav: ac range: 351.399994 m, nav range: 336.975494 m, bearing: 194.071382 deg, approach rate: 0.000000 m/s, LOS rate: -0.136976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814439 deg. 2j:j9 @mHeadingCmd: 4.813870 target range: 351.399994 and range: 351.40 m. jijijijiiqhqhqhqhyfyfyfyrf}`fu@bf`E?ɛ|BV EI XɚiI#=IiYic))IzKJK?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:50.3690 *F?2F:FBFl0JFGBOe>7jw,ݨA.6@Y.@.Ӽ9.>y.H@ ?@x?%)? ?=z?r?`W?ɨ.6@.;;.CyRzBRUIWill construct direction to contact in vehicle frame from tetrahedron phase data. IMb@Mb@Mb@ )Yoʡ?㥛 ?{Gz?y-?=#<A $@)I AyzAI-@I- 5٢U|= ]4=9]:Q ]>aa eG٣ayeպ m> uNusing accuracyPremultiplier from configq}49u7#{?}4Yu iuB.?:W?uDu@E>*F2F:FBFo0JFGGGqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.e==jw,'AyzB[I -=)I5\I545٢=b< E^=9EQ E>II MG٣M+4GyM U> eNusing accuracyPremultiplier from configYm49]'{?m4Y]s i]Bqqu?] D]a;]j;]4 &AZjFNOT Ignoring new targets: 351.40 m.BjXJjX ProNav: ac range: 351.399994 m, nav range: 336.955505 m, bearing: 193.977013 deg, approach rate: -0.024922 m/s, LOS rate: -0.119201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847762 deg. 2j:j@HeadingCmd: 4.814452 target range: 351.399994 and range: 351.40 m. jjjjihhhhfffrfbf`?ɛ!%ed !%I! -e/ɚ)i)I- $=I5i)iG,))J/JnJJHI III{BI&I.I6I<:I FJE;J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.J<J<J <J < Ig*F?2F:FBF0JFG7:G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK 9K K K H6{xNhK0xl`TN@4*'  BK rA:K pA$Djw,=`A2@Y2f@292|>y2H`???]v`)?`?Q?0??ɨ2@2;2Cy88IF<IF 5٢Jr NV=9NsQ N>PP RG٣PyVqW V> ZNusing accuracyPremultiplier from configX^49Z,{?^4YZ% iZB`bb?ZDZ-;Z-;Z4d f&AdZjxzFNOT Ignoring new targets: 351.40 m.BjJj ProNav: ac range: 351.399994 m, nav range: 336.945190 m, bearing: 193.932920 deg, approach rate: -0.027133 m/s, LOS rate: -0.115986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842906 deg. 2j3:jK@HeadingCmd: 4.814367 target range: 351.399994 and range: 351.40 m. jjjjihhhhf!f)f1rfYbf]O?ɛ-|B-/O )-JI) 5ɚ1i1I5$=I=i=Ki=)9)A*F?2F:FBF0JF*JR="J4=G Will construct direction to contact in vehicle frame from tetrahedron phase data. IGBO>NJjw,;+A>֒@Y>)@>9>*>y>H`Ÿ??``O~?_?`h?@c?P?ɨ>֒@>&;>Cy^{B^kI Mb@Mb@Mb@    ) Y V-?㥛 ?I +?y -?  94<  ;@) QAI  A y (AI%EI%5٢=^c= =3=9=VQ =>AA EG٣AyET M> ]Nusing accuracyPremultiplier from configI]49M@1{?e4YM.& iMBe.?e:eHe?M2DM@;M>;M4iuWill construct direction to contact in vehicle frame from tetrahedron phase data. u>&A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 351.40 m.Bju)Jju) ProNav: ac range: 351.399994 m, nav range: 336.932343 m, bearing: 193.880035 deg, approach rate: -0.027432 m/s, LOS rate: -0.112921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816525 deg. 2j:j @HeadingCmd: 4.813907 target range: 351.399994 and range: 351.40 m. jjjjihhhh|Bfffrfbf?ɛO 3I KɚiIl.%=I%i%i% )!)QEY*F?2F:FBFe5JFH I  I II {BI  =&I .I 6I {<:I cFJ -J sJ 2J J D;J :J c3J J *<J *<J . <J . <G *G G rA- Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode. i Ii G B O% >8Qjw,EA @2ܒ@Y2@2޼92>y2H?t?@`?`R?ݛ?t??ɨ2ܒ@2[;2CyV{BVoIIbiIb5٢fێ< jd=9j;Q j>ll nG٣n,4Gyr; r> vNusing accuracyPremultiplier from configpz49rb5{?z4Yr{, ir&Bx~1~?rBDrI;rW;r4  $&A Zj15FNOT Ignoring new targets: 351.40 m.Bj=KJj=KM ProNav: ac range: 351.399994 m, nav range: 336.922638 m, bearing: 193.838545 deg, approach rate: -0.027870 m/s, LOS rate: -0.119158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850713 deg. 2jM:jMi@UHeadingCmd: 4.814503 target range: 351.399994 and range: 351.40 m. jYjYjYjYiYhYhYhahafafafirfibfmv@ɛ^ 隭޾I ɚiIx%=Ii,i*))) A]xA*Fq2Fq:FqBFu`0JFyq"Ga=G= q YxAy BGGYBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255417O;>zKOKKKK{yvvqljd\UPOKHEEEB>97::64*  `Wjw,^A2Q@Y2@2ּ928>y2HQ?m?T?? ؚ? Cs?9?ɨ2Q@2J;2CJLJN@AyR6{BR~IrWill construct direction to contact in vehicle frame from tetrahedron phase data.v ?v<zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508746 IMb@Mb@Mb@ )Y? G٣y%UT; %> -Nusing accuracyPremultiplier from config!549%w:{?54Y%A4 i%0B5-?5:=A=?%UD%S;%;%Ɣ4A E%AEEZjiuFNOT Ignoring new targets: 351.40 m.Bj}Jj} ProNav: ac range: 351.399994 m, nav range: 336.910736 m, bearing: 193.787362 deg, approach rate: -0.026800 m/s, LOS rate: -0.115256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821631 deg. 2j2:jA @5HeadingCmd: 4.813996 target range: 351.399994 and range: 351.40 m. j1j1j1j1i1h1h1h9h=}Bf9fAfArfAbfE@ɛ{C 隵ҾI &ɚiI%=Ii$iλ))*F2F:FBF94JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759380G ;3G ?G ?G B O >-]jw,dxA6@Y6z@6 Լ96E>y6H 0??-x׹?`]?ߝ?D??ɨ6@6$;6Cy>F{BBIIFsIFe$5٢N?3= Re=9R$:Q R>TT VG٣TyV0 Z> ^Nusing accuracyPremultiplier from configXb49Z>{?f4YZ: iZ7BdfTj?ZdDZa];Z];Z̔4l n|%AlZjFNOT Ignoring new targets: 351.40 m.BjSJjS ProNav: ac range: 351.399994 m, nav range: 336.901276 m, bearing: 193.746274 deg, approach rate: -0.025296 m/s, LOS rate: -0.109863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851922 deg. 2j˖:j@HeadingCmd: 4.814524 target range: 351.399994 and range: 351.40 m. jjjjihhhhfffrfbfĦ@ɛN 隥ʾI ZɚiI%&=Ii`id))ZHqRHu?AH}>Iy I}II}{BIy&Iy.Iy6I}4<:I}.FBI9JI9RI9ZI9bI9jI=n4J/JiJJJE;J: $?IgWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014468JJJ<J<J<J<*F2F:FBF_0JFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iս A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267511zK5 0NK5 9K1 K5 K5    0983*" rdjw,3A2@Y2@2Ѽ92]>y2H`L??@3?YW? 5?٫?@?ɨ2@2!;2Cy:X{B:IIfqIf#5٢'= C=9%w:Q %>!) -G٣--4Gy-: -> =Nusing accuracyPremultiplier from config1=495UC{?E4Y5A i5@BAEFE?5wD5G;5;5LԔ4I U6%AQZjq}FNOT Ignoring new targets: 351.40 m.Bj Jj  ProNav: ac range: 351.399994 m, nav range: 336.890442 m, bearing: 193.697894 deg, approach rate: -0.026961 m/s, LOS rate: -0.120402 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830042 deg. 2jC:jt @HeadingCmd: 4.814142 target range: 351.399994 and range: 351.40 m. jjjjihhhhfffrfbfl @ɛ|B@ s¾I ]9ɚiI-e&=ImimiimԻ)i)q*F2F:FBF`0JFG sA G sA IWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:19:48:53.2401 %TRx dataTimestamp_ set to:1736365734.524827-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520577G UG B O >jjw,Aynq{BnI}Mb@Mb@Mb@yyy y)yY}?~jt? G٣y > Nusing accuracyPremultiplier from config495H{?4YH iJB'?: ?D#;!;۔4 $AZj FNOT Ignoring new targets: 351.40 m.Bj:Jj:% ProNav: ac range: 351.399994 m, nav range: 336.882812 m, bearing: 193.650947 deg, approach rate: -0.017988 m/s, LOS rate: -0.110694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834341 deg. 2j-:j-@5HeadingCmd: 4.814218 target range: 351.399994 and range: 351.40 m. j1j1j1j1i1h9h9h9h=H}BfAfAfArfAbfM9@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771359ɛyB 隅%I jɚiI9&=IiMzi8ֻ))*F%?2F!:F)BF-o0JF)GiG}tAG}tAGA BQ Hm >Ii  Im IIm |BIi &Ii .Ii 6Im <:Im FO > I J 0J pJ 1J J lF;J :J 3J J 0<J 0<J <J <% Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 19:48:53.2401 LVL= 25648, 32753, 16610, 32755, AGC= 68, IDX= 409,-0.26, 2.150, 1.034, 2.415, 1.649, PHS= 0.589,-0.568, 0.763, RAW= 156.9, -12.5, CAL= 163.1, -19.2, ROT= 346.9, 19.2 e Ygot valid direction response: 19:48:53.2401 LVL= 25648, 32753, 16610, 32755, AGC= 68, IDX= 409,-0.26, 2.150, 1.034, 2.415, 1.649, PHS= 0.589,-0.568, 0.763, RAW= 156.9, -12.5, CAL= 163.1, -19.2, ROT= 346.9, 19.2 m PDAT read: Bearing 346.9, 19.2 (Local) m ~Local bearing/azimuth received: Bearing 346.9, 19.2 (Local) } DAT read: Range 10 to 50 : 349.5 m (Round-trip 466.1 ms) speed 1.2 m/s } *DAT read: user:857>  BDAT read: Tx time:19:48:54.3699  $Ping request sent. ! ! % ?3L?!d?˿)% $?I% ^>i% % 9! !  :publishing transmit ping time؁  Fpublishing direction and range info! 9% '^?7;]jz?y! ! ! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! % ?3L?!d?˿)! I! i! ! ! ! rqjw,taƩA60@Y6@6MѼ969! >y6H@(??jSϹ?ɷ?`(?? ?ɨ60@6;4yR{BRIIZ[IZ5٢=8= ER=9E9Q E>II MG٣IyM츺 M> ]Nusing accuracyPremultiplier from configYe49]L{?m4Y]O i]SBim#u?]D]:;] ;;]4 $AkUy?kUI kQ kU~A:kUCBkUCZkU0{W@"U bXF@,O,\suHpc@U'^?7;]jz?JkURkU9*UaDQ!tۨZgtR4~#w\@UZ} y ˿Ս?"kU*kU kU|G?kUaiS 2kU0CkU).h?kQkQkU!CkUbX@ addTargetRange:: Added new target pos. range: 349.500000 m, deltaT: 4.035630 s, deltaX: -1.899994 m, approachRate: -0.470805 m/s, rangeRepo size: 4  Added new target pos. range: 349.500000 m, bearing: 192.908807 deg, lat: 36.901392 deg, lon: -122.116402 deg, deltaT: 4.035630 s, deltaX: -1.899994 m, approachRate: -0.470805 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 349.50 m.BjJj ProNav: ac range: 349.500000 m, nav range: 334.259888 m, bearing: 193.716181 deg, approach rate: 0.000000 m/s, LOS rate: -0.110694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834675 deg. 2j:j@-HeadingCmd: 4.814223 target range: 349.500000 and range: 349.50 m. j)j)j)j)i)h)h1h1h1f1f9f9rf=u@bf= 9?ɛ|B-4 I ɚiI&=Ii6iWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:54.3691 ))zK=MK=h9K9K=K=*F?2F:FBF`0JFG 4λG B I O >Kwjw,@P᩵A.Will construct direction to contact in vehicle frame from tetrahedron phase data.bؒ@Yb@b<&Լ9b >ybH8Ը?`݌?`i{??@?7+?3?ɨbؒ@b;߈;bCyU{BUIMb@Mb@Mb@ )Y)\(?ʡE?{Gz?yG!?=ף<A Q@)I AyzA@AI%I5٢NE= +=9  >Q  > G٣.4Gy\1 > %Nusing accuracyPremultiplier from config!m49%R{?m4Y%UW i%^Bm"?m:uu?%D% *<%)<%4}RB }($A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 349.50 m.BjJj5 ProNav: ac range: 349.500000 m, nav range: 334.252228 m, bearing: 193.664199 deg, approach rate: -0.016592 m/s, LOS rate: -0.112596 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819239 deg. 2j5:j= @eHeadingCmd: 4.813954 target range: 349.500000 and range: 349.50 m. jajajajiiihihihqhu}Bfyffrfbf ?ɛ%|B%13 !%_I! -3Oɚ)i)I-5'=I5i5i52)1)9*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G UG B O >~jw,&A6S@Y6˙@696&>y6H>??ʹ ?h? {?w?ָ?ɨ6S@6ꦈ;4yB{BBIIJTIJ5٢Re= R{=9V2Q V ?XX ZG٣Xy^- ^ ? bNusing accuracyPremultiplier from config`f49bU{?f4Yb\ ibfBhjj?bDbe:b:b4l r#ApZj FNOT Ignoring new targets: 349.50 m.BjnJjn% ProNav: ac range: 349.500000 m, nav range: 334.246521 m, bearing: 193.628864 deg, approach rate: -0.018416 m/s, LOS rate: -0.114030 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869180 deg. 2j-:j- @5HeadingCmd: 4.814826 target range: 349.500000 and range: 349.50 m. j1j9j9j9i9hAhAhAhAfIfIfIrfIbfM`?ɛ)5z@ QUIY ]ݹɚYiYI]!i'=Ieieie :)a)ijHbHp<HI I II?|BI&I.I6I<:IF Ig}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997016*FI2FI:FIBFM_1JFIG>uG?G?Gi Bq O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247706zK5 qKK5 +9K1 K5 K5 Dr (B\f^OCjw,ANw@YNٿ@N@9N>yNH@??@' V????N? ?ɨNw@N;Lyj{BjIIrIrv4٢z|P= zE=9;'Q > G٣ y d  > Nusing accuracyPremultiplier from config49SZ{?4Ygc ipB!%R%?D2 ; ;4) -#A)ZjQUFNOT Ignoring new targets: 349.50 m.BjeJjeu ProNav: ac range: 349.500000 m, nav range: 334.239044 m, bearing: 193.583934 deg, approach rate: -0.018111 m/s, LOS rate: -0.108833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840394 deg. 2jub:ju@HeadingCmd: 4.814323 target range: 349.500000 and range: 349.50 m. jjjjihhhhfffrfbfWX?ɛ=|B=) 9=IA E=ɚAiAIE'=Imim)ZimKG)i)qEy I*F?2F:FBF0JFGtA GtAJ)J-oJ-2J)J)J-:J-c3J)a=@a=@a=@a=@Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ>Յ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501019G .-G B O >>)jw,$.Ay{BI =Mb@Mb@Mb@ )YS?sh|??Zd;O?y?=j<vA ;@)AI~AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751927yAI=Iw 5٢ 2=9Q > G٣/4Gy > Nusing accuracyPremultiplier from config49_{?4Yj i|B0?:?D;;4 #AZjFNOT Ignoring new targets: 349.50 m.Bj}Jj}- ProNav: ac range: 349.500000 m, nav range: 334.235229 m, bearing: 193.536049 deg, approach rate: -0.008270 m/s, LOS rate: -0.103814 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831529 deg. 2j-~:j- @5HeadingCmd: 4.814168 target range: 349.500000 and range: 349.50 m. j1j1j9j9i9h9h9hAhE}BfAfAfArfIbfM ?ɛu|B}=6 y隅I 齼ɚiI'=IiВi6E))*F?2F:FBFh5JFHI I9IIh|BI = $?I&I.I6I<:I FG f A Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004835G B O >jw,HA6Œ@Y6ԙ@6W{96 " >y6H59?;?ix@`??`{n?)5? s?ɨ6Œ@6B;;6CyR{BRIIZgIZ5٢b= bo=9bg:Q f?dd fG٣dyj; j? eNusing accuracyPremultiplier from configam49ec{?m4Ye0p utIieBqu7u?eDe;e;e4QB E#AEZjFNOT Ignoring new targets: 349.50 m.BjJj ProNav: ac range: 349.500000 m, nav range: 334.232910 m, bearing: 193.498635 deg, approach rate: -0.006474 m/s, LOS rate: -0.104440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862943 deg. 2jZ:j)@HeadingCmd: 4.814717 target range: 349.500000 and range: 349.50 m. jjjjihhhhfffrfbf`G\@ɛ|B1 iI %}ɚ!i!I%0'=I-i-ni-")))1*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256913zK]MK]h9KYK]K]72NC+^g/{g[S;Z>7Tkh\H1  ! #<RKm?JKm ?G5hAGEsAGEsAG B9 O} > I JKY3 K.KK"KJ= /J= mJ= 1J9 J= E;J= :J= 3J9 c;jw,bA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507962%ݒ@Y%@%Լ9% >y%Hy?,?r? G/?`?Nj? ?ɨ%ݒ@%g;%Cyu{BuI Mb@Mb@Mb@    ) Y 7A`?333333?y&1?y ? = `e<  Q@) hAI  y I%GI%5٢5; M5=9M;Q M>QQ UG٣Qy]; ]> eNusing accuracyPremultiplier from configam49efh{?m4Yev ieBm?u:u׬u?eDeB2;e51;e 4 =#AZjFNOT Ignoring new targets: 349.50 m.BjJj纝 ProNav: ac range: 349.500000 m, nav range: 334.229095 m, bearing: 193.454365 deg, approach rate: -0.008736 m/s, LOS rate: -0.101386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842376 deg. 2j):j8@HeadingCmd: 4.814358 target range: 349.500000 and range: 349.50 m. jjjjihhhh}Bfffrfbf7@ɛ|BQ* eI {iɚiI%z7(=I%i-E- i-))))E9E9*F2F:FBF`0JF"G=G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759714GG B O >Aejw,a|Ay{BI A AI;I 5٢-v< -]=95Q 5>11 =G٣=04GyE E> MNusing accuracyPremultiplier from configIU49Mil{?U4YMk| iMBQQU?MDM:M;M'4a e #AaB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 349.50 m.Bj޺Jj޺- ProNav: ac range: 349.500000 m, nav range: 334.226044 m, bearing: 193.417066 deg, approach rate: -0.007961 m/s, LOS rate: -0.097303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863291 deg. 2j-:j-5@ YI]gHIII IMRIIM|BIM =&II.II6IM <:IMFmHeadingCmd: 4.814723 target range: 349.500000 and range: 349.50 m. jijijqjqiqhqhyhyhyfyffrfbfW@ɛ|B"- 隽I üɚiIm(=Ii i))UWill construct direction to contact in vehicle frame from tetrahedron phase data.Up>U<]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012787*F5?2F1:F1BF9JF9EGYy $YyBGM;3G) B1 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263833Qjw,PAzK6bLOK69K4K6K6 "sBKFsA:KFsA@Y.@̼9W >yH`M?L? @k8?f?藙??7?ɨ@~;Cy-{B-II=<I= 5٢Mһ MH=9U);Q U>QY ]G٣Yy]; ]> eNusing accuracyPremultiplier from configam49ep{?u4Ye ieBquu?eDe ;e;eL4}RB I#AEZjFNOT Ignoring new targets: 349.50 m.BjJj񺝊 ProNav: ac range: 349.500000 m, nav range: 334.223389 m, bearing: 193.375591 deg, approach rate: -0.006767 m/s, LOS rate: -0.105714 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850759 deg. 2j:jk@HeadingCmd: 4.814504 target range: 349.500000 and range: 349.50 m. jjjjihhhhff frfbfza @ɛ|BƼ+ 隕ΌI 1żɚiI(=IiZ!i-)) AIAJ.JpJJJD;J:JJUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:19:48:57.2361 ]TRx dataTimestamp_ set to:1736365738.556732echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516947*F?2F:FBFJFG G ?G >G B O >wjw,/A6G@Y6@6x̼96lx >y6Hȹ??ɻ@mk?C(?S???ɨ6G@6 ;6CyN{BRImMb@Mb@Mb@iii i)iYm7A`?MbX9? G٣y: > Nusing accuracyPremultiplier from config49u{?4Y Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768092iB?:s?'D;ۅ;}"4 E#AZjFNOT Ignoring new targets: 349.50 m.Bj pJj p溝 ProNav: ac range: 349.500000 m, nav range: 334.222961 m, bearing: 193.333796 deg, approach rate: -0.001030 m/s, LOS rate: -0.100733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849802 deg. 2j%C:j%H@-HeadingCmd: 4.814487 target range: 349.500000 and range: 349.50 m. j)j)j)j)i)h)h)hAhE}BfAfAfIrfIbfM{c@ɛ|BJ9 隅+I sƼɚiI(=Ii!iҥ))E!E%>*F2F:FBFo0JFGsA G IIIHaIa IeXIIe|BIa&Ia.Ia6Ie<:Ie FBIJIRIZI =bI =jI4GVm Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:48:57.2361 LVL= 26560, 31665, 18722, 32755, AGC= 65, IDX= 235,-0.03,-2.653, 2.595,-2.198,-2.719, PHS= 0.154,-0.922, 0.517, RAW= 164.1, 3.9, CAL= 164.7, -5.1, ROT= 345.3, 5.1  Ygot valid direction response: 19:48:57.2361 LVL= 26560, 31665, 18722, 32755, AGC= 65, IDX= 235,-0.03,-2.653, 2.595,-2.198,-2.719, PHS= 0.154,-0.922, 0.517, RAW= 164.1, 3.9, CAL= 164.7, -5.1, ROT= 345.3, 5.1  PDAT read: Bearing 345.3, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 345.3, 5.1 (Local)  DAT read: Range 10 to 50 : 346.5 m (Round-trip 462.1 ms) speed 0.7 m/s  *DAT read: user:858>  BDAT read: Tx time:19:48:58.3199  $Ping request sent. u 1lu Z?u -M7@u 'g= u 7@)u KIu @iu K=q q u Yͳ?1?gR|?)u D?Iu |iu ⿉u q q 5 :publishing transmit ping time 5 Fpublishing direction and range infoq 9u Q?ǿb3,?yq q q q q )q Iq iq q q q q q )q Iq iq q q u Yͳ?1?gR|?)q Iq iq q q q G! BY Ou >>_jw,ɪA6@Y6E@6r˼96a >y6Hd ? ?@Ȯ?j?@m?@}? ?ɨ6@6";4yB{BBI J=J=IN[IN5٢EN EO=9E9Q E>II MG٣IyU.; U> eNusing accuracyPremultiplier from configam49e)z{?m4Ye ieBimRm?e6De:eT:ec)4 a#AkCLl ?kL e k kêA:k@CBkCZk-?C@"&%)O̗.tĆjۭ[@Q?ǿb3,?Jk Rk*y_:u!ϳl;>@ډ~N@9׽^qݶ?vp?"kA*kөkȱ ?kԕ_ 2kDBkk l k0CkCkSW@u addTargetRange:: Added new target pos. range: 346.500000 m, deltaT: 4.032553 s, deltaX: -3.000000 m, approachRate: -0.743946 m/s, rangeRepo size: 4  Added new target pos. range: 346.500000 m, bearing: 174.794012 deg, lat: 36.901392 deg, lon: -122.116397 deg, deltaT: 4.032553 s, deltaX: -3.000000 m, approachRate: -0.743946 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 346.50 m.Bj%Jj!u ProNav: ac range: 346.500000 m, nav range: 334.127167 m, bearing: 193.224017 deg, approach rate: 0.000000 m/s, LOS rate: -0.100733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849233 deg. 2jq:ju3@}HeadingCmd: 4.814477 target range: 346.500000 and range: 346.50 m. jyjyjyjyihhhhfffrfu@bf?ɛ|Bv[1 +I -ȼɚ)i)I-9/)=I5i5!i5Y3)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:48:58.3191 *F?2F:FBFJFzKEMKh9KKKZG0ama? u^N>5)  G TG I IM gBY O} >J J AAJ! J% kJ! J! J! J% :J! J! jw,㪵AWill construct direction to contact in vehicle frame from tetrahedron phase data.:@Y: @:ּ9:>y:H P۹?@?-¿ H?ڇ?@Қ??h?ɨ:@:]r;:CyV{BVI-Mb@Mb@Mb@))) )))Y-`"?T㥛 ?~jth?y-?-=-D;) -$@)-QAI))y-(AI]+I]~5٢m 8=9GQ > G٣14GyR > Nusing accuracyPremultiplier from config49~{?4Y iB ? : Ů-?HD;<;<Y14]QB ]#AeEZjFNOT Ignoring new targets: 346.50 m.BjJj ProNav: ac range: 346.500000 m, nav range: 334.120361 m, bearing: 193.177482 deg, approach rate: -0.015203 m/s, LOS rate: -0.103959 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835579 deg. 2j:j?@HeadingCmd: 4.814239 target range: 346.500000 and range: 346.50 m. jjjjih)h)h1h5}Bf9f9f9rf9bf=i?ɛ|B9 隽I VʼɚiI2s)=I i E"i ) )*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G G tAGy B O >ųjw,eA:9@Y: @:ټ9:!9>y:H??ӱ?FɈ?2? ?`@?ɨ:9@:Y;:CyJ{BHIRIR4٢Z]; Zk=9^@Q ^?`` bG٣`yb{: f? jNusing accuracyPremultiplier from configdj49fA{?n4Yf ifBlnr?fTDf ;fX;f.74t v#AtZj%FNOT Ignoring new targets: 346.50 m.Bj%Jj-5 ProNav: ac range: 346.500000 m, nav range: 334.115662 m, bearing: 193.143381 deg, approach rate: -0.014798 m/s, LOS rate: -0.107373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.872884 deg. 2j=`:j=@EHeadingCmd: 4.814890 target range: 346.500000 and range: 346.50 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbfUJ?ɛ|BvI 隍kI p̼ɚiIJ)=Iiw"iy))E $?IjHbH<H I  I I I &I .I 6I =<:I 3F=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFc5JF"G=G=G-ԑG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A^&yaM?/% M@YM5@M߼9Mb >yMHĹ?`ц?@@W{? bŠ?ߛ?|? ?ɨM@MNӇ;MCy{BIAAIuIu4٢%* % =9-ʔQ ->11 5G٣524Gy=R˺EWill construct direction to contact in vehicle frame from tetrahedron phase data. }> Nusing accuracyPremultiplier from config49L{?4Y iBͮ?kDq:;:A4 #AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.50 m.BjJj纝 ProNav: ac range: 346.500000 m, nav range: 334.107300 m, bearing: 193.083026 deg, approach rate: -0.014033 m/s, LOS rate: -0.101294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794117 deg. 2j:jQ@-HeadingCmd: 4.813515 target range: 346.500000 and range: 346.50 m. j1j1jjihhhhfffrfbf'?ɛm|BX3 隕6I ϼɚiI*=Ii#it))*F ?2F :F BF o0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.GG?G>GBO ?¢jw,M19Ay {B IMb@Mb@Mb@ )YS? G٣y > Nusing accuracyPremultiplier from config49x{?4Y iňB?:?zD;;H4  <$A Zj1=FNOT Ignoring new targets: 346.50 m.Bj=Jj=񺝊U ProNav: ac range: 346.500000 m, nav range: 334.105133 m, bearing: 193.043857 deg, approach rate: -0.005847 m/s, LOS rate: -0.105689 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857680 deg. 2jU:jUh@]HeadingCmd: 4.814625 target range: 346.500000 and range: 346.50 m. jYjYjYjYiYhYhhhV}Bff f rf bf ?ɛ}|BiS 隅qI ѼɚiINO*=IiZ#iPI)) IHAIA IEFIIE||BIA&IA.IA6IE<:IEFJE-JEuJAJAJED;JE$:JAJAJE*̓jw,RA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253291y t{B II%OI%q5٢- 5V=91Q 5>99 =G٣9yA E> MNusing accuracyPremultiplier from configIU49M{?U4YM iMʈBYY]?MDM ;M;MN4a e$AeEZjFNOT Ignoring new targets: 346.50 m.BjJj ProNav: ac range: 346.500000 m, nav range: 334.103088 m, bearing: 193.004127 deg, approach rate: -0.005366 m/s, LOS rate: -0.104261 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855995 deg. 2j:j*@HeadingCmd: 4.814595 target range: 346.500000 and range: 346.50 m. jjjjihhhhfffrfbf`Z@ɛ|BJ_ 隝žI {5ԼɚiI*=Ii|#i))EEzKmNKm9KiKmKm*F2F:FBFg5JFG G IgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507630G4λG B O >ۭjw,lAynn{BnI =p= Mb@Mb@Mb@    ) Y T㥛 ?Dl?Mb`y !? O=  A @) AI zA y AI%bI%5٢5s[ 5;=99Q =>99 EG٣E34GyA E> MNusing accuracyPremultiplier from configIU49M{?]4YM iMψB]!?]:];]?MDMN;M;M_V4a e$AmEZjFNOT Ignoring new targets: 346.50 m.Bj}Jj} ProNav: ac range: 346.500000 m, nav range: 334.098419 m, bearing: 192.956752 deg, approach rate: -0.010662 m/s, LOS rate: -0.108186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833060 deg. 2j~:j @HeadingCmd: 4.814195 target range: 346.500000 and range: 346.50 m. jjjjihhhh}Bfffrfbf@ɛ}BW ?ʾI  ׼ɚiI _*=I i,$i)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758246*F2F:FBFO5JFG̻G B O > I ZHA RHA HI II  IM -IIM S|BII &II .II 6IM 9<:IM 0FJe 1Je rJa Ja Je 4G;Je :Ja Ja Je ݜ<Je ݜ<Je <Je < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009652jw,^Ay}X{B}IIhI5٢e U=9Q > G٣y > Nusing accuracyPremultiplier from config49Ι{?4YN iԈB?D:\:]4 &%AZjq}FNOT Ignoring new targets: 346.50 m.Bj}Jj} ProNav: ac range: 346.500000 m, nav range: 334.094482 m, bearing: 192.915081 deg, approach rate: -0.009860 m/s, LOS rate: -0.104367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850174 deg. 2j@:jU@HeadingCmd: 4.814494 target range: 346.500000 and range: 346.50 m. jjjjihhhhfffrfbf` @ɛ}BG[e ־I ټɚiI^+=Iik$i))*F2F:FBF)3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:19:49:01.1826 %TRx dataTimestamp_ set to:1736365742.336763-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262548GԑG B zK +KK 9K K K O >Vjw,A \I\l2@YA@kȼ9 >yHc?`N?8?o?` ?P?@8?ɨl2@;騝Cy޽C{B޽IMMb@Mb@Mb@III I)IYMHzG?㥛 ?{GztyM=*?M=MףM\A M@)M7AIMAIyMAIe^Ie5uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514631٢M_8 M2=9U~;Q U>QY ]G٣Yy]< ]> uNusing accuracyPremultiplier from configiu49mj{?}4Ym= imوB}D+?}:}7}?mDm;m;m&e4 {%AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.50 m.BjJj ProNav: ac range: 346.500000 m, nav range: 334.092194 m, bearing: 192.862184 deg, approach rate: -0.005055 m/s, LOS rate: -0.116836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816495 deg. 2j]:j @HeadingCmd: 4.813906 target range: 346.500000 and range: 346.50 m. jjjjiIhIhQhQhU|BfYfYfrfbf> @ɛM }BMb UL=UIQ }!NݼɚyiyI}+=Ii#i>:))EN>E>*FQ2FQ:FQBFU?5JFQ"G]=G]=- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767910G5 !G B O5 >Zjw,4AB6@YB,F@B ȼ9B >yBH»??8@'[?h? \?`S? !?ɨB6@B,;@yJ@{BJIPRAIV`IV5٢b bj=9bPIQ b?dd fG٣dyfX: j? nNusing accuracyPremultiplier from configlr49n{?r4Yn: in݈Bpv&v?nDn:n:n;k4x z%AxZjFNOT Ignoring new targets: 346.50 m.Bj%WJj%WE ProNav: ac range: 346.500000 m, nav range: 334.090790 m, bearing: 192.822268 deg, approach rate: -0.004131 m/s, LOS rate: -0.117450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855438 deg. 2jE5:jE@MHeadingCmd: 4.814586 target range: 346.500000 and range: 346.50 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbf]f@ɛ }B 隍I ߼ɚiIk?,=IiC#i=:)) $?IHI III+|BI&I.I6I%<:I!F*FA2FI:FIBFM`0JFIG%4J]+J]sJYJYJ]B;J]:JYJYJ]И<J]И<J]. <J]. <Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO+>%DAT read: 19:49:01.1826 LVL= 23280, 25937, 16930, 29843, AGC= 67, IDX= 403, 0.22, 1.542, 0.340, 1.904, 1.031, PHS= 0.599,-0.644, 0.870, RAW= 159.6, -11.8, CAL= 165.1, -18.3, ROT= 344.9, 18.3 -Ygot valid direction response: 19:49:01.1826 LVL= 23280, 25937, 16930, 29843, AGC= 67, IDX= 403, 0.22, 1.542, 0.340, 1.904, 1.031, PHS= 0.599,-0.644, 0.870, RAW= 159.6, -11.8, CAL= 165.1, -18.3, ROT= 344.9, 18.3 5PDAT read: Bearing 344.9, 18.3 (Local) E~Local bearing/azimuth received: Bearing 344.9, 18.3 (Local) UDAT read: Range 10 to 50 : 343.8 m (Round-trip 458.5 ms) speed 0.1 m/s *DAT read: user:859> BDAT read: Tx time:19:49:02.2699 $Ping request sent.ڱڱ۵5B?dܖr?0_#ʿ)۵C61?I۵"R>i۵۵%Ӿ۱۱:publishing transmit ping timeءFpublishing direction and range infoر9ص5 ̽?g*ax"+̦?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵5B?dܖr?0_#ʿ)۱I۱i۱۱۱۱)= ֐CG YyB]_@e B >jw,իAWill construct direction to contact in vehicle frame from tetrahedron phase data.>:@Y>MJ@>[ɼ9> >y>H?z?``@H|?@4y?3?L?`R?ɨ>:@>U;>CyR{BRpIIZPIZ5٢fa fJ=9f4UQ f>hh jG٣j44Gyny: ~>  Nusing accuracyPremultiplier from config 49{?4Y@ iB]]?D9<9<^r4ePB m&AmEk\U?ksJrN k kƫA:kCBkCZk]W@"d䩝D@nǹȆs79a@5 ̽?g*ax"+̦?JkRk%Ӿ*L"t$ XNRW@,!C˿*?"kr*kk"@֟?k`b[ 2kCkk`b[ kCkCk5W@5 addTargetRange:: Added new target pos. range: 343.799988 m, deltaT: 4.033828 s, deltaX: -2.700012 m, approachRate: -0.669342 m/s, rangeRepo size: 4 E Added new target pos. range: 343.799988 m, bearing: 192.806611 deg, lat: 36.901392 deg, lon: -122.116390 deg, deltaT: 4.033828 s, deltaX: -2.700012 m, approachRate: -0.669342 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 343.80 m.BjMJjI ProNav: ac range: 343.799988 m, nav range: 333.946259 m, bearing: 192.666606 deg, approach rate: 0.000000 m/s, LOS rate: -0.117450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821033 deg. zKKK+9KKKh0RKJK>2j:j+ @HeadingCmd: 4.813985 target range: 343.799988 and range: 343.80 m. jjjjihhhhfffrf|u@bf 4?ɛ}B^o I oɚ!i!I%,=I-i-{"i-|:)))1 Ig*F 2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge :Gm tAGi G9 BQ Om >gjw,﫵A2"@Y2q1@2oռ92>y2H?I}?L¿! aɻ?`?@7? ?^?ɨ2"@2R;2CyB&{BBtIEMb@Mb@Mb@AAA A)AYEʡE?㥛 ?~jthyE-2?AEDEA E@)E;AIEAAyE AIYIY٢m2< mA=9mY^Q m>qq uG٣yy= > Nusing accuracyPremultiplier from config49֭{?4Y iB'3?:%?D;;y4 %AZjFNOT Ignoring new targets: 343.80 m.BjaJja ProNav: ac range: 343.799988 m, nav range: 333.943207 m, bearing: 192.616010 deg, approach rate: -0.007772 m/s, LOS rate: -0.128850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823398 deg. 2j۰:j @HeadingCmd: 4.814026 target range: 343.799988 and range: 343.80 m. jjjjihh h h |Bfffrfbf ?ɛE}BEW AE%IA Mj!ɚIiIIM7-=IUi"i)3))=Will construct direction to contact in vehicle frame from tetrahedron phase data.E5t'=E9*F2F:FBF`0JFGtA G IjH <bH <H I  I II |BI &I .I 6I ?<:I 4FBIJIRIZIbIjI3Jm -Jm yJi Ji Jm D;Jm 7:Ji Ji Jm *<Jm *<Jm <Jm < Will construct direction to contact in vehicle frame from tetrahedron phase data. > @G }:Gq By O >kw, R A:@Y:)@:lټ9:ir >y:H9ں??@ቻ? ?Z=?S??ɨ:@:o;:CyZ{BZ`I ^a=^a=Ib-Ib`5٢j* n@=9n"Q n>pp rG٣pyr  v> zNusing accuracyPremultiplier from configt~49v{?~4Yv~ ivB|~E~?vDv%;vG;v&4 QB n&A EZj9=FNOT Ignoring new targets: 343.80 m.BjEJjEU ProNav: ac range: 343.799988 m, nav range: 333.940094 m, bearing: 192.565104 deg, approach rate: -0.007308 m/s, LOS rate: -0.119522 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822469 deg. 2jU :j]_ @]HeadingCmd: 4.814010 target range: 343.799988 and range: 343.80 m. jYjajajaiahahahihifififqrfqbfu`GU?ɛ}B 隭$I ưɚiIq-=Ii"i))E:_G=*F%?2F!:F!BF%o0JF!Gb\Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOD>zK&NK9KKK'Uz$6?<-BC\9p(^'uj_WRKEB?<:7441. I *J5 4="J5 R= kw,&A6 @Y6@6*96 >y6H`=n? g?` @&? f?`Td?F?@ܱ?ɨ6 @66;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.y-{B-oIMb@Mb@Mb@ )Y1Zd?ʡE?Mb`?y";?=;A @)AIyAIqI#5٢U= /=9[Q > G٣54Gyf > Nusing accuracyPremultiplier from config49{?4Ye iB,I  I II {BI  =&I .I =D6I x<:I ^FG-ݻG5?G5>GBO->ajkw,EA^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.992964v1@Yv!@v9vĵ>yvH@??@/@]Q?-??d??ɨv1@v_;ty{BkIIEZIEQ5٢] e5=9m::Q u>qq uG٣qy: > Nusing accuracyPremultiplier from config 49ʾ{? 4Y iBq?/D?{<t<B4PB $&A%EZjAmFNOT Ignoring new targets: 343.80 m.Bjm6 Jju6 } ProNav: ac range: 343.799988 m, nav range: 333.932861 m, bearing: 192.448936 deg, approach rate: -0.006965 m/s, LOS rate: -0.122582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804400 deg. 2jA:j @HeadingCmd: 4.813695 target range: 343.799988 and range: 343.80 m. jjjjihhhhfffrfbfࣾ@ɛ }By| I  `ɚiI.=Ii%"ims!)i)iEqEq*Ey"EymWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.244382*F?2F:FBF_0JFzK ݸOK 59K K K -+)(%!   G g{G B I O5>vkw,cAJU,JUjJQJQJULC;JUp:JQJQa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496062Uk@YU!@UN9U 1>yUHS??H`qS??6???ɨUk@UG;UCyu${BusIMb@Mb@Mb@ )Yx&1?333333? G٣64GyS8 > Nusing accuracyPremultiplier from config49{?4Y iB 9A? : F ?ID5;;˚4 %AZjiuFNOT Ignoring new targets: 343.80 m.BjuJju ProNav: ac range: 343.799988 m, nav range: 333.926605 m, bearing: 192.378371 deg, approach rate: -0.011632 m/s, LOS rate: -0.131209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.763488 deg. 2j:j@HeadingCmd: 4.812981 target range: 343.799988 and range: 343.80 m. jjjjihhhh|Bfffrfbf@@ɛ}BF%u }IY ]ɚYiYIe&S/=Ieim"im;%)i)i*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747573G $G B O- >lkw,}A:@Y:I@:9:>y:H@D6I<:IF*F?2F:FBFw0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999575Gi"GsAGsAGB O= >D%kw,񃗬A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:19:49:05.1312 &TRx dataTimestamp_ set to:1736365746.376700*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252661F0@YF@F"9F&>yFH@8׹??``%?w?@,c??`A?ɨF0@F͓;FCyNA{BNIIV`IV5٢^< ^I=9b)Q b>`` fG٣dyfz f> jNusing accuracyPremultiplier from configh49j{?4YjD ijB?jkDj+kw,`ARC@YR@R 9R>yRH??@h4@[?`??@Q?@z?ɨRC@R ;RCyvV{BvI %=%=Mb@Mb@Mb@ )Yrh|?l?~jt?y;?=<3A @)IQAyAIdI5٢R0= -=96Q > G٣74GyJ( > Nusing accuracyPremultiplier from config549G{?54Y> i"B5 BDAT read: Tx time:19:49:06.2200 $Ping request sent.QQUOY?u{o?ʿ)U0?IUU>iU۷Ueq QQ:publishing transmit ping timeرFpublishing direction and range infoQ9U?y?Dq5?Q]?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQUOY?u{o?ʿ)QIQiQQQQkUK[?kU kQ kUYRA:kUfCBkU@CZkUqV@"USsk)C@'ʝ>rae@U?y?Dq5?Q]?JkU۷RkUeq *UX4sf$wPPa@U{ A|sN+ȿ!?"kU{*kUkUH|O?kUh~k 2kUGCkU|G?kUaiS kQkU6CkUV@] addTargetRange:: Added new target pos. range: 342.799988 m, deltaT: 3.785905 s, deltaX: -1.000000 m, approachRate: -0.264138 m/s, rangeRepo size: 4  Added new target pos. range: 342.799988 m, bearing: 192.164813 deg, lat: 36.901416 deg, lon: -122.116341 deg, deltaT: 3.785905 s, deltaX: -1.000000 m, approachRate: -0.264138 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 342.80 m.BjJjM ProNav: ac range: 342.799988 m, nav range: 330.422180 m, bearing: 191.584754 deg, approach rate: 0.000000 m/s, LOS rate: -0.122182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785172 deg. 2jI:jU @]HeadingCmd: 4.813359 target range: 342.799988 and range: 342.80 m. jajajajaiahahahihm|Bfififqrfulu@bfu 9?ɛ}B_k 隝I 0PɚiIЩ0=Ii#i(ǻ)) IHI III{BI =&I.I=D6IP<:IAF*FI 2FI :FI BFM l0JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:49:06.2192 G G ?G ?G BO>3kw,άAy {B II%QI%T5٢U] > UF=9UQ ]>YY ]G٣Yye e> Nusing accuracyPremultiplier from config49o{?4YY i-B?D:\:ɶ4  B$A EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 342.80 m.Bj]*Jj]* ProNav: ac range: 342.799988 m, nav range: 330.420502 m, bearing: 191.530360 deg, approach rate: -0.004612 m/s, LOS rate: -0.149450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812003 deg. 2j!ͻ:j @HeadingCmd: 4.813828 target range: 342.799988 and range: 342.80 m. jjjjihhhhf f f rf bf?ɛY]{ Y]&ǾI ɚiI0=IiI$iû))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F92F9:F9BF=0JF9zK}}KK}9KyK}K}G} ̻ I gGY By O >J J J +J qJ J J B;J :J J ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7471849kw,鬵Aɒ@Ypؙ@}3 9_$>yH@9W?`?@j¿@\? Ҕ??@Q?`?ɨɒ@;騅Cyޝ{BޝI-Mb@Mb@Mb@))) )))Y-zG?+?I +?y- 7?-=-9<-IA )))I-A)y-fAI}II}5٢Q< 6=9Q > G٣y* > Nusing accuracyPremultiplier from config49{?4Yr$ i:B68?:?DP#;!;l4 $AZjFNOT Ignoring new targets: 342.80 m.Bj Jj  ProNav: ac range: 342.799988 m, nav range: 330.419861 m, bearing: 191.475996 deg, approach rate: -0.001495 m/s, LOS rate: -0.126807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812095 deg. 2j :j  @ HeadingCmd: 4.813829 target range: 342.799988 and range: 342.80 m. j jjjihhhh}Bfffrfbf/?ɛ}Bj R¾I  ɚiIUP1=I i K%i ')!)1*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996109G nʻG B O >@kw,A $I$jH@bHB<HDID IFIIF5|BID&ID.IF>D6IF=<:IF3FZ@YZp̙@Z9Z->yZH@Y?_?P¿h ?|? Z?`|?@?ɨZ@Z;ZCyb{BfIIn!In5٢v]> vk=9vƜQ v?xx zG٣z84Gyz1 ~? Nusing accuracyPremultiplier from config 49{? 4Y* iDB ̯?D:.:{ĕ4! %a#A)ZjIMFNOT Ignoring new targets: 342.80 m.BjU JjU m ProNav: ac range: 342.799988 m, nav range: 330.419220 m, bearing: 191.432857 deg, approach rate: -0.001842 m/s, LOS rate: -0.124023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845770 deg. 2jm;:jm@uHeadingCmd: 4.814417 target range: 342.799988 and range: 342.80 m. jqjqjyjyiyhyhyhhfffrfbf`Gj?ɛ}BD0m I ɚiI1=Ii 1&i";6))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248424*F12FA:FQBFU@5JFa}~GvA YvAy[BGjGrAGpAGYBiO}Y> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500014 Fkw,ϣA2ñ@Y2%@2W92b >y2H✷? ?@b`??@ɣ?f? ?ɨ2ñ@2;2CyN{BRIIZIZ4٢ze= zJ=9+˻Q >   G٣ y  ^  > Nusing accuracyPremultiplier from config49{?%4Yg2 iQB!%󯿑%?D ; ;˕4-OB 5"A5EZjQeFNOT Ignoring new targets: 342.80 m.BjeJje} ProNav: ac range: 342.799988 m, nav range: 330.418365 m, bearing: 191.382311 deg, approach rate: -0.002107 m/s, LOS rate: -0.124641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823548 deg. 2j}:j} @HeadingCmd: 4.814029 target range: 342.799988 and range: 342.80 m. jjjjihhhhfffrfbf?ɛzK}\KKh9KKK  5ڇW 9=I9 EɚAiAIEz1=IM 1I=giMj'i=G)9)9*F2F:F BF 4JF *JmC="Jm%=J#K+3 K+K#K#"K#J0JnJJJlF;J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.*??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754655GE ^%G B) OM >Lkw,,}6Ay|BIeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004571Mb@Mb@Mb@ )YCl?333333?S㥛?y/?=/<A )AIhAyIMI5٢N= 3=9Q > G٣y > Nusing accuracyPremultiplier from config49{?4Y: i`B 1?:?D;O;ӕ4 ^"AZjFNOT Ignoring new targets: 342.80 m.BjLJjL ProNav: ac range: 342.799988 m, nav range: 330.417389 m, bearing: 191.327858 deg, approach rate: -0.002137 m/s, LOS rate: -0.119161 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811828 deg. 2j:j @HeadingCmd: 4.813825 target range: 342.799988 and range: 342.80 m. jjjjihh!h!h%n}Bf!f)f)rf)bf5@j@ɛ] }B]/O Y]FIY m!ɚiiiImF1=Ii(iDE))*Fe?2Fa:FaBFe_0JFi -$?I)HI ILII|BI&I.I6Il<:IUFBIQJIQRIQZIU =bIU =jIUƼ4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256511G K7G B O >Skw,^PA6@Y6ę@6896» >y6Hϳ? !? 7 ո?Ŋ? ?`&? ?ɨ6@6u;6Cy>A|BB"IIJ7IJ 5٢R2*> Rp=9R$Q R?TT VG٣V94GyV: Z? bNusing accuracyPremultiplier from config`f49b{?f4Yb@ ibkBhjj?bDb :b:bٕ4nPB ny!ArEZjFNOT Ignoring new targets: 342.80 m.Bj  Jj  % ProNav: ac range: 342.799988 m, nav range: 330.416992 m, bearing: 191.287029 deg, approach rate: -0.001165 m/s, LOS rate: -0.119886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852700 deg. 2j%:j%@-HeadingCmd: 4.814538 target range: 342.799988 and range: 342.80 m. j)j)j)j)i)h)h1h1h1fffrfbf v@ɛ15DG 1=3_I9 EɚAiAIE2=IMiMP)iMS@)I)*F-?2F):F)BF-`0JF)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508419GUf AGe?Ge?zKuMLKqKqKuKu  I G) B1 OM >J J BA= Will construct direction to contact in vehicle frame from tetrahedron phase data.Zkw,GjAJ.JkJJJD;J:JJ*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766307EA@YEę@E@ 9Et >yEH@?X?Nu+ܸ?AК????ɨEA@Eވ;ECy]^|Be3I-Mb@Mb@Mb@))) )))Y-)\(?333333?S㥛?y-G!?))-IA -@)-AI-A)y-AIE?IEZ 5٢eku= e0=9 Q > G٣y#9 > Nusing accuracyPremultiplier from config49{?4YXH izB"?:Ӯ?D;8;4 !A%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 342.80 m.Bj=Jj=M ProNav: ac range: 342.799988 m, nav range: 330.419525 m, bearing: 191.234987 deg, approach rate: 0.005317 m/s, LOS rate: -0.109243 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819062 deg. 2jM:jM @UHeadingCmd: 4.813951 target range: 342.799988 and range: 342.80 m. jQjQjQjYiYhYhYhahe}Bfafafirfibfm 8#@ɛ!}B9 隝CI MɚiI2=IiR+i))*F=?2F9:F9BF=_0JF9mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012086G% ei@G B O% > I `kw,AZHRHHI III|BI&I.I6I<:IxF^@Y^@^%#9^ >y^H@.?9?@ ,?@? Zc?@%,?b?ɨ^@^ ;\y~|BLII 7I  5٢= %b=9%Q %?)) -G٣)y-Ѻ 5? =Nusing accuracyPremultiplier from config1E495q{?E4Y5N i5BAE宿E?5D5:5\:54Q Uk AQZjFNOT Ignoring new targets: 342.80 m.BjJj ProNav: ac range: 342.799988 m, nav range: 330.421417 m, bearing: 191.196884 deg, approach rate: 0.005439 m/s, LOS rate: -0.109529 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860879 deg. 2jV:j@HeadingCmd: 4.814681 target range: 342.799988 and range: 342.80 m. jjjjihhhhfffrfbf @ɛ"}BJ6 I lɚiI*,2=Iiz,ikI))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264345*F%?2F):F)BF-o0JF)G5 G5"G5G5GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:49:09.0774  TRx dataTimestamp_ set to:1736365750.408790 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517331$gkw,w󝭵A6a@Y6Ù@6$96Q >y6H k?༎?E>4޸? ?~?G/?5?ɨ6a@6.;6Cy^|B^]I)` `IdId٢r;= rN=9r Q v>tt vG٣v:4Gyzw: z> ~Nusing accuracyPremultiplier from config|49~{?4Y~|T i~B  ׮ ?~!D~P:~:~4OB AEZj9=FNOT Ignoring new targets: 342.80 m.BjEJjEe ProNav: ac range: 342.799988 m, nav range: 330.423889 m, bearing: 191.153395 deg, approach rate: 0.006254 m/s, LOS rate: -0.110029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844719 deg. 2je:je@mHeadingCmd: 4.814399 target range: 342.799988 and range: 342.80 m. jijijijiiihqhqhqhyfyfyfyrfybf @ɛE$}BE.5+ IM6II M3.ɚiiqIuM22=Iui}-i} A)y)y IgzKKK]9KKK*F2F:FBF0JFGsAGtAGB)OB>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772051Kmkw,?ŷA:*@Y:ƙ@:%9: >y:H`tǷ??`??%? .C?f?ɨ:*@:ψ;8yF|BFmIMb@Mb@Mb@ )YQ?X9v?S㥛?y?}=A @)AI~AyfAI-*I- 5EWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 19:49:09.0774 LVL= 30432, 28321, 18930, 32755, AGC= 64, IDX= 401, 0.09, 1.931, 0.717, 2.171, 1.232, PHS= 0.788,-0.468, 0.936, RAW= 155.5, -18.4, CAL= 161.0, -25.0, ROT= 349.0, 25.0 Ygot valid direction response: 19:49:09.0774 LVL= 30432, 28321, 18930, 32755, AGC= 64, IDX= 401, 0.09, 1.931, 0.717, 2.171, 1.232, PHS= 0.788,-0.468, 0.936, RAW= 155.5, -18.4, CAL= 161.0, -25.0, ROT= 349.0, 25.0 PDAT read: Bearing 349.0, 25.0 (Local) ~Local bearing/azimuth received: Bearing 349.0, 25.0 (Local) DAT read: Range 10 to 50 : 339.9 m (Round-trip 453.3 ms) speed 0.8 m/s *DAT read: user:861> BDAT read: Tx time:19:49:10.1700 $Ping request sent.AAETd?R.gآ?D4/Կ)EТ?IEG>iE᥿EAA:publishing transmit ping timeءFpublishing direction and range infoA9Eݣ;?EV.)y?yAAAA A)AIAiAAAAA A)AIAiAAAETd?R.gآ?D4/Կ)AIAiAAAA٢cm= :=9WXQ > G٣y3: > Nusing accuracyPremultiplier from config 49e|? 4Y[ iB ? :?3D)<(<x4 AkE?kEI9$ kA kEdA:kECBkEϨCZkE^@"E QxT@d&rUsK'c@Eݣ;?EV.)y?JkE᥿RkE*E_7r3A8`ZH]@EF쿨%ӿu@bf8?ɛ&}BH ֽI JɚiI,2=Iig/iC=)) J]2J]vJYJYJ]G;J]:JYJYJ]4tkw,ѭA6q@Y6Й@6+&96 >y6H 7? c?@Y@ wK? ?ä?[L? ?ɨ6q@6᱈;4yR|BRwIIZIZ=4٢rp1= r]=9vzʹQ v?tx zG٣xyz,; z? %Nusing accuracyPremultiplier from config!-49%i|?-4Y%` i%B15W5?%?D%:%C:%4a eNAaZjFNOT Ignoring new targets: 339.90 m.Bj4Jj4 ProNav: ac range: 339.899994 m, nav range: 329.394226 m, bearing: 191.105854 deg, approach rate: -0.000772 m/s, LOS rate: -0.117331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.877843 deg. 2j :jJ@HeadingCmd: 4.814977 target range: 339.899994 and range: 339.90 m. jjjjihhhhf!f)f)rf)bf-?ɛ'}B' ηI ɚiI|-2=I i0i*))UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F!:F!BF%?1JF)GB O%M> qIyzK FJK h9K K K   Will construct direction to contact in vehicle frame from tetrahedron phase data.dzkw,J뭵A t@Y ̙@ h,9 >y H??@z6?ݝ?? ? ?ɨ t@ A; yU|BU|IMb@Mb@Mb@ )YCl?x&?Ya eG٣e;4Gyeތ m> uNusing accuracyPremultiplier from configiu49m |?}4YmPg imB?:}?mODmSM;m%L;m4 -A-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 339.90 m.Bj=ܺJjeܺu ProNav: ac range: 339.899994 m, nav range: 329.397827 m, bearing: 191.061888 deg, approach rate: 0.007901 m/s, LOS rate: -0.096459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843291 deg. 2jue:juY@}HeadingCmd: 4.814373 target range: 339.899994 and range: 339.90 m. jyjyjyjyihhhh:~Bfffrfbfr?ɛ)}B ҪI %)ɚ!i!I% 2=I-i- =1i-,5)))1*F2F:FBF2JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G UG B O > Q IY jH bH p<H >I  I II }BI &I .I 6I b<:I KFLFkw,XA>5@Y>Й@>09>` >y>H ??`ӮM_?]?@?`n:?`í?ɨ>5@>zr;   G٣yH: > %Nusing accuracyPremultiplier from config%49S |?-4Yl iB)-p-?\D:z:$ 41 5A9ZjamFNOT Ignoring new targets: 339.90 m.Bju:Jju:뺝 ProNav: ac range: 339.899994 m, nav range: 329.400909 m, bearing: 191.026649 deg, approach rate: 0.008994 m/s, LOS rate: -0.102826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869469 deg. 2j#:j@HeadingCmd: 4.814831 target range: 339.899994 and range: 339.90 m. jjjjihhhhfffrfbf(?J5JuJ2JJSJ;J$:Jc3JJ<J<J<J<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247784ɛ*}B  I f`ɚiI2=Ii22i.))!*F2F:FBF5JFG+I,G9BIOeV>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499196yrkw,S<A6@Y6Ι@6696Z >y6H? Ƌ?`@OY?$? Φ?,Y?3?ɨ6@6&;6CyN|BNIIVIV4٢^ = bO=9biQ b>dd fG٣dyjP j> nNusing accuracyPremultiplier from configlr49n4|?r4YnJr inɉBpv{v?nkDn:n*:n4x zAzEZjFNOT Ignoring new targets: 339.90 m.Bj%Jj%ຝ5 ProNav: ac range: 339.899994 m, nav range: 329.404358 m, bearing: 190.987816 deg, approach rate: 0.008725 m/s, LOS rate: -0.098247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858691 deg. 2j5چ:j=@EHeadingCmd: 4.814642 target range: 339.899994 and range: 339.90 m. jAjAjIjIiIhIhIhQhQfYfYfYrfYbfe?ɛ,}B- 隍$wI $?Ig 5ɚ1i1I5W1=Ii63i,4))zK#LKKKKBKrA:KqA*FA2FA:FABFM`0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754939G--,G B O- >kw, 9A6ޒ@Y6z@6096K >y6H?? :F?n?[?@>w??ɨ6ޒ@6;4yN|BRIWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003526Mb@Mb@Mb@ )YMbX?#~j?{Gz?y ?=#<EA @)~AIAyAI7I 5٢,i 9=9S;Q > G٣y< > Nusing accuracyPremultiplier from config %49 |?-4Y yx i ӉB5P ?5:==? zD ; ; 4A EAAZjyFNOT Ignoring new targets: 339.90 m.BjֺJjֺ ProNav: ac range: 339.899994 m, nav range: 329.416779 m, bearing: 190.945828 deg, approach rate: 0.027684 m/s, LOS rate: -0.093582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849227 deg. 2js:j3@HeadingCmd: 4.814477 target range: 339.899994 and range: 339.90 m. jj!j!j!i!h!h!h)h-*~BfQfQfQrfQbfU`$@ɛ/}B 隥I ɚiI<1=Ii>3i2j)))EiEm> IHI III}BI&I.I=D6ID<:I4F*F2F:FBF_0JF"Ga=G=J=.J=qJ=1J9J=D;J=:J=3J9J=֚<J=ך<J=H <J=H <Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255307)ſ= ېC G xA jY xAy BG- .-G) G- rAG B O% >^kw,SA2{@Y2@2-92X >y2H? L?. #?z? ?`y??ɨ2{@2Sh;2Cy>|BBIIJ)IJ5٢RY; R_=9V ;Q V>TX ZG٣Z<4GyZ]; Z> bNusing accuracyPremultiplier from config\b49^+|?b4Y^} i^ۉBdff?^D^* ;^ ;^$ 4h nAlZj FNOT Ignoring new targets: 339.90 m.Bj WܺJj Wܺ ProNav: ac range: 339.899994 m, nav range: 329.427643 m, bearing: 190.911338 deg, approach rate: 0.030341 m/s, LOS rate: -0.096319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871720 deg. 2j4:j%j@-HeadingCmd: 4.814870 target range: 339.899994 and range: 339.90 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf=~g@ɛm1}Bm8R quЄIq u8ɚyiyI}%1=IiJ4iF)) *F?2F:FBFf0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%>%=-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508607GGQBYOu6> IzKu JKq Kq Ku Ku RK ?JK $? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762640kw,lA@Y$@*9 >yH@Z?J??@?@Z?@n? y?ɨ@;騵Cy|BIMb@Mb@Mb@ )Yq= ףp?{Gz?y ?ף=3A @)AIAyAI/IC5٢9 ,=9{:Q > G٣y< > Nusing accuracyPremultiplier from config49|?4Y1 iB ?:'?D;;j(4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 339.90 m.BjϺJjϺ ProNav: ac range: 339.899994 m, nav range: 329.443054 m, bearing: 190.866153 deg, approach rate: 0.030882 m/s, LOS rate: -0.090539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839640 deg. 2j x:j @HeadingCmd: 4.814310 target range: 339.899994 and range: 339.90 m. jjjjihhhhf!f!f!rf!bf%`f@ɛM4}BUQ QUBIQ ]X ɚYiYI]^1=IeimN?4imC)i)i*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011248Gm ;3Gu ?Gu ? I GI BQ Om >ZH RH H I  I I I  =&I .I 6I <:I FBIqJIqRIqZIqbIqjIuˋ4єkw,졆Aye|BetII1I&5٢< `=9Q > G٣y > Nusing accuracyPremultiplier from config49#|?m4Y[ iBqqu?D<<.4y \AJ0JtJJJlF;J:JJJ0<J0<J <J <Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:49:13.0236 TRx dataTimestamp_ set to:1736365754.191486checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267159ZjFNOT Ignoring new targets: 339.90 m.Bj4ۺJj4ۺ ProNav: ac range: 339.899994 m, nav range: 329.455170 m, bearing: 190.831038 deg, approach rate: 0.033062 m/s, LOS rate: -0.095822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869847 deg. 2j:j%@HeadingCmd: 4.814837 target range: 339.899994 and range: 339.90 m. jjjjihhhhff f rfbf@qU @ɛ=7}B==* AE޽IA Ei ɚAiAIE1=IMiU64iUa")Y)YEa*F2F:FBFo0JFGsA GtAGRGBOb>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519459}kw,){Ay|BlII0I5٢= =Q=9AQ E>AI MG٣M=4GyI M> aIa mNusing accuracyPremultiplier from configQm49U8(|?u4YU͎ iUBqqu?UDU;U{;U54 AZjFNOT Ignoring new targets: 339.90 m.BjJj纝 ProNav: ac range: 339.899994 m, nav range: 329.468079 m, bearing: 190.794012 deg, approach rate: 0.035346 m/s, LOS rate: -0.101379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.864111 deg. 2j&:jS@HeadingCmd: 4.814737 target range: 339.899994 and range: 339.90 m. jjjjihhhhfffrfbfB @ɛ9}B,J/ PI  ɚiI61=I%i%.4i!)!))zKJK9KKKBKsA:KtA*F?2F:FBF0JF*J}R="J}a=Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 19:49:13.0237 LVL= 25152, 32753, 17842, 32755, AGC= 64, IDX= 402, 0.05, 0.008,-0.990, 0.487,-0.367, PHS= 0.462,-0.576, 0.851, RAW= 165.3, -11.5, CAL= 169.6, -17.5, ROT= 340.4, 17.5 -Ygot valid direction response: 19:49:13.0237 LVL= 25152, 32753, 17842, 32755, AGC= 64, IDX= 402, 0.05, 0.008,-0.990, 0.487,-0.367, PHS= 0.462,-0.576, 0.851, RAW= 165.3, -11.5, CAL= 169.6, -17.5, ROT= 340.4, 17.5 =PDAT read: Bearing 340.4, 17.5 (Local) =~Local bearing/azimuth received: Bearing 340.4, 17.5 (Local) EDAT read: Range 10 to 50 : 337.1 m (Round-trip 449.5 ms) speed 0.5 m/s M*DAT read: user:862> UBDAT read: Tx time:19:49:14.1201 U$Ping request sent.U٭t٭#Y?٭R8@٭M ڭq=@)ڭaIڭ@iڭa>ککۭ:??W,3H?|S=ɿ)ۭXJ?IۭN>iۭcbۭ0۩۩:publishing transmit ping timeQFpublishing direction and range infoة9ح 8+½?'7.Y?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ:??W,3H?|S=ɿ)۩I۩i۩۩G<۩۩G B O >Mkw,iAZ'<@YZK@Z'*9Z~z >yZH@?`~?w`?iҚ?R?]??ɨZ'<@Z.;Xyb|Bf]I]Mb@Mb@Mb@YYY Y)YY]tV?Pn?~jt?y]?]>]D<]7 A ]@)]AI]AYy]AIuIu_4٢oWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:49:14.1193  -E=9-9Q 5>11 5G٣1y=1< => ENusing accuracyPremultiplier from configA49E/|?4YE( iEBd?:>?EDE/vY@ 8+½?'7.Y?JkcbRk0*"U8tAj`Rȇ@N@x#}˿l)8?"kΐ*kk?k|̤ 2kBk?k`b[ kCkCkU@] addTargetRange:: Added new target pos. range: 337.100006 m, deltaT: 3.813042 s, deltaX: -2.799988 m, approachRate: -0.734319 m/s, rangeRepo size: 4  Added new target pos. range: 337.100006 m, bearing: 192.615285 deg, lat: 36.901427 deg, lon: -122.116390 deg, deltaT: 3.813042 s, deltaX: -2.799988 m, approachRate: -0.734319 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 337.10 m.BjJj ProNav: ac range: 337.100006 m, nav range: 330.133545 m, bearing: 191.501846 deg, approach rate: 0.000000 m/s, LOS rate: -0.101379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835379 deg. 2j:j8@HeadingCmd: 4.814236 target range: 337.100006 and range: 337.10 m. jjjjihhhhd}Bfff rf u@bf  ip? AIIHaIa IeIIe}BIe =&Ia.Ie>D6Ie<:Ie Fɛ=}B A2 I  ɚiI1=Ii|3i::))*F?2F:FBFo0JF"G=G Will construct direction to contact in vehicle frame from tetrahedron phase data.G *G B O >6kw,fծA6 -@Y6<@6[096>y6Hp?U?:0`ꤼ?@E?@?`n? ?ɨ6 -@6Z;6Cy>|BBQIIJIJ4٢R? RQ=9VjQ V>TT VG٣XyZ Z> ^Nusing accuracyPremultiplier from config\b49^4|?E4Y^ i^BIMnM?^D^<^<^C4UOB U? AUEZjyFNOT Ignoring new targets: 337.10 m.BjJj캝 ProNav: ac range: 337.100006 m, nav range: 330.160614 m, bearing: 191.464403 deg, approach rate: 0.074822 m/s, LOS rate: -0.103490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862866 deg. 2j :j&@HeadingCmd: 4.814715 target range: 337.100006 and range: 337.10 m. jjjjihhhhfffrfbf VF?ɛ@}BA 61I  ɚiI1=Ii }<3i %aع) ) *F}?2Fy:FyBF}`5JFGUWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5.> $?IgzKU &(KKU +9KQ KU KU  J J - Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 ;kw,X﮵AJU4JUqJU2JQJUI;JU:JUc3JQa"@a"@a"@a"@e'@Y6@h29J>yH3C? ?_)?;?DK?֦?@?ɨe'@;ym|B =IMb@Mb@Mb@ )Y+?+?y&1|yv?=`A @)lAIQAyzAI>I 5٢ )=9Q >!! %G٣%>4Gy-( -> 5Nusing accuracyPremultiplier from config1=495:|?=4Y5K i5B=?=:=GE?5D5;5;5'L4I M AIuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 337.10 m.BjHJjH ProNav: ac range: 337.100006 m, nav range: 330.170563 m, bearing: 191.412254 deg, approach rate: 0.021290 m/s, LOS rate: -0.111592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818746 deg. 2j+:j @HeadingCmd: 4.813945 target range: 337.100006 and range: 337.10 m. j!j)j)j)i)h)h)h1h5Y}Bf1f1f9rf9bf=a?ɛC}BA #VI  ɚiIE1=Ii={2i=O)9)A*F?2F:FBF 2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. I G ?:jH bH <H >I  I II }BI &I .I =D6I $<:I FG B O >0kw,- AB"@YB1@BQ59Bi>yBH?t? :Ib?୍?@?@i?F?ɨB"@B$;BCyRY|BR1IIZIZ4٢bq bw=9f#Q f?dh jG٣hyj j? rNusing accuracyPremultiplier from configpv49r>|?v4Yr irBxzZz?rDr:rz:rQ4| ~!AZj)-FNOT Ignoring new targets: 337.10 m.Bj5Jj5E ProNav: ac range: 337.100006 m, nav range: 330.177429 m, bearing: 191.376386 deg, approach rate: 0.020745 m/s, LOS rate: -0.108363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867584 deg. 2jM:jM@MHeadingCmd: 4.814797 target range: 337.100006 and range: 337.10 m. jQjQjQjQiQhQhQhYhYfYfafarfabfe`Ci?ɛ F}B ^V  mlI  ɚiI 2=I%i%2i%Y)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494499*F 2F :F BF _0JF G'HGBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data.ե #?ե W? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745109Kkw,:"A I$:>5@Y:D@:329:X>y:H9?@? U^4?[?@WO?@^?հ?ɨ:>5@:Š;:CyD|B$II-:I-# 5٢EK ED=9E:Q E>II MG٣IyU`; U> Nusing accuracyPremultiplier from config49C|?4YT iB?D6;M7;QY4 h!AZjFNOT Ignoring new targets: 337.10 m.BjXJjX ProNav: ac range: 337.100006 m, nav range: 330.186920 m, bearing: 191.330832 deg, approach rate: 0.022527 m/s, LOS rate: -0.108122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838529 deg. 2jh:j@HeadingCmd: 4.814291 target range: 337.100006 and range: 337.10 m. jjjjih h h h fffrfbf`2?ɛMH}BMU IU3IY ]mm ɚYiYI]+2=IeieL2ieo:)a)izK+LK9KKK *F92F9:F9BF9JF9J3JoJ1JJH;-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998928J:J3JG)GBO >ukw,jy2H??a`?`n?[?-??ɨ25@2;2CyN(|BRI5Mb@Mb@Mb@111 1)1Y5HzG? ףp= ?{Gzty5=*?5Q=5ף5A 5@)5AI5A1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249310y5(AI3I 5٢ D=9nQ > G٣?4GyS9 > Nusing accuracyPremultiplier from config49I|?4YY i!B+?:򩿑?D3;;z`4NB !AEZj  FNOT Ignoring new targets: 337.10 m.BjBJjB% ProNav: ac range: 337.100006 m, nav range: 330.199493 m, bearing: 191.283235 deg, approach rate: 0.030547 m/s, LOS rate: -0.115632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832403 deg. 2j-:j- @-HeadingCmd: 4.814184 target range: 337.100006 and range: 337.10 m. j1j1j1j1i1h1h9h9h=|Bf9fAfArfAbfE@^@ɛmK}Bm^ quMIq ue`ɚyiyI}O2=IiY1i~>:)) AIEg*F2F:FBF`0JFHI IIIG}BI&I.I6I<:IFG7:GB- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500964O= >\kw,}VA6u;@Y6J@6396>y6H ? x?Q a`!?{q?`a? ]???ɨ6u;@6g;6CyR |BRIIZ1IZ&5٢b᣽ bY=9fQ f>dd fG٣hyjD: j> rNusing accuracyPremultiplier from configpv49rN|?v4Yrͻ ir(Bxz۩z?r#Dr:r:rg4 O"AZj)-FNOT Ignoring new targets: 337.10 m.Bj5oJj5oE ProNav: ac range: 337.100006 m, nav range: 330.211395 m, bearing: 191.239477 deg, approach rate: 0.031731 m/s, LOS rate: -0.116659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843916 deg. 2jE:jEp@MHeadingCmd: 4.814384 target range: 337.100006 and range: 337.10 m. jIjIjIjQiQhQhQhYhYfafafarfabfm K_@ɛ-M}B-j 15⡾I1 5fɚ1i9I=|2=I=iES1iE>F:)A)A*F 2F :F BF h0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753802 )I1G9GB O% >zK D`LK K K K #( J 7J zJ E Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007084kw,rpAJAJEK;JE:JAJA4@YC@C59(>yH??,?i?ཽ?̤? L?ɨ4@J1;y|BIuMb@Mb@Mb@qqq q)qYu|?5^?ʡE?MbP?yu2?u-=u:uA u@)uVAIqqyuABAI;I 5٢5 5(=95\Q =>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49uMU|?}4Yu iu3BS4?:w?u9Du;uc;uo4OB e"AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 337.10 m.Bj Jj  ProNav: ac range: 337.100006 m, nav range: 330.223633 m, bearing: 191.179816 deg, approach rate: 0.024943 m/s, LOS rate: -0.121601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796211 deg. 2j覻:j@HeadingCmd: 4.813552 target range: 337.100006 and range: 337.10 m. jjjjihhhh|Bfffrfbf@J @ɛ%P}B%n/f )-I) -ɚ)i)I-42=I5i50i5]:)9)y*F2F:FBFa0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256848  $?I G G:ZHy RHy H >I C I II }BI  =&I .I 6I 3<:I (FG B OU >nkw,3A65@Y62E@6796>y6H`?@??j?@?@V?`Ų?ɨ65@6d;6CyV{BZIIn5In55&GIi٢e un=9H Yy5BQ ? G٣@4Gy9 ? Nusing accuracyPremultiplier from config49Y|?4Y i;Bq?ID~::u4 "AZj FNOT Ignoring new targets: 337.10 m.Bj k Jj k } ProNav: ac range: 337.100006 m, nav range: 330.232544 m, bearing: 191.137711 deg, approach rate: 0.025798 m/s, LOS rate: -0.121888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848877 deg. 2jM:j&@HeadingCmd: 4.814471 target range: 337.100006 and range: 337.10 m. jjjjihhhhfffrfbf0 @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:49:16.9717 TRx dataTimestamp_ set to:1736365758.256798checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510071ɛER}BE+y AEII MɚIiI2=Iia0iC:))*F2F:FBFo0JFG% p9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761520G! B) Oa  I kw,A:2@Y:vA@:(:9:>y:Hp?`?` ?? N?`? ?ɨ:2@:2e;8yJ{BJIIRDIR5٢ZX; ZV=9ZdQ Z>\\ bG٣`yb b> fNusing accuracyPremultiplier from configdj49f_|?j4Yf ifCBlnn?fZDf`;f;f1|4rNB v"AvEZjFNOT Ignoring new targets: 337.10 m.Bj% Jj% 5 ProNav: ac range: 337.100006 m, nav range: 330.242249 m, bearing: 191.092060 deg, approach rate: 0.025957 m/s, LOS rate: -0.122101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838237 deg. 2j5:j5@=HeadingCmd: 4.814285 target range: 337.100006 and range: 337.10 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfU` @ɛS}B} 隍%I ɚiI 3=Ii 0iK9))zK?LK 9KKK*F12F1:F1BF50JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.iEDAT read: Range 10 to 50 : 335.6 m (Round-trip 447.5 ms) speed 0.5 m/s J]1J]wJYJYJ]4G;}*DAT read: user:863> BDAT read: Tx time:19:49:18.0701 J]-:JYJY$Ping request sent.6kw,)뽯A6-@Y6=@6=96(5>y6Ht??l#Ǽ?7?? ??ɨ6-@6;4yN{BRI Vp=V%=5Mb@Mb@Mb@111 1)1Y5333333?(\µ?9A EG٣AyE< E> UNusing accuracyPremultiplier from configIu49M1e|?}4YM iMPB}:?}:}}?MoDMN;M;M4 "A Ig addTargetRange:: Added new target pos. range: 335.600006 m, deltaT: 4.037352 s, deltaX: -1.500000 m, approachRate: -0.371531 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 337.10 m.Bj%MJj%MU ProNav: ac range: 337.100006 m, nav range: 330.251801 m, bearing: 191.034858 deg, approach rate: 0.020776 m/s, LOS rate: -0.124411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803586 deg. 2jUê:jU @]HeadingCmd: 4.813681 target range: 337.100006 and range: 335.60 m. jYjYjYjYiYhahahihuw|Bfqfqfqrf}t@bf}[?ɛV}Bʃq ,I ɚiI@3=Ii/iT ))H5>I1 I5II5|BI1&I1.I16I50<:I5%FBIJIRIZIbIjI/4*F92F9:F9BFE0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.e PExceeded connect timeout, disconnecting.G} }:Gy B O >kw,\ׯA6V @Y6@6C5D96>y6Hj?ช?`2̻?@Y?A?@=??ɨ6V @6;6CyB{BBIIJ-IJ`5٢R RW=9RSQ V>TT VG٣VA4GyZS= Z> bNusing accuracyPremultiplier from config`f49bi|?f4Yb ibZBdf*j?bDb;b;bH4l n"AlZj FNOT Ignoring new targets: 337.10 m.Bj Jj % ProNav: ac range: 337.100006 m, nav range: 330.258392 m, bearing: 190.990228 deg, approach rate: 0.019057 m/s, LOS rate: -0.129022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841300 deg. 2j%:j%@-HeadingCmd: 4.814339 target range: 337.100006 and range: 335.60 m. j)j)j)j)i)h1h1h1h1fffrfbf|?ɛ]W}B]NŁ Y]@IY e$ɚaiaIezKE JKE h9KA KE KE  !R q - Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,hA ae@@Y@J9XG>yH|ƹ?`?,)L@9?F?P?@?`ư?ɨ@ֈ;騽Cy{BIMb@Mb@Mb@ )YZd;?bX9ȶ?y&1?y>?E=`e< A Z@)QAIAyAI I4٢c< +=9VQ > G٣yƬ >  Nusing accuracyPremultiplier from config49_p|?4Y iiB%]@?-:-T-?D8;;4MOB M"AUEB*** querying acoustic contact ***jjZj1=FNOT Ignoring new targets: 337.10 m.Bj] Jj] m ProNav: ac range: 337.100006 m, nav range: 330.267517 m, bearing: 190.928076 deg, approach rate: 0.017916 m/s, LOS rate: -0.122027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788735 deg. 2ju~:ju@}HeadingCmd: 4.813421 target range: 337.100006 and range: 335.60 m. jyjyjyjihhhhe|Bfffrfbf?ɛEY}BE)?o AE籾II MɚIiIIM3=IUiU($0iUd)y)y*F ?2F:FBF`5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. iIijH% <bH% p<H) I)  I- xII- |BI) &I) .I) 6I- <:I- FGU ԑGQ BY Ou >lw, A6@Y68@6S96>y6H?1?s'q??y? 9? ?ɨ6@6;6Cy>|BBIDDIJIJ 4٢R = Rs=9VܻQ V?TT VG٣XyZg Z? ^Nusing accuracyPremultiplier from config\b49^t|?b4Y^\ i^tBdff?^D^e:^:^|45NB 5t"A5EZjy}FNOT Ignoring new targets: 337.10 m.BjJj ProNav: ac range: 337.100006 m, nav range: 330.273438 m, bearing: 190.884695 deg, approach rate: 0.018576 m/s, LOS rate: -0.136111 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.845048 deg. 2jҺ:j@HeadingCmd: 4.814404 target range: 337.100006 and range: 335.60 m. jjjjihhhhff!f!rf!bf% I?JCKKş3 KK.-KCKC"KCJJsJJJJ:JJJݜ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745516 9 I= gclw,%Ayr|BrIIz)Iz5٢= %C=9%Q %>)) -G٣-B4Gy- 5> =Nusing accuracyPremultiplier from config1E495vz|?M4Y5m i5BIIM?5D56;57;5˟4]OB ]>"AYZjFNOT Ignoring new targets: 337.10 m.BjJj ProNav: ac range: 337.100006 m, nav range: 330.281158 m, bearing: 190.830366 deg, approach rate: 0.019128 m/s, LOS rate: -0.134593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812205 deg. 2j:j @HeadingCmd: 4.813831 target range: 337.100006 and range: 335.60 m. jjjjihhhhfffrfbf"?ɛ[}B0x MI! %~ɚ!i!I%j3=I5i=:1i=S,)9)AEQ*F?2F:FBFJFzK  vOK ]9K K K  + 'K'n Ph*JC="JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000754GWCGBO> lw,r?A6@Y60@6S967>y6H^?@?@j5@?[?u???ɨ6@6\;6CyN5|BRI%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249731uMb@Mb@Mb@qqq q)qYuMb?MbX9? G٣y; > Nusing accuracyPremultiplier from config49|?4Y iBA?:g? $?ID~;{;"4 !AZjFNOT Ignoring new targets: 337.10 m.BjJj5 ProNav: ac range: 337.100006 m, nav range: 330.284943 m, bearing: 190.775488 deg, approach rate: 0.008962 m/s, LOS rate: -0.129972 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810555 deg. 2j5e:j5 @=HeadingCmd: 4.813802 target range: 337.100006 and range: 335.60 m. j9j9jAjAiAhAhAhIhMs|BfIfIfIrfQbfUn@ɛ\}BPh .I %ɚ!i!I%3=I-i-_1i-%ջ)))QH>I I~II|BI&I.I6I!<:IF*F ?2F :F BF JF J/JwJJJE;J-:JJJ<J<J<J<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502184GU L}G! B1 OM > lw,-_YA2@Y2&@2`V92>y2H&??<9@ ?@ ? Ȫ?ݠ?@D?ɨ2@2Z߇;2Cy>N|BB*IIJ9IJ 5٢RX= RZ=9VݺQ V>TX ZG٣Xy^T ^> bNusing accuracyPremultiplier from config`f49by|?f4Yb ibBdff?bDbC:b:b4l n?!AlZj  FNOT Ignoring new targets: 337.10 m.BjaJja% ProNav: ac range: 337.100006 m, nav range: 330.288300 m, bearing: 190.726638 deg, approach rate: 0.009035 m/s, LOS rate: -0.131474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828638 deg. 2j-u:j-A @5HeadingCmd: 4.814118 target range: 337.100006 and range: 335.60 m. j1j1j1j1i1h9h9h9h9f9fAfArfAbfE`f@ɛ1=Hxh 9=RI9 =VɚAiAIE3=IEiMjZ2ie)a)q*F?2F:FBFo0JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755523 IGM4λGQGUsAG! B1 OM >zK] KOK] +9KY K] K] J J AA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0087717lw,>sAyޕp|Bޕ?IMb@Mb@Mb@ )YS?yy }G٣C4Gy > Nusing accuracyPremultiplier from config49d|?4Yh iB'>?:?D+;Y;a4NB  AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 337.10 m.BjJj ProNav: ac range: 337.100006 m, nav range: 330.290070 m, bearing: 190.662649 deg, approach rate: 0.003556 m/s, LOS rate: -0.128544 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783220 deg. 2jo:j@HeadingCmd: 4.813325 target range: 337.100006 and range: 335.60 m. jjjjihhhh|Bfffrfbf5 @ɛ]}BV }lI =wGɚ9i9I=3=IEiE3iEO#)A)I*F?2F:FBFh0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262840 IZH RH H >I  I II }BI  =&I .I 6I <:I FG5 AG B O >c"#lw,t%A6֒@Y6|@6V\96 >y6H ? ?ZXX?0??@ƾ??ɨ6֒@6;6CyB|BBXIIJ,IJ5٢R= R=9RQ V?TT ZG٣XyZw Z? bNusing accuracyPremultiplier from config`f49b |?f4YbX ibBhjİj?b Db;b5;bλ4l n AlZj  FNOT Ignoring new targets: 337.10 m.BjJj% ProNav: ac range: 337.100006 m, nav range: 330.291016 m, bearing: 190.622819 deg, approach rate: 0.003043 m/s, LOS rate: -0.128130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.855697 deg. 2j%ޯ:j%@-HeadingCmd: 4.814590 target range: 337.100006 and range: 335.60 m. j)j)j)j1i1h1h1h9h9fAfAfArfAbfM` @ɛq}\ y}DIy }ɚyiI"3=IiMc3iMt)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:49:20.9193 TRx dataTimestamp_ set to:1736365762.288570checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510436J=JnJJJP;J:JJJ<J<J <J <*F2F:FBF0JFG>uGBO >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761404 I gH)lw,񦰵AnnВ@Ynߙ@n_9n>ynH@Q?̍? g2??6?.??ɨnnВ@nՆ;nCyv|BvkIII٢A= D=9ݺQ >)) -G٣)y-غ 5> ENusing accuracyPremultiplier from configAM49E|?U4YE] iEɊBY]۰]?E DE;EQ;E Ö4mOB mAEZjFNOT Ignoring new targets: 337.10 m.Bj=zJj=zU ProNav: ac range: 337.100006 m, nav range: 330.292297 m, bearing: 190.569064 deg, approach rate: 0.002741 m/s, LOS rate: -0.114946 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813923 deg. 2jUƝ:jU& @]HeadingCmd: 4.813861 target range: 337.100006 and range: 335.60 m. jYjYjYjYiahahahihifififirfqbfu !@ɛdF 隥l%I i[ɚiIF3=Ii4i׽))zK>KK 9KKK*Fe?2Fi:FiBFm0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.խ<խ=}DAT read: 19:49:20.9193 LVL= 20208, 32337, 15010, 32755, AGC= 67, IDX= 410,-0.18, 0.657,-0.560, 0.937, 0.078, PHS= 0.667,-0.591, 0.856, RAW= 156.9, -13.6, CAL= 163.3, -20.1, ROT= 346.7, 20.1 Ygot valid direction response: 19:49:20.9193 LVL= 20208, 32337, 15010, 32755, AGC= 67, IDX= 410,-0.18, 0.657,-0.560, 0.937, 0.078, PHS= 0.667,-0.591, 0.856, RAW= 156.9, -13.6, CAL= 163.3, -20.1, ROT= 346.7, 20.1 PDAT read: Bearing 346.7, 20.1 (Local) ~Local bearing/azimuth received: Bearing 346.7, 20.1 (Local) DAT read: Range 10 to 50 : 333.8 m (Round-trip 445.1 ms) speed 0.4 m/s *DAT read: user:864> MBDAT read: Tx time:19:49:22.0201 M$Ping request sent.Mڹڹ۽c?5׈Ԭ?_ο)۽Q$?I۽@s>i۽,۽۹۹:publishing transmit ping timeIFpublishing direction and range infoع9ؽ@^*?K|vCp?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽c?5׈Ԭ?_ο)۹I۹i۹۹۹۹G ܜGQ Ba O} >C0lw,AjWill construct direction to contact in vehicle frame from tetrahedron phase data. IyM|BMIMb@Mb@Mb@ )Ygfffff?Zd;?~jt?y33?y=< A -@)I$AyGAIIv4٢=  -=9 Q  > G٣D4Gy >H->I) I-II-[}BI)&I).I)6I-F<:I-2F ENusing accuracyPremultiplier from configAM49Eܗ|?M4YE' iEيBM3?U:U@U?E0 DE;E;EW˖4Y ]Ak^?kA` k kE𲰵A:kCBkǥCZk0X@"#sd?rH@.mr<縊b@@^*?K|vCp?Jk,Rk*`&y!sׄnR,E>Jm5JmJiJiJmSJ;Jme:JiJiJm<Jm<Jmp <Jmp <Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF~0JFG G B O >7lw,ݰA^’@Y^ ҙ@^f9^h>y^H@E?`?¿@`?s?ͬ?`5?`?ɨ^’@^s;\yj"}BjIIrIrN4٢z/> ~W=9~Q ~> G٣y  > Nusing accuracyPremultiplier from config49˛|?4Y. iB?A D:":і4) -A)ZjQUFNOT Ignoring new targets: 333.80 m.Bj] Jj] m ProNav: ac range: 333.799988 m, nav range: 316.736023 m, bearing: 192.133179 deg, approach rate: -0.026811 m/s, LOS rate: -0.133874 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830728 deg. 2ju:ju @}HeadingCmd: 4.814154 target range: 333.799988 and range: 333.80 m. jyjyjyjyihhhhfffrfbf ?ɛ9=/ =$==PmIA EɚAiaIep3=Imim6im1)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉ I*F2F:FBFY5JF!GE(G B) OE >zK} .JK} 9Ky K} K}    E Will construct direction to contact in vehicle frame from tetrahedron phase data.8?=lw,͏Ajɒ@Yj)ٙ@jg9j>yjHV??¿@-?Ж? ?*?`֟?ɨjɒ@jj;hyvD}BvIMb@Mb@Mb@ )Ysh|??~jt?~jt?y)?D=7 A );@IAyAIIļ4٢= <=9&Q > G٣y+; > Nusing accuracyPremultiplier from config 49|? 4YD6 iB *? : T?S D; ;ٖ4NB bAEeB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 333.80 m.BjHJjH ProNav: ac range: 333.799988 m, nav range: 316.721863 m, bearing: 192.081291 deg, approach rate: -0.032037 m/s, LOS rate: -0.117399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819517 deg. 2j#:j @HeadingCmd: 4.813959 target range: 333.799988 and range: 333.80 m. jjjjihhhihmO}Bfififqrfqbfu?ɛ# ļI UɚiI`R3=Ii7iW#!)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF`5JFH>I III}BI&I.I6IH<:IBIǨCJIǨCRIZI =bI =jI4G -,G B O >U$Dlw,[_AVĒ@YV7ԙ@Vl9V>yVH .? ?`R¿I ?a?7?@??ɨVĒ@V1ʈ;VCyfx}BfII I 94-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.430307٢2> N=9NQ > G٣E4GyBź > Nusing accuracyPremultiplier from configJ3JJJJH;JS:JJJ6<J7<J<J<=49K|?=4Y-= iB9=d=?d D)<)<4I MAIZjFNOT Ignoring new targets: 333.80 m.BjJj ProNav: ac range: 333.799988 m, nav range: 316.708862 m, bearing: 192.033265 deg, approach rate: -0.032092 m/s, LOS rate: -0.118560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831102 deg. 2j:j @HeadingCmd: 4.814161 target range: 333.799988 and range: 333.80 m. jjjjihhhhfffrfbf"?ɛY]X Y]PQJlw,xF+ABْ@YB@B+i9B >yBH@Ը??`H¿ ?@?`1?`?j?ɨBْ@B%;BCy^}B^IIf If4٢n > nY=9rH ;Q r>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~49z|?~4YzC izB?zt Dz;z;z4  A ZjFNOT Ignoring new targets: 333.80 m.BjpJjp ProNav: ac range: 333.799988 m, nav range: 316.697632 m, bearing: 191.988659 deg, approach rate: -0.029591 m/s, LOS rate: -0.117535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841364 deg. 2jS:j@HeadingCmd: 4.814340 target range: 333.799988 and range: 333.80 m. jjjjihhhhfffrfbf $?ɛ=\}B= AE=IA EɚAiAIEN2=IMiMn:9iU!)Q)QzKm+LKiKiKmKm %Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.932294EuQ=*F2F:FBFH5JF y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184209G -,G B O >rQlw,~FAR(@YR@Rh9Rz >yRH o?` ?`¿@> ? ԥ?@?`l?a?ɨR(@RĈ;RCyZ}BZI\^AHn>Il InYIIn;~BIn =&Il.Il6Ina<:InCFMb@Mb@Mb@ )YZd;? ףp= ?I +?y?Q8=9<d A @)Q@IypAII14٢= 1=9`9Q > G٣y9; >  Nusing accuracyPremultiplier from config 49 |?4Y K i !B~?:᳿?  D {; M; #4! %'A!ZjIMFNOT Ignoring new targets: 333.80 m.BjUJjUm ProNav: ac range: 333.799988 m, nav range: 316.685242 m, bearing: 191.937022 deg, approach rate: -0.028101 m/s, LOS rate: -0.117117 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820271 deg. 2jm:ju @uHeadingCmd: 4.813972 target range: 333.799988 and range: 333.80 m. jqjyjyjyiyhyhyh!h%}Bf!f)f)rf)bf-F@ɛ[}B 隭=I ISɚiImY2=Iir9i))Eu$=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437188*F2F :F BF _0JF G GG5 OG B O5 >_Wlw,3`A:9@Y:@:Pg9:T >y:H@s??M( A?X?ݬ?U?``?ɨ:9@:p;:CyB}BB-IIjIj74٢v= v_=9z:Q z>xx ~G٣~F4Gy~k; ~> Nusing accuracyPremultiplier from config 49ح|?4YP i,B? D;;4 A%EZjAEFNOT Ignoring new targets: 333.80 m.BjM,JjM,m ProNav: ac range: 333.799988 m, nav range: 316.675964 m, bearing: 191.895931 deg, approach rate: -0.025299 m/s, LOS rate: -0.112057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851909 deg. 2jmΙ:jm@uHeadingCmd: 4.814524 target range: 333.799988 and range: 333.80 m. jqjqjqjyiyhyhyhyhff Igfrfbf@@ɛ\ۼ >I ɚiIg2=IiY:i<ǻ))EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688480EE*F!2F!:F!BF-`0JF)zKU sLKU h9KQ KU KU  /tmc]XRJA>92,)%$!J} 1J} |Jy Jy J} 4G;J} Ű:Jy Jy a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.ս >ս %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940515Gm %GI B O > ^lw,zAy~~B~@IMb@Mb@Mb@ )Yd;O?{Gz?Q?y?#=u< A C@);@IyAII4٢m΁= m.=9uQ u>qy }G٣yy} }> Nusing accuracyPremultiplier from config49|?4YW i9B#?:? D;;4 /AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 333.80 m.BjJjﺝ ProNav: ac range: 333.799988 m, nav range: 316.664459 m, bearing: 191.846846 deg, approach rate: -0.024562 m/s, LOS rate: -0.104793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827928 deg. 2j֏:j' @HeadingCmd: 4.814106 target range: 333.799988 and range: 333.80 m. jjjjihhhh&~Bfffrfbf S @ɛ156׼ 156>I1 =~:ɚ9i9I=1=IEiE:iEXϻ)A)I IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:49:24.8652 TRx dataTimestamp_ set to:1736365766.073961checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195140*F2F:FBFl0JFHyIy I}II}~BIy&Iy.Iy6I}2<:I}!FG İ˻G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444093elw,CA6@Y6 @6Ge96*4 >y6H?,?s@ۮ?7?@Q? Q?`?ɨ6@6;6CyFD~BF_I J=Jp=ININx4٢Vc> Vg=9V:Q Z>X\ ^G٣\y^N; ^> fNusing accuracyPremultiplier from config`f49by|?j4YbS] ibCBhjj?b Db;b ;b4p rcApZj FNOT Ignoring new targets: 333.80 m.BjJjﺝ- ProNav: ac range: 333.799988 m, nav range: 316.656250 m, bearing: 191.809631 deg, approach rate: -0.023097 m/s, LOS rate: -0.104711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.863538 deg. 2j-:j->@5HeadingCmd: 4.814727 target range: 333.799988 and range: 333.80 m. j1j1j1j1i9h9h9h9h9fAfAfArfAbfMh @ɛd Ci>I _ɚiI"1=I%i%!;i%L)!))*F2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:49:24.8652 LVL= 23408, 32065, 16066, 32755, AGC= 64, IDX= 400,-0.10,-1.818,-2.946,-1.417,-2.313, PHS= 0.583,-0.586, 0.893, RAW= 161.5, -13.1, CAL= 166.9, -19.2, ROT= 343.1, 19.2 Ygot valid direction response: 19:49:24.8652 LVL= 23408, 32065, 16066, 32755, AGC= 64, IDX= 400,-0.10,-1.818,-2.946,-1.417,-2.313, PHS= 0.583,-0.586, 0.893, RAW= 161.5, -13.1, CAL= 166.9, -19.2, ROT= 343.1, 19.2 PDAT read: Bearing 343.1, 19.2 (Local) ~Local bearing/azimuth received: Bearing 343.1, 19.2 (Local) DAT read: Range 10 to 50 : 330.7 m (Round-trip 441.0 ms) speed 0.4 m/s G̻GGtA5*DAT read: user:865> EBDAT read: Tx time:19:49:25.9701 E$Ping request sent.E)ىIٍ@iٍ}??ٍٍd?ٍe4@ٍ j ڍm:@)ڍIڍ@iڍ>ډډۍ 8Z?[?X"\ Ϳ)ۍA9?IۍUj>iۍ.ۍ¾ۉۉm:publishing transmit ping timeAmFpublishing direction and range info؉9؍ b?; 5[p?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ 8Z?[?X"\ Ϳ)ۉIۉiۉۉۉۉGBO- >klw,㋮AVp@YV@V:c9V >yVHI??```Q?? y?A?i?ɨVp@V ;VCyR~BgIII-4٢= A=9r:Q > G٣G4Gy}H; > Nusing accuracyPremultiplier from config49|?4Yc iNB? Di&<L'<x 49 =-AAk?kp- kzKpmNKKKKJ5JtJJJSJ;J:JJ%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:19:49:25.9693  k A:kYCBk?ɛ\}B p yv>IQ ]rɚYiYI]֋0=I}i}R;iXs))EV>E*F2F:FBF`0JF ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II BI  =&I .I 6I <:I FG ԑG B O >0rlw,˱A @J@YJ)'@J(Sd9J>yJHº??@RYa?@x^??@%??ɨJ@J;JCyRf~BVtIMb@Mb@Mb@ )YGz?Mb?y&1?y?@=`e<M A -@)I$AyGAIIQ4٢,= -=9kfQ >AA MG٣IyMā; M> ]Nusing accuracyPremultiplier from configQ49U |?4YUj iU[B/?:u?U DU;UJ;U4 AZjFNOT Ignoring new targets: 330.70 m.Bj Jj  ProNav: ac range: 330.700012 m, nav range: 318.114227 m, bearing: 192.933084 deg, approach rate: -0.025028 m/s, LOS rate: -0.107976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831019 deg. 2j%4:j% @-HeadingCmd: 4.814159 target range: 330.700012 and range: 330.70 m. j)j)j)j)i)h)h1h1h5~Bf1f9f9rf9bfEk?ɛim0֑ qu?>Iq uɚqiqIuz0=I}i I - Will construct direction to contact in vehicle frame from tetrahedron phase data.xlw,5屵A:V@Y:-@:Qb9:>y:H*????V?`k??ɨ:V@:$;8yFs~BF|I)H HHJAININy4٢V= Vc=9Z:Q Z>XX ^G٣\y^; ^> fNusing accuracyPremultiplier from configdj49f5|?j4Yfo ifdBln^n?f Df ;f ;f4t vAtZjFNOT Ignoring new targets: 330.70 m.BjeJje亝 ProNav: ac range: 330.700012 m, nav range: 318.106232 m, bearing: 192.897353 deg, approach rate: -0.022341 m/s, LOS rate: -0.099840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867990 deg. 2j :j@HeadingCmd: 4.814805 target range: 330.700012 and range: 330.70 m. jjjjihh h h ff9f9rf9bfEO?ɛ]}B ]>I 4ɚiI/=Ii;i0Ӻ))*F?2F:FBF0JFJe7JewJe0JaJeK;Je-:Jeـ3JaWill construct direction to contact in vehicle frame from tetrahedron phase data.zKƒLK9KKKG b(G B O >7!lw,quA>+@Y>;@>^9>'>y>H:a?@?v@?`@?Pܫ?`??ɨ>+@>;>CyVu~BZ}IuMb@Mb@Mb@qqq q)qYu?Mb?Mbp?yu ?u=u;u7 A u@)u$@IuAqyuAIIЬ4٢ck; <=9 ;Q > G٣H4Gyt; > 9IEg MNusing accuracyPremultiplier from configAM49E|?U4YEOv iEnBU ?U:U]?E DEZ;E;E!4a eAeE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 330.70 m.BjJj ProNav: ac range: 330.700012 m, nav range: 318.105438 m, bearing: 192.852362 deg, approach rate: -0.001834 m/s, LOS rate: -0.103992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840214 deg. 2j:j@HeadingCmd: 4.814320 target range: 330.700012 and range: 330.70 m. jjjjihhhhk~Bfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ" ȋ>I ɚ!i!I%h%/=I-i-:i-1{)))9EAHIC IIICBI =&I.I6IӰ<:I F*F?2F:FBF`5JF~GA YyBGm ݺG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737785 lw,VA2 M@Y2l\@2U92t>y2H:k?3~?X!V? ?ٸ? ?ʫ?ɨ2 M@2}Ɋ;2CyNv~BLIVIV4٢^L; bY=9b;Q b>`d fG٣dyf1< f> nNusing accuracyPremultiplier from confighn49j|?r4Yj_{ ijuBpr1r?j Dj~ ;j:j(4t zAxZj!%FNOT Ignoring new targets: 330.70 m.Bj-Jj-⺝ ProNav: ac range: 330.700012 m, nav range: 318.105743 m, bearing: 192.816840 deg, approach rate: 0.000852 m/s, LOS rate: -0.099140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868621 deg. 2j:j@HeadingCmd: 4.814816 target range: 330.700012 and range: 330.70 m. jjjjihhhhfffrfbf?ɛM^}BM! IM>I oɚiIc.=Ii:i^;))*F2F:FBF05JF -$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990160GzQG B O 3lw,*3AJIo@YJ~@JK9JX >yJH |? y?ɺ`IN?)?`St?m?b?ɨJIo@J]";Hyj{~BnI vp=v=II4*J!"J%R=٢5F< 5C=9Em;Q M>II MG٣QyU"< U>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.241907 uNusing accuracyPremultiplier from configi}49m|?4Ym\ im~B?m DmSI;mB2;mg/4 AzKvKK9KK K      J=J{J2JJP;J@:Jc3JZjFNOT Ignoring new targets: 330.70 m.Bj ߺJj ߺ ProNav: ac range: 330.700012 m, nav range: 318.107239 m, bearing: 192.774791 deg, approach rate: 0.003467 m/s, LOS rate: -0.097497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849039 deg. 2j҅:j,@HeadingCmd: 4.814474 target range: 330.700012 and range: 330.70 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf#V@ɛ_}Bw 15>I9 E ɚAiiIm=.=Iuiu_8i};)y)y*FY2FY:FYBFaJFa I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494584GE g;H >I  I II bBI &I .I 6I <:I FBIqJIqRIqZIu =bIu =jIu~4G9 BI Oe >lw,MA2~@Y2ᙚ@2 C92 >y2H@T?/w? @?fş?a?`n? w?ɨ2~@2?;0yRz~BRI-Mb@Mb@Mb@))) )))Y-M?sh|??Mb`?y-n?-=-;) -@)-@I-A)y-\@IEIEg4٢r A=95;Q > G٣I4Gy< > Nusing accuracyPremultiplier from config49Q|?4Y iB?:? D;O;64 OB A EZj15FNOT Ignoring new targets: 330.70 m.Bj=<Jj=<󺝊M ProNav: ac range: 330.700012 m, nav range: 318.116699 m, bearing: 192.731096 deg, approach rate: 0.023022 m/s, LOS rate: -0.106326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844107 deg. 2jU:jUw@]HeadingCmd: 4.814388 target range: 330.700012 and range: 330.70 m. jYjYjYjaiahahahihm2~Bfififirfqbfu`@ɛa}B' 隥>I :ɚiI-=Iih7i<))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746126*Fq2Fy:FyBF}`0JFyGE~q;GB O%M>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997863Elw,fA^@Y^@^B>9^~ >y^H?@t? ;+?6? .Ƨ???ɨ^@^;^Cyni~BnuIIvIv4٢~72 Y=9N;Q >    G٣ y K;  > Nusing accuracyPremultiplier from config%49|?%4Y iB!%L-?* DF;7;V=49 =AAZjyFNOT Ignoring new targets: 330.70 m.BjeJje꺝 ProNav: ac range: 330.700012 m, nav range: 318.125793 m, bearing: 192.692056 deg, approach rate: 0.023869 m/s, LOS rate: -0.102462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858070 deg. 2j:jv@HeadingCmd: 4.814631 target range: 330.700012 and range: 330.70 m. jjjjihhhhfffrfbf@ɛb}Bk 隭u>I ,bɚiI|-=Ii͐5i3<))!*F2F:FBFJF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250249zK cLK 9K K  K  G ;G B O5 >,lw,AyF~B%`IAA IMb@Mb@Mb@ )Y`"?B`"۹?MbPy?= A @)IAy@IIa4٢. :=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495l|?=4Y5 i5B=?E:EE?5; D5;5;5E4MNB M]AMEeB*** querying acoustic contact ***jajaZjq}FNOT Ignoring new targets: 330.70 m.Bj}(Jj}( ProNav: ac range: 330.700012 m, nav range: 318.143677 m, bearing: 192.644600 deg, approach rate: 0.041046 m/s, LOS rate: -0.108916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832827 deg. 2j~:j @HeadingCmd: 4.814191 target range: 330.700012 and range: 330.70 m. jjjjihhhh}Bfffrfbf:+ @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:49:28.7938 TRx dataTimestamp_ set to:1736365770.104712checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502934ɛd}B yb>I ѠɚiI"-=Ii 3i $w/<) ) HYIY I]II]WBIY&IY.IY6I]ݰ<:I] F*F?2F:FBFl0JFG9)<G B O >J] 9J] J] 1JY J] sM;J] :J] 3JY J] Cy2H%\?t?`~`SK? ?쀦???ɨ2@2"p;2CybK~BfcII I 4٢E\< MY=9U>;Q ]>ai uG٣qy; > Nusing accuracyPremultiplier from config49|?4Y iBڣ?J D;k;K4 HAZjFNOT Ignoring new targets: 330.70 m.BjJj㺝u ProNav: ac range: 330.700012 m, nav range: 318.159973 m, bearing: 192.602931 deg, approach rate: 0.038923 m/s, LOS rate: -0.099520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850186 deg. 2j}:j}V@HeadingCmd: 4.814494 target range: 330.700012 and range: 330.70 m. jjjjihhhhfffrfbf@ɛ%f}B Ig^f 隕e>I \ɚiI ,=Ii1i1K<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFUb0JFQDAT read: 19:49:28.7938 LVL= 27616, 32753, 20594, 32755, AGC= 65, IDX= 228, 0.41,-0.071,-1.020, 0.483,-0.085, PHS= 0.102,-0.887, 0.565, RAW= 168.2, 3.5, CAL= 168.7, -5.4, ROT= 341.3, 5.4 Ygot valid direction response: 19:49:28.7938 LVL= 27616, 32753, 20594, 32755, AGC= 65, IDX= 228, 0.41,-0.071,-1.020, 0.483,-0.085, PHS= 0.102,-0.887, 0.565, RAW= 168.2, 3.5, CAL= 168.7, -5.4, ROT= 341.3, 5.4 PDAT read: Bearing 341.3, 5.4 (Local) ~Local bearing/azimuth received: Bearing 341.3, 5.4 (Local) DAT read: Range 10 to 50 : 314.6 m (Round-trip 419.5 ms) speed 0.2 m/s *DAT read: user:866> BDAT read: Tx time:19:49:29.9202 $Ping request sent.lw,6tAyr6~BrVIIz*J~4="J~%=Iz4٢ Y  N=9 Q > G٣J4Gy %> -Nusing accuracyPremultiplier from config!-49%|?54Y%t i%B115?%Y D%L:=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:19:49:29.9194 %:%R4Q ]AYk>Y?kE k k#A:kLCBk=CZk'E@"bϴJu,rf]7`US@gſ :6?Jk(߿Rk,{*-nus T20@ œ@@Kd.R?j?JR&R?"kA*k+kN?kxک 2kABkQvQ?kkCkCk W@ addTargetRange:: Added new target pos. range: 314.600006 m, deltaT: 4.029938 s, deltaX: -16.100006 m, approachRate: -3.995100 m/s, rangeRepo size: 4  Added new target pos. range: 314.600006 m, bearing: 176.885172 deg, lat: 36.901554 deg, lon: -122.116542 deg, deltaT: 4.029938 s, deltaX: -16.100006 m, approachRate: -3.995100 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 314.60 m.BjJj ProNav: ac range: 314.600006 m, nav range: 319.240448 m, bearing: 192.518582 deg, approach rate: 0.000000 m/s, LOS rate: -0.099520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.866942 deg. 2j:j@HeadingCmd: 4.814786 target range: 314.600006 and range: 314.60 m. jjjjihhhhfffrfs@bf ?zK5"LK1K1K5 K5  #())BKA:KEsAɛg}BMh 隝PN>I 0ɚiI",=IiԊ/irH<))*F?2F:FBFo0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.HY IY  I] II] 9BIY &IY .IY 6I] <:I] FG v;<G G sAGY Bi O >hlw,nLβA6č@Y6'@6^F396>y6H`p?@z? SB ?O0?f?x??ɨ6č@6;6Cy>~B>?I Mb@Mb@Mb@    ) Y RQ?`"?y "? =   A @) @I  y @I%I%4٢=] =G=9EX9Q E>AA MG٣IyMC M> UNusing accuracyPremultiplier from configQ49U]|?4YU iUB|%?:ء?Uj DUI! %ɚ!i!I%xA,=I-i-O..iM<)Q)QJsK{3 K{ .KsKs"KsJ<JJJJO;JS:JJJI<JJ<J<J<MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG ܸ<<G B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.&lw,(貵A6z@Y6/@6)496>y6H`xٽ??@%?c?@V?yc?`?ɨ6z@6N;6Cy ~B=II5I534٢M  UI=9] Q ]>aa eG٣iymʹ u> Nusing accuracyPremultiplier from configy49}|?4Y} i}B"?}{ D}K;};}`4OB EAEZjFNOT Ignoring new targets: 314.60 m.Bj Jj  ProNav: ac range: 314.600006 m, nav range: 319.286682 m, bearing: 192.424117 deg, approach rate: 0.058364 m/s, LOS rate: -0.120258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833516 deg. 2j:j @HeadingCmd: 4.814203 target range: 314.600006 and range: 314.60 m. jjjjihhhh f f f rf bf_?ɛMl}BUlż QUIQ U'ɚQiYI]+=Imimg,i;))E *F2F:FBFL2JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KK K#Gm K <G B O5 >zlw,AB5c@YBr@Br59Ba>yBH` ??VW? ??)1? ?ɨB5c@BF7;@yJ}BN(I !I!-Mb@Mb@Mb@))) )))Y-oʡ?rh|?Mb`?y--?-=-;-A -@))I-~@)y-@IUIU4٢l @=9Q >    G٣ K4Gy;޻ > Nusing accuracyPremultiplier from config%49|?%4Y iËB%/?-:--? D;#;Eh41 5A5EMB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 314.60 m.Bje2 Jje2 } ProNav: ac range: 314.600006 m, nav range: 319.308807 m, bearing: 192.372152 deg, approach rate: 0.052562 m/s, LOS rate: -0.123444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819301 deg. 2j}o:j @HeadingCmd: 4.813955 target range: 314.600006 and range: 314.60 m. jjjjihhhh}Bfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛn}Btڼ @=I ӾɚiIP+=Ii+im@;))H>I IIIBI&I.Ilw,A6^c@Y6r@6$F.96zo=y6H`??`_Y^D?>}?ǥ?@?@?ɨ6^c@6;6CyN}BLIVIV+4٢b ba=9b;Q b>dd fG٣dyjf8 n> rNusing accuracyPremultiplier from configpv49r)}?v4Yr[ ir̋Btvv?r Dr:r :rn4| ~A|Zj!%FNOT Ignoring new targets: 314.60 m.Bj-e Jj-e  ProNav: ac range: 314.600006 m, nav range: 319.328064 m, bearing: 192.327489 deg, approach rate: 0.052924 m/s, LOS rate: -0.122742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841207 deg. 2jy:j @HeadingCmd: 4.814337 target range: 314.600006 and range: 314.60 m. jjjjihhhhfffrfbf T?ɛ p}B  ڼ -=I) 5Xɚ1i1I5+=I=i=*i=||;)9)A Ig*F2F:FBF3JFG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.980626G 1;G B O >=lw,5A6Cc@Y6r@6,'96=y6H?4?z|3?_?`? 9??ɨ6Cc@6;6Cy>}B>IIJIJ4٢R? RL=9RN;Q R>TT VG٣TyZ ^> bNusing accuracyPremultiplier from config`f49b}?f4YbH ibՋBddj?b Db*:b:bu4*Jl"Jn

H I  I II ~BI  =&I .I 6I M<:I 0F) = ֐CM ~~Gm xAy Y xAy 3Bֶlw,OAy~}B~IMb@Mb@Mb@ )Ygfffff?K7A?y&1|?y33? >`;A @)@Ih@y@II4٢? 9=9Q > G٣L4Gy > Nusing accuracyPremultiplier from config49e}?4Y) iB"6?:? D;';Q}4 DAEZj!-FNOT Ignoring new targets: 314.60 m.Bj- Jj- E ProNav: ac range: 314.600006 m, nav range: 319.373688 m, bearing: 192.222532 deg, approach rate: 0.055058 m/s, LOS rate: -0.126878 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.807671 deg. 2jE&:jEB @MHeadingCmd: 4.813752 target range: 314.600006 and range: 314.60 m. jIjIjIjIiIhIhQhQhU|BfYfYfYrfabfe̳@ɛus}B}Ԅ y},=Iy }KɚiI5+=Ii(i;))J?JJ2JJ#R;JJc3JJO<JP<JJ<-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736426*FE?2FA:FABFIJFIGm w;Gi Gm tA I Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987883lw,wiA%@@Y%O@%h#9%==y%H ?`͎?`Ͽ!?@w?k?ܾ??ɨ%@@%6І;%Cy=}B= IIMIM%4٢]# ]Q=9e1;Q e>aa eG٣aym1 m> }Nusing accuracyPremultiplier from configq}49u}?4Yu) iuBK?u Du:u.:u$4 AEZjFNOT Ignoring new targets: 314.60 m.BjAJjA ProNav: ac range: 314.600006 m, nav range: 319.394287 m, bearing: 192.172944 deg, approach rate: 0.052757 m/s, LOS rate: -0.126991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826433 deg. 2jN:j @HeadingCmd: 4.814079 target range: 314.600006 and range: 314.60 m. jjjj!i!h!h!h!h)f)f)f)rfQbfU@ɛt}B 隝=I ~ɚiI)+=Ii(iܱ:))*F?2F:FBFh0JF"GGp=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:19:49:32.7598 =TRx dataTimestamp_ set to:1736365773.884559Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.240474Gm;zK KK9KKKG9 BQ Om >lw,7oA2$@Y2b4@2#92=y2H,1?`?`qV ;?|?`=y?g?`j?ɨ2$@ 8I<20;2CyB}BBI-Mb@Mb@Mb@))) )))Y-7A`?Cl?~jtx?y-6?-;=-;-A -@))I-;@)y-@IEIEB4٢U< UJ=9]Q ]>YY eG٣aye >  Nusing accuracyPremultiplier from config 49 }?4Y  i B8?:<?  D /; ; 4A EeAAWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.492059B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 314.60 m.BjkJjk  ProNav: ac range: 314.600006 m, nav range: 319.407867 m, bearing: 192.118091 deg, approach rate: 0.030828 m/s, LOS rate: -0.124514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810635 deg. 2j 窻:j  @HeadingCmd: 4.813804 target range: 314.600006 and range: 314.60 m. jjjjihhhYh]|Bfafafarfabfm`r @HI III~BI =&I.I6I<:IVFBIEçCJIEçCRIAZIAbIE =jIEm 5ɛv}Bj? =I U6ɚiI%2*=I%i-!'i-sc))))EER>EE>*F2F:FBFi0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743494GE W:Ga B OE >lw,XVA%0@Y%$@%4"9%=y%H?`?cH ?~W?@CE? _?੿?ɨ%0@%d;%Cy=}BE IIUIU4٢e eI=9e:Q m>ii mG٣mM4Gyu u> }Nusing accuracyPremultiplier from configy49}s#}?4Y} i}B{?} D};}';}Q4 AZjFNOT Ignoring new targets: 314.60 m.BjJj ProNav: ac range: 314.600006 m, nav range: 319.419952 m, bearing: 192.068292 deg, approach rate: 0.032484 m/s, LOS rate: -0.133850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825797 deg. 2j:j @HeadingCmd: 4.814068 target range: 314.600006 and range: 314.60 m. jjjjihhhhfffrfbfZR@ɛw}BR \=I  ɚiI*=Ii'i[+())! YIeg*F2F:FBF}0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:49:32.7598 LVL= 21616, 20881, 14610, 21683, AGC= 63, IDX= 87,-0.09, 1.299, 0.295, 1.687, 0.809, PHS= 0.578,-0.467, 0.875, RAW= 162.2, -15.9, CAL= 167.4, -21.8, ROT= 342.6, 21.8 Ygot valid direction response: 19:49:32.7598 LVL= 21616, 20881, 14610, 21683, AGC= 63, IDX= 87,-0.09, 1.299, 0.295, 1.687, 0.809, PHS= 0.578,-0.467, 0.875, RAW= 162.2, -15.9, CAL= 167.4, -21.8, ROT= 342.6, 21.8 PDAT read: Bearing 342.6, 21.8 (Local) u~Local bearing/azimuth received: Bearing 342.6, 21.8 (Local) DAT read: Range 10 to 50 : 326.6 m (Round-trip 435.5 ms) speed 0.4 m/s ]*DAT read: user:867> eBDAT read: Tx time:19:49:33.8702 e$Ping request sent.mڑڑەc^?U^?'d%-Xѿ)ەdaiەcەۑۑ:publishing transmit ping timeaFpublishing direction and range infoؑ9ؕ}ji?VB05 f?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەc^?U^?'d%-Xѿ)ۑIۑiۑۑۑۑG 'HG ?G >G B O >lw,AJf:Jf}Jf1JdJf;N;JfJ:Jf3Jdaj@aj@aj@aj@~Will construct direction to contact in vehicle frame from tetrahedron phase data.yI"I5٢-6 -O=95Q 5>19 =G٣9y= E> MNusing accuracyPremultiplier from configAM49E{)}?U4YEK iEBQQU?E DE;E ;E74a eAakO?kҵAw k kA:kLCBk3CZkvQ\@"6P@Ξrh[kC]@}ji?VB05 f?JkcRk*Vxtr0veW|hT@،YVҿK [U?"k+*k̖kv/?kۇ 2kCkkkkCkG|V@ addTargetRange:: Added new target pos. range: 326.600006 m, deltaT: 4.031895 s, deltaX: 12.000000 m, approachRate: 2.976268 m/s, rangeRepo size: 4  Added new target pos. range: 326.600006 m, bearing: 197.239110 deg, lat: 36.901554 deg, lon: -122.116542 deg, deltaT: 4.031895 s, deltaX: 12.000000 m, approachRate: 2.976268 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 326.60 m.BjJj ProNav: ac range: 326.600006 m, nav range: 319.432526 m, bearing: 192.017372 deg, approach rate: 0.000000 m/s, LOS rate: -0.133850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815168 deg. 2j:jT @HeadingCmd: 4.813883 target range: 326.600006 and range: 326.60 m. jjjjihhhhfff rf it@bf D?ɛx}B =I  ɚiI*=zKJK]9KKKc h+$Cc+lV[Ih8Fr\OH?3&  Ii?'ix)) *F?2F:FBF0JFG-tA G-tA qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.G %H I  I II ~BI &I .I 6I <:I FG B O >lw,/гA2Iߒ@Y2@2+92͑=y2Hj?t?'?Ξ?^? L;?;?ɨ2Iߒ@25;2Cy:}B>I Mb@Mb@Mb@    ) Y n?Zd;O?Mb?y 6? j= <  @) @I  y @I%I%4٢5b< 5J=9 Q > G٣y܀ > Nusing accuracyPremultiplier from config49/}?4Y iB7?:H? DD;;4 VAZjFNOT Ignoring new targets: 326.60 m.BjJj ProNav: ac range: 326.600006 m, nav range: 319.437195 m, bearing: 191.963678 deg, approach rate: 0.011313 m/s, LOS rate: -0.130091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814108 deg. 2j:j- @%HeadingCmd: 4.813864 target range: 326.600006 and range: 326.60 m. j!j!j!j!i!h!h)h)h-|Bf)f1f1rf1bf=@>?ɛaeZ imڠ=Ii m ɚiiiIuV*=Iui}fh(i}=q )y)yEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`5JFGMb(G) B1 U $?IU gO] > Will construct direction to contact in vehicle frame from tetrahedron phase data.Y1lw,f공AFʒ@YFڙ@F-9Fm=yFH b??|U ~?V?-?Ÿ??ɨFʒ@FG5;FCyv}Bv II~I~4٢ lX=  M=9 +Q > G٣N4Gy6ջ > -Nusing accuracyPremultiplier from config!-49%:4}?-4Y% i%B155?%1 D%P ;% ;%D49 EAEEZjimFNOT Ignoring new targets: 326.60 m.Bj}uJj}u ProNav: ac range: 326.600006 m, nav range: 319.441040 m, bearing: 191.914201 deg, approach rate: 0.009951 m/s, LOS rate: -0.128043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826760 deg. 2j:j @HeadingCmd: 4.814085 target range: 326.600006 and range: 326.60 m. jjjjihhhhfffrfbf`DM?ɛy}Bی =I 5 ɚiIS*=IiL)i+#))*F?2F:FBF4JFG;3GABIOe4>J<JJ2JJO;Jز:Jc3JWill construct direction to contact in vehicle frame from tetrahedron phase data.zKE OKE h9KA KE KE  9 I9 mw,OAB@YBș@B 19B˻=yBHeٷ?౞?@^I@`?3?`?]? u?ɨB@BO;BCyN}BN/I=Mb@Mb@Mb@999 9)9Y= G٣y: > Nusing accuracyPremultiplier from config498}?4Y i&BQ4?:?D D ;& ;Ȯ4 A!}Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 326.60 m.Bj Jj  ProNav: ac range: 326.600006 m, nav range: 319.435120 m, bearing: 191.860011 deg, approach rate: -0.013434 m/s, LOS rate: -0.122968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812613 deg. 2jȨ:j @HeadingCmd: 4.813838 target range: 326.600006 and range: 326.60 m. jjjjihhhh|Bfffrfbf@+[?ɛּ =I  ɚiI*=Ii *i =H1I1 I1I1I1&I1.I16I5<:I5 F))*Fu?2Fq:FqBFu4JFqG - Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.Ga Bq O >fBmw,rA6R̒@Y6ۙ@6*o*961=y6Ho?I?`x?6?`RL?@ ?d?ɨ6R̒@6;4y>~B>5IIJIJ4٢R< RX=9V‹;Q V>TT VG٣XyZ; Z> bNusing accuracyPremultiplier from config\b49^=}?f4Y^ i^/Bdff?^T D^:^X:^'4h nyAlZj|FNOT Ignoring new targets: 326.60 m.BjJj ProNav: ac range: 326.600006 m, nav range: 319.430908 m, bearing: 191.814059 deg, approach rate: -0.011928 m/s, LOS rate: -0.130148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837328 deg. 2j:j@-HeadingCmd: 4.814270 target range: 326.600006 and range: 326.60 m. j)j)j)j)i)h)h1h1h1f9f9f9rf9bf=?ɛz}Bqɼ &>I ^ ɚiIG)=Iic+iy))E tAE sA I*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956723GK7GBO>m mw,S8A2ג@Y2t@2%92o=y2H`SŸ? ? I????? ~?ɨ2ג@2NX;2Cy:&~B:LIIFIF%4JR:JRJR1JPJR;N;JR:JR3JP٢ZH= ZI=9Z/;Q ^>\\ bG٣bO4GybrS; b> fNusing accuracyPremultiplier from configdj49fA}?nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.207781U4Yf if8BQ]]?fg Df$I  ɚiI)=Ii~4,i1))zKM0(LKIKIKMKM*F?2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461561H1 I1  I5 II5 ~BI1 &I1 .I1 6I5 <:I5 FG ZG ?G ?Gy B O >Smw,$&RAy~B~B~]IMb@Mb@Mb@ )Yn? ףp= ?Mb?yV.?Q8=< @)@I;@y@I I4٢1x= :=9Q > G٣y > Nusing accuracyPremultiplier from config49E}?4Y iCB.?:?z Dn;;#9;×4 vAEZj!-FNOT Ignoring new targets: 326.60 m.Bj-Jj-E ProNav: ac range: 326.600006 m, nav range: 319.413361 m, bearing: 191.709422 deg, approach rate: -0.032080 m/s, LOS rate: -0.127443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814790 deg. 2jE쮻:jEF @MHeadingCmd: 4.813876 target range: 326.600006 and range: 326.60 m. jIjIjIjIiIhIhQhQhU}BfYfYfYrfYbfe @ɛk 隕G>I " ɚiID\)=Ii,i ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713048*F!2F!:F!BF!JF! IgGI G! B) O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964074&}mw,TkA:@Y:@: 9:>y:H@WQ?,?@E@@ i??@`? m??ɨ:@:؋;:CyF`~BFpIININ4٢V"= V^=9Z`g;Q Z>XX ZG٣Xy^; ^> fNusing accuracyPremultiplier from configdj49f I}?j4Yf1 ifMBhn]n?f Df;f'!;fZʗ4p vAtZj FNOT Ignoring new targets: 326.60 m.Bj Jj % ProNav: ac range: 326.600006 m, nav range: 319.402740 m, bearing: 191.664379 deg, approach rate: -0.028878 m/s, LOS rate: -0.122483 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840053 deg. 2j-:j-@-HeadingCmd: 4.814317 target range: 326.600006 and range: 326.60 m. j1j1j1j1i1h1h1h9h9fAfAfArfIbfM @ɛy}BO f>I jm ɚiI)=Ii ~-i H;Ի) ) EE>*F2F:FBFp0JFJJ@AJ;JJJJO;Jf:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.=<BDAT read: Rx Time:19:49:36.7073 TRx dataTimestamp_ set to:1736365777.916787 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216897GJGBO>zK J3KK ]9K K K  I ki!mw,녴A6Y@Y6@696:6>y6Hզ? ?`@/?@A??`??ɨ6Y@6+;6CyB~BBI]Mb@Mb@Mb@YYY Y)YY]y&1? rh?Mb?y]`%?]C =Y]A ]x@)]p@I]@Yy]@IuIu&4٢l= ==9E:Q > G٣P4GycF; > Nusing accuracyPremultiplier from config49L}?4Ys iWB%?:? D;;ї4 jAZjFNOT Ignoring new targets: 326.60 m.BjXJjX ProNav: ac range: 326.600006 m, nav range: 319.387787 m, bearing: 191.614483 deg, approach rate: -0.034674 m/s, LOS rate: -0.115704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825492 deg. 2jО:j @HeadingCmd: 4.814063 target range: 326.600006 and range: 326.60 m. jjjjihhh!h%(}Bf!f)f1rf1bf50 @UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.467897H~>I III~BI&I.I6Il<:IGFɛ   >I K ɚiI(=I G %aY!y%Bi=-iE)A)A*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:49:36.7073 LVL= 26768, 32753, 16322, 32755, AGC= 67, IDX= 413,-0.43, 3.039, 2.059,-2.864, 2.516, PHS= 0.610,-0.410, 0.899, RAW= 162.1, -18.1, CAL= 166.9, -24.1, ROT= 343.1, 24.1  Ygot valid direction response: 19:49:36.7073 LVL= 26768, 32753, 16322, 32755, AGC= 67, IDX= 413,-0.43, 3.039, 2.059,-2.864, 2.516, PHS= 0.610,-0.410, 0.899, RAW= 162.1, -18.1, CAL= 166.9, -24.1, ROT= 343.1, 24.1  PDAT read: Bearing 343.1, 24.1 (Local)  ~Local bearing/azimuth received: Bearing 343.1, 24.1 (Local) G ̻GA GA m DAT read: Range 10 to 50 : 324.6 m (Round-trip 432.9 ms) speed 0.2 m/s  *DAT read: user:868>  BDAT read: Tx time:19:49:37.8203  $Ping request sent. L'mw,HAIUCiU(?UѾU$f?UD5@U? Um:@)U\׾IU@iU\>QQUQa)؏?Wh?><)7ӿ)U<iUUQQ":publishing transmit ping timeA&Fpublishing direction and range infoQ9UL?!c3ؕ ?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQUQa)؏?Wh?><)7ӿ)QIQiQQQQ Iy~BIII4٢ = 7=9Q > G٣y > Nusing accuracyPremultiplier from config 49*P}? 4Y' iaB? D:e:ٗ4PB A޳EkU'zT?kU{ kQ kU)ꚴA:kULCBkU5CZkUJ^@"UjfS@=31Qry\@UL?!c3ؕ ?JkURkU*U* }rL5Zȧ2S@U=]Կ4 KU?"kU*kUPkU(?kU ! 2kUCkU?kU$ kQkU՝CkUSV@  addTargetRange:: Added new target pos. range: 324.600006 m, deltaT: 3.779874 s, deltaX: -2.000000 m, approachRate: -0.529118 m/s, rangeRepo size: 4 E Added new target pos. range: 324.600006 m, bearing: 199.466136 deg, lat: 36.901595 deg, lon: -122.116585 deg, deltaT: 3.779874 s, deltaX: -2.000000 m, approachRate: -0.529118 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 324.60 m.BjMJjI} ProNav: ac range: 324.600006 m, nav range: 315.666168 m, bearing: 192.419686 deg, approach rate: 0.000000 m/s, LOS rate: -0.115704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811490 deg. 2j:j @HeadingCmd: 4.813818 target range: 324.600006 and range: 324.60 m. jjjjihhhhfffrfIt@bfG5?}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:49:37.8195 ɛx}Bo 隭>I QɚiIb(=Iin.i컻))*F2F:FBFJF"G=Ga=G G B O >8-mw,*A*J"JC=:Will construct direction to contact in vehicle frame from tetrahedron phase data.>=@Y>@>9>R>y>Hn5?@?b@9 }A??u?@w?ܱ?ɨ>=@>;>CyJ~BJIIVIV#4٢^ = ^m=9b}k;Q b?`` fG٣dyf; f? nNusing accuracyPremultiplier from confighn49jR}?r4Yj- ijiBprr?j Dj:j*:jߗ4t v\Ax B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 324.60 m.Bj-Jj- ProNav: ac range: 324.600006 m, nav range: 315.651764 m, bearing: 192.379412 deg, approach rate: -0.044900 m/s, LOS rate: -0.125545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854358 deg. 2jR:j@-HeadingCmd: 4.814567 target range: 324.600006 and range: 324.60 m. j)j1j1j1i1h9hAhAhAfAfifqrfqbf}3?ɛ4 >I lɚ)i1I5(=I5i=d.i=p)9)9EIzKKK9KKK*F2F:FBF2JF  =$?IA5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.HI IIICBI&I.I6I<:IFBIQJIQRIQZIU =bIQjIU3G} ҸG9 BA Ou >]4mw,ӴAyn~BnIMMb@Mb@Mb@III I)IYMX9v?:v? rh?yM?M G٣Q4Gy > Nusing accuracyPremultiplier from config49ZV}?4Y+5 isB&?: ? D;[;4 )AEZj FNOT Ignoring new targets: 324.60 m.BjJj- ProNav: ac range: 324.600006 m, nav range: 315.630524 m, bearing: 192.327980 deg, approach rate: -0.045654 m/s, LOS rate: -0.110557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820879 deg. 2j-:j-% @5HeadingCmd: 4.813982 target range: 324.600006 and range: 324.60 m. j1j1j1j1i9h9h9h9h=}BfAfAfArfAbfM?JQJUJQJQJQJU:JQJQJUI 9ɚiI''=Ii.i0ӂ))*F2F:F!BF%4JF! 9I=gGE V'SGU ?GU ?G B1 E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.196989Oe >u:mw,AZ:@YZ@Zz9Z}< >yZH(~? ?`=L??ԛ????ɨZ:@ZKt;ZCyfBfIInIn4٢vP= vh=9z8Q ~> G٣y  > Nusing accuracyPremultiplier from config 49 X}?4Y : i {Bk?  D h; 2; 4) -zA)ZjIUFNOT Ignoring new targets: 324.60 m.Bj]nJj]nm ProNav: ac range: 324.600006 m, nav range: 315.613800 m, bearing: 192.288637 deg, approach rate: -0.048098 m/s, LOS rate: -0.113158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.857153 deg. 2jmQ:jmU@HeadingCmd: 4.814616 target range: 324.600006 and range: 324.60 m. jjjjihhhhfffrfbf`?ɛꑻ I>I Eɚ i I C'=IUiU4/iU#ٻ)Q)Y*F2F:FBF4JFGsA GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448528GxG B O >zKm &KKm h9Ki Km Km '#      9 IA YAmw,AJ@YJ@J.R9J9 >yJH`? :? L`?A?i?l?ѭ?ɨJ@J8ڇ;JCyVBVIeMb@Mb@Mb@aaa a)aYeZd;? rh?Mb?ye?eC =e G٣yɡ; > Nusing accuracyPremultiplier from config492\}?4YA iB(?:L? D{;;h4 'AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700582Zj FNOT Ignoring new targets: 324.60 m.Bj-Jj-HYIY I]-II]BIY&IY.IY6I]<:I]F ProNav: ac range: 324.600006 m, nav range: 315.598480 m, bearing: 192.242130 deg, approach rate: -0.035735 m/s, LOS rate: -0.108487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835659 deg. 2j蔻:jB@HeadingCmd: 4.814240 target range: 324.600006 and range: 324.60 m. jjjjihhhh-}Bf)f)f1rf9bf= ?ɛ%v}B% !%>I! -Jɚ)i)I-d&=I5i5z/i5o)1)9EEsAEErA*F2F:FBF3JFJy J} Jy Jy Jy J} :Jy Jy Jy Jy J} <J} < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952559G G B O- >Gmw,!A:B@Y:&@:X9:< >y:Hĺ?̃?x`gʻ?@??@Q?9?ɨ:B@:wN;:CyR(BRII^I^4٢j;;= jY=9j;Q j>ll nG٣nR4Gyr; r> vNusing accuracyPremultiplier from configtz49v-_}?z4YvfG ivBx~촿~?v Dv#;v;v4 A Zj)5FNOT Ignoring new targets: 324.60 m.Bj=JjEM ProNav: ac range: 324.600006 m, nav range: 315.585846 m, bearing: 192.201169 deg, approach rate: -0.033717 m/s, LOS rate: -0.109316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852299 deg. 2jU :jU@ IHeadingCmd: 4.814531 target range: 324.600006 and range: 324.60 m. jjjjihhhh!f!f!f!rf!bf- b@ɛqk 隽>I DTɚiI ^&=Iim/ix))*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205397Gg{G B O >&Nmw,Z;A*JC="J=2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456521B0@YB;@@B} 9B1g >yBHː?ր?{`&?\“? ?~\?d?ɨB0@B٘;BCy^-BbI f=fp=IjIj4٢rL< vI=9vݓ;Q v>xx zG٣xyz; z> Nusing accuracyPremultiplier from config 49wb}? 4YM iB   ? D$;2;4! %A!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 324.60 m.BjUvJjUve ProNav: ac range: 324.600006 m, nav range: 315.573120 m, bearing: 192.156862 deg, approach rate: -0.031194 m/s, LOS rate: -0.108611 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842262 deg. 2je:je4@mHeadingCmd: 4.814356 target range: 324.600006 and range: 324.60 m. jijijqjqiqhqhqh1h1f9f9f9rf9bfE@@ɛ 隍7>I ɚiIp%=Ii /i'):))zKUqLKU9KQKUKU #e n0~X;) BK:K*F?2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708531H9I9 I=SII=BI9&I9.I96I=7<:I=FGm <G B O >Umw,6UA:gA@Y:P@:9:A >y:H? y?@`?`k?? %R? ?ɨ:gA@:A;:CyFFBFI%Mb@Mb@Mb@!!! !)!Y%zG?ˡE?y&1?y% ?%'=%`e<%;A !)!I%;@!y%\@I=I=4٢Mn= MD=9M *;Q M>QQ UG٣Qym$; u> Nusing accuracyPremultiplier from config49!f}?4Y6T iBr?:? DI;;s 4 iAEZjAMFNOT Ignoring new targets: 324.60 m.BjMJjU캝 ProNav: ac range: 324.600006 m, nav range: 315.564117 m, bearing: 192.111713 deg, approach rate: -0.020632 m/s, LOS rate: -0.103476 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839734 deg. 2j:j@HeadingCmd: 4.814312 target range: 324.600006 and range: 324.60 m. jjjjihhhh}Bfffrfbf@v@J=>J=|J9J9J=[Q;J=Ű:J9J9J=<J=<J=5<J=6<uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.960676ɛw}BF 隝{>I }ɚiIYy%=IiEe.i ;))EN>E>*FA2FA:FABFEj0JFA IGm 9GA BY O} >% Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- A- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213397J9[mw,soA "@BP@YB_@B9BU >yBHʉ?}?} Yh?@-?w?Z?@?ɨBP@B5;BCyNSBNIIVIV4٢^ = ^T=9b,!;Q b>`` fG٣fS4GyfD; f> nNusing accuracyPremultiplier from configlr49n|i}?r4YnZ inBtvZz?n) Dn=N;nV;n 4) 52A9ZjFNOT Ignoring new targets: 324.60 m.BjUJjU ProNav: ac range: 324.600006 m, nav range: 315.556549 m, bearing: 192.070785 deg, approach rate: -0.019185 m/s, LOS rate: -0.103747 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852402 deg. 2jf:j@%HeadingCmd: 4.814533 target range: 324.600006 and range: 324.60 m. j!j!j!j!i!h!h)h)h)f)f1f1rf1bf5 @ɛae+; im>Ii mɚiiiImh %=I}i}-i}_i;)y)y*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:49:40.6350 TRx dataTimestamp_ set to:1736365781.948855checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465765G;GBO> I gzK NK +9K K K #bmw,Ay޵\B޵ IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718111HI IrIIBI&IGD.I6I<:IFMb@Mb@Mb@ )YZd;? rh? G٣y > Nusing accuracyPremultiplier from config49n}?4Yea iB?:?< D;8;d4  A Zj15FNOT Ignoring new targets: 324.60 m.Bj=}Jj=}  ProNav: ac range: 324.600006 m, nav range: 315.559784 m, bearing: 192.018950 deg, approach rate: 0.007283 m/s, LOS rate: -0.116705 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819682 deg. 2j 0:j  @HeadingCmd: 4.813962 target range: 324.600006 and range: 324.60 m. jjjjihhhh%}Bf!f)f)rf)bf-`@ɛx}Bxr Q>I ɚi I $=I i,i_[;))*F2F:FBFo0JFJKş3 K.-KK"KJU =JU JQ JQ JU P;JU f:JQ JQ JU <JU <JU X<JU X< Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 307.9 m (Round-trip 410.6 ms) speed 0.5 m/s  *DAT read: user:869>  BDAT read: Tx time:19:49:41.7203  $Ping request sent. Khmw,ʢAZy@YZ숚@Z(e9Zy >yZHӽ?+{?tړ?#?@K?` ?໲?ɨZy@Z:;ZCydBIIeIe4٢mH< ue=9uf< IQ 5>9i mG٣iyP< > Nusing accuracyPremultiplier from config49Ns}?4Yg iB ?K D::R 4 A޳E addTargetRange:: Added new target pos. range: 307.899994 m, deltaT: 4.031368 s, deltaX: -16.700012 m, approachRate: -4.142518 m/s, rangeRepo size: 4 Zj-FNOT Ignoring new targets: 324.60 m.Bj-Jj5꺝 ProNav: ac range: 324.600006 m, nav range: 315.563904 m, bearing: 191.975472 deg, approach rate: 0.009718 m/s, LOS rate: -0.102557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844757 deg. 2jČ:j@HeadingCmd: 4.814399 target range: 324.600006 and range: 307.90 m. jjjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:49:41.7195 frf`f>s@bf =?ɛ}y}B4; >I %ɚ!i!I%-$=I-i5E+i5<)1)9E*F?2F:FBF%p0JF!G5 )o; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >;nmw,`A6T@Y6c@6)96>y6H? y?¿@z0?N???Ȭ?ɨ6T@6i;6Cy>\B> IIJIJ҅4٢N RJ=9VFaQ V>XX ZG٣ZT4Gy^I ^> fNusing accuracyPremultiplier from config`f49bhw}?j4Yb9m ibBhjj?bY Db.;b:b&4l nAp~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 324.60 m.BjJj ProNav: ac range: 324.600006 m, nav range: 315.566864 m, bearing: 191.935355 deg, approach rate: 0.008707 m/s, LOS rate: -0.117998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854836 deg. 2j:j@HeadingCmd: 4.814575 target range: 324.600006 and range: 307.90 m. jjjjihhhhfffrfbf?ɛIM@}; M"II Ud'ɚQiQIU6#=I}i}*i}Q;)) $?IzKFKK9KKK*F]?2Fa:FaBFm`5JFiGO;GIBiOZ>)  %Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.HyIy I}II}BIy&Iy.Iy6I}װ<:I} F~GvA U YUvAy]B0umw,صA2CZ@Y2i@292Z >y2Hڼ?{??@7?`?{?\?ɨ2CZ@2;0y>RB>I Mb@Mb@Mb@    ) Y \(\?/$?Mb?y ? = <  ) I @ y @I-I-4٢=꽼 =B=9EP:Q E>AA EG٣IyM: M> Nusing accuracyPremultiplier from configQ49U|}?4YUs iUŌBa?:M?Uj DURI ɚiIB7#=IiШ)i|;))I*FA2FA:FABFEO5JFA IG 1X<M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258159Ga Bi O >o{mw,A2.U@Y2d@2C92w >y2H@m?@~?Ձm ? G٣ y `ͺ  > Nusing accuracyPremultiplier from config49}?%4Yy ǐB!%_%?y D2;;44) -PA1ZjQ]FNOT Ignoring new targets: 324.60 m.Bj]Jj]m ProNav: ac range: 324.600006 m, nav range: 315.586914 m, bearing: 191.845105 deg, approach rate: 0.025707 m/s, LOS rate: -0.115280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843811 deg. 2jm;:jul@}HeadingCmd: 4.814383 target range: 324.600006 and range: 307.90 m. jyjyjyjyiyhhhhfffrfbf k?ɛ|}Bl~; >I >ɚiIL"=Ii(iYz;))EEtA*F2F:FBF`0JFGe 1;G!B)OM1>JYJ]AAJmOJmJiJiJm^;Jm:JiJiau@au@au@au@Will construct direction to contact in vehicle frame from tetrahedron phase data.ե*?ե?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509520 I gzKe JKe +9Ka Ke Ke тmw, AzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760990H}>I III&I.I6I-<:IFBIJIRIZIbIjI€4yuFBuIMb@Mb@Mb@ )Y)\(?)\(?Mbp?yG!?G=;;A K@)Z@I@y@II94٢Vh /=9Q > G٣U4Gy > Nusing accuracyPremultiplier from config49}?4Yw iՌB#?:Ҥ? D;; =4  kAZjI]FNOT Ignoring new targets: 324.60 m.BjeSJjeS ProNav: ac range: 324.600006 m, nav range: 315.609772 m, bearing: 191.791186 deg, approach rate: 0.048675 m/s, LOS rate: -0.114812 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813441 deg. 2j:j @EHeadingCmd: 4.813853 target range: 324.600006 and range: 307.90 m. jAjAjAjAiAhIhIhIhM}BfQfQfQrfQbf]?ɛ-~}B-o )5B>I1 5Axɚ1iqIuOH"=I}i}'i}{;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013411E *Fu ?2Fq :Fq BFu 0JFq G  G tA I GYG1B9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265030Oe ?mw,7.AVn@YV-~@V:9V>yVH W~??@` p4?$2?`Kf? ??ɨVn@V[;VCyv$BvI)x xI~I~4٢   +=9ޖ;Q > G٣yW; > -Nusing accuracyPremultiplier from config!-49%}?54Y%. i%ތB15i5?% D%:%*:%{E4I MAIZjquFNOT Ignoring new targets: 324.60 m.Bj}Jj} ProNav: ac range: 324.600006 m, nav range: 315.634491 m, bearing: 191.735951 deg, approach rate: 0.051854 m/s, LOS rate: -0.115858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809495 deg. 2j:j @HeadingCmd: 4.813784 target range: 324.600006 and range: 307.90 m. jjjjihhhhfffrfbf@ɛ5}B=/& 9=(>IY eɚaiaIe!=Imim|&im;)i)qE]p=*F?2F:FBF&5JF*JeR="Jea=JmBJmJiJiJm{T;Jm:JiJiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516958G ;G B O > I mw,kGAzKKK9KKKs@Y@9>yH`?ρ?T?Gaa eG٣aym: m> uNusing accuracyPremultiplier from configq}49u}?}4Yu^ iuB}.?}:X?u Du];u;uM4QB A޳EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 324.60 m.Bj Jj  ProNav: ac range: 324.600006 m, nav range: 315.661194 m, bearing: 191.677324 deg, approach rate: 0.056026 m/s, LOS rate: -0.122995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799321 deg. 2jҨ:j @HeadingCmd: 4.813606 target range: 324.600006 and range: 307.90 m. jjjjihh h h }Bf ffrfbf r@ɛ=}B+ܺ >I  mɚiIx!=Ii$iY;))E% C|<*F 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022019 $?IgG*;GBO?ۙmw,}XiAye BmII}I}4٢ 1=9Q > G٣V4Gy > Nusing accuracyPremultiplier from config497}?4YW iB? Da>;>;U4 ^AZjFNOT Ignoring new targets: 324.60 m.Bj Jj  ProNav: ac range: 324.600006 m, nav range: 315.687531 m, bearing: 191.620256 deg, approach rate: 0.056724 m/s, LOS rate: -0.122902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803999 deg. 2j:j @%HeadingCmd: 4.813688 target range: 324.600006 and range: 307.90 m. j!j!j)j)i)h)h1hIhIfYfYfarfabfe'- @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:49:44.5503 TRx dataTimestamp_ set to:1736365785.729644checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275028ɛ]}B]4D ae>Ia m^߼ɚiiqIu!=Ii#i;))EE*E"E*F2F:FBF0JFJ GJ |J 2J J cX;J Ű:J c3J 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525294G ; I G B O>Qmw,An)h@Ynw@nWݼ9nz>ynH J?`̅?@s`2???`)?n?ɨn)h@n^;nCyv~BvIII4٢  7=9%#;Q %>99 =G٣AyMJ U>zK}2QKK}59KyK}K}n Nusing accuracyPremultiplier from configi49m}?4Ym imB?m Dmg;m,I IeIIBI&I.I6IN<:I/FZjFNOT Ignoring new targets: 324.60 m.BjJj纝 ProNav: ac range: 324.600006 m, nav range: 315.713135 m, bearing: 191.564567 deg, approach rate: 0.046538 m/s, LOS rate: -0.101212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808133 deg. 2j슻:jR @HeadingCmd: 4.813760 target range: 324.600006 and range: 307.90 m. jjjj!i!h!h!h!h)f)f)f)rf)bf5`@ɛ}B. 隭߻>I L$ܼɚiIA =Ii "i;))*F2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:49:44.5503 LVL= 25344, 24225, 16370, 28979, AGC= 66, IDX= 86,-0.45, 1.017,-0.248, 1.370, 0.438, PHS= 0.667,-0.639, 0.929, RAW= 159.0, -13.1, CAL= 164.9, -19.4, ROT= 345.1, 19.4  Ygot valid direction response: 19:49:44.5503 LVL= 25344, 24225, 16370, 28979, AGC= 66, IDX= 86,-0.45, 1.017,-0.248, 1.370, 0.438, PHS= 0.667,-0.639, 0.929, RAW= 159.0, -13.1, CAL= 164.9, -19.4, ROT= 345.1, 19.4  PDAT read: Bearing 345.1, 19.4 (Local)  ~Local bearing/azimuth received: Bearing 345.1, 19.4 (Local)  DAT read: Range 10 to 50 : 319.4 m (Round-trip 425.9 ms) speed 0.3 m/s  *DAT read: user:870> G &; BDAT read: Tx time:19:49:45.6703  $Ping request sent. y y } k[D;?2m?L_̿)} !.?I} -i>i} K } )پy y % :publishing transmit ping time % Fpublishing direction and range infoy 9} q$?11dV?yy y y y y )y Iy iy y y y y y )y Iy iy y y } k[D;?2m?L_̿)y Iy iy y y y OE >Hmw,{A Iy~BIMb@Mb@Mb@ )YtV?V-?yy }G٣yy > Nusing accuracyPremultiplier from config49c}?4Y iB'5?:? D ;v;bg4 A k:?kK6] k kA:kCBkCZk_Y@"J(ؓF@1}3q.An`@q$?11dV?JkK Rk)پ*g1jI WټɚiI=O =Ii* i;))E*F2F:FBF0JFGtA GG O;GY Bi O > mw,~A Will construct direction to contact in vehicle frame from tetrahedron phase data.J2=J2J21J0J2P;J2:J23J0Jp8@YJG@J# ܼ9J=yJHλ?@?qm?16?ˀ?`?@?ɨJp8@J;JCyR~BRI)X XI^I^ 4٢f4P f}=9j*9Q n ?pp rG٣rW4Gyr v ? zNusing accuracyPremultiplier from configx~49zp}?~4Yz iz B|~Z?z Dz:zC:zl4  A ݳEZjFNOT Ignoring new targets: 319.40 m.Bj]Jj] ProNav: ac range: 319.399994 m, nav range: 312.783661 m, bearing: 194.186151 deg, approach rate: 0.016427 m/s, LOS rate: -0.129711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852289 deg. 2j :j@HeadingCmd: 4.814531 target range: 319.399994 and range: 319.40 m. jjjjihhhhf)f)f)rf)bf-SV?ɛy} : y隝>I 3׼ɚiI =Iid i9)) Ig*F2F:FBF4JFzK&MK]9KKK,aX7 (ky|Py-'*XC:b"lWE8/*(#H{>IC ISIWill construct direction to contact in vehicle frame from tetrahedron phase data.IBI&I.I6I<:IFG;G B O >mw,CضA>%@Y>|4@>!ڼ9>3=y>H5?@}?Ի? ҋ?@jC??y?ɨ>%@>?;>CyJ~BJI%Mb@Mb@Mb@!!! !)!Y%5^I ?Q?Mb?y%8?%=%<%A %&@)%Z@I%@!y%3@I=I=4٢U F UC=9]:Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configiu49mB}?}4YmF imB}:?}:}?m Dm;mh;m6t4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 319.40 m.BjoJjo ProNav: ac range: 319.399994 m, nav range: 312.790497 m, bearing: 194.130499 deg, approach rate: 0.017015 m/s, LOS rate: -0.138514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808235 deg. 2j:jV @HeadingCmd: 4.813762 target range: 319.399994 and range: 319.40 m. jjjjihhhh}Bffqfyrfybf}~?ɛ}B 4 >I ]ռɚiIY=Ii ' iv))5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*Fi2Fi:FiBFm_0JFqGE7:G!B)OEQ> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2438890mw,A6@Y66*@6Ӽ96=y6H? ?`ȿ@? ~?r?@$A??ɨ6@6vl;6CyB~BBIIJIJ4٢fR< fT=9f;Q f>hh jG٣hyjT n> rNusing accuracyPremultiplier from configpv49r}?v4Yrk irBxzz?r) DrX:r:rz4| ~A|Zj!5FNOT Ignoring new targets: 319.40 m.Bj5Jj5 ProNav: ac range: 319.399994 m, nav range: 312.796722 m, bearing: 194.078996 deg, approach rate: 0.016127 m/s, LOS rate: -0.133414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820681 deg. 2j:j @HeadingCmd: 4.813979 target range: 319.399994 and range: 319.40 m. jjjjihhhhfffrf!bf%?ɛ9E  AE>IA EӼɚAiAIMhb=IUiU iU)Q)QEaEa*F?2F:FBF`0JF"G =G =MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498316J5AJ5J1J1J5S;J5:J1J1G}: q Iq G B O >zK OK 9K K K #[]9ueUL<-'#9VG)  smw,-zA~~GH4I4 I6FII6BI6 =&I4.I46I6"<:I6 FZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749379r`wA ePYe`wAye&B @Y )/@ 9  =y HD ?x?I ?p ? f/?`>?`=?ɨ @ ; Cy}~B}I-only read 2 of 4 data items for bottom velocity. Device response is::BS, +115, +720, :B, +720, +10,A  @ @ @  @ IIP4٢-ו< 5=9=;Q =>99 =G٣EX4GyE: E> UbBottom track data is 0.5 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]49M}?]4YM iM(B]+:Y]k:ee?MA DM49;M)?M;4i mAiZjFNOT Ignoring new targets: 319.40 m.BjPJjP ProNav: ac range: 319.399994 m, nav range: 312.805573 m, bearing: 194.010558 deg, approach rate: 0.017221 m/s, LOS rate: -0.133164 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769879 deg. 2jǶ:j@HeadingCmd: 4.813092 target range: 319.399994 and range: 319.40 m. jjjjihhhhfffrfbf?ɛ}B µ>I Rмɚ i I=Iii$,))*F2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]%=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000321Gm ܾG) B9 i Iq O} >0mw,Ҍ&AJ$@YJ3@J9J=yJH@31?@.? ƭ?K?^?ʿ?@?ɨJ$@J;HyR~BbIInIn\4٢ t<  =9;Q ? G٣y: ? -bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%}?54Y% i%.B5 :15?:==?%O D%*;%`R?%4A EAAZjFNOT Ignoring new targets: 319.40 m.Bj0Jj0 ProNav: ac range: 319.399994 m, nav range: 312.811188 m, bearing: 193.969800 deg, approach rate: 0.018211 m/s, LOS rate: -0.132181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852918 deg. 2jm:j@HeadingCmd: 4.814542 target range: 319.399994 and range: 319.40 m. jjjjihhhhfffrfbf`p@ɛ b; >I nμɚiI}=Ii^ir'!))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252113*F?2F:FBFo0JFGïG B O > mw,5@AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508127>*@Y>:@>਼9>GM=y>H@b? ?`>`Ի?@l|?@?ҿ?@?ɨ>*@>;>CyJBJIIRIRʴ4٢Z< ZR=9Z}O;Q ^>\\ bG٣`yb: b> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr49jI}?v4Yj ij5Bv9tv:v}v?ja Djt;jL?j\4~RB ~A~۳EZj%FNOT Ignoring new targets: 319.40 m.Bj% Jj- 5 ProNav: ac range: 319.399994 m, nav range: 312.818787 m, bearing: 193.917764 deg, approach rate: 0.019539 m/s, LOS rate: -0.133796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819083 deg. 2j=:j= @EHeadingCmd: 4.813951 target range: 319.399994 and range: 319.40 m. jAjAjAjAiIhIhQhQhQfYfYfYrfabfeV@ɛ%}B-p: )-4>I) -G˼ɚ)i1I5y=I=i=`i=,)9)9EIEM > Ig*F?2F:FBF0JFGsA GzK%NK%9K!K%K%  H]z>IY I]@II]BIY&IY.IY6I]<:I] FBIǦCJIǦCRIZI =bI =jIǟ)5Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760144GzQGBO>8mw,ZA63@Y6C@6Y96>y6H ?x?< ?Eu?j?`? ?ɨ63@67Ո;6CyBBBIHJA   %% %%  % % %Mb@Mb@Mb@!!! !)!Y%X9v?A`"?~jt?y%3?%=%D<%~A %@)!I!!y%@IMIM4٢]l= ]@=9]~;Q e>aa eG٣eY4Gym); m> uNusing accuracyPremultiplier from configq}49u}?}4Yuu iu>B}T:5?:k?ut Du5;u;uɐ4  A%B*** querying acoustic contact ***j!j!ZjQ]FNOT Ignoring new targets: 319.40 m.Bj]Jje ProNav: ac range: 319.399994 m, nav range: 312.822571 m, bearing: 193.862600 deg, approach rate: 0.008517 m/s, LOS rate: -0.124154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809698 deg. 2ji:j @HeadingCmd: 4.813787 target range: 319.399994 and range: 319.40 m. jjjjihhhh;}Bfffrfbf @&@5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013472JU@JUJQJQJUR;JU:JQJQJUI ɼɚiI5=Ii:iñp:))*F}?2F:FBF0JF IGa GA BI Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:49:48.4990  TRx dataTimestamp_ set to:1736365789.765580 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265922amw,sA:_2@Y:A@:9:5>y:H??`7``z?\q??[? ?ɨ:_2@:";:CyR'BRIIZIZs4٢zI< ~Q=9] ;Q > G٣ yܹ > %Nusing accuracyPremultiplier from config!-49%}?-4Y% i%EB15p5?% D%.:%:%49 =AAZjamFNOT Ignoring new targets: 319.40 m.BjmJjm ProNav: ac range: 319.399994 m, nav range: 312.826294 m, bearing: 193.811465 deg, approach rate: 0.009987 m/s, LOS rate: -0.137163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821783 deg. 2jD:jF @HeadingCmd: 4.813998 target range: 319.399994 and range: 319.40 m. jjjjihhhhfffrfbf @ɛ; >I =ƼɚiIP=Iioic(:))*F?2F:FBF`5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515857GUh:G9BAOe> $?IUmw,AzK&.KK&h9K$K&K&5w T A  infBU 2an  [jhZHlRHlHz}>Ix IzLIIzBIz" =&Ix.Ix6Izr<:IzGFWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:49:48.4990 LVL= 27888, 32753, 18290, 32755, AGC= 67, IDX= 422, 0.30, 1.015, 0.035, 1.443, 0.583, PHS= 0.520,-0.500, 0.858, RAW= 163.8, -14.2, CAL= 169.1, -19.8, ROT= 340.9, 19.8 EYgot valid direction response: 19:49:48.4990 LVL= 27888, 32753, 18290, 32755, AGC= 67, IDX= 422, 0.30, 1.015, 0.035, 1.443, 0.583, PHS= 0.520,-0.500, 0.858, RAW= 163.8, -14.2, CAL= 169.1, -19.8, ROT= 340.9, 19.8 MPDAT read: Bearing 340.9, 19.8 (Local) M~Local bearing/azimuth received: Bearing 340.9, 19.8 (Local) ]DAT read: Range 10 to 50 : 318.3 m (Round-trip 424.5 ms) speed 0.6 m/s e*DAT read: user:871> mBDAT read: Tx time:19:49:49.6204 u$Ping request sent.u?y؝&Cؙ؝l؝ ٝrG)ٝIٝCiٝ?ٝٝ[?ٝc6@ٝ} ڝ<@)ڝ;ﰾIڝd@iڝ;>ڙڙ۝atp`?zL9{?_ 5tϿ)۝C?I۝D<~>i۝E۝Y9ۙۙ:publishing transmit ping timeqFpublishing direction and range infoؙ9؝Wb?tp҂n>?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝atp`?zL9{?_ 5tϿ)ۙIۙ% 6@Y%pE@%越9% ?>y%H`??@C@`?0 i?V?P?`?ɨ% 6@%l;!iۙۙۙۙy޵HB޵I p=Mb@Mb@Mb@ )YK7A`?EԸ?y&1?y+?=`e<A &@)p@IZ@y@PExceeded connect timeout, disconnecting.IIV4٢u\= u =9u;Q }>yy }G٣yE: > Nusing accuracyPremultiplier from config49}?4Y iQB,?:*? D.<.<4-TB -A)kJ&?k@ k kaOA:k&CBkCZkZ@"OrGǖJ@kf%xrOjiZ@Wb?tp҂n>?JkERkY9*:r$;U}Q@iͦ4 ѿH8?"kܩ*kk&l|?kNW 2kQCk&l|?kۇ kCk;CkZ@ addTargetRange:: Added new target pos. range: 318.299988 m, deltaT: 3.786578 s, deltaX: -1.100006 m, approachRate: -0.290501 m/s, rangeRepo size: 4  Added new target pos. range: 318.299988 m, bearing: 195.856517 deg, lat: 36.901695 deg, lon: -122.116846 deg, deltaT: 3.786578 s, deltaX: -1.100006 m, approachRate: -0.290501 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 318.30 m.Bj=Jj9M ProNav: ac range: 318.299988 m, nav range: 310.467133 m, bearing: 195.611226 deg, approach rate: 0.000000 m/s, LOS rate: -0.137163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.718915 deg. 2jI:jU@}HeadingCmd: 4.812203 target range: 318.299988 and range: 318.30 m. jyjjjihhhhR}Bfffrfs@bfE?ɛ }B /:   >I 5¼ɚ i I =I i ;i A:) ) E! E Will construct direction to contact in vehicle frame from tetrahedron phase data.J] GJ] JY JY J] cX;J] :JY JY J] <J] <J] <J] <m JDAT read: TxSync time:19:49:49.6196 *F ?2F :F BF o0JF "G =G = I GU}:GB!O=>mw,_ﭷARu8@YRG@R9o9R>yRHл?"?-6}v?ǀ]? ??@?ɨRu8@R5;PymBIII<4٢= p=9rq;Q ?Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣Z4Gyg: ? Nusing accuracyPremultiplier from config 49}? 4Y iWB  ! ? D'<(<ڧ4 AݳEZjYFNOT Ignoring new targets: 318.30 m.BjJj ProNav: ac range: 318.299988 m, nav range: 310.462036 m, bearing: 195.569717 deg, approach rate: -0.016158 m/s, LOS rate: -0.131607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850658 deg. 2j:jg@HeadingCmd: 4.814502 target range: 318.299988 and range: 318.30 m. jjjjihhhhfffrfbf F?ɛe}Be4n< am>Ii mʬɚqiqIu@=Iuisi :))*FU?2FQ:FQBFU51JFQ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu 9GQ BY Ou > I mw,ӤǷA6@Y6"@6R96>y6H]?v?`L``?j?`# ?**?E?ɨ6@6މ;6CyBBB,IIJIJƕ4٢R= R]=9V*Q V>TT VG٣XyZL Z> ^Nusing accuracyPremultiplier from config\b49^}?b4Y^ i^^Bdff?^ D^2;^3;^I49 =`A=ڳEZjFNOT Ignoring new targets: 318.30 m.Bj" Jj"  ProNav: ac range: 318.299988 m, nav range: 310.455475 m, bearing: 195.523908 deg, approach rate: -0.017423 m/s, LOS rate: -0.121642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837757 deg. 2j:j@HeadingCmd: 4.814277 target range: 318.299988 and range: 318.30 m. jjjjihhhhff!f)rf)bf%wp?zKu@PKu9KqKuKusA #Hz>I IeIIBI =&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}B/< ?I ѻɚiI=Ii isi  G) ) *F?2F:FBF1JF nManaging dock network, ignoring radio surface power offG g:G B O >mw,J᷵AWill construct direction to contact in vehicle frame from tetrahedron phase data.J&DJ&J$J$J& V;J&:J$J$J&<J&<J&<J& G٣y > Nusing accuracyPremultiplier from config49}?4Y* igB+%?:? D+;Y;4 AB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 318.30 m.Bj-<Jj-< YI]g ProNav: ac range: 318.299988 m, nav range: 310.441742 m, bearing: 195.471531 deg, approach rate: -0.032603 m/s, LOS rate: -0.124353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818047 deg. 2j:j @HeadingCmd: 4.813933 target range: 318.299988 and range: 318.30 m. jjjjihhhh}Bfffrfbfਜ?ɛ}B><  ?I ɚiI"p=Iisi))*F?2F:FBFP5JFGlZGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.&mw,ZA6@Y6C(@6=u96P >y6Hպ??`?T?s?]u??ɨ6@6>X;6CyRBRNII^I^4٢fu= f\=9fH;Q f>hh jG٣j[4Gynm; n> vNusing accuracyPremultiplier from configpv49ri}?v4YrS iroBxzz?r Dr:r:r4 AZj15FNOT Ignoring new targets: 318.30 m.Bj=KJj=KM ProNav: ac range: 318.299988 m, nav range: 310.430511 m, bearing: 195.427350 deg, approach rate: -0.030066 m/s, LOS rate: -0.118284 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842640 deg. 2jUZ:jUA@UHeadingCmd: 4.814362 target range: 318.299988 and range: 318.30 m. jYjYjYjYiYhahahahafififirfibfuA?ɛ=}B=!V< 9=?IA EiIɚAiAIE0=IMiMbiM)I)QEWill construct direction to contact in vehicle frame from tetrahedron phase data.JYJYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.740381*F)2F1:F1BF5`0JF1 IIMgGU2FG) B9 OU >jH <bH <H w>I  I II BI ! =&I .I ;DzKE ܞLKE h9KA KE 6I <KE  0I%{s{t5X$ :I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988696Anw,wIA6P+@Y6:@6M96>y6Hh??C㗻?EDX˴?? z?ɨ6P+@6;6CyJBN\IEMb@Mb@Mb@AAA A)AYEbX9?+?~jt?yEE?E=E G٣y; > Nusing accuracyPremultiplier from config49v~?4Y ixB?:7? D%L;OJ;+Ę4 #AZj9=FNOT Ignoring new targets: 318.30 m.BjEJjEU ProNav: ac range: 318.299988 m, nav range: 310.421265 m, bearing: 195.379486 deg, approach rate: -0.021076 m/s, LOS rate: -0.109097 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831591 deg. 2jU:jU @]HeadingCmd: 4.814169 target range: 318.299988 and range: 318.30 m. jYjYjYjaiahahahahu ~Bfqfqfqrfybf}T$@ɛ< 隭?I  -ɚiI=Iii7a9))*F?2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238253J]:J]JYJYJ];N;J]:JYJYJ]<J]<J]<J]< -$?I1G˴Gy B O >8 nw,#/A6N<@Y6K@6+)96 >y6H ??@ \ ?o1?K??ɨ6N<@6cъ;4yBBBuIIJIJ4٢R= R_=9R\;Q R>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b49^~?b4Y^z i^B`f󪿑f?^ D^y;^;^ʘ4nUB nAm۳EZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489800FNOT Ignoring new targets: 318.30 m.BjJj ProNav: ac range: 318.299988 m, nav range: 310.414215 m, bearing: 195.339850 deg, approach rate: -0.018480 m/s, LOS rate: -0.103906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856276 deg. 2j:j5@HeadingCmd: 4.814600 target range: 318.299988 and range: 318.30 m. jjjjihhhhfffrfbf76@ɛ }B< !?I U2ɚiI?)=I%i%i%>h:)!)!E1E1*F2F:FBFf0JF"G=G=G5!G B O= >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U >U <U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742173 ! I! %&nw,yIA6O@Y6b_@696O>y6Ht?? n=?yv?~?p?ɨ6O@6Gg;6CyZ BZIIbIb4٢j"= nF=9n;Q n>pp rG٣r\4Gyr; v> zNusing accuracyPremultiplier from configt~49v ~?~4Yv ivB|~?v Dv;v;vј4  CA Zj9=FNOT Ignoring new targets: 318.30 m.BjEJjEU ProNav: ac range: 318.299988 m, nav range: 310.406982 m, bearing: 195.294860 deg, approach rate: -0.018361 m/s, LOS rate: -0.114214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840215 deg. 2jUĜ:j]@]HeadingCmd: 4.814320 target range: 318.299988 and range: 318.30 m. jYjajajaiahahahihififqfqrfqbfuW@)9 9 GxA)Hx>I III?BI" =&I.I8nw,ԁdAR[@YRyj@Rλ9R¶>yRH ??G ~ܼ?uy?`iK?0?ɨR[@RH;Py^B^I tIt-~only read 0 of 1 data item for BIT error. Device response is::TS,25010811505861,35.0, +10.9, 0.0,149  ~@~ ~@~ ~@~  ~@~ II4٢Y= ;=9;Q > G٣!y%J; %> 5bBottom track data is 0.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=49-~?=4Y-Y! i-B=+:9=:Eu?-D-<->-ט4 AسEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 318.30 m.Bj-ݺJj5ݺ ProNav: ac range: 318.299988 m, nav range: 310.399872 m, bearing: 195.247101 deg, approach rate: -0.014448 m/s, LOS rate: -0.097043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831906 deg. 2j2:j @HeadingCmd: 4.814175 target range: 318.299988 and range: 318.30 m. jjjjihhhhfffrfbfyk @ɛQU< Y].?IY ]TYɚaiaIew?=Ieim)im;)i)q*F 2F :F BF d0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:19:49:52.4452 TRx dataTimestamp_ set to:1736365793.797917checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500048Gm !j;GA BQ Om >nw,+~A66i@Y6x@6^ۋ96>y6H`U?`)?@D[;?L@h{q?P??ɨ66i@6RP;6CynBnItvAtvAAIzIzЬ4٢@; M=9 ;Q  >  G٣y-; 5> UbBottom track data is 0.8 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]49M~?e4YM{' iMBe :aek:e=e?M-DMJ;MX?Mܘ4q uAqZjFNOT Ignoring new targets: 318.30 m.BjxJjx ProNav: ac range: 318.299988 m, nav range: 310.393890 m, bearing: 195.202868 deg, approach rate: -0.017079 m/s, LOS rate: -0.126304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842485 deg. 2j\:j<@HeadingCmd: 4.814360 target range: 318.299988 and range: 318.30 m. jjjjihhhhfffrfbf@@ɛ  = /?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749700JCKC KCKCKC"KCJ}?J}J}2JyJ}#R;J}:J}c3Jya@a@a@a@ ɚiI=Ii@i;)) I*F]?2FY:FaBFe0JFiGqi;Hy>I III]BI! =&I.I6IC<:I"FBIJIRIZI! =bI! =jIE5G B zK !LK +9K K " Will construct direction to contact in vehicle frame from tetrahedron phase data.K  ZTUqFvA% RK ?JK >O >- DAT read: 19:49:52.4452 LVL= 24608, 32753, 17298, 25523, AGC= 67, IDX= 399, 0.03,-2.427, 2.628,-2.173,-2.995, PHS= 0.656,-0.613, 0.819, RAW= 156.0, -12.7, CAL= 162.3, -19.4, ROT= 347.7, 19.4 5 Ygot valid direction response: 19:49:52.4452 LVL= 24608, 32753, 17298, 25523, AGC= 67, IDX= 399, 0.03,-2.427, 2.628,-2.173,-2.995, PHS= 0.656,-0.613, 0.819, RAW= 156.0, -12.7, CAL= 162.3, -19.4, ROT= 347.7, 19.4 = PDAT read: Bearing 347.7, 19.4 (Local) ] ~Local bearing/azimuth received: Bearing 347.7, 19.4 (Local) m DAT read: Range 10 to 50 : 315.5 m (Round-trip 420.7 ms) speed 0.8 m/s u *DAT read: user:872>  BDAT read: Tx time:19:49:53.5704  $Ping request sent.    &qGE?3V?Aj6=̿) ?I b>i d' ޗ  5 :publishing transmit ping timeء 5 Fpublishing direction and range info%nw,) A2@v@Y2@2X92>y2HǼ?Ć?`"V?@E)c?5? ?ɨ2@v@24;2CI9M3=?Ң\BX1l?yIIII I)IIIiIIIII I)IIIiIIIM&qGE?3V?Aj6=̿)IIIiIIIIyb)BbI        Mb@Mb@Mb@ )YNbX9?~jt?~jt?y?=<;A K@)@I@y@I-I-K4٢=Y&= E =9Eo;Q > G٣]4GyxJ; > Nusing accuracyPremultiplier from config49>~?4Y[. iBT: ?:`??D0;;4 dAkMm ?kM kI kM;QA:kMCBkMCZkMeY@"M}aD@;_CRq"!b@M3=?Ң\BX1l?JkMd'RkMޗ*M@lHq(RI9[@M _xO6Uοj%?"kM*kMBkM?kM 2kM,CkM(?kIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:19:49:53.5696 kMCkMCkMZ@ addTargetRange:: Added new target pos. range: 315.500000 m, deltaT: 4.031363 s, deltaX: -2.799988 m, approachRate: -0.694551 m/s, rangeRepo size: 4  Added new target pos. range: 315.500000 m, bearing: 194.624744 deg, lat: 36.901700 deg, lon: -122.116846 deg, deltaT: 4.031363 s, deltaX: -2.799988 m, approachRate: -0.694551 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 315.50 m.Bj-Jj)E ProNav: ac range: 315.500000 m, nav range: 309.846619 m, bearing: 195.180341 deg, approach rate: 0.000000 m/s, LOS rate: -0.126304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773598 deg. 2jA:jEb@MHeadingCmd: 4.813157 target range: 315.500000 and range: 315.50 m. jIjIjIjIiIhQhQhQhU~Bfffrfs@bf ? Igɛ%}B-ȸ< )-F4?I) - ɚ1i1I5_=I=i=|iEMO;)A)A*F2F:FBFl0JFG O;- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Z,nw,QAVX@YV,h@V9V>yVHҼ? 7?? ? p``?R??ɨVX@VD ;VCy``IjIj4٢r; rk=9v7:Q z?xx zG٣xy~X- ~? Nusing accuracyPremultiplier from config 49~?4Y2 iBר?JDk4;4;s4! %cA%ڳEZjAMFNOT Ignoring new targets: 315.50 m.BjUJjUe ProNav: ac range: 315.500000 m, nav range: 309.844299 m, bearing: 195.147207 deg, approach rate: -0.007254 m/s, LOS rate: -0.103628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875785 deg. 2je<:jm@uHeadingCmd: 4.814941 target range: 315.500000 and range: 315.50 m. jqjqjqjyiyhyhyhyhfffrfbf×?ɛ2'= 隽e4?I GӕɚiI=IiIi;))*F2F:FBFd5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.J CJ J 1J J CU;J :J 3J G*; IIIGBO>&3nw,ϸAHzz>Ix IzIIzrBIz =&Ix.Ix6Izݰ<:Iz Fyޅ$BލIzK5NK559K1K5#eWill construct direction to contact in vehicle frame from tetrahedron phase data.K5BK:KnA ==IIr4٢ ڨ  ,=9Q > G٣y > %Nusing accuracyPremultiplier from config!M49%<$~?U4Y%I9 i%BQQU?%ZD%F;%;%4Y ]AaZjFNOT Ignoring new targets: 315.50 m.Bj}ۺJj}ۺ% ProNav: ac range: 315.500000 m, nav range: 309.841248 m, bearing: 195.101141 deg, approach rate: -0.006356 m/s, LOS rate: -0.095947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836987 deg. 2jE:jMs@MHeadingCmd: 4.814264 target range: 315.500000 and range: 315.50 m. jQjQjQjQiQhQhQhYhYfYfYfarfbf@ Q?ɛ}BQ< 1?I ɚiI݆=I i W%i є;) )*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G- ; A IA G B! O= >S9nw,踵ANp@YN@Nu:9NO>yNH?@w?Pÿ1 P?Bj?ſ?ɨNp@N;NCyZBZIMb@Mb@Mb@ )YNbX9? G٣^4Gy&< > Nusing accuracyPremultiplier from config49(~?4Y> iB?:+?fDA;@;4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 315.50 m.BjM׺JjM׺ ProNav: ac range: 315.500000 m, nav range: 309.838593 m, bearing: 195.066533 deg, approach rate: -0.007220 m/s, LOS rate: -0.094115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.871363 deg. 2j.:j]@HeadingCmd: 4.814864 target range: 315.500000 and range: 315.50 m. jjjjihhhh~BfffArfAbfM@&?ɛ:H= )?I G"ɚiI(=I i B i 9;))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF`5JFG #;G B O > @nw,AnWill construct direction to contact in vehicle frame from tetrahedron phase data.r@?rJ?rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.716260Jz?JzJxJxJz#R;Jz:JxJxy=B=IIMIMs4٢ed; eP=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configy49}n,~?4Y}[C i}B?}sD}:}e:}4  AZjFNOT Ignoring new targets: 315.50 m.BjDJjD뺝 ProNav: ac range: 315.500000 m, nav range: 309.835815 m, bearing: 195.028212 deg, approach rate: -0.007453 m/s, LOS rate: -0.102842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860224 deg. 2j(:j@HeadingCmd: 4.814669 target range: 315.500000 and range: 315.50 m. jjjjihhhhfff $?Irfbf 4?ɛ}B< `)?I wɚ i I C=IUiUiU7;)Y)Y*F?2F:FBF2JFjH<bH4=HI IIIwBI =&I.I6Iɰ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972119zK KK9KK$KG] #N;GI Bq O >Fnw,hA6P@Y6@6,Y;96=y6H`?Q?zp`X?x`ۿ?*?ɨ6P@6Tފ;6CyJBJiIPRA%Mb@Mb@Mb@!!! !)!Y%MbX?{Gz?y% ?%ף=%%7A !)%@I!!y%p@I=I=y4٢Mv MK=9M~_QQ ]G٣Yy]Yc< e> Nusing accuracyPremultiplier from configy49}Y1~?4Y}H i}BA ?:릿?}D}ԩ<}o<}4%VB %A-׳EZjiFNOT Ignoring new targets: 315.50 m.Bj(ۺJj(ۺ ProNav: ac range: 315.500000 m, nav range: 309.836884 m, bearing: 194.987252 deg, approach rate: 0.002498 m/s, LOS rate: -0.095801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.852307 deg. 2j~:j@HeadingCmd: 4.814531 target range: 315.500000 and range: 315.50 m. jjjjihh)h)h5o~Bf1f1f1rf1bf=`,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220371ɛ}BED-< IM?II M8ɚIiIIM؃=IUiU;iU[F<)Y)Y I*F2F:FBF_0JFGE &;GM ?GM >G! B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472104Lnw,l=6Abw@Ybܿ@b <9bү=ybH ኿?`Y?,G@?0Ix`??ɨbw@b;bCyjBjXIIvIvЬ4٢! O=9;Q  >    G٣ _4GyX; > Nusing accuracyPremultiplier from config%49'6~?%4YoN iB!--?D::41 5KA1ZjYeFNOT Ignoring new targets: 315.50 m.BjmJjm} ProNav: ac range: 315.500000 m, nav range: 309.838531 m, bearing: 194.947570 deg, approach rate: 0.004461 m/s, LOS rate: -0.107419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856140 deg. 2jq:j0@HeadingCmd: 4.814598 target range: 315.500000 and range: 315.50 m. jjjjihhhhfffrfbf@ɛ}BP< ?I ;ɚiIJ=IiSi\<))*FQ2FQ:FQBFU`0JFQG-d<GBOM0>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724104*JC="J4=J CJ J 2J J CU;J J c3J  qIqSnw,PAHPIP IRIIRbBIR =&IP.IP6IR߰<:IR Fy~B~;II I y4٢n H=9%Q %>!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495';~?=4Y5T i5BAAE?5D5 ;5;54i }A}سEeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.979220zKN KKh9KK%KZjYmFNOT Ignoring new targets: 315.50 m.BjuLɺJjuLɺ ProNav: ac range: 315.500000 m, nav range: 309.840393 m, bearing: 194.906292 deg, approach rate: 0.003968 m/s, LOS rate: -0.087994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851354 deg. 2jq:j@HeadingCmd: 4.814514 target range: 315.500000 and range: 315.50 m. jjjjihhhhfffrfbf`@ɛ}B< ?I xɚiI =IEiE iM,X<)I)I*F?2F:FBF_0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:49:56.3719  TRx dataTimestamp_ set to:1736365797.581882% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230848GM v;<GQ GQ G B! OE > a Ie gZnw,iAJ@Ɠ@YJ՚@JlH<9J=yJH`?@?ɾ@`?'k `m?l?ɨJ@Ɠ@J;JCybBb-IMb@Mb@Mb@ )Y7A`?X9v? G٣y; > Nusing accuracyPremultiplier from config49@~?4YZ iBa?:S?D;;:4 gAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 315.50 m.Bj^Jj^- ProNav: ac range: 315.500000 m, nav range: 309.833527 m, bearing: 194.859992 deg, approach rate: -0.018977 m/s, LOS rate: -0.127966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836285 deg. 2j-:j-Y@5HeadingCmd: 4.814251 target range: 315.500000 and range: 315.50 m. j1j9j9j9i9h9hAhAhM}BfIfIfIrfQbfUo @ɛ}}B}l< 隅?I rɚiI(=Ii i-<)1)1E9*F?2F:FBFp0JF"G=G=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.481538G5 F<G B O- >`nw,܃A^Will construct direction to contact in vehicle frame from tetrahedron phase data.vDAT read: 19:49:56.3719 LVL= 27632, 32753, 20450, 32755, AGC= 67, IDX= 210, 0.34,-0.470,-1.562, 0.061,-0.511, PHS= 0.129,-1.004, 0.569, RAW= 165.7, 4.4, CAL= 166.1, -4.7, ROT= 343.9, 4.7 JxJzBA~Ygot valid direction response: 19:49:56.3719 LVL= 27632, 32753, 20450, 32755, AGC= 67, IDX= 210, 0.34,-0.470,-1.562, 0.061,-0.511, PHS= 0.129,-1.004, 0.569, RAW= 165.7, 4.4, CAL= 166.1, -4.7, ROT= 343.9, 4.7 PDAT read: Bearing 343.9, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 343.9, 4.7 (Local) %DAT read: Range 10 to 50 : 298.0 m (Round-trip 397.4 ms) speed 0.4 m/s %*DAT read: user:873> -BDAT read: Tx time:19:49:57.4704 -$Ping request sent.-^^?^9@^nF= ^9@)^I^@i^=\\^x7E?K }m?AZ:?)^QL?I^kQi^8⿉^]ے\\u:publishing transmit ping time)uFpublishing direction and range info\9^bP 1}ȿЏlk@ G I٣`4Gyݴ >  Nusing accuracyPremultiplier from config 49D~?4Y` iBW?Dm==l$4) -|A)k^`Dfq?k^Z89^ k\ k^ `A:k^CBk^CZk^KD@"^7L/MqzU@^bP 1}ȿЏlk@I) 5 -jɚ1 i1 I5 =I i I$i z<) ) *F 2F :F BF P4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju?JuJqJqJu#R;Ju:JqJqJuO G٣y > Nusing accuracyPremultiplier from config49L~?4Yk iB&*?:ë?D;;/4 rAZjFNOT Ignoring new targets: 298.00 m.Bj Jj  ProNav: ac range: 298.000000 m, nav range: 305.592987 m, bearing: 193.711868 deg, approach rate: -0.008267 m/s, LOS rate: -0.139920 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735024 deg. 2j :j@HeadingCmd: 4.812484 target range: 298.000000 and range: 298.00 m. jjj j i h hhhN}Bfffrfbf`s?ɛE}BMa/< IM?>II U~dɚQiQIU=I]i]i]{<)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG Ga Bi O >pnw,JùA6u@Y6ڝ@6%R<96Ys>y6H x|? ^?2Ͻ?򲜿WB?@?ɨ6u@6щ;6CyR~BRIIZIZ:4٢bS b=9bȫQ f?dd fG٣dyjG j? rNusing accuracyPremultiplier from configpv49rP~?v4Yr q irBtzz?rDrC:rC:r54=Will construct direction to contact in vehicle frame from tetrahedron phase data.=>=:?WB A׳EZjFNOT Ignoring new targets: 298.00 m.BjmJjm  ProNav: ac range: 298.000000 m, nav range: 305.589539 m, bearing: 193.673140 deg, approach rate: -0.010231 m/s, LOS rate: -0.114901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.859002 deg. 2j :j @HeadingCmd: 4.814648 target range: 298.000000 and range: 298.00 m. jjjjihhhh!f!f!f!rf)bf-? =$?I9ɛe}Be{s#< ime>Ii mY aɚiiiIu=I}i},i <))EEsA*F?2F:FBFn0JFH I  I lII BI &I .I 6I <<:I FBIJIRIZI =bI =jI$4G Will construct direction to contact in vehicle frame from tetrahedron phase data.zK FKK 9K K 'K $'' G B BK sA:K sAO >vnw,-ݹA6{@Y6H@6J<96L=y6H?? P@C@I?f`hYa??ɨ6{@69A;6CyB~BBI-Mb@Mb@Mb@))) )))Y-K?i|?5?y&1y-^:?-q=-`-A ))-@I))y)IEIE4٢M۽ UA=9UQ U>YY ]G٣]a4Gye e> mNusing accuracyPremultiplier from configiu49mU~?u4Ymx imB};?}:}/}?mDm;mZ;mu<4 <AZjUFNOT Ignoring new targets: 298.00 m.Bj]$Jj]$ ProNav: ac range: 298.000000 m, nav range: 305.578461 m, bearing: 193.615438 deg, approach rate: -0.027653 m/s, LOS rate: -0.144045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802075 deg. 2jŻ:ju @ HeadingCmd: 4.813654 target range: 298.000000 and range: 298.00 m. j jjjihhhh|Bfff!rf!bf%?ɛ}B&ӈ; 隕s>I Y>]ɚiI<=Ii< iz<))MWill construct direction to contact in vehicle frame from tetrahedron phase data.JAJJ1JJS;J:J3JJ<J<J<J< 1I5g*F2F:FBFo0JFG}jx<GQBaO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data.}nw,GA6m@Y6[}@6E<96.s=y6Hbz??k@`S?vϻU?@3?ɨ6m@6a;6CyBp~BByIIJIJ4٢V VV=9VMQ Z>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from config`f49bZ~?f4Yb3 ibBhjjj?b Db:b:b%C4l rAp=B*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 298.00 m.BjUJjU ProNav: ac range: 298.000000 m, nav range: 305.568176 m, bearing: 193.563050 deg, approach rate: -0.026581 m/s, LOS rate: -0.135407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818018 deg. 2j۹:j @HeadingCmd: 4.813932 target range: 298.000000 and range: 298.00 m. jjjjihhhhfffrfbf S?ɛ]}B]$+; e. =e4^>Ia eZɚaiaIeX=Iui}i}g;)y)*F 2F :F BF 0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.Gb< !I!GBO>nw,&A2{n@Y2}@2W<92=y2H@i~?_?ͽ`?J@lec?]?ɨ2{n@2Y;2Cy:N~B>eIIJIJk4jHPbHR<HTIT IV!IIVBIV =&IT.IT6IV<:IV F٢bʦ fH=9f-;Q f>hh jG٣hyj#9 n> rNusing accuracyPremultiplier from configpv49r_~?v4Yr irBttz?rDrX:rz:rEJ4| AZj)-FNOT Ignoring new targets: 298.00 m.Bj5Jj5E ProNav: ac range: 298.000000 m, nav range: 305.557495 m, bearing: 193.507265 deg, approach rate: -0.026713 m/s, LOS rate: -0.139521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.807825 deg. 2jE:jMG @MHeadingCmd: 4.813755 target range: 298.000000 and range: 298.00 m. jIjQjQjQiQhQhQhYhYfYfafarfabfe ^@ɛ-}B-g )-';>I) 5u?XɚQiYI]=Imimim2;)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253799EE>zKLKs9KK(K$()RK>JK>*FQ2FY:FYBFe3JFa"G=GGo;G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505790J HJ J 2J J +Y;J :J c3J J b<J c<J <J <  I 1nw,@*AFf@YFu@F_<9F|T=yFH@9??V?`A@@9?o@)mؽ?^?ɨFf@F;FCyR@~BR\ImMb@Mb@Mb@iii i)iYm rh?Zd;?:vymL?my=mԼmA mK@)m@ImC@iym@I I4٢c ;=9:Q > G٣b4Gy > Nusing accuracyPremultiplier from config49Le~?4Y iB?M?:;?5DXc;yc;Q4 AسEZj%FNOT Ignoring new targets: 298.00 m.Bj-+Jj-+= ProNav: ac range: 298.000000 m, nav range: 305.543121 m, bearing: 193.441878 deg, approach rate: -0.033004 m/s, LOS rate: -0.150144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.779018 deg. 2j=λ:j=)@EHeadingCmd: 4.813252 target range: 298.000000 and range: 298.00 m. jAjAjAjAiAhIhIhh_|BfffrfbfTi@ɛ%}B-9 )-->I1 5cUɚ1i1I5d=I=i=~Hi=`s;)9)A*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757911GG B O >nw,DA6O@Y6'_@6 ^<96M<=y6H 2??@!D- *?#Ëoս?l?ɨ6O@61;6CyB4~BBUI)D DDFAIJIJ74٢R| V^=9VQ V>TX ZG٣XyZ Z>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009812 -Nusing accuracyPremultiplier from config)549-0j~?54Y-И i-B15E?-HD-b;-Đ;-X4i uAq IgZjFNOT Ignoring new targets: 298.00 m.Bj(Jj( ProNav: ac range: 298.000000 m, nav range: 305.530029 m, bearing: 193.384631 deg, approach rate: -0.033744 m/s, LOS rate: -0.147560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803438 deg. 2jʻ:j @HeadingCmd: 4.813678 target range: 298.000000 and range: 298.00 m. jjjjihhhhfffrfbf` e@ɛ }Bĺ [ >I ]SɚiI=I%i%@i%]n;)!))E]I_<HI IIIBI&I.I6I<:I F*F2F:F!BF%1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264760zK- Wnw,J `AZ@YZ+(@ZV J<9Z=yZH պ?`v?D`@@@H?A`ݽ?n?ɨZ@Z;ZCyb*~BbNI%Mb@Mb@Mb@!!! !)!Y%zG?p= ף?Qy% W?%=%u%A !)%@I%-@!y%=@IMIM4٢u u'=9N$Q > G٣y=[ > Nusing accuracyPremultiplier from config49p~?4Yu iBW?{:?bD;;a4 XB AճEZj1=FNOT Ignoring new targets: 298.00 m.Bj=s7Jj=s7U ProNav: ac range: 298.000000 m, nav range: 305.509827 m, bearing: 193.307634 deg, approach rate: -0.042079 m/s, LOS rate: -0.160384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.744182 deg. 2jU#ܻ:jU.@]HeadingCmd: 4.812644 target range: 298.000000 and range: 298.00 m. jYjYjYjYiYhYhamWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:19:50:00.2705 }TRx dataTimestamp_ set to:1736365801.613649}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515869hh>|Bfffrfbf B @J>JJ1JJ[Q;JS:J3JJ<J<J<J< $?Iɛ}BHj >I לQɚiI /=IiliS))E =*F2F:FBFW5JFG l; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765938G B O >ѝnw,+yAn@Yn @n6?<9nI=ynH?i?O f?` ?`?ɨn@n8;nCy-+~B5OIIuIu4٢ J; V=9ӺQ > G٣c4Gy)  > 5Nusing accuracyPremultiplier from config)49-Xu~?4Y- i-B?-wD- <-<-g4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 298.00 m.Bj,Jj, ProNav: ac range: 298.000000 m, nav range: 305.493408 m, bearing: 193.247830 deg, approach rate: -0.041496 m/s, LOS rate: -0.151155 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795766 deg. 2jyϻ:j@ HeadingCmd: 4.813544 target range: 298.000000 and range: 298.00 m. j j jjihhhhff!f!rf!bf%d@ɛQU Y]>IY ]OɚYiaIe\=Ieim;im")i)iEqEq*Eq"EqmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:50:00.2705 LVL= 30512, 32753, 19378, 32755, AGC= 67, IDX= 418,-0.36, 0.183,-1.028, 0.717, 0.163, PHS= 0.108,-1.144, 0.551, RAW= 164.6, 6.4, CAL= 164.4, -3.0, ROT= 345.6, 3.0 IgYgot valid direction response: 19:50:00.2705 LVL= 30512, 32753, 19378, 32755, AGC= 67, IDX= 418,-0.36, 0.183,-1.028, 0.717, 0.163, PHS= 0.108,-1.144, 0.551, RAW= 164.6, 6.4, CAL= 164.4, -3.0, ROT= 345.6, 3.0 PDAT read: Bearing 345.6, 3.0 (Local) ~Local bearing/azimuth received: Bearing 345.6, 3.0 (Local) DAT read: Range 10 to 50 : 296.8 m (Round-trip 395.8 ms) speed 0.4 m/s *DAT read: user:874> BDAT read: Tx time:19:50:01.3705 $Ping request sent.]nw,hZAWill construct direction to contact in vehicle frame from tetrahedron phase data."JDAT read: TxSync time:19:50:01.3697 b$ݒ@Yb@b`N3<9bu=ybH?ˠ?@S׽j@y?s▿iRA??ɨb$ݒ@bȋ;bCy%K~B%cIzKf=MK+9KK*KA|L2! II 4٢== =,=9M/ԺQ U>Ya G٣yO > Nusing accuracyPremultiplier from config49Q{~?4Y3 i~Bw?D;:p4 A׳Ek16 ?kϸ k kmA:kfCBkfCZkG@@"[R#Q_h.q 5lV@E{Ϳ8yс%4bD?JkMRkqӚ* r>xC@ɀxPL@!۞2?p/(?"kB*k\k9#q?kJ 2k0Bk݌?kp kQCkCkt[W@E addTargetRange:: Added new target pos. range: 296.799988 m, deltaT: 4.032088 s, deltaX: -1.200012 m, approachRate: -0.297616 m/s, rangeRepo size: 4 U Added new target pos. range: 296.799988 m, bearing: 172.136040 deg, lat: 36.901758 deg, lon: -122.116742 deg, deltaT: 4.032088 s, deltaX: -1.200012 m, approachRate: -0.297616 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 296.80 m.BjJj ProNav: ac range: 296.799988 m, nav range: 301.217621 m, bearing: 192.797831 deg, approach rate: 0.000000 m/s, LOS rate: -0.151155 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747188 deg. 2j:j@HeadingCmd: 4.812696 target range: 296.799988 and range: 296.80 m. jjjjihhhhfffrf̌r@bf?ɛAEκ IM5>II MLɚIiIIMВ=Iui}i}d)y)yEEtA*F?2F:FBF5JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data. IG }G B O >nw,A6@Y6ș@6t<96s% >y6H޷?!? v W?@q7?:?ɨ6@6J;6Cy>d~B>rIEMb@Mb@Mb@AAA A)AYE333333?V-?~jtx?yEY?Eh=E;E A E5@)E@IE@AyAI]I]4٢u|= uY=9uQ }>y G٣yA > Nusing accuracyPremultiplier from config49~?4Y; iB\Z?x:?D;;gv4 4AZjFNOT Ignoring new targets: 296.80 m.BjHNJjHN ProNav: ac range: 296.799988 m, nav range: 301.202820 m, bearing: 192.739026 deg, approach rate: -0.045390 m/s, LOS rate: -0.180345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798763 deg. 2j:j@ HeadingCmd: 4.813597 target range: 296.799988 and range: 296.80 m. j j jjihhhhx|Bfff!rf!bf%M?ɛIUm; fN>I ѲJɚiI'=Iii88))=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9*F?2F:FBF`0JFG;3GYBaOZ> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J% =J% J! J! J% P;J% y:J! J! a- @a- @a5 @a5 @Jnw,eʺA:@Y:d@:aE <9:B >y:Hu[?|? ܶ? (@ ?:?ɨ:@:.;:CyB~BFIININ 4٢V= VX=9VQ V>XX ZG٣Zd4GyZ ^> bNusing accuracyPremultiplier from config`f49b~?f4Yb ibBhj겿j?bDb7:bX:b}4p rApZj  FNOT Ignoring new targets: 296.80 m.Bj:Jj:% ProNav: ac range: 296.799988 m, nav range: 301.187073 m, bearing: 192.677686 deg, approach rate: -0.041943 m/s, LOS rate: -0.163394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.791155 deg. 2j%E:j%@-HeadingCmd: 4.813464 target range: 296.799988 and range: 296.80 m. j)j)j)j1i1h1h1h1hAfAfIfIrfIbfM@?ɛy) ѐC}Դ; 隭W{>I ?G]~~GɚQiYIm0=uvA YvAyBIiCi=N)@ B)H{>I III~BI&I.I6I<:I F*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.zKzMK9KK+KG]G ?G#?G B O >&˸nw,亵A66@Y6@6~;966>y6Hݶ?`֗? `n?``|? p?ɨ66@6,;6CyB~BBI yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yq= ףp?l? G٣y > Nusing accuracyPremultiplier from config49҉~?4Y iBsL?:8?DF;;4 AZj9EFNOT Ignoring new targets: 296.80 m.BjE,Jj, ProNav: ac range: 296.799988 m, nav range: 301.172180 m, bearing: 192.610580 deg, approach rate: -0.033546 m/s, LOS rate: -0.151165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773860 deg. 2j |ϻ:j l@HeadingCmd: 4.813162 target range: 296.799988 and range: 296.80 m. jjjjih!h!hIhM|BfIfIfQrfQbfUU?ɛ&); 隥x>I #(CɚiI=Iii!g))EV>E*Fy2Fy:FyBF}j0JFG GM Will construct direction to contact in vehicle frame from tetrahedron phase data.G hAGy B O >nw,A2@Y2@2|;92>y2H@z?T?`bV?` {`?হ?ɨ2@2#Ԓ;2Cy:~B:IIJIJ4٢Rt> R`=9RyQ R>TT VG٣TyZ՛ Z> ^Nusing accuracyPremultiplier from config\b49^,~?b4Y^Q i^BdfDf?^D^:^:^4jYB jAjسEvB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 296.80 m.Bj _.Jj _.% ProNav: ac range: 296.799988 m, nav range: 301.160065 m, bearing: 192.555185 deg, approach rate: -0.033341 m/s, LOS rate: -0.152447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808997 deg. 2j%?ѻ:j%r @-HeadingCmd: 4.813775 target range: 296.799988 and range: 296.80 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bfE(x?ɛm}BmMo< im>Ii m1q?ɚqiqIu=Ii`i'j))*F2F:FBF0JF iImgWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J;J}J0JJO;JJ:Jـ3JG΄eGiBqO>jH bH 4<H I C I II BI &I .I 6I <:I FBIJIRIZI =bI =jIL4U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252084nw,ANr@YNע@NX;9NE>yNHׯ?S?@ PG?`R[Kz@U??ɨNr@N[;NCyZ:BZIIbIb4٢j-> jF=9n$XQ n>pp vG٣ve4Gy~* ~> Nusing accuracyPremultiplier from configzK-UKK-h9K)K-,K- =x/8eE/" 49n~?4Yw iBM?D<5=ؒ4 AճEZjIMFNOT Ignoring new targets: 296.80 m.BjUJjU ProNav: ac range: 296.799988 m, nav range: 301.145691 m, bearing: 192.488130 deg, approach rate: -0.029934 m/s, LOS rate: -0.139654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.774012 deg. 2j:jr@HeadingCmd: 4.813165 target range: 296.799988 and range: 296.80 m. jjjjihhhhfffrfbf@"@ɛE}BELq< IMI>II M8ɚIiIIUr=IUi}Xi}'n)y)*FU?2FQ:FQBF]0JFY ]$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504526G1 G9 G= tAG B O5 >nw,d2A6@Y6@6۾;967?>y6H*?g?@=?ϑjwA??ɨ6@6l|;6Cy>jB>I F=Fp==Mb@Mb@Mb@999 9)9Y=On?K?l?y=8?=^==== A 9)=@I99y=z@I]I]4٢m= mB=9mNQ m>qq uG٣qy}Z }> Nusing accuracyPremultiplier from config49U~?4Y iBH:?:? D/;;4 !AZjFNOT Ignoring new targets: 296.80 m.Bj/Jj/ ProNav: ac range: 296.799988 m, nav range: 301.142517 m, bearing: 192.434093 deg, approach rate: -0.009018 m/s, LOS rate: -0.153533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813076 deg. 2jһ:j @HeadingCmd: 4.813846 target range: 296.799988 and range: 296.80 m. jjjjihhhh}Bfffrfbf )@ɛ15̶< 隵>I 43ɚiI>=Iii$q))EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757505*F?2F:FBFo5JF"G=G=GשhG B O > i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008013*J a="J p=JsKs K{S}.KsKs"KsJ J J 1J J J :J 3J nw,@LA6S@Y6@6bC;96>y6H 뮶?`?P N?$WfHu a ?@޶?ɨ6S@6;6CyRBR<II^I^4٢f*> fU=9jֺQ j>hh nG٣lyn-: n> vNusing accuracyPremultiplier from configpv49r%~?z4Yr irBxzz?rDr:r:rb4 AZj!5FNOT Ignoring new targets: 296.80 m.Bj5Jj5E ProNav: ac range: 296.799988 m, nav range: 301.139679 m, bearing: 192.381044 deg, approach rate: -0.007390 m/s, LOS rate: -0.138135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816038 deg. 2jM:jMt @UHeadingCmd: 4.813898 target range: 296.799988 and range: 296.80 m. jQjQjQjQiQhQhYhYhafafafarfabfm@ɛ< 隕Z?I  -ɚiI=IiJ i"n))H}|>Iy I}!II}BI} =&Iy.Iy6I}<:I} F*F2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:19:50:04.1887 -TRx dataTimestamp_ set to:1736365805.392677-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261140GJizKNK+9KK-KBKsA:KtAG B O= >nw,"fA IyB^I-Eonly read 3 of 4 data items for beam range. Device response is::RA, 0.26, 71.37, 77.82, 76.13  E@E E@E E@E  E@E IMIMD4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513913٢u= @=9Q > G٣f4Gy > }bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configq49uݢ~?4Yu iuB+:l:?u2Duu֦4ZB DA׳EZjAmFNOT Ignoring new targets: 296.80 m.BjmJju ProNav: ac range: 296.799988 m, nav range: 301.136658 m, bearing: 192.318065 deg, approach rate: -0.006372 m/s, LOS rate: -0.132832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786251 deg. 2jR:j2@HeadingCmd: 4.813378 target range: 296.799988 and range: 296.80 m. jjjjihhhhfffrfbf @ɛ-}B-z < )-?I) 5#ɚ1i1I5=I=i=I i= o)9)9*F2F:FBFP5JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 19:50:04.1887 LVL= 14912, 14385, 9522, 17299, AGC= 68, IDX= 91, 0.01,-0.300,-1.264, 0.165,-0.656, PHS= 0.443,-0.561, 0.818, RAW= 165.2, -11.3, CAL= 169.5, -17.4, ROT= 340.5, 17.4 u Ygot valid direction response: 19:50:04.1887 LVL= 14912, 14385, 9522, 17299, AGC= 68, IDX= 91, 0.01,-0.300,-1.264, 0.165,-0.656, PHS= 0.443,-0.561, 0.818, RAW= 165.2, -11.3, CAL= 169.5, -17.4, ROT= 340.5, 17.4 } PDAT read: Bearing 340.5, 17.4 (Local) } ~Local bearing/azimuth received: Bearing 340.5, 17.4 (Local)  DAT read: Range 10 to 50 : 310.5 m (Round-trip 414.1 ms) speed 1.2 m/s  *DAT read: user:875>  BDAT read: Tx time:19:50:05.2705  $Ping request sent. = = shQ?= 8@= I = TU=@)= |I= +@i= |>9 9 = W'37?zH?&ɿG G ?G >)= )J?I= J>i= 广= Ċ9 9  :publishing transmit ping timeع  Fpublishing direction and range info9 9= Qg'ȼ?9{B?y9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 = W'37?zH?&ɿ)9 I9 i9 9 9 9 G B O >@nw,ABD@YB@B⹘;9B@D >yBH@??Z q`?U7suz?-?ɨBD@B3;BCyNBnIIzIz4٢E3> EM=9M䲺Q U>Ya eG٣iyu&; > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configU49~?U4Y iB] :Y]?:]t]?DD׹<3[?*4a e&Aikm-%?km9` ki kmvyA:km@CBkm4CZkm:V@"mʥtA@t~Tr"oW@mQg'ȼ?9{B?Jkm广RkmĊ*mH8S=Fr*Z8O]TK@m8iɿ[?"kmy*kmkmQG*?kmLk 2kmhBkikmLk km0BkmhCkmqV@= addTargetRange:: Added new target pos. range: 310.500000 m, deltaT: 3.781797 s, deltaX: 13.700012 m, approachRate: 3.622620 m/s, rangeRepo size: 4 u Added new target pos. range: 310.500000 m, bearing: 191.787737 deg, lat: 36.901758 deg, lon: -122.116725 deg, deltaT: 3.781797 s, deltaX: 13.700012 m, approachRate: 3.622620 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 310.50 m.BjJj ProNav: ac range: 310.500000 m, nav range: 300.812836 m, bearing: 191.980516 deg, approach rate: 0.000000 m/s, LOS rate: -0.132832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815136 deg. 2j:jS @HeadingCmd: 4.813882 target range: 310.500000 and range: 310.50 m. jjjjihh Ighhfffrf-hs@bf-o?ɛquV&= }6<}%?Iy |ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:50:05.2697 I6=J?JJJJ#R;Jf:JJIi iU))*F2F:FBF4JFG GZHi RHm AAHu }>Iq  Iu ~IIu BIq &Iq .Iq 6Iu <:Iu FG שhG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.2(nw, әA6@Y6@6 ;96Q>y6H`$? 0?@R@ ?dq`?@?ɨ6@6J;4yR+BRIIbIb4٢r= rQ=9v`Q v>tx zG٣xyz8; z> -bBottom track data is 1.2 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-49%~?54Y% i%B5915:5F5?%VD%x;%͜?%4 tAzKuJKu 9KqKu.KuB*** querying acoustic contact ***jjZjamFNOT Ignoring new targets: 310.50 m.BjUJjU ProNav: ac range: 310.500000 m, nav range: 300.813019 m, bearing: 191.927043 deg, approach rate: 0.000447 m/s, LOS rate: -0.130559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814768 deg. 2j3:jE @HeadingCmd: 4.813876 target range: 310.500000 and range: 310.50 m. jjjjihhhhfffrfbf7?ɛ%}BM4#= IM0?II UɚQiQIU=I]i]JieUB))*F2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.՝%=՝p=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G KG B O >Qnw,XA6@Y6@6;96`& >y6H8??|}`5@?5a?@G?ɨ6@6@Č;4y>?B>I E E EE EE  E E EMb@Mb@Mb@AAA A)AYES㥛?J +?J +?yE$?E=EH=EdA EK@)EI@IE@AyE@I]I]h4٢m= mB=9mQ u>qq uG٣ug4Gy}, > Nusing accuracyPremultiplier from config49`~?4Yu iʍBT: ?:?dD;; 4 AԳEZjFNOT Ignoring new targets: 310.50 m.Bj Jj  ProNav: ac range: 310.500000 m, nav range: 300.824921 m, bearing: 191.884881 deg, approach rate: 0.033819 m/s, LOS rate: -0.119799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848706 deg. 2jn:j @HeadingCmd: 4.814468 target range: 310.500000 and range: 310.50 m. jjjjihhhh`Bfffrfbf`5?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989705ɛ<:= :?I s ɚiI>=I i5~[i5V)1)9*F2F:FBF`0JFG- I6G1 G5 oA I G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2415399nw,'ͻA:и@Y:5ș@::9:>y:Hٷ?`4?@[z?/H`C^?F?ɨ:и@:ry;:CybRBbIIjIjƕ4٢r= rS=9rkQ r>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|49~~?4Y~ i~֍B L ?~qD~;~';~Ǽ4[B AAճEZjAEFNOT Ignoring new targets: 310.50 m.BjMJjM溝] ProNav: ac range: 310.500000 m, nav range: 300.836548 m, bearing: 191.845870 deg, approach rate: 0.030093 m/s, LOS rate: -0.100962 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858160 deg. 2j]:j]z@eHeadingCmd: 4.814633 target range: 310.500000 and range: 310.50 m. jajajijiiihihihqhqfqfqfqrfybf}?ɛE= 隭D?I <ɚiI=Iiiei/))H~>I IIISBI&IGD.I6I6<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494406E$=*F2F:FBFJF"G=G=zKKKh9KK/KG _ $?I Gq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746876Fnw,3l껵AJJ~JJJJα:JJJOyrH7j?I? f?ba??ɨrʒ@rB;rCy~cB~I-Mb@Mb@Mb@))) )))Y-w/?+η?l?y->-v=-=-zA -@)-3@I-@)y-@IEIE4٢U= U$=9].:Q ]>YY eG٣aye; e> mNusing accuracyPremultiplier from configiu49mT~?}4Ymx imB}>}:}w}?mDm;my;mř4 AZjFNOT Ignoring new targets: 310.50 m.BjǺJjǺ- ProNav: ac range: 310.500000 m, nav range: 300.854736 m, bearing: 191.802353 deg, approach rate: 0.036485 m/s, LOS rate: -0.087288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.844644 deg. 2j-o:j-@=HeadingCmd: 4.814397 target range: 310.500000 and range: 310.50 m. j9j9j9j9i9h9hAhAhEBfAfIfIrfIbfM?ɛ}B?,= dL?I KɚiIC=Iii))E5t<*FA2FA:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998290GM 4n/G! B1 OM >ow,A2@Y2F@2nR?;92@>y2H`Dp? ?@k`?^;Kg?Ѯ?ɨ2@2;2CyRdBRIIZIZ4٢b; bj=9b ;Q f>dd fG٣fh4Gyj<< j> 5Nusing accuracyPremultiplier from configl549n1~?=4Yn inB9==?nDnoVI I!IIBI&I.I=D6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501701G G ?G ,?G B O >[ow,AzKZ]JKXKXKZ0KZ0@Y @݄;9yH@)?=?q0?@ @pn?@?ɨ0@Ow;Cy\BIMb@Mb@Mb@ )YV-?bX9ȶ?{Gz?yh>E=ף<A x@)Q@I@y=@IIP4٢ $=9L;Q > G٣y< >  Nusing accuracyPremultiplier from config 49 ~?4Y  i B>:m? D w; ; ]ԙ4! -A)eB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 310.50 m.BjuJju ProNav: ac range: 310.500000 m, nav range: 300.890076 m, bearing: 191.732207 deg, approach rate: 0.044158 m/s, LOS rate: -0.080249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.856059 deg. 2jK\:j-@HeadingCmd: 4.814597 target range: 310.500000 and range: 310.50 m. jjjjih !I!h!h)h-Bf)f)f)rf1bf55@ɛ}Bz-= cH?I 湸ɚiI<=Iif ij))E1eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755140J;JJJJO;JS:JJJ<J<J<J<*F?2F:FBFo0JFG GsAG NG B O >L ow,OY9AF%4@YFC@Fij;9FmL>yFH0?? `@6?0@xv7? ?ɨF%4@F];DyRNBRI^Will construct direction to contact in vehicle frame from tetrahedron phase data.\i\bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005781IZIZV4٢j jr=9z;Q ~?|| G٣y rN<  ? Nusing accuracyPremultiplier from config%49D~?%4YV# iB!-ᠿ-?DX::Jڙ41 5fA1ZjY]FNOT Ignoring new targets: 310.50 m.BjeJJjeJu ProNav: ac range: 310.500000 m, nav range: 300.905579 m, bearing: 191.705365 deg, approach rate: 0.046278 m/s, LOS rate: -0.080123 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.894664 deg. 2ju[:j}@}HeadingCmd: 4.815270 target range: 310.500000 and range: 310.50 m. jyjjjihhhhfffrfbf Bj@ɛu}Bua= quDA?Iq uhmɚyiyI}G=Ii i:))*FA2FA:FABFM4JFIG*GBO%N> ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257625*JC="Ja=Cow,o,SA2Z@Y2`j@28;92>y2H?|?@sY?@=}?V?ɨ2Z@2ۈ;2CHR>IP IR@IIRBIR =&IP.IP6IR)<:IRFBImCJImCRIiZIm =bIm =jIm4ybJBbIIjIjP4٢vn vI=9zZ;Q z>xx ~G٣~i4Gy~cA< >  Nusing accuracyPremultiplier from config 49~?4Y' iBE?D::L4! %A)ZjFNOT Ignoring new targets: 310.50 m.Bj­Jj­ ProNav: ac range: 310.500000 m, nav range: 300.924744 m, bearing: 191.673658 deg, approach rate: 0.045914 m/s, LOS rate: -0.075956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.880072 deg. 2jP:j @ HeadingCmd: 4.815016 target range: 310.500000 and range: 310.50 m. j jjj1i1h1h9h9h9f9fAfArfAbfE` @ɛ}B<= 隵>?I 6ɚiIQ=Iiivh;))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:50:08.0821 TRx dataTimestamp_ set to:1736365809.426330checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513168*F?2F:FBF_5JFzK]/KK]]9KYK]1K]4:L0olF~ Z4 GpGGsAG B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762848J :J xJ J J ;N;J :J J J <J <J k<J k<ow,mAkz@YЉ@t<9!>yHݽ?y?=?@"@NK?ů?ɨkz@ˉ;Cy-BIMb@Mb@Mb@ )Y㥛 ?MbX9?Mb`y>ʡ= A @)I@y@II4٢ %=9s;Q > G٣y1; >  Nusing accuracyPremultiplier from config 49 ~?4Y , i BM>:G? D #; ^; 4! %mA-ҳEZjIUFNOT Ignoring new targets: 310.50 m.BjU+JjU+m ProNav: ac range: 310.500000 m, nav range: 300.945953 m, bearing: 191.633230 deg, approach rate: 0.043616 m/s, LOS rate: -0.083130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853913 deg. 2jm4d:ju@uHeadingCmd: 4.814559 target range: 310.500000 and range: 310.50 m. jqjyjyjyiyhyhyhhBfffrfbf'@ɛ}Bq%= 隽C0?I C~ɚiI,B=Ii/i<))EE*Fe?2Fa:FaBFec5JFa"Gm=Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 19:50:08.0821 LVL= 22816, 28609, 16882, 32755, AGC= 65, IDX= 376,-0.03,-0.538,-1.652,-0.122,-0.990, PHS= 0.539,-0.616, 0.865, RAW= 162.1, -11.7, CAL= 167.0, -18.0, ROT= 343.0, 18.0 =Ygot valid direction response: 19:50:08.0821 LVL= 22816, 28609, 16882, 32755, AGC= 65, IDX= 376,-0.03,-0.538,-1.652,-0.122,-0.990, PHS= 0.539,-0.616, 0.865, RAW= 162.1, -11.7, CAL= 167.0, -18.0, ROT= 343.0, 18.0 EPDAT read: Bearing 343.0, 18.0 (Local) E~Local bearing/azimuth received: Bearing 343.0, 18.0 (Local) MDAT read: Range 10 to 50 : 305.5 m (Round-trip 407.4 ms) speed 0.8 m/s U*DAT read: user:876> ]BDAT read: Tx time:19:50:09.1706 ]$Ping request sent.]i~XA?Nyt?% ɿ)ij [E:publishing transmit ping timeYEFpublishing direction and range info9Lrd5Ƚ?Q+s\?y )Ii )Iii~XA?Nyt?% ɿ)IiG{;GI BY O} >!ow,ᆼA6@Y6m@6 D<96S;>y6H`?yw?& ?'@'?`h?ɨ6@6;6C PITy^B^IIjIj4٢}6 }v=9QTQr|WQ@"4@ϙͿʎQ?"kҎ*kik^?k7" 2keCk9#q?kkkCk>V@JqJu@A addTargetRange:: Added new target pos. range: 305.500000 m, deltaT: 4.031074 s, deltaX: -5.000000 m, approachRate: -1.240364 m/s, rangeRepo size: 4  Added new target pos. range: 305.500000 m, bearing: 193.887819 deg, lat: 36.901803 deg, lon: -122.116725 deg, deltaT: 4.031074 s, deltaX: -5.000000 m, approachRate: -1.240364 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 305.50 m.BjJj- ProNav: ac range: 305.500000 m, nav range: 296.053436 m, bearing: 191.802366 deg, approach rate: 0.000000 m/s, LOS rate: -0.083130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886425 deg. 2j):j-@uHeadingCmd: 4.815126 target range: 305.500000 and range: 305.50 m. jqjqjqjqiqhyhyhyhyfffrfs@bf?ɛ}BB,=  ?I _ɚiI9=IiҨi./<)) *F?2F:FBF3JFHI I4IIBI&IFD.I6I<:I FG {/; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >'ow,ƠAzK=(MOK9K9K=2K=RKm ?JKm>@Y@GQ<9 >yHi? y?h\@ٽ? ǝ 1?`Ͱ?ɨ@\;CyBaIMb@Mb@Mb@ )Yx?t=tA );@Iy@IeIeļ4٢} }.=9}:Q }> G٣j4G Iy > Nusing accuracyPremultiplier from config49~?4Y66 iB2>:Q?Dy~;j;4 >AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 305.50 m.Bj Jj 溝% ProNav: ac range: 305.500000 m, nav range: 296.068634 m, bearing: 191.757696 deg, approach rate: 0.034311 m/s, LOS rate: -0.100841 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841186 deg. 2ji:j @HeadingCmd: 4.814337 target range: 305.500000 and range: 305.50 m. jjjjihhh h BfffrfEWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.bfU7?J;JvJJJO;J:JJJ<J<J<J<ɛ}BR = ?I ;ɚiI =I%i% i%p'<)!))*F?2F:FBF4JFG (<G ?G ?G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992054O >P.ow, AbΉ@Yb3@b/J<9b!>ybHW??|v 2?T? ?ɨbΉ@bn;bCy5B5.IIuIu.4٢Gg b=9NQ > G٣y/ > Nusing accuracyPremultiplier from config49~?4Y: iBx?DX;;B4 AZj1=FNOT Ignoring new targets: 305.50 m.BjeҺJjeҺu ProNav: ac range: 305.500000 m, nav range: 296.080048 m, bearing: 191.723931 deg, approach rate: 0.031040 m/s, LOS rate: -0.091825 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.873894 deg. 2ju|:ju@}HeadingCmd: 4.814908 target range: 305.500000 and range: 305.50 m. jyjjjihhhhfffrfbfP?ɛ}B. = 隍^>I %ɚiIkP=Iih iV<))ER>E*FM?2FQ:FQBFU_0JFQGa GepA $?IgWill construct direction to contact in vehicle frame from tetrahedron phase data.ե>աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.244226G G B O >H I  I II mBI &I .I 6I <:I Ff-5ow, ռA6@Y6@6MW<96>y6HO*??T쿿7@?銿@)E?ּ?ɨ6@6ۉ;6CyB\BB IIJIJļ4٢R V[=9V;Q V>XX ZG٣Xy^K b> fNusing accuracyPremultiplier from config`f49b~?j4YbJ? ibBhjj?bDbX:b:b4p roApZjFNOT Ignoring new targets: 305.50 m.BjVպJjVպ ProNav: ac range: 305.500000 m, nav range: 296.091980 m, bearing: 191.688646 deg, approach rate: 0.031538 m/s, LOS rate: -0.093257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.869336 deg. 2j:j@HeadingCmd: 4.814828 target range: 305.500000 and range: 305.50 m. jjjjihhhhfffrfbf?ɛe}Bet< ae>Ia mvɚiiiIm=Iuiu iu><)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497684*F)2F):F)BF-n0JF1zKV$KKs9KK3KBK=rA:K=rAGUjx< IGI BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748782J :J zJ 0J J ;N;J :J ـ3J J <J <J P<J P<Y;ow,RUAz@Yz빚@zD<9z8j>yzHZ??d: ?I4@?I?ɨz@zf;zCyB IMb@Mb@Mb@ )YV-?V-?Mbyh?h=hA b@)I@y@II4٢ 9=9E, G٣k4Gyv.< > Nusing accuracyPremultiplier from config49~?4YE iB?:?D;+;} 4q uAyZjFNOT Ignoring new targets: 305.50 m.BjJj ProNav: ac range: 305.500000 m, nav range: 296.104523 m, bearing: 191.639945 deg, approach rate: 0.028232 m/s, LOS rate: -0.109614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829090 deg. 2jt:jR @HeadingCmd: 4.814126 target range: 305.500000 and range: 305.50 m. jjjjihhh h-~Bf)f1f1rf1bf5W?ɛ}}B}T< 隅>I ^ɚiI7=Iii{Y<))*F2F:FBFm0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004518G G rAG rAG B O > I *@Bow,p Ayr~BrIIzIz4٢ H  W=9Q > G٣y > -Nusing accuracyPremultiplier from config!-49%~?-4Y%DK i%B115?%D%:%:%!49 EAAZjamFNOT Ignoring new targets: 305.50 m.BjmJjmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252669 ProNav: ac range: 305.500000 m, nav range: 296.115540 m, bearing: 191.597908 deg, approach rate: 0.030613 m/s, LOS rate: -0.116803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849083 deg. 2jR:j-@HeadingCmd: 4.814475 target range: 305.500000 and range: 305.50 m. jjjjihhhhfffrfbf0@ɛ}B%< 隥ё>I ٺɚiI+ =Ii1iAQ<))E*F2F:FBFo0JFjHbH<H>I III BI&I.I6IM<:I0F"G=G=- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504026G UN<G B O >@oHow,`#AzKzKKxKxKz4KzRK ?JK)? QIUgyu~BuI=Mb@Mb@Mb@999 9)9Y=MbX?333333? rhy=*?===C =A =x@)=@I=@9y=Q@ImImY4٢ (=9Q > G٣y > Nusing accuracyPremultiplier from config49P~?4YS iB ,?:H?DJj;w;4e]B eAeҳEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757002B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 305.50 m.Bj Jj  ProNav: ac range: 305.500000 m, nav range: 296.128235 m, bearing: 191.534384 deg, approach rate: 0.024477 m/s, LOS rate: -0.122473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784623 deg. 2j:j@%HeadingCmd: 4.813350 target range: 305.500000 and range: 305.50 m. j!j!j!j!i!h!h!h)h-W}Bf1fYfYrfabfe e@ɛ}BB&F< 隽V>I ɚiI#=IiiRQ<))*Fi2Fq:FqBFqJFqG zQ<5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009806Gi By O >Now,`=AyU5~BUVIIe,Ie5٢}nZ }m=9yQ }? G٣l4Gy ? Nusing accuracyPremultiplier from config49~?4YY iڍB?)D:;!4 AZjFNOT Ignoring new targets: 305.50 m.Bj+"Jj+" ProNav: ac range: 305.500000 m, nav range: 296.137329 m, bearing: 191.489914 deg, approach rate: 0.028995 m/s, LOS rate: -0.141779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841779 deg. 2j»:j"@HeadingCmd: 4.814347 target range: 305.500000 and range: 305.50 m. jjjji h h h h fffrfbf@ɛE}BEj< AE >II M]ɚIiIIM8=IUiU*8iU9/R<)Q)Y*F2F:FBF`5JF IeWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:19:50:11.9800 }TRx dataTimestamp_ set to:1736365813.209307}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265731J 6J yJ 1J J K;J 7:J 3J a@a@a@a@)) )GI<G?G>% ~GA a Gy B O > PY y BHQ IQ  IU !IIU BIQ &IQ .IU 11 5G٣1y9 => ENusing accuracyPremultiplier from configAM49E2~?M4YEF` iEӍBIIU?E:DE:E:E(4Y ]AYZjFNOT Ignoring new targets: 305.50 m.BjJj ProNav: ac range: 305.500000 m, nav range: 296.147919 m, bearing: 191.439152 deg, approach rate: 0.027005 m/s, LOS rate: -0.129445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822908 deg. 2j:jo @HeadingCmd: 4.814018 target range: 305.500000 and range: 305.50 m. jjjjihhhhfffrfbf` @ɛ}B,i; ~==I <ɚiIg=I i Oi çR<) )EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513352*F2F:FBF4JFG GtAzK=JK=9K9K=5K=GN< $?I!GBO} >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:50:11.9800 LVL= 26288, 32753, 18370, 32755, AGC= 63, IDX= 215,-0.02,-3.051, 2.090,-2.558,-3.078, PHS= 0.115,-1.068, 0.516, RAW= 164.1, 6.2, CAL= 164.1, -3.3, ROT= 345.9, 3.3  Ygot valid direction response: 19:50:11.9800 LVL= 26288, 32753, 18370, 32755, AGC= 63, IDX= 215,-0.02,-3.051, 2.090,-2.558,-3.078, PHS= 0.115,-1.068, 0.516, RAW= 164.1, 6.2, CAL= 164.1, -3.3, ROT= 345.9, 3.3  PDAT read: Bearing 345.9, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 345.9, 3.3 (Local)  DAT read: Range 10 to 50 : 303.9 m (Round-trip 405.3 ms) speed 0.4 m/s  *DAT read: user:877>  BDAT read: Tx time:19:50:13.0706  $Ping request sent. yJHQ?ๆ? f``*j?_`H??ɨJ@J;JCyv}BvI]Mb@Mb@Mb@YYY Y)YY]RQ?i|?5?V-y]B?]q=]]A Y)]I@I]@Yy]@I2I5٢ 0=9;Q > G٣y > Nusing accuracyPremultiplier from config 49 ? 4Yei iˍB IC? : f ?QD;8;049 =A9kZ?k k kMmA:kCBkCZkA@"ph]:QNڢqavNW@bow,.VANWill construct direction to contact in vehicle frame from tetrahedron phase data.y=}B=IJU>JUzJQJQJU[Q;JU:JQJQIMIM4٢t Y=9Q > G٣m4Gy > Nusing accuracyPremultiplier from config49?4Yp iÍB?cD-/;/;K74 AԳEZjiFNOT Ignoring new targets: 303.90 m.BjR$JjR$ ProNav: ac range: 303.899994 m, nav range: 296.923401 m, bearing: 174.202274 deg, approach rate: 0.231339 m/s, LOS rate: -0.143659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814122 deg. 2j/Ż:j. @HeadingCmd: 4.813865 target range: 303.899994 and range: 303.90 m. jjjjihhhhfffrfbf?ɛ=}B=oM 9=ʼIA eWɚaiaIeE=Imim9im <)i)qZHRH?AHI III~BI&I.I6I^<:I>FBIQJIQRIQZIU =bIU =jIUĂ4*F2F!:F!BF%`0JF!GMh <GBOf>MWill construct direction to contact in vehicle frame from tetrahedron phase data.iow,3AzKjKKj9KhKj6Kj++60$  )I-g}8@Y}OH@}%<9}r=y}H@Ի?? ?xp ? ȿ?ɨ}8@};}Cyޝ}BޝIMb@Mb@Mb@ )YX9v?X9v?~jtyS?}=A )$@Ip@y @IM3IM 5٢]vB ]1=9e註Q e>ii mG٣iym u> }Nusing accuracyPremultiplier from configq49u ?4Yuz iuB\T?:??u{Du;u;uB?4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 303.90 m.Bj<2Jj<2 ProNav: ac range: 303.899994 m, nav range: 297.030670 m, bearing: 174.132373 deg, approach rate: 0.239213 m/s, LOS rate: -0.155826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765559 deg. 2jջ:j<@HeadingCmd: 4.813017 target range: 303.899994 and range: 303.90 m. jjjjihhhh/|BfffrfbfyO?ɛE}BE IUEIQ UɚQiQIU*X=Iii%(C:)!)!E= <EE N>EE >*F 2F :F BF 4JF "G =G =U Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] Ae T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.GP <GBO?Lqow,ǽA ,I0Fl@YF@F̈́<9F2&>yFH C?@?Z ڹ?@+ ?ݾ?ɨFl@F;FCyRe}BRII^I^4٢f_| f8=9jQQ j>ll nG٣lynx6 r> vNusing accuracyPremultiplier from configpv49r}?z4Yr= ztIirBxz౿z?rDpr_;rG4^B ZAѳEZj)5FNOT Ignoring new targets: 303.90 m.Bj5/Jj=/E ProNav: ac range: 303.899994 m, nav range: 297.133820 m, bearing: 174.064250 deg, approach rate: 0.233010 m/s, LOS rate: -0.153834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.770890 deg. 2jM&ӻ:jM@UHeadingCmd: 4.813110 target range: 303.899994 and range: 303.90 m. jQjQjQjQiQhYhYhYhYfafafarfabfe@e?ɛ}Bvֻ 隕I ɚiI=Ii iG0))Em;=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495067*J4="JR=J:JJJJ;N;Jf:JJ*F!2F!:F!BF%`0JF!G*;GBOD>H>I IeIIO~BI&I.I6IӰ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746589 xow,rήA>@Y>g @>V<9>p>y>H??Ps2?"b?@?ɨ>@>;tt vG٣vn4Gyzgӻ z> ~Nusing accuracyPremultiplier from config|49~?4Y~ i~B  6 ?~D~7:~:~N4 %NA!ZjFNOT Ignoring new targets: 303.90 m.Bjb)Jjb)M ProNav: ac range: 303.899994 m, nav range: 297.227570 m, bearing: 174.002004 deg, approach rate: 0.223105 m/s, LOS rate: -0.148086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788508 deg. YIYzKmPLKms9KiKm7KmBKy:K}qA2jMB˻:j@HeadingCmd: 4.813417 target range: 303.899994 and range: 303.90 m. jjjjihhhhfffrfbf@)?ɛ}}B} ̻ y隅I źɚiIk=Iisi0))ErAErAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998814Eȿ=E*Fe ?2Fa :Fa BFe w3JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250635G9GBO?.ow,tAN@YNZ@ND,<9N1>yNH:P?୙?@&g@`? Y ?Ծ?ɨN@N>;NCyV~}BZI`bAMMb@Mb@Mb@III I)IYMjt?V-?MbpyM`?Mh=MM;A Mb@)IIM@IyIIe5Ie5٢u%= u=9}9Q }>y G٣yK > Nusing accuracyPremultiplier from config49?4Y iBa?q:?D;U;cW4 AҳEZjFNOT Ignoring new targets: 303.90 m.Bj7Jj7 ProNav: ac range: 303.899994 m, nav range: 297.359283 m, bearing: 173.915402 deg, approach rate: 0.243561 m/s, LOS rate: -0.160069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.715500 deg. 2jۻ:j@HeadingCmd: 4.812143 target range: 303.899994 and range: 303.90 m. jjjjihhhh,|Bfffrf $?I gbf`gj@ɛu}Bu) q}P`Iy }i̺ɚyiyI}^=Iiiϻ))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504548JK 3 KS}-KK"KJ=JzJJJP;J:JJ*F?2F:FBF2JFHq Iq  Iu 9IIu ~BIq &Iq .Iq 6Iu <:Iu FG Pm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755188G B O >ow,f A~@Y~@~DYu<9~>y~H? ? % h޶?;`ݪ?@?ɨ~@~g;~Cy}BII%JI%:5٢5/T= 55=9='Q =>99 EG٣AyE} E> ]Nusing accuracyPremultiplier from configQe49U\%?e4YUw iUBimm?UDUT;UbU;UP_4y }AyZjFNOT Ignoring new targets: 303.90 m.BjDJjD ProNav: ac range: 303.899994 m, nav range: 297.469543 m, bearing: 173.841386 deg, approach rate: 0.256351 m/s, LOS rate: -0.172022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.753221 deg. 2j:jy@HeadingCmd: 4.812802 target range: 303.899994 and range: 303.90 m. jjjjihhhhfffrfbf@@ɛ }B x  \I  кɚiIݟ=IiriL)) aIazKN KK9KK8KRK>JK>*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007779G] ҸG9 BI Oe >͍ow,29A>@Y>@>h<9>b>y>HtѶ?{? @@,?sE?@?ɨ>@>=; MJ=9MQ M>QQ UG٣Uo4Gy] ]> eNusing accuracyPremultiplier from configam49e)?m4Yes ieBmtZ?mx:uu?eDe ;e;ecf4y }AyB*** querying acoustic contact ***jjZj-FNOT Ignoring new targets: 303.90 m.Bj-5Jj55= ProNav: ac range: 303.899994 m, nav range: 297.560883 m, bearing: 173.777245 deg, approach rate: 0.226046 m/s, LOS rate: -0.158686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782825 deg. 2jEٻ:jE@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:19:50:15.8584 uTRx dataTimestamp_ set to:1736365816.984771}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259807HeadingCmd: 4.813318 target range: 303.899994 and range: 303.90 m. jjjjihhhh|Bfffrfbf@ H @ɛ}B`28 p QIQ Will construct direction to contact in vehicle frame from tetrahedron phase data. = <% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510896=ow,\SA2T|@Y2@2oX<92>y2HD?s?`9YZ?6 `m??ɨ2T|@25;2CyB}BB,IIZ;IZ 5٢5ե= 5L=9=RQ E>AA EG٣AyUOHiIi IiIiIi&Ii.Ii6Im<:ImF > Nusing accuracyPremultiplier from config49.?4Y iB? D7:n;m4_B 3AԳEZjFNOT Ignoring new targets: 303.90 m.Bj<5Jj<5 ProNav: ac range: 303.899994 m, nav range: 297.652740 m, bearing: 173.712184 deg, approach rate: 0.223779 m/s, LOS rate: -0.158449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780065 deg. 2j{ٻ:jO@HeadingCmd: 4.813270 target range: 303.899994 and range: 303.90 m. jjjji h h h h fffrfbf%Y @ɛIU#; )5e=I1 =)Ǻɚ9i9I==IEiEiEo)A)I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763638G kBG B1 a Im gO >zK= BJK= 9K9 K= 9K= BKM sA:KM rAܚow,!mA2r@Y2@2N<92@>y2H@j? ?_@ ?-ى@4??ɨ2r@2V;2CyN.~BNQIrWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 19:50:15.8584 LVL= 30192, 29089, 19010, 32755, AGC= 64, IDX= 207,-0.16,-1.602,-2.678,-1.149,-1.985, PHS= 0.471,-0.646, 0.833, RAW= 163.6, -9.9, CAL= 167.8, -16.4, ROT= 342.2, 16.4 =Ygot valid direction response: 19:50:15.8584 LVL= 30192, 29089, 19010, 32755, AGC= 64, IDX= 207,-0.16,-1.602,-2.678,-1.149,-1.985, PHS= 0.471,-0.646, 0.833, RAW= 163.6, -9.9, CAL= 167.8, -16.4, ROT= 342.2, 16.4 EPDAT read: Bearing 342.2, 16.4 (Local) E~Local bearing/azimuth received: Bearing 342.2, 16.4 (Local) UDAT read: Range 10 to 50 : 287.7 m (Round-trip 383.7 ms) speed 0.4 m/s J<JuJJJO;J$:JJJI ]BDAT read: Tx time:19:50:16.9721 e$Ping request sent.evB`%v}?U?v36@v;0 v5o;@)vCIv@ivC>ttvS{{?6HS?Gſ)v̵B?Iv0>ivνv(xtt=:publishing transmit ping timea=Fpublishing direction and range infot9v}Gh,?8S%?ytttt t)tItittttt t)tItitttvS{{?6HS?Gſ)tItittttMb@Mb@Mb@ )YB`"?l??yN?=<;A @)h@Iy@Iu<Iu 5٢F= =9ΙQ > G٣yJ > Nusing accuracyPremultiplier from config494?4Y\ iBO?:&?'D;;v4`B DAѳEkvX$?kvQ kt kv?noA:kvُCBkvCZkvT@"v[B7@Epa+X@v}Gh,?8S%?JkvνRkv(x*vC;ڇSq}H彁M@v$ј+U* TEpſDW?"kv@*kvkv2#?kvvyݵ 2kvBkv9#q?kvvyݵ kv BkvqCkvFS@ addTargetRange:: Added new target pos. range: 287.700012 m, deltaT: 4.033230 s, deltaX: -16.199982 m, approachRate: -4.016627 m/s, rangeRepo size: 4  Added new target pos. range: 287.700012 m, bearing: 189.860635 deg, lat: 36.901803 deg, lon: -122.116647 deg, deltaT: 4.033230 s, deltaX: -16.199982 m, approachRate: -4.016627 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 287.70 m.Bj%Jj!5 ProNav: ac range: 287.700012 m, nav range: 294.886017 m, bearing: 189.405046 deg, approach rate: 0.000000 m/s, LOS rate: -0.158449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.722923 deg. 2j:j$@HeadingCmd: 4.812273 target range: 287.700012 and range: 287.70 m. jjjjihhhh}Bff1f1rf=@3q@bf=@?ɛϮ; 隅=I jɚiI=Ii\i`ё))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa 2Fa :Fi BFi JFi Y IY G ňG sAG sAGIBQOu>Ңow,8؋A6W@Y6kf@60<96 >y6H@δ? Λ?ilR??`OU13?9?ɨ6W@6Ǘ;6Cy>}~B>IIFIF4٢n a> rk=9rQ r?tt vG٣vp4Gyz z? ~Nusing accuracyPremultiplier from config|49~y8?4Y~ i~B?~9D~ :~:~|4  AZj9=FNOT Ignoring new targets: 287.70 m.BjE>JjE>U ProNav: ac range: 287.700012 m, nav range: 294.887146 m, bearing: 189.350780 deg, approach rate: 0.003467 m/s, LOS rate: -0.166601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812390 deg. 2jU:jU @eHeadingCmd: 4.813834 target range: 287.700012 and range: 287.70 m. jajajajaiahihqhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.f~~GrfbfB?vA YvAyBɛ}B3^< SD>I ɚiIP=IEiE\TiM)I)I*F2F:FBFJFZH9RH9HAIA IEkIIEY~BIA&IA.IA6IE<:IE FG= , Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! OE >,ow,؞A6{R@Y6a@6 <96t7>y6H⩴??`%G&?甿 F? fL=9jQ j>hl nG٣lyr5 r> vNusing accuracyPremultiplier from configtz49v =?z4Yv ivBx~~?vNDv3;v|4;v4  A ҳEZj I5FNOT Ignoring new targets: 287.70 m.BjEE/JjME/ ProNav: ac range: 287.700012 m, nav range: 294.888611 m, bearing: 189.287604 deg, approach rate: 0.003553 m/s, LOS rate: -0.153235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785660 deg. 2jSһ:j@zK]JK9KK:KmHeadingCmd: 4.813368 target range: 287.700012 and range: 287.70 m. jijijijiiihqhqhqhqfyfyfyrfybf}?ɛ}BY+< ׀>I ӉɚiI1=Ii i))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFJ6JwJJJK;J-:JJJ=<J=<J<J<G G B O > ow,PsA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:%N@Y:]@:<9: >y:H]?@??`M ?8b?D?ɨ:%N@:W;:CyF~BFIMb@Mb@Mb@ )Y5^I ?+? EC=9MX"Q M>II UG٣QyUݥ U> Nusing accuracyPremultiplier from config49A?4YG iˍB_9? :  ?bD+;w;24 "AUB*** querying acoustic contact ***jYjYZjaeFNOT Ignoring new targets: 287.70 m.Bjm"Jjm" ProNav: ac range: 287.700012 m, nav range: 294.894592 m, bearing: 189.226016 deg, approach rate: 0.013838 m/s, LOS rate: -0.142485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790428 deg. 2jû:j@HeadingCmd: 4.813451 target range: 287.700012 and range: 287.70 m. jjjjihhhh6~Bfffrfbf[?ɛ׭< 隍 >I RɚiI=Ii ii))E Ig*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G |G ?G >G B O >Ha Ia  Ie IIe ~BIa &Ia .Ie =D6Ie <:Ie FBI JI RI ZI bI jI ˁ4q ow,?VپA2`@Y2~o@2A<92,>y2Hp?c? W@Ȉ?T??ɨ2`@2h;2Cyj(BjIIr&IrF5٢z= zO=9~:Q ~> G٣q4Gy ;  > Nusing accuracyPremultiplier from config49E?%4YN iӍB!%%?sD;::4) 5bA1ZjQ]FNOT Ignoring new targets: 287.70 m.Bj]"Jje"m ProNav: ac range: 287.700012 m, nav range: 294.900513 m, bearing: 189.173332 deg, approach rate: 0.016013 m/s, LOS rate: -0.142495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817136 deg. 2juû:ju @}HeadingCmd: 4.813917 target range: 287.700012 and range: 287.70 m. jyjyjyjyiyhhhhfffrfbfM?ɛ}B< >I ɚiIˠ=Iimi))UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.715366*Fi2Fq:FqBFu3JFqG $?IGB1 OU >zK .JK K K ;K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966861J 8J J J J L;J J J J <J <J J 2ow,(Ay]fBeI m=iMb@Mb@Mb@ )YT㥛 ? rh?+?y!?C== A @)VAI@y@II%4٢- > -8=9-Q ->11 EG٣AyM U> mNusing accuracyPremultiplier from configa}49e=J?}4Ye ie܍BE"?:?eDe;e?;e4 jAZjFNOT Ignoring new targets: 287.70 m.Bj Jj  ProNav: ac range: 287.700012 m, nav range: 294.906372 m, bearing: 189.118521 deg, approach rate: 0.012985 m/s, LOS rate: -0.121461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810760 deg. 2j:j @HeadingCmd: 4.813806 target range: 287.700012 and range: 287.70 m. jjjjihhhh~Bfffrfbf A@ɛ B|< >I (ɚiI8\=Ii%*i%)!)!*F2F:F!BF%0JF!]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.218846Ge ݗ I GY Bq O >Low, A6@Y6@6v.<96C>y6H?@P?F¿@?ٗtw?ҩ?ɨ6@6y1;6CyfBf4IIrIrB4٢v> z`=9zC;Q z>|| ~G٣|yē< >  Nusing accuracyPremultiplier from config 49 M?4Y  i B+? D V; ; ֟4! %A!ZjIUFNOT Ignoring new targets: 287.70 m.Bj]kJj]km ProNav: ac range: 287.700012 m, nav range: 294.912720 m, bearing: 189.074295 deg, approach rate: 0.017871 m/s, LOS rate: -0.124512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842510 deg. 2jm窻:jm=@uHeadingCmd: 4.814360 target range: 287.700012 and range: 287.70 m. jqjqjqjyiyhyhyhhfffrfbf@@ɛWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470894Z!= f<>I $9ɚiI=Ii8}i9^))JJAA*FQ2FY:FYBF]4JFYjH<bHp<HI IIIlBI&I.I6I<:I FG5G=rAG9G)B9O]>m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724082sEow,&A>9@Y>ř@>e6<9>L>y>Hķ?L?@b¿? -҆d? ?ɨ>9@>;>CyFBFCIIN IN4٢ZWv= ZN=9^:Q ^>`` bG٣br4Gyb$< f> jNusing accuracyPremultiplier from configdj49fQ?n4Yf ifBlnr?fDfA;fET;fĦ4aB 0A ѳEZj9EFNOT Ignoring new targets: 287.70 m.BjM JjM m ProNav: ac range: 287.700012 m, nav range: 294.920898 m, bearing: 189.025587 deg, approach rate: 0.020333 m/s, LOS rate: -0.121090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829069 deg. 2jm4:jmQ @ IgHeadingCmd: 4.814126 target range: 287.700012 and range: 287.70 m. jjjjihhhqhyfffrfbf@@zKU KKU 9KQKU<KUɛ}B=  >I  B$:ɚ i If=I%iEiM0)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974989J7JvJJJK;J:JJJ<J<J<J<*F2F:FBFO5JFG% NG B O% >&-ow,^@AWill construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:19:50:19.7786 TRx dataTimestamp_ set to:1736365821.016933checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228186BԒ@YB @B=<9B>yBH@춸?`6?@lg¿/@_?6?4?ɨBԒ@BS7;BCyNBR[ITVA-Mb@Mb@Mb@))) )))Y-Q?333333?~jt?y-?-=-=-3 A -@)-AI-@)y-f@IEIEk4٢U= UA=95=f:Q 5>99 =G٣9yE< E> MNusing accuracyPremultiplier from configIU49MaV?U4YMF iMBU ?U:U\]?MDM ;M ;M4a eAa}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 287.70 m.BjSJjS򺝊 ProNav: ac range: 287.700012 m, nav range: 294.937286 m, bearing: 188.978254 deg, approach rate: 0.036677 m/s, LOS rate: -0.105928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833196 deg. 2je:j @HeadingCmd: 4.814198 target range: 287.700012 and range: 287.70 m. jjjjihhhhxBf f f rf)bf5 @ɛ}B= 隵?I :ɚiI`d=IiKi)) I*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478825*JC="Ja=G -,G B O >H I  I lII BI &I .I 6I <:I FWow,ٙZAV6@YV@VE`E<9V]>yVH ٹ?? qK¿"?᫈ϊ??ɨV6@V,;TyjBjfIIvIv4٢~$7= ~P=9:Q >   G٣ y xH<  > Nusing accuracyPremultiplier from config49%Z?%4YT iB!%ȫ%?D ; ; 4) -LA1ZjFNOT Ignoring new targets: 287.70 m.BjJj庝 ProNav: ac range: 287.700012 m, nav range: 294.951508 m, bearing: 188.940094 deg, approach rate: 0.037402 m/s, LOS rate: -0.100356 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.860713 deg. 2j:j@HeadingCmd: 4.814678 target range: 287.700012 and range: 287.70 m. jjjjihh!h!h!f!f)f)rf)bf- @ɛ}B*= 隝# ?I :ɚiI=IiiZ))=Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 301.6 m (Round-trip 402.2 ms) speed 0.7 m/s ]*DAT read: user:879> eBDAT read: Tx time:19:50:20.8707 m$Ping request sent.mQ$ow,wAymBumIEMb@Mb@Mb@AAA A)AYEX9v?L7A`?:v?yE>E+=Eqq uG٣us4Gy} }> Nusing accuracyPremultiplier from configy49}^?4Y}d i}Bg>:?}D};}_;}4  A addTargetRange:: Added new target pos. range: 301.600006 m, deltaT: 3.779971 s, deltaX: 13.899994 m, approachRate: 3.677275 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 287.70 m.Bj6ۺJj6ۺ ProNav: ac range: 287.700012 m, nav range: 294.968994 m, bearing: 188.894307 deg, approach rate: 0.036598 m/s, LOS rate: -0.095825 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837833 deg. 2j:j@HeadingCmd: 4.814279 target range: 287.700012 and range: 301.60 m. jjjjihhhhBf f f rf r@bfg)?ɛE}BE0&= AE|?IA M;ɚIiIIM=IUiU^iUٗ)Q)YE=<Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JF  I G% TG B O5 >ow,'ڐA2Will construct direction to contact in vehicle frame from tetrahedron phase data.yB%wII5I5a4٢=<= Ea=9AQ E>II MG٣IyI U>JaJexJaJaJaJe:JaJaam@am@am@am@ uNusing accuracyPremultiplier from configQu49Ub?4YU iU B?UDUvtow,fAzKKK9KK>KRK5?JK5?u+@Yu.;@u&<9u >yuH`rl?`^? + o@պ?䘿؄~?{?ɨu+@uK;qyލBލpI5Will construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYU'1Z?Mb?{Gz?yU>U=U# G٣yOM< > Nusing accuracyPremultiplier from config49f?4Y iB:>:?DU;;̚4  AZjFNOT Ignoring new targets: 287.70 m.BjϺJjϺ ProNav: ac range: 287.700012 m, nav range: 295.002380 m, bearing: 188.817775 deg, approach rate: 0.043245 m/s, LOS rate: -0.090763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847214 deg. 2j(y:j@ HeadingCmd: 4.814442 target range: 287.700012 and range: 301.60 m. j j!j!j!i)h)h1hAhMBfYfifirfibfmf?ɛ%}B%= !%?I! %iC;ɚ)i)I-=I5i5Ii5pN:)1)9EA*F2F:FBFJFG Qp Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > ow,cǿA2H@Y2WX@2,<92y >y2HMT? ?> : j?@'a??ɨ2H@22;2CyNBRdIIVIV4٢^@i bn=9b:Q b?dd fG٣ft4Gyf)< j? nNusing accuracyPremultiplier from confighr49ji?r4Yjn ijBprr?jDjC ;j ;jҚ4zbB zbAzӳEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 287.70 m.BjGJjG ProNav: ac range: 287.700012 m, nav range: 295.017120 m, bearing: 188.788114 deg, approach rate: 0.040468 m/s, LOS rate: -0.081429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.886207 deg. 2j_:j|@%HeadingCmd: 4.815123 target range: 287.700012 and range: 301.60 m. j!j!j!j!i!h!h)h)h)f)f1fQrfQbfU ? $?Igɛ}Bn3= 隥 ?I X\;ɚiId=Iifig;))) IexAy ?YxAyB*F2F:FBFp0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.G!J-6J-yJ)J)J-K;J-7:J)J)GaBiOZ>HI IIIIBI =&I.I6I<:I Fow,=῵A>Wr@Y>@>S}M<9> >y>H*?~? L8Z ?Oڜ@~(?`??ɨ>Wr@>%;<bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017340yfBjNIprAIvIv+4٢z2 ~G=9~;Q ~> G٣y NI<  > Nusing accuracyPremultiplier from config49m?4Y iB!%k%?D;b;ٚ4) -A)ZjQ]FNOT Ignoring new targets: 287.70 m.BjeQкJjeQкu ProNav: ac range: 287.700012 m, nav range: 295.035858 m, bearing: 188.752552 deg, approach rate: 0.047984 m/s, LOS rate: -0.091062 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.868509 deg. 2juy:ju@}HeadingCmd: 4.814814 target range: 287.700012 and range: 301.60 m. jyjyjjihhhhfffrfbfd@ɛ}B$= +?I >u;ɚiI =Iipi;))*Fq2Fq:FqBFu0JFq IG}9zKKK9KK?KBKrA:KtAG1B9O]>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269444ow,A6@Y6d@6~w<96 >y6H ߾?x? G`C ??`?ɨ6@6;6CyJBN;I]Mb@Mb@Mb@YYY Y)YY]v/?V-?Mb`y]x>]h=]]3 A ]@)]hAI]3@Yy]@ImImH4٢} B=9;Q > G٣y@< > Nusing accuracyPremultiplier from config49r?4Y iI>:? D;';(4cB qAгEZjY]FNOT Ignoring new targets: 287.70 m.BjeĺJjeĺ ProNav: ac range: 287.700012 m, nav range: 295.059540 m, bearing: 188.715054 deg, approach rate: 0.054114 m/s, LOS rate: -0.085679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.862702 deg. 2j3k:j @HeadingCmd: 4.814713 target range: 287.700012 and range: 301.60 m. jjjjihhhhlBfffrfbfO@ɛU}BU= Q]>IY ]È;ɚYiYI]=Ieie%ie(?<)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521651*F?2F:FBF 1JF qIqGE &;GM ?GM >G) B9 Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773473J9 J= uJ9 J9 J9 J= $:J9 J9 Npw,A6G“@Y6њ@6<96 >y6H ?s? C '+?@~?`,?ɨ6G“@67;6CyRtBRIIZIZ%4٢b@  bW=9b;Q b>dd fG٣fu4GyfO< j> nNusing accuracyPremultiplier from confighr49j0v?r4Yj} ihprPv?jDj ;j: ;j4x zGAxjH<bH<HI III?BI =&I.I6I<:I FBIaJIaRIaZIabIajIe4ZjFNOT Ignoring new targets: 287.70 m.Bj˺Jj˺ ProNav: ac range: 287.700012 m, nav range: 295.081787 m, bearing: 188.681338 deg, approach rate: 0.058710 m/s, LOS rate: -0.088970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.874046 deg. 2jI _;ɚiIR=Ii&^iB<))*F?2F:FBFb5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025593G(<G B O > q Iq ; pw,/Aٓ@Y@&<9 >yHTh? Or?lͺEҿ?@.@?ְ?zKBJKs9KK@Kɨٓ@ ;騉yޭABޭI p==Will construct direction to contact in vehicle frame from tetrahedron phase data.4><checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277803Mb@Mb@Mb@ )YMb?333333?~jty?=DI A )AI@y(AII4٢q׽ -=9;Q > G٣yr; > Nusing accuracyPremultiplier from config49{?4Y& iB?:?&Dn;;0:;4 AZjFNOT Ignoring new targets: 287.70 m.BjJj㺝- ProNav: ac range: 287.700012 m, nav range: 295.112152 m, bearing: 188.634311 deg, approach rate: 0.064221 m/s, LOS rate: -0.099449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834122 deg. 2j-:j- @5HeadingCmd: 4.814214 target range: 287.700012 and range: 301.60 m. j1j1j1j1i1h1h9h9h=Bf9fafarfabfe @ɛ}B+< 隵>I ;ɚiIDi=I-i-!a i-<)))1*F2F:FBFX3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:50:23.6712  TRx dataTimestamp_ set to:1736365825.056659 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530531G y<G B O >|pw,ҬHA6@Y69@6fQ<96 >y6H@"?`|p?z ; #?)iL?@?ɨ6@6:;6Cy>~B>IIJIJ_4٢R)a Rv=9RX;Q R?TT VG٣TyVu; Z? ^Nusing accuracyPremultiplier from configXb49Z?b4YZ+ iZB`b|b?Z1DZ ;Zu ;Z4h j>AlzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 287.70 m.Bj Jj ﺝ ProNav: ac range: 287.700012 m, nav range: 295.134033 m, bearing: 188.601212 deg, approach rate: 0.069215 m/s, LOS rate: -0.104692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.875898 deg. 2j:j@%HeadingCmd: 4.814943 target range: 287.700012 and range: 301.60 m. j!j!j!j!i)h)h)h)h)f1f1f1rf1bf=; @ Iɛ%}B%g< !%>I! -;ɚ)i)I-PY=I5iU2 iU<)Q)a*F 2F :F BF `0JF G GEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781729J%8J%wJ%0J!J%L;J%-:J%ـ3J!HI IIIBI&I.I6I:I FG5T<G5sAG1GB O >(;pw,bA6]@Y6@6(~<96. >y6H`?@p?@wB@3?פ`8ϗv?*?ɨ6]@6]ъ;6CyB~BBIIJIJ%4VWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:50:23.6712 LVL= 27376, 32753, 18866, 32755, AGC= 63, IDX= 371,-0.17,-1.614,-2.619,-1.167,-1.996, PHS= 0.470,-0.577, 0.826, RAW= 164.1, -11.4, CAL= 168.7, -17.5, ROT= 341.3, 17.5 %Ygot valid direction response: 19:50:23.6712 LVL= 27376, 32753, 18866, 32755, AGC= 63, IDX= 371,-0.17,-1.614,-2.619,-1.167,-1.996, PHS= 0.470,-0.577, 0.826, RAW= 164.1, -11.4, CAL= 168.7, -17.5, ROT= 341.3, 17.5 -PDAT read: Bearing 341.3, 17.5 (Local) -~Local bearing/azimuth received: Bearing 341.3, 17.5 (Local) EDAT read: Range 10 to 50 : 297.3 m (Round-trip 396.4 ms) speed 0.3 m/s M*DAT read: user:880> UBDAT read: Tx time:19:50:24.7707 U$Ping request sent.UZFZtS?Z-M7@Z%K Zp<@)ZaIZ-@iZa>XXZ|i,?/c?X͖@ɿ)Z(E?IZ4ZK>iZйZ;XX}:publishing transmit ping timeQ}Fpublishing direction and range infoX9Z(QO?wqCx&?yXXXX X)XIXiXXXXX X)XIXiXXXZ|i,?/c?X͖@ɿ)X٢}> 0=9(?;Q > G٣v4Gyz: > Nusing accuracyPremultiplier from config49`?4Y)1 i Be?@D;5;4dB AѳEIXiXXXXkZ; "#?kZ kX kZcA:kZCBkZCZkZY@"ZY'I i;ɚiIj=Iii <) ) zK5UKK5+9K1K5AeWill construct direction to contact in vehicle frame from tetrahedron phase data.K5*F ?2F :F BF _5JF Gm<GABQOm? pw,݂ANWill construct direction to contact in vehicle frame from tetrahedron phase data.^Ɠ@Y^֚@^$<9^P=y^H ?@-?u A?@`ws?૿?ɨ^Ɠ@^;;\yf~BfI|~A=Mb@Mb@Mb@999 9)9Y=|?5^?/$?~jty=?==== A 9)=hAI99y=@II4٢ %=9-9Q ->)1 5G٣1y5 => Nusing accuracyPremultiplier from config49o?4Y9 iB?:륿?TD ; ;R4cB AZjFNOT Ignoring new targets: 297.30 m.BjJjE ProNav: ac range: 297.299988 m, nav range: 295.344391 m, bearing: 189.846720 deg, approach rate: 0.061230 m/s, LOS rate: -0.115864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796227 deg. 2jE:jM@MHeadingCmd: 4.813552 target range: 297.299988 and range: 297.30 m. jIjQjQjQiQhQhQhYhX~BfffrfbfR? $?Igɛ}}B}< y}kA>Iy ;ɚiI}=Iiiiw<))*F5?2F1:F1BF5P5JF1MWill construct direction to contact in vehicle frame from tetrahedron phase data.J J ZHy RHy H I  I @II BI &I .I 6I <:I FG )ş<Gi Bq O > &pw,6A6@Y6@6<96O=y6HY;??㻾z@?1 JR ²? ?ɨ6@6;6Cy>9~B>XIIJIJ4٢Rf Ru=9Rm:Q V?TT VG٣Ty^B ^? bNusing accuracyPremultiplier from config`f49b?f4Yb= ibBdfkj?b`Db:b:b 4EdB E:AEγEZjimFNOT Ignoring new targets: 297.30 m.BjJj ProNav: ac range: 297.299988 m, nav range: 295.362823 m, bearing: 189.810715 deg, approach rate: 0.055928 m/s, LOS rate: -0.109239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.867179 deg. 2j:j@HeadingCmd: 4.814791 target range: 297.299988 and range: 297.30 m. j j j jihhhhfffrfbf%`?ɛM}BM6V< QU=IQ U;ɚQiQIU=I]i]|ie8hB<)amWill construct direction to contact in vehicle frame from tetrahedron phase data.)q*F2F:FBF_0JF!G<G  ?G  ?GBOj> qIqzK 2KK K K BK NZ=" % Will construct direction to contact in vehicle frame from tetrahedron phase data.J 3J sJ 1J J H;J :J 3J J 6IMb@Mb@Mb@ )Yv/?+η?~jtyx)?v= A )~AI@yII4٢%鷽 %5=9-Q ->)) -G٣5w4Gy= E> ]Nusing accuracyPremultiplier from configQm49UU?m4YUwE iUBm4+?m:m7u?UsDU;Ucl;U4 AZjFNOT Ignoring new targets: 297.30 m.BjvJjvE ProNav: ac range: 297.299988 m, nav range: 295.391266 m, bearing: 189.752001 deg, approach rate: 0.064153 m/s, LOS rate: -0.132418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799062 deg. 2jE:jE @mHeadingCmd: 4.813601 target range: 297.299988 and range: 297.30 m. jijijqjqiqhqhqhyh}}Bfyfyfyrfbf@?ɛ }B R< =W=I ?5;ɚiIJ=IUi]Ai]LL<)Y)i*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁGE mo< y Iy G1 B9 O] >4pw,A2xy@Y2ވ@25<92=y2H@ӽ? ?X Ӽ?晿L??ɨ2xy@2};2Cy:}B:+I F>F=IJ;IJ 5٢R Rf=9V;Q V>TX ZG٣XyZM Z> bNusing accuracyPremultiplier from config`f49bi?f4YbvK ibBdf짿f?bDbz:b:b 4l n]AlzB*** querying acoustic contact ***jxjxZj  FNOT Ignoring new targets: 297.30 m.Bj Jj % ProNav: ac range: 297.299988 m, nav range: 295.412201 m, bearing: 189.706527 deg, approach rate: 0.059590 m/s, LOS rate: -0.129431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838774 deg. 2j%:j-@-HeadingCmd: 4.814295 target range: 297.299988 and range: 297.30 m. j)j1j1j1i1h1h1h9hAfAfAfArfAbfMa?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ=}B= ; 9=HI III%BI&I.I1:pw,rANg@YNv@N1<9N]=yNHE?@u?{ c A?`o`z??ɨNg@N-;NCyV}BV IIb:Ib# 5٢j jG=9rK7;Q r>pt vG٣tyv v> I Nusing accuracyPremultiplier from configx 49zJ? 4YzvR izB 4?zDz7:z:z9"4eB >A%гEZjAEFNOT Ignoring new targets: 297.30 m.BjM]JjM]m ProNav: ac range: 297.299988 m, nav range: 295.436279 m, bearing: 189.653441 deg, approach rate: 0.058442 m/s, LOS rate: -0.128837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815943 deg. 2jmװ:jmp @uHeadingCmd: 4.813896 target range: 297.299988 and range: 297.30 m. jqjyjyjyiyhyhyhhfffrfbf?@ɛ}BF; 隽 I \;ɚiIjR=I-i5s8i5;)9)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247829zK=LK=h9K9K=CK=BKI:KMsA*FY2Fa:FaBFeo0JFa*JR="JR=JK3 K .KK"KJ6JzJ2JJK;J:Jc3JJ=<J=<JP<JP<G -;G B O >Apw,.A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498097:`F@Y:U@:<9:*/=y:H=?-?  8?@hVa`??ɨ:`F@:Z1;8yF}BFIMb@Mb@Mb@ )YA`"?J +?y&1y9?=`e A @)AI@y@I5I5٢iW >=9`7:Q > G٣x4Gy > Nusing accuracyPremultiplier from config49ƨ?4YZ iB:?:|?D;;)4 AZjFNOT Ignoring new targets: 297.30 m.Bj"Jj"- ProNav: ac range: 297.299988 m, nav range: 295.461090 m, bearing: 189.592517 deg, approach rate: 0.057691 m/s, LOS rate: -0.141651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792429 deg. 2j5m»:j5@HeadingCmd: 4.813486 target range: 297.299988 and range: 297.30 m. jjjjihhhhG}BfffrfbfN@ɛ]}B]T: Y]zIY ej;ɚaiaIe7=ImimmiZ.;)) Ig`wA -Y`wAy%c BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750622E+O<*F 2F :F BF `0JF jH <bH <H I  I II ~BI &I .I 6I <:I FGu ;GIBYOu>QHpw,"A:7*@Y:9@:B<9:Z=y:H]??```Z?' Py`.վ?`e?ɨ:7*@: ;8yJx}BJIPPIR]IR5٢^F ^8=9^V9Q ^>`` bG٣`yb f> jNusing accuracyPremultiplier from confighn49jK?n4Yjb ijBlnr?jDj:j7:jx14t vFAt5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002212ZjFNOT Ignoring new targets: 297.30 m.BjJj ProNav: ac range: 297.299988 m, nav range: 295.485596 m, bearing: 189.530405 deg, approach rate: 0.053149 m/s, LOS rate: -0.134700 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788867 deg. 2j㸻:j@UHeadingCmd: 4.813424 target range: 297.299988 and range: 297.30 m. jQjQjQjQiQhYhahhfffrfbf`[@ɛu}Bu5 q}:ؽIy }B;ɚyiI"=Iii̟)) $?IEU=*F?2F:FBFk0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:50:27.5698  TRx dataTimestamp_ set to:1736365828.840601% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260246zK 7KK 59K K DJ J J 8J rJ 1J J L;J :J 3J J <J <J <J <K G g;G B O >tNpw, @Y>j @><9>D=y>H?a?Y㽿@`}?@[` ? ?ɨ>@>w;>CyRm}BRI=Mb@Mb@Mb@999 9)9Y=NbX9?B`"۹?~jthy=E?===D= A 9)=hAI=@9y=f@ImSIm75٢}ʼ ?=9|Q > G٣y > Nusing accuracyPremultiplier from config49е?4YIk iBQG?:&?D;{;84 uAͳEZjFNOT Ignoring new targets: 297.30 m.Bj4Jj4 ProNav: ac range: 297.299988 m, nav range: 295.508240 m, bearing: 189.465790 deg, approach rate: 0.055453 m/s, LOS rate: -0.158225 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781356 deg. 2j-ٻ:j~@HeadingCmd: 4.813293 target range: 297.299988 and range: 297.30 m. jjjjihhhh}Bfffrfbf= @ɛ=}BE? AEIA E;ɚAiIIMN=Iuiu'+iu!)q)qEyEy*E"EMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.506066 Ig*F?2F:FBFf0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 19:50:27.5698 LVL= 24720, 28497, 18162, 32083, AGC= 63, IDX= 207,-0.18,-2.136, 3.134,-1.548,-2.135, PHS= 0.087,-0.967, 0.584, RAW= 168.3, 4.4, CAL= 168.6, -4.7, ROT= 341.4, 4.7 = Ygot valid direction response: 19:50:27.5698 LVL= 24720, 28497, 18162, 32083, AGC= 63, IDX= 207,-0.18,-2.136, 3.134,-1.548,-2.135, PHS= 0.087,-0.967, 0.584, RAW= 168.3, 4.4, CAL= 168.6, -4.7, ROT= 341.4, 4.7 E PDAT read: Bearing 341.4, 4.7 (Local) E ~Local bearing/azimuth received: Bearing 341.4, 4.7 (Local) U DAT read: Range 10 to 50 : 296.2 m (Round-trip 395.0 ms) speed 0.7 m/s ] *DAT read: user:881> e BDAT read: Tx time:19:50:28.6707 e $Ping request sent.e | +N?y C ` Qo F) S}I i -= Pw ? /;@ nF= S<@) I y@i = zi<;?go?u7y?) ¾W?I Li SΈ dw  :publishing transmit ping timea  Fpublishing direction and range info 9 5遒ǿezR>| +N?y  ) I i ) I i zi<;?go?u7y?) I i Gu 7:H ~>I  I RII 1~BI &I .I 6I <:I FBIJIRIZIbIjI͉44GiBqO>{Vpw,0[AB@YB@B{@<9B=yBH?Ҝ?Z3 e?6@RGe'?@e?ɨB@B;BCy^j}BbIIzKIz5٢» 1=9Q >   5G٣5y4Gy= => ENusing accuracyPremultiplier from configAM49Eļ?4YEt iEB?EDE'| +N?JkSRkdw*7kKr~Y`a9@3NB@JJȟ"ll? 82?"k A*k\ka?kE 2kBkkvyݵ kk=CkR@m addTargetRange:: Added new target pos. range: 296.200012 m, deltaT: 3.777954 s, deltaX: -1.099976 m, approachRate: -0.291156 m/s, rangeRepo size: 4 } Added new target pos. range: 296.200012 m, bearing: 175.044562 deg, lat: 36.901812 deg, lon: -122.116647 deg, deltaT: 3.777954 s, deltaX: -1.099976 m, approachRate: -0.291156 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 296.20 m.BjJj ProNav: ac range: 296.200012 m, nav range: 294.484314 m, bearing: 188.071320 deg, approach rate: 0.000000 m/s, LOS rate: -0.158225 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.744410 deg. 2j:j6@HeadingCmd: 4.812648 target range: 296.200012 and range: 296.20 m. jjjjihhhhfffrf@3r@bf h?ɛ}}B + 隥I h;ɚiI=Ii5iO))%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:19:50:28.6699 *FA2FI:FIBFM0JFI iIiG] ,G! B O >\pw,N uABWill construct direction to contact in vehicle frame from tetrahedron phase data.J=7J={J9J9J=K;J=@:J9J9J=<J=<J=<J=<zKUKKU9KQKUEKU  ג@Y @ e<9 GW=y Hj̸??TSPط???ɨ ג@  4; Cy b}B I =a=Mb@Mb@Mb@ )Y(\?)\(?{Gzt?yG?G=ף;A @)~AIy@II4٢ /=9Q >)) -G٣1y=<޻ => UNusing accuracyPremultiplier from configIm49M?u4YM~ iIuI?u:u𪿑u?MDMR;M;MSI4y AB*** querying acoustic contact ***jjZjaeFNOT Ignoring new targets: 296.20 m.Bjm&,Jjm&, ProNav: ac range: 296.200012 m, nav range: 294.519531 m, bearing: 187.999486 deg, approach rate: 0.073796 m/s, LOS rate: -0.150506 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759712 deg. 2jλ:jf@HeadingCmd: 4.812915 target range: 296.200012 and range: 296.20 m. jjjjihhh!h%}Bf!f!f)rf)bf-@ ?ɛ}B_ ^I i;ɚiIk=Ii:i5)1)1*F?2F:FBFp0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. q Iq G ԑG B O >cpw,AR5@YR@R<9R=yRH $??9H#E? <@>߾? ?ɨR5@Rj+;Pynq}BnIIz+Iz~5٢$= d=9»Q >    G٣ yG > =Nusing accuracyPremultiplier from config9E49=g?E4Y=C i9IMūM?=D=:=~:=O4Q emAaZjIMFNOT Ignoring new targets: 296.20 m.BjU.JjU.m ProNav: ac range: 296.200012 m, nav range: 294.544586 m, bearing: 187.945286 deg, approach rate: 0.070717 m/s, LOS rate: -0.152962 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812603 deg. 2jmѻ:ju @uHeadingCmd: 4.813838 target range: 296.200012 and range: 296.20 m. jqjyjyjyiyhyhyhhfffrfbf`?ɛ}B 隽I .;ɚiIC=IiRic))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997288*FA2FI:FIBFM`5JFIZHRH@AHI I-II}BI&I.I6I <:IFGE>uGIGMrAGB O%M> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247235jpw,AṼ@YV2@Vɩ<9Vg=yVH2??}$b_?@I86?!?ɨṼ@V|J;Tyfy}BfIIrIr4٢zV< zK=9zQ z>|| ~G٣~z4GyV >  Nusing accuracyPremultiplier from config 49 J?4Y M i BA? 'D $; ; zV4! %MA)ZjQUFNOT Ignoring new targets: 296.20 m.Bj]:Jj]:m ProNav: ac range: 296.200012 m, nav range: 294.571777 m, bearing: 187.884610 deg, approach rate: 0.073103 m/s, LOS rate: -0.163112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793175 deg. 2jm߻:jm/@uHeadingCmd: 4.813499 target range: 296.200012 and range: 296.20 m. jq Igjqjjihhhhfffrfbf?ɛ}B0X I l";ɚiIe=Iui}i}O)y)y*F-?2F):F)BF-4JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.n?U?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503284zKrKK9KKFKJu3JuJqJqJuH;JuS:JqJqJu6<Ju7<Ju<Ju<Gm6G) B9 Ou >ppw,A^o@Y^J@^S4<9^\5>y^H`?`?i&ʹ?ߝ@A&`:?p?ɨ^o@^~x;^Cyj}BjIllUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751409uMb@Mb@Mb@qqq q)qYu"~j?ˡE?~jt?yuSC?u=uy G٣yG > Nusing accuracyPremultiplier from config49?4Yj iBD?:?>D;Y;~^4gB "AͳEZj15FNOT Ignoring new targets: 296.20 m.Bj='Jj='m ProNav: ac range: 296.200012 m, nav range: 294.589508 m, bearing: 187.816220 deg, approach rate: 0.038009 m/s, LOS rate: -0.146596 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.770031 deg. 2jm7ɻ:ju@uHeadingCmd: 4.813095 target range: 296.200012 and range: 296.20 m. jqjqjyjyiyhyhyhhh}Bfffrfbf`t?ɛ}Bhغ Ͻ m$?IiI m:;ɚiiqIuR=Iui}"ji})y)*Fu?2Fq:FqBFuN5JFqGmGIBQO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003267H >I  I 'II }BI &I .I 6I D<:I ,F?wpw,A27z@Y2@2͛<92>y2H? ?J|9?@P Vy?`?ɨ27z@2;2CyB}BBIIJ:IJ# 5٢R> Vm=9VNq:Q V?XX ZG٣XyZo; ^? bNusing accuracyPremultiplier from config`f49b?f4Yb+ ibBdf찿f?bNDb:b:bod4Y ehAiZjFNOT Ignoring new targets: 296.20 m.Bj#Jj# ProNav: ac range: 296.200012 m, nav range: 294.603241 m, bearing: 187.765516 deg, approach rate: 0.038799 m/s, LOS rate: -0.143245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823081 deg. 2jĻ:jv @HeadingCmd: 4.814021 target range: 296.200012 and range: 296.20 m. jjjjihhhhff f rf bf @ɛ=}B=9 9E(iIA E2;ɚAiAIE=IMiM iUw3)Q)Q*F?2F:FBF`0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256230 YIYGMGU?GU>G! B1 OU >% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510741\@}pw,Ar{@Yr9@r<9r>yrH ?`? FpG%?'ݒ?ķ?ɨr{@r;ȉ;pzK~IKK~9K|K~GK~ $%"$#!      y5}B5 IMb@Mb@Mb@ )YOn?V-?:v?y8?h=< A @)AI3@yAI0I5٢b< 5=9@Q > G٣{4Gy%9 %> -Nusing accuracyPremultiplier from config)549-?54Y- i-B59?=:=9=?-cD-;-#;-Ol4A EOAAZjimFNOT Ignoring new targets: 296.20 m.Bju{)Jju{) ProNav: ac range: 296.200012 m, nav range: 294.617432 m, bearing: 187.702061 deg, approach rate: 0.033138 m/s, LOS rate: -0.148172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784833 deg. 2j`˻:j@HeadingCmd: 4.813354 target range: 296.200012 and range: 296.20 m. jjjjihhhh}Bfffrfbf5@ɛ}BNڠ: (SI :;ɚiI=Iii4))*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759770G$G B O > A IA B$pw, _µA2@Y2@22{<92 >y2H wP?@?J|~??<%o[B?@ٳ?ɨ2@2q;0y>}B>I Fa=FR=IJ8IJ@ 5٢R = Rf=9RQ R>TT VG٣TyZ; ~> =Nusing accuracyPremultiplier from config1]495?e4Y5 i5Baee?5tD5;5;5r4i uAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 296.20 m.BjJj ProNav: ac range: 296.200012 m, nav range: 294.629730 m, bearing: 187.649724 deg, approach rate: 0.031964 m/s, LOS rate: -0.136018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818180 deg. 2j :j  @HeadingCmd: 4.813935 target range: 296.200012 and range: 296.20 m. jjj1j1i1h9h9h9h9fAfAfArfIbfMi @ɛ}BĮV; 隥I |;ɚiI=Iiiͮ})Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011415)J6JJJJK;Jy:JJa@a@a@a@HYIY I]9II]~BIY&IY.IY6I]İ<:I] F*F2F:FBFJFG%uG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:50:31.4653  TRx dataTimestamp_ set to:1736365832.618369 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266773&Npw,29+µA pItMԛ@YM;@M<9M&^>yMH?ߐ?`w`E#?rސ,?`?ɨMԛ@M;MCyޅ}Bޅ&II*I 5٢b< ;=9dQ > G٣y; > Nusing accuracyPremultiplier from config49?4Y iBƱ?DL::.z4hB AγEZjFNOT Ignoring new targets: 296.20 m.Bj &Jj & ProNav: ac range: 296.200012 m, nav range: 294.644684 m, bearing: 187.590320 deg, approach rate: 0.036538 m/s, LOS rate: -0.145140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796986 deg. 2j7ǻ:j%@-HeadingCmd: 4.813565 target range: 296.200012 and range: 296.20 m. j)j)j)j1i1h1h9h9h9f9fAfArfAbfEF @ɛim; qup Iq uDx;ɚqiyI}/=I}i] iS\))*F?2F:FBFo0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518407zKuhMKu9KqKuHKuG~GGtAGBO>K6pw,wEµAjD@Yj@j:<9j>yjH|?`@?`S_@Ӫ? d$ k3?@?ɨjD@j;jCyv~Bv:IUWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771286uMb@Mb@Mb@qqq q)qYush|??X9v?Zd;O?yu)?u}=uj G٣|4Gy; > Nusing accuracyPremultiplier from config Ig49>?4Y iB*?:"?Dx;w;b4 $AZj FNOT Ignoring new targets: 296.20 m.Bj%Jj%5 ProNav: ac range: 296.200012 m, nav range: 294.659454 m, bearing: 187.529524 deg, approach rate: 0.031364 m/s, LOS rate: -0.129089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792808 deg. 2j=/:j="@EHeadingCmd: 4.813493 target range: 296.200012 and range: 296.20 m. jAjAjAjAiAhAhIhIhMd~BfQfQfQrfQbfU @ɛ}}B]; 隅 e BDAT read: Tx time:19:50:32.5707 e $Ping request sent.e II  IM eIIM O~BII &II .II 6IM <:IM FGe :_ :publishing transmit ping timea  Fpublishing direction and range info9sz?z~m_͗?yfCe 6)ICi ?d;_?I4@@X :@)lInʿ@il>tC{?_ Wq? nʿ)38?IX>i󷿉þ% :publishing transmit ping timea - Fpublishing direction and range info9sz?z~m_͗?y )IiGA BI Oe > )IitC{?_ Wq? nʿ)Iincpw,;^µA:@Y:̙@: w<9:>y:H 3?։? ¿ N%?@@.@O??ɨ:@:e ;8yB~BBHIHJAI~ I~<4٢ y=  =9 Q   ?1 5G٣1y=; = ? ENusing accuracyPremultiplier from configAM49E?M4YE? iEBIU汿u?EDE;E;E4y AkE=%?kuA k kWµA:kfCBkjCZkKzW@"sB@OS(^NpC#dI[@sz?z~m_͗?JkRkþ*YXd#Vq/tOp|_;Q@f~P˿Uh!?"k;~*kkq$?kL 2ktCkN"?kkk3Ck+Q@ addTargetRange:: Added new target pos. range: 292.799988 m, deltaT: 4.032109 s, deltaX: -3.400024 m, approachRate: -0.843237 m/s, rangeRepo size: 4  Added new target pos. range: 292.799988 m, bearing: 192.905671 deg, lat: 36.901887 deg, lon: -122.116647 deg, deltaT: 4.032109 s, deltaX: -3.400024 m, approachRate: -0.843237 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 292.80 m.BjJj- ProNav: ac range: 292.799988 m, nav range: 286.402100 m, bearing: 187.705108 deg, approach rate: 0.000000 m/s, LOS rate: -0.129089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.837101 deg. 2j):j5w@5HeadingCmd: 4.814266 target range: 292.799988 and range: 292.80 m. j1j9j9j9i9h9h9hAhAfAfifqrfuLr@bfuZ?ɛ}B< /=I 1;ɚiIV`=Ii% i%h())))]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF IG hAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,xµA*J.C="J.p=zK&KKs9KKIKUGTp#xhSE>1)"  BKsA:Kyޝ*~BޥNIMMb@Mb@Mb@III I)IYMMb??yy G٣y > Nusing accuracyPremultiplier from config49|?4Y iB!?:?D<;;؏4iB A˳EZjFNOT Ignoring new targets: 292.80 m.Bj'Jj' ProNav: ac range: 292.799988 m, nav range: 286.411774 m, bearing: 187.648864 deg, approach rate: 0.023482 m/s, LOS rate: -0.136520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806460 deg. 2jb:j @HeadingCmd: 4.813731 target range: 292.799988 and range: 292.80 m. jjjjihhhh~Bfffrfbf  P?ɛ5}B5% < 15W=I1 =;ɚ9i9I=w=Iiii-))*Fq2Fy:FyBF}B3JFyMWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge +I, I G1 BA O] >rpw,֨µA6i@Y6˙@6V<96O>y6H@?`Z?``U%>?oޚ`Ԋ@9?ӫ?ɨ6i@6>u;6Cy^4~B^UIIfIf4٢n< ni=9rQ r>pt vG٣v}4Gyv v> zNusing accuracyPremultiplier from configx~49z?4YzF izB?zDze ;z ;z4  uA5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 292.80 m.BjE<JjM<] ProNav: ac range: 292.799988 m, nav range: 286.419556 m, bearing: 187.604829 deg, approach rate: 0.022131 m/s, LOS rate: -0.125226 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843086 deg. 2j]⫻:j]R@eHeadingCmd: 4.814370 target range: 292.799988 and range: 292.80 m. jajajajaiihihihihifqfqfqrfybf}?ɛ}B < (~=I ;ɚiI=Iii.))QWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J1JwJJJ4G;J-:JJH>IC III~BI =&I.I=D6I<:I FBIJIRIZIbIjIì5*F2F:FBFP4JFG--,G B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie Am checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245756韪pw,!µA I B2֒@YB@B/eP<9B=z>yBH6ø??@¿` ?w >??ɨB2֒@Bp;BCy^K~B^cIIfIfa4٢n]= nJ=9nwQ r>pp rG٣pyv ; v> zNusing accuracyPremultiplier from configx~49zA?~4Yz iz B  ?zDz~C;z3;z4jB #AͳEZj9=FNOT Ignoring new targets: 292.80 m.BjEJjEU ProNav: ac range: 292.799988 m, nav range: 286.429535 m, bearing: 187.553984 deg, approach rate: 0.024686 m/s, LOS rate: -0.125775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822657 deg. 2jU:j]f @]HeadingCmd: 4.814013 target range: 292.799988 and range: 292.80 m. jajajajaiahahahihifififqrfqbfu`"?ɛ}B/< 隭2=I .$;ɚiI=Iiui))*Fi2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502935JyJyGizKiOK9KKJKGaBqO>烱pw,ZµA2@Y2@@2^<92>y2HϹ?z?1?X`ԋ}&?u?ɨ2@2T;2Cy>N~B>eI%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749871Mb@Mb@Mb@ )Y(\? ףp= ? G٣y]< > Nusing accuracyPremultiplier from config49?4Yy i B ? :  ?D;;4 AZj9=FNOT Ignoring new targets: 292.80 m.BjE_JjE_U ProNav: ac range: 292.799988 m, nav range: 286.440735 m, bearing: 187.503167 deg, approach rate: 0.025700 m/s, LOS rate: -0.116603 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822743 deg. 2j] :j]i @]HeadingCmd: 4.814015 target range: 292.799988 and range: 292.80 m. jajajajaiahahahihm~Bfifqfqrfybf}? =$?I=gɛM}BM+< QUP=IQ ]F;ɚYiYI]~=Iui}+i}o莻)y)*F!2F!:F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002443Gm >uJ :J rJ J J ;N;J :J J H I  I II ~BI &I .I 6I <:I FG) Bq O >pw,8µA6@Y6\,@6%m<96z>y6H 1??G ,?Iҝ@?@?ɨ6@6vB;6CyRE~BR_IIZIZB4٢fl f^=9j$;Q j>hl nG٣n~4GynH< r> vNusing accuracyPremultiplier from configpv49r;?z4Yr irBxzz?rDrn:r:r4 9AZj!-FNOT Ignoring new targets: 292.80 m.Bj5Jj5E ProNav: ac range: 292.799988 m, nav range: 286.451324 m, bearing: 187.460314 deg, approach rate: 0.028712 m/s, LOS rate: -0.116186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846634 deg. 2jEy:jE@UHeadingCmd: 4.814432 target range: 292.799988 and range: 292.80 m. jQjQjQjQiQhQhYhYhYfafafarfabfm@j@ɛ}B-< 隕=I U;ɚiI=IiEi))*FQ2FQ:FQBFUe0JFQG-%XUWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259330GBO%+> !I! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512624߽pw,1µAyu3~BuTIzKFJKKKKKMb@Mb@Mb@ )YI +?&1?Mbp?y9?P=; Z@)IhAyA)-@AI5I5Y4٢=" E4=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]u?e4Y] iYe?e:mm?] D];];]4q uAqZjFNOT Ignoring new targets: 292.80 m.BjJjM ProNav: ac range: 292.799988 m, nav range: 286.467590 m, bearing: 187.407747 deg, approach rate: 0.035917 m/s, LOS rate: -0.116070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817494 deg. 2jMP:jU @UHeadingCmd: 4.813923 target range: 292.799988 and range: 292.80 m. jQjYjYjYiYhyhhh~Bfffrfbf9@ɛ-}B-/C < )-t\=I) 5);ɚiI=Ii iҝ))*F?2F:FBF`0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763565  I G g{G B O >pw,õA6FO@Y6^@6rt<96c>y6HD?@|?%@I?'@@^??ɨ6FO@6;6CyB9~BBXIIN>IN 5٢V< Vi=9Zȏ:Q Z>XX ZG٣Xy^< ^> %Nusing accuracyPremultiplier from config%49?-4YF iB)-¯-?D::X41 5kA9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 292.80 m.Bjm\Jjm\} ProNav: ac range: 292.799988 m, nav range: 286.482025 m, bearing: 187.365783 deg, approach rate: 0.039807 m/s, LOS rate: -0.115719 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849301 deg. 2j}՞:j5@HeadingCmd: 4.814478 target range: 292.799988 and range: 292.80 m. jjjjihhhhfffrfbf@ɛ}B< m=I ~L;ɚiI=Ii_Ki;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014173jH<bHp<H>IC III~BI&I.I6I<:I F*F?2F:FBF0JFG*GaBiO8>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:19:50:35.3637 } TRx dataTimestamp_ set to:1736365836.653597 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267788  I Jpw,K-õA2sb@Y2q@2?s<92S>y2H`?@z?` @K?`r`q^??ɨ2sb@2Bq;2Cy^3~BbTIIj7Ij 5٢X E=9BQ >    G٣ 4Gy Ǹ; > Nusing accuracyPremultiplier from config%49 ?%4YT i)-v-?%DG::e45kB 5A5γEZjY]FNOT Ignoring new targets: 292.80 m.BjeJje} ProNav: ac range: 292.799988 m, nav range: 286.498871 m, bearing: 187.319004 deg, approach rate: 0.041799 m/s, LOS rate: -0.116066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834859 deg. 2j}O:j}%@HeadingCmd: 4.814227 target range: 292.799988 and range: 292.80 m. jjjjihhhhfffrfbf+ @ɛ~B q< N=I ;ɚiI=IiEi.;))*Fi2Fi:FqBFu81JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520458J6JzJJJK;J:JJJ=hpw,@GõA%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:50:35.3637 LVL= 32752, 32753, 19586, 32755, AGC= 60, IDX= 425,-0.02, 1.888, 0.832, 2.185, 1.291, PHS= 0.685,-0.412, 0.891, RAW= 158.5, -18.7, CAL= 163.5, -25.2, ROT= 346.5, 25.2 Ygot valid direction response: 19:50:35.3637 LVL= 32752, 32753, 19586, 32755, AGC= 60, IDX= 425,-0.02, 1.888, 0.832, 2.185, 1.291, PHS= 0.685,-0.412, 0.891, RAW= 158.5, -18.7, CAL= 163.5, -25.2, ROT= 346.5, 25.2 PDAT read: Bearing 346.5, 25.2 (Local) ~Local bearing/azimuth received: Bearing 346.5, 25.2 (Local) DAT read: Range 10 to 50 : 291.6 m (Round-trip 388.8 ms) speed 0.5 m/s *DAT read: user:883> BDAT read: Tx time:19:50:36.4708 $Ping request sent.)z?y-̑C)-) -L))I-<i-)\/?-Ҿ-d?- 1@- -6@)-z0I-@i-z0>))->??,U/Կ)-+?I-q>i-}-ھ)):publishing transmit ping timeع Fpublishing direction and range info)9-RZLQ?>)z?y)))) )))I)i))))) )))I)i)))->??,U/Կ))I)i)))) Iy"~BJIMb@Mb@Mb@ )Yn?&1?~jthy?DzA )AIAy AI/IC5٢ }=9Q > G٣y > Nusing accuracyPremultiplier from config49N?4Y iB?:`?:D7<47<ʛ4 A˳Ek-4o1+?k- k) k-JõA:k-̑CBk-ѐCZk-Pza@"-7%M,R@(LSo[\7^@-RZLQ?>)z?Jk-}Rk-ھ*-ƣe9pI֗Z  T@-L,춨|ֿ缉?"k-D*k-ˁk-ihl*?k-o* 2k-Ck-2#?k-L k-Bk->Ck-XV@ addTargetRange:: Added new target pos. range: 291.600006 m, deltaT: 3.785200 s, deltaX: -1.199982 m, approachRate: -0.317019 m/s, rangeRepo size: 4  Added new target pos. range: 291.600006 m, bearing: 201.858207 deg, lat: 36.901926 deg, lon: -122.116930 deg, deltaT: 3.785200 s, deltaX: -1.199982 m, approachRate: -0.317019 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 291.60 m.BjJj ProNav: ac range: 291.600006 m, nav range: 286.484436 m, bearing: 192.363802 deg, approach rate: 0.000000 m/s, LOS rate: -0.116066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.775660 deg. 2j:j@HeadingCmd: 4.813193 target range: 291.600006 and range: 291.60 m. jjjj i h h h h~Bfff1rf=9r@bf=@&n?ɛ~B; 隅HI  I I I &I .I ) pw,eõAy ~B<II5 I54٢En Ef=9QQ U?YY eG٣ayq u? Nusing accuracyPremultiplier from config49?4Y iB?GDF;;ϛ4 (AWill construct direction to contact in vehicle frame from tetrahedron phase data.iZjFNOT Ignoring new targets: 291.60 m.BjKJjK ProNav: ac range: 291.600006 m, nav range: 286.481476 m, bearing: 192.323705 deg, approach rate: -0.008410 m/s, LOS rate: -0.113913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.854893 deg. 2j [:j @ HeadingCmd: 4.814576 target range: 291.600006 and range: 291.60 m. jjjjihhhhfffArfAbfE@`? iImgɛ~B(; 隕@;I ;ɚiI=Ii i))*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~q;*J] 4="J] a=J} 5J} Jy Jy J} SJ;J} :Jy Jy J} <J} <J} $<J} $<G Bq O >2pw,nõAzK.uJK,K,K.MK. BK0:K2rA>4b@Y>q@>@<9>^ >y>H ? ?=5H o?Û@e}? ?ɨ>4b@>!1;>CyF~BJ@I]Mb@Mb@Mb@YYY Y)YY] +?㥛 ?y]?]=]]A ]p@)YIYYy]\AIu%Iu5٢x< G=9Q > G٣4GyК > Nusing accuracyPremultiplier from config49j?4Y  iB?:֪?VD;;כ4 AZjFNOT Ignoring new targets: 291.60 m.BjJj ProNav: ac range: 291.600006 m, nav range: 286.486633 m, bearing: 192.275625 deg, approach rate: 0.013872 m/s, LOS rate: -0.129321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830949 deg. 2j:j @HeadingCmd: 4.814158 target range: 291.600006 and range: 291.60 m. jjjjihhh h~Bff!f!rf)bf5?ɛ}~B}; 隅0{pw,!õABWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjW@YZf@Z1<9Z? >yZH\Ǽ?`E?$?@Ň1 Z?`?ɨZjW@ZF;ZCyb~Bb5IIjIjY4٢z#? zT=9zQ z>|| ~G٣|y_ >  Nusing accuracyPremultiplier from config 49 ?4Y  i BZHRHH-~>I) I-II-~BI- =&I).I)6I- <:I-FE? eD *; ;; ݛ4I UXAQuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 291.60 m.BjQJjQ ProNav: ac range: 291.600006 m, nav range: 286.491425 m, bearing: 192.229922 deg, approach rate: 0.012219 m/s, LOS rate: -0.116557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838081 deg. 2j:j@HeadingCmd: 4.814283 target range: 291.600006 and range: 291.60 m. jjjjihhhhfffrfbf?ɛ ~B; !I ;ɚiID=Ii* i;)) *F ?2F :F BF 4JF "G=Gp=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.GU;G) B9 U $?IU gOu >3Cpw,nõA2S@Y2c@2+<92/u >y2H㩼?`z?>; ?M`e{@?@ȴ?ɨ2S@29^;2CyN}BN,IIZLIZ5٢b bM=9bdQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv49r"?v4Yr ipxzz?rtDr":r":r4~lB ~A~ͳEZj!%FNOT Ignoring new targets: 291.60 m.Bj-' Jj-' = ProNav: ac range: 291.600006 m, nav range: 286.496460 m, bearing: 192.182561 deg, approach rate: 0.012842 m/s, LOS rate: -0.120783 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833107 deg. 2j=ȥ:jE @EHeadingCmd: 4.814196 target range: 291.600006 and range: 291.60 m. jIjIjIjQiQhQhQhYhYfYfYfarfabfe@?ɛ ~B ~/Z;  ܼI  =;ɚ1i1I5A]=I=i=e@ i=m1;)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745980*F?2F:F!J)J-BAJK 3 KS}-KK"KJM7JMvJM0JIJMK;JM:JMـ3JIJM<JM<JM<BF`0JFJM<zK}FKK}K9KyK}NK}   RK?JK#?G']?;G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996691 A IA K*pw,FõA68V@Y6e@6V8<961 >y6Hӽ?? ?̚`8??ɨ68V@6d;6Cy>}B>$I=Mb@Mb@Mb@999 9)9Y=333333?sh|??Mbp?y=?===;9 =@)=;AI99y=AIUVIU5٢e e@=9e:Q m>ii mG٣m4Gyu>: u> }Nusing accuracyPremultiplier from configy49}'?4Y} i}B?:V?}D}Q;};}*4 AZjFNOT Ignoring new targets: 291.60 m.Bj& Jj&  ProNav: ac range: 291.600006 m, nav range: 286.505615 m, bearing: 192.131311 deg, approach rate: 0.021577 m/s, LOS rate: -0.120781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821441 deg. 2j:j: @HeadingCmd: 4.813993 target range: 291.600006 and range: 291.60 m. jjjjihhhh~Bfffrfbf o@ɛ-~B-; )-,0I) =;ɚ9i9I=@|=IEiE`iE);)A)I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248805H!I! I%II%~BI!&I!.I!6I%<:I% FBIJIRIZI =bI =jIA5G5/ŕ;G B O5 >[Tpw,}!õA>+S@Y>b@>A<9>M >y>H??9??9G?`?ɨ>+S@>9;hh jG٣hyj#~ n> rNusing accuracyPremultiplier from configpv49r,?v4Yrt irBtvbv?rDr:r:r4| ~A|Zj15FNOT Ignoring new targets: 291.60 m.BjE JjE e ProNav: ac range: 291.600006 m, nav range: 286.514038 m, bearing: 192.084813 deg, approach rate: 0.021850 m/s, LOS rate: -0.120620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.835698 deg. 2je:jeC@uHeadingCmd: 4.814241 target range: 291.600006 and range: 291.60 m. jqjqjqjqiyhyhhhfffrfbf @ɛ~BH: I m;=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508995ɚiIy=Iiƃi䞈;))EY>E I*F?2F:FBFJFGsA GG 1;G  Will construct direction to contact in vehicle frame from tetrahedron phase data. > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764388B J] 4J] rJY JY J] I;J] :JY JY a} @a} @a @a @O ><qw,qĵA2G@Y2zV@2rPB<92L >y2H`aE? ??`P ? cI ??ɨ2G@2b;2CzK^GMK^9K\K^OK^   \W5  yf}BfIUMb@Mb@Mb@QQQ Q)QYUʡE?#~j?{Gz?yU?U=U# G٣yZ >  Nusing accuracyPremultiplier from config 492?4Y{' iB?:?Dp;;4%mB %.A%ʳEZjAMFNOT Ignoring new targets: 291.60 m.BjMJjUe ProNav: ac range: 291.600006 m, nav range: 286.521606 m, bearing: 192.029946 deg, approach rate: 0.017218 m/s, LOS rate: -0.124820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810589 deg. 2jeS:je @mHeadingCmd: 4.813803 target range: 291.600006 and range: 291.60 m. jijijijiiihihqhyh|~Bfffrfbf@ɛ~B@W]9  I HZ;ɚiII=Ii i<;) )UWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018508 I*F92F9:FABFE_0JFAGM GM"GMGMG B O >eqw,ĵA6r=@Y6L@6TB<96>y6H ?@ ? _R?ؚ`zJ@?`?ɨ6r=@6;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Rx Time:19:50:39.2593 VTRx dataTimestamp_ set to:1736365840.440680Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265841jHlbHn<Hr}>Ip IrIIr~BIp&Ip.Ip6Ir'<:IrFy]}B] IImDIm5٢A O=986Q > G٣yC > Nusing accuracyPremultiplier from config496?4Y- iB?D:~:4 hA5B*** querying acoustic contact ***j1j1ZjaeFNOT Ignoring new targets: 291.60 m.Bjm Jjm  ProNav: ac range: 291.600006 m, nav range: 286.528381 m, bearing: 191.980500 deg, approach rate: 0.016629 m/s, LOS rate: -0.121360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826853 deg. 2j:j @HeadingCmd: 4.814087 target range: 291.600006 and range: 291.60 m. jjjjihhhhfffrfbfi @ɛ-~BULi QU|IY ]3;ɚaiaIe=Imim8Aim;))*F?2F:FBFn0JFGYBqBu&JO\>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516831 Ig3 qw,4ĵA61@Y6A@6JB<96`>y6Hʚ??`8 ?P?@?ɨ61@6;6CyB}BBI)D DIJRIJ5٢R* V\=9Vi8Q V>XX ^G٣^4Gyb>} b> fNusing accuracyPremultiplier from configdj49f};?j4Yf3 ifBhj몿j?fDf7:flh  \ 隥ܽI M;ɚiI0=BDAT read: Tx time:19:50:40.3723 $Ping request sent.ڹڹ۽A6]C??gEhȿ)۽i۽亿۽껾۹۹m:publishing transmit ping timemFpublishing direction and range infoع9ؽMTe?T07?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽A6]C??gEhȿ)۹I۹i۹۹۹۹*Fu?2Fq:FqBFu`0JFqG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:19:50:40.3715 I zqw,NĵAy~}B~I Mb@Mb@Mb@    ) Y T㥛 ?Zd;O?I +?y !? j= 94< A ) ;AI A y AI}FI}t5٢ +=9Q > G٣y  > Nusing accuracyPremultiplier from config%49A?%4Yw; i B%"?%:%M?D;(;a4Q UAQk,&?k8nLh k kY<ĵA:k&CBk-CZkvV@"0%=@UO/;p GY@MTe?T07?Jk亿Rk껾*iuqbɆ4NieP@Bfut4ʿt'?"kq*kk*&?kZs 2kCkq$?kZs kCkmCk7V@  addTargetRange:: Added new target pos. range: 288.299988 m, deltaT: 3.788687 s, deltaX: -3.300018 m, approachRate: -0.871019 m/s, rangeRepo size: 4 % Added new target pos. range: 288.299988 m, bearing: 192.437654 deg, lat: 36.901945 deg, lon: -122.116947 deg, deltaT: 3.788687 s, deltaX: -3.300018 m, approachRate: -0.871019 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 288.30 m.BjMJjI] ProNav: ac range: 288.299988 m, nav range: 284.852234 m, bearing: 192.244456 deg, approach rate: 0.000000 m/s, LOS rate: -0.121866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799188 deg. 2jY:j] @HeadingCmd: 4.813604 target range: 288.299988 and range: 288.30 m. jjjjihhhh\~Bfffrfr@bf`,?ɛ=%~BEc, AEOIA ED;ɚIiIIMbf=IMiUNeiUX:)Q)QHI IrIId~BI =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=*F 2F :F BF r0JF J;JvJ1JJO;J:J3JJqw,erhĵA2@Y2$$@2?<92f>y2H`??e@?@ș!??ɨ2@2;2CyR}BRII^*I^ 5٢  m=9 Q ?!! %G٣!y-m& -? =Nusing accuracyPremultiplier from config9M49=SF?M4Y= A i=#BIUU?=D=~;=T;=c4eoB mAiZj  =$?I9MFNOT Ignoring new targets: 288.30 m.UWill construct direction to contact in vehicle frame from tetrahedron phase data.Bj Jj  ProNav: ac range: 288.299988 m, nav range: 284.859406 m, bearing: 192.200526 deg, approach rate: 0.020844 m/s, LOS rate: -0.127675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843400 deg. 2j>:j]@HeadingCmd: 4.814375 target range: 288.299988 and range: 288.30 m. jjjjihhhhfffrfbf?ɛm(~BmN imy Ii uA;ɚqiqIu=I}i_i G))*F%?2F!:F!BF-`5JF)G% 7: Will construct direction to contact in vehicle frame from tetrahedron phase data.G) Ba O >X qw,ADĵAzK~RKK~+9K|K~QK~y }B IMb@Mb@Mb@ )Y)\(?J +?~jt?yG!?=D<zA @)AIlAyII4٢ @=9Q > G٣4Gy > Nusing accuracyPremultiplier from config49 L?4YG i&B?#?:j?D;;4 &AZj FNOT Ignoring new targets: 288.30 m.BjLJjL ProNav: ac range: 288.299988 m, nav range: 284.870880 m, bearing: 192.146411 deg, approach rate: 0.028420 m/s, LOS rate: -0.134024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812849 deg. 2j:j @HeadingCmd: 4.813842 target range: 288.299988 and range: 288.30 m. jjjjihhh h5L~Bf1f9fArfAbfE"?ɛ,~Bõ \I ;ɚiI%/=IiYiU))EE 1I1mWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq*F 2F :FBFJFG% b(G B O- >&qw,ĵAZH0RH2?AH6~>I4 I6_II6E~BI6 =&I4.I46I6<:I6FF@YF@F\(<9Fa>yFH`?@B?*~?Xri @x`?Jr1JrqJpJpJr4G;Jr:JpJpJrݜ<Jrݜ<JrH <JrH %Nusing accuracyPremultiplier from config%49Q?%4YN i*B)--?D:7:m$41 =A=ȳEZjFNOT Ignoring new targets: 288.30 m.Bj% Jj% E ProNav: ac range: 288.299988 m, nav range: 284.880341 m, bearing: 192.097600 deg, approach rate: 0.023327 m/s, LOS rate: -0.120350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828761 deg. 2jM0:jME @UHeadingCmd: 4.814120 target range: 288.299988 and range: 288.30 m. jQjjjihhhhfffrfbfG?ɛ0~BX 3I ʐ;ɚiI=I%i%i%ʻ)!))*F?2F:FBF_0JF"GR=Gp= 1I1uWill construct direction to contact in vehicle frame from tetrahedron phase data.GpG B O >,qw,ĵA6@Y6@651<96 >y6H >?`?`?@sח;@O??ɨ6@6};4y^m}B^IIf=Ifw 5٢n rI=9rW:Q r>pt vG٣tyv3 v> ~Nusing accuracyPremultiplier from configx~49zlV?4YzT iz-B"?zDz:ze:zi+4 pB AʳE5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 288.30 m.BjEJjE] ProNav: ac range: 288.299988 m, nav range: 284.890198 m, bearing: 192.046390 deg, approach rate: 0.026197 m/s, LOS rate: -0.136094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821561 deg. 2j]̺:j]> @eHeadingCmd: 4.813994 target range: 288.299988 and range: 288.30 m. jajajajaiahahihihififqfqrfybf}"?ɛ3~B(}# 隭FI E/;ɚiIN=IiKi;ػ))*F)2F):F)BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G)GBOM1>zKuV$KKu]9KqKuRKu ! I% g} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.1750813qw,ĵA)H JѐC -xAA }Y}xAyB@YO@I<9>yH˧?? $" ?w?D??ɨ@;Cyn}BI!%AMb@Mb@Mb@ )YRQ?bX9ȶ? G٣4Gyb; > Nusing accuracyPremultiplier from config549b\?54YX\ i0B5*$?5:5ê=?)D$;=;34A EAAZjamFNOT Ignoring new targets: 288.30 m.BjuGJjuG ProNav: ac range: 288.299988 m, nav range: 284.898346 m, bearing: 191.985759 deg, approach rate: 0.017187 m/s, LOS rate: -0.127888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793299 deg. 2j:j3@HeadingCmd: 4.813501 target range: 288.299988 and range: 288.30 m. jjjjihhhh;~Bfffrfbf`_@ɛ8~B# II ;ɚiI=Iiifң))ER>E>*F92F9:F9BFAJFAHu>Iq IuRIIu1~BIq&Iq.Iq6Iṵ<:Iu FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427982J2JJJJG;J:JJJ<J<J<J<Ge ̻G9 BI Oe >Y9qw,!ĵAf@Yfu@f|X<9fNL>yfH ??" ?@g <=?`?ɨf@f߇;fCyvT}BvII~>I~ 5٢ u m=9|#;Q ? G٣y: %? -Nusing accuracyPremultiplier from config!549%`?54Y%b i%2B155?%8D%& ;%i ;%94A E2AAZjiuFNOT Ignoring new targets: 288.30 m.BjuJj} ProNav: ac range: 288.299988 m, nav range: 284.904602 m, bearing: 191.941304 deg, approach rate: 0.018329 m/s, LOS rate: -0.130240 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841825 deg. 2jò:j$@HeadingCmd: 4.814348 target range: 288.299988 and range: 288.30 m. jjjjihhhhfffrfbf_@ I-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.679206ɛ};~B}>N y隅6fI +;ɚiI]=Iiiw))*Fy2Fy:FyBF}j0JFyGGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.931169*J R="J @qw,ŵA6@Y6@6Mb<96V>y6Hy ?ɓ?@^"`{c?W@\e?`?ɨ6@6;6CyNL}BRI-Mb@Mb@Mb@))) )))Y-Pn?|?5^?y&1|?y-$?-=-`;) ))-AI-~A)y)IM[IM5٢]c eF=9eV:Q e>ii mG٣iym;; u> }Nusing accuracyPremultiplier from configy49}f?4Y}h i}5B5&?:?}ID}r;};}@4 UAzKKK9KKSKBKrA:KsAZj1]FNOT Ignoring new targets: 288.30 m.BjeJje ProNav: ac range: 288.299988 m, nav range: 284.918152 m, bearing: 191.887487 deg, approach rate: 0.031684 m/s, LOS rate: -0.125835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813744 deg. 2j:j @HeadingCmd: 4.813858 target range: 288.299988 and range: 288.30 m. jjjjihhhh~Bfffrfbf@J @ɛ=>~B=I 9=mrI9 EG:t;ɚAiAIE N=Ii biLx)) $?I*F%?2F!:F!BF-o0JF)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.184354G TG B O >jH] <bH] <Ha Ia  Ie 9IIe ~BIe  =&Ia .Ia 6Ie <:Ie FBI!JI!RI!ZI% =bI% =jI%L5WGqw,ŵA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>BDAT read: Rx Time:19:50:43.1592 >TRx dataTimestamp_ set to:1736365844.481190Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.4367116R@Y6 @6_<96>JJ9JJrJHJHJJsM;JJ:JHJHJJC<JJC<JJ <JJ 99 EG٣E4GyEڹ > Nusing accuracyPremultiplier from config49Ol?4Yo i7B?ZD:P:H4 AZj-FNOT Ignoring new targets: 288.30 m.Bj-OJj-O= ProNav: ac range: 288.299988 m, nav range: 284.931915 m, bearing: 191.833610 deg, approach rate: 0.034243 m/s, LOS rate: -0.134035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813566 deg. 2j=:je @mHeadingCmd: 4.813855 target range: 288.299988 and range: 288.30 m. jijijijiiihqhqhyhfffrfbf @ɛA~Bړz I! %.f;ɚ!i!I%l=I-i- i-> )))1*F?2F:FBF0JF iIi5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.689971Gd/XG B O >BMqw,Þ7ŵAFB@YF@Fc<9Ft>yFHA??_`Ȑ?Pٛy??ɨFB@F{;FCyN }BRIIZ9IZ 5٢b bR=9b,:Q f>dd jG٣hyn"; n> rNusing accuracyPremultiplier from configpv49rq?v4Yru ir:Bxz৿z?rjDr;rc;rN4~rB ~A~ɳEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 288.30 m.Bj5Jj5E ProNav: ac range: 288.299988 m, nav range: 284.945068 m, bearing: 191.783936 deg, approach rate: 0.034888 m/s, LOS rate: -0.131753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826170 deg. 2jE״:jE @MHeadingCmd: 4.814075 target range: 288.299988 and range: 288.30 m. jIjjjihhhhfffrfbfQ@ɛD~B毌 隍I TW;ɚiI=Iii O))Will construct direction to contact in vehicle frame from tetrahedron phase data.J@AJAADAT read: 19:50:43.1592 LVL= 27056, 27745, 17650, 31731, AGC= 64, IDX= 211, 0.30,-1.759,-2.797,-1.179,-1.750, PHS= 0.078,-1.000, 0.568, RAW= 167.8, 5.2, CAL= 167.9, -4.1, ROT= 342.1, 4.1 Ygot valid direction response: 19:50:43.1592 LVL= 27056, 27745, 17650, 31731, AGC= 64, IDX= 211, 0.30,-1.759,-2.797,-1.179,-1.750, PHS= 0.078,-1.000, 0.568, RAW= 167.8, 5.2, CAL= 167.9, -4.1, ROT= 342.1, 4.1 %PDAT read: Bearing 342.1, 4.1 (Local) %~Local bearing/azimuth received: Bearing 342.1, 4.1 (Local) 5DAT read: Range 10 to 50 : 287.0 m (Round-trip 382.7 ms) speed -0.1 m/s =*DAT read: user:885> *FE?2FA:FABFE72JFA BDAT read: Tx time:19:50:44.2708 $Ping request sent.]Gg{GA BI Oe > Y Ie gE Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:19:50:44.2701 %Tqw,bQŵA2 @Y2@2c<92p>y2H@\? ȍ?@ ? `tx??ɨ2 @2v;2Cy>}BBIMb@Mb@Mb@ )YMbX??y*?=A @)AIAyzAILI5٢] e3=9eA3Q e>ii mG٣iymj: > Nusing accuracyPremultiplier from config49x?4Y} i;B,?:?~D;';V4 NAk#?km k kx?ŵA:kCBkCZkǛB@"aM_pIQ@ndɿk PSצ3f?Jkt Rk&*! sqϥ@X<@B iA@#- `?0Ȼ@?"kjA*kk+#?kW 2k,BkkL kkUCkU@u addTargetRange:: Added new target pos. range: 287.000000 m, deltaT: 4.039436 s, deltaX: -1.299988 m, approachRate: -0.321824 m/s, rangeRepo size: 4  Added new target pos. range: 287.000000 m, bearing: 174.222594 deg, lat: 36.901945 deg, lon: -122.116930 deg, deltaT: 4.039436 s, deltaX: -1.299988 m, approachRate: -0.321824 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 287.00 m.BjJj ProNav: ac range: 287.000000 m, nav range: 284.667450 m, bearing: 191.435365 deg, approach rate: 0.000000 m/s, LOS rate: -0.131753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788700 deg. 2j:j@HeadingCmd: 4.813421 target range: 287.000000 and range: 287.00 m. jjjjihhhh}Bfffrfq@bf ?ɛEG~BeL' imJIi mV:E;ɚiiiIm=Iuiui}@)y)yH~>I I II}BI =&I.I6I<:I F*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G OPG ?G >G B O >NZqw,C;kŵA:@Y:7@:eKU<9: >y:H@~??`@Y?@|@;@A&?p?ɨ:@:;:CyF|BFIIjGIj5٢r<| rf=9v#Q v>tt vG٣v4Gyzr z> I  Nusing accuracyPremultiplier from config 49 }?4Y  i &? D  ; ; \4) -A)Zjy}FNOT Ignoring new targets: 287.00 m.BjjJjj ProNav: ac range: 287.000000 m, nav range: 284.679382 m, bearing: 191.387531 deg, approach rate: 0.034550 m/s, LOS rate: -0.138498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831691 deg. 2j:j @HeadingCmd: 4.814171 target range: 287.000000 and range: 287.00 m. jjjjihhhhfffrfbf?ɛI~B鸼 I >7;ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.IiE#i))EEtA*F?2F:FBF0JFGtA GtAGj-GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.խ >խ p=J 3J wJ 0J J H;J -:J ـ3J a @a @a @a @v@Y>U@>E<9>>y>H?`K?V<?@1}@αP? l?ɨ>@>;>CyJ|BNIzK[eMKKKUK  Mb@Mb@Mb@ )Y|?5^?(\µ?y-?=A @)MAIyAIIv4٢`; 8=9 Q > G٣y%C %> MNusing accuracyPremultiplier from configIU49Mɂ?U4YMɋ iMH I  I II }BI &I .I 6I <:I F`gqw,ŵA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>@Y>i@>-<9>L>y>Hi!?`ϑ??@dô?r?ɨ>@>; }V=9}yQ }> G٣yM > Nusing accuracyPremultiplier from config49?4Yq i=B?D ;. ;Yk4sB V AʳEZjFNOT Ignoring new targets: 287.00 m.Bj%Jj%  ProNav: ac range: 287.000000 m, nav range: 284.693604 m, bearing: 191.273934 deg, approach rate: 0.016949 m/s, LOS rate: -0.139134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818865 deg. 2j :j  @HeadingCmd: 4.813947 target range: 287.000000 and range: 287.00 m. jjjjihhh!h!f!f!f)rf)bf- ?ɛN~BLѼ 隽I  ;ɚiIF=Ii) i))*Fm?2Fi:FiBFm_0JFi $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GҸGGrAGi Bq O >mqw,ԸŵAN@YN@N<<9NQu >yNHF?? mS?q),!?õ?ɨN@N);NCyZ|BZrIIfoIf"5٢n  nU=9n;Q r>pp rG٣r4Gyv: v> zNusing accuracyPremultiplier from configx~49zy?~4Yz3 ix?zDz;zJ;zr4   A -B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 287.00 m.BjMJjM] ProNav: ac range: 287.000000 m, nav range: 284.700439 m, bearing: 191.221021 deg, approach rate: 0.017920 m/s, LOS rate: -0.138701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816454 deg. 2j]`:j] @eHeadingCmd: 4.813905 target range: 287.000000 and range: 287.00 m. jajajijiiihihihqhqfqfyfyrfybf}e7?ɛ%P~B%oѼ !%TƾI) -:ɚ)i)I-sL=IUiUw iUgϻ)Q)YuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.J6JxJJJK;J:JJ*F?2F:FBF`0JF"G=G=GUzK-"bLK-9K)K-VK-      pR1 GiBqO> I g Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217505Fttqw,ŵAj@Yjg@jH:<9jc >yjH K!?,?` ?@i'Z @C??ɨj@j`;jCyz|B~lIMb@Mb@Mb@ )Y(\?ʡE?~jtxyz4?=Ļ3A @)AIAyI=_I=5٢M: M5=9MQ M>QQ UG٣Qy]x ]> eNusing accuracyPremultiplier from configam49e?m4Yer iam5?u:uu?eDet;eF;ey4y } A}dzEZjFNOT Ignoring new targets: 287.00 m.BjI!JjI!% ProNav: ac range: 287.000000 m, nav range: 284.704285 m, bearing: 191.156663 deg, approach rate: 0.008425 m/s, LOS rate: -0.141006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782117 deg. 2j5:j=@EHeadingCmd: 4.813306 target range: 287.000000 and range: 287.00 m. jIjIjIjIiIhIhQhQhU}BfQfYfYrfYbf]T@ɛR~Bü  ̾I 9:ɚiI=Ii:z i}))H>I III}BI&I.I6I3<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471086*F2F:FBFJFG ̻G ?G "?G B O >dzqw,‰ŵA 0I0:ܒ@Y:\@:UT5<9: >y:H+??y `l]?`@l YD? ?ɨ:ܒ@:F;:CyF|BFsIiUu?IVsIVe$5٢~w< b=9rQ  >  G٣y޺ > %Nusing accuracyPremultiplier from config!-49%y?-4Y% i% Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975080J 4J mJ 1J J I;J :J 3J \qw,qƵAyu|BujI)y }Ay}AzK-kMK-9K)K-WK-MMb@Mb@Mb@III I)IYMl?X9v?yM7?M}=MMA M@)MAIMAIyMAY]@AIeuIeH%5٢ua u5=9uQ }>yy }G٣}4Gy > Nusing accuracyPremultiplier from config49t?4Y~ i<8?:?D;I;+4uB  AɳEZjFNOT Ignoring new targets: 287.00 m.Bj%Jj% ProNav: ac range: 287.000000 m, nav range: 284.704193 m, bearing: 191.039511 deg, approach rate: -0.007253 m/s, LOS rate: -0.145116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.779182 deg. 2j.ǻ:j/@HeadingCmd: 4.813255 target range: 287.000000 and range: 287.00 m. jjjjihhhh}Bfffrfbf$ @ɛ-U~B-Ӽ )5ϾI1 52p:ɚ1i1I5L=I=i=E i= 2)9 IIMg)QWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:50:47.0551 TRx dataTimestamp_ set to:1736365848.260785checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226714*F2F:FBF0JF G`wA %Y%`wAy%BG>uG B O >H} ~>Iy  I} II} [}BI}  =&Iy .Iy 6I} <:I} Fqw,C8 ƵA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478142bʒ@Yb,ڙ@b#<9b. >ybHsh?|?'&M ڷ? Z0W??ɨbʒ@b;bCy|BnII-jI-h 5٢=< =a=9E2Q E>AA MG٣IyUȻ U> eNusing accuracyPremultiplier from configYe49]n?e4Y]I iYim汿m?] D]":]:]4q u AyZjFNOT Ignoring new targets: 287.00 m.Bj%Jj% ProNav: ac range: 287.000000 m, nav range: 284.701233 m, bearing: 190.986778 deg, approach rate: -0.008131 m/s, LOS rate: -0.144846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816989 deg. 2jƻ:j @HeadingCmd: 4.813915 target range: 287.000000 and range: 287.00 m. jjjjihhhhfffrfbf`- @ɛW~Bk 隅̾I  :ɚiII=Ii, ik))*Fi2Fi:FiBFm2JFq YIa Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 19:50:47.0551 LVL= 25152, 32753, 16882, 32755, AGC= 65, IDX= 181, 0.45,-2.051,-3.082,-1.461,-2.004, PHS= 0.041,-1.031, 0.540, RAW= 168.1, 6.5, CAL= 167.9, -2.9, ROT= 342.1, 2.9 EYgot valid direction response: 19:50:47.0551 LVL= 25152, 32753, 16882, 32755, AGC= 65, IDX= 181, 0.45,-2.051,-3.082,-1.461,-2.004, PHS= 0.041,-1.031, 0.540, RAW= 168.1, 6.5, CAL= 167.9, -2.9, ROT= 342.1, 2.9 UPDAT read: Bearing 342.1, 2.9 (Local) U~Local bearing/azimuth received: Bearing 342.1, 2.9 (Local) mDAT read: Range 10 to 50 : 285.0 m (Round-trip 380.1 ms) speed 0.2 m/s Gu;3}*DAT read: user:886> BDAT read: Tx time:19:50:48.1708 $Ping request sent.,ڍqw,:ƵAR@YRə@R <9RO >yRH@y??`'ed?ԃ`^T?C?ɨR@R=;RCyf|BfsII{I'5٢U< uI=9}44Q }>y G٣y > Nusing accuracyPremultiplier from config49ܣ?4Y i=B'?DK;;4  Ak5X>$?k5 k1 k5= 1ƵA:k5CBk5CZk5_I@@"5RD>@P RܪpLkP@5(3ͿL5hJZ?Jk5siRk5rv*5^q[C@"(Kl?@5'Kr ̄c?߻K:?"k5B*k5Mk5'E$?k5 2k5qw,XƵA6Q@Y6@69;96; >y6Hf? ?I2 ?ɓ*|@Y?0?ɨ6Q@6k4;6CyB|BBuI F=F=UMb@Mb@Mb@QQQ Q)QYU-?~jt?{Gzt?yU?5?UD=Uף;UA U@)UAIQQyUzAIm;Im 5٢}; }(=9}*FQ > G٣4Gy > Nusing accuracyPremultiplier from config49b?4Y i?B5?:ⴿ?5D ; ;4  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 285.00 m.Bj,Jj, ProNav: ac range: 285.000000 m, nav range: 284.686523 m, bearing: 190.858584 deg, approach rate: -0.024421 m/s, LOS rate: -0.151115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768977 deg. 2jjϻ:j@HeadingCmd: 4.813076 target range: 285.000000 and range: 285.00 m. jjjjihhh h }Bfffrfbf?ɛ=Y~BE$ؼ IMȾII UǛɚQiQIUB=I]i]qZi]dN)Y)YHI IIIQ}BI =&I.I6I<:I FBIJIRIZIbIjI4E4|E=%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.*Fi2Fi:FiBFm2JFqG .- I Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994433qw,ҦrƵA6a@Y6ȧ@6k;96>y6H?׶?@#?43Zy?LDvrU??ɨ6a@6*4;4yR|BRII^WI^5٢f՝= fW=9fQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49r諀?v4Yr ir@Btz%z?rFDr:r":rä4  AZjFNOT Ignoring new targets: 285.00 m.BjJj% ProNav: ac range: 285.000000 m, nav range: 284.677490 m, bearing: 190.804310 deg, approach rate: -0.022343 m/s, LOS rate: -0.134244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812361 deg. 2j%B:j% @-HeadingCmd: 4.813834 target range: 285.000000 and range: 285.00 m. j)j1jQjQiQhYhYhYhYfafafarfabfeX?ɛZ~Bɼ 隕I m͹ɚiIϱ=Iiil))EE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247597*F5 ?2F1 :F1 BF= 0JF9 G] sA G] pAzK 2KK K K YK  $?I gG f AG ?G >GiBO>4qw,+ƵAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500402yޝ|BޝIEMb@Mb@Mb@AAA A)AYE/$?Mb?y&1?yE&1?E=E`eqq uG٣qy} }> Nusing accuracyPremultiplier from config49 ?4Y iDB`1?:?^D;;'4vB AdzEZjFNOT Ignoring new targets: 285.00 m.BjJj ProNav: ac range: 285.000000 m, nav range: 284.656921 m, bearing: 190.729515 deg, approach rate: -0.038215 m/s, LOS rate: -0.138973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750785 deg. 2j:j@HeadingCmd: 4.812759 target range: 285.000000 and range: 285.00 m. jjjjihhhh~Bfffrfbf@.?ɛ[~B:u 隕,I CɚiI(=Iiih))!Hm}>Ii ImIIm[}BIi&Ii.Ii6Im<:Ii*F?2F:FBF/1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.?P?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750718JCKK3 KK.KCKC"KCJ.JmJJJD;J:JJJ֚_qw,ƵA:@Y:c@:;9:b>y:H~??;@?@`$? ?ɨ:@:Չ;:CyF}BFIIRjIRh 5٢V= Zk=9Z(Q Z?\\ ^G٣^4Gyb9o b? fNusing accuracyPremultiplier from configdj49f?j4Yf ifGBhjEn?fnDf";f#;f:4p riApZjFNOT Ignoring new targets: 285.00 m. !I!Bj%+Jj-+= ProNav: ac range: 285.000000 m, nav range: 284.643524 m, bearing: 190.681117 deg, approach rate: -0.041537 m/s, LOS rate: -0.150059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.829987 deg. 2j=ͻ:j=r @EHeadingCmd: 4.814141 target range: 285.000000 and range: 285.00 m. jAjAjAjIiIhIhIhIhQfQfQfQrfYbf]P?ɛѼ  /I  0{ɚ i Iu=Ii|if|))!5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003851*F?2F:FBF_0JFG_GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254412Fqw,YƵA^@Y^|@^/:9^& >y^H?Y?'OL? P d?@?ɨ^@^;^Cy(}BIInI."5٢r@= =6=9E Q M>qy }G٣y; > 5Nusing accuracyPremultiplier from configE49W?E4Y^ iKBAE E?D];;p4q uAyZjFNOT Ignoring new targets: 285.00 m.Bj IJj5 ProNav: ac range: 285.000000 m, nav range: 284.626312 m, bearing: 190.615686 deg, approach rate: -0.034448 m/s, LOS rate: -0.130962 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.778882 deg. 2j=:j=$@=HeadingCmd: 4.813250 target range: 285.000000 and range: 285.00 m. jAjAjAjAiAzKEJKE9KAKEZKEhahihihififqfqrfqbfu@@ɛ\~B I BɚiI\=IEiEDfiM^)I)IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508552*F?2F:FBF@5JF"G=G=G iG G sAG B O >H] ~>IY  I] II] }BIY &IY .IY 6I] հ<:I] F~qw,pƵA6'@Y6@6?96)u >y6H<%?@?@Zpr?؇G?@??ɨ6'@6;6Cyv:}BvI ~=|}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758601J/JrJJJE;J:JJJ<J<J <J <Mb@Mb@Mb@ )Y/$? rh?{Gz?y1(?C =#<A @)AIAypAI^I5٢ ,= L=9^Q > G٣y: > Nusing accuracyPremultiplier from config49D?4Y iNBo(?:.?Dh;);Ü4 A %B*** querying acoustic contact ***j!j!ZjFNOT Ignoring new targets: 285.00 m.BjJj ProNav: ac range: 285.000000 m, nav range: 284.615051 m, bearing: 190.565533 deg, approach rate: -0.030748 m/s, LOS rate: -0.136947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824722 deg. 2j:j @HeadingCmd: 4.814050 target range: 285.000000 and range: 285.00 m. jjjjihhhh c~Bf f f rf1bf5 @ɛ 隍-I XɚiIm =Ii.iX))*F?2F:FBF_0JF IE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013509G G B O >qw, ƵA:r@Y:@:9:h >y:H@?`2?? v?"r_? ? ?ɨ:r@:1;:CyFc}BFIINfIN5٢Z'= Za=9^WQ ^>`` bG٣b4GyfB; f> jNusing accuracyPremultiplier from confighn49j?n4Yj ijQBpr򶿑r?jDj;jZ;jjɜ4vxB v1AvɳEZjFNOT Ignoring new targets: 285.00 m.BjJj5 ProNav: ac range: 285.000000 m, nav range: 284.604919 m, bearing: 190.517431 deg, approach rate: -0.029300 m/s, LOS rate: -0.139111 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830876 deg. 2j5:j5 @=HeadingCmd: 4.814157 target range: 285.000000 and range: 285.00 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfUW @ɛy}b/ 隅>yI 4պɚiIB =Iii=))*F?2F:FBFh0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262646*J4="J<G=*UG1BaO> I gzK KK K K [K BK sA:K tA] Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:19:50:50.9533 } TRx dataTimestamp_ set to:1736365852.298374 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518582oqw,ǵA@Y^ϙ@zW9. >yH`??4x ?4 ,j?`?@?ɨ@MY;Cyur}BuImMb@Mb@Mb@iii i)iYmQ? G٣yq; > Nusing accuracyPremultiplier from config49ȿ?4Y iVB|?:?DZ;=;ќ4 AZjFNOT Ignoring new targets: 285.00 m.Bj Jj  ProNav: ac range: 285.000000 m, nav range: 284.594910 m, bearing: 190.458354 deg, approach rate: -0.020691 m/s, LOS rate: -0.122119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797950 deg. 2j:j@HeadingCmd: 4.813582 target range: 285.000000 and range: 285.00 m. jjjjihh!h!h%~Bf)f)f)rf)bf-3n @ɛ]~B1 kI >ɚiIy =Iiki ())jHbH4<H>I III}BI =&I.I6I8<:I#F*F?2F:FBF_0JFG GtAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766830Je3JekJaJaJeH;Je:JaJaJe6<Je7<Je <Je <G D5G ?G ? PExceeded connect timeout, disconnecting.G B O >qw,-ǵA IZɒ@YZ]ٙ@ZR9Z+ >yZH=b??@t} `N?%ցq?;ZCyf}BfIIn5In5٢v= vl=9zOQQ z?xx ~G٣|y~f; ?  Nusing accuracyPremultiplier from config49t€?4YF i[B!%յ%?Dq;q;ל4) -A)ZjQUFNOT Ignoring new targets: 285.00 m.Bj]\ Jj]\ m ProNav: ac range: 285.000000 m, nav range: 284.588165 m, bearing: 190.415755 deg, approach rate: -0.019566 m/s, LOS rate: -0.123586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847386 deg. 2jm:jm@uHeadingCmd: 4.814445 target range: 285.000000 and range: 285.00 m. jqjqjyjyiyhyhyhhfffrfbf@s@ɛ^~BP TI sɚiI =Ii i]))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:50:50.9533 LVL= 26752, 32753, 15474, 32755, AGC= 62, IDX= 429, 0.34,-2.290, 2.967,-1.843,-2.686, PHS= 0.484,-0.584, 0.839, RAW= 163.9, -11.5, CAL= 168.5, -17.7, ROT= 341.5, 17.7 Ygot valid direction response: 19:50:50.9533 LVL= 26752, 32753, 15474, 32755, AGC= 62, IDX= 429, 0.34,-2.290, 2.967,-1.843,-2.686, PHS= 0.484,-0.584, 0.839, RAW= 163.9, -11.5, CAL= 168.5, -17.7, ROT= 341.5, 17.7 PDAT read: Bearing 341.5, 17.7 (Local) ~Local bearing/azimuth received: Bearing 341.5, 17.7 (Local) DAT read: Range 10 to 50 : 283.7 m (Round-trip 378.3 ms) speed 0.7 m/s  *DAT read: user:887> BDAT read: Tx time:19:50:52.0708 $Ping request sent./n8?yصٍCرصhر ٵr<)ٱIٵ>iٵ>ٵٵV?ٵ7@ٵM ڵ`7<@)ڵ2+Iڵƺ@iڵ2+>ڱڱ۵=xX?ƽޞ?([cɿ)۵mC?I۵M>i۵w۵K۱۱E:publishing transmit ping timeEFpublishing direction and range infoر9ص (Y?e\>/n8?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵=xX?ƽޞ?([cɿ)۱I۱i۱۱۱۱*F-?2F):F)BF-o0JF)GM +I,G B O- >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:19:50:52.0701 Ju AAJu BAqw,#gGǵAFYܒ@YF@F9F/ >yFH ?'?`r@ ?%4~t?w?@@?ɨFYܒ@F;;FCyr}BvII-UI-5٢M; U6=9e)Q m>yy G٣4Gy(; > Nusing accuracyPremultiplier from config49ƀ?4Y i`B 1I1 =?D=<R<4A EAAk '?ko| k k23ǵA:kٍCBkCZkV@"saKC@@:pfy0W@ (Y?e\>/n8?JkwRkK*3p18RML@dE.ʿ?̴8?"kk*kȇk b'?k 2kBk*&?kZs kBk:CkY$U@ addTargetRange:: Added new target pos. range: 283.700012 m, deltaT: 4.033617 s, deltaX: -1.299988 m, approachRate: -0.322288 m/s, rangeRepo size: 4  Added new target pos. range: 283.700012 m, bearing: 192.256559 deg, lat: 36.901985 deg, lon: -122.116947 deg, deltaT: 4.033617 s, deltaX: -1.299988 m, approachRate: -0.322288 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 283.70 m.BjJj ProNav: ac range: 283.700012 m, nav range: 280.454102 m, bearing: 190.814622 deg, approach rate: 0.000000 m/s, LOS rate: -0.123586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797893 deg. 2j:j@HeadingCmd: 4.813581 target range: 283.700012 and range: 283.70 m. jjjjihhhhfffrf@3q@bf`h?ɛ`~B%z !%RI! -.ɚ)i)I-t =I5i5Si5 )1)1zKEKKE9KAKE\KE RKU>JKU%?) e~GvAWill construct direction to contact in vehicle frame from tetrahedron phase data. &YvAyB*F2F:FBFp0JFGE ׹G! B) OM >H I  I 3II }BI  =&I .I 6I <:I F#qw,aǵA:"֒@Y:@:79:`2 >y:Hø?m?a ZƸ? y|?`?@ ?ɨ:"֒@:P ;:CyF}BFI~Will construct direction to contact in vehicle frame from tetrahedron phase data.J .J nJ J J D;J :J J J ֚<J ך<J  <J  ) -G٣)y- -> ENusing accuracyPremultiplier from config9M49=;ɀ?M4Y= i=fBM>?M:M쳿M?=D=;=l;=4Y ],AYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 283.70 m.Bj Jj  ProNav: ac range: 283.700012 m, nav range: 280.448883 m, bearing: 190.768492 deg, approach rate: -0.013617 m/s, LOS rate: -0.120372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836793 deg. 2j8:jk@HeadingCmd: 4.814260 target range: 283.700012 and range: 283.70 m. jjjjihhhhBf f firfibfuO?ɛa~Bz o&qw,[{ǵA6Kْ@Y6@6 96 >y6H@.ܸ? x?@7@?@rr ?@:1?u?ɨ6Kْ@67;4yR}BRIIZIZ4٢b@= bV=9bQ f>dd fG٣dyj: j> nNusing accuracyPremultiplier from configlr49n%̀?r4Yn inkBpv۳v?nDnq ;ne:n4zyB zAzʳEZj!%FNOT Ignoring new targets: 283.70 m.Bj- Jj- = ProNav: ac range: 283.700012 m, nav range: 280.444275 m, bearing: 190.725631 deg, approach rate: -0.013228 m/s, LOS rate: -0.123035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.846603 deg. 2j=਻:j=@EHeadingCmd: 4.814432 target range: 283.700012 and range: 283.70 m. jAjAjAjIiIhIhIhQhQfQfQfQrfYbf]?ɛb~Bu G+I K ɚ i I J =Ii5_i5$e)1)9*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249137GGBO> IzKe KKe s9Ka Ke ]Ke BKi :Km qA Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499768qw,FBǵA~ܒ@Y~S@~`t09~ >y~H@?? tD?Zfp???ɨ~ܒ@~c;~Cy}BIMb@Mb@Mb@ )Ym?~jt?Mb?y?D=<EA -@)IyGAII4٢5K 9=9Q > G٣4Gy{: > Nusing accuracyPremultiplier from config49Ѐ?4Y irB-?:&?Dw;;4 AdzEZjFNOT Ignoring new targets: 283.70 m.BjJj- ProNav: ac range: 283.700012 m, nav range: 280.442291 m, bearing: 190.672953 deg, approach rate: -0.004273 m/s, LOS rate: -0.113471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817153 deg. 2j-:j5 @5HeadingCmd: 4.813918 target range: 283.700012 and range: 283.70 m. j1j9j9j9i9h9h9hAhE~BfqfqfyrfybfX?ɛd~BEc %2I! %7+ɚ!i)I-!=I-i5i5)1)1H1I1 I5RII51~BI5 =&I1.I16I5i<:I5GFBIJIRIZIbIjIW4*F2F:FBF_5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754891J--J-lJ)J)J-D;J-z:J)J)J-*<J-*<J- <J- <G G B O > $?I g9qw,ǵA6@Y6@6,96 >y6H@@$? ?`C?m?q?9?ɨ6@6}B>IIFFIFt5٢RS< Ra=9R3,:Q R>TT VG٣TyV?[< Z? ^Nusing accuracyPremultiplier from configXb49ZҀ?b4YZ iZwB`bf?Z DZ;Z>;Z4h jAlZjFNOT Ignoring new targets: 283.70 m.Bj Jj  ProNav: ac range: 283.700012 m, nav range: 280.441833 m, bearing: 190.633894 deg, approach rate: -0.001348 m/s, LOS rate: -0.115003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858010 deg. 2jٝ:jt@%HeadingCmd: 4.814631 target range: 283.700012 and range: 283.70 m. j!j!j)j)i)h)h)h1h1f1f1f1rf9bf=?ɛee~Bmu: imd/Ii m2ɚiiqIu!=Ii5 i5ZZ)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008368*F?2F:FBF_0JFG>uGG>GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259530( qw,[ǵAFn@YF-@F7/9F >yFH@E?@?~v /!?Mo ?j?X?ɨFn@F;FCyR}BRIIZHIZW5٢j ]G=9ĹQ > G٣y; > MNusing accuracyPremultiplier from configA I 49Eր? 4YE8& iE~B  ?EDEɚaiaIe "!=Iuiuiuji)q)zKJQJK9KK^KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512466*F?2F:FBFJFG OPH) I)  I- kII- Y~BI) &I) .I) 6I- <:I- FG B O >Jqw,.ǵAyr}BrIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765568Mb@Mb@Mb@ )YFx? rh? G٣4Gy > Nusing accuracyPremultiplier from config49 ۀ?4Y+ iB ?: ?+DL;; 4 aA5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 283.70 m.BjM JjM e ProNav: ac range: 283.700012 m, nav range: 280.451416 m, bearing: 190.537762 deg, approach rate: 0.025286 m/s, LOS rate: -0.123220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.842237 deg. 2je!:je3@mHeadingCmd: 4.814355 target range: 283.700012 and range: 283.70 m. jijijijiiihihqhqhuBfyfyfyrfybfL@ɛUj~B]b Y]OIY eBHɚaiaIe8!=IimiY))*F)2F1:F1BF5`0JF1 IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019592GM i"GA BQ Om >uqw,jǵA6YN@Y6]@6$h:96q >y6H??M?mĠ?@#pL?*`??ɨ6YN@6[;4yV}BVII^JI^:5٢fL f^=9fQ f>hh jG٣hyn < n> rNusing accuracyPremultiplier from configpz49rހ?4Yr0 irBX?r8Dr ;rX;rU4%{B -A-ɳEZjIUFNOT Ignoring new targets: 283.70 m.BjUJjUm ProNav: ac range: 283.700012 m, nav range: 280.461273 m, bearing: 190.496429 deg, approach rate: 0.026443 m/s, LOS rate: -0.110877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.851192 deg. 2jm0:jm{@uHeadingCmd: 4.814512 target range: 283.700012 and range: 283.70 m. jqjqjqjqiqhyhhhfffrfbfm @ɛl~B\ 隽cI YSɚiIQ!=Iiy iQ;))EE*F2F:FBFo0JFJ.JnJJJD;J:JJa@a@a@a@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:19:50:54.8482 ETRx dataTimestamp_ set to:1736365856.086393Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274985Gϳ IG B OE >zK .JK 9K K _K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523409ylrw,ȵA_@Y,o@ZD9O >yH ?f~?k/?p&m$?@[? ?ɨ_@Y;Cy5^}B5IMb@Mb@Mb@ )Y/$?+?Mb`?y&?=;A )I7Ay=AITI5٢-c -4=9-lQ 5>11 =G٣9y=; => ENusing accuracyPremultiplier from configAM49EW䀜?M4YE7 iEBU?U:U9U?EIDEJ;E;E@4Y e^AaZjFNOT Ignoring new targets: 283.70 m.BjtJjt ProNav: ac range: 283.700012 m, nav range: 280.478363 m, bearing: 190.443581 deg, approach rate: 0.037450 m/s, LOS rate: -0.115801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816654 deg. 2j:j @HeadingCmd: 4.813909 target range: 283.700012 and range: 283.70 m. jjjjihhhh~Bf f f rfbf_ @ɛ%o~B-㦼 )-dI) 5dɚ1i1I53s!=I=iEiM ;)Q)YHI III&I.I6I><:I(F*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 19:50:54.8482 LVL= 23776, 32753, 14242, 32755, AGC= 66, IDX= 390,-0.28,-1.821,-2.747,-1.340,-2.373, PHS= 0.641,-0.326, 1.030, RAW= 166.2, -21.5, CAL= 169.7, -27.5, ROT= 340.3, 27.5 }Ygot valid direction response: 19:50:54.8482 LVL= 23776, 32753, 14242, 32755, AGC= 66, IDX= 390,-0.28,-1.821,-2.747,-1.340,-2.373, PHS= 0.641,-0.326, 1.030, RAW= 166.2, -21.5, CAL= 169.7, -27.5, ROT= 340.3, 27.5 PDAT read: Bearing 340.3, 27.5 (Local) ~Local bearing/azimuth received: Bearing 340.3, 27.5 (Local) DAT read: Range 10 to 50 : 279.8 m (Round-trip 373.1 ms) speed 0.4 m/s *DAT read: user:888> BDAT read: Tx time:19:50:55.9709 $Ping request sent.q;?u,4|?o1ok׿)#ON?Iп>i :publishing transmit ping timeؙ Fpublishing direction and range info9qa? Pbq?y )Ii )Iiq;?u,4|?o1ok׿)IiG !j; i Iq Gq B O >u rw,O[0ȵAj._@Yjn@j;N9j<< >yjH?z~?k@0?bbhElj?uY??ɨj._@jEx;jCyM}BIISI75٢ee7 mZ=9mǺQ m>qq uG٣u4GyE > Nusing accuracyPremultiplier from config49耜?4Y&= iB<?VD::4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:50:55.9702 kmK3.?kmf# ki kmߣ%ȵA:kmCBkmCZkm`Xd@"m}[U@"CyxǹohF7DT@mqa? Pbq?JkmRkm*m=wdonrw,4JȵAZ}K@YZZ@Z"k9Z >yZH`Dh??K ?y(Pd?@n?Ҳ?ɨZ}K@Z;ZCyf-}BfIInIn_4٢v褽 vS=9zQ z>xx ~G٣|y~ͻ >  Nusing accuracyPremultiplier from config49Z퀜?%4YB iB)55?dD;G;%4Q e#AiZj FNOT Ignoring new targets: 279.80 m. AIMgBjm5 Jju5 } ProNav: ac range: 279.799988 m, nav range: 280.507141 m, bearing: 190.354568 deg, approach rate: 0.039389 m/s, LOS rate: -0.123454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840896 deg. 2js:j@HeadingCmd: 4.814332 target range: 279.799988 and range: 279.80 m. jjjjihhhhfffrfbf@v3?ɛ5t~B5µؼ 9=I9 =,偻ɚ9i9I=!=IEie imA,<;)i)iE}J>E}>zK>KK+9KK`K Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F!:F!BF%0JF!G-tA G)G% ~q;H I  I YII ;~BI &I .I 6I 9<:I #FG B O% >rw, dȵAF(A@YFP@Fd9Foa >yFH`?@T?@^@u 4d?T?o? >?`qq uG٣qy< > %Nusing accuracyPremultiplier from config-49:?-4YI iB-3?-:-g-?vD;I;G-4Y ]A]ƳEB*** querying acoustic contact ***jjZjquFNOT Ignoring new targets: 279.80 m.Bj}f Jj}f  ProNav: ac range: 279.799988 m, nav range: 280.529297 m, bearing: 190.299967 deg, approach rate: 0.049103 m/s, LOS rate: -0.120999 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811398 deg. 2j:j @HeadingCmd: 4.813817 target range: 279.799988 and range: 279.80 m. jjjjihhhh%H~Bf!f!f)rf)bf-\?ɛw~B-  -$?I)5I1 5\ɚ1i1I5p!=I=i=zi=;)9)a*F?2F:FBF 1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G .A;G B Oe >rw,~ȵAF<@YFK@Fmڕ9F>yFH@C?`? CQ?K$m? ?? j?ɨF<@F\;FCyN|BNIIZ:IZ# 5٢bŽ bT=9bQ b>dh jG٣n4Gyn(Ⱥ n> rNusing accuracyPremultiplier from configpv49r?v4YrCO irBxzxz?rDr;r;r34| ~o AZj!-FNOT Ignoring new targets: 279.80 m.Bj-Jj-= ProNav: ac range: 279.799988 m, nav range: 280.547821 m, bearing: 190.254554 deg, approach rate: 0.055953 m/s, LOS rate: -0.137163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.838957 deg. 2j=D:jE@HeadingCmd: 4.814298 target range: 279.799988 and range: 279.80 m. jjjjihhhhfffrfbf@?ɛ5y~B5 15ϾI1 5ɚ9i9I="=IEii%:)!)!*JR="Ja=J(JpJJJ,@;J:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495492*F?2F:FBF@5JF I%g ~~GG : `wA 5 jY5 `wAy5 jBG B O >zKM "KKM h9KI KM aKM )$  BKU rA:KQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747498%rw,*ȗȵA6UE@Y6T@6S9961>y6H6?Ɇ?@?l? 膒?W??ɨ6UE@65;6Cyb|BfeIMb@Mb@Mb@ )YL7A`?RQ?~jty+'?=D @)AIQAyIeI15٢ɽ ;=9$9Q > G٣y!; > Nusing accuracyPremultiplier from config49;?4YV iB(?:H?DS;;D;4|B )!AdzEZj!-FNOT Ignoring new targets: 279.80 m.Bj-Jj-= ProNav: ac range: 279.799988 m, nav range: 280.570068 m, bearing: 190.196123 deg, approach rate: 0.051165 m/s, LOS rate: -0.134372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799907 deg. 2jEo:jE% @MHeadingCmd: 4.813616 target range: 279.799988 and range: 279.80 m. jIjIjIjIiIhIhQhYh]}BfYfafirfibfm ?ɛ{~BI 隍MI ɚiIb\"=IiEXi)3;))ZHyRH}@AH~>I I-II}BI&I.I6IG<:I.F*F!2F!:F!BF-`0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999340G :G G rAG B O > ! I! +rw,ȵA6uG@Y6V@6敼969>>y6HG??@{ &?*o?}?`Q{?k?ɨ6uG@6};6CyB|BB`IIJqIJ#5٢VĿ Z^=9ZQ Z>\\ ^G٣\yb9: b> fNusing accuracyPremultiplier from configdj49fj?j4Yf\ ifBhj@n?fDf*:f:fA4p rM!ApZj  FNOT Ignoring new targets: 279.80 m.BjJj ProNav: ac range: 279.799988 m, nav range: 280.589142 m, bearing: 190.146748 deg, approach rate: 0.051890 m/s, LOS rate: -0.134316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827073 deg. 2j\:j @HeadingCmd: 4.814091 target range: 279.799988 and range: 279.80 m. jjjjihhhhfffrfbf @}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251721ɛ}~B" 隍I tɚiI"=Iivi;;))*F2F:FBF_0JFG$;G J J AAB O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503448Je +Je fJa Ja Je B;Je ]:Ja Ja 2rw,ȵA2@@Y2)P@2x'92>y2H`S?@؉?` \y?t?ē?OS??ɨ2@@2v;2Cy>|BVLII^~I^E)5٢f jH=9r!Q v>x| G٣y   > Nusing accuracyPremultiplier from config499 ?4Yc iB!%Z%?D;Q;H4) -!A)ZjQUFNOT Ignoring new targets: 279.80 m.Bj]Jje ProNav: ac range: 279.799988 m, nav range: 280.610657 m, bearing: 190.091204 deg, approach rate: 0.052026 m/s, LOS rate: -0.134305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808567 deg. 2jX I:jb @HeadingCmd: 4.813767 target range: 279.799988 and range: 279.80 m. jj j j ihhhIhQfYfafrfbfd@ɛ~B6 }I %Իɚ!i!I-"=Imim imؕ;)i)izKEdLKAKAKEbKERKU?JKU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756517*F?2F:FBF`0JFG] .A;Hi Ii  Im IIm }BIi &Ii .Ii 6Im <:Im FBI1JI1RI1ZI5 =bI5 =jI5\4G B O >8rw,tȵA67@Y6RG@696T>y6H˻?``?n? ?ɨ67@6\g;6Cy>h|BB:IjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008251-Mb@Mb@Mb@))) )))Y-"~?Mb?{Gzy-3?-=-#-A -@)-AI-7A)y-AI=zI='5٢Ml UB=9U#Q U>Ya eG٣e4Gyew) e> uNusing accuracyPremultiplier from configq}49u9?}4YuKk iuB5?:?uDu7;u;u8P4) -E"A1]B*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 279.80 m.BjJj ProNav: ac range: 279.799988 m, nav range: 280.630493 m, bearing: 190.030816 deg, approach rate: 0.044396 m/s, LOS rate: -0.135144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794039 deg. 2j~:jO@ HeadingCmd: 4.813514 target range: 279.799988 and range: 279.80 m. j j j j ihhhhr}Bfffrf9bfE@k@ɛ~B92 隍aI +ɻɚiI0#=Iii>:)) I*FM?2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:50:58.7025 TRx dataTimestamp_ set to:1736365859.864717checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260561G} :G G ?GQ B O >?rw,4ȵA6p-@Y6<@6E96>y6Hax?? ]@?1?BH?(??ɨ6p-@6j܇;4yBU|BB.IIJIJ*5٢RE RW=9RarQ R>TT VG٣TyZ\ Z> ^Nusing accuracyPremultiplier from config\b49^?f4Y^)r i^Bdf/f?^D^A;^2;^V4n~B r"ArƳEZj FNOT Ignoring new targets: 279.80 m.Bj  2Jj  2 ProNav: ac range: 279.799988 m, nav range: 280.648346 m, bearing: 189.976138 deg, approach rate: 0.050829 m/s, LOS rate: -0.155666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811163 deg. 2j%ջ:j% @-HeadingCmd: 4.813813 target range: 279.799988 and range: 279.80 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bfE݄ @ɛm~BuE qum Iq ջɚiI8z#=Ii%RIi%k9)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512293*F2F:FBF0JF  $?IgGt:G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767092zK 2KK K K cK BK sA:K sAErw,ɵA6@Y)@ 9>yH`6ߺ?`?@oz4k?`?? 5?@ƻ?ɨ6@;騅CyJ|B'IuMb@Mb@Mb@qqq q)qYuK7A?/$?y&1|yu B?u=u`uvA u@)uAIuAqyuAIIy/5٢ .=9kQ > G٣y > Nusing accuracyPremultiplier from config49#?4Yr{ iB>C?:n?DΥ;0;_4 "AZj)5FNOT Ignoring new targets: 279.80 m.Bj5/1Jj5/1E ProNav: ac range: 279.799988 m, nav range: 280.663635 m, bearing: 189.902537 deg, approach rate: 0.032181 m/s, LOS rate: -0.154905 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754397 deg. 2jEԻ:jM@MHeadingCmd: 4.812822 target range: 279.799988 and range: 279.80 m. jQjQjQjQiQhQhQhYh]}BfYfYfarfabfe-Q@H I  I II Q}BI &I .I 6I <:I FɛM~BM. IMII U/ɚQiQIU#=I]i]Q,i]xE)Y)*FY2FY:FYBF]p0JFYJ-JsJJJD;J:JJJaJaWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 19:50:58.7025 LVL= 23536, 25953, 15442, 31715, AGC= 60, IDX= 485, 0.05, 1.770, 0.637, 2.401, 1.774, PHS= 0.084,-1.090, 0.624, RAW= 168.0, 5.1, CAL= 168.1, -4.1, ROT= 341.9, 4.1 MYgot valid direction response: 19:50:58.7025 LVL= 23536, 25953, 15442, 31715, AGC= 60, IDX= 485, 0.05, 1.770, 0.637, 2.401, 1.774, PHS= 0.084,-1.090, 0.624, RAW= 168.0, 5.1, CAL= 168.1, -4.1, ROT= 341.9, 4.1 UPDAT read: Bearing 341.9, 4.1 (Local) ]~Local bearing/azimuth received: Bearing 341.9, 4.1 (Local) eDAT read: Range 10 to 50 : 245.5 m (Round-trip 327.4 ms) speed 0.2 m/s m*DAT read: user:889> uBDAT read: Tx time:19:50:59.8209 u$Ping request sent.u 'Lrw,2ɵA2l @Y2@2^˼92kC>y2H@ba?ڏ?nz@??@{?;? J?ɨ2l @2\;0yN,|BNIIVIV)5٢^箽 ^n=9bQ b?`` bG٣f4Gyf f? nNusing accuracyPremultiplier from confighn49j?n4Yj ijBprr?jDj:j:je4t vC#Axk-ҡ1?k- k) k-'ɵA:k-uCBk-sCZk-hB@"-;=ǷHm[u M@-U2kɿJ#L[T^:?Jk-Rk-`|*-:JPn64L9@SI<@-S2@a?rdhٽ?"k-gA*k-rk-L1?k-"S 2k-VBk- b'?k-"S k-,Bk-Ck-#C@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 245.500000 m, deltaT: 4.032839 s, deltaX: -34.299988 m, approachRate: -8.505172 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 279.80 m.Bj,Jj,- ProNav: ac range: 279.799988 m, nav range: 280.674377 m, bearing: 189.849799 deg, approach rate: 0.030767 m/s, LOS rate: -0.151039 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816980 deg. 2j5Pϻ:j5 @=HeadingCmd: 4.813914 target range: 279.799988 and range: 279.80 m. j9j9j9j9i9h9hAhAhAfAfIUWill construct direction to contact in vehicle frame from tetrahedron phase data.firfn@bf =?ɛ~BC(K zI ;ɚiI-$=I-i5mEi5J^)1)1*F?2F:FBF3JF"G=G=G ܾG G tAG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O% >C Srw,vLɵA2i@Y2 @2׼92ev=y2H?t? `,? X*? ??`?ɨ2i@2];0y>C|BB#IIJyIJ'5٢R4h= RL=9RkQ R>TT VG٣TyZB Z> ^Nusing accuracyPremultiplier from config\b49^*%?b4Y^ i^B`f쭿f?^D^%;^h;^l4h j"Ah aIaZjFNOT Ignoring new targets: 279.80 m.Bj/Jj/ ProNav: ac range: 279.799988 m, nav range: 280.686768 m, bearing: 189.787692 deg, approach rate: 0.030613 m/s, LOS rate: -0.153447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788874 deg. 2jһ:j@HeadingCmd: 4.813424 target range: 279.799988 and range: 279.80 m. jjjjih hhAhAfIfQfrfbfG?ɛ~B< I) -ɚ)i1I5g^$=I=i=iE`)A)imWill construct direction to contact in vehicle frame from tetrahedron phase data.zKFKK9KKdK*F}?2Fy:FyBF}3JFyH! I!  I% II% }BI%  =&I! .I! 6I% #<:I% FG xG B O >5Yrw,fɵAJcKk3 KkKcKc"KcJF*JFlJDJDJFA;JFz:JDJDJF#<JF$<JF <JF =yVH??`(?ˏ?T?隿??ɨVڒ@V};VCbWill construct direction to contact in vehicle frame from tetrahedron phase data.ybK|Bf(IeMb@Mb@Mb@aaa a)aYeK7?~jt?Mb`?yeI?e=e;eA e@)eAIeAayeQAI^I5٢#< ;=9jQ > G٣y > Nusing accuracyPremultiplier from config49*?4Y iBJ?:g?-DQ;!E;s4B "AȳEuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 279.80 m.Bj-Jj- ProNav: ac range: 279.799988 m, nav range: 280.694580 m, bearing: 189.716692 deg, approach rate: 0.016706 m/s, LOS rate: -0.151819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762194 deg. 2jbл:j@HeadingCmd: 4.812958 target range: 279.799988 and range: 279.80 m. jjj QIUgjiQhQhQhahe,}Bfaffrfbf>?ɛ~B; XI  ɚiI$=IEiEaiEa)A)I*F2F:FBF_5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.G TG B O >`rw,|ɵAB@YB)͙@B9BN/>yBH4? ?f `̸?@?}??@ ?ɨB@Bn;BCyJT|BJ-IIVVIV5٢^< ^Z=9bQ b>`d fG٣f4Gyf f> jNusing accuracyPremultiplier from confighr49jo/?r4Yj ijŎBprܰr?j@Dj;j;j2z4x z"AxZjFNOT Ignoring new targets: 279.80 m.BjRJj%R5 ProNav: ac range: 279.799988 m, nav range: 280.700439 m, bearing: 189.656675 deg, approach rate: 0.018007 m/s, LOS rate: -0.184446 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795139 deg. 2j5*:j=w@EHeadingCmd: 4.813533 target range: 279.799988 and range: 279.80 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]@X?ɛ~BJP] 隍K I QɚiI$=Ii -i5))*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497361G ]G?G>GBO$> 9I9} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748412zKU KKU 9KQ KU eKU Mfrw,mɵAyj{|BjFIMb@Mb@Mb@ )YJ +?V-?~jt?yH?m=D< )lAI$AyAII(*5٢m= m1=9mQ u>qq uG٣qy} }> Nusing accuracyPremultiplier from config49r4?4Y iώBFI?:泿?WD<a;=4 "AųEZjimFNOT Ignoring new targets: 279.80 m.Bju/Jju/ ProNav: ac range: 279.799988 m, nav range: 280.699524 m, bearing: 189.582903 deg, approach rate: -0.001900 m/s, LOS rate: -0.153097 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.753871 deg. 2j#һ:j@HeadingCmd: 4.812813 target range: 279.799988 and range: 279.80 m. jjjjihhhh4}BHI III}BI =&I.I6I<:IFfff!rf!bf%`a?ɛ~BP) 隕I xɚiIc%=IiiPw.))J)JoJJJ@;J:JJJw<Jw<Jc <Jc <Will construct direction to contact in vehicle frame from tetrahedron phase data.?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001320*F?2F:FBFJF ! I! G JG B O >oqlrw,0ɵA>^@Y>ƥ@>/ 9>%>y>HĶ?}?@3? d?`E?`v?A?ɨ>^@>V;>CyJ|BJ`IIRIR.5٢Zv= Zl=9^ Q ^?\` bG٣`ybEc b? jNusing accuracyPremultiplier from configdj49f8?j4Yf if؎Blnr?fhDfj;f;fK4t vi!AtZjFNOT Ignoring new targets: 279.80 m.BjCJjC ProNav: ac range: 279.799988 m, nav range: 280.697815 m, bearing: 189.527373 deg, approach rate: -0.005247 m/s, LOS rate: -0.170484 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808598 deg. 2j:jc @HeadingCmd: 4.813768 target range: 279.799988 and range: 279.80 m. jjjjihhhhfffrfbf@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252648ɛIMk.> IMII vɚiI(%=IiiY0y)) *F2F:FBFJFG-,G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504453O >$Ysrw, ɵA b $?I`yj|BntIIvyIv'5٢~= ~F=9Q > G٣ 4Gy   > Nusing accuracyPremultiplier from config49yyrw,%ɵAJ0J2cJ0J0J0J2ϣ:J0J0J0J0J2<J2yBH?@p? : ? n G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49@? 4YO iB +:  Z: 洿?D+;>4A E< AAZjFNOT Ignoring new targets: 279.80 m.Bj1Jj1  ProNav: ac range: 279.799988 m, nav range: 280.693726 m, bearing: 189.391705 deg, approach rate: -0.005322 m/s, LOS rate: -0.155443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766622 deg. 2j [ջ:j-c@5HeadingCmd: 4.813035 target range: 279.799988 and range: 279.80 m. j1j1j1j1i9h9hAhAhAfAfIfIrfabfe@ Igɛx ˾I i)ɚ i I @%=Iiim))*F?2F:FBFo0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:19:51:02.5942 eTRx dataTimestamp_ set to:1736365863.897318echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262136G iGa Bi O >'krw,nʵA6mu@Y6Մ@696s>y6H⼵?? 1 Ѷ?c?W5? ?ij?ɨ6mu@6 ;6CyR2}BRIIZeIZ15٢bM$> bY=9fPRQ f>dd fG٣dyj> j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv49nD?v4Yn inBv :tv1:v z?nDnK(;nM?nۙ4| ~DA|B*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 279.80 m.Bj5 =Jj5 =E ProNav: ac range: 279.799988 m, nav range: 280.691711 m, bearing: 189.332962 deg, approach rate: -0.005667 m/s, LOS rate: -0.165271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798956 deg. 2jE:jM @MHeadingCmd: 4.813600 target range: 279.799988 and range: 279.80 m. jIjQjQjQiQhQhQhYhYfafafarfabfeY @ɛ  H  I '-ɚ1i1I=<%=I=i=DS iE!)A)A*Jq"Jup=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513325*F)2F):F)BF5 2JF1 IG0;G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:51:02.5942 LVL= 21296, 27105, 11922, 25587, AGC= 59, IDX= 126, 0.02,-2.330, 2.960,-1.726,-2.376, PHS= 0.134,-0.900, 0.647, RAW= 169.0, 1.8, CAL= 169.9, -6.8, ROT= 340.1, 6.8  Ygot valid direction response: 19:51:02.5942 LVL= 21296, 27105, 11922, 25587, AGC= 59, IDX= 126, 0.02,-2.330, 2.960,-1.726,-2.376, PHS= 0.134,-0.900, 0.647, RAW= 169.0, 1.8, CAL= 169.9, -6.8, ROT= 340.1, 6.8  PDAT read: Bearing 340.1, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 340.1, 6.8 (Local)  DAT read: Range 10 to 50 : 276.8 m (Round-trip 369.1 ms) speed 0.7 m/s  *DAT read: user:890>  BDAT read: Tx time:19:51:03.6709  $Ping request sent. e fffe ˡ%?e Z<@e = e =@)e Ie @ie =a a e O >?)oU#?o?)e TZ?Ie *sie *ۿe 2oa a  :publishing transmit ping time  Fpublishing direction and range infoa 9e GTJNI̫?ya a a a a )a Ia ia a a a a a )a Ia ia a a e O >?)oU#?o?)a Ia ia a a a zK JK h9K K gK rw,aʵABK:Ky-f}B5I        Mb@Mb@Mb@jH<bHH>I IIIz}BI&I.I6I:IBIJIRIZIbIjIª$4 )Y/$?Q?Q?y&1?\=<A @)~AIAyQAIM^IM5٢]= ] =9Q > G٣4Gy > Nusing accuracyPremultiplier from config49H?4Y iBT:1?:x?D ;;ۢ4 tAkn{^'?kpS2 k kʵA:kfCBkwCZkiE@"OBd%pHsz P@GTJNI̫?Jk*ۿRk2o*rZ>0qu^d/@OJ!-D;@&Dnzrw,:ʵA:Yx@Y:@:Ӣ 9:l >y:Hӵ??|[?? ?`??ɨ:Yx@:2 ;8yj}BjIIr%Ir5٢=<> =Q=9EQ E>AI MG٣IyM[q: M> UNusing accuracyPremultiplier from configQ]49UK?]4YU iUBaeqe?UDU;U2;U4mB uAuȳEZjFNOT Ignoring new targets: 276.80 m.Bj5Jj5 ProNav: ac range: 276.799988 m, nav range: 273.612793 m, bearing: 176.655390 deg, approach rate: 0.144255 m/s, LOS rate: -0.158954 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810043 deg. 2j-ڻ:j @HeadingCmd: 4.813793 target range: 276.799988 and range: 276.80 m. jjjjihhhhfffrfbf[?ɛ0  gI  4ɚ i I $=IiJ$iƏ))*F2F:FBF`5JFJQJQJQJQJQJQJQJQa]@a]@a]@a]@eWill construct direction to contact in vehicle frame from tetrahedron phase data.G]͍G1 BA O] > 1 I9 C֔rw,ITʵAOq@Y@a'9 / >yH@]? ?ĘԶ???4?`?ɨOq@A;y%}B%IMb@Mb@Mb@ )YCl?Q?Q?yd?<\=3A @)AI;AyAWill construct direction to contact in vehicle frame from tetrahedron phase data.IIH4٢= 3=9+lQ > G٣yA > Nusing accuracyPremultiplier from config49zN?4YR i B?:򸿑?D#<<4 AZjFNOT Ignoring new targets: 276.80 m.BjJjzKBJK9KKhKRK ?JK  ?5 ProNav: ac range: 276.799988 m, nav range: 273.663666 m, bearing: 176.598397 deg, approach rate: 0.106748 m/s, LOS rate: -0.119568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804240 deg. 2j=:jE @MHeadingCmd: 4.813692 target range: 276.799988 and range: 276.80 m. jIjIjIjIiIhIhQhQhU~BfQfYfarfabfe?ɛϽ 隕@I 7ɚiI$=IiI'iߖ))*F?2F:FBF.2JFH>IC I'II}BI =&I.I=D6Ḭ<:I F} Will construct direction to contact in vehicle frame from tetrahedron phase data.G 5G B O >Brw, nʵA>z@Y>@>ѐ+9>!>y>H(? =?s`{ ?[?@p?` ?ɯ?ɨ>z@>;>CyR~BRCIIZ IZe4٢bYl> bu=9fHQ f?dh jG٣j4G pIrgyn S; v? ~Nusing accuracyPremultiplier from configxe49zP?m4Yz iz+Bim̸m?zDz7{-rw,u"ʵAJ6(J6^J60J4J6,@;J68:J6ـ3J4B@YB욙@B+9BE >yBHk?:?`K?^? Au?`?@^?ɨB@B;BCyN2~BNTIVWill construct direction to contact in vehicle frame from tetrahedron phase data.I^;I^ 5٢Es= E:=9M2Q M>IQ UG٣QyU; U> eNusing accuracyPremultiplier from configYm49]S?m4Y] i]9Bquu?]D]7:]X:]4y }SAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 276.80 m.Bj:Jj: ProNav: ac range: 276.799988 m, nav range: 273.751251 m, bearing: 176.502251 deg, approach rate: 0.117314 m/s, LOS rate: -0.127842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812264 deg. 2jy:j @HeadingCmd: 4.813832 target range: 276.799988 and range: 276.80 m. jjjjihhhhfffrfbf@?ɛڒ I /:ɚiI$=I-i-M*i-&))))E%F= 9I9*F2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.G͍G B zK KK 9K K iK Ou >XJrw,ŢʵAHIC I~IIx~BI&I.I6I<:I Ff@YfǙ@f&9f  >yfH@˷? ?V ???p?ά?ɨf@f1;fCyn`~BnpIMb@Mb@Mb@ )YK7?{Gz?V-?yI ?#=<A )AIAyzAIFIt5٢= F=9 Y;Q > G٣y'U< > Nusing accuracyPremultiplier from config49V?4Yn iEB ?:ʴ? D1; 2;XƝ4 AZjFNOT Ignoring new targets: 276.80 m.BjJj] ProNav: ac range: 276.799988 m, nav range: 273.800659 m, bearing: 176.455983 deg, approach rate: 0.113953 m/s, LOS rate: -0.106692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.836407 deg. 2j]q:je]@HeadingCmd: 4.814253 target range: 276.799988 and range: 276.80 m. jjjjihhhhKBfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255965bf@"@ɛquZf qu)Iy }:ɚyiyI}g#=Ii+ ,i!=2)) AIEgEM >=*F 2F :F BF 2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507839GeGm?Gm>G9BIO ?Hrw, bʵA:<@Y:@:t9:>y:H?`?7Y¿t(?@B?`N?x??ɨ:<@:ׇ;:CyFs~BF{IIN-IN`5٢V0= V!=9Vҁ;Q Z>XX ^G٣^4Gy^< ^> bNusing accuracyPremultiplier from config`f49bkZ?f4Yb ibTBhjj?bDb:b;b8ϝ4rB r]AvƳEZj  FNOT Ignoring new targets: 276.80 m.Bj Jj % ProNav: ac range: 276.799988 m, nav range: 273.863831 m, bearing: 176.399321 deg, approach rate: 0.129701 m/s, LOS rate: -0.116309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805241 deg. 2j-:j- @-HeadingCmd: 4.813710 target range: 276.799988 and range: 276.80 m. j1j1j1j9i9h9h9hAhAfAfAfIrfIbfM@@ɛ~B|T I ,;ɚiIGM#=I i U,i (q) )EE*E"EJu+JuiJu2JqJuB;Ju:Juc3JqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759085 I *FU?2FQ:FQBFU`5JFQu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015104G .-zKU KKU 9KQ KU jKU G B O >rw,OʵAF$@YF&4@F9Ff(>yFH 0?R{?{¿@E?@7+??K?3?ɨF$@FU;FCyN~BNI%Mb@Mb@Mb@!!! !)!Y%RQ??{Gz?y%?%L=%#<%A !)% AI%A!y%GAIE2IE5٢U= U;=9Ul@;Q U>YY ]G٣Yyey+< e> Nusing accuracyPremultiplier from configyHIC III~BI&I.I6II<:I0Fm49}2^?4Y}t i}\B5?:`?}+D}E=}=}֝4 AZjFNOT Ignoring new targets: 276.80 m.BjۺJjۺ ProNav: ac range: 276.799988 m, nav range: 273.922455 m, bearing: 176.353937 deg, approach rate: 0.124163 m/s, LOS rate: -0.096099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.839066 deg. 2j烻:j@-HeadingCmd: 4.814300 target range: 276.799988 and range: 276.80 m. j1j1j1j1i1h1h1h9h=Bf9f9fArfAbfew @ɛ~B}. 隅MȽrw,ʵA6G@Y6HW@6k96>y6HG?`w?8p¿?M?`o,?@k\? ?`?ɨ6G@6D;6CyB~BBII@IJ>IJ 5٢R(< RW=9Rn;Q V>TT VG٣TyZ8< Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515056 jNusing accuracyPremultiplier from config\j49^a?n4Y^r i^cBprӮr?^8D^;^ޫ;^ݝ4t vAtZjFNOT Ignoring new targets: 276.80 m.BjJj򺝊  ProNav: ac range: 276.799988 m, nav range: 273.973877 m, bearing: 176.314924 deg, approach rate: 0.139521 m/s, LOS rate: -0.105832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858170 deg. 2j C:j z@HeadingCmd: 4.814633 target range: 276.799988 and range: 276.80 m. jjjjihhhhf!f!f!rf!bf% @ɛ'   BDAT read: Tx time:19:51:07.5210  $Ping request sent. 5 Fpublishing direction and range infoر9صȚzſMUnu₩Ib^?yصCرص[صqV ٵ4)ٵeIٵ@iٵq=ٵAٵ&1?ٵn?@ٵs= ڵ<@@)ڵIڵ@iڵ=ڱڱ۵K_?Qgw??)۵Fg?I۵{ti۵޿۵<۱۱m :publishing transmit ping time u Fpublishing direction and range infoر9صȚzſMUnu₩Ib^?yرررر I ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵K_?Qgw??)۱I۱i۱۱۱۱ &G) I rw,˵ABg@ ^Y\y^ BYBv@B 9B->yBHC?@-u?W¿`k)8?@5?௜??!?ɨBg@B};BCyr~BrIIE9IE 5٢M< 9=9U;Q > G٣4Gy5a < => Nusing accuracyPremultiplier from config49e?4Y ikBAMTM?GDA<<4Q UAQk*(?k$5ތ k k ˵AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:51:07.5203 :kCBkԇCZkDE@"D]Fzpp/VH@ȚzſMUnu₩Ib^?Jk޿Rk<*,AVqAQ,@(Z%@Rbi@?HBlC?"k_fA*ktk'?kQ 2kBk'?kQ kVBkCk=E@ addTargetRange:: Added new target pos. range: 273.500000 m, deltaT: 3.787833 s, deltaX: -3.299988 m, approachRate: -0.871207 m/s, rangeRepo size: 4  Added new target pos. range: 273.500000 m, bearing: 176.979979 deg, lat: 36.902025 deg, lon: -122.116301 deg, deltaT: 3.787833 s, deltaX: -3.299988 m, approachRate: -0.871207 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 273.50 m.BjJj ProNav: ac range: 273.500000 m, nav range: 273.291534 m, bearing: 176.979882 deg, approach rate: 0.000000 m/s, LOS rate: -0.105832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819130 deg. 2j:j @ HeadingCmd: 4.813952 target range: 273.500000 and range: 273.50 m. j j j j i h hhhf9f9f9rf=q@bfEIC IIICBI&I.I6I <:IF*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ˨;G B O >"rw,.˵A HIHz[r@YzÁ@z 9zSg>yzH?@t?=¿`ʅ?c?` ??U?2?ɨz[r@zC;zCy~BIeMb@Mb@Mb@aaa a)aYerh|?Q?~jtx?ye>e\=e;eA a)ehAIeMAayezAII4٢:? 5=9:Q > G٣yD; > Nusing accuracyPremultiplier from config49+j?4Y irBu>:}?UD3;;!4 AEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 273.50 m.BjUXJj}X ProNav: ac range: 273.500000 m, nav range: 273.355042 m, bearing: 176.937955 deg, approach rate: 0.163813 m/s, LOS rate: -0.108122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.849437 deg. 2jh:j:@HeadingCmd: 4.814481 target range: 273.500000 and range: 273.50 m. jjjjihhhhBfffrfbf(T?ɛ=~B=3 AE ;IA EC:ɚAiAIE!=IMiMw(iU%7;)Q)q*F?2F:FBF`0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M=UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G ~q;G B O >rw,nkH˵A:n@Y:X~@:,D9:D>y:H~? u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218561zK ?LK 9K K lK *rw,Ab˵AHdId IfIIflBIf =&Id.Id6If<:If FBIJIRIZI =bI =jI4yEn~BEyIQUAMb@Mb@Mb@ )Y{Gz?I +?~jtxy?9=Ļ @)AI7AyA15AAI5I5|4٢Eg E3=9MQ M>II UG٣U4Gy] ]> eNusing accuracyPremultiplier from configam49eVs?m4YeE ie}Bm?m:mu?enDe;e;e4}B }~A}ųEZj)UFNOT Ignoring new targets: 273.50 m.BjUJjU㺝m ProNav: ac range: 273.500000 m, nav range: 273.484802 m, bearing: 176.857606 deg, approach rate: 0.167601 m/s, LOS rate: -0.099448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834108 deg. 2j:j @HeadingCmd: 4.814213 target range: 273.500000 and range: 273.50 m. jjjjihhhh;Bfffrfbf!?J+JjJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470065JJB;Jp:JJJИrw,|˵ARČ@YR,@R9R5 >yRH`l?$x?`k@5?@N0?t?@/?@?ɨRČ@RK;RCyvO~BveII~TI~5٢ [ X=9[;Q > G٣y< %> -Nusing accuracyPremultiplier from config!549%x?54Y%? i%B15 =?%{D% ;% ;%4A EAAZjquFNOT Ignoring new targets: 273.50 m.Bj}Jj} ProNav: ac range: 273.500000 m, nav range: 273.551208 m, bearing: 176.818744 deg, approach rate: 0.184224 m/s, LOS rate: -0.107784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.858630 deg. 2j:j@HeadingCmd: 4.814641 target range: 273.500000 and range: 273.50 m. jjjjihhhhfff rfbf`Q?ɛe~Be aeI >;ɚiI?.!=Ii):%iн!<))*F?2F:FBF1JF*JUC="JQuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973006  I G G B O5 >trw,Uߖ˵Ae@Ye"@ee9e[>yeH@E?\z??s? k?`?`;?ɨe@e䗈;eCy޵#~B޵JIILI5٢E?ƽ M8=9UL;Q ]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2242599A EG٣AyMW; M> UNusing accuracyPremultiplier from configQ]49U ~?]4YU iUBaeߣe?UDUe";U";U 4i mAiZjFNOT Ignoring new targets: 273.50 m.BjnJjn뺝 ProNav: ac range: 273.500000 m, nav range: 273.635468 m, bearing: 176.769865 deg, approach rate: 0.177460 m/s, LOS rate: -0.102915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828594 deg. 2jB:j? @HeadingCmd: 4.814117 target range: 273.500000 and range: 273.50 m. jjjjihhhhfffrfbf`[@ɛ~B] vI Y=ɚiIg!=I5i5#i5Ia IeIIebBIa&Ia.IeZrw,r˵AF@YFh@F#ۼ9F>yFHd?z?.6 ? {?`c?`? ?ɨF@F"[;FCyR}BR-I5Mb@Mb@Mb@111 1)1Y5V-?K?~jty5h?5^=5D5vA 5@)5AI5A1y5AIoI"5٢ Q=9y;Q > G٣4Gys; > Nusing accuracyPremultiplier from config49邁?4Y% iBK?:Τ?D;8;$4 gAZjFNOT Ignoring new targets: 273.50 m.BjsJj%s5 ProNav: ac range: 273.500000 m, nav range: 273.704254 m, bearing: 176.729147 deg, approach rate: 0.191241 m/s, LOS rate: -0.113176 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.853063 deg. 2j5W:j5@=HeadingCmd: 4.814544 target range: 273.500000 and range: 273.50 m. j9j9jAjAiAhAhAhIhM~BfIfIfQrfQbfUu:@ɛ~B 隍^#I :?ɚiIv =Ii{y!icQ<))*F92F9:F9BF=5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728151G9)<GB O% > rw,E˵A:@Y:@:Ѽ9:>y:H^?|?ב@n? }?@@9? I??ɨ:@:;:CyR}BR!IIZ[IZ5٢b_ f\=9fH;Q f>hh jG٣hyjh n> vNusing accuracyPremultiplier from configpv49r󇁜?z4Yr%+ irBxzѤz?rDr :r :r4J|J~@A  A %Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9805745B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 273.50 m.BjMJjM] ProNav: ac range: 273.500000 m, nav range: 273.775787 m, bearing: 176.686904 deg, approach rate: 0.190961 m/s, LOS rate: -0.112740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848491 deg. 2j]:j]@mHeadingCmd: 4.814465 target range: 273.500000 and range: 273.50 m. jijijijiiqhqhqhyhyfyfyfrfbf:@ɛ~BN̼ 隭9I suAɚiIY =IiڦiK<))  $?I*Fq2Fq:FqBFu_0JFqGiG<GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:51:10.2872 TRx dataTimestamp_ set to:1736365871.460589 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238869B1 Om >HE >IA  IE IIE %BIA &IA .IA 6IE <:IE Fxrw,˵A6ȧ@Y60@6ɼ96>y6H C?@m~?m0Ͽ?? p!?\)??ɨ6ȧ@6};6CzKNѭLKLKLKNnKN RKV ?JKV?yZ}BZIMb@Mb@Mb@ )Yjt?kt?{Gzy ? =ף A p@)@I7AyAIiI5٢ ;=9w ;Q > G٣y7t > Nusing accuracyPremultiplier from config49?4Y,2 iBY"?:?Df;;A4B AƳEZjFNOT Ignoring new targets: 273.50 m.Bj%?Jj%?5 ProNav: ac range: 273.500000 m, nav range: 273.862549 m, bearing: 176.632058 deg, approach rate: 0.200948 m/s, LOS rate: -0.126987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810703 deg. 2j5L:j5 @=HeadingCmd: 4.813805 target range: 273.500000 and range: 273.50 m. j9jAjAjAiAhAhIhh~Bfffrfbf%` @ɛ~B 隝uI !EɚiI)!=Iili@F<))J&JkJ0JJ>;J:Jـ3JJp<Jq<J <J <-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484228 Ig*F?2F:FBF`0JFG F<G ?G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739280rw,x˵AU@YU @U6ü9UG >yUH ??6`Fq?3?;f??`?ɨU@U!H;UCym}BmII}oI}"5٢0 N=9:Q > G٣4Gy(` > Nusing accuracyPremultiplier from config49q?4Y8 iBƧ?D;;8%4B DAóEZjImFNOT Ignoring new targets: 273.50 m.Bju Jj  ProNav: ac range: 273.500000 m, nav range: 273.941895 m, bearing: 176.581851 deg, approach rate: 0.193223 m/s, LOS rate: -0.122229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824609 deg. 2jŧ:j @HeadingCmd: 4.814048 target range: 273.500000 and range: 273.50 m. jjjjihhhhfffrfbf@ɛ~Bw 荾I HɚiI"!=I%i%3i2<))*F?2F!:F!BF!JF!5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:51:10.2872 LVL= 25904, 28577, 16882, 30931, AGC= 62, IDX= 182, 0.13, 1.991, 0.899, 2.663, 2.004, PHS= 0.074,-1.058, 0.656, RAW= 169.5, 4.4, CAL= 169.7, -4.7, ROT= 340.3, 4.7 Ygot valid direction response: 19:51:10.2872 LVL= 25904, 28577, 16882, 30931, AGC= 62, IDX= 182, 0.13, 1.991, 0.899, 2.663, 2.004, PHS= 0.074,-1.058, 0.656, RAW= 169.5, 4.4, CAL= 169.7, -4.7, ROT= 340.3, 4.7 PDAT read: Bearing 340.3, 4.7 (Local) ~Local bearing/azimuth received: Bearing 340.3, 4.7 (Local) DAT read: Range 10 to 50 : 271.5 m (Round-trip 362.0 ms) speed 0.4 m/s *DAT read: user:892>  BDAT read: Tx time:19:51:11.3710  $Ping request sent. i5P=5l5'?5TU=@5nF= 5=@)5I53@i5=115^|@3??mTC?$?)5/]?I5{i5Έ5Ia11=:publishing transmit ping time =Fpublishing direction and range info195:rǿ0+Yʦwˊ܏?y1111 1)1I1i1111 I1 1)1I1i1115^|@3??mTC?$?)1I1i1111G 'F<G B O >sw,N̵Ay-U}B5IItI$5٢],Ͻ ]@=9eQ m>Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y > Nusing accuracyPremultiplier from config49?4Y? iB ?DL;tM;-41 5A1km m)?kmBU ki km ̵A:kmCBkmֆCZkmD@"m7ZPgIIH@p2eZM@m:rǿ0+Yʦwˊ܏?JkmRkmIa*m9vpn52@Tt @9@mS ￵M? Ϸ?"kmA*kmֆkm (?kmQ 2km*Bkm (?kmQ km;Bkm)CkmD@ addTargetRange:: Added new target pos. range: 271.500000 m, deltaT: 4.024136 s, deltaX: -2.000000 m, approachRate: -0.497001 m/s, rangeRepo size: 4  Added new target pos. range: 271.500000 m, bearing: 176.023467 deg, lat: 36.902059 deg, lon: -122.116277 deg, deltaT: 4.024136 s, deltaX: -2.000000 m, approachRate: -0.497001 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 271.50 m.Bj-Jj)= ProNav: ac range: 271.500000 m, nav range: 270.323334 m, bearing: 176.023341 deg, approach rate: 0.000000 m/s, LOS rate: -0.122229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810936 deg. 2j9:j= @eHeadingCmd: 4.813809 target range: 271.500000 and range: 271.50 m. jajajajaiihihihihqfqfqfqrfup@bf}?ɛ~BB~ I >|MɚiIH!=Ii i6<))H>I III~BI&I.I=D6I<:I F*F?2F:FBFJFzKLK9KKoKBK :K rAM Will construct direction to contact in vehicle frame from tetrahedron phase data.JcKc Kk.KcGe I3<Kc"KcJ5 /J5 mJ5 1J1 J5 E;J5 :J5 3J1 J5 <J5 <J5 ~ <J5 ~ <G9 BY I O > sw,%2̵A2Kq@Y2@2J92>y2Hy?@?`o`?j)?`?2??ɨ2Kq@2e;2Cy>2}BBIMb@Mb@Mb@ )YbX9?ʡE?MbyE6?= Z@)I AyAI_I5٢ S=9:Q > G٣ym > Nusing accuracyPremultiplier from config49?4YF iBa7?:2?D;;e34 AZjFNOT Ignoring new targets: 271.50 m.Bj+Jj+- ProNav: ac range: 271.500000 m, nav range: 270.399353 m, bearing: 175.970400 deg, approach rate: 0.215820 m/s, LOS rate: -0.150259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816408 deg. 2j->λ:j- @=HeadingCmd: 4.813904 target range: 271.500000 and range: 271.50 m. j9j9j9j9i9h9hAhAhEy}BfAfIfIrfIbfM?ɛ~B$# ͶI f{QɚiIGw!=Ii/iK;))*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G2<GGrAG B O >$sw,K̵A6eX@Y6g@6ȗļ965>y6Hͼ?t?QY`Y?o?`^???ɨ6eX@6;6CyR}BRIIZPIZ5٢b f[=9fQ f>hh jG٣j4Gyn& n> vNusing accuracyPremultiplier from configpv49r~?z4YrmM irBxzz?rDr:r7:r94Will construct direction to contact in vehicle frame from tetrahedron phase data.  A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 271.50 m.Bj=%Jj=%U ProNav: ac range: 271.500000 m, nav range: 270.476959 m, bearing: 175.915949 deg, approach rate: 0.206671 m/s, LOS rate: -0.144964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811883 deg. 2jUƻ:jU @eHeadingCmd: 4.813826 target range: 271.500000 and range: 271.50 m. jajajajaiahahihihififqfqrfqbfu]?ɛ~B&* 隥HƾI cVɚiI!=Ii+i={;)) $?I)! !*FE?2FI:FYBF]a1JFavA GYvAyBGm-;GaBqO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.)>> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.H >I  I kII Y~BI &I .I ͼ92u=y2H? *?`3?@lʆ???@?ɨ2A@22;0yB}BBIMb@Mb@Mb@ )Y r?L7A`? G٣yѻ >zKBJK9KKpKRK?JK> %Nusing accuracyPremultiplier from config-49?54Y8V iBUSD?U:]ׯ]?D;;A4mB mN AmųEZjFNOT Ignoring new targets: 271.50 m.Bj:-Jj:- ProNav: ac range: 271.500000 m, nav range: 270.567383 m, bearing: 175.846434 deg, approach rate: 0.197067 m/s, LOS rate: -0.151449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766713 deg. 2jϻ:jf@%HeadingCmd: 4.813037 target range: 271.500000 and range: 271.50 m. j!j!j!j)i)h)hQhQhU }BfYfYfYrfYbfe?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486091ɛ~Bmj" imϾIi m[\ɚiiqIuU!=Iui}i}Q;)y)y )I-g*F?2F:FBF0JFG ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736776G B O >3sw,"̵A23@Y2B@2u4Ƽ92C8=y2H`?@?j5?@ ?@Ř? 0??ɨ23@2׼;2Cy>|B>IIJzIJ'5٢R RY=9R;Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b49^?b4Y^W] i^Bdff?^#D^:^:^G4h j AhZjq}FNOT Ignoring new targets: 271.50 m.Bj}:3Jj:3 ProNav: ac range: 271.500000 m, nav range: 270.640381 m, bearing: 175.790205 deg, approach rate: 0.203475 m/s, LOS rate: -0.156692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806544 deg. 2j׻:j @HeadingCmd: 4.813732 target range: 271.500000 and range: 271.50 m. jjjjihhhhfffrfbf ?ɛE~BMf 7 Im־Ii uxKaɚqiqIu"$"=I}i}ٽi}@.:)y)*Fm?2Fi:FqBFuY5JFqG];G1BAO]U>J6JvJ2JJK;J:Jc3Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988820 I&sw,꒙̵A2j(@Y27@2892J=y2H2P?t?` ػ?@O??`q?%?ɨ2j(@2뎈;2Cyj|BjIppIvIv+5٢~> ~E=9:Q >  G٣ 4Gy V > 5Nusing accuracyPremultiplier from config)M49-ϲ?U4Y-e i-Bae=m?-8D- <-u <-FO4B  A³EZj)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243348FNOT Ignoring new targets: 271.50 m.Bj5I I3II}BI&I.I6I<:IFBIQJIQRIQZIU =bIU =jIUh4*F2F:FBF_5JFzKmN KKm9KiKmqKmBKrA:KtAG :- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494403G B  I O% >hB,sw,nk̵AF@YF#@F%9Fe=yFH??cI:?`;?'?6??ɨF@F;FCyR|BRIUMb@Mb@Mb@QQQ Q)QYU/$?&1?y&1|yUL?UP=U`U A UC@)U@IQQyUAIpI#5٢q A=99Q > G٣y > Nusing accuracyPremultiplier from config49?=4YVn iBEuL?E:EmE?MD<<V4y } AyZjFNOT Ignoring new targets: 271.50 m.Bj 6Jj 6= ProNav: ac range: 271.500000 m, nav range: 270.806335 m, bearing: 175.655912 deg, approach rate: 0.188193 m/s, LOS rate: -0.159758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768376 deg. 2j=Hۻ:j=@EHeadingCmd: 4.813066 target range: 271.500000 and range: 271.50 m. jAjAjIjIiIhIhihh}Bfffrfbf6@ɛ=~B=g<4 9=5۾IA EqjmɚAiAIEɱ"=Ii'fi())Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745760*FY2Fa:FaBFe 5JFa"Gm=Gm=G% u4G B O! 8*3sw,NF̵A6@Y6E@6\Ҿ96=y6H ??`f!`?b? ٗ?ل?o?ɨ6@6pB;6CyR}BRIIZqJb/JbmJb1J`JbE;Jb:Jb3J`IZ#5rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.996974٢vYU= vV=9v8Q z>xx zG٣x Igy~ͻ > Nusing accuracyPremultiplier from config49%?4Yv iB?bD:e:]4B ` AijEUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 271.50 m.BjmHJjmH ProNav: ac range: 271.500000 m, nav range: 270.885162 m, bearing: 175.588654 deg, approach rate: 0.205580 m/s, LOS rate: -0.175356 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773473 deg. 2j:j^@HeadingCmd: 4.813155 target range: 271.500000 and range: 271.50 m. jjjjihhhhfffrfbf@ɛ5 隵ѾI jrɚiI"=Iii))*Fe?2Fa:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:51:14.1353 TRx dataTimestamp_ set to:1736365875.493674checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256883GM Z#Ga Bq O >H {>I  I II }BI  =&I .I 6I <:I FkT9sw,!̵AF@YF@F39FR2=yFHe?~?`Q?mk??,??ɨF@F)ˆ;FCyb}BbI f=f=Mb@Mb@Mb@ )YGz?Zd;O?99 EG٣E4GyEƻ E> MNusing accuracyPremultiplier from configIzKU]JKUh9KQKUrKUu49M?u4YM iMB}P?}:}Y}?MxDM;M;Me4 AZjFNOT Ignoring new targets: 271.50 m.BjD@JjD@ ProNav: ac range: 271.500000 m, nav range: 270.963440 m, bearing: 175.518453 deg, approach rate: 0.187483 m/s, LOS rate: -0.168092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.764643 deg. 2j:j@5HeadingCmd: 4.813001 target range: 271.500000 and range: 271.50 m. j9j9jAjAiIhIhihqhu|Bfqfqfyrfybf} @ɛWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500989_) ľI =wɚiI2#=Ii#iMջ)I)Y I*Fa2Fi:FiBFm`0JFiG} x Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:51:14.1353 LVL= 26656, 28657, 15298, 32755, AGC= 62, IDX= 182, 0.24,-0.016,-1.074, 0.655,-0.007, PHS= 0.079,-1.021, 0.659, RAW= 169.9, 3.9, CAL= 170.2, -5.1, ROT= 339.8, 5.1 % Ygot valid direction response: 19:51:14.1353 LVL= 26656, 28657, 15298, 32755, AGC= 62, IDX= 182, 0.24,-0.016,-1.074, 0.655,-0.007, PHS= 0.079,-1.021, 0.659, RAW= 169.9, 3.9, CAL= 170.2, -5.1, ROT= 339.8, 5.1 5 PDAT read: Bearing 339.8, 5.1 (Local) GA Ba O >Y@sw,Su͵Ab~Local bearing/azimuth received: Bearing 339.8, 5.1 (Local) jDAT read: Range 10 to 50 : 270.0 m (Round-trip 360.0 ms) speed 0.4 m/s j*DAT read: user:893> nBDAT read: Tx time:19:51:15.2211 n$Ping request sent.%@)ڥKIڥǽ@iڥK=ڡڡۥHb?h?J?)ۥ^?Iۥ#oiۥ>࿉ۥJ#\ۡۡ:publishing transmit ping timelFpublishing direction and range infoء9إ6 ƿS_Jy]H˸?`*??7`.`j\?*?X8??@y?ɨ]fג@]%D;Yyu(}BuIIiI5٢= 56=95Q =>99 EG٣AyMS M> UNusing accuracyPremultiplier from configQ]49U-Ł?]4YU/ iUBaee?UDU:U:Ul4i mAik'!*?kC k k6̵A:kCBkCZkC@"GAG#U7pL@6 ƿS_JRkJ#\*I?poD~86@t-7@NRΝ?ߒk2[?"kñA*kkwD)?kz? 2kBkkz? k*BkCkgC@5 addTargetRange:: Added new target pos. range: 270.000000 m, deltaT: 3.781565 s, deltaX: -1.500000 m, approachRate: -0.396661 m/s, rangeRepo size: 4 E Added new target pos. range: 270.000000 m, bearing: 175.261137 deg, lat: 36.902059 deg, lon: -122.116269 deg, deltaT: 3.781565 s, deltaX: -1.500000 m, approachRate: -0.396661 m/s, posRepo size: 4 ZjAuFNOT Ignoring new targets: 270.00 m.BjuJjq ProNav: ac range: 270.000000 m, nav range: 271.102081 m, bearing: 175.298371 deg, approach rate: 0.000000 m/s, LOS rate: -0.168092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747416 deg. 2j:j@HeadingCmd: 4.812700 target range: 270.000000 and range: 270.00 m. jjjjihhhhfffrfp@bf~8?ɛY]h" Y]vFsw,͵A6ǒ@Y6*י@67ü96x>y6HO??`Z ?`l?ef?"?L?ɨ6ǒ@6;6CynM}BrIIz2Iz5٢%N= %p=9%Q Q %?)) -G٣)y5O 5? Nusing accuracyPremultiplier from config49ȁ?4Ye iB浿?D<Q<r4EWill construct direction to contact in vehicle frame from tetrahedron phase data.]B ]<AeųEZjFNOT Ignoring new targets: 270.00 m.Bj(Jj( ProNav: ac range: 270.000000 m, nav range: 271.165802 m, bearing: 175.241447 deg, approach rate: 0.165108 m/s, LOS rate: -0.147463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804454 deg. 2jgʻ:j @HeadingCmd: 4.813696 target range: 270.000000 and range: 270.00 m. jjjjihhh h f f f rfbf1?ɛy}" y}䪾Iy ɚiIi#=IiiC#))jH bH Hz>I III}BI&I.I6Iǰ<:I F*F=?2F9:F9BFEh0JFAzKKK9KKsKMZ1T7(  Will construct direction to contact in vehicle frame from tetrahedron phase data. U $?IU gG AG B O > Lsw,04͵Ayp}BI!%AMb@Mb@Mb@ )Yx&?S㥛?Q?y7I?/<u< A @)v@IQAyICI 5٢= <=9Q > G٣4Gy > Nusing accuracyPremultiplier from config49_́?4Y iďB_I?:Ը?Dc;;z4 AZjFNOT Ignoring new targets: 270.00 m.BjbWJjbW  ProNav: ac range: 270.000000 m, nav range: 271.238647 m, bearing: 175.169435 deg, approach rate: 0.190535 m/s, LOS rate: -0.188304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759210 deg. 2j ;:j T@HeadingCmd: 4.812906 target range: 270.000000 and range: 270.00 m. jjjjihhh!h%G}Bf)f)f)rf)bf5B?ɛ]~B]߿ Y]IY ezɚaiaIeX#=Imimim )i)q*F%?2F!:F)BF-0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.GU G! B1 O] >MSsw,N͵A2@Y2Ù@2|92=y2HԵ?ܣ??? ?`???ɨ2@2;2CJ@JBAAJF5JFoJDJDJFSJ;JF:JDJDRWill construct direction to contact in vehicle frame from tetrahedron phase data.yV}BVII^&I^F5٢f=> fa=9j:Q j?hh jG٣h pIpyv޻ v? ~Nusing accuracyPremultiplier from configx49z;ρ?4Yz izʏB  ?zDzP;z4;z4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 270.00 m.BjO.JjO.- ProNav: ac range: 270.000000 m, nav range: 271.295410 m, bearing: 175.113037 deg, approach rate: 0.153412 m/s, LOS rate: -0.152395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806029 deg. 2j-,ѻ:j- @UHeadingCmd: 4.813723 target range: 270.000000 and range: 270.00 m. jQjYjYjYiYhYhYhahafafafarfibfm?ɛ lI 탼ɚiI#=Iii*C))*F?2F:FBF<2JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.GG B! OM >H I C I II }BI &I .I 6I <:I F;Ysw,;h͵AZ㦒@YZL@ZCǼ9ZN9=yZH@8I?@|?`߷?`??`"??ɨZ㦒@Z$ȋ;ZCyj}BjIMb@Mb@Mb@ )YS?~jt?~jt?y/=?<< A C@)@IAyAI5I5٢= 7=9Q > G٣y%ht %> -Nusing accuracyPremultiplier from config)549-ҁ?54Y-7 i-ԏB=b=?=:=ƹ=?-D-1;-;-d4A EAE³EZjq}FNOT Ignoring new targets: 270.00 m.Bj}$7Jj$7 ProNav: ac range: 270.000000 m, nav range: 271.362244 m, bearing: 175.045255 deg, approach rate: 0.157913 m/s, LOS rate: -0.160116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771890 deg. 2jۻ:j$@HeadingCmd: 4.813128 target range: 270.000000 and range: 270.00 m. jjjjihhhh}BfffrfbfN?zKMKػ9KKtK ɛ~B7K JI  CɚiI##=IiPZi2V))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706006 I*F?2F:FBF^5JFGf AG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e ?e %=e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957639`sw,䅂͵A6K@Y6@6=ȼ96y>y6H? ^?z\s?w ?`?B?)?ɨ6K@6;4y> ~B^<I f=fa=Ij9Ij 5٢E> ]=9?pQ  >    G٣ 4Gy4: > ENusing accuracyPremultiplier from config9M49=EՁ?U4Y=p i=ݏBy}ﹿ}?=D=<=<=펞4B NAijEZjFNOT Ignoring new targets: 270.00 m.Bj*Jj*  ProNav: ac range: 270.000000 m, nav range: 271.418518 m, bearing: 174.988172 deg, approach rate: 0.147021 m/s, LOS rate: -0.149103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803974 deg. 2j ̻:j  @5HeadingCmd: 4.813687 target range: 270.000000 and range: 270.00 m. j1j1j9j9i9hAhAhAhIfIfIfIrfIbfUi@ɛ~Bؼ jI *3ɚiI$=I i i 2d) )*F?2F:FBF4JF IgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214928*J R="J %=J0JkJJJlF;J:JJ]Gu`wAG %Y `wAy BG B O >fsw,d͵A6!@Y6@6ż96m>y6HU+? ?@@ Ʒ?@ފ? ?e?4?ɨ6!@6bp;6CyB7~BBWIIJ;IJ 5٢V= VP=9V:Q Z>XX ZG٣Xy^: ^> bNusing accuracyPremultiplier from config`f49b!؁?f4Yb ibBhj߹j?bDb:b:b4l nApZj)5FNOT Ignoring new targets: 270.00 m.Bj5C1JjC1MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469174 ProNav: ac range: 270.000000 m, nav range: 271.477356 m, bearing: 174.928912 deg, approach rate: 0.153904 m/s, LOS rate: -0.154974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797446 deg. 2jԻ:j@HeadingCmd: 4.813573 target range: 270.000000 and range: 270.00 m. jj jjihh!hQhYfafifrfbf ŋ@ɛ~Bོ νI ɚiI$=I%i%piEKY)I)IHy>I I_IIE~BI&I.I6I <:I F*F2F:FBF3JFzK iKK 9K K uK BK :K sA I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719129G% ]G B! O= >/lsw,;͵Ayx~B~IMb@Mb@Mb@ )Y(\?{Gz?S㥛?y.?ף</< A -@)IyAI=+I=~5٢M > M3=9UQ U>QY ]G٣Yy] ]> mNusing accuracyPremultiplier from configam49e ہ?m4Ye ieBuJ.?u:uau?eDeN;e;e4 AZjFNOT Ignoring new targets: 270.00 m.Bj!Jj! ProNav: ac range: 270.000000 m, nav range: 271.540222 m, bearing: 174.864727 deg, approach rate: 0.138587 m/s, LOS rate: -0.141460 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782678 deg. 2j*»:j@HeadingCmd: 4.813316 target range: 270.000000 and range: 270.00 m. jjjjihhhh~Bfffrfbf@ɛ~BJ I :)ɚiIM#=I%i% i-Z))))*F?2F:FBF`0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.970298G:_G B O > ssw,U͵A 4I4RWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Rx Time:19:51:17.9825 VTRx dataTimestamp_ set to:1736365879.272682Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.222471bsǒ@Yb֙@b9b >ybH`L??4z@ k޸?`ڃ?`_?`F?@?ɨbsǒ@b];bCyj~BjIprAIvIvv4٢~2> ~b=9M^;Q >  G٣ 4Gy NI<  > Nusing accuracyPremultiplier from config49݁?4Y| iB׹?%D <<4 A-B*** querying acoustic contact ***j)j)ZjY]FNOT Ignoring new targets: 270.00 m.BjmJjm ProNav: ac range: 270.000000 m, nav range: 271.591064 m, bearing: 174.814132 deg, approach rate: 0.129140 m/s, LOS rate: -0.128488 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823430 deg. 2j\:j @HeadingCmd: 4.814027 target range: 270.000000 and range: 270.00 m. jjjjihhhhfffrfbf1 @ɛ-~BMdw QUzsw,s͵Ay~BI]Mb@Mb@Mb@YYY Y)YY]S?X9v?Q?y]/?]<]<]I A ]Z@)]QAI]~AYy]AI})I}5٢|= 3=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y iB?:S?7Dv";4;4 AZjFNOT Ignoring new targets: 270.00 m.BjJj  ProNav: ac range: 270.000000 m, nav range: 271.654877 m, bearing: 174.756535 deg, approach rate: 0.150172 m/s, LOS rate: -0.135513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802438 deg. 2j :j  @HeadingCmd: 4.813661 target range: 270.000000 and range: 270.00 m. jjjjihhzK%iJK%+9K!K%vK%RK-?JK-(?h1h5"Bf1f1f9rf9bf=@|'@ AIIJ/JsJJJE;J:JJJaJaJ. BDAT read: Tx time:19:51:19.0711 $Ping request sent.ڹڹ۽Z/`O?l<?'o1ֿ)۽;?I۽L>i۽m۽=۹۹E:publishing transmit ping timeEFpublishing direction and range infoع9ؽ¸?wNt?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽Z/`O?l<?'o1ֿ)۹I۹i۹۹۹۹ɛ~B\? %=I! %{ɚ!i!I%#=I-i-"i5E!)q)q*F-?2F1:F1BF5`0JF9GM } Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:51:19.0704 G1 BQ Ou >sw,+εAR"@YR@R9R >yRHh??`@?:?w??@?ɨR"@R;RCynBnIIv+Iv~5٢U= U^=9U;Q ]>YY ]G٣YyeA< e> Nusing accuracyPremultiplier from config49ぜ?4Y i Bʶ?FD::j4B sAųEk3?k k k7͵A:kCBk CZka@"TqR@Q!Gm9W@¸?wNt?JkmRk=*=: n^X:QO@h.Z6v׿lRU?"ko*kqkY>2?kN 2k}BkkQ kk҇CkPC@U addTargetRange:: Added new target pos. range: 267.899994 m, deltaT: 3.785950 s, deltaX: -2.100006 m, approachRate: -0.554684 m/s, rangeRepo size: 4  Added new target pos. range: 267.899994 m, bearing: 202.171028 deg, lat: 36.902059 deg, lon: -122.116277 deg, deltaT: 3.785950 s, deltaX: -2.100006 m, approachRate: -0.554684 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 267.90 m.BjJj ProNav: ac range: 267.899994 m, nav range: 271.644623 m, bearing: 174.855125 deg, approach rate: 0.000000 m/s, LOS rate: -0.135513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817822 deg. 2j:j @HeadingCmd: 4.813929 target range: 267.899994 and range: 267.90 m. jjjjihhh!h!fAfAfArfE`fp@bfM@$?ɛu~Bu$ qu=Iq }څɚyiyI}:#=IiS#i/))*F2F:FBFo0JF IgWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAG= {#G B) OE >"sw,pεA:@@Y:@:#^9:N!>y:H?`?@h?ķ?>k???ɨ:@@:|;:CyF"BFI J=J=ININH4٢VÐ= VV=9Z! Q Z>XX ^G٣^4Gy^: b> fNusing accuracyPremultiplier from config`f49b_恜?j4Yb ibBhjj?bUDb:b:b4p rApZj  FNOT Ignoring new targets: 267.90 m.Bj4Jj4% ProNav: ac range: 267.899994 m, nav range: 271.698914 m, bearing: 174.807070 deg, approach rate: 0.150362 m/s, LOS rate: -0.133067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831049 deg. 2j-:j- @5HeadingCmd: 4.814160 target range: 267.899994 and range: 267.90 m. j1j9jAjAiAhIhQhahafififqrfbf`ԙ?%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ$B̻ p >I bɚiI%S#=I=iE#iEy)i)yjH1bH5<H9I9 I=II=9BI9&I9.I96I=<:I= F*F%?2F!:F!BF-0JF)  I zK- eKK) K) K- wK-  BK= sA:K= rAGE T Will construct direction to contact in vehicle frame from tetrahedron phase data.J J yJ 2J J J 7:J c3J J J J <J <GA BI Om >Ksw,7εAJH@YJ @Ju9J >yJH2?G?L??䲗??{?ɨJH@J;JCyRBBRIMMb@Mb@Mb@III I)IYM/$?Zd;O?:v?yM&?Mj<=M=9}&Q > G٣yr; > Nusing accuracyPremultiplier from config49遜?4Y i B?:?dD;;4 AZjFNOT Ignoring new targets: 267.90 m.Bj#Jj# ProNav: ac range: 267.899994 m, nav range: 271.763214 m, bearing: 174.757466 deg, approach rate: 0.149787 m/s, LOS rate: -0.115524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826411 deg. 2j:j @HeadingCmd: 4.814079 target range: 267.899994 and range: 267.90 m. jjjjihhhhBfff rf bf `?ɛ~BԞ *>I 烼ɚiI#=Ii$i))*F?2F:FBF`5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.G4λG B O >  I 3sw,QεA6@Y6 &@6(96 >y6H ú? ˄?ڛ!zG?@bA~?v?h??ɨ6@67!;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yVdBVII^I^4٢f= fV=9fO;Q j>hh jG٣hyn" < n> rNusing accuracyPremultiplier from configpv49r7큜?v4Yr ir)Bxz*z?rrDr:rz:rDǞ4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 267.90 m.BjlJjl  ProNav: ac range: 267.899994 m, nav range: 271.821198 m, bearing: 174.713428 deg, approach rate: 0.143592 m/s, LOS rate: -0.109032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.843103 deg. 2j :j R@HeadingCmd: 4.814370 target range: 267.899994 and range: 267.90 m. jjQjQjQiQhYhYhYhYfafafarfabfe`0?ɛ~B4_ L>I BɚiI"=Ii$i ߺ) ) *F!2F!:F!BF%Y5JF)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.G Hi Ii  Im @IIm BIi &Ii .Ii 6Im (<:Im FG B O >`sw,/kεA:o;@Y:J@:9: >y:H@?Ԁ?@``!X?@QQ UG٣Qy].< ]> eNusing accuracyPremultiplier from configam49e!?m4Yes ie1BmK?u:u u?eDe5;e|4;eΞ4B A³EZjFNOT Ignoring new targets: 267.90 m.BjJj ProNav: ac range: 267.899994 m, nav range: 271.887543 m, bearing: 174.668827 deg, approach rate: 0.165683 m/s, LOS rate: -0.111355 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841416 deg. 2jؘ:j@HeadingCmd: 4.814341 target range: 267.899994 and range: 267.90 m. jjjjihhhhBfffrfbfg? $?Iɛ@ L>I <ɚiIu"=Iiz#i0;))zKm0LKm9KiKmxKm"$"! J}@AJyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004804J4JoJ1JJI;J:J3JJ<J<Jc <Jc <*F?2F:FBF3JFG $G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256916&Fsw,WεA2W@Y2g@292 >y2H ȼ?@}?@0*?h?@U?s??ɨ2W@2|;0ybsBbIIjIj4٢r= vQ=9vjm;Q z>xx zG٣z4Gy~< ~> Nusing accuracyPremultiplier from config 49? 4Y i9B?D::u՞4B AijEZjAEFNOT Ignoring new targets: 267.90 m.BjM<JjM<󺝊] ProNav: ac range: 267.899994 m, nav range: 271.950073 m, bearing: 174.627406 deg, approach rate: 0.160551 m/s, LOS rate: -0.106327 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850952 deg. 2j]:j]r@mHeadingCmd: 4.814507 target range: 267.899994 and range: 267.90 m. jijijijiiihqhqhqhyfyfyfrfbf`,@ɛ~BR9 隭\>I ɚiIV"=Ii"ip;))*F2F:FBF`0JFGM:G!B)OE0> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508852Vpsw,]3εA6t@Y6@696( >y6Hߪ?z?o?T?@? i??ɨ6t@6Og;6CyBpBBIIJIJ4٢f߻ jL=9jO;Q j>ll nG٣lyr < r> vNusing accuracyPremultiplier from configtz49v?z4Yv2 ivABx~&~?vDv ;v ;vvܞ4 AZjFNOT Ignoring new targets: 267.90 m.BjJj亝 ProNav: ac range: 267.899994 m, nav range: 272.014984 m, bearing: 174.585038 deg, approach rate: 0.153327 m/s, LOS rate: -0.100053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.848115 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7609252jT:j @]HeadingCmd: 4.814458 target range: 267.899994 and range: 267.90 m. jYjajajiiihhhhfffrfbfu`@ZHRH@AH)I) I-rII-BI)&I-GD.I)6I-9<:I-Fɛ 1Z>I s|ɚiI"=IiN!i;)!))*F2F:FBF_0JF qIy Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012948zK LK ػ9K K yK J 1J {J J J 4G;J @:J J J ݜ<J ݜ<J <J <G :G B O% >sw, εAyriBvI z=z=Mb@Mb@Mb@ )Y}?5^I? G٣y > Nusing accuracyPremultiplier from config49j?4Y iGB?:?Dt;;4 A ZjIMFNOT Ignoring new targets: 267.90 m.BjUJjU򺝊e ProNav: ac range: 267.899994 m, nav range: 272.091431 m, bearing: 174.540618 deg, approach rate: 0.182765 m/s, LOS rate: -0.106169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841962 deg. 2je:je)@mHeadingCmd: 4.814351 target range: 267.899994 and range: 267.90 m. jijijqjqiqhqhyhyh}Bfffrfbf @ɛae< imR>Ii u yɚqiqIu!=Iiis;)) Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:51:21.8293 TRx dataTimestamp_ set to:1736365883.056901checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266140*FA2FA:FABFM`0JFIGO;GBOj> a Ie g)a a sw,7εAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516770B~GNxAT nPYnxAynB]ћ@Y]:@]~9] >y]Hc?v? '@d'?&RM֏?=b??ɨ]ћ@];YyޝWBޝII"I5٢f, H=9;Q > G٣4Gy|B< > Nusing accuracyPremultiplier from config49?4YF iMB?D::?4  @A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 267.90 m.Bj=Jj=麝U ProNav: ac range: 267.899994 m, nav range: 272.164154 m, bearing: 174.499111 deg, approach rate: 0.179061 m/s, LOS rate: -0.102171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.850701 deg. 2jU=:jUi@]HeadingCmd: 4.814503 target range: 267.899994 and range: 267.90 m. jYjYjYjYiYhahahahafifqfqrfqbf}J @ɛ~B@^  @>I  wɚ i I !=IidBid=<))*F2F:FBFm0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 19:51:21.8293 LVL= 22656, 21889, 12354, 25187, AGC= 62, IDX= 405, 0.24, 2.516, 1.339, 2.996, 1.891, PHS= 0.713,-0.504, 1.102, RAW= 163.4, -17.7, CAL= 168.1, -23.6, ROT= 341.9, 23.6  Ygot valid direction response: 19:51:21.8293 LVL= 22656, 21889, 12354, 25187, AGC= 62, IDX= 405, 0.24, 2.516, 1.339, 2.996, 1.891, PHS= 0.713,-0.504, 1.102, RAW= 163.4, -17.7, CAL= 168.1, -23.6, ROT= 341.9, 23.6 = PDAT read: Bearing 341.9, 23.6 (Local) GM &;Gm tAGm sA ~Local bearing/azimuth received: Bearing 341.9, 23.6 (Local) H I  I II BI &I .I 6I <:I FGA = DAT read: Range 10 to 50 : 265.5 m (Round-trip 354.1 ms) speed 0.1 m/s E *DAT read: user:895> M BDAT read: Tx time:19:51:22.9211 M $Ping request sent.U  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.233321,-0.912203,0.336818] :publishing transmit ping timeI  Fpublishing direction and range info9Ytx?'0Pl?yCXU B0)cbI>i+6?%V?6@2+ ;@)BҾI@iB>Q9Y#?Qb?yӿ)B?IK>is㯾 :publishing transmit ping timeI  Fpublishing direction and range info9Ytx?'0Pl?y )Iisw,εA A)AIAiAAAEQ9Y#?Qb?yӿ)AIAiAAAAyUBB]I IMb@Mb@Mb@ )YE?K?MbPy?^= C@)QAIAyAI-5I-5mWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:19:51:22.9204 PExceeded connect timeout, disconnecting.zK7KK9KKzK  ٢6 0=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y iQB?:ͣ?D&;;Z4 AkEʮC2?kE$XV kA kEEεA:kECBkEڃCZkE`@"Eiщ0N@W&EFnb5[V@EYtx?'0Pl?JkEsRkE㯾*E}U\nj|VQZTL@EC E̿M:տ?P?"kE*kErkEwI2?kEr0f 2kEBkEwD)?kEQ kAkECkEQC@ addTargetRange:: Added new target pos. range: 265.500000 m, deltaT: 3.780704 s, deltaX: -2.399994 m, approachRate: -0.634801 m/s, rangeRepo size: 4  Added new target pos. range: 265.500000 m, bearing: 200.551974 deg, lat: 36.902079 deg, lon: -122.116301 deg, deltaT: 3.780704 s, deltaX: -2.399994 m, approachRate: -0.634801 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 265.50 m.Bj Jj  ProNav: ac range: 265.500000 m, nav range: 269.926483 m, bearing: 174.859067 deg, approach rate: 0.000000 m/s, LOS rate: -0.102171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826848 deg. 2j:j= @EHeadingCmd: 4.814086 target range: 265.500000 and range: 265.50 m. jAjIjIjIiIhIhIhQhUuBfQfQfYrf]p@bf]#?ɛAM\ QU+>I tɚiI!=Ii&i.=4<))*F2F:FBF`0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.% <% <G 2<Gq By O >m7sw,K ϵABi@YBҳ@B4Hy9B" >yBH`*?Kx? 0Hh?JU(?l? ɵ?ɨBi@B;@yN&BRITVAIZIZN4٢bO bm=9b0{:Q b?dd fG٣hyjF; j? nNusing accuracyPremultiplier from configlr49nc ?r4Yn+ inUBtvv?nDn:n&I  ^sɚiIjh!=IiAihD<))! Ig*F2F:FBF0JFJKş3 K.-KK"KJ%2J%vJ!J!J%G;=Will construct direction to contact in vehicle frame from tetrahedron phase data.J%:J!J!aM@aM@aM@aM@GI3<GBO >Zsw,B #ϵA2?@Y2@2f92<#>y2H@i?@~?`q@W־??`6??ֹ?ɨ2?@2';0yB BBIVWill construct direction to contact in vehicle frame from tetrahedron phase data.Ib$Ibd5٢jq jJ=9jȺQ j>ll nG٣n4Gyr r> vNusing accuracyPremultiplier from configtz49v?z4Yv ivYBxz󣿑~?vDv;v(4;vt4B yA óEZj%FNOT Ignoring new targets: 265.50 m.jHe<bHe4=HI IIIBI&I.I6I <:I FBIQJIU¦CRIQZIQbIQjIU3Bj5hJjhﺝe ProNav: ac range: 265.500000 m, nav range: 270.075348 m, bearing: 174.780295 deg, approach rate: 0.197451 m/s, LOS rate: -0.104654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.847857 deg. 2je:je@HeadingCmd: 4.814453 target range: 265.500000 and range: 265.50 m. jjjjihhhhfffrfbf@_?ɛm~Bm#2 im=Ii uqɚqiqIuF!=I}i}\i}h<)y)y*F=?2F9:FABFE0JFA $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data. unManaging dock network, ignoring radio surface power offzK iLK s9K K {K G 2<G G ?Gy B O >qsw, =ϵA20@Y2@292->y2H??`ɾ?MC? ?ky?Ⱥ?ɨ20@2;0yN~BNI=Mb@Mb@Mb@999 9)9Y=/$??ii uG٣qyu u> }Nusing accuracyPremultiplier from configy49}?4Y} i}\Bi?:X?}D};};}4 AZjFNOT Ignoring new targets: 265.50 m.BjJj ProNav: ac range: 265.500000 m, nav range: 270.167511 m, bearing: 174.732215 deg, approach rate: 0.217132 m/s, LOS rate: -0.113235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830997 deg. 2jl:j  @ HeadingCmd: 4.814159 target range: 265.500000 and range: 265.50 m. jjjji!h)h)h)h-Bf1f1f1rf1bf5?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ~Bky =I pɚiIB0!=Iik$i <))*Fm?2Fi:FqBFuK5JFq I G (<Gq B O >J5 5J5 rJ1 J1 J5 SJ;J5 :J1 J1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.\lsw,4VϵA:x@Y:ᦚ@:n9:e>y:H`þ?? 3\@w?~Mٍ? @?μ?ɨ:x@:&;8yB~BFI J=Ja=IN&INF5٢Vx VX=9Z;Q Z>X\ ^G٣\yb.; b> jNusing accuracyPremultiplier from configdj49f?j4YfH if^Bl=7=?fDfju2sw,RpϵA I:s@Y:ܨ@:@W9:F>y:H@Ӿ?`5?}-@?Da ??I?ɨ:s@:$;8yb~BbIMb@Mb@Mb@ )Yjt?MbX? rhy ?=C3 A )I@I@y(AI_I5٢ ;=9T;Q > G٣4Gy: > Nusing accuracyPremultiplier from config49b#?4YR$ i_B"?:S?D ;Q;$4 8AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.158276Zj)5FNOT Ignoring new targets: 265.50 m.Bj=RJj=RM ProNav: ac range: 265.500000 m, nav range: 270.351196 m, bearing: 174.634489 deg, approach rate: 0.240613 m/s, LOS rate: -0.130546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810673 deg. 2jM/:jM @UHeadingCmd: 4.813804 target range: 265.500000 and range: 265.50 m. jQjQjQjYiYhYhYhaheu~BfafafarfibfmP9@ɛ~BLm 隝%;I :.pɚiI-!=zK^KKh9KK|K 65)  ! RK>JK>Ii-i- 2<)1)1*F2F:FBF`0JFG- I3< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.410736G B O- >gsw, ~ϵAZ@YZ @ZME9Z>yZHeվ?`ځ?@7`?\k?y&??ɨZ@Z;ZCybh~BbuIIjXIjn5٢r  rX=9vA;Q v>tx zG٣xyzs8 ~> Nusing accuracyPremultiplier from config 49(? 4Yk* iR?D*::4! % A!ZjAMFNOT Ignoring new targets: 265.50 m.BjMJjMe ProNav: ac range: 265.500000 m, nav range: 270.438995 m, bearing: 174.586988 deg, approach rate: 0.232144 m/s, LOS rate: -0.125554 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832730 deg. 2jeU:je @mHeadingCmd: 4.814189 target range: 265.500000 and range: 265.50 m. jijijijiiihihqhhfffrfbfX@ɛM~BMV qudMIq upɚqiqIu%B!=I}i}"i~?3<)) I*F2F:FBFJFJ1JvJJJ4G;J:%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.662140JJG% 2<G B O)  G٣y >ZHRHAAHI I:IIBI =&I.I6I<:I F Nusing accuracyPremultiplier from config49/?4Y1 i`B11=?2DӅ<<$4B AijEZjFNOT Ignoring new targets: 265.50 m.Bj2Jj2% ProNav: ac range: 265.500000 m, nav range: 270.545929 m, bearing: 174.529308 deg, approach rate: 0.217590 m/s, LOS rate: -0.117322 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802215 deg. 2je:jmz @uHeadingCmd: 4.813657 target range: 265.500000 and range: 265.50 m. jqjqjyjyiyhyhyhhfffrfbfH @ɛKD *I rɚiI+b!=Iii3<) I g))*F2F:FBFJF*J%C="J%=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:19:51:25.6766 =TRx dataTimestamp_ set to:1736365886.836622=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.167040zKM LKM 9KI KM }KM G I3<G B O >0'sw,~ϵA2}@Y2Y@2@92!A>y2Hz?`?@?h?E?`D?ɨ2}@2-;2CyJ-~BJPI]Mb@Mb@Mb@YYY Y)YY]|?5^?|?5^?Qy]-?]=]uY ]@)]v@IYYy]\@I}TI}5٢G >=9-:Q > G٣4Gy > Nusing accuracyPremultiplier from config495?4Y8 iaB/?:?CD;1;+4B  AEZj%FNOT Ignoring new targets: 265.50 m.Bj-(Jj-(= ProNav: ac range: 265.500000 m, nav range: 270.643311 m, bearing: 174.475404 deg, approach rate: 0.266793 m/s, LOS rate: -0.147625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813534 deg. 2j=ʻ:j= @EHeadingCmd: 4.813854 target range: 265.500000 and range: 265.50 m. jIjIjIjIiIhIhIhQhU}BfQfQfYrfYbf] @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.418088ɛE~BET AE߽II MksɚIiIIM,!=IUiUiU#2<)Q)Y*F-?2F1:F9BFAJFA M$?IIG 2< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.672624J .J sJ J J D;J :J J G B! Om > sw,RϵA2l@Y2|@2!;I92 A=y2Hp?? ?:a:'?`bҿ?׿?ɨ2l@2|;2Cy>~B>>IIJSIJ75٢jO jY=9nlQ n>lp rG٣pyr r> vNusing accuracyPremultiplier from configtz49v;?z4Yv>? ivcB|~צ~?vTDvF;v;v;24  A-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 265.50 m.BjEJjEU ProNav: ac range: 265.500000 m, nav range: 270.734344 m, bearing: 174.424851 deg, approach rate: 0.243886 m/s, LOS rate: -0.135389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823580 deg. 2jUԹ:jU @]HeadingCmd: 4.814030 target range: 265.500000 and range: 265.50 m. jYjYjYjaiahahahahifififirfqbfu@@ɛ-ϼ 隥!I 4uɚiI!=Ii id;))*F5?2F1:F1BF50JF1G 1X<GB OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 19:51:25.6766 LVL= 30928, 32241, 16802, 32755, AGC= 64, IDX= 174,-0.08, 1.730, 0.722, 2.431, 1.738, PHS= 0.080,-0.970, 0.690, RAW= 171.3, 2.8, CAL= 171.8, -5.9, ROT= 338.2, 5.9 MYgot valid direction response: 19:51:25.6766 LVL= 30928, 32241, 16802, 32755, AGC= 64, IDX= 174,-0.08, 1.730, 0.722, 2.431, 1.738, PHS= 0.080,-0.970, 0.690, RAW= 171.3, 2.8, CAL= 171.8, -5.9, ROT= 338.2, 5.9 UPDAT read: Bearing 338.2, 5.9 (Local) U~Local bearing/azimuth received: Bearing 338.2, 5.9 (Local) eDAT read: Range 10 to 50 : 263.4 m (Round-trip 351.2 ms) speed 0.4 m/s e*DAT read: user:896> mBDAT read: Tx time:19:51:26.7712 m$Ping request sent.mII MG٣Iyu }> Nusing accuracyPremultiplier from config49A?4YG ieB6?:zKJK9KK~K H?hDt;F;1:4 Ak5 e,?k5jG4 k1 k5ϵA:k5CBk5ςCZk5sF@"5Y3Dho3[I@5XÿZS& @&$c?Jk5Y%ݿRk5XLD*5Qծip+f*$@̘nN1@5ҎGOm6f?F?"k5'A*k5Mk5p+?k5i3 2k5Bk5p+?k5i3 k1k5hCk5nF@ addTargetRange:: Added new target pos. range: 263.399994 m, deltaT: 4.032201 s, deltaX: -2.100006 m, approachRate: -0.520809 m/s, rangeRepo size: 4  Added new target pos. range: 263.399994 m, bearing: 177.711512 deg, lat: 36.902141 deg, lon: -122.116482 deg, deltaT: 4.032201 s, deltaX: -2.100006 m, approachRate: -0.520809 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 263.40 m.BjJj ProNav: ac range: 263.399994 m, nav range: 262.814819 m, bearing: 177.711442 deg, approach rate: 0.000000 m/s, LOS rate: -0.135389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783918 deg. 2j:j@HeadingCmd: 4.813337 target range: 263.399994 and range: 263.40 m. jjjjihh h h }Bf ffrf`fvp@bf@?ɛY]9ȼ aeIa lwɚiI!=I i IL i}^;))*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >tw, еAy}B%II-TI-5٢=N E]=9AQ E>AI MG٣M4GyQ U> ]Nusing accuracyPremultiplier from configYe49]F?e4Y]HN i]fBiim?]yD] ;]. ;]@4q u%AyZjFNOT Ignoring new targets: 263.40 m.Bjn3Jjn3 ProNav: ac range: 263.399994 m, nav range: 262.885315 m, bearing: 177.656558 deg, approach rate: 0.201546 m/s, LOS rate: -0.156870 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.810580 deg. 2jQ׻:j @HeadingCmd: 4.813803 target range: 263.399994 and range: 263.40 m. jjjjihhhhff Ifrfbf`?ɛ 6s y6I WyɚiI "=I%i%_ i!)!))]~~GuvAA YvAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm0JFiG ;G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.D tw,v&еAF@YF.@Fz9F*0>yFH?`ˍ?`wJK?Z?,]? Z?@?ɨF@Fb;FCyr}BrIIz1jHbHp<H I  I II ~BI &I .I 6I <:I FIz&5٢=I EK=9MMQ U>ai uG٣qy > Nusing accuracyPremultiplier from config49L?]4YU iiBamm?D<T<G4B aAóEZjiuFNOT Ignoring new targets: 263.40 m.Bj}Jj} ProNav: ac range: 263.399994 m, nav range: 262.962830 m, bearing: 177.594210 deg, approach rate: 0.167340 m/s, LOS rate: -0.134557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788200 deg. 2j:jy@HeadingCmd: 4.813412 target range: 263.399994 and range: 263.40 m. jj!j!jiiihihihqhqfqfqfqrfybf}є? Igɛ%~B޼ 隥AI w|ɚiI`="=Ii, i ))J]6J]nJYJYJ]K;J]:JYJYJ]=,tw,@еAB@YB@By9BwH>yBH@)@?*?J! `?p?]?z??ɨB@Bvm;BCyJ}BN&IRARA}Mb@Mb@Mb@yyy y)yY}\(\?l?y}:?}=}} A }@)}`@I}`@yy}f@II%4٢< D=9ցQ > G٣yv > Nusing accuracyPremultiplier from config49Q?4Y] imB;?:?Dw;;N4B 3AEZj!-FNOT Ignoring new targets: 263.40 m.Bj=bFJj=bF] ProNav: ac range: 263.399994 m, nav range: 263.034973 m, bearing: 177.531487 deg, approach rate: 0.199544 m/s, LOS rate: -0.173440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.787070 deg. 2j]:j]P@eHeadingCmd: 4.813393 target range: 263.399994 and range: 263.40 m. jajajajaiahahihihm}Bfifqfqrfqbfu@R?ɛ 隭4I U~ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.I^"=I5i5_N i5t)9)9*FM?2FI:FIBFM 5JFIGABQOl> I Will construct direction to contact in vehicle frame from tetrahedron phase data.Wtw,ÚZеA2@Y2X @2b92 =y2H@B?? @`?E?^q? VP?\??ɨ2@2;2CyB}BB/IIJ_IJ5٢f}%= fY=9f9Q j>hh jG٣j4GynW n> vNusing accuracyPremultiplier from configpz49r6V?z4Yrd irrB|~;~?rDr*C;rD;rU4 A %B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 263.40 m.Bj52Jj=2M ProNav: ac range: 263.399994 m, nav range: 263.102203 m, bearing: 177.473035 deg, approach rate: 0.179990 m/s, LOS rate: -0.156450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799874 deg. 2jMֻ:jM$ @UHeadingCmd: 4.813616 target range: 263.399994 and range: 263.40 m. jQjQjQjYiYhYhYhahafafafarfibfm?ɛo޼ !%$I! %/ɚ!i!I%"=I-i-Ǔ i-U)q)y*F)2F):F)BF5_0JF1GB Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O5P>HI III~BI&I.I6I<:I FBIJIRIZIbIjIƼ4 $?I tw,|tеA2@Y2f @2P929=y2H?඗?c=9в9Q > G٣yQ7 > Nusing accuracyPremultiplier from config49 [?4Ym iwBW@?:)?D;w;]4 "AZjFNOT Ignoring new targets: 263.40 m.Bj6Jj6  ProNav: ac range: 263.399994 m, nav range: 263.173737 m, bearing: 177.404529 deg, approach rate: 0.166746 m/s, LOS rate: -0.159645 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769728 deg. 2j  ۻ:j @HeadingCmd: 4.813090 target range: 263.399994 and range: 263.40 m. jjjjihhhh}Bfffrfbfr@zK-FJK-h9K)K-K-RKU?JKU?ɛe~BeT߼ 隍/I %hɚiI-"=Ii i>鎻))*F?2F:FBFJFGyBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510759h#tw,LеA6@Y6l@6k96=y6HL?@w?` ?;s?CM???ɨ6@6;4yN~BR>IIZXIZn5٢b= fY=9fQ f>hh jG٣hyjS n> rNusing accuracyPremultiplier from configpv49rF_?v4Yrjt ir{BtvPv?rDr":r:rc4~B ~A~EZj%FNOT Ignoring new targets: 263.40 m.Bj%6Jj-6 AIEgM ProNav: ac range: 263.399994 m, nav range: 263.236572 m, bearing: 177.344355 deg, approach rate: 0.166749 m/s, LOS rate: -0.159648 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794708 deg. 2jM!ۻ:jUg@UHeadingCmd: 4.813526 target range: 263.399994 and range: 263.40 m. jQjYjYjYiYhYhahahafafifirfibfm'k@ɛ~B5FCӼ 9=b IA E<ɚAiAIE"=IMiMH iMDW)I)qEymWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763146*F?2F:FBF`0JFGM o;G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014709Ɠ)tw,|+еA6@Y6]@6Nj96 e=y6H h??[??)t?@x?x?`?ɨ6@6u;6CZHPRHR?AHTIT IVIIV~BIT&IT.IT6IV<:IVFyޅ~Bޅ?IIcIN5٢; .=9Q > %G٣%4Gy5 5> Nusing accuracyPremultiplier from configq49ud?4Yu} iuBl?uDu;u;u(l4 AZj 1I1FNOT Ignoring new targets: 263.40 m.Bj=2Jj=2m ProNav: ac range: 263.399994 m, nav range: 263.318115 m, bearing: 177.266445 deg, approach rate: 0.163501 m/s, LOS rate: -0.156168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741531 deg. 2jmZֻ:jm@uHeadingCmd: 4.812598 target range: 263.399994 and range: 263.40 m. jqjqjqjqiyhyhyhyhyfffrfbf @ɛ~BƼ 隅I WɚiI"=Ii idȻ))*J9"J=a=JE+JEmJAJAJEB;JE:JAJAJEИ<JEИ<JE~ <JE~ <uWill construct direction to contact in vehicle frame from tetrahedron phase data.}Ai}A}BDAT read: Rx Time:19:51:29.5247 TRx dataTimestamp_ set to:1736365890.872969checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267633*F?2F:FBFJFGUg{G) B9 OU >zKe ]JKa Ka Ke Ke z0tw,еAy4~B UIMb@Mb@Mb@ )Y5^I ?Zd;? rh?y8?y=C< A @)I`@y@I@I 5٢= [=9Q > G٣y > Nusing accuracyPremultiplier from config49h?4Y iB8?:?D;;Wr4   A Zj15FNOT Ignoring new targets: 263.40 m.Bj=3Jj=3e ProNav: ac range: 263.399994 m, nav range: 263.375977 m, bearing: 177.212407 deg, approach rate: 0.168150 m/s, LOS rate: -0.157005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813109 deg. 2jm׻:ju @HeadingCmd: 4.813847 target range: 263.399994 and range: 263.40 m. jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518317jj jihhhh}Bfffrf!bf%UT @ɛm~BԿ 隕rƽI ⃼ɚiI"=Ii^ i-ƻ))*Fi2Fq:FqBFuo0JFy !I!G T Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:51:29.5247 LVL= 23328, 28497, 13906, 30307, AGC= 61, IDX= 180, 0.49, 1.675, 0.582, 2.360, 1.707, PHS= 0.056,-1.078, 0.650, RAW= 169.8, 4.9, CAL= 169.9, -4.2, ROT= 340.1, 4.2  Ygot valid direction response: 19:51:29.5247 LVL= 23328, 28497, 13906, 30307, AGC= 61, IDX= 180, 0.49, 1.675, 0.582, 2.360, 1.707, PHS= 0.056,-1.078, 0.650, RAW= 169.8, 4.9, CAL= 169.9, -4.2, ROT= 340.1, 4.2  PDAT read: Bearing 340.1, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 340.1, 4.2 (Local)  DAT read: Range 10 to 50 : 261.9 m (Round-trip 349.3 ms) speed 0.4 m/s  *DAT read: user:897>  BDAT read: Tx time:19:51:30.6212  $Ping request sent. ؉ 9؍ b\& ɿ9Ġ㒹xE?y؍ C؉ ؍ [؍ Qo ٍ R6)ٍ cvIٍ =iٍ B`e=ٍ ٍ ff&?ٍ =@ٍ %= ڍ =@)ڍ Q Iڍ @iڍ Q =ډ ډ ۍ /?nS9W?%?)ۍ b^?Iۍ Hiۍ ⿉ۍ 0[ۉ ۉ  :publishing transmit ping time  Fpublishing direction and range info؉ 9؍ b\& ɿ9Ġ㒹xE?y؉ ؉ ؉ ؉ ى )ى Iى iى ى ى ى ى ډ )ډ Iډ iډ ډ ډ ۍ /?nS9W?%?)ۉ Iۉ iۉ ۉ ۉ ۉ 6tw,6еA6ܒ@Y6M@696=y6H*??dO?Gu?ks?H? J?ɨ6ܒ@6;4y^?~B^\IIfBIf5٢%2< %V=9%_8Q %>)) -G٣)y5 5> ]Nusing accuracyPremultiplier from configYe49]l?e4Y] i]Bim%m?]D]q:]q:]y4 Ak)gU-?k7# k kеA:kCBkCZkB@"\T@IKptyUo_("_K@b\& ɿ9Ġ㒹xE?JkRk0[*O"5pjs:@dNun8@)Kj.:H|?F[TO?"kFA*kk -?k8?f 2kްBk -?kkްBkցCkE@E addTargetRange:: Added new target pos. range: 261.899994 m, deltaT: 3.783976 s, deltaX: -1.500000 m, approachRate: -0.396408 m/s, rangeRepo size: 4  Added new target pos. range: 261.899994 m, bearing: 174.131038 deg, lat: 36.902175 deg, lon: -122.116482 deg, deltaT: 3.783976 s, deltaX: -1.500000 m, approachRate: -0.396408 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 261.90 m.BjJj ProNav: ac range: 261.899994 m, nav range: 259.679382 m, bearing: 177.112252 deg, approach rate: 0.000000 m/s, LOS rate: -0.157005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768562 deg. 2j:j@HeadingCmd: 4.813069 target range: 261.899994 and range: 261.90 m. jjjjihhh h f f frf`f^p@bf@y?ɛ}~B} ЬI V~ɚiI#=Ii#i))EEtAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:51:30.6205 *F2F:FBFp0JFGtA GtAHI III~BI&I.I6I@<:I#F ! I) G G- ?G- >G B O >> ףp=?v/?~jt?y1?xi=<hA @)Q@I~@y@II4٢ʉ= 0=9:Q >    G٣ 4Gy9 > Nusing accuracyPremultiplier from config%49{q?%4Y iB%2?-:--?&D;; 4UB UrAUEzKmuJKiKiKmKmB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 261.90 m.BjT=JjT= ProNav: ac range: 261.899994 m, nav range: 259.751556 m, bearing: 177.043287 deg, approach rate: 0.173275 m/s, LOS rate: -0.165524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768351 deg. 2j2:j@HeadingCmd: 4.813066 target range: 261.899994 and range: 261.90 m. jjjjih h h h }Bfffrfbf?ɛe~Be?b a隅 SI ԄɚiI#=Iii ))*F=?2F9:FABFE0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.GE G B) OE >Ctw,dѵA `I`yr~BrIIzIzv4٢-= -n=9-Q -?11 5G٣1y= =? ENusing accuracyPremultiplier from configAM49Eu?M4YEH iEBIIU?E5DE:E:E!4Y ]AYZjFNOT Ignoring new targets: 261.90 m.Bj%'Jj%'5 ProNav: ac range: 261.899994 m, nav range: 259.805634 m, bearing: 176.991873 deg, approach rate: 0.154186 m/s, LOS rate: -0.146563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820977 deg. 2j=+ɻ:j=) @=HeadingCmd: 4.813984 target range: 261.899994 and range: 261.90 m. jAjAjAjAiAhAhAhIhIfIfIfQrfbf =p?ɛ~B e  eI  -鄼ɚ1i1I50#=I=i=~ii=.)9)9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996204*FE?2FA:FABFE`5JFAG- ;3G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247199MItw,p)ѵAjH$bH& G٣y( > Nusing accuracyPremultiplier from config49y?4Y %tIiB)- 5?JD <<(4Y eAa $?IgZjFNOT Ignoring new targets: 261.90 m.Bj'Jj' ProNav: ac range: 261.899994 m, nav range: 259.877045 m, bearing: 176.923077 deg, approach rate: 0.152282 m/s, LOS rate: -0.146665 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768856 deg. 2jOɻ:j@HeadingCmd: 4.813075 target range: 261.899994 and range: 261.90 m. jjjjihhhhfffrfbf?ɛ5~B=l 9=pzK% JK% 9K! K% K% G] Ge sAGe rAG9 BQ Ou >Ptw,CѵAy ~B IMb@Mb@Mb@ )YQ?~jt? rh?y(?=C< A @)h@Iy @I@I 5٢= P=9Q > G٣4Gy   > Nusing accuracyPremultiplier from config49|?4Y( iBK)?:%%?ZD[;;ӕ4) - A)ZjIUFNOT Ignoring new targets: 261.90 m.BjU.Jj].m ProNav: ac range: 261.899994 m, nav range: 259.927643 m, bearing: 176.868653 deg, approach rate: 0.142181 m/s, LOS rate: -0.152903 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811946 deg. 2jmѻ:jm @uHeadingCmd: 4.813827 target range: 261.899994 and range: 261.90 m. jqjqjqjqiqWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս ?Ս?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753726hhhhg~Bfffrfbf jb?ɛ~BU 隝`*=I ɚiI"=IioiG7+))*Fi2Fi:FqBFu_0JFqGM{# IGBO-r>)  xA%A ]Y]xAy]BJ 1J pJ 1J J 4G;J :J 3J a @a @a @a @5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003266Wtw,jm]ѵA2s@Y2@2_92c>y2Hg,? ?<솹?q? T~?Y`?x?ɨ2s@24+;2CyF~BJIIZ5IZ5٢rL= v_=9vH;Q v>xx zG٣xyzMI< M> UNusing accuracyPremultiplier from configQ]49U?]4YU iUBaee?UjDU. ;U;Ul4i mAiZjFNOT Ignoring new targets: 261.90 m.Bj"Jj" ProNav: ac range: 261.899994 m, nav range: 259.978973 m, bearing: 176.814876 deg, approach rate: 0.136038 m/s, LOS rate: -0.142495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813887 deg. 2jû:j% @HeadingCmd: 4.813860 target range: 261.899994 and range: 261.90 m. jjjjihhhhfffrfbf$@ɛ~B$> }=I <ɚiI7"=I i ,i.t̻))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255111HI IIIbBI&I.I6I°<:I FG-,GBO > I g,]tw,$CwѵAR@YR@R'9R>yRH ? ?@3n?`?$?[?B?ɨR@Rlއ;Py^~B^I)` bAfAdWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508247eMb@Mb@Mb@aaa a)aYe)\(?I +?I +?yeG!?e94=e94 G٣y< > Nusing accuracyPremultiplier from configu49?u4Yt iBu!?}:}j}?zD<<4B xA³EZjFNOT Ignoring new targets: 261.90 m.BjkJjk5 ProNav: ac range: 261.899994 m, nav range: 260.037506 m, bearing: 176.758581 deg, approach rate: 0.130399 m/s, LOS rate: -0.125385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806340 deg. 2j5:j5 @=HeadingCmd: 4.813729 target range: 261.899994 and range: 261.90 m. j9j9j9j9i9hAhAhAhE~BfIfIfqrfqbfu@@ɛ~BT+ =IzKBJKh9KKK   cɚiI"=Iilig`))*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762266Ge ҸлGA BI Om >dtw,2ѵA I >a @Y>@>s9>$>y>H\r?? A ޷?מQ?`fy?`?`ܷ?ɨ>a @>{;>CyJ~B^IIf:If# 5٢r = rV=9r;Q v>tt vG٣v4GyzV; z> ~Nusing accuracyPremultiplier from config|49~?4Y~ i~B  A ?~D~:~ :~\4 CA5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 261.90 m.BjE)JjE)] ProNav: ac range: 261.899994 m, nav range: 260.091919 m, bearing: 176.706768 deg, approach rate: 0.155754 m/s, LOS rate: -0.148281 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819780 deg. 2j]˻:je @eHeadingCmd: 4.813963 target range: 261.899994 and range: 261.90 m. jajijijiiihqhqhyhyfyfyfyrfbf@ɛ~B&; 隵=I J ɚiIr"=Ii~i*0))*FE?2FI:FIBFMo0JFIJ4JuJJJI; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011854J$:JJGr2GaBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:51:33.3715  TRx dataTimestamp_ set to:1736365894.653464 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265434ZH RH @APAjtw,\ѵAHLIL IN3IINBIL&INGD.IL6IN<:IN FBIJIRIZIbIjIz4b@Yb7 @br9bxG>ybH??@ 3ں?J? T?@?`?ɨb@bod;bCy]BeII6I] 5٢a= <=9)9Q > G٣y: > eNusing accuracyPremultiplier from configY49])?4Y] i]ŐB0?]D]K<]<]24! QIQ %AiZj15FNOT Ignoring new targets: 261.90 m.Bj= Jj= m ProNav: ac range: 261.899994 m, nav range: 260.156097 m, bearing: 176.646079 deg, approach rate: 0.128349 m/s, LOS rate: -0.121339 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793167 deg. 2jm:jm/@uHeadingCmd: 4.813499 target range: 261.899994 and range: 261.90 m. jqjqjyjyiyhyhyhhfffrfbf! @ɛ~B5 >I }쁼ɚi!I%"=I%i-|i-3))))E9E9*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515283zKm .KKm 9Ki Km Km $'%$" G j-G B O] >D.qtw,ѵAB@YBS'@Bg9B'>yBH,κ?? 6$ ? ?`?p?@?ɨB@BС;@yJBJI PP%Mb@Mb@Mb@!!! !)!Y%-?Zd;O?~jtx?y%5?%j<=%;! %@)%h@I!!y% @I,I5٢@< M=9:Q > G٣y; > Nusing accuracyPremultiplier from config49?4YA iɐB?:]?DF;;4 AZj!-FNOT Ignoring new targets: 261.90 m.Bj5,-Jj5,-E ProNav: ac range: 261.899994 m, nav range: 260.211975 m, bearing: 176.594996 deg, approach rate: 0.165647 m/s, LOS rate: -0.151401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821971 deg. 2jEϻ:jEM @MHeadingCmd: 4.814002 target range: 261.899994 and range: 261.90 m. jIjIjIjIiQhQhQhQh]~BfYfYfYrfYbfeC:@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 259.5 m (Round-trip 346.1 ms) speed 0.3 m/s }*DAT read: user:898> BDAT read: Tx time:19:51:34.4712 $Ping request sent.IA M**ɚQiQIU>"=Ieimwiu=%պ)q)*Fq2Fq:FqBFu0JFq 9I9G J#K+ 3 K+S}-K#K#"K#J . Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:19:51:34.4705 J nJ J J D;J :J J GI BY O > Swtw,ѵA6@Y6"@6rk96[[>y6H?@Њ?`@?l=?n?_??ɨ6@6nl;6Cy^-B^IIfNIf5٢n= nX=9r_Q r>pt vG٣v4Gyvݺ v> ~Nusing accuracyPremultiplier from configx49z+?4YzO iz͐B  r ?zDz2;zB2;z4B [AEM addTargetRange:: Added new target pos. range: 259.500000 m, deltaT: 3.779637 s, deltaX: -2.399994 m, approachRate: -0.634980 m/s, rangeRepo size: 4 ZjIMFNOT Ignoring new targets: 261.90 m.BjUJjUe ProNav: ac range: 261.899994 m, nav range: 260.266663 m, bearing: 176.545028 deg, approach rate: 0.146046 m/s, LOS rate: -0.133414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825315 deg. 2je:jm @mHeadingCmd: 4.814060 target range: 261.899994 and range: 259.50 m. jijqjqjqiqhqhyhyhyfyffrf8p@bf?ɛ~B\\j 隽)>I )ɚiIe"=Ii8xi))*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H=z>I9 I=LII=BI9&I9.I96I=<:I= FGu%úGIBYOu> I IU g%{}tw,&ѵA6 @Y6Z@6D96`8>y6H^? ˌ?`,`k?f_??4BBIrWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm$C?A`"?Mbp?ym?mY=m;m A m@)m`@Im@iyiII4٢n~< ?=9 G٣y# > Nusing accuracyPremultiplier from config49D?4Y iҐB?:а?D;;Ɵ4 @AZjFNOT Ignoring new targets: 261.90 m.BjKJj K ProNav: ac range: 261.899994 m, nav range: 260.330658 m, bearing: 176.489933 deg, approach rate: 0.149614 m/s, LOS rate: -0.128775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809942 deg. 2j:j @%HeadingCmd: 4.813792 target range: 261.899994 and range: 259.50 m. j!j!j!j!i)h)h)h)h5~Bf1f1f1rf9bf=K?ɛe~Bet im1>Ii u}ɚqiqIuj;"=I}i}-i}oS))EY>E>zKMSMKM 9KIKMKM  D*F2F:FBFA5JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝ @G b(G B O > 9 IA btw,fҵAB@YBC@Bݻ9B N>yBH??qZ?g?Iא? ? ~?ɨB@BW ;BCyb8BbIprAIzIz+4٢5< S=9Q %>)) -G٣)y5>d 5> MNusing accuracyPremultiplier from configA]49E?]4YE iE֐Baee?EDE;E};E͟4y }.AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 261.90 m.BjJj ProNav: ac range: 261.899994 m, nav range: 260.388824 m, bearing: 176.439732 deg, approach rate: 0.147488 m/s, LOS rate: -0.127263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824617 deg. 2j:j @HeadingCmd: 4.814048 target range: 261.899994 and range: 259.50 m. jjjjihhhhfffrfbf?ɛ}~B}t] y}K7>Iy }1T{ɚiIF "=IJ0JJJJlF;JJJWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i i Z) )*F2F:FBFR5JFG g{ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509730G B O >H9 I= C I= _II= BI9 &I= FD.I9 6I= @<:I= #F@tw,x,ҵAN@YN"@NB9N>yNH)?@ĉ?`&e?~Sd??`U? ?ɨN@N|;NCyVFBVIIbIb4٢j= jJ=9jB&Q n>ll nG٣lyr; v> zNusing accuracyPremultiplier from configx~49zڝ?~4Yz^ izڐB|?zDz;z;zԟ4  A Zj15FNOT Ignoring new targets: 261.90 m.Bj=nJj=nM ProNav: ac range: 261.899994 m, nav range: 260.449646 m, bearing: 176.387994 deg, approach rate: 0.153615 m/s, LOS rate: -0.130642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820010 deg. 2jMQ:jM @HeadingCmd: 4.813967 target range: 261.899994 and range: 259.50 m. jjjjihhhhfffrfbf? $?Iɛ]~BeԺ 隕F>I xɚiI1!=Ii@i))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760956G [6zK} MK} 9Ky K} K} Ft1<*(C?2A gJ5+! G B O >tw,FҵAN"@YNb2@Nx9NFR>yNH&? ?7l?]M????ɨN"@NvE;NCyVCBZI5Mb@Mb@Mb@111 1)1Y5S?)\(?Mbp?y5/?5Ga=15 A 5@)5v@I5v@1y5AIMKIM5٢e[ eB=9mK;Q u>yy G٣4GyB; > Nusing accuracyPremultiplier from config49?4Y% iߐB?:;?Df;;Bܟ4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013609ZjFNOT Ignoring new targets: 261.90 m.Bj Jj  ProNav: ac range: 261.899994 m, nav range: 260.516418 m, bearing: 176.332230 deg, approach rate: 0.148572 m/s, LOS rate: -0.124046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.807938 deg. 2jC:jK @HeadingCmd: 4.813756 target range: 261.899994 and range: 259.50 m. jjjjihhhhBfff rf bf a@ɛ~B̈ C>I Mvɚ i I '!=Iiie޹))E I*F=?2F9:F9BF=`0JF9"GE=GE= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268865G pG rAG G B O >tw,[y`ҵA6%,@Y6;@6l96>y6Ho?Ɔ?'?վٜ?x?a?ɨ6%,@6;6CyBRBBIIJLIJ5٢R= RX=9R:Q V>XX ZG٣Xy^C; ^> bNusing accuracyPremultiplier from config`f49b䥂?f4Yb" ibBdjj?b Db:b:b4nB nAr³EZjFNOT Ignoring new targets: 261.90 m.BjJj ProNav: ac range: 261.899994 m, nav range: 260.575867 m, bearing: 176.283003 deg, approach rate: 0.161552 m/s, LOS rate: -0.133744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827541 deg. 2j:j @HeadingCmd: 4.814099 target range: 261.899994 and range: 259.50 m. jjjjihhhhfffrfbf4M@ɛqu`9 y}&S>Iy }sɚyiyI}}!=IiS_i&9))*F-?2F):F)BF)JF)-Will construct direction to contact in vehicle frame from tetrahedron phase data.->-%=5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517938H{>I IlIIBI =&I.I6I<:I FGu4 IG BI O >tw,7RzҵAJ0J0J6+J6kJ4J4J6B;J6:J4J4J6ИJ6 BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768996y}GB}I Mb@Mb@Mb@    ) Y )\(?Q?Mb?y G!? u= < 3 A ) `@I I@ y  @I-YI-5٢= =3=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49U?]4YU iUBe"?e:eze?UDU}0;U!.;U4i mAqZj%FNOT Ignoring new targets: 261.90 m.Bj% Jj% ] ProNav: ac range: 261.899994 m, nav range: 260.651245 m, bearing: 176.221989 deg, approach rate: 0.165352 m/s, LOS rate: -0.133803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792198 deg. 2j]:j] @eHeadingCmd: 4.813482 target range: 261.899994 and range: 259.50 m. jajajajaiahahihih~Bfffrfbf@ɛ~~B 8I>zK-I  pɚiIEM!=Iibi;%9))*Fa2Fa:FaBFaJFa5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020862G }: I gG B O >CӤtw,=ҵA$.`wAL bPYb`wAyfb B .@Y z=@ f9 >y Hb~? 4?)1?@ ? ??ɨ .@ (; CyRB%II-LI-5٢=< E[=9E:Q E>II MG٣M4GyM$: M> ]Nusing accuracyPremultiplier from configYe49]?e4Y] i]Bimsu?]*D];];]L4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 261.90 m.BjJj ProNav: ac range: 261.899994 m, nav range: 260.713409 m, bearing: 176.171927 deg, approach rate: 0.172628 m/s, LOS rate: -0.138987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825036 deg. 2jž:j @HeadingCmd: 4.814055 target range: 261.899994 and range: 259.50 m. jjjjihhhhfffrfbf` @ɛI3: DT>I kInɚiIi !=Iii689))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:51:37.2195 TRx dataTimestamp_ set to:1736365898.434286checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276164*F]?2FY:FYBF]0JFYG9G?G?G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524950HM |>II  IM rIIM BIM  =&II .II 6IM <:IM FGtw,( ҵAnU-@Yn<@n$f9nq>ynH`x? {?` $?t= _Č? ? 7?ɨnU-@n;nCyttIUI5٢ o~: N=9Q > G٣y%-k %> -Nusing accuracyPremultiplier from config)549-ݲ?54Y-# i-B15v=?-;D-;-;-<4EB EAEEZjquFNOT Ignoring new targets: 261.90 m.Bj}|Jj}| ProNav: ac range: 261.899994 m, nav range: 260.779755 m, bearing: 176.118691 deg, approach rate: 0.168362 m/s, LOS rate: -0.135062 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815519 deg. 2jb:ja @HeadingCmd: 4.813889 target range: 261.899994 and range: 259.50 m. jjjjihhhhfffrfbf7 @ IɛT9 T>I  5̓kɚ9i9I= =Iui}Ti"9))*F?2F:FBF0JFG G"GGJ(JhJJJ,@;Jg:JJJʖ<Jʖ<J@<JA<Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 258.0 m (Round-trip 344.1 ms) speed 0.4 m/s *DAT read: user:899> BDAT read: Tx time:19:51:38.3212 $Ping request sent.zK tNK 9K K K tw,ҵAjp%@Yj4@jBl9j>yjH9?`?@`y?$?d??`?ɨjp%@jN;jCyz@BzI}Mb@Mb@Mb@yyy y)yY}Gz?x&?~jth?y}p?}7=}D;} A y)}I@I}`@yy}@IMI5٢1 A=9bQ > G٣ym > Nusing accuracyPremultiplier from config49?4Y iB_?:?KD;];4Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:51:38.3205 u!Aq addTargetRange:: Added new target pos. range: 258.000000 m, deltaT: 3.780005 s, deltaX: -1.500000 m, approachRate: -0.396825 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 261.90 m.Bj Jj 5 ProNav: ac range: 261.899994 m, nav range: 260.852448 m, bearing: 176.063514 deg, approach rate: 0.162045 m/s, LOS rate: -0.122964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809704 deg. 2j5Ǩ:j5 @=HeadingCmd: 4.813787 target range: 261.899994 and range: 258.00 m. j9j9j9j9iAhAhAhAhM~BfIfifirfu p@bfuv2?ɛֺ A>I chɚiI =I%i%i%)!)) I*F2F:FBF1JFGBOf> Will construct direction to contact in vehicle frame from tetrahedron phase data. tw,ҵA2@Y2*@2uu92W>y2H>?o? )?BM? ??@*?ɨ2@2P;0yBHBBIININH4٢z< zV=9~AQ ~> G٣4Gya  > Nusing accuracyPremultiplier from config 49 ?%4Y  i B!%孿%? ZD Q>; >; K4-B - A5EZjQ]FNOT Ignoring new targets: 261.90 m.Bj]Jjem ProNav: ac range: 261.899994 m, nav range: 260.917969 m, bearing: 176.013721 deg, approach rate: 0.184105 m/s, LOS rate: -0.139877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825845 deg. 2ju:ju @}HeadingCmd: 4.814069 target range: 261.899994 and range: 258.00 m. jyjyjjihhhhfffrfbf ?ɛ(: }J>I sfɚiI͓ =Iii,QӺ))*Fm?2Fq:FqBFu1JFqGtAGsAGBH{>I III =&I.I6I3< Will construct direction to contact in vehicle frame from tetrahedron phase data.:IFBI%ŧCJI%ŧCRI!ZI% =bI% =jI%75OU2> I6tw,ҵAJ&'J&^J&0J$J&d?;J&8:J&ـ3J$J&<J&<J&<J&<2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i0J @YJv @Jb9J>yJH`?@Œ?``_?Pb?`l?`P?o?ɨJ @JnÇ;JCy5BB=IMb@Mb@Mb@ )Y+?x&?Mbp?yv?; A @)Q@I~@yf@IAI=5٢ty ;=9$Q > G٣y0  > Nusing accuracyPremultiplier from config 49 ?4Y  i B%d?%:%'%? lD #; 3";  4) -'A)ZjFNOT Ignoring new targets: 261.90 m.BjJj ProNav: ac range: 261.899994 m, nav range: 260.993195 m, bearing: 175.956357 deg, approach rate: 0.166119 m/s, LOS rate: -0.126639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803144 deg. 2jҭ:j  @HeadingCmd: 4.813673 target range: 261.899994 and range: 258.00 m. jjjjihhh!h%~Bf!f!f!rf)bf-@?ɛS 8C>I rcɚiI%[ =IUi]i]%)Y)YzK2KK 9KKK*F?2F:FBF5JFGBO k>Will construct direction to contact in vehicle frame from tetrahedron phase data. I g;tw,wӵA:@Y: @:9m9:u>y:H`??}zT?:p?`l͑?`?@K?ɨ:@:-Ї;:CyB<BFIIN!IN5٢V Vb=9V'tQ V>XX ZG٣Xy^ܻ ^> bNusing accuracyPremultiplier from config`f49biĂ?f4Yb ibBhjwj?bzDb:b":b>4p r?ApZj  FNOT Ignoring new targets: 261.90 m.BjJj% ProNav: ac range: 261.899994 m, nav range: 261.055054 m, bearing: 175.908908 deg, approach rate: 0.179080 m/s, LOS rate: -0.137329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.832875 deg. 2j%~:j% @-HeadingCmd: 4.814192 target range: 261.899994 and range: 258.00 m. j)j)j1j1i1h1h1h9h9f9f9fArfAbfE ?ɛu~Buq9 qu<>Iy }eaɚyiyI}) =Ii<i))*F2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G=%GBO5>jH bH <H I  I lII BI  =&I .I 6I '<:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.Htw,S/ӵA6@Y6@6髊96X>y6H$-?ݍ?g@?k?FU??!?ɨ6@6=;6CyRABRIIZGIZ5٢bL< fH=9fE:Q f>hh jG٣j4Gyjt; n> rNusing accuracyPremultiplier from configpv49rȂ?v4YrJ$ ir Btv]v?rDr:rn:r_4| ~+A|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 261.90 m.Bj-%Jj-% $?I ProNav: ac range: 261.899994 m, nav range: 261.125275 m, bearing: 175.855397 deg, approach rate: 0.172307 m/s, LOS rate: -0.131268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814698 deg. 2j-:jC @HeadingCmd: 4.813875 target range: 261.899994 and range: 258.00 m. jjjjihhhhfffrfbf?ɛ]~B]Sv ae-A>Ia e* _ɚaiaIeE=Imimripk))*Fq2Fq:FqBFqJFqJe"JebJe1JaJe|;;JeJ:Je3JaJe<Je<Je<Je<}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G !G ?G ?Gi Bq O >zK J3KK 9K K K ,0tw,-IӵA2@Y2r%@2>92 >y2H?`?@( ?m]???@?ɨ2@2;2Cy:0B:IMb@Mb@Mb@ )YB`"? G٣y; > Nusing accuracyPremultiplier from config49͂?4Y+ iB/?:?D;+;"4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264959 oAZj  FNOT Ignoring new targets: 261.90 m.Bj%Jj%% ProNav: ac range: 261.899994 m, nav range: 261.206879 m, bearing: 175.792842 deg, approach rate: 0.188303 m/s, LOS rate: -0.144303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.787579 deg. 2j%ƻ:j-b@5HeadingCmd: 4.813401 target range: 261.899994 and range: 258.00 m. j1j9j9j9i9hAhAhQh~BfffrfbfFg@ɛU~BU Y]/>IY ]q\ɚYiYI]=Ieie gimHn׺)i)i yIy*F?2F:FBFJF"G=Gp=G n Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՕ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517948G B O- >\tw,cӵA2@Y2..@2u92rm>y2H??@6R@I?\Q? ?!??ɨ2@2`T;2CyB,BBIIJQIJT5٢RD R\=9Vk:Q V>TT VG٣XyZ<; Z> bNusing accuracyPremultiplier from config\b49^]҂?f4Y^2 i^Bdff?^D^e:^:^l)4jB nAnEZjFNOT Ignoring new targets: 261.90 m.Bj %Jj % ProNav: ac range: 261.899994 m, nav range: 261.277588 m, bearing: 175.739095 deg, approach rate: 0.190811 m/s, LOS rate: -0.144997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813991 deg. 2jǻ:j%) @%HeadingCmd: 4.813862 target range: 261.899994 and range: 258.00 m. j!j)j)j)i)h)h)h1h1f1f9f9rf9bf= 7@ɛe~BeX im*>Ii mZɚiiiIm=I}i}Eil))*F2F:FBF0JFHz>I IeIIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769031 YIYG˴GBO>tw,|ӵA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021762z @Yzs/@zo9zT>yzH? ? `;P?02G?Y??`ɹ?ɨz @z;zCy B IJ5$J5hJ1J1J5 =;J5g:J1J1J5<J5<J5@<J5A<5Mb@Mb@Mb@111 1)1Y5K7A?ii mG٣m4Gyu9 u> }Nusing accuracyPremultiplier from configy49}ׂ?4Y}: i}B#?:4?}D};};}{14 AZjFNOT Ignoring new targets: 261.90 m.BjJj ProNav: ac range: 261.899994 m, nav range: 261.362274 m, bearing: 175.677439 deg, approach rate: 0.183672 m/s, LOS rate: -0.133679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790280 deg. 2j|:j@HeadingCmd: 4.813448 target range: 261.899994 and range: 258.00 m. jjijijiiihihihqhu~Bfqfqfyrfybf}`h @ɛ~B >I pXɚiIHi=Iii)) EEzK=JK=9K9K=K=*F}?2Fy:FyBF}0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.,>R=BDAT read: Rx Time:19:51:41.0662 TRx dataTimestamp_ set to:1736365902.212889checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274230G 'H I IM gG B O >Vltw,ӵAyrBrI v=v%=IzMIz5٢%; -a=9-Q ->11 5G٣1y5 => MNusing accuracyPremultiplier from configIU49Mۂ?U4YM@ iM!BQQ?MDMsIa mVɚiiiIm$D=Iuiu~iq)q)yUWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526127*F2F:FBFe5JFGG B O >ZH RH ?AH I  I YII BI &I .I 6I Ұ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779254tw,ᳰӵA lIl@Y,@6o9JV>yH I?ڋ?`V6?iH?@?H?ȹ?ɨ@ ";Cy%B%II=RI=5٢EZ MG=9M8Q M>QQ UG٣Qy]ぺ ]> eNusing accuracyPremultiplier from configam49e?m4YeF ie%BiuAu?eDe;ey;e>4y }0AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 261.90 m.BjoJjo ProNav: ac range: 261.899994 m, nav range: 261.504700 m, bearing: 175.574251 deg, approach rate: 0.190223 m/s, LOS rate: -0.137639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811563 deg. 2j뼻:j @HeadingCmd: 4.813820 target range: 261.899994 and range: 258.00 m. jjjjihhhhfffrfbfy@ɛ~B 隕v=I  UɚiI"=IiiU&))*F2F:FBFT5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Yi]ADAT read: 19:51:41.0662 LVL= 20976, 32145, 12658, 26995, AGC= 64, IDX= 173,-0.14,-2.427, 2.867,-1.736,-2.388, PHS= 0.049,-0.981, 0.649, RAW= 171.3, 4.0, CAL= 171.6, -4.9, ROT= 338.4, 4.9 Ygot valid direction response: 19:51:41.0662 LVL= 20976, 32145, 12658, 26995, AGC= 64, IDX= 173,-0.14,-2.427, 2.867,-1.736,-2.388, PHS= 0.049,-0.981, 0.649, RAW= 171.3, 4.0, CAL= 171.6, -4.9, ROT= 338.4, 4.9 PDAT read: Bearing 338.4, 4.9 (Local) ~Local bearing/azimuth received: Bearing 338.4, 4.9 (Local) DAT read: Range 10 to 50 : 255.5 m (Round-trip 340.7 ms) speed 0.4 m/s *DAT read: user:900> BDAT read: Tx time:19:51:42.1713 $Ping request sent.y2Hq?`?Y G?L????K?ɨ2@2f;2Cy88Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y r?Qq uG٣u4GyuN/: }> Nusing accuracyPremultiplier from configy49}傜?4Y}M i})B$?:,?}D};};}F4 k[/?k`Vrh k k"ӵA:kCBk}CZkfD@" BF5 n4n#G@CCEƿ˩?5v( ?JkZ0RkdwA*ADo[2@eE!-@{٪￷cL?<4:鏭?"kpA*ke~kr3(/?k<'e 2kBkr3(/?k<'e kkCkfD@m addTargetRange:: Added new target pos. range: 255.500000 m, deltaT: 4.032681 s, deltaX: -2.500000 m, approachRate: -0.619935 m/s, rangeRepo size: 4  Added new target pos. range: 255.500000 m, bearing: 175.828478 deg, lat: 36.902232 deg, lon: -122.116504 deg, deltaT: 11.592323 s, deltaX: -6.399994 m, approachRate: -0.552089 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 255.50 m.BjJj $?Ig ProNav: ac range: 255.500000 m, nav range: 255.073776 m, bearing: 175.828353 deg, approach rate: 0.000000 m/s, LOS rate: -0.137639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786743 deg. 2j:jD@HeadingCmd: 4.813387 target range: 255.500000 and range: 255.50 m. jjjji!h)h)h)h)f1f1f1rf5o@bf=J?) C% G=vAUA  YvAyBɛ~B$j 隵=I SɚiI=Iii $~))EV>E>*F2F:FBF4JFJU JU cJQ JQ JU 9;JU ϣ:JQ JQ a] @a] @a] @a] @m Will construct direction to contact in vehicle frame from tetrahedron phase data.G ˴G ?G >G B O >tw,AӵAJ @YJ@JLׁ9J}>yJHh?t?z`D`?c?:?`?`?ɨJ @J;JCyRBRIXZAI^JI^:5٢fI: f<9fwQ j>hh jG٣hynڻ n> rNusing accuracyPremultiplier from configpv49rꂜ?v4Yr T ir,Bxz|~?r Drn;ro;r M4 B 9A EZj15FNOT Ignoring new targets: 255.50 m.Bj=%Jj=%M ProNav: ac range: 255.500000 m, nav range: 255.140686 m, bearing: 175.777754 deg, approach rate: 0.191522 m/s, LOS rate: -0.144797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.823429 deg. 2jUƻ:jU @UHeadingCmd: 4.814027 target range: 255.500000 and range: 255.50 m. jYjYjYjYiYhYhYhahafafifirfibfm?ɛ~Bl? 隭=I QɚiI7=IimiW))*Fy2Fy:FBF_0JFHI ILIIBI&I.I6I6<:IFUWill construct direction to contact in vehicle frame from tetrahedron phase data. IIIGe'HG9BAO]>J J @A Will construct direction to contact in vehicle frame from tetrahedron phase data.tw,gӵAN @YNt@NA)9Ns>yNH_? W??[?Kd?@d? ?G?ɨN @No;LyV~BVIEMb@Mb@Mb@AAA A)AYE?i|?5?MbPyEf&?Eq=EE A E@)E`@IEI@AyEp@IU IU<4٢e mB=9u6ȹQ u>qq }G٣yy} > Nusing accuracyPremultiplier from config49|?4Y)[ i/B'?:T? D;;lT4 qAZjAMFNOT Ignoring new targets: 255.50 m.BjMwJjMw ProNav: ac range: 255.500000 m, nav range: 255.213501 m, bearing: 175.718079 deg, approach rate: 0.166961 m/s, LOS rate: -0.136792 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796215 deg. 2j»:j@HeadingCmd: 4.813552 target range: 255.500000 and range: 255.50 m. jjjjihhhhr~Bfffrfbf?ɛ5~B5> 15=I9 =aPɚ9i9I==IEiEiEI)A)IzK%gLK% 9K!K%K%g1pD\ RK5>JK5>*FA2FA:FABFE`0JFI}Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY G OPGa B O >Tuw,\ԵA @y~~B~II .I 5٢R %O=9%Q %>)) -G٣-4Gy- -> =Nusing accuracyPremultiplier from config1=495?E4Y5a i53BAAE?5# D5u*;53A;5M[4Q UA]EZjyFNOT Ignoring new targets: 255.50 m.Bj'Jj' ProNav: ac range: 255.500000 m, nav range: 255.281647 m, bearing: 175.662474 deg, approach rate: 0.180040 m/s, LOS rate: -0.146869 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808416 deg. 2jɻ:j] @HeadingCmd: 4.813765 target range: 255.500000 and range: 255.50 m. jjjjihhhhfffrfbf?ɛ~B =I 1OɚiI%=Iii))EJ!JZJJJ:;J%:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFGV'SGBO >jH bH <H I  I @II BI &I .I 6I ۰<:I FBIJIRIZI =bI =jI4 Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 IA  uw,z2ԵAy~BII5ZI5Q5٢Ey; EH=9IQ M>IQ UG٣QyQ U> eNusing accuracyPremultiplier from configYe49]?m4Y]h i]6Biim?]4 D].:]:]ub4q }AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 255.50 m.Bj!Jj! ProNav: ac range: 255.500000 m, nav range: 255.352737 m, bearing: 175.604698 deg, approach rate: 0.173858 m/s, LOS rate: -0.141256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801908 deg. 2j:jo @HeadingCmd: 4.813652 target range: 255.500000 and range: 255.50 m. jjjjihhhhfffrfbf?ɛ~BŻ =I VMɚiITn=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFJFG] OPzK !OK K K K %':m=% G1 BA O] >uw,LԵA2@Y2"#@292eI>y2H୬?`ɍ?Ug@?!C`?`?|??ɨ2@2(;2Cy:~B:IMb@Mb@Mb@ )YFx?x&?Mb`y+?7=A @)3@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=I?==Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255854I`@yz@IiI5٢U U:=9Uf:Q U>YY ]G٣YyeP0; e> mNusing accuracyPremultiplier from configiu49m?u4YmXp im:Bu,?}:}}?mG Dmn;m#;m j4B AE IgZjFNOT Ignoring new targets: 255.50 m.Bj#Jj#U ProNav: ac range: 255.500000 m, nav range: 255.434723 m, bearing: 175.540912 deg, approach rate: 0.184338 m/s, LOS rate: -0.143371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783892 deg. 2jUĻ:jU@HeadingCmd: 4.813337 target range: 255.500000 and range: 255.50 m. jjjjihhhhG~Bfffrfbf@ɛU~BUܻ QU=IQ ]LɚiIaK=IiiB))*Fm?2Fi:FiBFiJFqJ#J^JJJD<;J8:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505729G *Gi By O >Iuw,yBH,?`? c?A^??@?ഹ?ɨB@B;BCyN~BNII^fI^5٢be fb=9f9Q f>hh jG٣j4Gyn8 n> rNusing accuracyPremultiplier from configpv49r)?v4Yrv ir=Btvv?rW Dr ;r ;rtp4| ~A|Zj!-FNOT Ignoring new targets: 255.50 m.Bj5(Jj5(U ProNav: ac range: 255.500000 m, nav range: 255.502609 m, bearing: 175.488321 deg, approach rate: 0.190682 m/s, LOS rate: -0.147682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817455 deg. 2jUʻ:jU @eHeadingCmd: 4.813923 target range: 255.500000 and range: 255.50 m. jajajajaiahihqhyhyfyffrfbf @ɛimG im=Iq uKɚqiqIu2=I}i}i} )y)HQIQ IU:IIUBIQ&IQ.IQ6IU<:IU FWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758265*F%?2F!:F!BF-0JF) yIG<G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009653, uw,ԵAB@YB(@BQR|9B9>yBH Ժ?O?A?Z?`?? ͹?ɨB@Bq^;BCyLL)  Mb@Mb@Mb@ )YMbX?v/?y*?xi=zA @)@I@y@IvI%59W9Q > G٣yҮ: > Nusing accuracyPremultiplier from config49?4Y/~ iAB_+?:̰?i D;I;x4 Zj!-FNOT Ignoring new targets: 255.50 m.Bj-<%Jj5<% ProNav: ac range: 255.500000 m, nav range: 255.580017 m, bearing: 175.425327 deg, approach rate: 0.177567 m/s, LOS rate: -0.144459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786262 deg. 2jHƻ:j2@HeadingCmd: 4.813378 target range: 255.500000 and range: 255.50 m. jjjjihhhh -~Bf1f1f1rf9bf=. @ɛ~Bnd 隅=I QTJɚiIn=Ii %i ͺ) )zKeMKe9KaKeKe*F2F:FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:19:51:44.9152 %TRx dataTimestamp_ set to:1736365906.244744-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262804 yIyGm i"GA BQ Om >V&uw,ԵA2@Y2l @2?92a>y2H?S? ?p^? "?@?@?ɨ2@2s;2Cy>~B>IIDID٢ff; f<9j{Q j>hl nG٣lyn$ r> vNusing accuracyPremultiplier from configpz49r?z4Yr irEB|~밿~?ry DrD;rCE;r~4 A Zj)5FNOT Ignoring new targets: 255.50 m.Bj5C%Jj5C%M ProNav: ac range: 255.500000 m, nav range: 255.646179 m, bearing: 175.371512 deg, approach rate: 0.177684 m/s, LOS rate: -0.144485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813786 deg. 2jMQƻ:jM! @UHeadingCmd: 4.813859 target range: 255.500000 and range: 255.50 m. jQjQjQjQiQhQhYhYhYfafafirfibfu@? @ɛ~BU» =I [IɚiI=Ii"i$)) }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514165J#K# K#K#K#"K#JJ\JJJ6;J.:JJ*F?2F:FBF05JFGïGBO>ZH) RH- AAH5 y>I1  I5 3II5 BI1 &I1 .I1 6I5 !<:I5 F- Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 19:51:44.9152 LVL= 26560, 32753, 16034, 32755, AGC= 62, IDX= 432,-0.19, 1.381, 0.472, 1.866, 0.759, PHS= 0.710,-0.240, 1.104, RAW= 166.6, -24.9, CAL= 169.4, -31.3, ROT= 340.6, 31.3 e Ygot valid direction response: 19:51:44.9152 LVL= 26560, 32753, 16034, 32755, AGC= 62, IDX= 432,-0.19, 1.381, 0.472, 1.866, 0.759, PHS= 0.710,-0.240, 1.104, RAW= 166.6, -24.9, CAL= 169.4, -31.3, ROT= 340.6, 31.3 m PDAT read: Bearing 340.6, 31.3 (Local) m ~Local bearing/azimuth received: Bearing 340.6, 31.3 (Local) } DAT read: Range 10 to 50 : 254.7 m (Round-trip 339.7 ms) speed 0.2 m/s  *DAT read: user:901>  BDAT read: Tx time:19:51:46.0213  $Ping request sent. )- I- >i- 5?- u- O?- :@- /޾ - 8=@)- I- :@i- ?) ) - 5)?aZ?#(4ڿ)- P?I- >i- Ƣ- 3S) )  :publishing transmit ping time؉  Fpublishing direction and range info) 9- B=?dA](9X5?y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - 5)?aZ?#(4ڿ)) I) i) ) ) ) e $?Ia ),uw,vԵAFO@YF%@F}9F>yFH@U? ?r'` ?MX?? ?@N?ɨFO@Fl;Dyr~BrIIzgIz5٢%< %E=9%iG:Q ->)) -G٣-4Gy5: 5> eNusing accuracyPremultiplier from configYe49], ?m4Y] i]HBimְm?] D]b;];]兠4 AkU-3j:?kUa kQ kU<ޯԵA:kU~CBkU|CZkUh@"UfvW@~8l>Q@UB=?dA](9X5?JkUƢRkU3S*U3kdvD]BFE@U=|gjݿ}U.Sb?"kU#*kU)^kUڢ9?kU[, 2kUBkQkQkQkUCkUC@ addTargetRange:: Added new target pos. range: 254.699997 m, deltaT: 3.779303 s, deltaX: -0.800003 m, approachRate: -0.211680 m/s, rangeRepo size: 4  Added new target pos. range: 254.699997 m, bearing: 207.787236 deg, lat: 36.902232 deg, lon: -122.116504 deg, deltaT: 3.779303 s, deltaX: -0.800003 m, approachRate: -0.211680 m/s, posRepo size: 4 Zj!UFNOT Ignoring new targets: 254.70 m.BjeJj ProNav: ac range: 254.699997 m, nav range: 255.721222 m, bearing: 175.310891 deg, approach rate: 0.000000 m/s, LOS rate: -0.144485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777412 deg. 2j:j@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:51:46.0206 HeadingCmd: 4.813224 target range: 254.699997 and range: 254.70 m. jjjjihhhhfffrf`fo@bfτ?ɛ~Bqջ  =I  ѯGɚ i I  =Iiis)9)9*F?2F:FBFc2JFGtA GtAzK UKK 9K K K G %G sAG G B O >Z3uw,QlԵA*Will construct direction to contact in vehicle frame from tetrahedron phase data.y qIqMb@Mb@Mb@ )YQ??~jth?y\/?L=D; A @)@II@y@I(I)59}Q }>yy }G٣y > Nusing accuracyPremultiplier from config49?4Y iMB/?:{? D;8;4B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 254.70 m.Bj9Jj9 ProNav: ac range: 254.699997 m, nav range: 255.802063 m, bearing: 175.242490 deg, approach rate: 0.191228 m/s, LOS rate: -0.161749 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.770050 deg. 2j޻:j@HeadingCmd: 4.813096 target range: 254.699997 and range: 254.70 m. jjjjihhhhZ~Bf f frfbf`?ɛaeݫ aev=Ii mFɚiiiIm=Iuiuiu)q)y*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. i A T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GM i"GY Bi O >r9uw,'.ԵAJ@YJ\@J%9Jh>yJH`??@+4-v?@/p? md???ɨJ@J%#;JCy^~B^IIn7In 5٢zaۻ z<9~玻Q >   G٣ y > %Nusing accuracyPremultiplier from config!-49%h?54Y%m i%QB15ʲ5?% D%iD;%uE;%(4A EAIZj  FNOT Ignoring new targets: 254.70 m.Bj5g Jj5g E ProNav: ac range: 254.699997 m, nav range: 255.864304 m, bearing: 175.189557 deg, approach rate: 0.164937 m/s, LOS rate: -0.140237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816428 deg. 2jE|:jM @MHeadingCmd: 4.813905 target range: 254.699997 and range: 254.70 m. jIjQHYIY IYIYIY&IY.IY6I]Ͱ<:I] FjQjqiqhqhyhyhyfyffrfbfH?ɛE ޴=I EɚiIq=Iiy i鉻))uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995868 qI}g*FM?2FI:FIBFIJFIG Z#G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250199JU JU PJU 0JQ JU 7;JU :JU ـ3JQ JU ]@uw,tյAyޅ~BޅIMb@Mb@Mb@ )YS?J +?AA EG٣E4GyM M> UNusing accuracyPremultiplier from configQ]49U?]4YUM iUWBe/?e:ee?U DU3;Ua;U䛠4i mAiZjFNOT Ignoring new targets: 254.70 m.Bj1Jj1 ProNav: ac range: 254.699997 m, nav range: 255.941162 m, bearing: 175.123834 deg, approach rate: 0.181749 m/s, LOS rate: -0.155370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.778078 deg. 2jAջ:j@HeadingCmd: 4.813235 target range: 254.699997 and range: 254.70 m. jjjjihhhhU~Bfffrfbf`3G?ɛ  Cѧ 隍6=I 5DɚiIb=IiEi%}))*F%?2F!:F)BF)JF)"G1G5=zKUKKU9KQKUKU}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499724 qIqG`wAA % Y% `wAy% UBGM GU ?GU =?G! B1 OM >`Fuw,!յA64@Y6@6`96>y6HG:?@|?@u?Mt? Ӌ?o?@?ɨ64@6;6CyN BRITVAIZuIZH%5٢vq1= vc=9vLQ v>xx zG٣xy~X ~> Nusing accuracyPremultiplier from config 49B? 4Y i\B  ? D"::34 PAZjAEFNOT Ignoring new targets: 254.70 m.BjM*JjM*] ProNav: ac range: 254.699997 m, nav range: 256.003204 m, bearing: 175.070233 deg, approach rate: 0.172790 m/s, LOS rate: -0.149245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814422 deg. 2j]̻:je9 @mHeadingCmd: 4.813870 target range: 254.699997 and range: 254.70 m. jijijijiiihihqhqhqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752421fffrfbfZ?ɛ0Cs 隍v=I BɚiI3=IiVi))*F ?2F :F BF o0JFG<HiIi Im@IImBIi&Ii.Ii6Im<:Im FG B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004182 i Ii Muw,C6յAN@YND@NWƌ9N>yNH?`p? @?vo? ?`Ƭ?@?ɨN@N/;NCyVBVIIfdIf5٢n^< nK=9n;Q r>pp rG٣pyvs; v> zNusing accuracyPremultiplier from configx~49z/!?~4Yz izbBY?z Dz!;zu;z<4  9A Zj1FNOT Ignoring new targets: 254.70 m.Bj)Jj) ProNav: ac range: 254.699997 m, nav range: 256.073120 m, bearing: 175.010500 deg, approach rate: 0.173549 m/s, LOS rate: -0.148234 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796036 deg. 2jv˻:j@HeadingCmd: 4.813549 target range: 254.699997 and range: 254.70 m. jjjjihhhhfffrfbfmh@ɛip[ 隕B=I b)AɚiI(=Ii:id))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256019JJZJ1JJJ%:J3JJJJ<J<*F ?2F :F BF JF G% ;3G B O% >zK JK +9K K K  @nK7( GSuw,PյA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509687Nw@YN@N9NZ>yNH죹? ?#`?@!p?ر?? k?ɨNw@NO>;NCyV'BVI IMb@Mb@Mb@ )YQ? ףp= ?y&1|?y\/?Q8=`; @)$@I$@y(@I%mI%!5٢UW= ]5=9]_Q ]>aa eG٣e4Gyeظ m> Nusing accuracyPremultiplier from configi49mt%?4Ym imgB/?:?m Dm;m-;m#4B AEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 254.70 m.Bj %Jj%% ProNav: ac range: 254.699997 m, nav range: 256.150391 m, bearing: 174.943301 deg, approach rate: 0.166896 m/s, LOS rate: -0.145099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773652 deg. 2j%(ǻ:j%d@-HeadingCmd: 4.813158 target range: 254.699997 and range: 254.70 m. jjjjihhhhy~BfffrfbfX"@ɛ~B4 隽>I >ɚiI $=IEiMbiM)I)IEYE]sA*F2F:FBFJFGsA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759804G XG G G B O >1Zuw,jյAN@YN@Nύ9N x>yNH`ݔ? ??q?ё?I?`H?ɨN@N;NCyZ6BZIIftIf$5٢n:)= nc=9rQ r>tt vG٣tyv' z> ~Nusing accuracyPremultiplier from config|49~(?4Y~c i~lB  ?~!D~:~:~q4 AZj9=FNOT Ignoring new targets: 254.70 m.BjEH/JjEH/U ProNav: ac range: 254.699997 m, nav range: 256.212280 m, bearing: 174.889684 deg, approach rate: 0.176933 m/s, LOS rate: -0.153244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814376 deg. 2jUWһ:jU7 @eHeadingCmd: 4.813869 target range: 254.699997 and range: 254.70 m. jajajajaiihihihihqfqHx>I ISIIBI&I.I6I<:I FBIJIRIZIbIjI!4f1f1rf1bf5@ɛ(9 隥W$>I =ɚiI=Iii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5p>5a=5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012056 Ig*F2F:FBF2JFGҸG B O >J J AA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:51:48.7615  TRx dataTimestamp_ set to:1736365910.028756% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271079J5 J5 QJ1 J1 J5 t4;J5 z:J1 J1 J5 <J5 <J5 ;J5 ;auw,յA6&@Y6@6[ԍ96>y6H@g?v?=?@rp?`Q?`?`?ɨ6&@6;4ybQBbIMb@Mb@Mb@ )Y|?5^?)\(? G٣yz9 > Nusing accuracyPremultiplier from config49J-?4Y irBh.?:-?!D!; ; 4  =A Zj)5FNOT Ignoring new targets: 254.70 m.Bj='Jj='M ProNav: ac range: 254.699997 m, nav range: 256.290771 m, bearing: 174.825881 deg, approach rate: 0.180445 m/s, LOS rate: -0.146635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783835 deg. 2jUDɻ:jU@]HeadingCmd: 4.813336 target range: 254.699997 and range: 254.70 m. jYjYjYjaiahahahihm~Bfififirfqbfu9: @ɛ%~B-Hz: )M@>IQ U_:ɚQiQIUS=I]i]i])Y)a*F2F:FBF `5JF zKeGqMKaKaKeKeRKm?JKm>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515750 $?IG) G B O= >Aguw,+mյAy~fB~II cI N5٢V= W=9%Q %>)) -G٣54Gy5 5> ENusing accuracyPremultiplier from config9E49=.1?M4Y= i=xBIIM?=+!D=;=;=Š4Q UA]EZjFNOT Ignoring new targets: 254.70 m.BjS'JjS'Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:51:48.7615 LVL= 23840, 28785, 13746, 28739, AGC= 60, IDX= 396,-0.38,-2.414, 3.058,-1.791,-2.956, PHS= 0.631,-0.221, 1.163, RAW= 172.4, -24.7, CAL= 174.5, -31.1, ROT= 335.5, 31.1 Ygot valid direction response: 19:51:48.7615 LVL= 23840, 28785, 13746, 28739, AGC= 60, IDX= 396,-0.38,-2.414, 3.058,-1.791,-2.956, PHS= 0.631,-0.221, 1.163, RAW= 172.4, -24.7, CAL= 174.5, -31.1, ROT= 335.5, 31.1 PDAT read: Bearing 335.5, 31.1 (Local) ~Local bearing/azimuth received: Bearing 335.5, 31.1 (Local) DAT read: Range 10 to 50 : 252.0 m (Round-trip 336.0 ms) speed 0.5 m/s *DAT read: user:902> BDAT read: Tx time:19:51:49.8713 $Ping request sent.i۝ϗ۝mCۙۙ:publishing transmit ping timeFpublishing direction and range infoؙ9؝EXB?h(=?yؙh1hؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙhh1f1f1f9rf=o@bf=>?ɛaedL; amT>IiIڙiڙڙڙ۝n[k?-kf?aڿ)ۙIۙiۙۙۙۙ 7ɚiI =Iii n) ) *F2F:FBFA5JFHI IrIIBI&I.I6IJ<:I*FU Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:19:51:49.8706 I gG G ?G ?G B O >mmuw,TյA2@Y2@292v>y2H ;i?`ۍ?: GHȹ?p? g?{??ɨ2@2Y;2CyBrBBIIJhIJ5٢bI< bP=9fQ f>dd fG٣hyj j> rNusing accuracyPremultiplier from configlr49n*5?v4Yn in}BtvKv?n=!Dn:n:n̠4~B ~A~Ek/2:?k) k kyʡյA:k|CBkMzCZkg@".N7W@&}X'lDzsG@EXB?h(=?JkϗRkmC*kB1ͻG\N(s]2@@/[-{RaiHݿڲ?"k*kN_k ,9?ki 2kؤBkkkؤBk7Ck'C@ addTargetRange:: Added new target pos. range: 252.000000 m, deltaT: 3.780044 s, deltaX: -2.699997 m, approachRate: -0.714277 m/s, rangeRepo size: 4  Added new target pos. range: 252.000000 m, bearing: 207.309102 deg, lat: 36.902232 deg, lon: -122.116504 deg, deltaT: 3.780044 s, deltaX: -2.699997 m, approachRate: -0.714277 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 252.00 m.BjJj% ProNav: ac range: 252.000000 m, nav range: 256.431091 m, bearing: 174.712394 deg, approach rate: 0.000000 m/s, LOS rate: -0.146288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800724 deg. 2j):j-C @UHeadingCmd: 4.813631 target range: 252.000000 and range: 252.00 m. jQjYjYjYiahahhhfffrfbf@?ɛa2; 隝@a>I S4ɚiI=Ii}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJWJJJ6;J:JJJ<J<J<JU Will construct direction to contact in vehicle frame from tetrahedron phase data.U %=U =Xtuw,:յA I RՒ@YRK@RyRH/?2?M.`*?Ezx?^-??ù?ɨRՒ@RxB;RCynBn#IMb@Mb@Mb@ )YJ +?Zd;?Q?y(?y=u<zA @)@II@yI:I# 5٢= 6=9/Q >!! %G٣!y- 5> =Nusing accuracyPremultiplier from config1=4959?E4Y5f i5BEw)?E:EPE?5O!D5;5A;5gԠ4Q UAQmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 252.00 m.Bjd$Jjd$ ProNav: ac range: 252.000000 m, nav range: 256.512604 m, bearing: 174.648678 deg, approach rate: 0.183921 m/s, LOS rate: -0.143721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784099 deg. 2jDŻ:j@HeadingCmd: 4.813341 target range: 252.000000 and range: 252.00 m. jjjjihhhh~Bfffrfbf?ɛι; r>I -1ɚiIKr=Ii|7i>} ))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G UG B O >ezuw,յA6Oђ@Y6@696|>y6HǛ??f ?jy?@?@?`?ɨ6Oђ@6s;6Cy>B>.IIF IF<4٢NF= Rf=9R,Q R>TT VG٣TyVjκ V> ^Nusing accuracyPremultiplier from configXf49Zf=?f4YZu iZBdfdf?Z^!DZZS;Z1;Zڠ4l n?AlZjFNOT Ignoring new targets: 252.00 m.Bj !Jj ! ProNav: ac range: 252.000000 m, nav range: 256.576965 m, bearing: 174.598446 deg, approach rate: 0.181375 m/s, LOS rate: -0.141521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824529 deg. 2j?»:j @%HeadingCmd: 4.814046 target range: 252.000000 and range: 252.00 m. j!j!j)j)i)h)h)h1h1f1f1f9rf9bf=2?ɛimD< iu >IqHI IIIBI&I.I6I<:IF .ɚiI =Iiiَ))!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248567 9I9*F?2F:FBF`0JFG GpAG ZGGrAGB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501865qeuw,8ֵAyMBU5IMb@Mb@Mb@ )Y r?Zd;?Mb?y#?< @)@I`@y(@I+I~5٢< 5=9Q >!! %G٣%4Gy% -> =Nusing accuracyPremultiplier from config1E495A?E4Y5 i5BE`$?M:MM?5q!D5 ;5';54Q UAYZjyFNOT Ignoring new targets: 252.00 m.BjsJjs ProNav: ac range: 252.000000 m, nav range: 256.657837 m, bearing: 174.536188 deg, approach rate: 0.178864 m/s, LOS rate: -0.137652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788473 deg. 2j:j@HeadingCmd: 4.813417 target range: 252.000000 and range: 252.00 m. jjjjihhhh~BfffrfbfNs?ɛ; 隭>I *ɚiIE=Ii7i)) *F?2F:FBF_0JFG G"GG !I!zK- KK-h9K)K-K- AmF:^2o,zj0=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755273G) BI Om >Kuw,5ֵA6}@Y6@6$F96>y6H$??N(@@5?+l?h?K??ɨ6}@6o;6CyNBREIIZYIZ5٢zm= z_=9z;Q z>|| ~G٣y5< > Nusing accuracyPremultiplier from config49E?4Y iB!%%?!DZ;;4) -A)ZjQUFNOT Ignoring new targets: 252.00 m.Je JeXJaJaJe9;Je:JaJaam@am@am@am@Bju9Jju9 ProNav: ac range: 252.000000 m, nav range: 256.724396 m, bearing: 174.485908 deg, approach rate: 0.182007 m/s, LOS rate: -0.137455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.824387 deg. 2j:j @HeadingCmd: 4.814044 target range: 252.000000 and range: 252.00 m. jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007432jjihhhhfffrfbf /@ɛ~B=;< >I `'ɚiIf=IiQi꠻))*F?2F:FBF0JFGiBqO>jHybH}p<HI III+BI&I.I6I<:I F  I gM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2593753uw,m9ֵA21@Y2@2Ǘ92j >y2H9?`ۉ?=?4^?2?`?U?ɨ21@2h;2CyRBRQIIZKIZ5٢f@= fM=9fGB;Q f>hh jG٣hyjջ; n> rNusing accuracyPremultiplier from configpv49rI?v4Yr irBxzDz?r!Dr0;rJ0;r4B nAEZj)5FNOT Ignoring new targets: 252.00 m.Bj5"Jj5"M ProNav: ac range: 252.000000 m, nav range: 256.797424 m, bearing: 174.431381 deg, approach rate: 0.182871 m/s, LOS rate: -0.136504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811651 deg. 2jM]:jM @UHeadingCmd: 4.813821 target range: 252.000000 and range: 252.00 m. jQjQjQjQiQhYhYhYhYfafafarfabfmV@ɛU~BUP6< Y]Q>IY ]3#ɚYiYI]=Ieie5im [)i)i*F?2F:FBF%d1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514649G ?G &?GBO J>  I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763231uw,υSֵAzK*bOK*]9K(K*K*j6)@ @>d@Y>#@>Ns9>; >y>H"? ?`4m?F?i??ॵ?ɨ>d@>]H;>CrGxA1 ]rY]xAy]ByޭBޭOIMb@Mb@Mb@ )YX9v?Mb?~jt?y?@=D< )@I@y@I^I5٢ +=9;Q > G٣4Gy}; > %Nusing accuracyPremultiplier from config-49DN?-4YS iB-p?-:-^5?!D;;949 =vA9UB*** querying acoustic contact ***jQjQZjq}FNOT Ignoring new targets: 252.00 m.BjJj ProNav: ac range: 252.000000 m, nav range: 256.877869 m, bearing: 174.367778 deg, approach rate: 0.167698 m/s, LOS rate: -0.132548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.784438 deg. 2j:j@HeadingCmd: 4.813346 target range: 252.000000 and range: 252.00 m. jjjjihhhh Bfffrfbf0@ɛ~Bc&< Л>I -ɚiI<=Ii9zi))*F2F:FBF1JFGBOa>JuJuZJu0JqJu<5;Ju%:Juـ3JqWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015618͚uw,MmֵAJv@YJ+@Ji9J >yJH e? k?@=m1?`@5?@$?`Y?ɨJv@Jׇ;JCynBnKIIvMIv5٢~ r=9:Q ?   G٣ y @;  ?H!I! I%II%:BI!&I!.I!6I%ϰ<:I% F ENusing accuracyPremultiplier from configM49_Q?M4Y iBIM>U?!D;n;4]B ]A]EZjFNOT Ignoring new targets: 252.00 m.BjJj= ProNav: ac range: 252.000000 m, nav range: 256.934692 m, bearing: 174.323198 deg, approach rate: 0.167140 m/s, LOS rate: -0.131096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.841478 deg. 2jE:jE@EHeadingCmd: 4.814342 target range: 252.000000 and range: 252.00 m. jIjIjIjIiIhIhqhqhqfqfyfyrfybf} @ $?Iɛ~BE< >Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:51:52.6085 TRx dataTimestamp_ set to:1736365913.808755checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268506Ii mɚqiqIupV=I}i}[i})y)y*F!2F!:F!BF%_5JF!GE TGI GM sAG! BY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522995OM >suw,h"ֵA6(@Y67@6pR]96N >y6H zR??@{2`u? nO?@I?@?ɨ6(@6;6Cy>B>IIMb@Mb@Mb@ )Y$C?ˡE?Mbp?y?'=; @)@Iy@I-SI-75٢E EF=9E:Q E>II MG٣IyMWj; U> ]Nusing accuracyPremultiplier from configYe49]T?e4Y]) i]Bmx?m:m۲m?]!D];]3;]K4q uAqZjY]FNOT Ignoring new targets: 252.00 m.Bje Jje  ProNav: ac range: 252.000000 m, nav range: 257.001709 m, bearing: 174.269834 deg, approach rate: 0.155528 m/s, LOS rate: -0.123811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815138 deg. 2j:jS @HeadingCmd: 4.813882 target range: 252.000000 and range: 252.00 m. jjjjihhhhfffrfbfi @ɛ~B.< 隅>I ɚiI=IiiF))*F2F:FBF 5JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.zK}MLK}9KyK}K}DAT read: 19:51:52.6085 LVL= 19360, 29841, 12274, 30323, AGC= 56, IDX= 413, 0.15,-0.353,-1.266, 0.088,-1.035, PHS= 0.770,-0.184, 1.120, RAW= 165.0, -27.3, CAL= 167.4, -33.8, ROT= 342.6, 33.8 Ygot valid direction response: 19:51:52.6085 LVL= 19360, 29841, 12274, 30323, AGC= 56, IDX= 413, 0.15,-0.353,-1.266, 0.088,-1.035, PHS= 0.770,-0.184, 1.120, RAW= 165.0, -27.3, CAL= 167.4, -33.8, ROT= 342.6, 33.8 PDAT read: Bearing 342.6, 33.8 (Local) ~Local bearing/azimuth received: Bearing 342.6, 33.8 (Local) DAT read: Range 10 to 50 : 249.7 m (Round-trip 333.0 ms) speed 0.6 m/s *DAT read: user:903> 5BDAT read: Tx time:19:51:53.7214 =$Ping request sent.=i5Z511:publishing transmit ping time9Fpublishing direction and range info195~|+?Nړz:Q5?y1111 1)1I1i11111 1)1I1i1115M=?{K?,G`uw,| ֵA6!1@Y6@@6,Q96@B >y6H떻??g.`ǻ?|]3? ? ڵ?ɨ6!1@6ע;6CyRBREIIZVIZ5٢rt vP=9z:Q > G٣4Gy,; > -Nusing accuracyPremultiplier from config!-49%X?54J=%J=WJ=1J9J==;J=:J=3J9Y%f i%BQUU?%!D%;%9;%C 4a eAauWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:19:51:53.7207 k]X>?k] kY k]yֵA:k]yCBk]xCZk]{Hk@"]RgY@}qjZsؼR@]~|+?Nړz:Q5?Jk]ZRk]*]*Op"ajI,?_Ү.JiG@]T Nے?"k]*k] Sk]_=?k]NE 2k]Bk] ,9?k][, k]ްBk]:zCk]f@% addTargetRange:: Added new target pos. range: 249.699997 m, deltaT: 3.786438 s, deltaX: -2.300003 m, approachRate: -0.607432 m/s, rangeRepo size: 4 = Added new target pos. range: 249.699997 m, bearing: 210.636412 deg, lat: 36.902520 deg, lon: -122.118055 deg, deltaT: 3.786438 s, deltaX: -2.300003 m, approachRate: -0.607432 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 249.70 m.BjEJjA ProNav: ac range: 249.699997 m, nav range: 250.228760 m, bearing: 206.609941 deg, approach rate: 0.000000 m/s, LOS rate: -0.123811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.827879 deg. 2j:j% @HeadingCmd: 4.814105 target range: 249.699997 and range: 249.70 m. jjjjihhhhfffrf`f6o@bf{?ɛM~BMQg6< IU>IQ UFɚQiQIUy=I]i]i]zP:)Y)a*F?2F:FBF%_0JF!HIC III?BI&I.I6I<:I FBIJIRIZIbIjIƻY4 Ig- Will construct direction to contact in vehicle frame from tetrahedron phase data.GE !G B) OE >,uw,ںֵA6=+@Y6:@6fZ96UV>y6Hh? G?-1? R8@? ?Ƕ?ɨ6=+@6 ;6Cy>B>CIIJIJ4٢RU" RO=9RQ R>TT VG٣TyZC Z>PExceeded connect timeout, disconnecting. Nusing accuracyPremultiplier from configX%49Z[?%4YZ} iZB!-в-?Z!DZoI ɚiIe=IiiiRO4))*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G7:G?G ?GBO> I = Will construct direction to contact in vehicle frame from tetrahedron phase data.Auw,ֵA6%@Y65@6c96>y6H@;? _?@v?и+ !b?? D?ɨ6%@6I;6CyBBB=IzKN.JKN9KLKNKNMb@Mb@Mb@ )YOn?~jt?MbPy?D= @)I@I3@y(@I5cI5N5٢E E?=9EQ M>II MG٣IyUκ U> ]Nusing accuracyPremultiplier from configYe49]_?e4Y]! i]Bm?m:m0m?]!D];];]4q AZjFNOT Ignoring new targets: 249.70 m.Bj5Jj5 ProNav: ac range: 249.699997 m, nav range: 250.091599 m, bearing: 206.501930 deg, approach rate: -0.156140 m/s, LOS rate: -0.126078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805565 deg. 2j :j @HeadingCmd: 4.813715 target range: 249.699997 and range: 249.70 m. jjjjihh hihmBfifqfqrfqbfu?ɛE~BE8; < IM>II M( ɚIiIIMg =IUiUi]8 )Y)YEi*F?2F:FBF_0JFJ=J=[J=2J9J=6;J=:J=c3J9uWill construct direction to contact in vehicle frame from tetrahedron phase data.G !G B O >^uw,ֵA>+@Y>;@>dj9>>y>H`k??@@ഩ?!?XL?x?`A?ɨ>+@>K;>CyFBF7IPRAIV7IV 5٢Zɼ ^V=HlIl InIIn:BIn =&InGD.Il6In۰<:In F9zZQ z>xx ~G٣~4Gy~ : ~>  Nusing accuracyPremultiplier from config 49c?4Y%" iB?!DZ;j[;Y!4) -$A)MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 249.70 m.Bje#Jje#u ProNav: ac range: 249.699997 m, nav range: 250.028534 m, bearing: 206.450687 deg, approach rate: -0.176287 m/s, LOS rate: -0.143280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821417 deg. 2juĻ:ju9 @}HeadingCmd: 4.813992 target range: 249.699997 and range: 249.70 m. jyjyjyjyihhhhfffrfbf-k?ɛ~BA< ,>I . ɚiI=Iinix9)) YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFGsA GpA nManaging dock network, ignoring radio surface power offG >GBO>Jm @AJi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731870uw,w׵A:V6@Y:E@:Q\9:>y:HD?ƈ?~?pL??`x?ɨ:V6@:;:Cy^B^+I}Mb@Mb@Mb@yyy y)yY}S?Mb?{Gzy}/?}=}#}hA y)}$@I};@yy}3@IWI5٢8 <=9;Q > G٣yGG; > Nusing accuracyPremultiplier from config49)g?4Y( iBk?:G?"Dw;;(4 tAZjFNOT Ignoring new targets: 249.70 m.Bj Jj  ProNav: ac range: 249.699997 m, nav range: 249.951035 m, bearing: 206.393021 deg, approach rate: -0.181576 m/s, LOS rate: -0.135150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802136 deg. 2j%:j%w @%HeadingCmd: 4.813655 target range: 249.699997 and range: 249.70 m. j)j)j)j)i)h1h1h1h5~Bf9f9f9rf9bf=@_A?ɛe~Bm?< im1r>Iq uɚqiqI}w=Ii`i/:))*F2F:FBF0JF IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980405zKKK9KKK RK?JK?G 9G B O >F.uw,P"׵A6K@Y6[@6GG96t>y6Hj?V? `䓼?c@?`?@^?ɨ6K@6;6Cy>B>(IIFiIF5٢f"L fY=9nk^;Q n>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~49zaj?~4Yz/ ix򳿑?z"Dz;z>;zo/4  A Zj1=FNOT Ignoring new targets: 249.70 m.Bj=gJj=gM ProNav: ac range: 249.699997 m, nav range: 249.883408 m, bearing: 206.342042 deg, approach rate: -0.179027 m/s, LOS rate: -0.134991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.822209 deg. 2jUI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.232895:jUV @mHeadingCmd: 4.814006 target range: 249.699997 and range: 249.70 m. jijijijiiihqhqhyhyfyfyfrfbf*@ɛ~B < 隵Rk>I (ɚiI5=IiYiRm;))*FM?2FQ:FQBF]`5JFYHw>I III%BI =&IFD.I6I<:I FG7: 1I1GB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484623O >Uuw,q<׵A:V@Y:Wf@:<9:}$>y:H`ü?@?.@K?-|iU?x?X?ɨ:V@:;:CyRqBRIIZVIZ5٢f fK=9j:Q j>hh jG٣j4Gyn4`; %> 5Nusing accuracyPremultiplier from config)549-m?E4Y-5 i)AEųE?-."D-N;-9O;-64MB UAUEZjq}FNOT Ignoring new targets: 249.70 m.BjJj ProNav: ac range: 249.699997 m, nav range: 249.810410 m, bearing: 206.286535 deg, approach rate: -0.177474 m/s, LOS rate: -0.134989 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808617 deg. 2jH:jd @HeadingCmd: 4.813768 target range: 249.699997 and range: 249.70 m. jjjjihhhhfffrfbf>q@ɛ~BV; N>I ɚiI6=Iii?;))*Fq2Fq:FyBF}@5JFy"G=G=JMJMSJM1JIuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738943JM7;JM:JM3JIJM] ! I- g Will construct direction to contact in vehicle frame from tetrahedron phase data. > 4=% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988694=uw,U׵AzKRKKPKPKRKRBKVrA:KVsA>O^@Y>m@>N69>>y>H@C??@8@@?EnɆ???׺?ɨ>O^@>G;>CyvbBvIMb@Mb@Mb@ )Yx&1?V-?I +y!?<94 @)@I@y=@IaIk5٢  9=9g:Q > G٣y; >  Nusing accuracyPremultiplier from config 49q?4Y< i!?:j?@"D;;)>4%B %BA%EZjAMFNOT Ignoring new targets: 249.70 m.BjMJjMe ProNav: ac range: 249.699997 m, nav range: 249.730606 m, bearing: 206.226715 deg, approach rate: -0.185264 m/s, LOS rate: -0.138917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795670 deg. 2je:je@mHeadingCmd: 4.813542 target range: 249.699997 and range: 249.70 m. jijijijiiihihqhqhuv~Bfyfyfyrfybf@@ɛ~B; <>I nɚiI=IiZiT;))*FE?2FA:FABFIJFI}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:19:51:56.4552 TRx dataTimestamp_ set to:1736365917.588688checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241570Gm 1;GA BQ Ou >kuw,o׵AH4I4 I6II6BI6 =&I4.I46I6<:I6 F^@YHn@%79b>yH ? W? @d#?l?@wt??ɨ^@N;Cy%EB-II=qI=#5٢E MU=9MtQ M>QQ UG٣Qy] 99 ]> eNusing accuracyPremultiplier from configam49et?m4YeB iaimhm?eO"DeN;e#;eD4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 249.70 m. $?IBjJj ProNav: ac range: 249.699997 m, nav range: 249.659927 m, bearing: 206.173511 deg, approach rate: -0.183582 m/s, LOS rate: -0.138232 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.815530 deg. 2j:ja @HeadingCmd: 4.813889 target range: 249.699997 and range: 249.70 m. jjjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492703ffrfbf@7 @ɛ%~BED; A隍>I AɚiI=Ii)i;))*FM?2FI:FIBFM3JFIGe ~q;G9 JK KL.KK"KJM JM UJI JI JM $9;JM :JI JI JM <JM <JM };JM };Bi } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744518O >Uuw,Oˉ׵A="X@Y=g@=3=9=я>y=H#ͼ??up4?hM?f??ɨ="X@=;=Cy]:B]I-only read 2 of 4 data items for bottom velocity. Device response is::BS, +31, +670,  @ @ @  @ II +5٢ؼ ?=9JQ >    G٣4GyA > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49x?-4YJ i-+:)-:55?`"D:;>J49 =A9Zj  FNOT Ignoring new targets: 249.70 m.BjSJjSU ProNav: ac range: 249.699997 m, nav range: 249.580994 m, bearing: 206.114056 deg, approach rate: -0.175589 m/s, LOS rate: -0.132298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796768 deg. 2jU:jU@HeadingCmd: 4.813561 target range: 249.699997 and range: 249.70 m. jjjjihhhhfffrfbf@@ɛ~B%^ ; !%>I! %ɚ)i)I-\=I-i5i5^;)1)1 I~GWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 19:51:56.4552 LVL= 19792, 22689, 14114, 29523, AGC= 64, IDX= 157, 0.13, 2.460, 1.444,-3.055, 2.491, PHS= 0.057,-1.000, 0.735, RAW= 172.8, 2.8, CAL= 173.2, -5.9, ROT= 336.8, 5.9 UYgot valid direction response: 19:51:56.4552 LVL= 19792, 22689, 14114, 29523, AGC= 64, IDX= 157, 0.13, 2.460, 1.444,-3.055, 2.491, PHS= 0.057,-1.000, 0.735, RAW= 172.8, 2.8, CAL= 173.2, -5.9, ROT= 336.8, 5.9 ePDAT read: Bearing 336.8, 5.9 (Local) e~Local bearing/azimuth received: Bearing 336.8, 5.9 (Local) q*F?2F:FBF_0JFG GtA YyBDAT read: Range 10 to 50 : 247.2 m (Round-trip 329.6 ms) speed 0.2 m/s *DAT read: user:904> zKM@KMs9KIKMKM_||m>,hHBDAT read: Tx time:19:51:57.5714 $Ping request sent. |uw,>׵A=Will construct direction to contact in vehicle frame from tetrahedron phase data.yu/BuII}I(5٢ݼ R=9Q > G٣y > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49{?4YmP i :\:?p"D%;#S?dO4B UAUEk-i52?k-6P k) k-D׵A:k-3wCBk-uCZk-F@"-DAMBX̄nW٨RD@-Zÿ&1ᅦ ?Jk-ܿRk-#)*-;w0nJxɋ#@19"@-'■u=?`?"k-^A*k-vk-m:2?k-N 2k-Bk)k)k-ؤBk-yCk-+f@ addTargetRange:: Added new target pos. range: 247.199997 m, deltaT: 4.033524 s, deltaX: -2.500000 m, approachRate: -0.619805 m/s, rangeRepo size: 4  Added new target pos. range: 247.199997 m, bearing: 177.732721 deg, lat: 36.902520 deg, lon: -122.118055 deg, deltaT: 4.033524 s, deltaX: -2.500000 m, approachRate: -0.619805 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 247.20 m.BjJj ProNav: ac range: 247.199997 m, nav range: 249.509552 m, bearing: 206.060033 deg, approach rate: 0.000000 m/s, LOS rate: -0.132298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817145 deg. 2j:j @HeadingCmd: 4.813917 target range: 247.199997 and range: 247.20 m. jjjjihh!hIhIfIfQfQrfU`fn@bfU`g_?ɛ~Bp%: >I =ɚiI.=Iii;))HaIa IelIIeBIa&Ia.Ia6Ie<:Ie F*F}?2Fy:FyBFyJFy IWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge CQ;G9 BA O] >Juw,Ee׵A:O3@Y:B@:$Z9:p=y:H`4?Ò?@)Q޻? ?`U?`??ɨ:O3@:†;:CyFBFIIN^IN5٢VM V[=9Z睻Q Z>XX ^G٣\y^]E b> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j49b~?j4YbV ibBj9hn2:nn?b"Db';bט?bR4p riAtZjFNOT Ignoring new targets: 247.20 m.Bj"Jj" ProNav: ac range: 247.199997 m, nav range: 249.440186 m, bearing: 206.008242 deg, approach rate: -0.190754 m/s, LOS rate: -0.142461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.819772 deg. 2jû:j @HeadingCmd: 4.813963 target range: 247.199997 and range: 247.20 m. jjjjihhhhfffrfbf?ɛ~Bt̆: =I gɚiI%=I%i->uim֜9)i)qJJOJJJ<5;Jq:JJJW<]Will construct direction to contact in vehicle frame from tetrahedron phase data.JW<J;J;*F2F:FBF`0JFG- ;G B O- > I g Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,F׵Ay=B=IzK]NK] 9KYK]K]lO9,          Mb@Mb@Mb@ )Ygfffff?V-?Mbpy33?A )@Iy@IUI5٢e; e1=9mQ m>qq uG٣u4Gyu }> Nusing accuracyPremultiplier from configy49}?4Y}^ i}BT:[3?:ڵ?}"D};};}Z4 \AZjFNOT Ignoring new targets: 247.20 m.BjT8JjT8 ProNav: ac range: 247.199997 m, nav range: 249.343796 m, bearing: 205.937464 deg, approach rate: -0.219380 m/s, LOS rate: -0.161152 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762769 deg. 2j1ݻ:j@HeadingCmd: 4.812968 target range: 247.199997 and range: 247.20 m. jjjjihhhh~Bfffrfbfo?ɛu~Bu 9 q}=Iy }}ɚyiyI} =IiZiH7:))I*F2F:FBFo0JF"G =G =G>|:]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]AGBO>H] v>IY  I] YII] BI]  =&IY .IY 6I] 4<:I] FBI-̦CJI-̦CRI)ZI- =bI- =jI-̉4;uw,/o׵A2@Y2n@2BĄ92[=y2H7??h1?l?X?o%?@?ɨ2@25;2CybBbIIj<Ij 5٢r+ rd=9r{Q v>tt vG٣t |I|yz >  Nusing accuracyPremultiplier from config 49 ?4Y e i ÑB? "D V< m< 7a4 dAB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 247.20 m.Bj%Jj%- ProNav: ac range: 247.199997 m, nav range: 249.267227 m, bearing: 205.882112 deg, approach rate: -0.200558 m/s, LOS rate: -0.145027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809083 deg. 2j-ǻ:j5u @5HeadingCmd: 4.813776 target range: 247.199997 and range: 247.20 m. j1j9j9j9i9h9h9hIhIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.fffrfbf@E?ɛ~B]<9 Y]@=IY ]ɚYiYIeЛ=Imim4im|)i)q*F2F:FBF0JF!GE 9J J GJ J J ,;J K:J J J <J <J ;J ;G B) U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711634O} > vw,rR صA% @Y%:@%rM9%&x=y%H}? ?`KؿȺ?e?@ ?U?W?ɨ% @%q;%Cy=B=IMb@Mb@Mb@ )Y㥛 ?Mb?Mbpy5?@=A )I@y@II(*5٢w :=9:Q > G٣y' ; >  Nusing accuracyPremultiplier from config 49 ~?4Y m i ƑB5?:J? "D w9; 88; h4) 5A1ZjFNOT Ignoring new targets: 247.20 m.Bj)5Jj)5 ProNav: ac range: 247.199997 m, nav range: 249.180954 m, bearing: 205.813408 deg, approach rate: -0.198817 m/s, LOS rate: -0.158385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769003 deg. 2jeٻ:j@HeadingCmd: 4.813077 target range: 247.199997 and range: 247.20 m. jjjjihhQhYh]}BfYfYfYrfbf`(? Igɛ~Bw ==I9 M"ɚIiQIUc=IiFi-!'))EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961960*F12F1:F9BF=0JF9zKmLKm9KiKmKm0  G5 G B O= >Qvw, %صABc @YB@B9B=yBH`ej? ?@<I?\Og?>?ſ??ɨBc @B;BCyZ+BZIddIjIj,5٢rbb= r^=9rQ v>tt vG٣v4GyzR z>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213472 }Nusing accuracyPremultiplier from config|49~5?4Y~kt i~ȑBT?~"D~6;~A6;~Io4B =AEZjIUFNOT Ignoring new targets: 247.20 m.Bj]+Jje+} ProNav: ac range: 247.199997 m, nav range: 249.108765 m, bearing: 205.755727 deg, approach rate: -0.187176 m/s, LOS rate: -0.149599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802096 deg. 2jVͻ:jv @HeadingCmd: 4.813655 target range: 247.199997 and range: 247.20 m. jjjjihhhhfffrfbf`ͨ@ɛ~B\x: 隝=I  ɚiIN+=Ii\ii]A))*Fa2Fa:FaBFe`5JFaHI ISIIBI =&I.I6I<:I F IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464529G- %G B OE >#vw,>صA6@Y6H@6096>y6H@`F??E`4?UYh?⅐?`_%?}?ɨ6@6UЈ;6CyR)BRIIZIZ-5٢b bL=9fq3Q f>dd jG٣hyj̴ j> rNusing accuracyPremultiplier from configlv49n??v4Yn{ inˑBxzfz?n"Dn>/;n/;nIv4| ~GAEZj!-FNOT Ignoring new targets: 247.20 m.Bj-DJj-DE ProNav: ac range: 247.199997 m, nav range: 249.030182 m, bearing: 205.692810 deg, approach rate: -0.214736 m/s, LOS rate: -0.171983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786376 deg. 2jE:jE6@MHeadingCmd: 4.813380 target range: 247.199997 and range: 247.20 m. jIjIjIjIiIhQhQhQhYfYfYfYrfabfe Vq@ɛ; 隝(=I j޻ɚiI=Ii}i6T`))*F2F:FBF_0JF*JR="Jp= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716655GV'SGrAGGBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968640evw,YصAyJBIzK]uLKYKYK]K]Mb@Mb@Mb@ )Yn?:v?Mb?y6?T=<QA x@)IyIqI#5٢4= 6=9Q >   G٣ y   > Nusing accuracyPremultiplier from config49斃?%4Y iёB%6?%:%β%?"D;o;~4) 5A1ZjY]FNOT Ignoring new targets: 247.20 m.Bje4Jje4u ProNav: ac range: 247.199997 m, nav range: 248.943832 m, bearing: 205.622084 deg, approach rate: -0.192931 m/s, LOS rate: -0.158078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762936 deg. 2j}ػ:j}@}HeadingCmd: 4.812971 target range: 247.199997 and range: 247.20 m. jjjjihhhh,~Bfffrfbf @ɛ~BI  ڻɚiI^=Ii`i[))*F2F:FBFJFJJAJJJJ/:JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:00.3036  TRx dataTimestamp_ set to:1736365921.621482 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222476GG B O >H u>I  I eII BI &I .I 6I <:I Fsvw,zrصA 4I4:q@Y: @:9:'>y:He?@?4bC?n?_?Xe?S?ɨ:q@:+;8yfSBfIIrsIre$5٢v< z`=9z"Q z>|| ~G٣~4Gyz >  Nusing accuracyPremultiplier from config 49 ?4Y ؊ i ֑B? #D : : 4! %A!ZjIMFNOT Ignoring new targets: 247.20 m.BjU4JjU4e ProNav: ac range: 247.199997 m, nav range: 248.873367 m, bearing: 205.564437 deg, approach rate: -0.192921 m/s, LOS rate: -0.157873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802196 deg. 2jmػ:jmy @mHeadingCmd: 4.813656 target range: 247.199997 and range: 247.20 m. jqjqjqjqiqhqhqhhfffrfbf @ɛǠ;  >I BֻɚiIj=IiiX혻))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473463*Fu?2Fq:FqBFu`0JFy"G=G=GHNGBO>J AAJ @A% Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 19:52:00.3036 LVL= 27632, 28145, 17378, 30195, AGC= 65, IDX= 163, 0.16, 0.229,-0.954, 0.942, 0.265, PHS= 0.052,-1.171, 0.675, RAW= 169.4, 5.5, CAL= 169.3, -3.8, ROT= 340.7, 3.8 m Ygot valid direction response: 19:52:00.3036 LVL= 27632, 28145, 17378, 30195, AGC= 65, IDX= 163, 0.16, 0.229,-0.954, 0.942, 0.265, PHS= 0.052,-1.171, 0.675, RAW= 169.4, 5.5, CAL= 169.3, -3.8, ROT= 340.7, 3.8 u PDAT read: Bearing 340.7, 3.8 (Local) u ~Local bearing/azimuth received: Bearing 340.7, 3.8 (Local)  DAT read: Range 10 to 50 : 245.9 m (Round-trip 327.9 ms) speed 0.4 m/s  *DAT read: user:905>  BDAT read: Tx time:19:52:01.4215  $Ping request sent. yH`ﷹ?௑?@2P`?Aq?]ʑ? a?`h?ɨ@|;騩yvBI =$?I9UMb@Mb@Mb@QQQ Q)QYU9v?v/?Mb?yU4?Uxi=U G٣ y R > Nusing accuracyPremultiplier from config49]?%4YƔ iB%5?%:%SM?#D4;;4UB U#AUEmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:19:52:01.4208 k=4?k= k9 k=صA:k=uCBk==tCZk=A@"=IɏCIگ$^yNm}21dJ@=E#_|ʿZ 5R?Jk=|Rk=a*=T؃kn;@TtwFz6@= &;/F6?voΟf?"k=A*k=]sk=e3?k= 2k=Bk9k9k=Bk=xCk=Ѕe@ addTargetRange:: Added new target pos. range: 245.899994 m, deltaT: 3.775945 s, deltaX: -1.300003 m, approachRate: -0.344285 m/s, rangeRepo size: 4 u Added new target pos. range: 245.899994 m, bearing: 173.645984 deg, lat: 36.902520 deg, lon: -122.118055 deg, deltaT: 3.775945 s, deltaX: -1.300003 m, approachRate: -0.344285 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 245.90 m.Bj}Jjy ProNav: ac range: 245.899994 m, nav range: 248.772034 m, bearing: 205.479405 deg, approach rate: 0.000000 m/s, LOS rate: -0.157873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.709484 deg. 2j:j8@HeadingCmd: 4.812038 target range: 245.899994 and range: 245.90 m. jjjjihhhh~Bfff rf ̼n@bf?ɛy}u; y隅C>I /λɚiIx=Iii))zK>BKKKKKRK>JK ?*FU ?2FQ :FQ BFU 4JFQ % Will construct direction to contact in vehicle frame from tetrahedron phase data.J J VJ J J 4.;J :J J G 7GqBO>B*vw,,صAF>Ւ@YF@Fx9Fc>yFH ?`? +?}S{? ?ߥ?ظ?ɨF>Ւ@F&;FCyNBN/IIZYIZ5٢f= f_=9fQ j>hh jG٣hyn3 n> mNusing accuracyPremultiplier from configpm49r?m4YrF irBquԲu?r)#DrI ɻɚiIԧ=I i H.i K) ) Ig*F 2F :F BF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G5 G B O= >d1vw,صA>ʒ@Y>ٙ@>9>>y>H se??`!t? u?!??j?ɨ>ʒ@>0;dd fG٣f4GyfV f> nNusing accuracyPremultiplier from confighn49j?r4Yj ijBprr?j;#Dj ;j` ;j4t zxAxZjFNOT Ignoring new targets: 245.90 m.Bj-<Jj5<EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.991949 ProNav: ac range: 245.899994 m, nav range: 248.629379 m, bearing: 205.360958 deg, approach rate: -0.198023 m/s, LOS rate: -0.164418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786591 deg. 2j:j>@HeadingCmd: 4.813384 target range: 245.899994 and range: 245.90 m. jjjjihhhhfffrfbfW?ɛy$< 隍n>I PûɚiI<=Ii -i)))*F2F:FBFJFG  G pA I)I I~~GvA YvAyoBu@u BWill construct direction to contact in vehicle frame from tetrahedron phase data.%>Q?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244182G JGa Bq zK KK +9K K K =kzslga[XQOKB<:830-++O >&7vw,صA2Ē@Y2ԙ@2I92n>y2H'7?? 걸?7?(?`>??ɨ2Ē@2Ṅ;2CyNBRKIMb@Mb@Mb@ )YDl?Dl? G٣yNк > %Nusing accuracyPremultiplier from config!-49%?-4Y%y i%B5E.?5:5x5?%N#D%c;%%;%碡49 =AAZjaeFNOT Ignoring new targets: 245.90 m.Bjm-Jjm- ProNav: ac range: 245.899994 m, nav range: 248.554306 m, bearing: 205.293155 deg, approach rate: -0.168073 m/s, LOS rate: -0.151843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771716 deg. 2jjл:j@HeadingCmd: 4.813125 target range: 245.899994 and range: 245.90 m. jjj j i h h h1h5~Bf1f1f9rf9bf=K?ɛK< 隽<>I ɚiI=IiE,ii #))EEtAJ5 J5GJ50J1J5+;J5K:J5ـ3J1MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495995*F2F:FBFl0JFHI III+BI&I.I6I<:I F q Iq G jG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7479749=vw,صARؒ@YR@R͛9R>yRH +ָ? ?``C?@qx?jy? ?Ϸ?ɨRؒ@R};PyZBZXIIbIb(*5٢jJd= j`=9n ;Q n>pp rG٣pyr; v> ~Nusing accuracyPremultiplier from config|49~ ?4Y~ i~B ) ?~^#D~;~<;~K4’B AEZj1MFNOT Ignoring new targets: 245.90 m.BjU-JjU-e ProNav: ac range: 245.899994 m, nav range: 248.493668 m, bearing: 205.237580 deg, approach rate: -0.165832 m/s, LOS rate: -0.152022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808422 deg. 2jeл:je] @uHeadingCmd: 4.813765 target range: 245.899994 and range: 245.90 m. jjjjihhhhfffrfbfl?ɛ9E< AE>IA EfɚAiAIM_=IMiUiU )Q)yE9g=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000774*F92F9:FABFE_0JFA a Ie gG Gq By O >REvw,SٵA2@Y2Q@292>y2H ??@{?lt?@??@ֶ?ɨ2@2;0yBBBdIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251929]Mb@Mb@Mb@YYY Y)YY]p= ף?i|?5?Q?y]%?]q=]u<]dA Y)]@I]@Yy]@I}{I}'5٢o)= -=9<:Q > G٣4Gy; > Nusing accuracyPremultiplier from config49ǵ?4Yɸ iB%?:H?r#DP#;3";4 YAZjFNOT Ignoring new targets: 245.90 m.Bj%Jj% ProNav: ac range: 245.899994 m, nav range: 248.417068 m, bearing: 205.169572 deg, approach rate: -0.162532 m/s, LOS rate: -0.144347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771102 deg. 2j ƻ:j@HeadingCmd: 4.813114 target range: 245.899994 and range: 245.90 m. jjjjihhhh~Bff!f!rf!bf%[@ɛQUHu< QUh>IQ ]]MɚYiYI]A=Ieieie)a)iEe?<zK=6NK9K9K=K=(&%%"!    *F2F:FBF0JF"G=G=JJCJ1JJ4.;J9:J3J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503923G= ͔ G9 BA Oe >xKvw,60ٵA6@Y62@696>y6H`??``?Mp??@?ܶ?ɨ6@6~;6CyB BB{IIJIJB-5٢VW= VZ=9V?;Q V>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config`f49b?f4Yb ibBdfj?b#Db:bv:b4l rAp~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 245.90 m.Bj%Jj%H%t>I! I%II%IBI!&I!.I!6I%<:I% FBIJIRIZI =bI =jI4M ProNav: ac range: 245.899994 m, nav range: 248.356766 m, bearing: 205.115430 deg, approach rate: -0.160736 m/s, LOS rate: -0.144350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812722 deg. 2jM!ƻ:jU @]HeadingCmd: 4.813840 target range: 245.899994 and range: 245.90 m. jYjajajaiahahahihifififqrfqbfu Kf@ Iɛ~Ba< b>I! %?ţɚ!i!I%k=I-i-i-ٶ)))QEYEY*EY"EYmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m<uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756552Ee>E>*F?2F:FBFo0JFG ++*J C="J %= Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008250G B O >Rvw,g KٵAW@Y @煼99>yH?@? F?Jf?`ʼ? ?`?ɨW@!};yBIuMb@Mb@Mb@qqq q)qYu+?T㥛 ?:v?yu?u=uT G٣y B; > Nusing accuracyPremultiplier from config%49g?%4Y iB% ?%:%%?#D;';41 5A1Zj9=FNOT Ignoring new targets: 245.90 m.BjEJjE ProNav: ac range: 245.899994 m, nav range: 248.273895 m, bearing: 205.036965 deg, approach rate: -0.140255 m/s, LOS rate: -0.132842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.739716 deg. 2jV:j@HeadingCmd: 4.812566 target range: 245.899994 and range: 245.90 m. jjjjihhhh.BfWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:04.1504 TRx dataTimestamp_ set to:1736365925.400646checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260916ffrfbf `: @ɛM~BUc< QU>IQ U2ɚQiYI]K=I}iriﳍ))zK JMK h9K K K 5 bstP7"*F ?2F :F BF `0JF G  G sAWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513706GҸJ}J}IJyJyJ}.;J}U:JyJyGBO?ˤZvw,lٵAr @Yr@r{"q9r7 >yrHuX?ɉ?@3䜺?H?$? a?@?ɨr @r#j;rCyEBEII]xI]&5٢mX< mD=9m;Q m>qq uG٣u4Gy}ox; }> Nusing accuracyPremultiplier from config49Ã?4Y iBq?#D;; ɡ4 [AZj FNOT Ignoring new targets: 245.90 m.Bj*Jj*e ProNav: ac range: 245.899994 m, nav range: 248.213379 m, bearing: 204.978971 deg, approach rate: -0.155904 m/s, LOS rate: -0.149442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801163 deg. 2jeͻ:jmS @mHeadingCmd: 4.813638 target range: 245.899994 and range: 245.90 m. jijqjqjqiqhqhqhyhyfyfyfrfbfG @Hu>I IIIgBI&IGD.I6I<:I F e$?Iaɛ ~Bv=< )->I1 'ɚiIP=I-iUiU/ G)Q)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:04.1504 LVL= 19952, 27425, 13890, 28883, AGC= 63, IDX= 152, 0.14,-0.902,-1.857,-0.141,-0.924, PHS= 0.109,-0.886, 0.780, RAW= 173.6, -0.0, CAL= 174.5, -8.1, ROT= 335.5, 8.1 *F2F:FBFo0JFMYgot valid direction response: 19:52:04.1504 LVL= 19952, 27425, 13890, 28883, AGC= 63, IDX= 152, 0.14,-0.902,-1.857,-0.141,-0.924, PHS= 0.109,-0.886, 0.780, RAW= 173.6, -0.0, CAL= 174.5, -8.1, ROT= 335.5, 8.1 ]PDAT read: Bearing 335.5, 8.1 (Local) ]~Local bearing/azimuth received: Bearing 335.5, 8.1 (Local) DAT read: Range 10 to 50 : 243.6 m (Round-trip 324.8 ms) speed 0.5 m/s *DAT read: user:906> BDAT read: Tx time:19:52:05.2715 $Ping request sent.QQU"?LqF$?jLG)UTuo?IUd?:iUտUbQQ]:publishing transmit ping timeع]Fpublishing direction and range infoQ9UX᩸ K'dv'?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU"?LqF$?jLG)QIQiQQQQG ?G B O >avw,B_ٵABm@YB-@B(L9Bj >yBH0?@?c2 51?&^`??`?ɨBm@B/;BCyJ!BNIIfqIf#5٢jY= nU=9~;Q > G٣y ;  > Nusing accuracyPremultiplier from config=49ǃ?=4Y i#BAEE?#D:;u;ϡ4MĒB MAMEkR'4?k% JJAAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:52:05.2708 k kzyٵA:ksCBkqCZkI@";} x70`AmqB@X᩸ K'dv'?JkտRkb*u0qnʑYcpCTX@U$I`oJFsa?"k *ksk[x3?kvK 2kMBk[x3?kvK kؤBksCkI@= addTargetRange:: Added new target pos. range: 243.600006 m, deltaT: 3.780497 s, deltaX: -2.299988 m, approachRate: -0.608382 m/s, rangeRepo size: 4 M Added new target pos. range: 243.600006 m, bearing: 180.511376 deg, lat: 36.902354 deg, lon: -122.116904 deg, deltaT: 3.780497 s, deltaX: -2.299988 m, approachRate: -0.608382 m/s, posRepo size: 4 ZjIuFNOT Ignoring new targets: 243.60 m.Bj}Jjy ProNav: ac range: 243.600006 m, nav range: 243.546906 m, bearing: 180.511391 deg, approach rate: 0.000000 m/s, LOS rate: -0.149442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794609 deg. 2j:jc@HeadingCmd: 4.813524 target range: 243.600006 and range: 243.60 m. jjjjihhhhfffrf@3sn@bf`vO?ɛm~Bur< qu>Iq }ԁɚyiyI}=Iiri{S))E*F?2F:FBF1JF iImgm Will construct direction to contact in vehicle frame from tetrahedron phase data.GE HNG B) OE >ugvw,7ٵAzKNKKKK y-B-IMb@Mb@Mb@ )Y^I +?A`"?  G٣ y   > Nusing accuracyPremultiplier from config49 ̃?4Y i(B%?%:%%?#D;';oס4) -#A1ZjQ]FNOT Ignoring new targets: 243.60 m.Bj](Jj](m ProNav: ac range: 243.600006 m, nav range: 243.594650 m, bearing: 180.450642 deg, approach rate: 0.115880 m/s, LOS rate: -0.147412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792978 deg. 2jmUʻ:jm(@}HeadingCmd: 4.813496 target range: 243.600006 and range: 243.60 m. jyjyjyjyiyhyhhhSBfffrfbf@?ɛ~B< 隽>I bpɚiIc=IiUNi))*F?2F:FBF15JF"GGa=Will construct direction to contact in vehicle frame from tetrahedron phase data.G >ZHRH@AH I  I II wBI &I .I 6I <:I F Q IY G B O >mvw,IٵAWill construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:)@:869:>y:Hۺ?ˆ?Gx?9h@(Æ??X?ɨ:@:6;:Cyb BbIInIn4٢~5; ~\=9m;Q > G٣4Gy Yк  > Nusing accuracyPremultiplier from config549σ?=4Y i,B9==?#Dʽ; ;ݡ4I MAIeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 243.60 m.Bj}&Jj}& ProNav: ac range: 243.600006 m, nav range: 243.635254 m, bearing: 180.399095 deg, approach rate: 0.108239 m/s, LOS rate: -0.137390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.820570 deg. 2j:j @HeadingCmd: 4.813977 target range: 243.600006 and range: 243.60 m. jjjjihhhhfffrfbf|?ɛ~B< >I ]ɚiI =Ii^9iݺ))*F2F:FBF_0JFJWill construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJJJJ3;Jٖ:JJJ 9 IA tvw,|ٵA:<&@Y:5@:p9!9:O0 >y:H@?N?@"` W?r'??2?ɨ:<&@:j;:Cy^%B^IMMb@Mb@Mb@III I)IYMzG?Zd;O?Mb`?yM ?Mj<=M;MA M@)M@IM@IyM@Ie9Ie 5٢uS< uC=9}'G;Q }>yy }G٣yq; > Nusing accuracyPremultiplier from config49lӃ?4Y i/B?:?#Dj;h;?4 AEZjFNOT Ignoring new targets: 243.60 m.BjJj ProNav: ac range: 243.600006 m, nav range: 243.678925 m, bearing: 180.341632 deg, approach rate: 0.104675 m/s, LOS rate: -0.137708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802831 deg. 2j:j @HeadingCmd: 4.813667 target range: 243.600006 and range: 243.60 m. jjjjihhhhTBfffrfbf ?ɛ ~Bƻ< >I =FɚiIAz=I%i%i%IG))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465650)EEpA*FA2FA:FABFAJFAzKiKK9KKKBK:KrAG pG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719753zvw,?ٵAR-@YR<@R~A9R8 >yRH`0w?׆?w?c^}}?? X?ɨR-@R·;RCyZBZIvAtxz@AI~_I~5٢ '  Q=9 ;Q  > G٣y ; > %Nusing accuracyPremultiplier from config!-49%փ?-4Y% i%2B)5|5?%#D%7:%:%49 =<A9ZjaeFNOT Ignoring new targets: 243.60 m.Bjm:Jjm: ProNav: ac range: 243.600006 m, nav range: 243.720001 m, bearing: 180.288172 deg, approach rate: 0.105636 m/s, LOS rate: -0.137459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814835 deg. 2j:jH @HeadingCmd: 4.813877 target range: 243.600006 and range: 243.60 m. jjjjihhhhfffrfbf0?ɛ~B< ݾ>I 5ɚiI(=Iii9))HI III&I.I6I#<:I F I*Fq2Fq:FqBFqJFqMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.971508GzQGBO>ҁvw,ڵA:/M@Y:\@:߃9:O >y:Hv?? #$W?zypp?/??ɨ:/M@:;:CyDFIIRVIR5٢Z ZP=9Z\\ ^G٣^4Gyb[#< b> fNusing accuracyPremultiplier from configdn49fڃ?n4Yf if4Bprr?f$DfR;fS;f4vƒB vOAvEZjFNOT Ignoring new targets: 243.60 m.BjJj- ProNav: ac range: 243.600006 m, nav range: 243.762390 m, bearing: 180.234474 deg, approach rate: 0.107671 m/s, LOS rate: -0.136373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.814121 deg. 2j-.:j-. @5HeadingCmd: 4.813865 target range: 243.600006 and range: 243.60 m. j1j1j1j1i9h9h9hAhAfAfAfIrfIbfM5@J J>JJJ+;J:JJJ<J<J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221635ɛ~B< 隭>I !"ɚiIɽ =Iii@;))*Fq2Fq:FqBFuo0JFq IxA9G]9 YxAyeBGB!O=>U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473920vw,(!ڵA2b@Y2q@2}92 >y2H@. ??0?\?`G?`?ɨ2b@2ۈ;0yRBRIMMb@Mb@Mb@III I)IYM1Zd?Zd;O?MbpyM"?IMM~A M@)IIIIzK]2KK]+9KYK]K]RKe?JKe?yM@IuaIuk5٢ȼ >=9;Q > G٣yL; > Nusing accuracyPremultiplier from config49ރ?4Y i5B?:?$D;;t4 zAZjFNOT Ignoring new targets: 243.60 m.Bj Jj  ProNav: ac range: 243.600006 m, nav range: 243.810898 m, bearing: 180.174031 deg, approach rate: 0.112907 m/s, LOS rate: -0.140659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793895 deg. 2j:jI@HeadingCmd: 4.813511 target range: 243.600006 and range: 243.60 m. jjjjihhhh LBf f f rf bf}@ɛ~B< >I Q ɚiIf =Iii;)) E5R>E5>*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726403jHbH<Ht>I IIIrBI&I.I6I°<:I F IgG;G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.97748110vw,;ڵA2Qv@Y2@2992 >y2H ? ? u?@RP6,? ?ɨ2Qv@2r;0y:B>yIIJnIJ."5٢N6 RY=9R;Q R>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b49^⃜?b4Y^ i\`bob?^$$D^+;^,;^ 4h jAlB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 243.60 m.BjCJjC ProNav: ac range: 243.600006 m, nav range: 243.854187 m, bearing: 180.121081 deg, approach rate: 0.108849 m/s, LOS rate: -0.133118 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816364 deg. 2j:j @HeadingCmd: 4.813904 target range: 243.600006 and range: 243.60 m. jjjjihhh h f9fafarfabfm@@ɛ~Ḅ< 隭>I ɚiI! =Ii9~i<))*F2F:FBF0JFJsKs K{S}-KsKs"KsJ JDJJJ(;J:Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:07.9982 TRx dataTimestamp_ set to:1736365929.181086checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231013JJJ<J<JB;JC;GO;G B Oe > $?I dvw,C9UڵA2|@Y2*@2Cq ;92b>y2H?ʀ?` ?`'a{?`:?ɨ2|@2+;2CybBbvIUMb@Mb@Mb@QQQ Q)QYU+?L7A`?=9^;Q > G٣4Gy: > Nusing accuracyPremultiplier from config49b惜?4Y i4B?:?5$D;;4  AZjFNOT Ignoring new targets: 243.60 m.Bj-Jj- ProNav: ac range: 243.600006 m, nav range: 243.899734 m, bearing: 180.058713 deg, approach rate: 0.110797 m/s, LOS rate: -0.151686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788118 deg. 2j3л:j%v@%HeadingCmd: 4.813411 target range: 243.600006 and range: 243.60 m. j!j)j)j)i)h)h)hhBfffrfbf" @Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481807ɛ5~B5٤< 9=>I9 =RԺɚ9i9I= =IEiMiM'<)i)i*F2F :F BF 1JF zKBJK9KKKBKsA:KG- 1X<G BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 241.8 m (Round-trip 322.5 ms) speed 0.8 m/s  *DAT read: user:907>  BDAT read: Tx time:19:52:09.0715  $Ping request sent. yFH@E:?`?@V}Խ?:GqU?)?ɨF@F;FCy]B]gIImsIme$5٢o I=9;Q > G٣y<3; > Nusing accuracyPremultiplier from config49 ꃜ?4Ym i2B?E$D;;4! -lA)H9I9 I=II=]BI9&I=FD.I96I=<:I= FBI JI RI ZI bI jI 4 yI}g addTargetRange:: Added new target pos. range: 241.800003 m, deltaT: 3.779521 s, deltaX: -1.800003 m, approachRate: -0.476252 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 243.60 m.BjJj ProNav: ac range: 243.600006 m, nav range: 243.944046 m, bearing: 179.998835 deg, approach rate: 0.102570 m/s, LOS rate: -0.138578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795586 deg. 2j5:j@ HeadingCmd: 4.813541 target range: 243.600006 and range: 241.80 m. j j j j i hhhhfffrf%9n@bf%༪?ɛ~B< 隭*>I b;ɚiIG =Iii<))*Fe?2Fa:FaBFm`5JFi%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:19:52:09.0708 G 2<G B O >E!vw,ڵA:@Y:@:$;9:}[>y:H@x&?ބ? 8, 1?\`;x`_??ɨ:@:;:CyRBRWI)` `IjVIj5٢vz zW=9~;Q ~> G٣yR > -Nusing accuracyPremultiplier from config!549%태?=4Y% i%1BAEM?%T$D%<;%;%o4Will construct direction to contact in vehicle frame from tetrahedron phase data.ȒB AEZjFNOT Ignoring new targets: 243.60 m.Bj'Jj'JJFJJJ/;Jǔ:JJJ<J<J ;J ;] ProNav: ac range: 243.600006 m, nav range: 243.984726 m, bearing: 179.944101 deg, approach rate: 0.109171 m/s, LOS rate: -0.146862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811014 deg. 2j]ɻ:je @eHeadingCmd: 4.813810 target range: 243.600006 and range: 241.80 m. jajijijiiihihihqhqfqfyfyrfybf}`,?ɛ~BԿ< >I ɚiIl =IiK' i7v<)) *Fu?2Fy:FyBF}4JFGtA GtA IG- jx<5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >uKvw,mʢڵA:m@Y:|@: ;9:>y:H@Hw? ?ez?G@yuy L?$?ɨ:m@:m;:CyFBFMI5Mb@Mb@Mb@111 1)1Y5y&1?ˡE?ii mG٣u4Gyuӻ u> Nusing accuracyPremultiplier from configy49}?4Y} i}/B%?:?}f$D}@;};}4 &AEZjFNOT Ignoring new targets: 243.60 m.Bj/Jj/zKJKs9KKKRK?JK? ProNav: ac range: 243.600006 m, nav range: 244.033279 m, bearing: 179.881977 deg, approach rate: 0.120033 m/s, LOS rate: -0.153552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.788851 deg. 2jһ:j@HeadingCmd: 4.813424 target range: 243.600006 and range: 241.80 m. jjjjihhhh~Bfffrfbf`s?ɛE~BEˎ< AE{>Ii uɚqiqIuh =I}i> i;))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%4JF!ZH1RH1H9I9 I=II=DBI9&I=GD.I96I=<:I= F qIqG l<G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.Euvw,@ڵA2k@Y2O{@2;92>y2Hxj?T? ?> } ??ɨ2k@2 ͇;0y:B:IIIjPIj5٢2 O=9+;Q %>!! %G٣!y-= -> 5Nusing accuracyPremultiplier from config1=495r?=4Y5&" i5-BAE E?5v$D5 ;5 ;5$4I MBAIeB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 243.60 m.BjG+JjG+ ProNav: ac range: 243.600006 m, nav range: 244.079529 m, bearing: 179.823095 deg, approach rate: 0.117642 m/s, LOS rate: -0.149745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.798576 deg. 2jͻ:j@HeadingCmd: 4.813593 target range: 243.600006 and range: 241.80 m. jjjjihhhhfffrfbf@?ɛ~B$< 5r>I Sɚi I IL =I i i@;))*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G;GsAGoAGq B O > y Iy N^vw,@ڵA6_V@Y6e@6;96>y6Hl? z?_ÿXH?@:0z~?̾?ɨ6_V@6;6Cy>BB5I5Mb@Mb@Mb@111 1)1Y5|?5^? rh?~jty5-?5C =5D1 5@)1I5@1y1IMFIMt5٢m @=9B9Q > G٣yʻ > Nusing accuracyPremultiplier from config49s?4Y) i*B.?:?$D.';%; ,4 AZj!-FNOT Ignoring new targets: 243.60 m.Bj-3Jj-3= ProNav: ac range: 243.600006 m, nav range: 244.128067 m, bearing: 179.755940 deg, approach rate: 0.113680 m/s, LOS rate: -0.157251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773761 deg. 2jE׻:jEh@EHeadingCmd: 4.813160 target range: 243.600006 and range: 241.80 m. jIjIjIjIiIhIhQhQhU~BfYfYfYrfabfe`*?ɛ~BW< 隕P>I %ɚiI7 =Iiv i#*;))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773965*Fa2Fa:FiBFm`0JFi"Gu=Gu=zKMKKM9KIKMKMBK}rA:KyGo;Ga By O >J J TJ J J $9;J :J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025093Nvw,^ڵAZl@YZ(|@Z80<9Z=yZH@p?`z?_ *߼?@??ɨZl@Z/;ZCyfBf(IIn~InE)5٢ve vY=9zxx ~G٣~4Gy~; ~> Nusing accuracyPremultiplier from config %49  ?%4Y W0 i (B)-5? $D ; ; 24EʒB M%AMEZjFNOT Ignoring new targets: 243.60 m.Bji.Jji.HI III+BI&I.I6I<:I F Ig ProNav: ac range: 243.600006 m, nav range: 244.171860 m, bearing: 179.696755 deg, approach rate: 0.112847 m/s, LOS rate: -0.152481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797666 deg. 2jJѻ:j@HeadingCmd: 4.813577 target range: 243.600006 and range: 241.80 m. jjjjihh hhfffrfbf`b@ɛ~Bn?< 隕8>I  ɚiI4 =IiʾiZ;))A*F2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.278448G )o;G B O >vw, ۵A:jr@Y:ց@:HB<9:f=y:H`?`?X i?CPL??ɨ:jr@:sc;:CyJBJ!IIVwIV+&5٢^ ^K=9^8/;Q ^>`` bG٣`yb): f> jNusing accuracyPremultiplier from configdn49f?n4Yfl7 if$Blnr?f$Df\ ;f ;f94t vTAtZj!%FNOT Ignoring new targets: 243.60 m.Bj-8Jj-8= ProNav: ac range: 243.600006 m, nav range: 244.218964 m, bearing: 179.633754 deg, approach rate: 0.120319 m/s, LOS rate: -0.160895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786220 deg. 2j=ܻ:j=0@EHeadingCmd: 4.813377 target range: 243.600006 and range: 241.80 m. jAjAjIjIiIhIhIhQhQfQfYfYrfYbf] 2@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532815ɛ5~B5C< 15+>I1 5qEɚ9i9I=D4 =IEiEޡiE;)A)A*F?2F:FBF0JF I G &;GBO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e >a m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785319vw,Z$۵A6t@Y6M@69P<96ݾ=y6H?T?, `?' @2¿? ?ɨ6t@65;6Cy^rB^IbAbAUMb@Mb@Mb@QQQ Q)QYUi|?5?+?{GztyU1?U=UףUQA U@)U;@IQQyU@imAAIuIu/5٢E >=94:Q > G٣y0: > Nusing accuracyPremultiplier from config%49^?%4Yx? i"B-1?-:-ﲿ-?$DzK5}2LK5 9K1K5K5|v$ _H3PA1(u::xhd=uj`WNKFE@>:8322.*){;;lA4Q ]AYZjFNOT Ignoring new targets: 243.60 m.Bj/2Jj/2% ProNav: ac range: 243.600006 m, nav range: 244.274445 m, bearing: 179.562166 deg, approach rate: 0.120758 m/s, LOS rate: -0.155781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760472 deg. 2j%ջ:j%@UHeadingCmd: 4.812928 target range: 243.600006 and range: 241.80 m. jQjQjQjYiYhYhYhahe^~Bfqfqfqrfybf}@ɛ ~B ,< >I (A`ɚi!J=J9J9J9J=<5;J9J9J9Ie4@ =Imim$im;)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037130*F?2F:FBF{0JFHI IIIBI =&I.I6I:I !$?IG G B O >vw,+>۵AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:11.7946 TRx dataTimestamp_ set to:1736365932.976684checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289993BLs@YB@BZ<9B=yBHऽ?z?~.'`?6^+ɿ? ߿?ɨBLs@BΈ;BCyJlBJIIV|IVb(5٢Z~ ZY=9^):Q ^>`d fG٣f4Gyj j> nNusing accuracyPremultiplier from configlr49n ?r4YnF in!Bpvv?n$Dn;n;nG4x zAx B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 243.60 m.Bj%d?Jj%d?5 ProNav: ac range: 243.600006 m, nav range: 244.319687 m, bearing: 179.504135 deg, approach rate: 0.130479 m/s, LOS rate: -0.167328 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801129 deg. 2j5:j5R @HeadingCmd: 4.813638 target range: 243.600006 and range: 241.80 m. jjjjih!h!h!h!f)f)f)rf)bf- @ɛ}~B}&-< y隅B>I 4ɚiIpH =Iiil;))*FI2FI:FIBFMd5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.543929G6;G B O >  I )= ſ= E C  ) vw,$ X۵A YyBy]cB]I-only read 2 of 4 data items for bottom velocity. Device response is::BS, 704, -5,A  @ @ @  @ II/5٢ 8=9 Q  >! %G٣)y= E>=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:11.7946 LVL= 21616, 30001, 14930, 29075, AGC= 62, IDX= 131,-0.15,-1.552,-2.601,-0.904,-1.460, PHS=-0.004,-1.094, 0.552, RAW= 169.4, 7.6, CAL= 168.9, -2.1, ROT= 341.1, 2.1 Ygot valid direction response: 19:52:11.7946 LVL= 21616, 30001, 14930, 29075, AGC= 62, IDX= 131,-0.15,-1.552,-2.601,-0.904,-1.460, PHS=-0.004,-1.094, 0.552, RAW= 169.4, 7.6, CAL= 168.9, -2.1, ROT= 341.1, 2.1 PDAT read: Bearing 341.1, 2.1 (Local) ~Local bearing/azimuth received: Bearing 341.1, 2.1 (Local) bBottom track data is 0.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 49? 4YN iB+:w:?$DB<?N4) -A)mDAT read: Range 10 to 50 : 239.1 m (Round-trip 318.8 ms) speed 0.3 m/s m*DAT read: user:908> uBDAT read: Tx time:19:52:12.8716 u$Ping request sent.ui=o=1=O ?=8=@=> =<@)=Q I=@i=Q =99=H}?B???)={\?I=/i=}鿉=U]99:publishing transmit ping timeqFpublishing direction and range info9 ProNav: ac range: 243.600006 m, nav range: 244.382385 m, bearing: 179.424256 deg, approach rate: 0.120976 m/s, LOS rate: -0.154086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735612 deg. 2j~ӻ:j@HeadingCmd: 4.812494 target range: 243.600006 and range: 241.80 m. jjjji9=TyϿyt?Bs?y9999 9)9I9i99hIhIhQhQfQfQ999 9)9I9i999=H}?B???)9I9i999frf@3m@bf?9ɛU~BUك< Qu >Iy }8ɚyiyI}\_ =Iioi ;))E*Fu?2Fq:FqBFu0JFqG} G}"GGzK0PKs9KKK(#!  JM JM IJM 0JI JM 4.;JM U:JM ـ3JI  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:52:12.8708 G B O >rGvw,s۵A HVs>IT IVrIIVBIT&IT.IV;D pIt6IVް<:IV F%h@Y%Tx@%"_n<9%=y%H@0R??7?w;`ˍʾ??ɨ%h@%);%Cy]lB]I e=ep=IdI5٢< C=9X:;Q > G٣yG > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49? 4YU iB  : H:?$DP;_?S4͒B AEk6?kEH k k ^۵A:koCBk|mCZk~@@"ieM;?p@l^.I@TyϿyt?Bs?Jk}RkU]*- Xym10a§?@*7@$t)4E?Vla?"k>A*kkkN0r6?kQ 2k BkkN kBk4uCkC@ addTargetRange:: Added new target pos. range: 239.100006 m, deltaT: 3.797845 s, deltaX: -2.699997 m, approachRate: -0.710929 m/s, rangeRepo size: 4  Added new target pos. range: 239.100006 m, bearing: 172.354171 deg, lat: 36.902354 deg, lon: -122.116713 deg, deltaT: 7.577366 s, deltaX: -4.500000 m, approachRate: -0.593874 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 239.10 m.Bj Jj ProNav: ac range: 239.100006 m, nav range: 245.205353 m, bearing: 175.394626 deg, approach rate: 0.000000 m/s, LOS rate: -0.154086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806328 deg. 2j!:j% @MHeadingCmd: 4.813728 target range: 239.100006 and range: 239.10 m. jIjIjIjQiQhQhQhYhYfYfYfarfbf?ɛ~BB1< >I ,9ɚiI2j =IiziZ;)) }Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JFGBOa>Q+vw,J۵AJ"@AJ 6L@Y6[@6uX<96D\>y6Hp??`do `̻?P`m??ɨ6L@6;6CyNkBRII^nI^."5٢f fZ=9fiQ f>hh jG٣hyjnWill construct direction to contact in vehicle frame from tetrahedron phase data. r> zbBottom track data is 1.2 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz49vX?~4YvY\ ivB~9|":?v%Dv:G;v?vzV4  A Zj9=FNOT Ignoring new targets: 239.10 m.BjE<JjEIY ejJp9ɚaiaIeq =ImimimKQ;)i) Ig*F]?2Fa:FaBFe_0JFiGB)OER>Will construct direction to contact in vehicle frame from tetrahedron phase data.aTvw,!۵A6?@Y6O@6-^<96=y6H_ ? ? F f?nԦ?c?ɨ6?@6U;4yRaBRI        Mb@Mb@Mb@ )YI +? rh?y94?C =MA )I@I@y@ITI5zK#MKh9KKKRK ?JK>٢  7=9/G:Q %>!) -G٣-4Gy5rf => MNusing accuracyPremultiplier from configA]49E?]4YEd iEBeT:eo4?e:eᴿm?E%DE;E;EN^4y }AJUJUPJU1JQJUt4;JU:JU3JQZjuFNOT Ignoring new targets: 239.10 m.Bju3Jju3 ProNav: ac range: 239.100006 m, nav range: 245.343994 m, bearing: 175.264424 deg, approach rate: 0.164443 m/s, LOS rate: -0.157122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760302 deg. 2j׻:j|@HeadingCmd: 4.812925 target range: 239.100006 and range: 239.10 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhha~Bf)f)f1rf1bf=cH?ɛ~B < 隵>I e9ɚiIK =Ii$iw;))HI IlIIBI&I.I6I<:IFBIqJIqRIqZIu =bIu =jIuD/4 I*F92FA:FABFEa4JFAG1BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data.}Lvw,@۵A:D@Y:S@:Ja<9:=y:H -? ֒? ܬq@? h )-???ɨ:D@:;8yBrBFIIN3IN 5٢V}9= Vb=9V:Q V>XX ZG٣Xy^7: ^> bNusing accuracyPremultiplier from config`f49b?f4Yb$k ibBhjϴj?b*%Db,3;b_3;bd4p rAp~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 239.10 m.Bj ;Jj ;% ProNav: ac range: 239.100006 m, nav range: 245.404404 m, bearing: 175.207116 deg, approach rate: 0.172413 m/s, LOS rate: -0.163521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803305 deg. 2j%r:j% @-HeadingCmd: 4.813676 target range: 239.100006 and range: 239.10 m. j)j)j1j1i1h1h1h9h9f9f9fArfAbfEB?ɛu~BuE<  >I ];9ɚiI =Iiif?;)) *F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G{/;GBO> I ivw,۵A6O@Y6Y_@6)c<966=y6H@?`? ]lٻ? `쏿qM??ɨ6O@6;6Cy^tB^IMMb@Mb@Mb@III I)IYM/$?J +?~jth?yM&1?MH=MD;MA M@)Mv@IIIyM@ImrIm#5٢}/; }?=9Œ;Q > G٣yg]; > Nusing accuracyPremultiplier from config49!?4Ys i%1?%:%ر%?>%D&;;Sl4-ϒB]Will construct direction to contact in vehicle frame from tetrahedron phase data.]g?]a?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.976271 eAmEZjFNOT Ignoring new targets: 239.10 m.BjH0JjH0 ProNav: ac range: 239.100006 m, nav range: 245.485214 m, bearing: 175.137777 deg, approach rate: 0.179676 m/s, LOS rate: -0.154119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.767240 deg. 2jӻ:jz@HeadingCmd: 4.813046 target range: 239.100006 and range: 239.10 m. jjjjihhhh~Bf!f!f!rf!bf%2T@ɛ}~B}C%< 隅>I 4:ɚiI =Ii[{iQ;))*F?2F:FBFJFzKmqKKm9KiKmKm #     BKq:KqG .A; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229254GA BY Ou >*vw,ĵ۵AH$I$ I&rII&BI$&I$.I$6I& <:I& F PIPZX@YZh@Z<9Zb=yZH@м??@?iǯ@V?'?ɨZX@Z};XybBf"IIjgIj5٢ <  B=9 ;Q > G٣4Gys%; > %Nusing accuracyPremultiplier from config!-49%%?-4Y%hz i%B)55?%P%D% ;%;%is4A EqAAZjimFNOT Ignoring new targets: 239.10 m.Bjub5Jjub5 ProNav: ac range: 239.100006 m, nav range: 245.559662 m, bearing: 175.074473 deg, approach rate: 0.186549 m/s, LOS rate: -0.158578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785333 deg. 2jٻ:j@HeadingCmd: 4.813362 target range: 239.100006 and range: 239.10 m. jjjjihhhhfffrfbf*|@ɛ)-D< QU#>IQ U9:ɚYiYI]g =IeieieD;)a)a*F2F:FBFo0JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.478841GM @;G! B) OM >exww,2ܵAJJSJJJ7;J:JJJ]!! %G٣!y%G9 -> 5Nusing accuracyPremultiplier from config)549-)?=4Y- i-B9EE?-`%D-;-n ;-y4I M$AIZjiuFNOT Ignoring new targets: 239.10 m.Bj}2Jj}2 ProNav: ac range: 239.100006 m, nav range: 245.628342 m, bearing: 175.016348 deg, approach rate: 0.184660 m/s, LOS rate: -0.156239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800859 deg. 2jsֻ:jH @HeadingCmd: 4.813633 target range: 239.100006 and range: 239.10 m. jjjjihhhhfffrfbff@ɛq}\2e< y}6>Iy }Z:ɚyiI =Ii i;)) "$?Ig*F?2F:FBF0JFG%sA G%tAG}CQ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985167G B O > ww,k(ܵA6Z@Y6si@6흡<96)=y6HHۼ? ݐ?I/?g3O? ?ɨ6Z@6R;6CyJBJ;IMb@Mb@Mb@ )YʡE?)\(?~jtx?y/?Ga=;dA )`@IyII*5٢C= @=9":;Q > G٣y"p9 > Nusing accuracyPremultiplier from configU49.?]4Y i]/0?]:]]?s%DP<$<W4a mAizKuLKu9KqKuKuRK}?JK} ?ZjFNOT Ignoring new targets: 239.10 m.Bj(Jj( ProNav: ac range: 239.100006 m, nav range: 245.708817 m, bearing: 174.950805 deg, approach rate: 0.181007 m/s, LOS rate: -0.147373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.778623 deg. 2jHʻ:j@ HeadingCmd: 4.813245 target range: 239.100006 and range: 239.10 m. jjjjihhhh~Bfff!rf!bf%@g @ɛf< 隕K>I :/:ɚiI =Ii8 iإ;))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:15.5402 TRx dataTimestamp_ set to:1736365936.757740checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236918*F ?2F :F BF 1JFjHAbHE4<HIII IM~IIM BII&II.II6IM <:IM F IGG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486737,ww,CBܵA6X@Y6ng@6ש<96h=y6H˼?`W?|@?@z?v:@E??ɨ6X@6#;4yBBB:IIJIJ,5٢RP R^=9R2;Q V>TT VG٣V4GyZ/ Z> ^Nusing accuracyPremultiplier from config\b49^2?b4Y^7 i\dff?^%D^;^y;^LJ4h jAnEuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 239.10 m.Bj/Jj/ ProNav: ac range: 239.100006 m, nav range: 245.778778 m, bearing: 174.894011 deg, approach rate: 0.189156 m/s, LOS rate: -0.153510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804855 deg. 2jһ:j @HeadingCmd: 4.813703 target range: 239.100006 and range: 239.10 m. jjjjih!h!h!h!f)f)f)rf)bf-> @ɛ|< lJ>I a:ɚiI =IiYiU;))*F?2F:FBFS5JFJUJUNJQJQJU3;JU:JQJQJU<JU<JU7;JU8;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:15.5402 LVL= 23520, 27073, 11730, 29011, AGC= 62, IDX= 400,-0.08, 1.061, 0.026, 1.870, 1.150, PHS=-0.001,-1.077, 0.717, RAW= 173.4, 4.7, CAL= 173.5, -4.4, ROT= 336.5, 4.4 %Ygot valid direction response: 19:52:15.5402 LVL= 23520, 27073, 11730, 29011, AGC= 62, IDX= 400,-0.08, 1.061, 0.026, 1.870, 1.150, PHS=-0.001,-1.077, 0.717, RAW= 173.4, 4.7, CAL= 173.5, -4.4, ROT= 336.5, 4.4 %PDAT read: Bearing 336.5, 4.4 (Local) -~Local bearing/azimuth received: Bearing 336.5, 4.4 (Local) 5DAT read: Range 10 to 50 : 198.3 m (Round-trip 264.4 ms) speed 0.4 m/s =*DAT read: user:909> EBDAT read: Tx time:19:52:16.6216 E$Ping request sent.EJww,"\ܵA6HO@Y6^@6{<96$=y6Hࠅ??@1?#̡@ᕿ ^n?"?ɨ6HO@6%;6Cy>BBEI)D DMb@Mb@Mb@ )YK7?!! %G٣!y-^ ->=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:19:52:16.6208 uNusing accuracyPremultiplier from config1}4958?}4Y5 i5B}*?}:P?5%D5j;5;54ђB AEk C?k I  k  k sPܵA:k LFCBk DCZk NHD@" IX~mBoU/hYNE=@ aeq(ǿ ZL?Jk UERk * c Λ,h=J;-@ӋC@ VneS?%wC?"k lA*k Ek *C?k k 2k Bk k k Bk uCk HC@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 198.300003 m, deltaT: 3.778162 s, deltaX: -40.800003 m, approachRate: -10.798903 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 239.10 m.Bj'Jj' ProNav: ac range: 239.100006 m, nav range: 245.869781 m, bearing: 174.826978 deg, approach rate: 0.199261 m/s, LOS rate: -0.146722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.774162 deg. 2jcɻ:jw@HeadingCmd: 4.813167 target range: 239.100006 and range: 239.10 m. jjjjihhhh Bfffrf h@bf ?ɛY]Z{< Y][>IY e:ɚaiaIe =IiiF;))*FY2Fa:FaBFeK5JFa"Gua=Gup=zKm~KKiKiKmKmBK}sA:K}sA Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ge @;G9 BI Om >HA IA  IE IIE BIA &IA .IA 6IE < Y IY ww,vܵA:Im F>V8@Y>G@>5<9>Ë=y>HAϻ??޷`[?`U3{? ?ɨ>V8@>f;>CyNBNOIIVMIV5٢%M/= -Z=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM49E}I9 =:ɚ9i9I=m =IEiMiMl߹:)I)I*F2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G 1;GBO >#ww,ӏܵAJJGJJJ/;JK:JJJ<J<J;J;J@YJ,@Js<9J5=yJH`[?`?V`??@n?1?RWill construct direction to contact in vehicle frame from tetrahedron phase data.ɨJ@J ;HyZBZSIIbZIbQ5٢j< jP=9nQ n>pp rG٣r4Gyr v> zNusing accuracyPremultiplier from configtz49vA?~4Yv% ivB?v%Dv5;v6;v4  DAZj15FNOT Ignoring new targets: 239.10 m.Bj=2-Jj=2-M ProNav: ac range: 239.100006 m, nav range: 246.022598 m, bearing: 174.713311 deg, approach rate: 0.202830 m/s, LOS rate: -0.151419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800801 deg. 2jMϻ:jUF @UHeadingCmd: 4.813632 target range: 239.100006 and range: 239.10 m. jQjYjYjYiYhYhahahafafifirfibfm@$?ɛ~B < 隥s>I :ɚiI =Ii|iK))EyE}sA IgGvA XYvAy* B*F)2F):F)BF-`0JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]?]N>Gm7:Gi Bq O >*)ww,ܵAR @YRx"@R<9R=yRHѦ?@?@5 :Ϲ?ᠿTД`Z??ɨR @R;RCybBbcI n=n=Mb@Mb@Mb@ )YS㥛?x&?{Gz?y$?7=#<A @)Iyz@I8I@ 5٢r= <=9nQ > G٣yb1 > Nusing accuracyPremultiplier from config49E?4Ym iB%?:ʮ?%D;b;4 AZj!%FNOT Ignoring new targets: 239.10 m.Bj-$Jj-$= ProNav: ac range: 239.100006 m, nav range: 246.105469 m, bearing: 174.650498 deg, approach rate: 0.190333 m/s, LOS rate: -0.144218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786812 deg. 2jEŻ:jEF@EHeadingCmd: 4.813388 target range: 239.100006 and range: 239.10 m. jIjIjIjIiIhIhQhQhUHBfQfYfYrfabfe"?zKJK9KKKɛ < 隥r>I >:ɚiI =Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF)JF)HI III+BI&I.I6I<:I F I gGM˴G! B1 OM >] Will construct direction to contact in vehicle frame from tetrahedron phase data.~0ww, ܵA6t@Y6 @6į<96D=y6H? ?f?p!??ɨ6t@6e;6CyBBBkIIJmIJ!5٢R= R_=9VhI;Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config`f49bJ?f4Yb ibBdjЮj?b%Db:b:b4nӒB nAnEzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 239.10 m.Bj $Jj $ ProNav: ac range: 239.100006 m, nav range: 246.175354 m, bearing: 174.597696 deg, approach rate: 0.190543 m/s, LOS rate: -0.143926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.816825 deg. 2jŻ:j @HeadingCmd: 4.813912 target range: 239.100006 and range: 239.10 m. jjjjihhhhfffrfbf`ՠ?ɛ ~B >><  >I  @ ;ɚiI5 =I=i= i=)9)I*F)2F):F)BF-o0JF1JEJERJAJAJE0;JE:JAJAJEJ<JEK<JE;JE;Will construct direction to contact in vehicle frame from tetrahedron phase data.չiչT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G5< IGB O >~7ww,lwܵAF@YFa+@F඾<9Fk=yFH @? ? S ?vN֗ ֿ?`+?ɨF@F;FCyVBVhI=Mb@Mb@Mb@999 9)9Y=x&1?Q?{Gz?y=!?=\=9= A =@)9I=@9y=@IUIU+5٢eB e>=9e];Q e>ii mG٣m4GyuC; u> }Nusing accuracyPremultiplier from configy49}N?4Y} i}B"?:ʭ?}%D};}+;}4 AZjFNOT Ignoring new targets: 239.10 m.Bj Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255393Jj ] ProNav: ac range: 239.100006 m, nav range: 246.257843 m, bearing: 174.537329 deg, approach rate: 0.192087 m/s, LOS rate: -0.140526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.794148 deg. 2j]:j]S@eHeadingCmd: 4.813516 target range: 239.100006 and range: 239.10 m. jajajajiiihhhhxBfffrfbf9H@ɛ ~B sԦ<  >I x;ɚiI =IiNiX)!)IEUe>EU>*F?2F:FBF0JFG pzKE KKE 9KA KE KE  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507481G B O5 > #$?I H r>I  I II 5BI &I .I 6I <:I FBIJIRIZIbIjI 4,=ww,pBܵAB"@YBW2@B<9B>yBHc$?@Д?`T (? d5|4`? ?ɨB"@B1?;BCyJBJqIPRAIVIV +5٢^= ^V=9bCe;Q b>`d fG٣dyjr; ]> eNusing accuracyPremultiplier from configam49egS?m4Ye ieBimm?e%De:e:e4ԒB AEZjFNOT Ignoring new targets: 239.10 m.Bj-KJj-Ke ProNav: ac range: 239.100006 m, nav range: 246.335159 m, bearing: 174.481119 deg, approach rate: 0.189213 m/s, LOS rate: -0.137517 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.806610 deg. 2je:je @mHeadingCmd: 4.813734 target range: 239.100006 and range: 239.10 m. jijijijiiihihhhfffrfbf`2@ɛ~B< >I gI*;ɚiI =Ii[ij>)!)!*F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759399G- 'HG B O1 Dww,)ݵA2#@Y2C3@21<92*>y2H@+?œ?@%V c%?`R`?D?ɨ2#@2I;2C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011522yFBFnIININ-5٢V\> VK=9ZE;Q Z>X\ ^G٣\y^ؒ9 b> fNusing accuracyPremultiplier from config`f49bW?j4Ybb i`hjr?b &Db a;bqa;bK4t vAtZjFNOT Ignoring new targets: 239.10 m.Bj$Jj$- ProNav: ac range: 239.100006 m, nav range: 246.409927 m, bearing: 174.426979 deg, approach rate: 0.198792 m/s, LOS rate: -0.143902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812818 deg. 2j-Ż:j- @5HeadingCmd: 4.813842 target range: 239.100006 and range: 239.10 m. j1j9j9j9i9h9h9hAhAfAfIfQrfbf@ɛe~Bm$< qIy 隭>I YB8;ɚiI( =Iivi))*F?2F:FBFa5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:19:52:19.3408 =TRx dataTimestamp_ set to:1736365940.537657Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265853Gm!G) B1 OM >CJww,+ݵAy5B5kIMb@Mb@Mb@ )YZd;?T㥛 ?I +?y?=94< A )hAIyf@I oI "5٢H* 5=9Q %>!! %G٣%4Gy- -> 5Nusing accuracyPremultiplier from config1=495\?E4Y5i i5BM?M:U{U?5&D5.;5";5.Ȣ4Y ]AYZjFNOT Ignoring new targets: 239.10 m.BjJj ProNav: ac range: 239.100006 m, nav range: 246.491943 m, bearing: 174.366514 deg, approach rate: 0.181466 m/s, LOS rate: -0.133739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793853 deg. 2j:jH@HeadingCmd: 4.813511 target range: 239.100006 and range: 239.10 m. jjjjihhhhBfffrfbfS @ɛ~BE< >I '/G;ɚiI7 =zKJKs9KKK!((//895/V)#1q0Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515351J#K# K#K#K#"K#JJDJJJ/;J:JJa@a@a@a@Iii)) EHI III?BI&I.I6Iհ<:I F I*F2F:FBF`5JFGy G G sAGA Bi O >E Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:52:19.3408 LVL= 23376, 32753, 14114, 30915, AGC= 59, IDX= 463, 0.19,-3.113, 2.107,-2.646, 2.259, PHS= 0.999,-0.105, 1.375, RAW= 164.2, -31.0, CAL= 165.8, -37.7, ROT= 344.2, 37.7  Ygot valid direction response: 19:52:19.3408 LVL= 23376, 32753, 14114, 30915, AGC= 59, IDX= 463, 0.19,-3.113, 2.107,-2.646, 2.259, PHS= 0.999,-0.105, 1.375, RAW= 164.2, -31.0, CAL= 165.8, -37.7, ROT= 344.2, 37.7  PDAT read: Bearing 344.2, 37.7 (Local)  ~Local bearing/azimuth received: Bearing 344.2, 37.7 (Local)  DAT read: Range 10 to 50 : 236.2 m (Round-trip 315.0 ms) speed 0.4 m/s % *DAT read: user:910> - BDAT read: Tx time:19:52:20.4216 _'Qww,DݵA]$Ping request sent.]E?Iۅ ?iۅ0ۅ/ہہ:publishing transmit ping timeYFpublishing direction and range info؁9؅9BX;? `s꿠1|6?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ v?:?1z)ہIہM+@YM:@M<9MJ>yMH#h??@`K? @RM? ?ɨM+@MG;MCiہہہہymBmuII}I}v35٢= 3=9;Q >    G٣ y ; > Nusing accuracyPremultiplier from config%49ja?%4Y i B!m^u?-&D4;<M;<NТ4֒B AEkfcF?k}]у k kBݵA:k3lCBkjCZkjp@" 8T[@?O˦gh#0R@9BX;? `s꿠1|6?Jk0Rk/*B}Og9J)` {N-E@]ۅa`$S6?"k*k=k E?kd 2keBkN0r6?kk kBk^mCk9sD@M addTargetRange:: Added new target pos. range: 236.199997 m, deltaT: 7.560115 s, deltaX: -2.900009 m, approachRate: -0.383593 m/s, rangeRepo size: 4 ] Added new target pos. range: 236.199997 m, bearing: 215.232437 deg, lat: 36.902432 deg, lon: -122.116796 deg, deltaT: 7.560115 s, deltaX: -2.900009 m, approachRate: -0.383593 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 236.20 m.BjJj ProNav: ac range: 236.199997 m, nav range: 237.368530 m, bearing: 175.871265 deg, approach rate: 0.000000 m/s, LOS rate: -0.133739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777352 deg. 2j:j@HeadingCmd: 4.813223 target range: 236.199997 and range: 236.20 m. jjjjihhhhfffrf`fm@bf@o?ɛM~BM < QUԐ>IQ U$*Z;ɚQiQIUXT =I]ie{7ie,:)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:52:20.4208 *F2F:FBFJFG G IgGY G1 B9 OU >Www,`ݵAV-@YV9=@V* <9V6>yVH 0z? ?\޿ P-T?$y`@ri? ?ɨV-@V;VCynBrhIzWill construct direction to contact in vehicle frame from tetrahedron phase data.z=z<Mb@Mb@Mb@ )YbX9?Zd;?IQ UG٣QyU@: U> eNusing accuracyPremultiplier from configYm49]Ue?m4Y]s iYm?m:mfu?];&D]a#;]";]֢4y }AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 236.20 m.Bj )Jj ) ProNav: ac range: 236.199997 m, nav range: 237.430847 m, bearing: 175.819122 deg, approach rate: 0.176762 m/s, LOS rate: -0.147863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818801 deg. 2jʻ:j @HeadingCmd: 4.813946 target range: 236.199997 and range: 236.20 m. jjjjihhhhBfffrfbfO?ɛ~B<< >I e;ɚiI%1b =I-i-Wi-^W:))))*F2F:FBF_0JFJEJEPJAJAJET1;JE:JAJAzK]PK]9KYK]K]9 R=t;vsH[BKmrA:KiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GG B O > I H I  I I I &I .I 6I Ͱ<:I F]ww,SzݵAF|@YF"@F9<9FE>yFH@>?~?* z ?@~ `'? ȷ?ɨF|@FR׈;FCyRBReIIZ[IZ5٢bZ bh=9bۜQ b>dd fG٣f4GyjS j> nNusing accuracyPremultiplier from configlr49nh?r4Yn ilpvѮv?nI&Dn ;n;nݢ4x zAxZjFNOT Ignoring new targets: 236.20 m.BjBJjB ProNav: ac range: 236.199997 m, nav range: 237.488022 m, bearing: 175.770857 deg, approach rate: 0.153583 m/s, LOS rate: -0.129620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.830426 deg. 2j鱻:j @HeadingCmd: 4.814149 target range: 236.199997 and range: 236.20 m. jj j j i h h hhf1f1f9rf9bf=H?ɛ~Bs< 隍k>I _r;ɚiIkr =Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.929686*F 2F :F BF JF Gm ':Gi Gm ?GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.180982dww,qݵA6@Y6"@68Y<96P>y6H`U??x`?Zy`M@A?\?ɨ6@6#;6CyBBBSIIJ=IJw 5٢V VL=9V8Q V>XX ZG٣XyZo6 ^> !I! 5Nusing accuracyPremultiplier from config1]495m?]4Y5$ i1aeЮe?5X&D5Z;5{;5`4i mlAqZjFNOT Ignoring new targets: 236.20 m.Bj!Jj! ProNav: ac range: 236.199997 m, nav range: 237.555634 m, bearing: 175.714009 deg, approach rate: 0.168037 m/s, LOS rate: -0.141246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.804692 deg. 2j:j @HeadingCmd: 4.813700 target range: 236.199997 and range: 236.20 m. jjjjih!h!h!h!f)f)f)rf)bf-@Փ?ɛ~Bz1< d>I |g~;ɚiI =I=iE#iEw)A)I*FI2FI:FIBFIJFQ"Gu=Gu=G}Bͺ-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435344G9BAOew> kww,fLݵA6@Y6!@6ԟ<96<>y6H?#?@ `k?@ӛm?1?ɨ6@6;6CyBBBXIMb@Mb@Mb@ )Yx?~jt?yK?D= )~AIy\@Ie]Ie5٢u(< u>=9}B):Q }>y G٣y8 > Nusing accuracyPremultiplier from config49p?4Y iB?:q?h&D1;;4 KAEZjFNOT Ignoring new targets: 236.20 m.Bj!Jj! ProNav: ac range: 236.199997 m, nav range: 237.618958 m, bearing: 175.656562 deg, approach rate: 0.155279 m/s, LOS rate: -0.140831 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.802891 deg. 2jM:j @JJGJJJ4.;JK:JJ HeadingCmd: 4.813669 target range: 236.199997 and range: 236.20 m. j j j j ihhhhBfff!rf!bf%?ɛ]~B]H< Y]k>IY e/;ɚaiaIeբ =ImimNim/)i)iuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684985zKTOK9KKKRK?JK? $$?IZH-?ARH-AAH5q>I1 I5II55BI1&I1.I16I5<:I5 F*F]?2FY:FaBFeo0JFaGb(G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.936858qqww,.ݵA2a#@Y22@2<92>y2H6'?@L?`K=?]Н@Wv?v?ɨ2a#@2l;2Cy>B>7IIJtIJ$5٢R RX=9V;Q V>TT ZG٣Z4GyZ; Z> bNusing accuracyPremultiplier from config`f49bnt?f4YbT ibBdf*j?bw&Db7:bX:bA4nؒB n3AnEZjyFNOT Ignoring new targets: 236.20 m.BjJj ProNav: ac range: 236.199997 m, nav range: 237.677261 m, bearing: 175.604341 deg, approach rate: 0.148098 m/s, LOS rate: -0.132613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818564 deg. 2j:j @HeadingCmd: 4.813942 target range: 236.199997 and range: 236.20 m. jjjjihhhhfffrfbf 3@ɛ=~BE< E=Eo3>IA E;ɚIiIIM =Ii55iЫw8))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190682)= C IE~G]xAq %YxAy BGpGGrAG B O >#xww,ݵA64@Y6WD@6@`<96F>y6HE?? ʿx?@ h? s?ɨ64@6:;6CybBb0IrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.441376eMb@Mb@Mb@aaa a)aYe`"?Zd;O?y&1|ye?ej<=e`e A e@)e AIe@ayezAI}I}*5٢ݼ ==9;Q > G٣yա; > Nusing accuracyPremultiplier from config49ux?4Y iBF?:'?&D;;4 cAZjFNOT Ignoring new targets: 236.20 m.Bj$Jj$  ProNav: ac range: 236.199997 m, nav range: 237.744415 m, bearing: 175.544462 deg, approach rate: 0.160941 m/s, LOS rate: -0.143465 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795602 deg. 2j Ļ:j @HeadingCmd: 4.813541 target range: 236.199997 and range: 236.20 m. jjjjihhhh%Bf!f!f!rf!bf-@z@ɛ ~BVy< $>I A2;ɚiI=Ii%Di%:)!)!*FM?2FI:FIBFM0JFIG]rA G]sAJJHJJJ0;JЕ:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.693567zK KK K K K BK :K rAG 9 I gH1 I1  I5 II5 BI1 &I1 .I1 6I5 <:I5 FGa Bi O >G~ww,;ݵA:>@Y:cN@:J=9:t^>y:H`?? @/?@m`} ^?v?ɨ:>@:;:CyFwBFIIRsIRe$5٢fڬ fW=9f];Q j>hh jG٣hyr}S; r> vNusing accuracyPremultiplier from configtz49v|?z4Yv ivB|~?v&Dvl0;v0;vw4  A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 236.20 m.Bj=Jj=M ProNav: ac range: 236.199997 m, nav range: 237.803925 m, bearing: 175.491877 deg, approach rate: 0.156212 m/s, LOS rate: -0.138001 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.817471 deg. 2jMk:jM @UHeadingCmd: 4.813923 target range: 236.199997 and range: 236.20 m. jQjQjYjYiYhYhYhahafafafarfibfm`@ɛ~Ba< 隝>I -;ɚiI9==IivBi3-;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945752*F 2F :F BF `5JF GM7:G! B1 OM >J AAJ BA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:52:23.1378  TRx dataTimestamp_ set to:1736365944.316652 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.198002-ww,޵A DIDjH@YjW@j{=9j>yjH@sM?7?3{4@?`L??ɨjH@j?Q;jCyEWBEIIU{IU'5٢e? eA=9m+;Q m>ii mG٣u4Gyu4; u> }Nusing accuracyPremultiplier from configy49}?4Y}W i}Bذ?}&D}:}7:}4 fAZjAMFNOT Ignoring new targets: 236.20 m.BjMJjU ProNav: ac range: 236.199997 m, nav range: 237.870483 m, bearing: 175.433576 deg, approach rate: 0.151554 m/s, LOS rate: -0.132713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800334 deg. 2j(:j5 @HeadingCmd: 4.813624 target range: 236.199997 and range: 236.20 m. jjjjihhhhfffrfbf @ɛ~BRf+< 隵N=I ;ɚiI#=Iiii;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.448872EU<*F ?2F :F BF ~0JF G ']?;G%?G%>Will construct direction to contact in vehicle frame from tetrahedron phase data.G1zKJKKKK B IO?ww,7޵AjH bH"<H&p>I$ I&lII&BI$&I$.I$6I&<:I& FBI JI RI ZI bI jI !T4bDAT read: 19:52:23.1378 LVL= 20784, 28401, 11874, 28947, AGC= 60, IDX= 406,-0.23, 0.001,-0.864, 0.536,-0.506, PHS= 0.595,-0.311, 1.039, RAW= 168.8, -21.4, CAL= 172.0, -27.4, ROT= 338.0, 27.4 fYgot valid direction response: 19:52:23.1378 LVL= 20784, 28401, 11874, 28947, AGC= 60, IDX= 406,-0.23, 0.001,-0.864, 0.536,-0.506, PHS= 0.595,-0.311, 1.039, RAW= 168.8, -21.4, CAL= 172.0, -27.4, ROT= 338.0, 27.4 jPDAT read: Bearing 338.0, 27.4 (Local) ~Local bearing/azimuth received: Bearing 338.0, 27.4 (Local) }DAT read: Range 10 to 50 : 234.0 m (Round-trip 312.0 ms) speed 0.4 m/s *DAT read: user:911> BDAT read: Tx time:19:52:24.2217 $Ping request sent.iimG֙?_zk?LTڪb׿)m%Z?Im>imӟm ii:publishing transmit ping time؉Fpublishing direction and range infoi9mD`ѡ?Joah,Qnŭ?yiiii i)iIiiiiiii i)iIiiiiimG֙?_zk?LTڪb׿)iIiiiiiiyU>BUI]Mb@Mb@Mb@YYY Y)YY]Zd;?{Gz?~jty]?]#=]D] A Y)YI]@Yy]AII)5٢ <9Q >A EG٣AyE M> UNusing accuracyPremultiplier from configIU49M?]4YM iMBeU?e:ebe?M&DM}G;MTE;M 4y }Aykm$q??km R ki km4޵A:kmjCBkmkhCZkmd@"mybQ@dj2 XwL@mD`ѡ?Joah,Qnŭ?JkmӟRkm *mm ijP^/-XzĄӡ;@mӾWsڿBH:?"kmi*kmHSkm'>?km( 2kmBkm'>?kmvK km BkmSCkmF@e addTargetRange:: Added new target pos. range: 234.000000 m, deltaT: 3.781285 s, deltaX: -2.199997 m, approachRate: -0.581812 m/s, rangeRepo size: 4 u Added new target pos. range: 234.000000 m, bearing: 204.593993 deg, lat: 36.902664 deg, lon: -122.116904 deg, deltaT: 3.781285 s, deltaX: -2.199997 m, approachRate: -0.581812 m/s, posRepo size: 4 }Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:52:24.2209 ZjFNOT Ignoring new targets: 234.00 m.BjJj ProNav: ac range: 234.000000 m, nav range: 211.506912 m, bearing: 177.362036 deg, approach rate: 0.000000 m/s, LOS rate: -0.132713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.714852 deg. 2j:j@HeadingCmd: 4.812132 target range: 234.000000 and range: 234.00 m. jjjjihhh!h% Bf!f!f)rf-@m@bf- [?ɛ}~B< 隅:=I õ;ɚiI =Ii,kia;))E =*FM ?2FQ :FQ BF] `0JFY *J R="J p=J J IJ J J 2;J U:J J J yBH b&? ؏?u_Eк?^M? Q?ɨBC@Bx;@y%B%IImZImQ5٢ &=9/;Q > G٣4Gy > Nusing accuracyPremultiplier from config49?4Y iBv?&D<Q;4ڒB AEZj)5FNOT Ignoring new targets: 234.00 m.Bj5;Jj5;M ProNav: ac range: 234.000000 m, nav range: 211.575882 m, bearing: 177.279772 deg, approach rate: 0.137504 m/s, LOS rate: -0.163956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.728475 deg. 2jM :jM@UHeadingCmd: 4.812370 target range: 234.000000 and range: 234.00 m. jQjQjQjQiQhQhYeWill construct direction to contact in vehicle frame from tetrahedron phase data.hhfffrfbf Pa?ɛB_; 0BKK% 9K! K% K%  "2)$#%&('&#!  Hi Ii  Im @IIm BIi &Ii .Ii 6Im <:Im FG9 GB!O]>Jww,{޵A20@Y2Z@@2 =92=y2H@? ?q`@QR?ŧl4 ??ɨ20@2;0yj~BnIMb@Mb@Mb@ )Y?Mb?YY ]G٣YyeM e> mNusing accuracyPremultiplier from configiu49m?u4Ym imB}&?}:}Ŵ}?m&Dm;m;mH$4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 234.00 m.BjOJjO ProNav: ac range: 234.000000 m, nav range: 211.640091 m, bearing: 177.196875 deg, approach rate: 0.140288 m/s, LOS rate: -0.181064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.726573 deg. 2j :j @HeadingCmd: 4.812336 target range: 234.000000 and range: 234.00 m. jjjjihhh!h%~Bf!f)f)rf)bf5@z?ɛ]B]Z1x; aeKIa m&;ɚiiiIm=Iuiuiuq:)q)yEEpAmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m=uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.PExceeded connect timeout, disconnecting.*F?2F:FBFd0JFGE $;G B9 O] >J J KJ J J 2;J ^:J J J Q<J Q<J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.422637-ww,9޵A DID-@Y-%@-&)=9-G>y-H@? ?Nt``?@ md;??ɨ-@-'P;-CyE~BMI U=U=I]^I]5٢m ҽ m[=9mcQ u>qq uG٣qy}' }> Nusing accuracyPremultiplier from config49呄?4YJ% iB-?&D:r;*4 AEZjFNOT Ignoring new targets: 234.00 m.Bj~FJj~FM ProNav: ac range: 234.000000 m, nav range: 211.689499 m, bearing: 177.132495 deg, approach rate: 0.133211 m/s, LOS rate: -0.173537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782093 deg. 2jM1:jM@uHeadingCmd: 4.813305 target range: 234.000000 and range: 234.00 m. jqjqjqjyiyhyhyhyhfffrfbf?ɛBpU: WI ;ɚiIl=I i i-)1)1*F2F:FBFz0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.675978G}:G B O >Www,޵Ayr~BrIMb@Mb@Mb@ )Y/$?+? G٣4Gy > Nusing accuracyPremultiplier from config49?4Y, iBV,?:? 'D;y;24 AZj  FNOT Ignoring new targets: 234.00 m.BjKJjK- ProNav: ac range: 234.000000 m, nav range: 211.748642 m, bearing: 177.059075 deg, approach rate: 0.143477 m/s, LOS rate: -0.178061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754990 deg. 2j-g:j-@5HeadingCmd: 4.812832 target range: 234.000000 and range: 234.00 m. j9j9j9j9i9h9h9hAhE~BfAfAfIrfIbfMd?ɛ}B 隅jI ܓ;ɚiIz=IiiŌ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.926620 }%$?IzKMK9KKKRK>JK>ZH @ARH HIC IIIlBI&I.I6I<:I F*F12F1:F1BF5\1JF1GϳGBOK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180013  nManaging dock network, ignoring radio surface power offh@ww,q޵ARd@YR'@R=9R>yRHϺ?@q?~@?}Q٠@$b?@%?ɨRd@R/;RCyn~BnIIvIvv35٢ V=9/;Q >    G٣ y: > Nusing accuracyPremultiplier from config%49A?%4Y.3 iB)- -?'D/;;845ܒB 5A5EZjY]FNOT Ignoring new targets: 234.00 m.BjefKJjefKu ProNav: ac range: 234.000000 m, nav range: 211.803711 m, bearing: 176.991227 deg, approach rate: 0.144369 m/s, LOS rate: -0.177826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.771695 deg. 2ju:ju@HeadingCmd: 4.813124 target range: 234.000000 and range: 234.00 m. jjjjihhhhfffrfbf@ɛB/ I 3;ɚiI&D=Iiԯi.))*F2F:FBFQ5JF"G=Gp=JmJmEJiJiJmT1;JmB:JiJiJm<Jm<Jm(;Jm(;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430520 aIaGupG ?G>GIBYOu>&pww,Rd޵A5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682625y~BImMb@Mb@Mb@iii i)iYmX9v?~jt?Mbpym3?m=mm A m-@)mAIiiymAII25٢ 3=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y; iB3?:?.'D;{;@4 @AZjFNOT Ignoring new targets: 234.00 m.BjKJjK ProNav: ac range: 234.000000 m, nav range: 211.871521 m, bearing: 176.906259 deg, approach rate: 0.142208 m/s, LOS rate: -0.178134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720367 deg. 2j:j@HeadingCmd: 4.812228 target range: 234.000000 and range: 234.00 m. jjjjihhhh~Bff!f!rf!bf% @ɛu BuϺ 隽"I ގ;ɚiI=Iii))*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934580 A IE gH o>I  I II /BI &I .I 6I ۰<:I FzK] uKK] 9KY K] K]    BKi :Ki G 'HG B O >ww,4޵ANS@YN@Ne=9Nb>yNH?@?`?`E ,Z~??ɨNS@N_2;NCyV~BZIIbIb:5٢jZ jl=9nzQ n?ll nG٣pyr r? vNusing accuracyPremultiplier from configtz49v?~4YvA ivB|~~?v='Dv;v[;vF4 A Zj)-FNOT Ignoring new targets: 234.00 m.Bj5 aJj5 aE ProNav: ac range: 234.000000 m, nav range: 211.922409 m, bearing: 176.842096 deg, approach rate: 0.156137 m/s, LOS rate: -0.196820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782745 deg. 2jE:jE@]HeadingCmd: 4.813317 target range: 234.000000 and range: 234.00 m. jYjajajaiahihqhyhyfyfyfrfbf`u @ɛ Bл 隵 I ;ɚiIW6=Iiiw))*F2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:19:52:26.9078 UTRx dataTimestamp_ set to:1736365948.097708]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189146G %úGBO >J} J} GJ} 0Jy J} l-;J} K:J} ـ3Jy J} <J} <J} ;J} ; Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I9 = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443596hwwG,ߵA  2 Y0y2 Bzs@Yz@z<9z-i>yzH`wѹ?@j?`\`^כ?1"]]]?̷?ɨzs@z ;zCyz~B II%I%V85٢U UB=9UQ U>YY ]G٣]4Gye; e> Nusing accuracyPremultiplier from configi49m?4YmI imۑB)?mP'Dm:mi:mN4 AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 234.00 m.Bj1NJj1NM ProNav: ac range: 234.000000 m, nav range: 211.984436 m, bearing: 176.763905 deg, approach rate: 0.143043 m/s, LOS rate: -0.180267 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.740683 deg. 2jMn:jM@UHeadingCmd: 4.812583 target range: 234.000000 and range: 234.00 m. jQjQjQjYiYhYhYhYhafffrfbf` @ɛ Bw I ;ɚ i I 7=I i iR))*F?2F:FBFJFGsA GtAUWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 211.4 m (Round-trip 281.9 ms) speed 0.5 m/s *DAT read: user:912> -X#Rx 1: Read range message, but no direction.QyUfSCQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G% ]UG B O% >ww,0ߵA2D@Y2@2p<928>y2H@H?`? ]+?`m.?ѷ?ɨ2D@2-և;2CyNt~BN|I]Mb@Mb@Mb@YYY Y)YY]bX9?J +?MbPy]E6?]H=]]M A ]C@)YI]Q@Yy]pAImImp;5٢%k H=98Q > G٣y > Nusing accuracyPremultiplier from config49?4Y:Q iؑB6?:?c'Dv";@#;NU4ޒB #AEaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 211.399994 m, deltaT: 3.778241 s, deltaX: -22.600006 m, approachRate: -5.981621 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 234.00 m.Bj]Jj]- ProNav: ac range: 234.000000 m, nav range: 212.050171 m, bearing: 176.686096 deg, approach rate: 0.163704 m/s, LOS rate: -0.193712 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741833 deg. 2j-:j-@=HeadingCmd: 4.812603 target range: 234.000000 and range: 234.00 m. j9j9jAjAiAhAhAhIhM~BfIfIfIrfUlj@bfU{?ɛ} B}ֻ 隅I (;ɚiI2=IiިiWzλ)) IgUWill construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.214566Jww,JJߵA6Ւ@Y6t@6U<96>y6H$?L?w:@?`ˉ@Y???ɨ6Ւ@6;6Cy^~~BbIIjLIj5٢vo< vU=9viQ v>xx zG٣xyz} ~> Nusing accuracyPremultiplier from config 49~? 4YBX iՑB   ?t'D::[4 AZjAEFNOT Ignoring new targets: 234.00 m.BjMWJjMW] ProNav: ac range: 234.000000 m, nav range: 212.110138 m, bearing: 176.614828 deg, approach rate: 0.158297 m/s, LOS rate: -0.188074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.761445 deg. 2j]:j]@mHeadingCmd: 4.812945 target range: 234.000000 and range: 234.00 m. jijijijiiihqhqhqhqfyfyfyrfybfĬ?ɛB ͻ 隭I m;ɚiI=Ii$iqB))*Fu?2Fq:FqBFuo0JFy I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.466640JiJm>Jm1JiJiJm:Jm3JiJiJiJm;Jm;GҸGBO>ww,dߵAe)Ē@Yeә@e4<9eN >yeH2? ?Eo ( ?%?ථ?ɨe)Ē@eq;eCyޝv~Bޝ}IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7187285Mb@Mb@Mb@111 1)1Y5$C?Mb?~jtx?y5:?5@=5;5 A 5Z@)1I5h@1y5AI]I](*5٢u u3=9}5JQ }> G٣4Gy > Nusing accuracyPremultiplier from config49射?4Y` iԑB:?:紿?'DC`;d;c4ߒB "AEZjFNOT Ignoring new targets: 234.00 m.BjOJjO ProNav: ac range: 234.000000 m, nav range: 212.182007 m, bearing: 176.526929 deg, approach rate: 0.148454 m/s, LOS rate: -0.181505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.711581 deg. 2j!:j@HeadingCmd: 4.812075 target range: 234.000000 and range: 234.00 m. jjjjihhhh~Bfff!rf!bf- 5?ɛuBu.ḻ qutIy }Św;ɚyiyI}#=Iiѣis))EEsA*F92F9:F9BF=`0JF9 Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.971283H n>I  I II ~BI &I FD.I 6I ٰ<:I FBIuɥCJIuɥCRIqZIqbIqjIuɹp4zK N KK +9K K K GM UGU ?GU >G B O= > ww,W>~ߵA^@Y^lÙ@^$<9^^ >y^Hұ? Ē?@" :?`d|?ٰ?ɨ^@^ ؉;^Cyrr~Bv{II~ZI~Q5٢ x"  g=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-49%??54Y%g i%ӑB15'5?%'D%;%;%j4A E0AAZjamFNOT Ignoring new targets: 234.00 m.BjumJjum ProNav: ac range: 234.000000 m, nav range: 212.237213 m, bearing: 176.459244 deg, approach rate: 0.169463 m/s, LOS rate: -0.207715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.772184 deg. 2j:j/@HeadingCmd: 4.813133 target range: 234.000000 and range: 234.00 m. jjjjihhhhfffrfbf?ɛB I AKq;ɚiIx=Iifik:))*F2F:FBFY1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.222842GjGaBqO>Jq Jq I ww,ߵA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.474601ZT@YZ@ZUZ<9Z7 >yZH`?'? ?) ꗿV8?F?ɨZT@ZZ;Xybt~Bf|IInIn*5٢ ;  K=9Q > G٣y > -Nusing accuracyPremultiplier from config)549-?54Y-Bo i-ґBYe,e?-'D-;-;-!q4i m'AiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 234.00 m.BjSJjS ProNav: ac range: 234.000000 m, nav range: 212.300705 m, bearing: 176.381812 deg, approach rate: 0.152022 m/s, LOS rate: -0.185343 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742963 deg. 2jf:j@HeadingCmd: 4.812623 target range: 234.000000 and range: 234.00 m. jjj!j!i!h!h!h)h1f1fqfyrfybf}భ?ɛzػ  I  h;ɚ1i9I==IEiEOiEH9)I)*F2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.730963G K7G B O >Www,xߵA6Გ@Y6M™@6q<96u >y6H? ˕?e?`<d"??ɨ6Გ@60;6CyF{~BFIMb@Mb@Mb@ )Yx?Mb?~jth?yK7?D; A ) AI`@y=AI-I-75٢Ex< EG=9E72Q M>II MG٣M4GyU`+9 U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]v i]БBm7?m:mm?]'D]@;];]Ox4uB uA}EZjFNOT Ignoring new targets: 234.00 m.Bj<_Jj<_ ProNav: ac range: 234.000000 m, nav range: 212.365295 m, bearing: 176.304161 deg, approach rate: 0.162391 m/s, LOS rate: -0.195169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742305 deg. 2j:j@HeadingCmd: 4.812611 target range: 234.000000 and range: 234.00 m. jjjjJ=J=CJ9J9J=4.;J=9:J9J9aE@aE@aE@aE@ U&$?I]giihqhqhqhu~Bfyfyfyrfybf}v@ɛ ܻ hI `;ɚiIK=Iii&(8))MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.978750ZHiRHm@AHqIq IqIqIq&IuGD.Iq6Iuΰ<:Iu F*F2F:FBFT5JFG GrAzK2KK9KKKGGrAGsAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.230551ww,UߵAy~BIII75٢-o< -L=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM49E?M4YEg~ iEϑBIIM?E'DEC:Eq:EM4Y ]AYZjFNOT Ignoring new targets: 234.00 m.BjXJjX ProNav: ac range: 234.000000 m, nav range: 212.428543 m, bearing: 176.228630 deg, approach rate: 0.158261 m/s, LOS rate: -0.188938 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.748665 deg. 2j:j@HeadingCmd: 4.812722 target range: 234.000000 and range: 234.00 m. jjjjihhhhfffrfbf`~@ɛ[߻ ~I Y;ɚiI}=Iii8))*F2F:FBF_0JF III]Will construct direction to contact in vehicle frame from tetrahedron phase data.aiaechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.482853GGBO>*ww,3ߵAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.737179R@Y@"<9 >yH u?ؔ?b`Ѓ?1ÕDK?`?ɨR@k;Cyޝy~BޝI]Mb@Mb@Mb@YYY Y)YY]V-?A`"?~jt?y]h1?]Y=]D G٣yٺ > Nusing accuracyPremultiplier from config49bĄ? 4Y iБB 1? : ﳿ ?'Dq<Iq<4 %AZjFNOT Ignoring new targets: 234.00 m.BjGJjG ProNav: ac range: 234.000000 m, nav range: 212.505447 m, bearing: 176.140698 deg, approach rate: 0.152817 m/s, LOS rate: -0.174667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.711487 deg. 2j:j@HeadingCmd: 4.812073 target range: 234.000000 and range: 234.00 m. jjjjihhhh~Bfffrfbf $ @ɛ2Ż XI 6P;ɚiI=I i JSi yD) )*F2F:FBF4JF 1I1JKw3 K.-KK"KJUJUHJU0JQJU2;JUЕ:JUـ3JQ} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:52:30.7329  TRx dataTimestamp_ set to:1736365951.899583 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.990601H I  I II ~BI &I .I 6I <:I FG G ?G ?zK JK 9K K K BK :K sAGy B O > ww,rߵA2&@Y2@2<92 >y2H`c?ה? p`x?j@zN??ɨ2&@2V;0yN~BRIIbIb35٢v/]= v=9~Q ] ?aa eG٣e4GyeQ e? uNusing accuracyPremultiplier from configiu49mDŽ?}4Ym imёBy}}?m'Dm;m_;m4 AZjFNOT Ignoring new targets: 234.00 m.BjY_JjY_ ProNav: ac range: 234.000000 m, nav range: 212.558609 m, bearing: 176.080219 deg, approach rate: 0.171685 m/s, LOS rate: -0.195266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793797 deg. 2j:jF@HeadingCmd: 4.813510 target range: 234.000000 and range: 234.00 m. jjjjihhhhfffrfbf= @ɛ | I 0J;ɚiId=I%i%bi%G)!)!*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.238756Gf AGBO> ! I) xw,hAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.493239@Yo@ԡ<9U >yH Z?&?; Wu?S>:9d?k?ɨ@Թ;Cy~BI!%AI-I-(*5٢=Ӫ; =6=9=ߺQ E>AA MG٣IyM. M> UNusing accuracyPremultiplier from configQ]49U˄?]4YU iUґBaee?U (DU:U ;U4mB mAuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 234.00 m.BjOJjO ProNav: ac range: 234.000000 m, nav range: 212.628677 m, bearing: 176.000914 deg, approach rate: 0.160689 m/s, LOS rate: -0.181813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.737350 deg. 2j:j4@HeadingCmd: 4.812525 target range: 234.000000 and range: 234.00 m. jjjjihhhhfffrfbfO@ɛP} I C;ɚ i I=Ii"i5I))*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:30.7329 LVL= 16928, 16369, 11298, 15091, AGC= 64, IDX= 180,-0.08,-0.349,-1.364, 0.228,-0.989, PHS= 0.728,-0.328, 1.215, RAW= 168.0, -22.7, CAL= 171.0, -28.9, ROT= 339.0, 28.9 Ygot valid direction response: 19:52:30.7329 LVL= 16928, 16369, 11298, 15091, AGC= 64, IDX= 180,-0.08,-0.349,-1.364, 0.228,-0.989, PHS= 0.728,-0.328, 1.215, RAW= 168.0, -22.7, CAL= 171.0, -28.9, ROT= 339.0, 28.9 PDAT read: Bearing 339.0, 28.9 (Local) ~Local bearing/azimuth received: Bearing 339.0, 28.9 (Local)  DAT read: Range 10 to 50 : 230.2 m (Round-trip 307.0 ms) speed 0.3 m/s  *DAT read: user:913>  BDAT read: Tx time:19:52:31.8217  $Ping request sent. iu :publishing transmit ping timeGy B O >  Fpublishing direction and range info9t ?t 6~?y )Ii )Iiv?{DV?ѭؿ)Ii3 xw,.3Ay~~B~I IgJJKJ1JJt4;J^:J3JMb@Mb@Mb@ )Yoʡ?i|?5?y&1|?y-?q=`;A )7AIy\AIvI%5٢i< ?=9Q > G٣5Will construct direction to contact in vehicle frame from tetrahedron phase data.jH9bH=4=HAIA IEIIEBIE =&IA.IA6IE<:IE Fy  ]> eNusing accuracyPremultiplier from configYe49] Є?}4Y] iY}-?:?](D];];]4 AEk%%A?k%-b k! k%)A:k%3fCBk%dCZk%d@"%=nyR@6{j2lM@%t ?t 6~?Jk%Rk%*%LFiÛ'WBj=@%ڿh_|[?"k%A*k%ROk%Z@?k%_ht 2k% Bk%Z@?k%( k%Bk%bCk%֝c@% addTargetRange:: Added new target pos. range: 230.199997 m, deltaT: 7.832229 s, deltaX: -3.800003 m, approachRate: -0.485175 m/s, rangeRepo size: 4 U Added new target pos. range: 230.199997 m, bearing: 204.761648 deg, lat: 36.902708 deg, lon: -122.118101 deg, deltaT: 7.832229 s, deltaX: -3.800003 m, approachRate: -0.485175 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 230.20 m.BjeJja ProNav: ac range: 230.199997 m, nav range: 226.542679 m, bearing: 203.772925 deg, approach rate: 0.000000 m/s, LOS rate: -0.181813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.728726 deg. 2j:j@HeadingCmd: 4.812374 target range: 230.199997 and range: 230.20 m. jjjjihhhh8Bfffrf`fl@bf@Y?ɛEBE枻 IMII M=7<;ɚIiIIM@#=IUiUHiQ)Q)YzK]]JK]9KYK]K]RKm?JKm%?*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G f AG% sAG% tAG B O% >xw,MAFQ@YF@FA<9FDh>yFHֶ?@?U¿ 0?8@)4U? ?ɨFQ@F[;FCy^~BbIIjIj*5٢rY< vs=9vQ v?xx zG٣z4Gyzƻ z? Nusing accuracyPremultiplier from config 49[ӄ? 4Yd iӑB  ˲ ?+(D:7:t4 AZj9EFNOT Ignoring new targets: 230.20 m.BjEHJjMHe ProNav: ac range: 230.199997 m, nav range: 226.489975 m, bearing: 203.718563 deg, approach rate: -0.169981 m/s, LOS rate: -0.175372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.812061 deg. 2je:je @mHeadingCmd: 4.813828 target range: 230.199997 and range: 230.20 m. jijijijiiihihqhqhqfyfyfyrfybf}`;?ɛPֻ 隭I 7;ɚiIV^=Iigigi))*FI2FQ:FQBFU0JFQ)  I ~G%vA9 jYvAyBEWill construct direction to contact in vehicle frame from tetrahedron phase data.GhAGBO>Jxw,fAWill construct direction to contact in vehicle frame from tetrahedron phase data.ե>ե@=@Y=|@=A+<9=O<>y=H ??@ 5?v2E`P??ɨ=@=?Չ;=Cym~BuI }=}=Mb@Mb@Mb@ )Yx&?V-?Mbp?y7)?m=; C@)Iy AI5QI5T5٢M< M)=9M&Q M>QQ UG٣Qy]: ]> eNusing accuracyPremultiplier from configam49e؄?m4Ye iam)?u:uu?e?(De@;e;e窣4y }AyZjFNOT Ignoring new targets: 230.20 m.Bj:Jj: ProNav: ac range: 230.199997 m, nav range: 226.414536 m, bearing: 203.639657 deg, approach rate: -0.155954 m/s, LOS rate: -0.163175 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.738392 deg. 2j߻:jZ@HeadingCmd: 4.812543 target range: 230.199997 and range: 230.20 m. jjjjihhhh4Bfffrfbf`I?ɛ  \ սI AH1;ɚiI˲=Ii%1i%Y)!)!*F2F:FBF0JF IJJHJJJ0;JЕ:JJH! I!  I% II% %BI! &I! .I! 6I% ʰ<:I% FE Will construct direction to contact in vehicle frame from tetrahedron phase data.G= _G B O >zK JK K K K BK :K rA, xw,A2@Y2#@2.w<92>y2H`E?Đ?-`YO?%@县V?M?ɨ2@2M;2Cy:~B:IIFNIF5٢N` N=9NQ N?PP RG٣PyV9 V? ZNusing accuracyPremultiplier from configX^49Z*ۄ?^4YZ iX\bb?ZM(DZP ;Z ;Ze4fB fAfEZjFNOT Ignoring new targets: 230.20 m.Bj-Jj- ProNav: ac range: 230.199997 m, nav range: 226.365768 m, bearing: 203.588346 deg, approach rate: -0.144429 m/s, LOS rate: -0.151995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.821222 deg. 2jл:j2 @HeadingCmd: 4.813989 target range: 230.199997 and range: 230.20 m. jjjjihhh!h!f!f!f!rf)bf-`?ɛB?Ի 隝RI +;ɚiI!=Ii$iAY))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFa5JFG :_G G )?G B O > '$?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.D\&xw,qA6@Y6@6vm~<96&x>y6H௏??~ = ɶ?[͏ƿ?ܯ?ɨ6@6D;4yB~BBIIJIJ_,5٢R= RI=9V^:Q V>TT ZG٣Z4Gy^; ^> bNusing accuracyPremultiplier from config`f49b3߄?f4Yb" ibԑBdfFf?b^(Db ;b ;b4l nVAlZj  FNOT Ignoring new targets: 230.20 m.BjEJjE% ProNav: ac range: 230.199997 m, nav range: 226.303314 m, bearing: 203.521760 deg, approach rate: -0.162190 m/s, LOS rate: -0.172969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.775373 deg. 2j%i:j-@HeadingCmd: 4.813188 target range: 230.199997 and range: 230.20 m. jjjjihhhhfffrfbf ?ɛ1=Wn 9=~I9 =';ɚ9iAIE2=IEi}i}<)y)*F%?2F!:F!BF%4JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GmRGY Bi O >݀,xw,eqAy~~B~I  A AIEgMb@Mb@Mb@ )Yp= ף?L7A`?{Gz?y%?+=#< A @)AIAy3AIIB-5٢x 8=9Q > G٣y > Nusing accuracyPremultiplier from config49ㄜ? 4Y i֑B &? :  ?p(D<;;B4 vA=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 230.20 m.BjMg7JjUg7e ProNav: ac range: 230.199997 m, nav range: 226.240891 m, bearing: 203.450707 deg, approach rate: -0.140832 m/s, LOS rate: -0.160344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.761971 deg. 2jmܻ:jm@uHeadingCmd: 4.812954 target range: 230.199997 and range: 230.20 m. jqjqjqjqiyhyhyhyhGBfffrfbf@@HI III/BI&I.I6I<:I FBIJIRIZI =bI =jI‚54Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛquL quŽIq }!;ɚyiyI}w=Iib' i@))*F2F:FBF3JFzKJK9KKK ?q{fL5& RK?JK>Gm KGA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484058z3xw,AF}@YFϙ@F}x<9FL!>yFH@V??@ Q?5R?@,?ɨF}@F[;FCyR~BRIIZIZ,5٢bS< b[=9f.Q f>dh jG٣hyj; n> rNusing accuracyPremultiplier from configlr49n焜?v4Yn inבBtvYv?n(Dn:n:nţ4| ~UA|Zj!-FNOT Ignoring new targets: 230.20 m.Bj-7Jj-7E ProNav: ac range: 230.199997 m, nav range: 226.189285 m, bearing: 203.391065 deg, approach rate: -0.138927 m/s, LOS rate: -0.160599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796222 deg. 2jEoܻ:jE@MHeadingCmd: 4.813552 target range: 230.199997 and range: 230.20 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbfe@ɛB  JI  WM;ɚ iI =Ii%J i%ا!)!)! I *F?2F:FBF`0JFJJEJ0JJ4.;JB:Jـ3JJDբ9xw,jAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:34.5022 TRx dataTimestamp_ set to:1736365955.685028checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992392u͒@Yuuܙ@uu<9uk>yuH@;z???``۴?ZҜt ? ޮ?ɨu͒@u;uCy%~B%IMb@Mb@Mb@ )YK7A?~jt?{Gz?y "?=A )AIyAIxI&5٢< #=9Q > G٣4Gy]H; > Nusing accuracyPremultiplier from config49Z턜?4Y iڑB;#?:𭿑?(DU;;Σ4I MBAQZjFNOT Ignoring new targets: 230.20 m.Bj/Jj/ ProNav: ac range: 230.199997 m, nav range: 226.127243 m, bearing: 203.311760 deg, approach rate: -0.120135 m/s, LOS rate: -0.153605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.737206 deg. 2jһ:j.@HeadingCmd: 4.812522 target range: 230.199997 and range: 230.20 m. jjjjihhhh}Bfffrfbf@]$ @ɛBB 隭I ы;ɚiI=Ii'F it)) I g*F12F1:F1BF5_0JF1Hm>I IIICBI =&I.I6Iܰ<:I F- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238009G= zK N NK 9K K K G B! O= > @xw,3A2В@Y2F@2lk<92>y2H??Τ`@@Yط? CCOm`V?`?ɨ2В@2;2Cy>~B< B=B=IFIF|+5٢N R=9R Q R?TT VG٣TyVs: V? ^Nusing accuracyPremultiplier from config\b49^?b4Y^ i^ܑB`b᭿b?^(D^:^:^ӣ4fB jWAUEZjyFNOT Ignoring new targets: 230.20 m.BjK5JjK5 ProNav: ac range: 230.199997 m, nav range: 226.090485 m, bearing: 203.264379 deg, approach rate: -0.122945 m/s, LOS rate: -0.158501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833020 deg. 2jٻ:j @-HeadingCmd: 4.814194 target range: 230.199997 and range: 230.20 m. j1j1j1j1i1h1h1h9h9f9fAfArfbf 0 @ɛmBmu qWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 19:52:34.5022 LVL= 16816, 14753, 11826, 17715, AGC= 65, IDX= 122,-0.29,-0.668,-1.384,-0.059,-1.443, PHS= 0.863, 0.107, 1.382, RAW= 173.8, -36.8, CAL= 174.3, -42.3, ROT= 335.7, 42.3 ]Ygot valid direction response: 19:52:34.5022 LVL= 16816, 14753, 11826, 17715, AGC= 65, IDX= 122,-0.29,-0.668,-1.384,-0.059,-1.443, PHS= 0.863, 0.107, 1.382, RAW= 173.8, -36.8, CAL= 174.3, -42.3, ROT= 335.7, 42.3 ePDAT read: Bearing 335.7, 42.3 (Local) e~Local bearing/azimuth received: Bearing 335.7, 42.3 (Local) uDAT read: Range 10 to 50 : 207.2 m (Round-trip 276.3 ms) speed 0.6 m/s }I T;ɚiIx8=Ii`# i? ))*DAT read: user:914> BDAT read: Tx time:19:52:35.6217 $Ping request sent.<J% ><J% ;J% ;G ׹U Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:19:52:35.6209 G B O >Fxw,5A6@Y6{@6g<96>y6H?5?@ vR?K`?`ή?ɨ6@6C~;6CyB~BBIIJIJ*5٢]8< ]6=9]Q e>aa eG٣aymχ; m> Nusing accuracyPremultiplier from config49?4YX iߑB?(D:C:ۣ4 4AkMEkQ?kMˑ kI kM A:kM3OCBkMMCZkMp4v@"Mu \]@y1dy¥@@M +:?N@?a~?JkMtRkMbC%*Mˆc^[`U @M⨞X进J俠( )?"kM:*kMkMÑQ?kM 2kMLBkM*C?kM_ht kIkM\CkMe@eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 207.199997 m, deltaT: 3.531254 s, deltaX: -23.000000 m, approachRate: -6.513267 m/s, rangeRepo size: 4ZjaeFNOT Ignoring new targets: 230.20 m.BjQ5JjQ5 ProNav: ac range: 230.199997 m, nav range: 226.035736 m, bearing: 203.192691 deg, approach rate: -0.121035 m/s, LOS rate: -0.158520 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760074 deg. 2jٻ:js@HeadingCmd: 4.812921 target range: 230.199997 and range: 230.20 m. jjjjihhhhfffrf`fi@bf`C?ɛMBUQY QUIQ Ua;ɚQiYI]5t=I]ie ieH)a)i*F?2F:FBFm0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G% ͔ G- ?G- >G B O- > Q IY _#Mxw,7A>@Y> @>n7W<9>c>y>HE?=?@d`?`B抿 ??ɨ>@>Ȉ;YY eG٣e4Gye/9 e> uNusing accuracyPremultiplier from configiu49m ?}4Ym imB}?}:}}?m(Dma;m;m4 eAjH<bH<Hl>I III&I.I6I<:I FmWill construct direction to contact in vehicle frame from tetrahedron phase data.uB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 230.20 m.Bj*Jj* ProNav: ac range: 230.199997 m, nav range: 225.987701 m, bearing: 203.131874 deg, approach rate: -0.117373 m/s, LOS rate: -0.148638 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792698 deg. 2j̻:j@HeadingCmd: 4.813491 target range: 230.199997 and range: 230.20 m. jjjjihhhhBfffrfbfn?ɛeBe imXIi m^j ;ɚiiiIm=IuiusW iu9)y)y*F=?2F9:F9BF=y0JFAzKuKKu9KqKuKuG ߻G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.(Txw,-PA:@Y:.@:ZA<9:$)>y:H?`?O`z? !K?-?ɨ:@:։;:CyF~BFIHHINXINn5٢V{< VV=9ZLhQ Z>X\ ^G٣\y^A8 ^> fNusing accuracyPremultiplier from config`f49b*?f4Yb ibBhjj?b(Db ;b` ;bG4l rMApZj  FNOT Ignoring new targets: 230.20 m.Bj:Jj:% ProNav: ac range: 230.199997 m, nav range: 225.942154 m, bearing: 203.073813 deg, approach rate: -0.127996 m/s, LOS rate: -0.163195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800968 deg. 2j%߻:j-L @-HeadingCmd: 4.813635 target range: 230.199997 and range: 230.20 m. j)j1j1j1ihhhhfffrfbf'?ɛ5B= 9=0I9 =s0;ɚ9i9IE=IEiM iI)I)I ($?I*F2F:FBFt3JF*JEC="JEa=JM JMCJM1JIJM+;JM9:JM3JIJM<JM<JM];JM];}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211644G UGBO >'5Zxw,[jArWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467195Uߒ@YUt@Uc.<9U >yUH` ?`*?A(s?/`Z̅@+? }?ɨUߒ@U;UCym~BmIMb@Mb@Mb@ )Y/$?)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E49=u?E4Y=` i=BM?M:MM?=(D=;=;=4Q UAQZjFNOT Ignoring new targets: 230.20 m.Bj/Jj/ ProNav: ac range: 230.199997 m, nav range: 225.885544 m, bearing: 202.999345 deg, approach rate: -0.116693 m/s, LOS rate: -0.153543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.751728 deg. 2jһ:jB@HeadingCmd: 4.812776 target range: 230.199997 and range: 230.20 m. jjjjihhhhBfffrfbf5?ɛeBeO iuIq d`;ɚiIR=Ii|i)) Ig*Fq2Fq:FyBF}1JFyHI IIIMBI&I.I6I#<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715570GQ GY G] rAG1 B9 O] >zK QJK h9K K K axw,A2@Y2K@2V0<92 >y2HDH?(?`6yi?N,o?,?ɨ2@2~d;2Cy:~B:IIFIF*5٢J> N=9N9Q N ?PP RG٣R4GyVD; V ? ZNusing accuracyPremultiplier from configX^49Z?^4YZp iZB\^ܭb?Z(DZ ;Z6;ZU4fB flAfEZjFNOT Ignoring new targets: 230.20 m.Bj%Jj% ProNav: ac range: 230.199997 m, nav range: 225.848709 m, bearing: 202.950350 deg, approach rate: -0.108827 m/s, LOS rate: -0.144777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.828178 deg. 2jƻ:j0 @ HeadingCmd: 4.814110 target range: 230.199997 and range: 230.20 m. j j jjihQhQhYhYfYfYfarfabfe3f?ɛUB]Sˡ Y] ĽIY ]S:ɚYiaIeJ=Ieim;im8ϻ)i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968661*FA2FA:FABFEO5JFI I} ~~GG 3 xA  ?Y xAy% BJm Ji Ji Ji Jm l-;Ji Ji Ji Jm <Jm <Ji Ji G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219686Agxw,pA6@Y62 @67<96r >y6H@??YqC?Ŏ@v?ֱ?ɨ6@6;4y<< F=F=IJIJ/5٢Vrx VI=9V։:Q V>XX ZG٣Xy^; ^> Nusing accuracyPremultiplier from config49 ?%4Y iB)--?)DH;H;41 5nA9ZjYeFNOT Ignoring new targets: 230.20 m.Bje8Jje8} ProNav: ac range: 230.199997 m, nav range: 225.801407 m, bearing: 202.886257 deg, approach rate: -0.118752 m/s, LOS rate: -0.160939 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782869 deg. 2j}ܻ:j}@HeadingCmd: 4.813319 target range: 230.199997 and range: 230.20 m. jjjjihhhhfffrfbfD@ɛB` ȽI ^:ɚiI{=IiiɊ))*Fm?2Fi:FqBFu_0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475722G4λGBO> I tmxw,oA2 @Y2@219<92 >y2HLm?D??uƹ? 6%?Ű?ɨ2 @2<;0yB~BBI%Mb@Mb@Mb@!!! !)!Y%+?Dl?I +?y%v?%O=!%A !)%dAI% A!y%=AI5xI5&5٢Mһ M@=9M9Q M>QQ UG٣Qy]; ]> eNusing accuracyPremultiplier from configaZHiRHmAAHqIq IqIqIq&Iq.Iq6Iu<:Iu F 49e$? 4Ye ieB x? :  ?e)DeK_Stxw,$A2@Y2-@2,i:<92 >y2H`?`z? |r-S?eM Z? ˰?ɨ2@2jĉ;2CyR~BRIIZIZ\05٢bhǼ bT=9fc8Q f>dd fG٣f4Gyj ; j> rNusing accuracyPremultiplier from configlv49ni?v4Yn inBxzɭz?n!)Dn1;n12;n 4| ~AZj!%FNOT Ignoring new targets: 230.20 m.Bj->Jj->= ProNav: ac range: 230.199997 m, nav range: 225.708984 m, bearing: 202.761874 deg, approach rate: -0.122666 m/s, LOS rate: -0.166693 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.795721 deg. 2jE:jE@EHeadingCmd: 4.813543 target range: 230.199997 and range: 230.20 m. jIjIjIjIiIhIhIhQhQfQfQfrfbf'B @ɛ-"B-O 15I1 U0:ɚQiQI]=I]i]o~ie:_)a)a yIy*F ?2F :F BF JF mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.228149GOPGBO >N}zxw,AjWill construct direction to contact in vehicle frame from tetrahedron phase data.jyH ;?`?߁@D?a4n_?M?ɨ%@;Cy~BIAMb@Mb@Mb@ )YZd;?Q?~jtx?y?\=;A @)MAI~AyAII05٢`/  =9 aAQ  > G٣y;: > %Nusing accuracyPremultiplier from config49/?4Y iB?:\?6)Dh<h<4 AZjFNOT Ignoring new targets: 230.20 m.Bjo,Jjo,- ProNav: ac range: 230.199997 m, nav range: 225.651810 m, bearing: 202.682172 deg, approach rate: -0.108116 m/s, LOS rate: -0.150754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.736021 deg. 2j-λ:j5@5HeadingCmd: 4.812501 target range: 230.199997 and range: 230.20 m. j1j9j9j9i9h9h9hQhUBfY iIiffrfbf`s @ɛ%B8cŻ y}Iy }6:ɚiIa<=Ii)i))J=J=DJ9J9J=,;J=:J9J9aM@aM@aM@aM@Hk>I IIICBI&I.I6IŰ<:I FBIAJIARIAZIE =bIE =jIEǞ4uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732207*F?2F:FBFJFzK] MKY KY K] K]   '189:71,% BKm sA:Ki Gu 'HGy G} tAGq By O >xw,{A65@Y6D@6D3<96>y6H?`;?`] %?Gnch ?`?ɨ65@6 ;6Cy^~BbIInIn?15٢vEi vn=9v5Q v?QQ ]G٣Yy]; ]> eNusing accuracyPremultiplier from configam49e>?u4Ye ieBquu?eD)De: ;e ;e4}B AEZjFNOT Ignoring new targets: 230.20 m.Bj9Jj9 ProNav: ac range: 230.199997 m, nav range: 225.612640 m, bearing: 202.626596 deg, approach rate: -0.114571 m/s, LOS rate: -0.162587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808432 deg. 2j)߻:j] @HeadingCmd: 4.813765 target range: 230.199997 and range: 230.20 m. jjjjihhhhfffrfbf `H @ɛU(BU< QUIY ]rB:ɚYiYI]u=Ieieie-:)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:38.3277 LVL= 11040, 9665, 6290, 10563, AGC= 60, IDX= 189, 0.33,-0.815,-1.529,-0.091,-1.476, PHS= 0.749,-0.006, 1.382, RAW= 177.1, -32.0, CAL= 177.6, -39.6, ROT= 332.4, 39.6  Ygot valid direction response: 19:52:38.3277 LVL= 11040, 9665, 6290, 10563, AGC= 60, IDX= 189, 0.33,-0.815,-1.529,-0.091,-1.476, PHS= 0.749,-0.006, 1.382, RAW= 177.1, -32.0, CAL= 177.6, -39.6, ROT= 332.4, 39.6 PDAT read: Bearing 332.4, 39.6 (Local) ~Local bearing/azimuth received: Bearing 332.4, 39.6 (Local) 5DAT read: Range 10 to 50 : 226.2 m (Round-trip 301.7 ms) speed 0.6 m/s =*DAT read: user:915> MBDAT read: Tx time:19:52:39.4218 M$Ping request sent.MM?|뿠o?yإ3bCءإ +إ% ٥)٥C)I٥<i٥w??٥Ļ١٥E@٥5 ڥaF@)ڥ;0Iڥ@iڥ;0?ڡڡۥH;X~?H( d?ՑZ )ۥ=?Iۥo?iۥ,ۥ\,ۡۡu:publishing transmit ping timeIuFpublishing direction and range infoء9إ>M?|뿠o?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥH;X~?H( d?ՑZ )ۡIۡiۡۡۡۡ IgG  >GBO >E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iE AY+xw,C"A2>:@Y2I@2{+<92S >y2H߻?@Z?`,s@3=?@6`bo ڲ?۰?ɨ2>:@2K;2CyB~BBIIJKIJ5٢f] fM=9j固Q j>hp rG٣r4Gyr: v> zNusing accuracyPremultiplier from configtz49v"?~4Yv ivB|~ ?vT)Dv;v,;v"4  >A k{GI?k& k k A:k3bCBk`CZk;q@":\@Q:?BUh q-Xw:@>M?|뿠o?Jk,Rk\,*fyڹ``4s;R鿇Oˌ "k*k7kz H?ka 2kwBk E?kd kk#cCk21m@ addTargetRange:: Added new target pos. range: 226.199997 m, deltaT: 7.562753 s, deltaX: -4.000000 m, approachRate: -0.528908 m/s, rangeRepo size: 4 % Added new target pos. range: 226.199997 m, bearing: 215.963296 deg, lat: 36.902856 deg, lon: -122.118494 deg, deltaT: 7.562753 s, deltaX: -4.000000 m, approachRate: -0.528908 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 226.20 m.Bj-Jj)e ProNav: ac range: 226.199997 m, nav range: 227.139526 m, bearing: 212.345466 deg, approach rate: 0.000000 m/s, LOS rate: -0.162587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776973 deg. 2ja:je@mHeadingCmd: 4.813216 target range: 226.199997 and range: 226.20 m. jijijqjqihhhhfffrf`fFl@bf`V?ɛ+B`( +!I Դ:ɚiIm=IiAi{B:)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FA:FIBFMm0JFI *$?I G 7:GY Bi O >J% J% FJ! J! J% /;J% ǔ:J! J! HA IA  IE IIE 9BIE  =&IA .IA 6IE <:IE F\fxw,eyRH峻?? `"@`?I{@a/3]??ɨR4@R6;R~CyZ{~BZI ba=b=zWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y?X9v?Mb?y ?}=</A @)AIAyGAIjIh 5٢ 7=90!Q > G٣y ź  > Nusing accuracyPremultiplier from config49x'?4YF! iB% ?%:%ݮ%?f)DI;Z8;P*41 5yA1MB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 226.20 m.Bje2Jje2u ProNav: ac range: 226.199997 m, nav range: 227.041168 m, bearing: 212.279401 deg, approach rate: -0.232324 m/s, LOS rate: -0.156115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776906 deg. 2j}Gֻ:j}@HeadingCmd: 4.813215 target range: 226.199997 and range: 226.20 m. jjjjihhhhBfffrfbf`"?ɛ.Bx; 2I t:ɚiI4=Ii iX:))*Fm?2Fi:FiBFm0JFizK.MK+9KKKRK?JK!?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G:G?G:?G B O >NMxw,tt vG٣xyzZ > Nusing accuracyPremultiplier from config49+?4Y' iBޮ?u)D:7:14 AZj)mFNOT Ignoring new targets: 226.20 m.BjuJju ProNav: ac range: 226.199997 m, nav range: 226.955368 m, bearing: 212.221553 deg, approach rate: -0.199541 m/s, LOS rate: -0.134585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.801578 deg. 2j:jc @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236488UHeadingCmd: 4.813646 target range: 226.199997 and range: 226.20 m. jQjQjQjYiYhYhhhfffrfbf`?ɛE2BE"6 AEIIA My:ɚIiIIMW=IUiUCU iU ^d:)Q)Y*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491696G= 7:G! BQ O >Hxw,'sAyq~BzIMb@Mb@Mb@ )Yx&1?S㥫?Mbp?yA ?/]=;A @)MAI~A IyAII*5٢< %=9Q > G٣4Gy >  Nusing accuracyPremultiplier from config 49 o0?4Y =/ i B ?:e? )D ; ; Z94%B %A%EZjQUFNOT Ignoring new targets: 226.20 m.Bj]9Jj]9m ProNav: ac range: 226.199997 m, nav range: 226.848618 m, bearing: 212.151853 deg, approach rate: -0.248311 m/s, LOS rate: -0.162204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765990 deg. 2ju޻:juL@uHeadingCmd: 4.813025 target range: 226.199997 and range: 226.20 m. jyjyjyjyiyhyhyhhqBfffrfbf@?ɛ5B_ 隽CI DW:ɚiIS=Ii@ iEp:))J- J-@J)J)J-+;J-:J)J)HQIQ IUIIUBIU =&IQ.IU:D6IU^<:IUv F*Fm?2Fi:FiBFub5JFqeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.741250G!Gy B zK .JK 9K K K O >@*xw,oFA6;@Y6K@6<96>y6Ha?? ̊@`]? @K??ɨ6;@6V;6CbWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.994104yrQ~BvgI)x x||IIB-5٢V [=9f:Q > %G٣!y%[H; %> -Nusing accuracyPremultiplier from config)549-?4?54Y-P5 i-B9=C=?-)D- ;-m ;-?4EB E5AMEZjimFNOT Ignoring new targets: 226.20 m.Bju*Jju* ProNav: ac range: 226.199997 m, nav range: 226.764313 m, bearing: 212.096447 deg, approach rate: -0.226076 m/s, LOS rate: -0.148634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.808908 deg. 2j̻:jo @HeadingCmd: 4.813774 target range: 226.199997 and range: 226.20 m. jjjjihhhhfffrfbfa@ɛm8Bu{ qugIy }(:ɚyiyI}=Iiy i;))E Ig*F?2F:FBF@5JFG GuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244639G ?:G B) OE >Uxw,$A:K@Y:[@:$<9:nR>y:Hcj?`?oӻ?0 6?`?ɨ:K@:;8ybM~BbdIIjIjY45٢r  vM=9vi:Q v>xx zG٣xyz; ~> Nusing accuracyPremultiplier from config 49Y8? 4Y; iB?)Dz;{;F4) -EA1ZjiuFNOT Ignoring new targets: 226.20 m.Bj}q'Jjq' ProNav: ac range: 226.199997 m, nav range: 226.675156 m, bearing: 212.037306 deg, approach rate: -0.220603 m/s, LOS rate: -0.146391 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797694 deg. 2jȻ:j@HeadingCmd: 4.813578 target range: 226.199997 and range: 226.20 m. jjjjihhhhfffrfbf@ԝ@ɛ<B$ AoI! %xL9ɚ!i!I-f?=I5iV ip;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498557*F2F:FBF_0JF IG- :G B O- >Ha Ia  Ie IIe ~BIa &Ia .Ia 6Ie <:Ie FJK KKK"KJ J DJ J J J :J J J y2H??@ž?dqO? ?ɨ2T@2;0y>4~BBUIEMb@Mb@Mb@AAA A)AYE%C? ףp= ?MbPyEZ$?EQ8=EEA E@)AIEAAyEGAIUIUs75٢e p eC=9mp9Q m>ii uG٣u4Gy},; }> Nusing accuracyPremultiplier from config49{) ſ= C I = `wAQ Y `wAy Bgfxw,A>a@Y>Pq@><,<9> >y>H ?l? mJ}?!@y ?P?ɨ>a@>I;>Cy^~B^GI f=dInIn85٢vb vS=9vˆ:Q v>xx zG٣xyzv; ~> Nusing accuracyPremultiplier from config 49O@? 4YAI i  ?)D::T4*J%R="J%p= %A!ZjIMFNOT Ignoring new targets: 226.20 m.BjU-JjU-m ProNav: ac range: 226.199997 m, nav range: 226.484528 m, bearing: 211.914981 deg, approach rate: -0.234691 m/s, LOS rate: -0.151310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799230 deg. 2jmϻ:jm @uHeadingCmd: 4.813605 target range: 226.199997 and range: 226.20 m. jqjqjqjyiyhyhyhhfffrfbf @ɛCB 隽I 8s7ɚiI=Ii i-;))=Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:19:52:42.1246 ETRx dataTimestamp_ set to:1736365963.492601Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253439*F5?2F9:F9BF9JF9G;G ?G?GiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5045145xw,Ar d@Yrys@r*<9r>yrH+?L?0,?`^?r?ɨr d@r*;;p AIAy޵~B޵?I}Mb@Mb@Mb@yyy y)yY}/$?+?~jthy}1(?}=}D}/A }@)}AI}~Ayy}pAII995٢ּ 1=9j/Q > G٣y: > Nusing accuracyPremultiplier from config49D?4Y.Q iB}(?:ز?)D;;]4B DAEZj FNOT Ignoring new targets: 226.20 m.Bj'1Jj'1- ProNav: ac range: 226.199997 m, nav range: 226.370422 m, bearing: 211.843277 deg, approach rate: -0.246342 m/s, LOS rate: -0.154879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759969 deg. 2j-Ի:j-p@5HeadingCmd: 4.812920 target range: 226.199997 and range: 226.20 m. j1j9j9j9iAhAhIhIhU:BfQfQfQrfQbf] @Hj>I III~BI&I.I6I<:I Fɛ%GB% )-̚I) -zɚ)i)I5y=I5i5i=;)Y)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:42.1246 LVL= 23792, 30369, 13010, 29555, AGC= 62, IDX= 132,-0.44, 0.959, 0.018, 1.807, 1.036, PHS= 0.011,-0.970, 0.768, RAW= 175.7, 2.6, CAL= 176.1, -6.0, ROT= 333.9, 6.0 Ygot valid direction response: 19:52:42.1246 LVL= 23792, 30369, 13010, 29555, AGC= 62, IDX= 132,-0.44, 0.959, 0.018, 1.807, 1.036, PHS= 0.011,-0.970, 0.768, RAW= 175.7, 2.6, CAL= 176.1, -6.0, ROT= 333.9, 6.0 *F?2F:FBF_0JF}PDAT read: Bearing 333.9, 6.0 (Local) ~Local bearing/azimuth received: Bearing 333.9, 6.0 (Local) DAT read: Range 10 to 50 : 223.9 m (Round-trip 298.6 ms) speed 0.3 m/s *DAT read: user:916> BDAT read: Tx time:19:52:43.2218 $Ping request sent.iMX94xxw,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.V7h@YVw@V?/<9V >yVHM?`?A?l煿?`D?ɨV7h@V\;Tyn~Bn6IIvIv6=5٢1 h=9%MB:Q %>)1 5G٣54Gy]ƺ: ]> mNusing accuracyPremultiplier from configam49e.H?u4YeFW iaquDzu?e)De:e;ePc4 AkJIxw,g(A6$F@Y6U@69<96O >y6H P>?@??r݃`V!! %G٣!y-+ -> ENusing accuracyPremultiplier from config1M495K?M4Y5^ i5BQUOU?5)D5L;5H[;5Cj4a m AiZjFNOT Ignoring new targets: 223.90 m.Bj?Jj? ProNav: ac range: 223.899994 m, nav range: 226.688828 m, bearing: 202.921345 deg, approach rate: -0.155886 m/s, LOS rate: -0.167780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781904 deg. 2jJ:j@HeadingCmd: 4.813302 target range: 223.899994 and range: 223.90 m. jjjjihhhhfffrfbf:?ɛ MB | طI IɚiI(Z=Ii%i%_;)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm0JFi !I!GO;GGG B O >jH <bH p<H I  I II ~BI  =&I .I 6I <:I FBIJIRIZIbIjI 4e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia xw,}BABt@@YBO@Bd<9Bc>yBH? ? @̀?a9P?`~?ɨBt@@B;BCyN}BNI-Mb@Mb@Mb@))) )))Y-(\?~jt?aa eG٣ayeۺ m> uNusing accuracyPremultiplier from configiu49mcO?}4Ymme imB4.?:L?m*Dmtxw,T\A*J~C="J|J JJ0JJL*;JJـ3Jy}B II%nI%."5٢5! 5N=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ49UR?4YUvl iUB?U*DUtxw,QyA6K@Y6N[@6("<96i>y6Hk? ~? `Uٻ?@ݘ`C`?@!?ɨ6K@6~;6Cy^}B^IMMb@Mb@Mb@III I)IYMI +?Mb?MbyM94?Myy }G٣}4Gy0E; > Nusing accuracyPremultiplier from config49kV?4Yt iBH4?:?4*DF;O+;4B  AEZjFNOT Ignoring new targets: 223.90 m.BjOJJjOJ ProNav: ac range: 223.899994 m, nav range: 226.466568 m, bearing: 202.706431 deg, approach rate: -0.187238 m/s, LOS rate: -0.176872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735844 deg. 2j:j@HI IxIIn~BI&I.I6I˰<:I FHeadingCmd: 4.812499 target range: 223.899994 and range: 223.90 m. jjjjihhhh~Bfffrfbf?ɛ=UB=n 9=վIA EɚAiAIE =IuiuiuWr;)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963461Ee@=Ei*F?2F:FBF4JFzK 0LK 9K K K BK% rA:K% tAG ;G ?G >G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215206Ҥxw,FzAF]@YFm@F91<9F>yFH ?@l?f`Q^?7 ' ?Թ?ɨF]@F ;FCyr}BrII~I~:5٢  O=9 ;Q  > 5G٣1y5; => ENusing accuracyPremultiplier from config9E49=Y?M4Y=Q| i=BIMxM?=F*D=:=n:=4y }&!Ay IZj15FNOT Ignoring new targets: 223.90 m.Bj=:Jj=:M ProNav: ac range: 223.899994 m, nav range: 226.394791 m, bearing: 202.637672 deg, approach rate: -0.170578 m/s, LOS rate: -0.163456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768847 deg. 2jU[:j]@]HeadingCmd: 4.813074 target range: 223.899994 and range: 223.90 m. jajajajaiahahahhfffrfbf@A)@ɛWB %ܾI! %j ɚ!i!I!=IiFiFR;))EE*E"EJe Je5Je1JaJe';Je:Je3JauWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465351*F! 2F! :F! BF% 0JF! GM @;G!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718245B9Oe>xw,~A2\@Y2l@2)/<927F>y2Ha?@? Z@@oX?@ڙ ?@??ɨ2\@2B;2CyB}BBIIJIJ95٢V4 Z1=9b>Q f>hh jG٣j4Gyn n> rNusing accuracyPremultiplier from configpv49re]?v4YrĄ irBtv|z?r[*Drz:rX:r4~B ~ I c*ɚiIw6"=Ii%ti%ݫ;)A)IZHRH?AHI I_IIE~BI&I.I6I<:I F*F2F:FBF`5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969336G O;G B O >xw,A2a@Y2tp@2k1<92$>y2H?`?0U@Pz?@ Q"T?``?ɨ2a@2;0yrx}BrIzKzoKKz9KxKzKzRK?JK>) ))Mb@Mb@Mb@ )Yv? G٣yʝ: > Nusing accuracyPremultiplier from config 49'a? 4Y iB 8?:?o*D<<@4 !AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:45.9235 TRx dataTimestamp_ set to:1736365967.275436checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225218=B*** querying acoustic contact ***j9j9Zjq}FNOT Ignoring new targets: 223.90 m.Bj}9Jj}9 ProNav: ac range: 223.899994 m, nav range: 226.232956 m, bearing: 202.480386 deg, approach rate: -0.165492 m/s, LOS rate: -0.162471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741002 deg. 2j߻:j@HeadingCmd: 4.812588 target range: 223.899994 and range: 223.90 m. jjjjihhhh~Bfffrfbf} @ɛ\Bc 隕I DɚiI"=Ii i~;)) I%g*F)2F1:F1BFE 5JFIJm Jm IJi Ji Jm L*;Jm U:Ji Ji G] ~q;Ga Ga  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474997G9 BA Oe >]xw,dAR@Y4b@"<9>yHâ??W@/?@4ӘB??ɨR@+;Cy}BII5I5:5٢M,<= UD=9UQ ]>Ya eG٣aym6 u> Nusing accuracyPremultiplier from configy49}d?4Y} i}BK?}*D}v;}];}4B !AEZjFNOT Ignoring new targets: 223.90 m.Bj [Jj[= ProNav: ac range: 223.899994 m, nav range: 226.157120 m, bearing: 202.406054 deg, approach rate: -0.195774 m/s, LOS rate: -0.191955 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.752117 deg. 2j=:j=P@EHeadingCmd: 4.812782 target range: 223.899994 and range: 223.90 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbfUU @ɛ=]B=-. aeIa e<\ɚaiiImn#=ImiuJi}넅;)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 19:52:45.9235 LVL= 24528, 23761, 17682, 32355, AGC= 59, IDX= 141, 0.40,-0.461,-1.487, 0.354,-0.365, PHS=-0.009,-1.075, 0.716, RAW= 173.7, 4.8, CAL= 173.7, -4.3, ROT= 336.3, 4.3 EYgot valid direction response: 19:52:45.9235 LVL= 24528, 23761, 17682, 32355, AGC= 59, IDX= 141, 0.40,-0.461,-1.487, 0.354,-0.365, PHS=-0.009,-1.075, 0.716, RAW= 173.7, 4.8, CAL= 173.7, -4.3, ROT= 336.3, 4.3 MPDAT read: Bearing 336.3, 4.3 (Local) M~Local bearing/azimuth received: Bearing 336.3, 4.3 (Local) ]DAT read: Range 10 to 50 : 223.1 m (Round-trip 297.5 ms) speed 0.4 m/s e*DAT read: user:917> eBDAT read: Tx time:19:52:47.0218 m$Ping request sent.mQxw,2AI@Y Y@DH<9>yH@Z?@&?`WDл?@З?@?ɨI@;Cyt}BI=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiEAEJDAT read: TxSync time:19:52:47.0211 Mb@Mb@Mb@ )YZd;?Zd;O?y&1|y9?j<`A )AI AyGAI5I5V85٢E\ E<=9E]Q M>ii uG٣u4Gyua' u> }Nusing accuracyPremultiplier from configy49}h?4Y}< i}B9?:?}*D};};}54 !Ak+FTyw,AJ4@YJPD@J;9J>yJHA??s :?@l֕@~@u?,?ɨJ4@JӇ;JCyV}BVI Zp=Zp=I^I^995٢f[!= jl=9jpQ j?ll nG٣lyn r? vNusing accuracyPremultiplier from configtz49vuk?z4Yv ivB|~~?v*Dva];v];v34  !A ZjFNOT Ignoring new targets: 223.10 m.BjmNJjmN  ProNav: ac range: 223.100006 m, nav range: 226.018585 m, bearing: 202.266998 deg, approach rate: -0.180256 m/s, LOS rate: -0.180474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.791540 deg. 2j :j @HeadingCmd: 4.813470 target range: 223.100006 and range: 223.10 m. jjjjihhhhfff rf bf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ`B] HI yɚiIբ$=I-i5:yi5:)1)1*F?2F:FBF_0JFG 1;G ?G >G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.q yw,@14AV@YVG/@V;9VY>yVH ?? g e?GFt?}?ɨV@Vhc;V~CyE}BIIlIK!5 9I9٢eD m4=9}Q > G٣y[ > Nusing accuracyPremultiplier from config%49to?%4Y iB!%T-?*D.::t41 5!A1Zjy}FNOT Ignoring new targets: 223.10 m.Bj~PJj~P ProNav: ac range: 223.100006 m, nav range: 225.933884 m, bearing: 202.182674 deg, approach rate: -0.183028 m/s, LOS rate: -0.182280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.722122 deg. 2j1:j@HeadingCmd: 4.812259 target range: 223.100006 and range: 223.10 m. jjjjihhhhfffrfbf?ɛmaBm^ imLIi uJɚqiqIu4%=I}i}~ i}7*x)yjH<bH<HI I@II~BI&I.I6IF<:IF)J J8JJJ';J:JJJށXyw, NAzKN.JKNh9KLKNKN RKV ?JKV?Will construct direction to contact in vehicle frame from tetrahedron phase data.-@Y-@-`:9-z>y-HCƹ??@u^?ȣ OF?/?ɨ-@-Ʈ;)y=}B=I]Mb@Mb@Mb@YYY Y)YY]/$?kt?~jthy] G٣4Gy? > Nusing accuracyPremultiplier from config49s?4YĴ iyw,]hAy }BIIEIEp;5٢mqP< mr=9uQ u? G٣y > Nusing accuracyPremultiplier from config49 w?4Y{ iB?*D(;;:4 !AZj-FNOT Ignoring new targets: 223.10 m.Bj5PJj5PE ProNav: ac range: 223.100006 m, nav range: 225.806046 m, bearing: 202.042124 deg, approach rate: -0.165423 m/s, LOS rate: -0.182478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783757 deg. 2jEw:jE@MHeadingCmd: 4.813334 target range: 223.100006 and range: 223.10 m. jIjIjIjQiQhQhQhQhYfYfYfarfabfe`N?ɛcB( 隕I bɚiI,&=Ii0=ik#))*FQ2FQ:FQBFU2JFQGY GYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999528G-ԑG=rAG=rAGBOMR> )I1H i>I  I FII ~BI &I GD.I 6I <:I FBIqJIqRIqZIqbIu =jIuC+4J J <J J J ,';J :J J J 1<J 1<J ;J ;j yw,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250313y~}BIMb@Mb@Mb@ )YV-?y&1?)) -G٣1y9 => ENusing accuracyPremultiplier from configAM49ET{?M4YE iEBM 2?M:MXU?E*DE;E\ ;E&ɤ4Y ]6!AYZjFNOT Ignoring new targets: 223.10 m.BjEJjE ProNav: ac range: 223.100006 m, nav range: 225.747025 m, bearing: 201.970660 deg, approach rate: -0.142756 m/s, LOS rate: -0.172898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760738 deg. 2jQ:j@HeadingCmd: 4.812933 target range: 223.100006 and range: 223.10 m. jjjjihhhh~Bfffrfbf@j@ɛdBu 隵I ɚiI&=Iii))*FI2FI:FIBFUb5JFQzKs$LK9KKKI]cee`]XRNJD@@:521-+('!   BKrA:KsA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502216Gm ҸGA BQ O} > A II &yw,PAZ @YZz@Z9Z>yZHq? ?vlG?N X??i?ɨZ @Z ;ZCyb}BfIInIn3A5٢vV= v`=9v ܻQ v>|| ~G٣|yg >  Nusing accuracyPremultiplier from config49?4Y tIiB?+D;;Ϥ4! % A!ZjIMFNOT Ignoring new targets: 223.10 m.BjUEJjUEe ProNav: ac range: 223.100006 m, nav range: 225.694992 m, bearing: 201.907672 deg, approach rate: -0.142682 m/s, LOS rate: -0.172763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.786181 deg. 2je!:je/@mHeadingCmd: 4.813377 target range: 223.100006 and range: 223.10 m. jijijijiiqhqhyhyhyfyffrfbfౣ@ɛy 隵־I ɚiI'=Ii iLB»))*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754498GmGIBQOm>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007386,yw,Avߒ@Yv@v79v9>yvH@v?u? ?Wf?4??ɨvߒ@v#;v}Cy}B IIM IIM:5٢e8= m2=9u=Q > G٣4GyR > -Nusing accuracyPremultiplier from config!U49%?]4Y%+ i%BY]]?%+D%\;%~;%פ4eB e AmEZjFNOT Ignoring new targets: 223.10 m.BjBJjB ProNav: ac range: 223.100006 m, nav range: 225.626450 m, bearing: 201.824803 deg, approach rate: -0.140300 m/s, LOS rate: -0.169676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.726507 deg. 2j :j @ZH1RH5AAH9I9 I=YII=;~BI= =&I9.I96I=8<:I=FUHeadingCmd: 4.812335 target range: 223.100006 and range: 223.10 m. jQjYjYjYiYhYhYhahafafafarfibfm 9 @JUJUKJQJQJU+;JU^:JQJQJU><JU><JU;JU;ɛueB} y}̾Iy }λɚyiI'=IiVi))eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:19:52:49.7210 mTRx dataTimestamp_ set to:1736365971.052685uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259725*F?2F:FBF`5JF"G=G=Ge G ?G >GY Bi O >3yw, 7A6ג@Y6W@696>y6H Ѹ??@ Xd?؁`p?@? 5?ɨ6ג@6;6CyR}BR IzKVMKV+9KTKVKV =Mb@Mb@Mb@999 9)9Y=&1?MbX9?~jt?y=0?=ʡ==<=/A =@)9I=A9y==AIUIU:5٢]B= eX=9eYQ e>ii mG٣iyu) u> }Nusing accuracyPremultiplier from configy49}:?4Y} i}BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5104442?:?})+D}<;}{;} ޤ4 Z AZjFNOT Ignoring new targets: 223.10 m.BjJJjJ ProNav: ac range: 223.100006 m, nav range: 225.583633 m, bearing: 201.762930 deg, approach rate: -0.122648 m/s, LOS rate: -0.177271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.789532 deg. 2jQ:j@HeadingCmd: 4.813436 target range: 223.100006 and range: 223.10 m. jjjjihhhh:BfffrfbfU @ɛ)Ebn AEþII Ma׻ɚIiIIMS'=IUiUiUD)Q)Y Ig*F%?2F!:F)BF-_0JF)*J!"J%a=G UM Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:52:49.7210 LVL= 26432, 31009, 13282, 30355, AGC= 63, IDX= 106, 0.36,-0.536,-1.613, 0.343,-0.424, PHS=-0.023,-1.142, 0.765, RAW= 174.3, 4.9, CAL= 174.3, -4.2, ROT= 335.7, 4.2  Ygot valid direction response: 19:52:49.7210 LVL= 26432, 31009, 13282, 30355, AGC= 63, IDX= 106, 0.36,-0.536,-1.613, 0.343,-0.424, PHS=-0.023,-1.142, 0.765, RAW= 174.3, 4.9, CAL= 174.3, -4.2, ROT= 335.7, 4.2  PDAT read: Bearing 335.7, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 335.7, 4.2 (Local)  DAT read: Range 10 to 50 : 221.2 m (Round-trip 295.0 ms) speed 0.4 m/s  *DAT read: user:918>  BDAT read: Tx time:19:52:50.8219  $Ping request sent. e `direction in FSK: [-0.188428,-0.972649,0.135823]m :publishing transmit ping time m Fpublishing direction and range infoI 9M S]hȿ6+udb?yM 3]CI M @gM !y M 3)M vIM ?iM jM -M C?M B@M %= M B@)M Q IM }@iM Q =I I M 6~?+f?Zѻ?)M r?IM 4iM 7ΈM I I  :publishing transmit ping time  Fpublishing direction and range infoI 9M S]hȿ6+udb?yI I I I I )I II iI I I I I I )I II iI I I M 6~?+f?Zѻ?)I II iI I I I `:yw,/AN)В@YNߙ@Nè9N5>yNH ͓? ?N Y?T~@uu???ɨN)В@No;NCy~B6II-I-75٢e= eK=9e2Q e>ii mG٣iyu/ u> Nusing accuracyPremultiplier from config49?4Y iBî?;+D ::;4 Akbl=?k k kΨA:k3]CBk[CZkC@"`{DɌF1jKK >@S]hȿ6+udb?Jk7Rk *hk˂Ԏ4@?KQP"│:en? Mv?"kA*k;\k1=?ku 2k|Bk1=?k k|Bk\CkLE@m addTargetRange:: Added new target pos. range: 221.199997 m, deltaT: 3.780446 s, deltaX: -1.900009 m, approachRate: -0.502589 m/s, rangeRepo size: 4  Added new target pos. range: 221.199997 m, bearing: 174.646189 deg, lat: 36.902612 deg, lon: -122.117081 deg, deltaT: 3.780446 s, deltaX: -1.900009 m, approachRate: -0.502589 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 221.20 m.BjJj ProNav: ac range: 221.199997 m, nav range: 220.537811 m, bearing: 176.980089 deg, approach rate: 0.000000 m/s, LOS rate: -0.177271 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750934 deg. 2j:j%@HeadingCmd: 4.812762 target range: 221.199997 and range: 221.20 m. jjjjihhhhfffrf`fk@bf@}?ɛae 隍鱾I ɚiIE(=Iipi_ ))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:52:50.8211 *FE?2FA:FABFAJFA -$?IG >uH I  I ~II x~BI &I .I 6I <:I FGI BQ Ou >J J 6J J J +;J {:J J J <J <J ;J ;U Will construct direction to contact in vehicle frame from tetrahedron phase data.-@yw,A2DÒ@Y2ҙ@2692 =y2H -?7?y迿05?6 tW{|???ɨ2DÒ@2;2}CyN~BN?I--only read 0 of 1 data item for altitude. Device response is::BD, +29.81, +265.3 +3.29, 8.41, 0.00  -@- -@- -@5  5@5 I=lI=K!5٢Ed= MK=9M!Q M> G٣4Gyv > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49?-4YA iB5+:15w:55?M+D-<O>4=B =A=E]B*** querying acoustic contact ***jYjYZjaFNOT Ignoring new targets: 221.20 m.BjKJjK ProNav: ac range: 221.199997 m, nav range: 220.611053 m, bearing: 176.907846 deg, approach rate: 0.180551 m/s, LOS rate: -0.178028 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758531 deg. 2j[:j;@HeadingCmd: 4.812894 target range: 221.199997 and range: 221.20 m. jjjjihhhhfffrf bf SH?ɛqu q}qIy }9ɚyiyI}=(=Ii9zi k#))*F2F:FBF`0JFGtA GtAzKqKK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G ׹G sAG sAG B I O >Gyw,|AF@YFAЙ@Fs9FB>yFH ?@?cU,?8oq? \? ?ɨF@F;FCyR/~BRRIIZaIZk5٢b8= bS=9fhQ f>dd jG٣hyjR n> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv49nd?v4Yn in Bv :tzH:zz?n^+Dn7;nI?nV4 AZj)-FNOT Ignoring new targets: 221.20 m.Bj5KJj5KE ProNav: ac range: 221.199997 m, nav range: 220.676819 m, bearing: 176.843199 deg, approach rate: 0.181083 m/s, LOS rate: -0.177950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781305 deg. 2jE@:jE}@MHeadingCmd: 4.813292 target range: 221.199997 and range: 221.20 m. jIjIjIjQiQhQhQhYhYfYfYfYrfabfev?ɛR 隝I ZɚiI(=Ii\i !%))-Will construct direction to contact in vehicle frame from tetrahedron phase data.-Ai)5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995298*F=?2F9:F9BF=0JF9GM(G)B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247187RVMyw,7A IIQ]@Y]eș@](9]h>y]H`ڷ?@|?`"?ta? ?l?ɨ]@];Yy-D~B5^II_I5jH}<bH}=HI III~BI&I.I6I<:I F٢l"= #=9{Q > G٣yR > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49O?4Y iB9":?t+D;?4B AEZjQ]FNOT Ignoring new targets: 221.20 m.Bj]BJj]Bm ProNav: ac range: 221.199997 m, nav range: 220.766037 m, bearing: 176.755615 deg, approach rate: 0.173675 m/s, LOS rate: -0.170425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.712543 deg. 2jm:ju@}HeadingCmd: 4.812092 target range: 221.199997 and range: 221.20 m. jyjyjyjyiyhhhhfffrfbf5?ɛdBȼ -I  sɚiIX)=Iii2)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498869J- J-9J)J)J-';J- :J)J)J-ށ<J-ށ<J-h;J-h;*F?2F:FBFh0JFG G ?G ?G B O >etTyw,)RAzK.KK. 9K,K.K.>Ē@Y>Wԙ@>z9>SA >y>H@:?@?D@TW?iD?:??ɨ>Ē@>mڊ;>|CyFV~BJiI~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750882 % % -- --  - - -Mb@Mb@Mb@))) )))Y-/$?ˡE?:v?y-?-=-<-A -@))I-A)y-AIEIE55٢UR= Un=9U:Q ]?YY ]G٣]4GyeA; e? mNusing accuracyPremultiplier from configiu49m9?4YmX imBT:6?:?m+DmTZyw,lA>9Œ@Y>ԙ@>C%9>b >y>Hw9Œ@>";>~CyRd~BRrIIZIZ?15٢b&= bT=9f {Q f>dh jG٣hyj8 j> rNusing accuracyPremultiplier from configpv49r?v4Yru ir%Btvv?r+DrP:rq:r4| ~WA|Zj!-FNOT Ignoring new targets: 221.20 m.Bj-xOJj5xOE ProNav: ac range: 221.199997 m, nav range: 220.889740 m, bearing: 176.643488 deg, approach rate: 0.200504 m/s, LOS rate: -0.181383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797203 deg. 2jE:jE@MHeadingCmd: 4.813569 target range: 221.199997 and range: 221.20 m. jIjIjIjIiQhQhQhQhQfYfYfYrfabfev@ɛcBS 隕I ɚiIly)=IiMi*))*F12F1:F1BF55JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255004 IG]^%G9BaO>H I  I II ~BI  =&I .I 6I 1<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507572!ayw, `AZ̒@YZۙ@ZJ)9Z >yZH +s? ??!kh ()?I?W?ɨZ̒@Z;Z|Cyfz~BfI]Mb@Mb@Mb@YYY Y)YY]㥛 ?Zd;O??y]?]j=]=9 Q > G٣y: > Nusing accuracyPremultiplier from config49˩?4Y i/B{?:?+D;;>4 AeB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 221.20 m.BjQJjQ ProNav: ac range: 221.199997 m, nav range: 220.965546 m, bearing: 176.580801 deg, approach rate: 0.168493 m/s, LOS rate: -0.139286 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.787191 deg. 2j.:jT@HeadingCmd: 4.813395 target range: 221.199997 and range: 221.20 m. jjjjihhhhBf f f rf)bf5 ,@ɛ⛻ 隝iiI ɚiI+)=Ii i ))EEtA*F2F:FBF85JFGrA GzK:KK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758845 I G {#G B O >Ůgyw,;9A6˒@Y6ۙ@6o796 >y6H@o??x)?\a? ?N?ɨ6˒@6X;6}Cy>p~B>yIDFAIJ|IJb(5٢Rd޼ RZ=9R2Q R>TT VG٣V4GyZ Z> ^Nusing accuracyPremultiplier from config\b49^L?b4Y^ i^7Bdff?^+D^$5;^6H;^4l ]'AYJyJ}BAJK 3 KS}-KK"KJJ8JJJ%;J:JJa@a@a@a@ZjFNOT Ignoring new targets: 221.20 m.Bj3%Jj3% ProNav: ac range: 221.199997 m, nav range: 221.031738 m, bearing: 176.526268 deg, approach rate: 0.175363 m/s, LOS rate: -0.144430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.811637 deg. 2j>ƻ:j @HeadingCmd: 4.813821 target range: 221.199997 and range: 221.20 m. jjjji h h h hfffrfbf@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011113ɛdBUҼ 隵sI 1j ɚiI^)=Ii i))*Fi2Fi:FiBFm_0JFiGGi By O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:19:52:53.5185 5 TRx dataTimestamp_ set to:1736365974.8366425 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263923#myw,A 8I:hNג@YNB@Ng:9N<>yNHи??i?bP???ɨNג@Np;NCyZ~BZIIbIb.5٢v6= vF=9~Q >  G٣y%g; -> UNusing accuracyPremultiplier from configIm49Mm?u4YM iM@B?M+DMtyw,AzKR KKR9KPKRKRrWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:53.5185 LVL= 18160, 20017, 10306, 19363, AGC= 64, IDX= 119, 0.37, 2.257, 1.220,-3.123, 2.325, PHS= 0.021,-1.058, 0.832, RAW= 175.3, 2.5, CAL= 175.7, -6.0, ROT= 334.3, 6.0 Ygot valid direction response: 19:52:53.5185 LVL= 18160, 20017, 10306, 19363, AGC= 64, IDX= 119, 0.37, 2.257, 1.220,-3.123, 2.325, PHS= 0.021,-1.058, 0.832, RAW= 175.3, 2.5, CAL= 175.7, -6.0, ROT= 334.3, 6.0 %PDAT read: Bearing 334.3, 6.0 (Local) %~Local bearing/azimuth received: Bearing 334.3, 6.0 (Local) 5DAT read: Range 10 to 50 : 219.3 m (Round-trip 292.4 ms) speed 0.4 m/s 5*DAT read: user:919> ]BDAT read: Tx time:19:52:54.6219 e$Ping request sent.eYY eG٣ay > Nusing accuracyPremultiplier from config49T?4Ym iIB?:?+D];;*4 Akr@>?kr= kp kr˿A:krL[CBkrYCZkrF@"rNxM?4BFjb}:@rrE¿INn RY?JkrۿRkrAH*r|kV akt'$@}}r@SQwȓ䆧?ˑ"kr;!A*kr [kr=?kr{ 2krDoBkpkpkrwBkr1]Ckr:E@ addTargetRange:: Added new target pos. range: 219.300003 m, deltaT: 3.782653 s, deltaX: -1.899994 m, approachRate: -0.502291 m/s, rangeRepo size: 4  Added new target pos. range: 219.300003 m, bearing: 177.365874 deg, lat: 36.902612 deg, lon: -122.117081 deg, deltaT: 3.782653 s, deltaX: -1.899994 m, approachRate: -0.502291 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 219.30 m.Bj5Jj1m ProNav: ac range: 219.300003 m, nav range: 221.194870 m, bearing: 176.392340 deg, approach rate: 0.000000 m/s, LOS rate: -0.135704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777628 deg. 2ji:jm@uHeadingCmd: 4.813228 target range: 219.300003 and range: 219.30 m. jqjqjqjqihhhhBfffrfik@bf]?ɛeB⹼ bI %ɚ!i!I%1*=I-i5Y i5wg)Q)YEeY>Ee >JJ7J0JJ,';J:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝AJDAT read: TxSync time:19:52:54.6211 *F ?2F :F BF 1JF "G =G =G5 AG B O>S{yw,wA>[@Y>@>O9> >y>H[@>;>CyJu~BJ}I Na=N%=IRQIRT5٢^ ^g=9b(vQ b?`d fG٣f4Gyfw; f? nNusing accuracyPremultiplier from confighr49j2?r4YjK! ijOBprީr?j+DjA;j;j%4x z&AxZjFNOT Ignoring new targets: 219.30 m.Bj%M.Jj%M.5 ProNav: ac range: 219.300003 m, nav range: 221.252396 m, bearing: 176.345356 deg, approach rate: 0.186625 m/s, LOS rate: -0.152386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.834272 deg. 2j5)ѻ:j5@EHeadingCmd: 4.814216 target range: 219.300003 and range: 219.30 m. jAjAjAjAiAhAhIhQhQfQfQfQrfYbf]?ɛ1 隅&pI KɚiIV*=IiH iϻ))-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JF IH I  I II /BI &I .I 6I :<:I FGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,= Ayrz~BrI}Mb@Mb@Mb@yyy y)yY}Cl?Mb?Mb?yy}=}<}A y)}AIyyy}AII)5٢^@< ==9Q > G٣y > Nusing accuracyPremultiplier from config49{?4Y' iUB?:I?+D$;!;,4 AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 219.30 m.Bj Jj % ProNav: ac range: 219.300003 m, nav range: 221.318527 m, bearing: 176.284306 deg, approach rate: 0.152424 m/s, LOS rate: -0.140668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792094 deg. 2j%:j-@=HeadingCmd: 4.813480 target range: 219.300003 and range: 219.30 m. j9j9j9j9i9h9hAhAhEBfAfIfIrfIbfM$?ɛfBɼ kI jɚiI*=I%i%j i%+ ػ)))I*F?2F:FBFk0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.zKFJKh9KKKBK:KoA IG4λG B O >J J J 1J J $;J J 3J hڈyw,!%A2 ג@Y2{@292>y2Hɸ??@t?Db?`IW? ?k?ɨ2 ג@2-;2Cy:]~B:nIIFcIFN5NWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.244320٢V V[=9ZQ Z>QQ ]G٣Yy] ]> eNusing accuracyPremultiplier from configam49eSŅ?m4YeQ- ieZBquu?e+De%;e;er34y }AZjFNOT Ignoring new targets: 219.30 m.Bj!Jj! ProNav: ac range: 219.300003 m, nav range: 221.378220 m, bearing: 176.229072 deg, approach rate: 0.152223 m/s, LOS rate: -0.140817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809528 deg. 2jH:j @HeadingCmd: 4.813785 target range: 219.300003 and range: 219.30 m. jjjjihhhhfffrfbf ?ɛ%gB% !%I) -)ɚ1i1I5*=I=iE`!iE)A)IE*Fe?2Fa:FaBFe0JFaGmsA GmpAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496008GU̻G) B9 Ou > I hyw,%?AjHPbHR<H\I\ I\I\I\&I\.I\6I^<:I^ F@YO@&ȋ9H>yH@'?݇?`' ?U?j? x?ǹ?ݯ?ɨ@ؿ;騵{CyK~BcIMb@Mb@Mb@ )YtV?{Gz?~jthy?#=DA )IdAyII65٢ +=9Q > G٣4GyN; > Nusing accuracyPremultiplier from config 49Ʌ? 4Y#4 i]B ?:? ,D7%;#;o;4B A%EZjAMFNOT Ignoring new targets: 219.30 m.BjM~%JjM~%] ProNav: ac range: 219.300003 m, nav range: 221.439255 m, bearing: 176.162973 deg, approach rate: 0.133639 m/s, LOS rate: -0.144687 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776945 deg. 2j]ƻ:j]@uHeadingCmd: 4.813216 target range: 219.300003 and range: 219.30 m. jqjqjyjyiyhyhyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748141hhBf!f!f!rf!bf-^}?ɛ}hB] I %Mɚ!i!I%8*=I-i-i-ۻ)))1PExceeded connect timeout, disconnecting.*Fi2Fi:FiBFmo0JFi] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001112G zK5 QJK5 9K1 K5 K5   $((+-,..,0/0572*#G B O >Yyw,YA2@Y24@2M92|>y2HZι??@M & $?c?`?`? '?ɨ2@2Y;2}Cy>H~B>aIIFIF995٢N No=9R:Q R?PT VG٣TyV; V? \I\ bNusing accuracyPremultiplier from config`f49b˅?f4Yb?9 ib_Bhj4j?b,Db ;b;bmA4l nAlZjFNOT Ignoring new targets: 219.30 m.BjJj ProNav: ac range: 219.300003 m, nav range: 221.485703 m, bearing: 176.113476 deg, approach rate: 0.125974 m/s, LOS rate: -0.134216 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.826728 deg. 2j 8:j  @HeadingCmd: 4.814085 target range: 219.300003 and range: 219.30 m. jjjjihhhhff!f!rf!bf% ( @ɛ=iB= 隥I  ɚiIo*=Ii7iÑ))*F]?2FY:FaBFet1JFaJJ2J0JJ $;Jh:Jـ3JUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252380G} GQ Ba O} >]Byw,@ksAyn~BnHIIvIv75٢~Ƚ ~E=9Q >  G٣ y   > Nusing accuracyPremultiplier from config49>υ?4Yg? iaB!!%?),D* ; ;H4) -A)ZjYeFNOT Ignoring new targets: 219.30 m.Bjmt/Jjmt/} ProNav: ac range: 219.300003 m, nav range: 221.541840 m, bearing: 176.053911 deg, approach rate: 0.144604 m/s, LOS rate: -0.153394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.796539 deg. 2j}һ:j}@HeadingCmd: 4.813558 target range: 219.300003 and range: 219.30 m. jjjjihhhhfffrfbf* @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504175ɛkB )I E$ɚiI2+=Iici)))*Fu?2Fq:FqBFu4JFq IHeh>Ia IeIIeBIa&Ia.Ia6Ie<G=TG= ?G= ?:Ie FGBO=>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756118*yw,GA "nManaging dock network, ignoring radio surface power off: @Y:@:79:^x>y:Hxt?`g? ͺ?6c?V?@?@?ɨ: @:^;8yR ~BR<I}Mb@Mb@Mb@yyy y)yY}On?Zd;O?:vy}?}j<}Ty }@)}MAIyyy}AII85٢@- @=9Q > G٣4Gy; > Nusing accuracyPremultiplier from config49U҅?4YF ibB?:?9,D;;P4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 219.30 m.Bj ,Jj ,% ProNav: ac range: 219.300003 m, nav range: 221.595871 m, bearing: 175.989668 deg, approach rate: 0.127143 m/s, LOS rate: -0.151137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.782503 deg. 2j%rϻ:j%@-HeadingCmd: 4.813313 target range: 219.300003 and range: 219.30 m. j)j)j)j)i)h1h9hAhEBfAfAfIrfIbfMӉ@ɛulB} y};Iy }_)ɚyiIm+=Iii#))*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009536zKm͆MKmh9KiKmKm  ",7Fl~xutplfZTOGD@:6321~G`wA Y`wAyB IGmXGI BY Ou >VTyw,h!AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:52:57.3155 TRx dataTimestamp_ set to:1736365978.616664checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261190@Y"&@⍼9,>yHZĺ?? `?H/e?!?:??ɨ@;y=}BE0III75٢H I=9vQ > G٣y-?; -> ]Nusing accuracyPremultiplier from configYe49]nՅ?e4Y]L iYim`?]I,D]<]<]{W4 / AZjFNOT Ignoring new targets: 219.30 m.Bj 'Jj '= ProNav: ac range: 219.300003 m, nav range: 221.650146 m, bearing: 175.925888 deg, approach rate: 0.124340 m/s, LOS rate: -0.146077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783895 deg. 2j=Ȼ:j=@EHeadingCmd: 4.813337 target range: 219.300003 and range: 219.30 m. jAjAjIjIiIhIhihqhqfqfqfyrfybf}` @ɛoB( tI .ɚiIկ+=Iiiٺ))I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512210 /$?I Ge *Ga B O >ZHI RHM @AOyw,3OAHqIq IuIIu~BIq&Iq.Iq6Iu<:Iu F@YB&@J\9B >yH<ź??`,@(?TMm?E???԰?ɨ@;騽{Cy}BIJ=J=4J9J9J=%;J=r:J9J9J= G٣yf8 > Nusing accuracyPremultiplier from config49ׅ?4YS i`B ?:񺿑?Z,DO;M;^4B  AEMWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:52:57.3156 LVL= 19984, 22769, 11858, 25395, AGC= 62, IDX= 116, 0.01, 2.552, 1.589,-2.847, 2.592, PHS= 0.048,-0.956, 0.841, RAW= 176.1, 0.9, CAL= 176.7, -7.3, ROT= 333.3, 7.3 Ygot valid direction response: 19:52:57.3156 LVL= 19984, 22769, 11858, 25395, AGC= 62, IDX= 116, 0.01, 2.552, 1.589,-2.847, 2.592, PHS= 0.048,-0.956, 0.841, RAW= 176.1, 0.9, CAL= 176.7, -7.3, ROT= 333.3, 7.3 PDAT read: Bearing 333.3, 7.3 (Local) ~Local bearing/azimuth received: Bearing 333.3, 7.3 (Local) DAT read: Range 10 to 50 : 217.0 m (Round-trip 289.4 ms) speed 1.1 m/s *DAT read: user:920> BDAT read: Tx time:19:52:58.4220 $Ping request sent.iMD=MjtMKW?MD@M< M4`E@)MwIM[&@iMw>IIMj?KG@i?$?)M(z?IMxiMD׿M&xII:publishing transmit ping time%Fpublishing direction and range infoI9M.%O[Xs ?yIIII I)IIIiIIIII I)IIIiIIIMj?KG@i?$?)IIIiIIIIkM>?kM@6 kI kM/A:kMYCBkMWCZkMH@"MVյ 7( $j;7@M.%O[Xs ?JkMD׿RkM&x*MZk9?kMy6 2kMdBkIkIkMDoBkM]CkMoD@ addTargetRange:: Added new target pos. range: 217.000000 m, deltaT: 3.788071 s, deltaX: -2.300003 m, approachRate: -0.607170 m/s, rangeRepo size: 4  Added new target pos. range: 217.000000 m, bearing: 179.709998 deg, lat: 36.902612 deg, lon: -122.117081 deg, deltaT: 3.788071 s, deltaX: -2.300003 m, approachRate: -0.607170 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 217.00 m.BjJj ProNav: ac range: 217.000000 m, nav range: 221.698227 m, bearing: 175.858359 deg, approach rate: 0.000000 m/s, LOS rate: -0.146077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.773082 deg. 2j:jP@HeadingCmd: 4.813148 target range: 217.000000 and range: 217.00 m. jj j j i h h hh5Bfffrf] k@bf])V?ɛpB 隵оI ] 5ɚiIp+=Iizzi))E5R>E5>*F?2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:52:58.4212 zK LnNK 9K K K .++*%'""!!0k*|wjWC6,$ G ˴G G tA a Ie hG B O >ީyw,Ab9@Yb,@b9bi >ybH?@?֦ `?Uq?^?`E~??ɨb9@b>;bCyޭ}B޵IIIs75٢5鵽 5L=9="Q =>99 =G٣E4GyE: E>  Nusing accuracyPremultiplier from config49Gڅ?4YAZ i_Bغ?j,D<^;e4! Et!AIZjFNOT Ignoring new targets: 217.00 m.BjAJjA ProNav: ac range: 217.000000 m, nav range: 221.744904 m, bearing: 175.793502 deg, approach rate: 0.121971 m/s, LOS rate: -0.169443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780657 deg. 2j:je@HeadingCmd: 4.813281 target range: 217.000000 and range: 217.00 m. jjjjihhhhfff rf bf ?5?ɛrBL1 I :ɚiI6I,=IiYi03))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG 4G B O >ϼyw,A>@Y>i"@>r9>8 >y>H^?+? q@@?D w??`?@?ɨ>@>y;>~CyF}BJIIRIR/5٢Z Zg=9ZnQ ^>`` bG٣`yf6g f> jNusing accuracyPremultiplier from confighn49jK܅?n4Yj_ ij^Bprr?jx,Dj$;j;jl4t v!AtZjFNOT Ignoring new targets: 217.00 m.BjUEJjUE- ProNav: ac range: 217.000000 m, nav range: 221.784729 m, bearing: 175.738133 deg, approach rate: 0.124113 m/s, LOS rate: -0.172522 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.809111 deg. 2j5:j5v @5HeadingCmd: 4.813777 target range: 217.000000 and range: 217.00 m. j9j9j9jAiAhAhAhIhIfIfIfIrfQbfUH"?eWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛsBI 隍I 8?ɚiI<,=IiWYi2)) I*F?2F:FBF0JFHI III~BI =&I.I6Iİ<:I FBIIJIIRIIZIM =bIM =jIMŒB4G5˴GBO>J%J%8J%1J!J%d&;J%:J%3J!J%<J%<J%;J%; Will construct direction to contact in vehicle frame from tetrahedron phase data.նyw,A:@Y:[#@:Uۯ9:>y:H?`?u /?Е{??@z?}?ɨ:@:;8yb}BbIMMb@Mb@Mb@III I)IYM rh?Q:vyM,?MuMTMEA I)M AIMAIyM=AIe|Ieb(5٢u u?=9}AQ }> G٣yR9 > Nusing accuracyPremultiplier from config49\ޅ?4Yg i,?:,?,DG;E;s4 "AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 217.00 m.BjDJjD ProNav: ac range: 217.000000 m, nav range: 221.830750 m, bearing: 175.664522 deg, approach rate: 0.107158 m/s, LOS rate: -0.171366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754402 deg. 2ju6:ju@}HeadingCmd: 4.812822 target range: 217.000000 and range: 217.00 m. jyjyjyjyiyhhhh~Bfffrfbf.?ɛtBe4 {I gFɚiI,=I i Ui-Y)1)1E9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF~0JF"G=G=zKE"NKE9KAKEKE      IG ~G B O >J! J% AA Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495717yw,p|)AN[ @YN@NW9N >yNH@:i?Є? `@?o?O ? ??ɨN[ @NĂ;N}Cy^h}B^IInqIn#5٢zG zS=9~~Q ~> G٣ 4Gy !0 > Nusing accuracyPremultiplier from config%497?%4Yqn i!%O-?,D;:~:\z41 "AZjFNOT Ignoring new targets: 217.00 m.Bj':Jj':- ProNav: ac range: 217.000000 m, nav range: 221.872696 m, bearing: 175.597483 deg, approach rate: 0.101852 m/s, LOS rate: -0.162748 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.774110 deg. 2j-b߻:j-u@EHeadingCmd: 4.813166 target range: 217.000000 and range: 217.00 m. jAjAjAjAiIhIhIhhfffrfbf@?ɛuB*F dI r(Mɚ i I <-=IimiG))*F2F:FBF 1JFG G"GGuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747701 qIqGa By O >jHY bH] p<He g>Ia  Ie kIIe Y~BIa &Ia .Ia 6Ie °<:Ie Fyw,![CA@Y*@ļ9 >yH?@? < ?@G?? M?i?ɨ@M;~CJJ6JJJ$;J{:JJJV~<JV~<J;J;ye}BIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999909Mb@Mb@Mb@ )YbX9?y&1I +yE6?`e94/A @)IyAII95٢ ,=9Q > G٣y%҈; %> 5Nusing accuracyPremultiplier from config)549-⅜?=4Y-Ew i-_B=T6?=:=ͽ=?-,D-;- ;-4MB M"AMEZjFNOT Ignoring new targets: 217.00 m.Bj%QJj%Q5 ProNav: ac range: 217.000000 m, nav range: 221.928131 m, bearing: 175.511805 deg, approach rate: 0.118796 m/s, LOS rate: -0.183561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.718217 deg. 2j5:j5w@=HeadingCmd: 4.812191 target range: 217.000000 and range: 217.00 m. j9j9jYjaiahahihihm~Bfqfqfqrfqbfu-@ɛvBn> TI  UɚiI-=Ii ]Li 6O))*F?2F:FBF0JFGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252350 Y I] hzK FLK +9K K K (H<@ yw,_%]Ay~\}B~II I F5٢]Լ el=9uQ }? G٣y > Nusing accuracyPremultiplier from config49䅜?4Y} i`B?,DL: ;Lj4 "AZjFNOT Ignoring new targets: 217.00 m.Bj 'XJj 'X ProNav: ac range: 217.000000 m, nav range: 221.969849 m, bearing: 175.447863 deg, approach rate: 0.123316 m/s, LOS rate: -0.188975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783398 deg. 2j:j@%HeadingCmd: 4.813328 target range: 217.000000 and range: 217.00 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf=2@ɛewBe^ aeIa m:ZɚiiiImT-=Iuis5i))E!E%sA*F?2F:FBF/5JF*J "J GBOL>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516069'yw,wA:~@Y:)@:ȼ9:B >y:Ht?X?q<B|?x?@? C?ॲ?ɨ:~@:;:|CybL}BbIIjIjS<5٢rE rR=9vQ v>tt vG٣z4Gyzq z>  Nusing accuracyPremultiplier from config-49慜?-4Y iaB15ѽ5?,D;;w4A E"AAZjamFNOT Ignoring new targets: 217.00 m.Bjm`NJju`N ProNav: ac range: 217.000000 m, nav range: 222.015411 m, bearing: 175.378486 deg, approach rate: 0.118519 m/s, LOS rate: -0.180427 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.767100 deg. 2j:ju@HeadingCmd: 4.813044 target range: 217.000000 and range: 217.00 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767871hhfffrfbf K@ Iɛy}GAV y隅 I aɚiIA.=Iii))*Fm?2Fi:FqBFu_0JFqGIBqH-h>I) I-LII-'~BI)&I).I)6I-ٰ<:I- FOUS>JJ1JJJ $;J:JJJ|<J|<J>;J>;M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020013yw,A2@@Y2,@2l˼92A >y2HV??`?W?l?@cD??ɨ2@@2;2~Cy>I}B>I5Mb@Mb@Mb@111 1)1Y5K?Mb`?MbPy5^:?5;51 1)1I5MA1y5pAIMIMV85٢]  ]C=9]=Q ]>aa eG٣aym%R: m> uNusing accuracyPremultiplier from configq}49u^酜?}4Yu iueB^:?:-?u,Du#9;u7;u̖4  #A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 217.00 m.BjMnLJjMnL} ProNav: ac range: 217.000000 m, nav range: 222.073013 m, bearing: 175.301109 deg, approach rate: 0.133084 m/s, LOS rate: -0.178726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.743118 deg. 2j}P:j}@HeadingCmd: 4.812625 target range: 217.000000 and range: 217.00 m. jjjjihhhhr~Bfffrfbf @ɛ-xB5N 15 I1 5^tiɚ1i9I=".=I=iEiE1)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:53:01.0834 TRx dataTimestamp_ set to:1736365982.417933checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274082 I*F?2F:FBFJFzKMKKKKG% b(G B O= >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524445X:yw,!AyޥE}BޥIII>5٢ C=9Q > G٣y > Nusing accuracyPremultiplier from config49)셜?4Y ihB?,D#<<$4B +#AEZjFNOT Ignoring new targets: 217.00 m.Bj?Jj?  ProNav: ac range: 217.000000 m, nav range: 222.131149 m, bearing: 175.223615 deg, approach rate: 0.125820 m/s, LOS rate: -0.167671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742767 deg. 2j5$:j5@=HeadingCmd: 4.812619 target range: 217.000000 and range: 217.00 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM`v @ɛO  I qɚiIy/=Ii $i ))!*F%?2F!:F!BF%`0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data. IDAT read: 19:53:01.0834 LVL= 28800, 24769, 16306, 26867, AGC= 61, IDX= 119,-0.15,-0.855,-1.810, 0.002,-0.742, PHS=-0.025,-1.021, 0.741, RAW= 175.7, 4.0, CAL= 175.8, -4.8, ROT= 334.2, 4.8 Ygot valid direction response: 19:53:01.0834 LVL= 28800, 24769, 16306, 26867, AGC= 61, IDX= 119,-0.15,-0.855,-1.810, 0.002,-0.742, PHS=-0.025,-1.021, 0.741, RAW= 175.7, 4.0, CAL= 175.8, -4.8, ROT= 334.2, 4.8  PDAT read: Bearing 334.2, 4.8 (Local)  ~Local bearing/azimuth received: Bearing 334.2, 4.8 (Local) -DAT read: Range 10 to 50 : 192.9 m (Round-trip 257.3 ms) speed 0.5 m/s 5*DAT read: user:921> 5BDAT read: Tx time:19:53:02.1720 =$Ping request sent.ERo9޼?yإ@Cءإpإ` ٥?)٥hI٥=i٥̼٥!٥-=?٥?BD@٥5= ڥ^D@)ڥIڥ @iڥ=ڡڡۥG~&?=]?X?)ۥox?IۥCiۥG$߿ۥlrۡۡe:publishing transmit ping time9eFpublishing direction and range infoء9إSſ>Ro9޼?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥG~&?=]?X?)ۡIۡiۡۡۡۡZH RH ?AH g>I  I @II ~BI  =&I .I 6I <:I FG- ïG B1 Ou >8yw,% AyޕG}BޕIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:53:02.1712 UMb@Mb@Mb@QQQ Q)QYU"~j?Q?~jtx?yUSC?Uu G٣4Gy > Nusing accuracyPremultiplier from config490?4Y# ioB _C? : 0 ?-D;;4 '#A=Ek nG?k`U k kA:k@CBk?CZkD@"Ciis@V'Weg5@Sſ>Ro9޼?JkG$߿Rklr* hW+)@P- !?P>]+"k\IA*kn@kvF?k4S 2kPjBk=?k{ kk3\CkD@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 192.899994 m, deltaT: 3.792618 s, deltaX: -24.100006 m, approachRate: -6.354451 m/s, rangeRepo size: 4Zj%FNOT Ignoring new targets: 217.00 m.Bj%mkJj%mkE ProNav: ac range: 217.000000 m, nav range: 222.211090 m, bearing: 175.126032 deg, approach rate: 0.168675 m/s, LOS rate: -0.205827 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682545 deg. 2jEA :jE^@MHeadingCmd: 4.811568 target range: 217.000000 and range: 217.00 m. jIjIjIjIiIhIhQhhf~Bfffrfh@bf ?ɛLL 5 I :jzɚiIdk/=Iiii)) *F?2F:FBF_0JFGtA GtA)! ! ~~G vA A Y vAy BM o@U B I h Will construct direction to contact in vehicle frame from tetrahedron phase data.zK V$KK ]9K K K G ˴G B O >7/yw,SAri@Yr@r9rVD >yrH??`,`d?@q?@?? Y?ɨri@rV#;r}CyzY}BzIIIB-5٢$S= p=9Q ?!! %G٣!y%y -? 5Nusing accuracyPremultiplier from config)=49-?=4Y-ץ i-tBAE׹E?-#-D-4;-55;-߬4I M"AIZjFNOT Ignoring new targets: 217.00 m.BjCkJjCk ProNav: ac range: 217.000000 m, nav range: 222.263123 m, bearing: 175.061355 deg, approach rate: 0.165509 m/s, LOS rate: -0.205681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781203 deg. 2j( :jy@HeadingCmd: 4.813290 target range: 217.000000 and range: 217.00 m. jjjjihhhhfffrfbf?ɛ4q I .ɚiI/=I i i ?Ļ) )*J "J p=JJ3J0JJJ:Jـ3Ja-@a-@a-@a-@*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.GǹGBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Uyw,A64@Y6@6'96~ >y6H`P?ފ?vjd???-?r?ɨ64@6;6|CyBr}BBIIJcIJN5٢R= RS=9R`$Q V>TT VG٣TyZf Z> bNusing accuracyPremultiplier from config`f49b?f4Yb ibzBdfj?b6-Db:b:b4l n{"ApZjFNOT Ignoring new targets: 217.00 m.Bj _Jj _ ProNav: ac range: 217.000000 m, nav range: 222.323364 m, bearing: 174.986451 deg, approach rate: 0.156849 m/s, LOS rate: -0.194974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750534 deg. 2j:j%@%HeadingCmd: 4.812755 target range: 217.000000 and range: 217.00 m. j!j)j)j)i)h)h)h1h1f1f1f1rfbf dD?ɛwBN 隍cI e>ɚiI$0=Ii?iջ))HI I9II~BI =&I.I6I<:I F*F2F:FBFJFG̻GBOb>]Will construct direction to contact in vehicle frame from tetrahedron phase data.?zw,?A:aܒ@Y:@:9: >y:H Q??oS?Ȑ? (?4?@?ɨ:aܒ@:F;8yB}BBIDFAMMb@Mb@Mb@III I)IYMCl?:v?{Gz?yM;??M=9}Q }>yy G٣4GyS[ > Nusing accuracyPremultiplier from config494?4Y iB]??:`?J-Dlf;>e;14 B F"AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 217.00 m.BjUJjU ProNav: ac range: 217.000000 m, nav range: 222.393021 m, bearing: 174.905640 deg, approach rate: 0.161163 m/s, LOS rate: -0.186911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.732834 deg. 2jF:j@HeadingCmd: 4.812446 target range: 217.000000 and range: 217.00 m. jjjji h h h h~Bfffrfbf,?ɛIMFO QUIQ U|kɚQiYI]_I0=I]ie5ie.)a)a }0$?I}hWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKMQJKM9KIKMKM*Fm?2Fi:FiBFm0JFi"Gua=Gu=G4λJ) J) J= J= 1J= 1J9 J= |";J= :J= 3J9 Ga By O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746065g zw,/A2@Y2@292 >y2H k? ? b3?`&? Н?#a??ɨ2@2Uׇ;2}CyN}BRIIZIZ95٢b= bV=9b ;Q b>dd fG٣dyj>; j> nNusing accuracyPremultiplier from configlr49n\?r4Ynk inBpr$v?n]-Dn;n;n4x z!AxZj%FNOT Ignoring new targets: 217.00 m.Bj%pWJj%pW5 ProNav: ac range: 217.000000 m, nav range: 222.455505 m, bearing: 174.834222 deg, approach rate: 0.164837 m/s, LOS rate: -0.188351 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760993 deg. 2j5C:j5@=HeadingCmd: 4.812937 target range: 217.000000 and range: 217.00 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU`?ɛEvBEHH AEaIA MMvɚIiIIMy0=IUiuiut)q)y*F ?2F:FBF`5JF iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996302GJGG>GjHbH<HI ILII'~BI&I.I6I<:I FBIJIRIZI =bI =jI=3B O >;Szw,IA>@Y>k@>9>Z >y>H@?܇?`i0O?w?ԝ?`vo?#?ɨ>@>;>{CyF}BFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248281]Mb@Mb@Mb@YYY Y)YY]1Zd?X9v? rh?y]";?]}=]C=9Q > G٣y: > Nusing accuracyPremultiplier from config49!?4Y iB;?:?q-D ;;\ɥ4 !AZjFNOT Ignoring new targets: 217.00 m.BjLOJjLO ProNav: ac range: 217.000000 m, nav range: 222.540039 m, bearing: 174.756046 deg, approach rate: 0.196047 m/s, LOS rate: -0.181233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.740750 deg. 2j:j@HeadingCmd: 4.812584 target range: 217.000000 and range: 217.00 m. jjjjihhhh~Bff!f!rf!bf%i@ɛ-uB-D )-I1 5mɚ1i1I50=I=i=?6i=&)9)A*F?2F:FBFJF QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500439GG B O% >zKu V$KKu h9Kq Ku Ku yzw,cA2@Y2(@292 >y2H {|??`H?? #??`?ɨ2@2';2~Cy:}B:IIFIF95٢J= N[=9NQ ~>   G٣ 4Gyй => MNusing accuracyPremultiplier from configA}49Ew?}4YE iEBy}?E-DE A IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:53:04.8005  TRx dataTimestamp_ set to:1736365985.944557 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005253Zzw,i}Aj@Yj]@j9j̀>yjH? ? ¿ k[??^?n?L?ɨj@jPK;j}Cyv}Bv,II|I|٢ l=  C=9 pQ > G٣yn.: > 5Nusing accuracyPremultiplier from config)549- ?4Y- i-B?--D-j<-j<-6ץ4 B  AEZjFNOT Ignoring new targets: 217.00 m.BjMJjM ProNav: ac range: 217.000000 m, nav range: 222.696762 m, bearing: 174.612204 deg, approach rate: 0.196519 m/s, LOS rate: -0.179759 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.756865 deg. 2j:j@HeadingCmd: 4.812865 target range: 217.000000 and range: 217.00 m. jjjjihhhhf f f rf bf @ɛEsBEz8< IMII MɚIiIIM81=I]i]ri]u)Y)YHI IrIId~BI =&I.I6I<:I F*F?2F:FBF_0JFGQGUrAGIByOA>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257008 %zw,MHA6M@Y6@6 96%>y6H0Q??p¿($??`.?@?u?ɨ6M@6y;4yb ~Bb:IMMb@Mb@Mb@III I)IYMQ?I +?S㥛?yM5?M9=M/ G٣y > Nusing accuracyPremultiplier from config49O?4YN iBG7?:a?-D;I;ޥ4 ? AB*** querying acoustic contact ***jj IhZjFNOT Ignoring new targets: 217.00 m.Bju0MJju0M ProNav: ac range: 217.000000 m, nav range: 222.788025 m, bearing: 174.539145 deg, approach rate: 0.224177 m/s, LOS rate: -0.179388 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.756100 deg. 2j9:j@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508924HeadingCmd: 4.812852 target range: 217.000000 and range: 217.00 m. jjjjihhhhBf1f9fArfAbfm`f @ɛ}qB}& y}>Iy foɚiIc1=Ii=iԻ))zKEJKE+9KAKEKE :N+  BqnN/   *F2F:FBFJFGBO>J J 4J J J $;J r:J J E Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:53:04.8005 LVL= 24304, 24625, 17090, 27779, AGC= 62, IDX= 103,-0.35,-2.487, 2.877,-1.571,-2.356, PHS=-0.043,-1.004, 0.782, RAW= 177.5, 3.5, CAL= 177.6, -5.2, ROT= 332.4, 5.2  Ygot valid direction response: 19:53:04.8005 LVL= 24304, 24625, 17090, 27779, AGC= 62, IDX= 103,-0.35,-2.487, 2.877,-1.571,-2.356, PHS=-0.043,-1.004, 0.782, RAW= 177.5, 3.5, CAL= 177.6, -5.2, ROT= 332.4, 5.2  PDAT read: Bearing 332.4, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 332.4, 5.2 (Local)  DAT read: Range 10 to 50 : 168.3 m (Round-trip 224.4 ms) speed 0.1 m/s  *DAT read: user:922>  BDAT read: Tx time:19:53:05.9220  $Ping request sent. iE 0E E '1H?E DF@E 5z= E aF@)E ޹IE @iE ޹=A A E 鸀;+?R?tt?)E j?IE :wiE %SݿE mA A % :publishing transmit ping time - Fpublishing direction and range infoA 9E 'Ŀ`} n'?yA A A A A )A IA iA A A A A A )A IA iA A A E 鸀;+?R?tt?)A IA iA A A A +zw, A2@Y2a@292>y2H`_N? >?2¿@+\#?s?`???ɨ2@2K];2{Cy>6~BBVIIJIJ65٢]= eL=9mQ m>ii uG٣u4Gyu > Nusing accuracyPremultiplier from config49?4Y iBd?-DQ;b;4 AEkuyRE?O?kumSW kq ku*ɬA:kuL(CBku('CZkuafE@"uGOp:>dd׍+@u'Ŀ`} n'?Jku%SݿRkum*uKd6#@ xHc$uXUI9?w-"kuA*ku'kuE'qN?ku 2kupUBkuq>?ku4S kuPjBku'ZCku3D@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 168.300003 m, deltaT: 7.571876 s, deltaX: -48.699997 m, approachRate: -6.431695 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 217.00 m.Bj>Jj> ProNav: ac range: 217.000000 m, nav range: 222.876587 m, bearing: 174.468563 deg, approach rate: 0.208587 m/s, LOS rate: -0.166172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.763527 deg. 2j:j@HeadingCmd: 4.812982 target range: 217.000000 and range: 217.00 m. jjjj!i!h!h!h)h)f)fIfQrfU e@bfU@?ɛpBt% 隥I QɚiI1=IiIGikһ)) I*FU?2FY:FYBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G!B)OER>ZHqRHqHyI}C I}II}~BI} =&Iy.Iy6I}<:I} F12zw, AR֒@YR@R9RA>yRHĸ?!?¿@M?ഩ??t??ɨR֒@R҆;R|CybO~BbfIvWill construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYeZd;O?{Gz?y&1?ye~*?eף=e` G٣yš > ENusing accuracyPremultiplier from configAM49E?M4YE iE͒BU+?U:U3U?E-DE ;E ;E 4Y (AZjFNOT Ignoring new targets: 217.00 m.Bj2AJj2A ProNav: ac range: 217.000000 m, nav range: 222.962952 m, bearing: 174.398545 deg, approach rate: 0.208420 m/s, LOS rate: -0.168906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765215 deg. 2j:j 0@ HeadingCmd: 4.813011 target range: 217.000000 and range: 217.00 m. j jjjihhh9hE;BfAfIfIrfIbfUl?ɛnB  yI }.ɚi!I%61=I%i-i-H; ))))*F2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G [6G ?G ?G B O >zK +DMK K K K S\rI'ymaTNHCA<808zw,4A2Β@Y2Pޙ@292H>y2Hw?`?*¿` w?`(?@u?@??ɨ2Β@2$;0y:~B:IIbfIb5٢f> jb=9j6Q j>ll nG٣lyrI, r> vNusing accuracyPremultiplier from configtz49v?z4Yv@ ivؒBxz^~?v-Dvg;v;vL4B eAEZj1=FNOT Ignoring new targets: 217.00 m.BjE?JjE?} ProNav: ac range: 217.000000 m, nav range: 223.035141 m, bearing: 174.339994 deg, approach rate: 0.206757 m/s, LOS rate: -0.167642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.799590 deg. 2j}:j @HeadingCmd: 4.813611 target range: 217.000000 and range: 217.00 m. jjjjihhhhfffrfbfӹ?ɛmB hI xɚiIܦ1=Iiia))E Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFM0JFQG%gGBOI> 1$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. >zw,A2ƒ@Y2.֙@2:92q>y2H`E?F?o¿r=?3Γ????ɨ2ƒ@2ۉ;0y>~B>IIJXIJn5٢b`= bK=9f4Q f>dh jG٣j4Gyjq! n> rNusing accuracyPremultiplier from configlr49nf"?v4Yn4 inBtvwv?n-Dn:n:nX4 AZjFNOT Ignoring new targets: 217.00 m.Bj3Jj3 ProNav: ac range: 217.000000 m, nav range: 223.116653 m, bearing: 174.273985 deg, approach rate: 0.193914 m/s, LOS rate: -0.156975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777232 deg. 2jv׻:j@HeadingCmd: 4.813221 target range: 217.000000 and range: 217.00 m. jjjjihhhhfffrfbf@y?HI IIIBI =&I.I6Iڰ<:I Fɛ5kB= 9==I9 =ɚ9iAIE1=IEiMiM!)I)I*F?2F:FBFj2JFJJ7JJJ$;J:JJJV~REzw,ADR`wA^A rrYv`wAyv B AIEhEԒ@YEp@E]9E>yEH`3?@?9¿@3? R?혠?`?%?ɨEԒ@E-;Ay]~B]IMb@Mb@Mb@ )Yףp= ?(\µ?V-?y?=</A @)AI7AyA}Will construct direction to contact in vehicle frame from tetrahedron phase data.I I 75٢= 0=9m:Q > G٣yd; > Nusing accuracyPremultiplier from config49'?4Y iB-` ?-:-4-?.D;;41 =yA9}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 217.00 m.Bj.Jj. ProNav: ac range: 217.000000 m, nav range: 223.211151 m, bearing: 174.202220 deg, approach rate: 0.201400 m/s, LOS rate: -0.152886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759984 deg. 2j ѻ:j p@HeadingCmd: 4.812920 target range: 217.000000 and range: 217.00 m. jjjjihhhhBff!f!rfAbfE@-?ɛhB 隕!)I #ɚiI˕1=IiiC))zK@NK9KKK,*('&% \h>G55?H^@-*F?2F:FBF 1JF"Gp=Gp=% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.G% G5 rAG1 G B O- >Lzw,d2A6@Y6@6962N>y6H:3?? ¿"@?ʑ????ɨ6@6׉;6{Cy>~B>IIJIJ/5٢R= Rq=9R@7;Q R?TT VG٣TyZ; Z? ^Nusing accuracyPremultiplier from config\b49^+?b4Y^  i^B`f﫿f?^.D^A;^PB;^]4l nAlZjFNOT Ignoring new targets: 217.00 m.Bj u4Jj u4 ProNav: ac range: 217.000000 m, nav range: 223.277527 m, bearing: 174.152353 deg, approach rate: 0.210063 m/s, LOS rate: -0.157769 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.825631 deg. 2jػ:j @%HeadingCmd: 4.814065 target range: 217.000000 and range: 217.00 m. j!j!j!j!i!h)h)h)h)f1f1f1rf9bf=@ɛ]gB]J Y]IY e!ɚaiaIeÎ1=Imim=Cimջ)i)qEE 1I1*F5?2F9:F9BF=4JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245995GHI IIIbBI =&I.I6I<:I FG B O5 >J J 8J J J %;J :J J J <J <Rzw,YNLAJE;JE;nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498179mS@Ym@m9mW >ymH p?؅?@ lL?-?r?@_??ɨmS@m;m|Cyޝ~BޝI]Mb@Mb@Mb@YYY Y)YY]gfffff?L7A`?:v?y]3?]+=] G٣4Gy; > Nusing accuracyPremultiplier from config490?4Y  i BP?:? .D.;-;4 AEZjFNOT Ignoring new targets: 217.00 m.BjS!JjS! ProNav: ac range: 217.000000 m, nav range: 223.359589 m, bearing: 174.086504 deg, approach rate: 0.175834 m/s, LOS rate: -0.141043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.777713 deg. 2j:j@ HeadingCmd: 4.813229 target range: 217.000000 and range: 217.00 m. j j j jihhhhBfffrfbf%@@ɛUeBU(ܼ QUIY ]􉝼ɚYiYI]1=Ieiiû))*F}?2Fy:FyBF4JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750021G ׻G B O >zK5 `NK5 +9K1 K5 K5 Yzw,fA2@Y2@2$92 >y2Hm˹??ZD?l? +??(?ɨ2@2 ;0y:B>IIFIF*5٢N= Np=9NE:Q R?PP RG٣PyVy; V? ZNusing accuracyPremultiplier from configX^49Z3?b4YZ iZB`bgb?Z,.DZ+;Z},;Zx4fB jtAjEZjx~FNOT Ignoring new targets: 217.00 m.Bj~2!Jj~2!  ProNav: ac range: 217.000000 m, nav range: 223.419830 m, bearing: 174.038587 deg, approach rate: 0.177225 m/s, LOS rate: -0.140928 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.831476 deg. 2jo:j @HeadingCmd: 4.814167 target range: 217.000000 and range: 217.00 m. jjjjihh!h!h!f!f)f)rf)bf-@Mx@ɛdB׼ I  ɚiIjt1=I%i-i-)))YWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:53:08.5788  TRx dataTimestamp_ set to:1736365989.727233checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006064*F?2F:FBF_0JFG-sA G-tAG5̻G=?G9G B O5 > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255085]@_zw,AV@YVt @V39V >yVH??@-Ⱥ?-?L?Ñ?`?ɨV@V(߉;Ty^BbIIf{If'5٢np< rF=9rW9Q r>tt vG٣tyz: z> Nusing accuracyPremultiplier from config|49~8? 4Y~6 i~B  Q ?~;.D~:~:~4 KAZjAEFNOT Ignoring new targets: 217.00 m.BjM !JjM !] ProNav: ac range: 217.000000 m, nav range: 223.493484 m, bearing: 173.980325 deg, approach rate: 0.178044 m/s, LOS rate: -0.140792 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.800457 deg. 2j]?:j]9 @eHeadingCmd: 4.813626 target range: 217.000000 and range: 217.00 m. jajajajaiahihihqhqfyfyfyrfbf@ @ɛcBt̼ 隵IHI I:IIBI&I.I6I<:I FBICJICRIZIbIjIf4 Iɚ1i1I5Bb1=I=i=eiE8)A)AEUV>EQ*F?2F:FBFJFJJ4JJJ$;Jr:JJJV~<JV~<J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510398G5[6G B O1 (fzw,ԙA PIR hy"BI -=-p=Mb@Mb@Mb@ )Yv/??Mb?yx ?L=<A @)AIMAyGAII|+5٢!= 8=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config9E49=;?E4Y=e i='BE ?E:EȰE?=K.D=];=;=w%4]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 189.4 m (Round-trip 252.6 ms) speed 0.4 m/s u*DAT read: user:923> uBDAT read: Tx time:19:53:09.6721 }$Ping request sent.})Xlzw,ƳA6@Y6?%@696 >y6H e? ? W `̓?`???@e?ɨ6@6tM;6{Cy>BBIIJWIJ5٢RϚ Re=9V';Q V>XX ZG٣Z4Gy^ < ^> bNusing accuracyPremultiplier from config`f49b??f4Yb^" ib.Bdfej?bW.Db ;b\ ;b+4l nqAlzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 217.00 m.Bj #Jj # ProNav: ac range: 217.000000 m, nav range: 223.619720 m, bearing: 173.874622 deg, approach rate: 0.162262 m/s, LOS rate: -0.134758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.833953 deg. 2j:j@-HeadingCmd: 4.814211 target range: 217.000000 and range: 189.40 m. j)j)j1j1i1h1h1h9h9f9f9f9rfAbfE{?ɛmaBmؼ quBIq uɚqiqIu?1=I}i}i}~Ӻ)y) 3$?I*F2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.Gmg{GusAGusAHf>I IYIIBI&I.I6I<:I FGaBO>J J 0J 0J J J _:J ـ3J J J J X;J Y;yHO|?`? '@Q?d{?Xt?`h??ɨ @t|;騽zCyBIeMb@Mb@Mb@aaa a)aYew/??MbP?ye?e G٣y > Nusing accuracyPremultiplier from config49B?4Y( i3B?:ε?g.D[;;34 7AZjFNOT Ignoring new targets: 217.00 m.Bj_Jj_ ProNav: ac range: 217.000000 m, nav range: 223.682297 m, bearing: 173.813841 deg, approach rate: 0.134488 m/s, LOS rate: -0.130592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.792897 deg. 2j?:j %@HeadingCmd: 4.813494 target range: 217.000000 and range: 189.40 m. jjjjihhh!h%Bf!f!f)rf)bf5?ɛ`BVƼ I d)ɚiI1%1=I i i ">) )E*F?2F:FBF?0JF yI} hmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004321G m ݺGa Bi O >eyzw,iAzK.FJK. 9K,K.K.>,@Y>&@>9>н >y>Hź?@? 7@ə?@1? CW?u??ɨ>,@>N;>|CyF~BJILNAIRHIRW5٢ZF Zn=9Z_9Q ^?\\ bG٣`ybW; b? fNusing accuracyPremultiplier from configdj49fkD?j4Yfx- if7Blnn?fr.Df;f|;f94t vAtZj)-FNOT Ignoring new targets: 217.00 m.Bj5Jj=U ProNav: ac range: 217.000000 m, nav range: 223.728760 m, bearing: 173.769090 deg, approach rate: 0.134202 m/s, LOS rate: -0.129230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.840962 deg. 2jUa:j]@eHeadingCmd: 4.814333 target range: 217.000000 and range: 189.40 m. jajajijiiihihqhhfffrf bf  ;?ɛݼ ϽI &ĠɚiIf1=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257578*F?2F:FBF_0JFGOP q Iq G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508062Lzw,@Ab$@Yb3@b_9bȯ >ybH,?p?@??ʞ?f?@:?ɨb$@b;`yr~BrIIzIz(*5٢& E=9 :Q  >   G٣4Gy z; > %Nusing accuracyPremultiplier from config%499G?-4Y'3 i;B)-u-?.D::A45B 5A=EZjamFNOT Ignoring new targets: 217.00 m.BjmJjmHI III&I.I6Ḭ<:I F ProNav: ac range: 217.000000 m, nav range: 223.785385 m, bearing: 173.715087 deg, approach rate: 0.137569 m/s, LOS rate: -0.131165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.813219 deg. 2j:j @HeadingCmd: 4.813849 target range: 217.000000 and range: 189.40 m. jjjjihhhhfffrfbf@ ?ɛ \I uɚiIH1=IiSi))*Fe?2Fa:FaBFej0JFiGq GurAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762072Gmi"G}?G}>GI BQ O > Y IY D|zw,3A>hB@Y>Q@>u9>Sh >y>H`?`? 9ټ?ԭ?@ ?{]??ɨ>hB@>C;>}CyF~BFI%Mb@Mb@Mb@!!! !)!Y%?Q?{Gzy% ?%u<%#! !)!I%A!y%AIE{IE'5٢Ui UE=9U;Q U>YY ]G٣Yye< e> mNusing accuracyPremultiplier from configiu49mI?u4Ym9 imzw,4A6+S@Y6b@6߼96 >y6H?`}?`tS? ? ?}`??ɨ6+S@61;6zCyN~BNI Vp=TIZ}IZ(5٢b bU=9b3;Q b>dd fG٣dyf; j> nNusing accuracyPremultiplier from confighr49jjL?r4Yj> ij>Bprﶿr?j.Djq:jC:j O4x zAx B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 217.00 m.Bj-qJj-q= ProNav: ac range: 217.000000 m, nav range: 223.894699 m, bearing: 173.606060 deg, approach rate: 0.137181 m/s, LOS rate: -0.135900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.818053 deg. 2j=:j= @EHeadingCmd: 4.813933 target range: 217.000000 and range: 189.40 m. jAjAjIjIiIhIhIhQhQfQfYfYrfYbfe"@ɛd 隍e1I J~ɚiI$'1=Ii9i%>;)!)! I*F?2F:FBF1JFG;EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516928GyBOG>jHqbHqHyIy I}@II}BIy&Iy.Iy6I}Ͱ<:I} Fzw,NARWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770809f@Ylv@ּ9 >yH@BA?i{?H??ך?d?`*?ɨf@;騵|Cy~BI]Mb@Mb@Mb@YYY Y)YY]A`"?:v? G٣4Gy$; > Nusing accuracyPremultiplier from config49O?4YE i1?:?.D;-;!W4 EAZjFNOT Ignoring new targets: 217.00 m.Bj @Jj @U ProNav: ac range: 217.000000 m, nav range: 223.963913 m, bearing: 173.537376 deg, approach rate: 0.140347 m/s, LOS rate: -0.139228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.769201 deg. 2j]:j]@HeadingCmd: 4.813080 target range: 217.000000 and range: 189.40 m. jjjjihhhhlBfffrf)ſ= Cbf!8@1A uYqyuB B Iɛe`Be{S imzJIi m?ɚiiiImA1=Iiqi@B;))MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:19:53:12.3258 ]TRx dataTimestamp_ set to:1736365993.505328echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022285*F2F:FBFo0JF"G=G=Gm ;Gu rAGq zK nLK 9K K K GI BY O} >Mzw,7kA:q@Y:C@:4Լ9: >y:H@o? z?֖ R@t8?z&??@Q??ɨ:q@:@;:yCyFb~BFqIINlINK!5٢V0 VV=9VV:Q V>XX ZG٣Xy^nc; ^> bNusing accuracyPremultiplier from config`f49beR?f4YbK i`dj󶿑j?b.Db:b:b]4l nArEJMJM4JIJIJM%;JMr:JIJIZjFNOT Ignoring new targets: 217.00 m.Bj%/Jj%/ ProNav: ac range: 217.000000 m, nav range: 224.021469 m, bearing: 173.480854 deg, approach rate: 0.155966 m/s, LOS rate: -0.153126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.805663 deg. 2j-һ:j @ HeadingCmd: 4.813717 target range: 217.000000 and range: 189.40 m. j j j jihh1h9h9f9f9f9rfAbfE% @}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272220ɛo 隽}I ɚiIg1=Iii<;))*F?2F:FBF`5JFG~q;GABIOeV> I h5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526772&zw,5фAH$I$ I&II&vBI$&I$.I$6I&#<:I&FFcy@YF҈@FҼ9F >yFHӽ?z?ܒ`|r??Q?ZN? ?ɨFcy@F;DyNN~BneItvAIzIz.5٢D %E=9%@9Q %>)1 5G٣1y5^; 5> ENusing accuracyPremultiplier from configAM49E_U?M4YEOR iAIMնU?E.DE:E.:Ee4]B ]wAeEZjFNOT Ignoring new targets: 217.00 m.Bj1Jj1 ProNav: ac range: 217.000000 m, nav range: 224.084702 m, bearing: 173.419245 deg, approach rate: 0.158926 m/s, LOS rate: -0.154803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.790411 deg. 2jzԻ:j@HeadingCmd: 4.813451 target range: 217.000000 and range: 189.40 m. jjjjihhhhfffrfbf 9D @ɛ%aB%p" !%nI! -Rɚ)i)I-Ĕ1=I=i=^Gi=z.<)9)A*F}?2Fy:FyBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 19:53:12.3258 LVL= 27088, 31985, 13938, 30451, AGC= 64, IDX= 408, 0.10,-2.145,-3.129,-1.115,-2.041, PHS=-0.016,-1.041, 0.923, RAW= 178.6, 1.6, CAL= 178.9, -6.6, ROT= 331.1, 6.6 =Ygot valid direction response: 19:53:12.3258 LVL= 27088, 31985, 13938, 30451, AGC= 64, IDX= 408, 0.10,-2.145,-3.129,-1.115,-2.041, PHS=-0.016,-1.041, 0.923, RAW= 178.6, 1.6, CAL= 178.9, -6.6, ROT= 331.1, 6.6 MPDAT read: Bearing 331.1, 6.6 (Local) M~Local bearing/azimuth received: Bearing 331.1, 6.6 (Local) ]DAT read: Range 10 to 50 : 187.2 m (Round-trip 249.6 ms) speed 0.4 m/s e*DAT read: user:924> mBDAT read: Tx time:19:53:13.4221 m$Ping request sent.mG B O >Tzw,˼Ab%~@Yb@bf]Ӽ9b3 >ybHH?Mz?@|??j?7?Ͳ?ɨb%~@b0;b|Cyn:~BnYI~Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YuV?Mb?~jtyr(?<ļA )hAIAyAIIv35٢%&/ %:=9-lQ ->)1 5G٣54Gy5ۭ: 5> ENusing accuracyPremultiplier from config9E49=X?M4Y=Y i==BM(?M:MSM?=.D=;=;=l4Y ]AYk KI?k8R k kA:k3;CBk9CZkdH@"юj}65-glx8(@<[MTD?Jk8ؿRkj*8qWg(<?ּpK*`ᅣȈfY?,3"k>*k:k1H?k+R 2kIBkvF?k kdBk/BCkjD@U addTargetRange:: Added new target pos. range: 187.199997 m, deltaT: 3.780859 s, deltaX: -2.199997 m, approachRate: -0.581878 m/s, rangeRepo size: 4 e Added new target pos. range: 187.199997 m, bearing: 179.910952 deg, lat: 36.902873 deg, lon: -122.117215 deg, deltaT: 15.133447 s, deltaX: -29.800003 m, approachRate: -1.969148 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 187.20 m.BjJj ProNav: ac range: 187.199997 m, nav range: 194.185150 m, bearing: 175.839105 deg, approach rate: 0.000000 m/s, LOS rate: -0.154803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.760162 deg. 2j:jw@HeadingCmd: 4.812923 target range: 187.199997 and range: 187.20 m. jjjjihhhh~Bff f rf`ffg@bf@a?ɛ 7I ɚiI1=Ii<iu<))zK#LK9KKK*F?2F:FBF&5JFGtA GtAJ}J}7JyJyJ}$;J}:JyJyWill construct direction to contact in vehicle frame from tetrahedron phase data.G *;Gq B O {zw,ΊAyv ~Bz:I AIAI{I'5٢U UY=9]Q ]>aa eG٣aye e> uNusing accuracyPremultiplier from configq}49u[?4YuK` iu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990460gzw,zA5=@Y5CM@5U95=(>y5H?`?D}@1??۞?b?J?ɨ5=@53؆;5zCyU}BU/I ]=]=%Mb@Mb@Mb@!!! !)!Y%~jt?S㥛?~jty%;?%/<%%` A %p@)%AI% A!y%AI=lI=K!5٢U,( U;=9UxQ U>YY ]G٣Yye e> uNusing accuracyPremultiplier from configiu49m_?}4Ymh im=B};?}:}}?m/Dm;m;mz4  AZjFNOT Ignoring new targets: 187.20 m.BjCqJjCq ProNav: ac range: 187.199997 m, nav range: 194.310623 m, bearing: 175.675266 deg, approach rate: 0.163096 m/s, LOS rate: -0.210927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.698483 deg. 2j:j@HeadingCmd: 4.811846 target range: 187.199997 and range: 187.20 m. jjjjihhhhq~Bfffrfbf?ɛ?8 HI !뮼ɚ!i!I%?2=I-i-i-]\:)))1 )I)*F?2F:FBF`0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239059GGsAGrAG B O >zKM 7KKI KI KM KM zw,XAyz}Bz"III25٢` a=9Q > G٣4Gy% %> -Nusing accuracyPremultiplier from configJ=J=6J9J9J=D#;J={:J9J9)M49-Uc?M4Y-o i->BIQU?-/D-n;-;-I4Y ]%!AYZj9mFNOT Ignoring new targets: 187.20 m.Bjm`Jjm`} ProNav: ac range: 187.199997 m, nav range: 194.370148 m, bearing: 175.598806 deg, approach rate: 0.152906 m/s, LOS rate: -0.196349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.745879 deg. 2j}:jl@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491171HeadingCmd: 4.812674 target range: 187.199997 and range: 187.20 m. jjjjihhhhfffrfbfT?ɛimL!C iufIq u;gɚqiqIu2=I}i}\qi}f;))EE*F%?2F!:F!BF%_0JF)"Ge=Ge=G=; 4$?I hG)B1OUu>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= F?= p=E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743346H5 e>I1  I5 II5 ~BI1 &I1 .I1 6I5 #<:I5 Fetzw,Anl.@Yn=@nd9n4>ynH#??@&!! %G٣!y-ǘ -> 5Nusing accuracyPremultiplier from config1=495g?=4Y5Lw i5?BAE-E?5(/D5 ;5* ;5U4MB MJ!AMEZjquFNOT Ignoring new targets: 187.20 m.Bj}Jj} ProNav: ac range: 187.199997 m, nav range: 194.436218 m, bearing: 175.513777 deg, approach rate: 0.175365 m/s, LOS rate: -0.225608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720188 deg. 2j:j@HeadingCmd: 4.812225 target range: 187.199997 and range: 187.20 m. jjjjihhhhfffrfbf9?ɛ!)L I ףɚiI2=Ii!iHb9))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997938G7:GBO> I zw, A:&@Y:i6@:w9:d>y:H C?༇???/6?@? ϵ?ɨ:&@:u;8yb}Bb$IdfAzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247164mMb@Mb@Mb@iii i)iYmw/?~jt?~jthymF?m=mDm A mZ@)iImAiymfAII:5٢ח< B=9Q > G٣yo > Nusing accuracyPremultiplier from config49Hk?4Y iEB&G?: ?=/D;;4 *!AZjFNOT Ignoring new targets: 187.20 m.BjpJjp ProNav: ac range: 187.199997 m, nav range: 194.512451 m, bearing: 175.419899 deg, approach rate: 0.170942 m/s, LOS rate: -0.210425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.693668 deg. 2ji:j@HeadingCmd: 4.811762 target range: 187.199997 and range: 187.20 m. jjjjihhhhK~Bfffrf!bf%@@ɛ`B> 隍I zoɚiI3=Ii{i-Ȥ))*Fu?2Fy:FyBF}0JFyzKMJKMh9KIKMKMBKY:K]sAJYK] 3 K]S}-KYKY"KYJ-J-;J)J)J-,';J-:J)J)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500683G }:G B O >zw,9A6@Y6a!@6׼96)>y6Hd?j?2 @g??^6?D? ?ɨ6@6BD;6zCy>}BB&IIJIJB5 PIT٢v.< vW=9vG(Q z>xx zG٣z4Gy~ܻ >  Nusing accuracyPremultiplier from config 49o?4Y iJBt?P/DC:e:\4! %!A!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 187.20 m.Bj]Jj]m ProNav: ac range: 187.199997 m, nav range: 194.581146 m, bearing: 175.334968 deg, approach rate: 0.192489 m/s, LOS rate: -0.237901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720483 deg. 2jmD#:jm@uHeadingCmd: 4.812230 target range: 187.199997 and range: 187.20 m. jqjqjqjqiyhyhyhhfffrfbf@ @ɛ_BqM 隵|I N|ɚiI83=Iii@*))*Fu?2Fq:FqBFuQ5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752245jHbH4<HI III~BI&I.I6I<:I FG5FGB)OM> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:53:16.0420  TRx dataTimestamp_ set to:1736365997.296570 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013177izw,)TAy}B+IMb@Mb@Mb@ )YHzG?/$?{Gz?y=J?,=#< A C@)@I AyAII٢؎< .=9Q > G٣y > Nusing accuracyPremultiplier from config49s?4Y6 iSBJ?:/?g/D@#; ;4B !AE iIiZjFNOT Ignoring new targets: 187.20 m.BjyJjy ProNav: ac range: 187.199997 m, nav range: 194.668564 m, bearing: 175.228694 deg, approach rate: 0.179512 m/s, LOS rate: -0.218136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.656511 deg. 2j:j@HeadingCmd: 4.811114 target range: 187.199997 and range: 187.20 m. jjjjihhhhC~Bfffrfbf u @ɛU^BUL9 Y隝I bɚiIkv3=Ii:i-%))*F?2F:FBF95JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255809G5 *G1 Bi O >zw,mAzK.JK.]9K,K.K.y ~BCI 5=5p=IMIMp;5uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:53:16.0420 LVL= 29568, 30305, 16162, 32755, AGC= 61, IDX= 94,-0.36, 1.875, 0.985, 2.835, 2.009, PHS=-0.046,-0.976, 0.823, RAW= 178.9, 2.6, CAL= 179.1, -5.8, ROT= 330.9, 5.8 Ygot valid direction response: 19:53:16.0420 LVL= 29568, 30305, 16162, 32755, AGC= 61, IDX= 94,-0.36, 1.875, 0.985, 2.835, 2.009, PHS=-0.046,-0.976, 0.823, RAW= 178.9, 2.6, CAL= 179.1, -5.8, ROT= 330.9, 5.8 PDAT read: Bearing 330.9, 5.8 (Local) ~Local bearing/azimuth received: Bearing 330.9, 5.8 (Local) DAT read: Range 10 to 50 : 161.8 m (Round-trip 215.8 ms) speed 0.5 m/s *DAT read: user:925> BDAT read: Tx time:19:53:17.1721 $Ping request sent.11 5G٣9y9 =>iqqquaǬą?[g.]?iT?)qIqiqqqq Nusing accuracyPremultiplier from configA49E-x?4YE iE[B%?E|/DEl;E;Eƥ4) -v A)ku\Q?ku5 kq ku$rA:ku!CBku CZkumF@"u07b6qxc*]S#@uɵ6qf;?JkukڿRkut*uX[(d/+@I  I I I &I .I 6I Ͱ<:I FG b(GBO>zw,A6ؒ@Y6@6 96Mz>y6H`fϸ?`Ǒ?p`j?jy?g^? ?@ݶ?ɨ6ؒ@6;6yCy>3~B>TIIJIJ995٢R= RI=9R Q R>TT G٣5Gy犼 > Nusing accuracyPremultiplier from config 49 F|?4Y E i dB? /D : q: 4! - A)ZjIUFNOT Ignoring new targets: 187.20 m.BjUTJj]TJJ9J0JJ+;J :Jـ3JJ>Will construct direction to contact in vehicle frame from tetrahedron phase data.i AMmII Uo|ɚYiYI3=Iisi))*F?2F:FBFD5JFu GvAA I PYvAy BG p Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >4zw,kA6/Ē@Y6ә@696m=y6H 0?Ҝ? </`j? 2? !? þ?`t?ɨ6/Ē@6E;6{CyB`~BFpIMb@Mb@Mb@ )Y(\?:v?/$?yG?T=< A Z@)QAIAy=Aim@AIuIu/5٢= ==98bQ > G٣y, > Nusing accuracyPremultiplier from config49?4Y ipB2H?:ᴿ?/Dz;a|;x4 SAZj)5FNOT Ignoring new targets: 187.20 m.BjEzJjEze ProNav: ac range: 187.199997 m, nav range: 194.902390 m, bearing: 174.946982 deg, approach rate: 0.186655 m/s, LOS rate: -0.219354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.692170 deg. 2je:je@uHeadingCmd: 4.811736 target range: 187.199997 and range: 187.20 m. jqjqjqjqiqhyhyhyh}~Bfffrfbf?ɛ[BU$ QU{IY e/ɚaiaIeI3=Imimψimi&))zK KK K K K BKsA:KtA*FE?2FA:FABFE_0JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.G%GBOn> I zw,AFD@YF@F^9F#%=yFH2J?`?##G?'??@? ?ɨFD@Faf;F|CyR~BRII^fI^5٢f> fW=9fKQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rt?v4Yr ir{BtzXz?r/Dr:r:r4~B ~A~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 187.20 m.Bj56Jj56E ProNav: ac range: 187.199997 m, nav range: 194.973129 m, bearing: 174.863098 deg, approach rate: 0.190598 m/s, LOS rate: -0.225932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.723627 deg. 2jE:jE=@MHeadingCmd: 4.812285 target range: 187.199997 and range: 187.20 m. jIjIjQjQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.iQhihqhyhyfyfyfyrfbfY Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499475Hzw,XA 0I0:♒@Y:Q@:59:>y:HV߶?? M ?Vš?s? M? V?ɨ:♒@:;:{Cy^~B^IMb@Mb@Mb@ )YV-?Mb? G٣5Gyw > Nusing accuracyPremultiplier from config49?4Yֺ iB=?:a?/D;;¦4 AZj FNOT Ignoring new targets: 187.20 m.BjoJjo- ProNav: ac range: 187.199997 m, nav range: 195.055298 m, bearing: 174.772280 deg, approach rate: 0.189682 m/s, LOS rate: -0.209561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.702849 deg. 2j-:j-E@5HeadingCmd: 4.811923 target range: 187.199997 and range: 187.20 m. j9j9j9j9i9h9h9hAhEBfAfAfIrfIbfM?ɛ}WB}v y隅/I süɚiI3=Iifi\i)I)QmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749168*F2F:FBFJFGKG B O >zK N KK h9K K K RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000150Zuzw,AAR1@YR@R9R^>yRH Ѷ??@&?4?oR?z?`ɳ?ɨR1@R<܉;RzCy^~B^IIfIf?15٢E> EQ=9Ew':Q E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]R i]Bamnm?]/D]:]C:]rɦ4uB u AqZjFNOT Ignoring new targets: 187.20 m.BjlJjl ProNav: ac range: 187.199997 m, nav range: 195.129623 m, bearing: 174.690528 deg, approach rate: 0.188094 m/s, LOS rate: -0.206809 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.730026 deg. 2j :j(@HeadingCmd: 4.812397 target range: 187.199997 and range: 187.20 m. jjjjihhhhfffrfbf@ɛ%VB%ƃ !%I! - ļɚ)i)I-3=I5i5i5i)1)9 ]5$?Ieh*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255606G :_G H1 I1  I5 II5 MBI1 &I1 .I1 6I5 y<:I5 FBIJIRIZIbIjI4By O >Y{w, A:@Y:k@:9:] >y:H?`?`y ,?U?@? k?@?ɨ:@:<;:xCyR.BRIIZzIZ'5٢b> bS=9b:Q f>dd fG٣dyj5; n> rNusing accuracyPremultiplier from configpv49r(?v4Yr irBtzQz?r/Dre:r :r8Ц4| ~/AEZj!%FNOT Ignoring new targets: 187.20 m.Bj-MrJj-Mr= ProNav: ac range: 187.199997 m, nav range: 195.204086 m, bearing: 174.609427 deg, approach rate: 0.194572 m/s, LOS rate: -0.211835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.731980 deg. 2j=a:jEo@EHeadingCmd: 4.812431 target range: 187.199997 and range: 187.20 m. jAjIjIjIiIhIhIhQhQfQfYfYrfabfes@J JJJJ(;JJJJ<J<JJɛTBsټ 隭I GļɚiI3=IiZiaY))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526422*F?2F:FBF0JF"G]=G]> aIehGm_GI BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ե ?ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760514τ {w,'A:G@Y:@:9:Z >y:H4:? ? =`z@Q?@]?|?yZ?`?ɨ:G@:;:yCyb^Bb IMb@Mb@Mb@ )YMbX?p= ף?{Gz?y*?=#= Z@)@IyAI|Ib(5٢5= 55=9=xQ =>AA EG٣E5GyMߗ: M> UNusing accuracyPremultiplier from configQ]49U?]4YU iUB]+?]:ee?U0DU;UY;Uئ4mB mAmEZjFNOT Ignoring new targets: 187.20 m.BjIWJjIW ProNav: ac range: 187.199997 m, nav range: 195.285660 m, bearing: 174.524320 deg, approach rate: 0.180477 m/s, LOS rate: -0.188218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.719972 deg. 2j,:j@HeadingCmd: 4.812222 target range: 187.199997 and range: 187.20 m. jjjjihhhhBfffrfbf@e@ɛ RB  PGuj{w,AA2G@Y2™@2_92 >y2H`?Њ? ¿O`?:??@c??ɨ2G@2;2zCy>B>,IIFzIF'5٢Rp> Rh=9V;:Q V>TT VG٣TyZK; Z> ^Nusing accuracyPremultiplier from config\b49^>?b4Y^ i^ƓBdf籿f?^0D^;^G;^?ަ4h jAhzB*** querying acoustic contact ***jxjxeWill construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:53:19.7890 mTRx dataTimestamp_ set to:1736366001.072732mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265341ZjFNOT Ignoring new targets: 187.20 m.BjWJjW ProNav: ac range: 187.199997 m, nav range: 195.349792 m, bearing: 174.458173 deg, approach rate: 0.182763 m/s, LOS rate: -0.188442 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776811 deg. 2jS:j@HeadingCmd: 4.813213 target range: 187.199997 and range: 187.20 m. jjjjihhh h f f frfbfXk @ɛ]PBe靼 ae=Ia eüɚaiiIm|*3=Imiuiup;))HI ISIIBI&I.I6IȰ<:I F*F2F :F BF K5JF JJJ2JJ,';JJc3JJ1<J1<JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518482GE KGe ?Ge >GQ B O > A IA ߗ{w,r[Ae@YeЙ@em9e>yeH`?8?I¿ `J0?ࡷ?? !??ɨe@eB;e|CyޭBޭ<IMb@Mb@Mb@ )YA`"?A`"?~jt?y?Y==` A )QAIy=AII٢4[= ,=99Q > G٣yCi; > Nusing accuracyPremultiplier from config49^?4Y i֓B-?-:-Ჿ-?'0D.<-<49 =JA9ZjamFNOT Ignoring new targets: 187.20 m.Bjm=Jjm= ProNav: ac range: 187.199997 m, nav range: 195.425690 m, bearing: 174.377971 deg, approach rate: 0.156964 m/s, LOS rate: -0.165801 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.734677 deg. 2j:j@HeadingCmd: 4.812478 target range: 187.199997 and range: 187.20 m. jjjjihhhhBfffrfbf @@eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:53:19.7890 LVL= 22592, 24641, 11490, 29267, AGC= 63, IDX= 415,-0.43,-2.507, 2.905,-1.548,-2.358, PHS=-0.062,-0.974, 0.807, RAW= 179.2, 3.0, CAL= 179.3, -5.5, ROT= 330.7, 5.5 Ygot valid direction response: 19:53:19.7890 LVL= 22592, 24641, 11490, 29267, AGC= 63, IDX= 415,-0.43,-2.507, 2.905,-1.548,-2.358, PHS=-0.062,-0.974, 0.807, RAW= 179.2, 3.0, CAL= 179.3, -5.5, ROT= 330.7, 5.5 PDAT read: Bearing 330.7, 5.5 (Local) ~Local bearing/azimuth received: Bearing 330.7, 5.5 (Local) DAT read: Range 10 to 50 : 159.4 m (Round-trip 212.6 ms) speed 0.6 m/s *DAT read: user:926> BDAT read: Tx time:19:53:20.8722 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:53:20.8714 {w,xuA>ϒ@Y> ߙ@>9>Wu>y>H`ϒ@>;>yCyvBv^II-{I-'5٢5G> ]h=9]-9Q ]>aa eG٣e5Gymq; m> uNusing accuracyPremultiplier from configq49u~?4Yu iuB?u50Du;u;u4 pAk R?k r k kdA:kfCBkQCZkF@"6Otv;7kv3cz!!@073¿,TYl?JkۿRk[*i?ac @B_-"H1?EII Ma(¼ɚIiIIMi2=IUiU2i]4)Y)Y*F2F:FBF(5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}=}<HI III%BI =&I.I6I<:I FG% .-G B! O= >#{w,PA6ʒ@Y6#ڙ@6c96b>y6H`c?o?|¿@8??r?L? ?ɨ6ʒ@61;6xCy>BBlIIJTIJ5٢Ru= RU=9RHQ R>TT VG٣TyZ=κ Z> Nusing accuracyPremultiplier from config\49^ѣ?4Y^n i^B?^C0D^QT<^ ;^k4) -A)ZjQUFNOT Ignoring new targets: 159.40 m.BjemJjemu ProNav: ac range: 159.399994 m, nav range: 169.622482 m, bearing: 177.176003 deg, approach rate: 0.139552 m/s, LOS rate: -0.207872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750580 deg. 2ju:j}@HeadingCmd: 4.812756 target range: 159.399994 and range: 159.40 m. jjjjihhhhfffrfbf?ɛLBf*  .>I W@ɚiIG2=Iiib))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JF IGm׹GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.){w,D4ARے@YR1@R9Rof >yRH`?`?P D? ?B?@5 G٣yd; > -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config)=49-ҧ?=4Y-n i-B=+:9=:=iE?-T0D-(O;-2>-4M!B MAMEZjFNOT Ignoring new targets: 159.40 m.BjufJjuf ProNav: ac range: 159.399994 m, nav range: 169.683243 m, bearing: 177.087166 deg, approach rate: 0.137855 m/s, LOS rate: -0.201484 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.708773 deg. 2jF :j@HeadingCmd: 4.812026 target range: 159.399994 and range: 159.40 m. jjjjihhhhfff rf bfů?ɛ]KBe64 aecB>Ia eӿɚiI1=IiiM))J} J}6J}0JyJ}(;J}{:J}ـ3Jya@a@a@a@zKQJK9KKK*FI2FQ:FQBFQJFQ"GYG]=Will construct direction to contact in vehicle frame from tetrahedron phase data. IhG Ga By O >z0{w, A2@Y2@2J92a@ >y2H`#??\`w@"?@?/(?@? ?ɨ2@2n;2{Cy88IF.IF5٢N N[=9R7 :Q R>PP VG٣V5GyV; V> ^bBottom track data is 0.8 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb49Z?b4YZ iZ Bb :`fg:f%f?Zb0DZR6;ZL?Z4h jAhvB*** querying acoustic contact ***jtjtZj|FNOT Ignoring new targets: 159.40 m.Bj `Jj `]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 159.399994 m, nav range: 169.731873 m, bearing: 177.017207 deg, approach rate: 0.136603 m/s, LOS rate: -0.196460 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765371 deg. 2j:j5@HeadingCmd: 4.813014 target range: 159.399994 and range: 159.40 m. jjjjihhhhfffrfbf 5?ɛ%JB%Y !%B>I! -5ɚ)i)I-)1=I5i5*i5)1)QHI IIIXBI&I.I6Iݰ<:I FE}K@=*F12F1:F1BF1JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755886) U ~G} `wA A 6$?I Y `wAy BG WCG ?G #?G B O >n7{w, Ab@Yb@b9bp>ybH ,?@?"%¿` ? w?[???ɨb@bV9;byCyv Bv~I-only read 2 of 4 data items for bottom velocity. Device response is::BS, +64, +510, IeI15٢< &=9;Q > G٣y < > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49?4Y iB9;:?u0Dgk;H?t4 AZj)-FNOT Ignoring new targets: 159.40 m.Bj5`Jj5`E ProNav: ac range: 159.399994 m, nav range: 169.800507 m, bearing: 176.920865 deg, approach rate: 0.139580 m/s, LOS rate: -0.195851 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.686278 deg. 2jEi:jE@MHeadingCmd: 4.811633 target range: 159.399994 and range: 159.40 m. jIjIjIjQiQhQhQhQhYfYfYfYrfYbfe@ɛIBͳ$ 隝RN>I &ɚiI'1=Ii83i))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008411EG=*F!2F!:F)BF)JF)J J <J 1J J J :J 3J G] zK JK h9K K K G B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259529=={w,A6h.@Y6=@6 96M.>y6H`~? |?t1¿``n?p?@/?L?z?ɨ6h.@6 ;4yBBBvI)D DDFAIJiIJ5٢R V_=9Vѡ;Q V>XX ZG٣XyZ #< Z> `I` jbBottom track data is 1.7 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn49f?n4Yf@ if(Br9pv:v+v?f0Dfx;f?f94"B AEZj1=FNOT Ignoring new targets: 159.40 m.BjE]JjE]U ProNav: ac range: 159.399994 m, nav range: 169.853043 m, bearing: 176.848749 deg, approach rate: 0.141176 m/s, LOS rate: -0.193730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758908 deg. 2jU:jUI@]HeadingCmd: 4.812901 target range: 159.399994 and range: 159.40 m. jYjYjajaiahahahihifififirfqbfu @ɛAE# IMA>II MdﻼɚIiIIM0=Iuiu_i}xR:)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514400E3=HI IIImBI =&I.I6Ið<:I F*FM?2FQ:FQBFQJFQG5 pG B O= >;'E{w,AA:Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763546v$F@YvU@v9vy>yvH;?z?`8¿`G?a?W???ɨv$F@vX;vzCyBlI I        Mb@Mb@Mb@ )Y r?p= ף?Mbpy?= A C@)@IyAIqI#5٢/ =9H;Q > G٣5GyZ; > Nusing accuracyPremultiplier from config49p?4Y^  i.BT:?:Ъ?0D;;4 'A Zj)5FNOT Ignoring new targets: 159.40 m.Bj=AJj=AM ProNav: ac range: 159.399994 m, nav range: 169.933014 m, bearing: 176.759050 deg, approach rate: 0.150578 m/s, LOS rate: -0.168815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.706217 deg. 2jM:jM@UHeadingCmd: 4.811981 target range: 159.399994 and range: 159.40 m. jQjQjYjYiYhYhahahe&Bfafifirfibfm@@ɛSE 隝'1>I }ɚiI0=IiniCa>;)))E9E9*E9"E9%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015555*F ?2F :F BF JF JEJEAJAJAJE%;JE/:JAJAG9GrAGsAzKUFJKQKQKUKU -/($  lGBO?,M{w,6AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:53:23.5506 TRx dataTimestamp_ set to:1736366004.856578checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268492 QIQyUBUWIIm{Im'5٢uG }-=9}Q }> G٣y > Nusing accuracyPremultiplier from config49??4Y i3B?0DL::4$B AEZjFNOT Ignoring new targets: 159.40 m.Bj"?Jj"? ProNav: ac range: 159.399994 m, nav range: 170.003510 m, bearing: 176.680435 deg, approach rate: 0.149908 m/s, LOS rate: -0.167104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.739442 deg. 2j]:j@HeadingCmd: 4.812561 target range: 159.399994 and range: 159.40 m. jj j j i hhhh!f!f!f)rf)bf- @ɛUHBU^_ Q]@>IY ]"gɚYiYI]:0=IiK<i-;)) *F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519445jHbH<HI IIIgBI =&I.I6I<:I FBIyJIyRIyZI} =bIyjI}Ț4G ;G B O5 >S{w,rPAB@YB+@B9Bv>yBHy?u? ¿B#?? ?Z??ɨB@B;BwCyNBN7IIVIV +5٢^r bk=9b< UBDAT read: Tx time:19:53:24.6722 ]$Ping request sent.] Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:53:24.6714 Z{w,;jAz֌@YzE@zTټ9zt >yzH`m?t?`?@?)?`??ɨz֌@z`L;zxCyB$IMb@Mb@Mb@ )Y rh?Q? rhyC ?u=C Z@)IAyfAII,5٢d 9=9gN;Q > G٣5Gym; >  Nusing accuracyPremultiplier from config 49ņ?4Yi i8B- ?:U?0Dp;1;$4! % A)]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 205.699997 m, deltaT: 3.784867 s, deltaX: 46.300003 m, approachRate: 12.232927 m/s, rangeRepo size: 4ZjY]FNOT Ignoring new targets: 159.40 m.BjeIJjeIu ProNav: ac range: 159.399994 m, nav range: 170.126587 m, bearing: 176.544503 deg, approach rate: 0.157443 m/s, LOS rate: -0.176466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741534 deg. 2ju6:ju@}HeadingCmd: 4.812598 target range: 159.399994 and range: 159.40 m. jyjyjyjihhhhBfffrf`fi@bf?ɛIBİ n=I yɚiI/=IiMiG2 <))J= J=<J9J9J=);J=:J9J9*FU?2FQ:FQBFU0JFQG]<MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQzKU=OKU9KQKUKUf)7$lg8! GBOn> aIa`{w,HA2j@Y2)z@2p92K >y2H@^?{? ?y?@. ?H?@?ɨ2j@2U;2yCyBUBBI)D DDDIJeIJ15٢b b_=9f<Q f>dh jG٣hyj]: j> rNusing accuracyPremultiplier from configlr49niɆ?v4Yn! in9Btv߫v?n0Dn@:n:n+4x ~A|Zj!-FNOT Ignoring new targets: 159.40 m.Bj-;JJj-;JWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 159.399994 m, nav range: 170.183731 m, bearing: 176.479768 deg, approach rate: 0.156126 m/s, LOS rate: -0.176805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.781048 deg. 2j:js@HeadingCmd: 4.813287 target range: 159.399994 and range: 159.40 m. jjjjihhhhff!f!rf!bf%߼?H]c>IY I]II]NBIY&IY.IY6I]ɰ<:I] FɛP A I "g{w,Ay~0B~IMb@Mb@Mb@ )YZd;?V-?/$y?m= A @)v@IAyAIsIe$5٢z <=9Q > G٣y > Nusing accuracyPremultiplier from config49 Ά?4YN( i:B?:?0D;w;24 ^AZjFNOT Ignoring new targets: 159.40 m.Bj_Jj_- ProNav: ac range: 159.399994 m, nav range: 170.255478 m, bearing: 176.394893 deg, approach rate: 0.165300 m/s, LOS rate: -0.195463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720672 deg. 2j-%:j-@HeadingCmd: 4.812233 target range: 159.399994 and range: 159.40 m. jjjjihhhh0Bfffrfbf9?ɛQUcƼ Y]ʼIY ]^ɚYiYIe//=Ieieimev;))EEsAWill construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FA:FABFEA5JFAGI GIG;GB O%o>Lm{w,rŷAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKOK+9KKKy޽B޽I -7$?I)IZIQ5٢= =B=9AQ E>AA MG٣M5GyI M> eNusing accuracyPremultiplier from configa}49e҆?}4Ye. ie;B?e0De ;e<;e94 AEZjFNOT Ignoring new targets: 159.40 m.Bj^Jj^ ProNav: ac range: 159.399994 m, nav range: 170.325821 m, bearing: 176.312156 deg, approach rate: 0.165512 m/s, LOS rate: -0.194595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.727078 deg. 2j:j@HeadingCmd: 4.812346 target range: 159.399994 and range: 159.40 m. jjjjihhhhfffrfbf H?ɛzݼ I /ɚ!i!I%/=I%i-oi))))1*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HiIi ImIImBIi&Ii.Ii6Im<:Im FG ~q;G B O- >3t{w,A>j@Y>:z@><9>d>y>H_??%^?@W? ??@?ɨ>j@>R ;`d fG٣dyf{7 f> nNusing accuracyPremultiplier from confighn49jֆ?r4Yj`4 ihprr?j0Dj ;j ;j*@4v&B zAzE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 159.40 m.Bj%`Jj%`= ProNav: ac range: 159.399994 m, nav range: 170.384750 m, bearing: 176.243211 deg, approach rate: 0.167889 m/s, LOS rate: -0.196355 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.768424 deg. 2j=:j=@EHeadingCmd: 4.813067 target range: 159.399994 and range: 159.40 m. jAjAjAjIiIhIhIhIhQfQfQfQJJ:JJJ$;J:JJJV~ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266068az{w,AB)e@YBt@Bә9Bp>yBH|3?ā?m ذ?{?’???ɨB)e@Bv;BxCyN~BNIUMb@Mb@Mb@QQQ Q)QYUn?)\(? rhyUV.?UGa=UCU3 A Q)U`@IUhAQyUzAImIm65٢}_ }?=9}`;Q }> G٣yѺ > Nusing accuracyPremultiplier from config49jۆ?4Y; iEm>*F?2F:FBF`0JF"G=Gp==Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518191zKBJKKKK !6ELPTG; 1I9GBO>F{w,WA2V@Y2f@292>y2H??V66?d9y? ?ʯ?`??ɨ2V@2$;2yCyB~BBIIJIJV85٢R VY=9VL!;Q V>TX ZG٣Z5GyZ蚻 Z> Nusing accuracyPremultiplier from config%49߆?%4YB i=B!%-?1D;G:nN41 5A1ZjQ]FNOT Ignoring new targets: 159.40 m.Bje}Jje}} ProNav: ac range: 159.399994 m, nav range: 170.530243 m, bearing: 176.062122 deg, approach rate: 0.178328 m/s, LOS rate: -0.221907 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.718057 deg. 2jK:jq@HeadingCmd: 4.812188 target range: 159.399994 and range: 159.40 m. jjjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770169fffrfbfZ7@ɛ >=s-I +ɚiIB0=Ii~il;))HI ILIIBI&I.I6Iٰ<:I F*Fy2F:FBFo0JFGO;PExceeded connect timeout, disconnecting.JKw3 KS}.KK"KJ%J%7J%0J!J%d&;J%:J%ـ3J!J%<J%<J%;J%;GBO5 >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022141 G1 Y Y y B A IA p{w,4A6kF@Y6U@6N3965>y6Hi??y?B?K x? ?P?ʹ?ɨ6kF@6;6zCyn~BnIMb@Mb@Mb@ )Y-?+? rhy5>?= A @)I@IQAy@II>5٢| ;=9:Q > G٣y= > Nusing accuracyPremultiplier from config49$䆜?4YK i>B>?:߳?31D h;6g;U4 3AZj  FNOT Ignoring new targets: 159.40 m.BjyJjy% ProNav: ac range: 159.399994 m, nav range: 170.604065 m, bearing: 175.958627 deg, approach rate: 0.172781 m/s, LOS rate: -0.242127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.664839 deg. 2j-+&:j-@5HeadingCmd: 4.811259 target range: 159.399994 and range: 159.40 m. j1j1j1j1i1h9h9h9h=B~BfAfAfArfAbfE @ɛHBz eHI ɚiI@|0=I i-)i-׋*;)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:53:27.3470 TRx dataTimestamp_ set to:1736366008.642075checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277336*F2F:FBFp0JFG 1;G B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] A] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526130䢍{w,19AzK*iMK*9K(K*K*X\dv jWD/ xkc[VOEA=84410.,)(&"! n)@Yni9@n ש9n%>ynH:]? ?`QK ѻ?q{?}:?_X?(?ɨn)@nӫ;nwCyzk~BzwIIIp;5٢V S=9-ZQ > G٣y% %> -Nusing accuracyPremultiplier from config)549-膜?54Y-R i-?B9=R=?-E1D-:-:-\4E(B EAEEZjiuFNOT Ignoring new targets: 159.40 m.Bju[Jju[ ProNav: ac range: 159.399994 m, nav range: 170.670670 m, bearing: 175.864552 deg, approach rate: 0.172585 m/s, LOS rate: -0.243670 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.693075 deg. 2j:':j@HeadingCmd: 4.811752 target range: 159.399994 and range: 159.40 m. jjjjihhhhfffrfbf@8 @ Iɛ GB  ~\I jɚiI*0=Ii5i%7Hι)!)1Ei*F%?2F!:F)BF-1JF)GI GMtAWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IIIlBI =&I.I6I<:I FUDAT read: 19:53:27.3470 LVL= 22640, 21313, 9330, 27379, AGC= 59, IDX= 73,-0.04,-2.447, 3.018,-1.391,-2.291, PHS=-0.068,-0.927, 0.897, RAW= 181.9, 1.3, CAL= 182.2, -6.8, ROT= 327.8, 6.8 mYgot valid direction response: 19:53:27.3470 LVL= 22640, 21313, 9330, 27379, AGC= 59, IDX= 73,-0.04,-2.447, 3.018,-1.391,-2.291, PHS=-0.068,-0.927, 0.897, RAW= 181.9, 1.3, CAL= 182.2, -6.8, ROT= 327.8, 6.8 uPDAT read: Bearing 327.8, 6.8 (Local) }~Local bearing/azimuth received: Bearing 327.8, 6.8 (Local) DAT read: Range 10 to 50 : 203.0 m (Round-trip 270.7 ms) speed 0.0 m/s *DAT read: user:928> G] $; BDAT read: Tx time:19:53:28.4722  $Ping request sent. 9صQ2S.vd@'?yصKCرصpXصAS ٵr$)ٵjIٵ;iٵCٵOmٵˡe?ٵ+/K@ٵ޹< ڵK@)ڵIڵ@iڵ=ڱڱ۵b??;:?Zq?)۵U?I۵i۵ֿ۵=۱۱e :publishing transmit ping timeؑ m Fpublishing direction and range infoر9صQ2S.vd@'?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵b??;:?Zq?)۱I۱i۱۱۱۱܂{w,RABK@YB%@Bj9B">yBH`? ?@}W 8?@*~? l?\L??ɨBK@BM;BxCyNb~BNqIIVIV85٢r rN=9rQ v>tt vG٣v 5Gyzƻ z> ~Nusing accuracyPremultiplier from config|49~솜?4Y~-Z i|   ?~X1D~);~s6;~c49 =A9kȪE?kO k kSIA:kKCBkICZkoH@"e5O6U9iF0? nManaging dock network, ignoring radio surface power offQ2S.vd@'?JkֿRk=*z1i'F?yG^8hx)a??"k>*kIk5F`D?krO 2kBkk% kIBk*CkUD@JJ8JJJJ:JJJJJ;J;addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 203.000000 m, deltaT: 7.569932 s, deltaX: 43.600006 m, approachRate: 5.759630 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 159.40 m.Bj„Jj„5 ProNav: ac range: 159.399994 m, nav range: 170.738586 m, bearing: 175.768336 deg, approach rate: 0.163925 m/s, LOS rate: -0.232135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.686656 deg. 2j=P:j=@EHeadingCmd: 4.811640 target range: 159.399994 and range: 159.40 m. jAjAjAjAiAhAhIhIhIfIfQfqrfu`i@bf}$~?ɛFB dI cɚiI30=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:53:28.4714 I5i5i561)1)9 IhEu=*F ?2F :F BF n0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G- u4G5 sAG5 tAG BO5>{w,pAyzq~BzzIMb@Mb@Mb@ )YHzG? ףp= ?{Gzty=J?Q8=ף )I@y\@IfI5٢< &=9Q > G٣y > Nusing accuracyPremultiplier from config49O?4YSd iDBJ?:T?q1D ;;+l4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 159.40 m.BjϒJjϒ ProNav: ac range: 159.399994 m, nav range: 170.830200 m, bearing: 175.641054 deg, approach rate: 0.184865 m/s, LOS rate: -0.256701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.593551 deg. 2j,0:j@HeadingCmd: 4.810015 target range: 159.399994 and range: 159.40 m. jjjjih)h1h1h5)~Bf1f9f9rf9bf=?ɛEBnx 隽 TI LɚiI751=Iifi}) ) EWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.zK3OK9KKK &C#((%Ee?= 8$?I*F2F:FBF0JFG 2 G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.945288H I  I II 9BI  =&I .I 6I ܰ<:I FBIJIRIZIbI =jI˕n4Ɓ{w,˃Ab@Yb@b39b>ybH-? _?@.@K?l?%??`?ɨb@b;byCy~BII%|I%b(5٢MW= MR=9MQ M>QQ UG٣Qy]d ]> eNusing accuracyPremultiplier from configam49eS?m4YeRl ieGBimu?e1De ;e~ ;er4y }HAZjFNOT Ignoring new targets: 159.40 m.Bj\Jj\ ProNav: ac range: 159.399994 m, nav range: 170.901062 m, bearing: 175.540816 deg, approach rate: 0.192120 m/s, LOS rate: -0.271653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674599 deg. 2jn::j;@HeadingCmd: 4.811430 target range: 159.399994 and range: 159.40 m. jjjjihhhhfffrfbfH?ɛDBr !%DI! %¼ɚ!i!I%Tc1=I-i5Ki5)1)1E9E9*E9"E9J% J%5J!J!J%';J%:J!J!J%ށ<J%ށ<J%;J%;UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197406*Fe?2Fa:FaBFe1JFa"Gm=Gm>  I% hGU QҺG1 BA O] >9{w,qA6Z@Y6ϙ@6+ȼ96u>y6H.? ?պ:"?J?`? ?@"?ɨ6Z@6ܶ;6wCyB~BBIEMb@Mb@Mb@AAA A)AYE!rh?ˡE?:v?yElG?E'=ET G٣ 5Gy* > Nusing accuracyPremultiplier from config49=?4Yt iOBG?:?1Dj;;3z4*B AEZjFNOT Ignoring new targets: 159.40 m.BjJj ProNav: ac range: 159.399994 m, nav range: 170.972504 m, bearing: 175.435217 deg, approach rate: 0.172414 m/s, LOS rate: -0.254740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.658526 deg. 2j.:j@HeadingCmd: 4.811149 target range: 159.399994 and range: 159.40 m. jjjjih!h!h)h-C~Bf)f)f)rf1bf5`?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450564ɛ-BB- 15j#I1 5üɚ9i9I=}1=Imimximb1)i)q*FU?2FQ:FQBFU4JFQG-GBO=r>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701271zKM 3OKM +9KI KM KM O jQ6!|zwnjfa_ZVSQOJJIFEDA<:8434/..,(*(  I Ү{w,,A2з@Y2@Ǚ@2ͼ92O>y2H@з? ?Tq?z?-?@']?@+?ɨ2з@25;2vCyN~BRIIZIZ95٢bc= bX=9f$Q j>ll rG٣pyvZ4 v>  Nusing accuracyPremultiplier from config49?%4Y|| iWB!%-?1D…;t;ۀ41 5KA1ZjFNOT Ignoring new targets: 159.40 m.BjÉJjÉ ProNav: ac range: 159.399994 m, nav range: 171.038376 m, bearing: 175.338245 deg, approach rate: 0.163694 m/s, LOS rate: -0.240885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684385 deg. 2jQ%:j@%HeadingCmd: 4.811600 target range: 159.399994 and range: 159.40 m. j!j!j!j!i!h!h)h)h)f)f1f1rfbf?ɛ%AB-Zs 隭VI FļɚiIġ1=Iii8))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953297Hb>I III&I.I6I<:I FG 6G B O >ݻ{w, A6@Y6*@6Ѽ969>y6H?X? $?W?!? BQ? y?ɨ6@6;6xCyR~BRIIfIfs75٢v-= vG=9zqQ z>%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206845 G٣y< > Nusing accuracyPremultiplier from config49?4Y i_Bᶿ%?1D2<T<H4Q UAQZj IFNOT Ignoring new targets: 159.40 m.BjאJjא ProNav: ac range: 159.399994 m, nav range: 171.112061 m, bearing: 175.230091 deg, approach rate: 0.172618 m/s, LOS rate: -0.253257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.650871 deg. 2j-:j@HeadingCmd: 4.811015 target range: 159.399994 and range: 159.40 m. jjj!j!i!hhhhff!fIrfQbf]X@ɛ>B] I wrżɚ!i!I%t1=I-i-<i-UI))))*F?2F:FBF2JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457794G -,G B O >:{w,JAy (B IMb@Mb@Mb@ )Yx&1?L7A`?I +?yA?+=9< A @)Iy\@II%.5٢> 4=9Q > G٣ 5Gy > Nusing accuracyPremultiplier from config49`?4Y iiBA?:8?1D=; ;;؏4 AB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 159.40 m.Bj-_Jj5_= ProNav: ac range: 159.399994 m, nav range: 171.182053 m, bearing: 175.123160 deg, approach rate: 0.171027 m/s, LOS rate: -0.261183 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.654526 deg. 2jE?3JJ2J1JJ|";Jh:J3Ja@a@a@a@:j\@%HeadingCmd: 4.811079 target range: 159.399994 and range: 159.40 m. j!j!j)j)i)h)h)h1h5~Bf1f1f1rf9bf=s@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.713135ɛ=BdѼ hI /żɚiIų1=I%i%fi%{w, A6@Y6@6ݩ96N>y6Hj?@ؕ?`w?@?Q4?@??ɨ6@6&;6wCyJ[BJ I R=R=IV~IVE)5٢^ > ^^=9bWQ b>`` bG٣dyf f> nNusing accuracyPremultiplier from configlr49na?r4Yn inrBpvv?n1Dn;n9;nH4z,B zAzEZjFNOT Ignoring new targets: 159.40 m.Bj͇Jj͇ ProNav: ac range: 159.399994 m, nav range: 171.241257 m, bearing: 175.032134 deg, approach rate: 0.154499 m/s, LOS rate: -0.237458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.702207 deg. 2j":j-@HeadingCmd: 4.811911 target range: 159.399994 and range: 159.40 m. jjjjihhhhfffrfbf@ɛ5;B5 1=l=I9 =cżɚ9i9I=1=IEiEiE u)A)I*F2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:53:31.0803 TRx dataTimestamp_ set to:1736366012.420625checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214412 IGI G) B O >E{w,~&A6ߎ@Y6O@6c,96x) >y6H?T?`vX`DP??$?@L?T?ɨ6ߎ@6;6xCyNBN$I=Mb@Mb@Mb@999 9)9Y=7A`?l? rh?y=6?===C == A 9)9I99y=@II%.5٢Z=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466429 8=9Q >!! %G٣!y-[޺ -> uNusing accuracyPremultiplier from configq}49u ?}4YuY iuB}6?}:?u1Du7;u;u/4 RAZjFNOT Ignoring new targets: 159.40 m.BjJj ProNav: ac range: 159.399994 m, nav range: 171.311874 m, bearing: 174.926965 deg, approach rate: 0.158596 m/s, LOS rate: -0.236096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.659811 deg. 2j":j@HeadingCmd: 4.811172 target range: 159.399994 and range: 159.40 m. jjjjih!h!h!h%GBf)f)fIrfQbfU @ɛ9B- =I .ļɚ iI1=IMiUӹiUSz)Q)aE*F=?2F9:F9BF=m0JFA"GM=GM=J J<JJJ';J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:53:31.0803 LVL= 29216, 32241, 16546, 27699, AGC= 64, IDX= 276,-0.05, 0.383,-0.531, 1.436, 0.557, PHS=-0.086,-1.041, 0.877, RAW= 180.1, 3.0, CAL= 180.3, -5.5, ROT= 329.7, 5.5  Ygot valid direction response: 19:53:31.0803 LVL= 29216, 32241, 16546, 27699, AGC= 64, IDX= 276,-0.05, 0.383,-0.531, 1.436, 0.557, PHS=-0.086,-1.041, 0.877, RAW= 180.1, 3.0, CAL= 180.3, -5.5, ROT= 329.7, 5.5  PDAT read: Bearing 329.7, 5.5 (Local) G i ~Local bearing/azimuth received: Bearing 329.7, 5.5 (Local) 5 DAT read: Range 10 to 50 : 152.9 m (Round-trip 203.9 ms) speed 0.4 m/s = *DAT read: user:929>  BDAT read: Tx time:19:53:32.1723  $Ping request sent. )¿Wᅦ"?yح Cة ح rح } I G B O= >zK] D#MK] 9KY K] K]  ٭ @)٭ 3lI٭ @i٭ ٭ }?٭ `?٭ t,I@٭ PwV= ڭ eI@)ڭ ĽIڭ #@iڭ =ک ک ۭ ۀ:H?e.KI?-4?)ۭ {Y?Iۭ Yiۭ /ۿۭ ۩ ۩  :publishing transmit ping timeؑ  Fpublishing direction and range infoة 9ح (>)¿Wᅦ"?yة ة ة ة ٩ )٩ I٩ i٩ ٩ ٩ ٩ ٩ ک )ک Iک iک ک ک ۭ ۀ:H?e.KI?-4?)۩ I۩ i۩ ۩ ۩ ۩ -{w,@A2@Y2@2ĺ92 >y2H?๑?ʦ`GP?U?@@?b??ɨ2@2p;0y~B~RI  I hI 5٢-=C> 5X=9}Q }>y G٣ 5Gy=˹ > Nusing accuracyPremultiplier from config49?4Yf iB?2D ; ;Ϥ4-B *Ak;1fU?kb k k";A:kCBkCZkE@"!Κ,6]gbf9@(>)¿Wᅦ"?Jk/ۿRk*> embJ @Ey/-￿OS'?BI1 =jüɚ9i9IEH1=Iii@,|))HI IeIIBI&I.I6I9<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:53:32.1715 *F?2F:FBF0JFG! G B O >) C(W{w,ZA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:-@:>9:G >y:H@Ep??@S K?`p?? ʣ??ɨ:@:C͇;:vCB~GNvAy B pI EHYEvAyEBIU8IU@ 5٢e.= eG=9mQ m>iq uG٣q Iy > Nusing accuracyPremultiplier from config498?4Y iB?!2Dw; ;᫧4 hAEZjFNOT Ignoring new targets: 152.90 m.Bj kJj k ProNav: ac range: 152.899994 m, nav range: 163.622849 m, bearing: 175.399413 deg, approach rate: 0.160710 m/s, LOS rate: -0.261266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.679301 deg. 2jN3:j%@%HeadingCmd: 4.811512 target range: 152.899994 and range: 152.90 m. j!j)j)j)i)h)h)hhfffrfbf5?ɛ}5B}$ J>I  }¼ɚ i I 1=IiSi+))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >{w,`ttA6)~@Y6@696@ >y6H?J? Q@b@?@鶔? ^?]8?  G٣y& > Nusing accuracyPremultiplier from config49?4YŲ iB%?:g?22D};;4/B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.90 m.Bj}Jj} ProNav: ac range: 152.899994 m, nav range: 163.683975 m, bearing: 175.309879 deg, approach rate: 0.151552 m/s, LOS rate: -0.221899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.706687 deg. 2jI:j@%HeadingCmd: 4.811989 target range: 152.899994 and range: 152.90 m. j!j!j!j!i!h!h!h)h-Bf)f)JJ>JJJ%;J:JJfrfbf ?ɛ%4B%μ %=%y>I) -ɚIiIIM0=IUiUiUl)Y)YuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.EE yI}h*F2F:FBFF5JFGtA GsAzKKK]9KKKGM rG! B) Ou >H I  I II :BI &I .I 6I <:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230303i{w,MA2y@Y2B@2-92X >y2H?࿑? ֶ?xW?`?&?8?ɨ2y@2_;2yCy>1B>IIF6IF] 5٢N > N\=9RQ R>PT VG٣TyVú V> bNusing accuracyPremultiplier from config\b49^?f4Y^ i^Bdf~f?^A2D^:^:^4h jAlZjFNOT Ignoring new targets: 152.90 m.Bj {Jj {] ProNav: ac range: 152.899994 m, nav range: 163.740051 m, bearing: 175.228079 deg, approach rate: 0.150934 m/s, LOS rate: -0.220096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.729874 deg. 2je :je"@mHeadingCmd: 4.812394 target range: 152.899994 and range: 152.90 m. jijijijiiihihqhqhqfqfyfyrfbf`?ɛ3B0Ժ >I AɚiIZR0=Ii55 i5R )1)A*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482274 e9$?IaGňG B O% >{w, &A6}@Y6풙@6]96)>y6H.?? 2¿ '?@ ?@`?N?` ?ɨ6}@6n;6wCyRDBRI Z=Za=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734251Mb@Mb@Mb@ )Y|?5^?V-? rh?y?m=C =I A )v@IAyAI cI N5٢= %4=9%Q ->)) -G٣- 5Gy5*; 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=ǿ i=BM?M:M4M?=R2D=#;=;=n4 TAZjFNOT Ignoring new targets: 152.90 m.Bj%TJj%T] ProNav: ac range: 152.899994 m, nav range: 163.807617 m, bearing: 175.140156 deg, approach rate: 0.143017 m/s, LOS rate: -0.186032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.711526 deg. 2j]X:j]@eHeadingCmd: 4.812074 target range: 152.899994 and range: 152.90 m. jajajajaiahihihh?Bfffrfbf@3?ɛ1B@ m>Ii unɚqiqIu/=I}i}z"i}텼)y)*F?2F:FBF\0JFJJ7J0JJd&;J:Jـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986208 I G %uzK} JK} 9Ky K} K} G B O >z{w,!A2̪@Y2<@292=>y2HMg?@? t¿`=U??`W?l&?@?ɨ2̪@2lY;2yCy:UB:IIRIIR5٢^= bd=9bG\;Q b>dd fG٣dyfH[< j> nNusing accuracyPremultiplier from confighr49j?r4Yj ij˔Bprr?j_2Dju ;j ;jǧ4t zAxZjFNOT Ignoring new targets: 152.90 m.Bj ZJj Z ProNav: ac range: 152.899994 m, nav range: 163.862274 m, bearing: 175.070730 deg, approach rate: 0.150125 m/s, LOS rate: -0.190626 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766981 deg. 2j:jp@%HeadingCmd: 4.813042 target range: 152.899994 and range: 152.90 m. j!j!j!j!i!h)h)h)h)f)f1fqrfqbfu d@ɛ; >I pɚiIwe/=Ii#$ilD))ZHqRHqHc>I IIIBI =&I.I6I<:I FBI1JI1RI1ZI1bI1jI5ĭ,4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238358E@>=ER>E>*F ?2F :F BF 05JF "G >G = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494423 I G ^GBO>{w,AyXBII5`I55٢u:< u=9uQ u>yy }G٣}5Gy > Nusing accuracyPremultiplier from config49#?4YN iܔB?s2D"::Oѧ4 AZjFNOT Ignoring new targets: 152.90 m.BjgJjgm ProNav: ac range: 152.899994 m, nav range: 163.946716 m, bearing: 174.964127 deg, approach rate: 0.160706 m/s, LOS rate: -0.202776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655547 deg. 2jm) :j}@HeadingCmd: 4.811097 target range: 152.899994 and range: 152.90 m. jjjjihhhhfffrfbf@ɛ%0B%9 )-H>I) 5c-ɚiI_.=Ii &%iO))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.744523EU %|=*F 2F :F BF 3JF J J 4J 1J J $;J r:J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:53:34.8106  TRx dataTimestamp_ set to:1736366015.952960 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999619 I GhAzK5KK59K1K5K5GBO?*|w,ǟAyEhBEIMb@Mb@Mb@ )Yd;O?Q?Mb`?y?u=; A )~@IAy@I-VI-5٢== =!=99Q =>AA EG٣IyI U> ]Nusing accuracyPremultiplier from configQ]49Ug(?e4YU iUBe?e:eXm?U2DU_;UF;U2ڧ4u1B uDAuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.90 m.Bj%_Jj%_5 ProNav: ac range: 152.899994 m, nav range: 164.029205 m, bearing: 174.864594 deg, approach rate: 0.162234 m/s, LOS rate: -0.195658 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.676739 deg. 2j5G:j5@=HeadingCmd: 4.811467 target range: 152.899994 and range: 152.90 m. j9j9jQjQiQhQhQhYh]|BfYffrfbf @ɛ.BW; %|>I! %ɚ!i!I%#=.=I-i- 'i-3CP)))1HEb>IA IEFIIEBIA&IA.IA6IE<:IE FEYEY*EY"EYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250561*F ?2F :F BF 1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502136 Q IU hG KGBO>||w,T!A/@Y?@9^>yHG?x?¿ O?Y?Ks?Y??ɨ/@kڇ;騝wCyI-LI-5٢&N $=9 ;Q > G٣y= > Nusing accuracyPremultiplier from config49{-?4Yt iBF?2D>;;4 JAZjFNOT Ignoring new targets: 152.90 m.Bj^Jj^% ProNav: ac range: 152.899994 m, nav range: 164.114899 m, bearing: 174.767766 deg, approach rate: 0.172303 m/s, LOS rate: -0.194590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684857 deg. 2j-:j-@EHeadingCmd: 4.811608 target range: 152.899994 and range: 152.90 m. jAjAjAjIiIhIhIhIhQfQfQfYrfYbf] @ɛ-B`; 隍Y>I ɚiI-=Ii*4'iq:))E*FQ2FQ:FQBFU4JFQG]sA G]tAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 175.5 m (Round-trip 234.1 ms) speed 1.0 m/s *DAT read: user:930> BDAT read: Tx time:19:53:35.9239 $Ping request sent.>&|w,X;A6M@Y6G]@696v?>y6H%y?v?R¿`73?B?q?@=6?v?ɨ6M@6܇;4yBZBBIWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:53:35.9231 UMb@Mb@Mb@QQQ Q)QYUZd;?x&?U7=Ut G٣5Gy$< > Nusing accuracyPremultiplier from config4911?4Y) iB?:%?2D;;L4 AEaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 175.500000 m, deltaT: 3.784122 s, deltaX: 22.600006 m, approachRate: 5.972325 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 152.90 m.Bj^=Jj^= ProNav: ac range: 152.899994 m, nav range: 164.175125 m, bearing: 174.707055 deg, approach rate: 0.164299 m/s, LOS rate: -0.165558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.793123 deg. 2j=:j-@%HeadingCmd: 4.813498 target range: 152.899994 and range: 152.90 m. j!j!j!j!i)h)h)h)h5_Bf1ffrf5e@bf5@p?zKU.JKU9KQKUKU  ɛ,Bگ;  >I ɚiIG-=I%iMli&iMt;)I)Q*F2F:FBF_0JFGg{GqBO>HI IfIIȀBI&I.I6Iϰ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.6|w,8UA2P@Y2h`@292J=>y2H?kw?_`¿@L?@d??H??ɨ2P@2-};0yNTBRIIZGIZ5٢r vU=9v~Q v>xx zG٣xy~: ~> Nusing accuracyPremultiplier from config 495? 4Y iB?2D:G:4 A!ZjFNOT Ignoring new targets: 152.90 m.Bj5Jj5 ProNav: ac range: 152.899994 m, nav range: 164.238235 m, bearing: 174.643786 deg, approach rate: 0.158375 m/s, LOS rate: -0.158715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.785451 deg. 2jٻ:j@ HeadingCmd: 4.813364 target range: 152.899994 and range: 152.90 m. j j j j i hhh1h1f9f9f9rf9bfE@K?ɛ +BJ5J56J1J1J5,';J5{:J1J1J51I ;ɚiI,=Ii7%ik;)) Will construct direction to contact in vehicle frame from tetrahedron phase data. iIq*F?2F:FBFJFGm :GA BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.9|w,oA6Zi@Y6x@6^96T>y6HS?w?¿@x??@?=BBIeMb@Mb@Mb@aaa a)aYeNbX9?㥛 ?y&1|ye?e=e`e a)eI@Iaaye@I}3I} 5٢Խ @=9:Q > G٣yS; > Nusing accuracyPremultiplier from config499?4Y iB?:?2D;F;h4 AZjFNOT Ignoring new targets: 152.90 m.Bj{LJj{L  ProNav: ac range: 152.899994 m, nav range: 164.314621 m, bearing: 174.570461 deg, approach rate: 0.186322 m/s, LOS rate: -0.178772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.755317 deg. 2j a:j @HeadingCmd: 4.812838 target range: 152.899994 and range: 152.90 m. jjjjihhhh%fBf!f!f!rf!bf-?ɛ; $>I ~ɚiI%w,=I%i%$i-?;))))E9E9*F?2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data. ]:$?IYG g;G ?G >zK YKK ػ9K K K G B O > "|w,A6z@Y6@6-Tټ96>y6Hvݽ?@Rv?@)r?a?)??@i?ɨ6z@6;6wCyB)BBIIJ5IJ5٢RWܽ RZ=9R<;Q V>TT VG٣V5GyZ,; Z> jNusing accuracyPremultiplier from configdv49f >?z4Yf ifB|;?f2Df!;fj;f43B VAEUB*** querying acoustic contact ***jQjQZjiuFNOT Ignoring new targets: 152.90 m.HI IYIIBI&I.I6I<:I FBj%?Jj%?e ProNav: ac range: 152.899994 m, nav range: 164.382919 m, bearing: 174.505595 deg, approach rate: 0.176469 m/s, LOS rate: -0.167532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780669 deg. 2je:jee@mHeadingCmd: 4.813281 target range: 152.899994 and range: 152.90 m. jijijijiiihiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.hqhhfffrfbf`i`?ɛM*BUo QUǓ>IQ UɚQiYI],=I]ie3#ie <)a)a*F!2F!:F!BF%o0JF)~~G`wA .Y`wAyBJU JU 2JU 0JQ JU d&;JU h:JU ـ3JQ JU <JU <JU #;JU #;G O;- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761663 I II Gq By O >J(|w,ǢABg@YBק@B1ȼ9B} >yBHʾ?s?0\?$~? C??@?ɨBg@Bc;BuCyNBrIIEsIEe$5٢ z 5=9%;Q ->yy G٣y; > Nusing accuracyPremultiplier from config49lC?4Y$ iBħ?2D:\:44 AZjiFNOT Ignoring new targets: 152.90 m.BjEEJjEE ProNav: ac range: 152.899994 m, nav range: 164.469498 m, bearing: 174.424636 deg, approach rate: 0.184534 m/s, LOS rate: -0.172466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.732440 deg. 2j:j@HeadingCmd: 4.812439 target range: 152.899994 and range: 152.90 m. jjjjihhh!h!f!fifirfibfm`?ɛu >I \ɚiI+=I i =!i ^3<) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012820*Fy2Fy:FBFJFG 1X<Gy B O >v.|w,A6@Y6@6h96` >y6HN?@p?6W` ?(t?`pޖ?2??ɨ6@6؇;4yFBFmI pIpvWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266436=Mb@Mb@Mb@999 9)9Y=M?Q?{Gzy=n?=\==ף= A =@)9I=A9y=AIUiIU5٢m> mD=9u;Q u>qq }G٣yy}[; }> Nusing accuracyPremultiplier from config49*H?4Y iB?:-?2D;D; 4 AZjFNOT Ignoring new targets: 152.90 m.Bj]Jj]M ProNav: ac range: 152.899994 m, nav range: 164.547134 m, bearing: 174.349864 deg, approach rate: 0.201441 m/s, LOS rate: -0.193916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.750978 deg. 2jM:jU&@UHeadingCmd: 4.812762 target range: 152.899994 and range: 152.90 m. jQjYjYjYiYhYhYhaheBfafafirfibfmX@ɛĤ 隽Q>I ,rɚiI+=zKJK9KKKw$lR<( |ulbSIi]igp]<))*Fe?2Fa:FaBFe0JFaGmrA GmsAZHqRHu@AHyIy I}'II}BI} =&Iy.Iy6I}<:IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516542G !<G G sAG B Oe >]5|w,A68œ@Y6Ԛ@6A496 >y6HJ?Np? =`U`K?e?`,? xq?@?ɨ68œ@6&ʇ;6wCyBBBCIIJIJ/5٢RD Vl=9V;Q V?XX ZG٣Z5GyZ; ^? bNusing accuracyPremultiplier from config`f49bTL?f4Yb  i`hj⨿j?b2Db:b":b$4p rAtZjFNOT Ignoring new targets: 152.90 m.Bj~MJj~M ProNav: ac range: 152.899994 m, nav range: 164.615356 m, bearing: 174.284919 deg, approach rate: 0.188800 m/s, LOS rate: -0.179657 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.780432 deg. 2j:j]@HeadingCmd: 4.813277 target range: 152.899994 and range: 152.90 m. jjjjihhhhfffrfbf|@ɛIM IM >II uʢɚqiqIuy+=I}i}UTi}˹{<)y)JKO3 K(.KK"KJ=J=8J=1J9J=D#;J=:J=3J9J={<J={<J=;J=; IhWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769813*F2F:FBFO5JFGuzQ<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:53:38.5599  TRx dataTimestamp_ set to:1736366019.732689 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021756҇;|w,\ArƓ@Yr֚@r9r >yrH?mr?`^`YK?ң[?c?3?`3?ɨrƓ@ra;pyB7IMb@Mb@Mb@ )Y~jt?V-?y$?m=̼ A )3@Iv@yf@II)5٢t+ 6=9U4;Q >    G٣ y 9  > Nusing accuracyPremultiplier from config%49Q?%4Yz  iB%f%?%:-լ-? 3D;w;454B 5A5EZjaeFNOT Ignoring new targets: 152.90 m.Bjm}Jjm}} ProNav: ac range: 152.899994 m, nav range: 164.706680 m, bearing: 174.189380 deg, approach rate: 0.211607 m/s, LOS rate: -0.221251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.688733 deg. 2j}:j}@@HeadingCmd: 4.811676 target range: 152.899994 and range: 152.90 m. jjjjihhhh>Bfffrfbf  @ɛ? (=I ТɚiI7`+=Ii,ify<))*F?2F:FBF4JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273765Gy<G B O >zK5 NK5 9K1 K5 K5 <(    oB|w,T5 ABvœ@YBԚ@B9Bu>yBH`r?@|t?I'ఽ`@?D?e? ??ɨBvœ@BG;BuCyJtBJI)T TIjIjB-5٢r r_=9rf;Q r>tt vG٣tyvϹ z>H%a>I! I%II%bBI!&I!.I!6I!:I!BIJIRIZI =bIjI"T4 Nusing accuracyPremultiplier from configx49zV?4Yz izB!%۬%?z3Dz"!=eWill construct direction to contact in vehicle frame from tetrahedron phase data.im4=}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528473z"=z_!4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.90 m.BjHJjH ProNav: ac range: 152.899994 m, nav range: 164.781769 m, bearing: 174.111232 deg, approach rate: 0.168728 m/s, LOS rate: -0.175524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.740850 deg. 2j:j@HeadingCmd: 4.812586 target range: 152.899994 and range: 152.90 m. jjj j i h h hhfffrfbfͮ @ɛw 隭z=I DɚiIoV+=IiBiτw<))*F]?2FY:FYBFe4JFa"Gm=Gm=JU JU BJQ JQ JU $;JU :JQ JQ JU V~<JU V~<JU x;JU x; I h Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 19:53:38.5599 LVL= 20208, 23841, 15378, 25331, AGC= 65, IDX= 419,-0.34, 2.635, 1.733,-2.514, 2.801, PHS=-0.078,-1.021, 0.965, RAW= 181.6, 1.6, CAL= 181.9, -6.5, ROT= 328.1, 6.5 u Ygot valid direction response: 19:53:38.5599 LVL= 20208, 23841, 15378, 25331, AGC= 65, IDX= 419,-0.34, 2.635, 1.733,-2.514, 2.801, PHS=-0.078,-1.021, 0.965, RAW= 181.6, 1.6, CAL= 181.9, -6.5, ROT= 328.1, 6.5 } PDAT read: Bearing 328.1, 6.5 (Local)  ~Local bearing/azimuth received: Bearing 328.1, 6.5 (Local)  DAT read: Range 10 to 50 : 173.9 m (Round-trip 231.9 ms) speed 0.7 m/s  *DAT read: user:931>  BDAT read: Tx time:19:53:39.6739  $Ping request sent. @i V= 9 H]?rX'?Nw/?) ‰?I i 4׿ S  :publishing transmit ping timeء  Fpublishing direction and range info 9 VM[oe pQOna?y  ) I i G B O > ) I i 9 H]?rX'?Nw/?) I i H|w,$AZ@YZv@Z:9Z[1>yZH? }?  A?XC?t? ??ɨZ@ZZr;ZtCyvNBvIIIy/5٢%` %+=9-n;Q ->QQ UG٣U5Gy] # ]> Nusing accuracyPremultiplier from config49[?4Y iB{?-3D;;*4 6B vA Ek=WN?k=a9 k9 k=>A:k=-CBk=,CZk=WI@"=3gsie֗@=VM[oe pQOna?Jk=4׿Rk= S*=k-jΕe{R:QP"4=L^}F}Hjҵ1"k=*k=,k=ON?k={K9 2k=C-Bk9k= k=ABk=z$Ck=D@ addTargetRange:: Added new target pos. range: 173.899994 m, deltaT: 7.564192 s, deltaX: 21.000000 m, approachRate: 2.776238 m/s, rangeRepo size: 4  Added new target pos. range: 173.899994 m, bearing: 180.421350 deg, lat: 36.903167 deg, lon: -122.117420 deg, deltaT: 7.564192 s, deltaX: 21.000000 m, approachRate: 2.776238 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 173.90 m.BjJjeWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 173.899994 m, nav range: 164.478943 m, bearing: 175.540128 deg, approach rate: 0.000000 m/s, LOS rate: -0.175524 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.742667 deg. 2j:j@HeadingCmd: 4.812617 target range: 173.899994 and range: 173.90 m. jjjjihhhhfffrf̼e@bf@ ?ɛ-+B-Xn )5 =I1 5ɚ1i1I5Z+=I=i=?iE.1<)A)A*F2F:FBF4JFGy I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >/3P|w,@AFt@YFh@F29Fw>yFH@Ա?@?Jx`?c?쯑? %?@X?ɨFt@F3=;DyrBrIeMb@Mb@Mb@aaa a)aYe㥛 ?Q?{Gzye5?e\=eףe A e@)e@Iaayep@I}eI}15٢ >=9pٺQ > G٣y@ > Nusing accuracyPremultiplier from config49(a?4Yf iBu6?:;?@3DU;;E14 KAzKwMK+9KKKZjFNOT Ignoring new targets: 173.90 m.Bj  Jj   ProNav: ac range: 173.899994 m, nav range: 164.564713 m, bearing: 175.442224 deg, approach rate: 0.219357 m/s, LOS rate: -0.250260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.681630 deg. 2j+:j<@%HeadingCmd: 4.811552 target range: 173.899994 and range: 173.90 m. j!j!j!j!i!h)h)h)h-~Bf1f1f1rf1bf='?ɛae;Ҭ aeIa mɚiiiIme+=Iuiuiuj;)q)yjH<bH<HI III%BI&I.I6I"<:I F*F?2F:FBF_0JFG=<Will construct direction to contact in vehicle frame from tetrahedron phase data.GiBqO}>WV|w,ZA6B@Y6WR@696e>y6H#?c?~)`3?@:up?r?`F? ^?ɨ6B@6l;6vCy^B^IIfqIf#5٢n} rk=9r Q r?pt vG٣tyv v? Nusing accuracyPremultiplier from config|49~e? 4Y~% i|   ?~P3D~.:~:~V74 AZjAEFNOT Ignoring new targets: 173.90 m.BjMJjM] ProNav: ac range: 173.899994 m, nav range: 164.635803 m, bearing: 175.359756 deg, approach rate: 0.205845 m/s, LOS rate: -0.238683 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.727893 deg. 2j]#:j]@eHeadingCmd: 4.812359 target range: 173.899994 and range: 173.90 m. jajajajaiahihihihifqfqfyrfybf}8?ɛ,B?Ѽ 隭/I ZɚiI't+=Iii,:)) 5;$?I9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFun0JFyG2<GGrAGBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.O\|w,uwtA:@Y:*@:M9:l=y:H?c?>F?v?f)?ֿ?@?ɨ:@: q;:uCy\^IMb@Mb@Mb@ )Y?{Gz?I +yfF?#=94A )@I3@y3@IaIk5٢: >=9ӺQ > G٣5Gy: > Nusing accuracyPremultiplier from config49i?4Yt. iBF?:д?e3D};.|;>4 AZjFNOT Ignoring new targets: 173.90 m.BjfJjf- ProNav: ac range: 173.899994 m, nav range: 164.715210 m, bearing: 175.246945 deg, approach rate: 0.183966 m/s, LOS rate: -0.261230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636921 deg. 2j5G3:j5@=HeadingCmd: 4.810772 target range: 173.899994 and range: 173.90 m. j9j9j9j9i9hAhAhAhE4~BfIfIfIrfIbfU\?ɛ빼 隍,I tɚiI+=Ii{i))JJ;JJJJ:JJa@a@a@a@*F2F:FBFm0JF )I-hWill construct direction to contact in vehicle frame from tetrahedron phase data.G;GyBO^>zKE 2QKKE 9KA KE KE .k}x}|tndXTNRKU ?JKU >H I  I eII BI &I .I 9D6I <:I Fhc|w,LAR@YR@Rŏ9R&=yRHMH? .?i`?@A1t?1?@-o??ɨR@R;RwCnWill construct direction to contact in vehicle frame from tetrahedron phase data.yr~BrIIzIzs75٢p U=9% ;Q %>)) -G٣)y5ʻ 5> ENusing accuracyPremultiplier from configAM49Em?U4YEA6 iEBQUU?Ex3DE%-;E;EE4e8B eAeEZjFNOT Ignoring new targets: 173.90 m.BjWJjW ProNav: ac range: 173.899994 m, nav range: 164.786346 m, bearing: 175.145672 deg, approach rate: 0.184730 m/s, LOS rate: -0.262875 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.671502 deg. 2jh4:j@HeadingCmd: 4.811375 target range: 173.899994 and range: 173.90 m. jjjjihhhhfffrfbf੫?ɛʌ 3I ɚiI|+=Iii~s))*Fi2Fi:FiBFm0JFi IWill construct direction to contact in vehicle frame from tetrahedron phase data.GL:G B OM >~i|w,?TA\@Y@99=yHys??#*@ι?{t?Ց? g?`?ɨ\@7;騽vCy B IMb@Mb@Mb@ )Yq= ףp?l?Mb?yK?=<zA @)@I@y(@II?15٢%< %,=9-(B:Q ->)1 5G٣1y5k => ENusing accuracyPremultiplier from config9M49=pr?M4Y= @ i= BMK?M:MM?=3D=@;=;=M4Y ]A]E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 173.90 m.Bj陻Jj陻 ProNav: ac range: 173.899994 m, nav range: 164.872116 m, bearing: 175.018556 deg, approach rate: 0.181680 m/s, LOS rate: -0.269120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594044 deg. 2j8:j@HeadingCmd: 4.810023 target range: 173.899994 and range: 173.90 m. jjjjihhhhZ~Bfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɛ+BŴ 隵d I *4ɚiI+=Ii<iл))*F2F:FBF0JF"G=G=J J 7J J J %;J :J J G OP I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509201G B O >l{p|w,A^Ւ@Y^l@^89^!=y^H^??@@^=?u?`Ƒ?N?@C?ɨ^Ւ@^9ۇ;\yjBjIIrIr65٢z5d= zx=9~ 59Q ? G٣5Gy ~  ? Nusing accuracyPremultiplier from config49u?4YF i B!%趿%?3D;;S4) -VA)ZjQUFNOT Ignoring new targets: 173.90 m.Bj] Jj] m ProNav: ac range: 173.899994 m, nav range: 164.931839 m, bearing: 174.929742 deg, approach rate: 0.181289 m/s, LOS rate: -0.269498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.708843 deg. 2jm8:jm @uHeadingCmd: 4.812027 target range: 173.899994 and range: 173.90 m. jqjqjyjihhhhfffrfbf@ɛQ 隽|I HɚiI+=Iii| ))zK5|NK59K1K5K5KE>;5/$ *F2F:FBFD5JFGGiZHqRHqH}`>Iy I}FII}BI} =&Iy.Iy6I}ݰ<:I} FBOG>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761769)   1 ˤv|w,A 6Y4y6B>@Y>jϙ@>~9>+X=y>H@??@ds?@27y?O?U?`?ɨ>@>];>xCyF5BJIIRIR<55٢Zq= ZO=9^Q ^>\` bG٣`yb޻ b> jNusing accuracyPremultiplier from configdj49f=y?n4YfO ifBpr@r?f3Dfh-;f!.;fZ4t vAtZjFNOT Ignoring new targets: 173.90 m.BjJj- ProNav: ac range: 173.899994 m, nav range: 165.003067 m, bearing: 174.823397 deg, approach rate: 0.180056 m/s, LOS rate: -0.268713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.656291 deg. 2j-j8:j-@5HeadingCmd: 4.811110 target range: 173.899994 and range: 173.90 m. j1j1j1j1 Ii9hhhhfffrfbf`@ɛU*B]# Y] 'E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264397||w,IA62@Y6@6x96R>y6H\? k?#`?y?N?@?v?ɨ62@6(;6uCy>[BB IEMb@Mb@Mb@AAA A)AYES㥛?L7A`?/$?yE$F?E+=Eyy }G٣yy}6 > Nusing accuracyPremultiplier from config49|?4YW iBeF?:A?3D;;a4:B hAEZjFNOT Ignoring new targets: 173.90 m.BjJj ProNav: ac range: 173.899994 m, nav range: 165.076172 m, bearing: 174.711279 deg, approach rate: 0.170676 m/s, LOS rate: -0.261641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638988 deg. 2j3:j#@HeadingCmd: 4.810808 target range: 173.899994 and range: 173.90 m. jjjjihhhhz~Bfffrfbf `V @ɛ15z 1=D=I9 =䢼ɚ9i9I=+=IMiM3iM3E)I)Q*F2F:FBF_0JFGtA GtAJJ6JJJ$;J{:JJ IhWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:53:42.3072 LVL= 27504, 26993, 13922, 32323, AGC= 61, IDX= 407,-0.08,-3.075, 2.326,-1.969,-2.858, PHS=-0.129,-1.052, 0.886, RAW= 181.6, 3.5, CAL= 181.6, -5.0, ROT= 328.4, 5.0 Ygot valid direction response: 19:53:42.3072 LVL= 27504, 26993, 13922, 32323, AGC= 61, IDX= 407,-0.08,-3.075, 2.326,-1.969,-2.858, PHS=-0.129,-1.052, 0.886, RAW= 181.6, 3.5, CAL= 181.6, -5.0, ROT= 328.4, 5.0 PDAT read: Bearing 328.4, 5.0 (Local) ~Local bearing/azimuth received: Bearing 328.4, 5.0 (Local) DAT read: Range 10 to 50 : 171.8 m (Round-trip 229.1 ms) speed 0.4 m/s  *DAT read: user:932> BDAT read: Tx time:19:53:43.4223 $Ping request sent.zK .MK K K K He _>Ie C Ie SIIe BIe  =&Ia .Ia 6Ie "<:Ie Fu|w,A2d@Y2Գ@292m>y2H`Y6? ? eT՜?&.z?`?/??ɨ2d@2T;0y>BB!IIJxIJ&5~Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:53:43.4215 ٢= P=9nQ =>99 =G٣=5GyE5 E> MNusing accuracyPremultiplier from configIU49M|w,7)AyUB]EIMb@Mb@Mb@ )Yx?{Gz?y&1?yK7?ף<`<zA @)@Iy@IVI5٢h= -=9Q >! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495n?=4Y5h i5-B=7?=:EE?53D5;5c;5q4I MAIeB*** querying acoustic contact ***jijiZjquFNOT Ignoring new targets: 171.80 m.Bj*Jj* ProNav: ac range: 171.800003 m, nav range: 170.701813 m, bearing: 176.397294 deg, approach rate: 0.135986 m/s, LOS rate: -0.257325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643427 deg. 2j0:j@HeadingCmd: 4.810885 target range: 171.800003 and range: 171.80 m. jjjjihhhh~BfffrfbfIy LɚiI+=Ii SiwoW))*FQ2FQ:FQBFQJFQGu T I J J 1J J J %;J :J J GQ BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994427ɐ|w,MCA6匒@Y6U@6D968>y6H {??t` ?p~?4?@R?E?ɨ6匒@6Ɉ;4y>BBiIIF=IFw 5٢R6> R~=9R&cQ R ?TT VG٣TyZ Z ? ^Nusing accuracyPremultiplier from config\b49^?b4Y^n i^5B`b躿f?^4D^;^:^v4h jAhZjFNOT Ignoring new targets: 171.80 m.Bj Jj  ProNav: ac range: 171.800003 m, nav range: 170.741684 m, bearing: 176.321239 deg, approach rate: 0.123715 m/s, LOS rate: -0.235935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747075 deg. 2j!:j@HeadingCmd: 4.812695 target range: 171.800003 and range: 171.80 m. jjjjihhhhfffrfbf]g?ɛ-&B-s )-N>I1 U&ɚQiQIUZZ+=I]i]νieX)a)iEyE}rAzK.JK 9KKK*F 2F :F BF o0JF "G=G=jHbH<H I C I II BI &I .I 6I ݰ<:I  FBIJIRIZI =bIjI4Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247207GM*UG B) OM >|w,']A6s@Y6㏙@6s96|>y6H`??+@ ?$ׁ?? ?`?ɨ6s@6R1;4yR BRIIZ7IZ 5٢j= jG=9jFQ j>ll nG٣lyrr r> vNusing accuracyPremultiplier from configtz49vC?z4Yv;v iv>Bxz~?v4Dv& ;vT ;v}4I ZɚiI+=Iii}c))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499023*FY2FY:FYBF]0JFYG-GBO5->% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750246|w,}wA6㒒@Y6S@6T96 D >y6H?@?@@x#?}?< ?Y?Ͳ?ɨ6㒒@6`;4yR&BRI=Mb@Mb@Mb@999 9)9Y=E?/$?Mb?y=&?=<=== A =@)=I@I=`@9y=z@IMnIM."5٢== =5=9E:Q E>AA MG٣M5GyM; M> ]Nusing accuracyPremultiplier from configYe49]?e4Y]} i]IBe&?e:mxm?](4D];];]ƅ4q uAqZjFNOT Ignoring new targets: 171.80 m.Bj1uJj1u ProNav: ac range: 171.800003 m, nav range: 170.845245 m, bearing: 176.127391 deg, approach rate: 0.116799 m/s, LOS rate: -0.214365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684667 deg. 2j:j@HeadingCmd: 4.811605 target range: 171.800003 and range: 171.80 m. jjjjihhhhBfffrfbf@?ɛ $B ѷ  >I ɚiI*=Ii_ ip))! QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002366*F2F:FBF0JFG zK QJK 9K K K (-+%!    GY Bi O >H I C I II DBI &I .I 6I o<:I x F|w,ېA>@Y>@>)Y9>>y>H`o?K?qA ٷ?@Fu?⊒?@??ɨ>@>; vd=9v;Q z>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 49_? 4Y  iQB ?74D/;?;41 5A9ZjaeFNOT Ignoring new targets: 171.80 m.BjmurJjmur} ProNav: ac range: 171.800003 m, nav range: 170.888321 m, bearing: 176.050268 deg, approach rate: 0.118422 m/s, LOS rate: -0.211972 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.743876 deg. 2jy:j#@HeadingCmd: 4.812639 target range: 171.800003 and range: 171.80 m. jjjjihhhhfffrfbf~U@ɛ#B-; Ӯ>I zɚiIԋ*=Iiג!iF))E E >*F?2F:FBFT5JFGsA GrA YIYJJ?JJJD#;J&:JJJ{5|w,ҪAy޵QB޵II5aI5k5٢e,= u4=9}Q > G٣5Gy > Nusing accuracyPremultiplier from config49Q?4Y i\B?J4DX:{;4=B ZAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 171.80 m.Bj |vJj |v ProNav: ac range: 171.800003 m, nav range: 170.943939 m, bearing: 175.951530 deg, approach rate: 0.121426 m/s, LOS rate: -0.215495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.679072 deg. 2j:j@-HeadingCmd: 4.811508 target range: 171.800003 and range: 171.80 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf=@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758931ɛ"B ; >I >ɚ i I .*=Ii&#iM))*F?2F:FBF`5JFG yJ A IE hG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011086M|w,yA:@Y:@:9:]>y:H@+E?-?7¿I?e~Y?"?`q?@?ɨ:@:;:sCyFbBFIMb@Mb@Mb@ )Y7A`? G٣y'< > Nusing accuracyPremultiplier from config49L?4Y icB?:;?X4D;;4?B AEZjAMFNOT Ignoring new targets: 171.80 m.BjuYJj}Y ProNav: ac range: 171.800003 m, nav range: 170.982834 m, bearing: 175.879634 deg, approach rate: 0.102659 m/s, LOS rate: -0.189718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.759550 deg. 2j3:j`@HeadingCmd: 4.812912 target range: 171.800003 and range: 171.80 m. jjjjihhhh%Bfffrfbf` @zK}MK+9KKK:-  3cS$6~-u; ɛ]!BeP.< im>Ii uɚqiqIu)=ZHRHAAHI IIIBI&I.I6Iܰ<:I FIi#iZ))*F=?2FA:FABFE@5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:53:46.0541  TRx dataTimestamp_ set to:1736366027.301179 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263824G Gy B O >1A|w,mA>5@Y>@>q9>>y>H)??Z¿6 o?:? A?W?ɨ>5@>i;>tCyFoBJIIVdIV5٢^`= ^Z=9b.;Q b>`` fG٣dyf1< f> jNusing accuracyPremultiplier from configh pIpv49j\?v4YjY ijjBtvʺz?jf4DjAp;jp;j!4| ~A|Zj!%FNOT Ignoring new targets: 171.80 m.Bj-aJj-aE ProNav: ac range: 171.800003 m, nav range: 171.023056 m, bearing: 175.807226 deg, approach rate: 0.109764 m/s, LOS rate: -0.197552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758013 deg. 2jE:jE(@MHeadingCmd: 4.812885 target range: 171.800003 and range: 171.80 m. jIjIjIjIiIhQhQhQhQJeJe6JaJaJe $;Je{:JaJaJe|<Je|<Je;Je;fqfqfyrfybf} @ɛm< 隭>I qzɚiIS)=Ii#i)h))E]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515093*F5?2F9:F9BF=_0JF9"GE=GE=G %GBO$> Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 19:53:46.0541 LVL= 28144, 27505, 12354, 32755, AGC= 59, IDX= 70, 0.37,-2.428, 2.970,-1.307,-2.239, PHS=-0.101,-1.027, 0.929, RAW= 181.7, 2.4, CAL= 181.9, -5.9, ROT= 328.1, 5.9 E Ygot valid direction response: 19:53:46.0541 LVL= 28144, 27505, 12354, 32755, AGC= 59, IDX= 70, 0.37,-2.428, 2.970,-1.307,-2.239, PHS=-0.101,-1.027, 0.929, RAW= 181.7, 2.4, CAL= 181.9, -5.9, ROT= 328.1, 5.9 M PDAT read: Bearing 328.1, 5.9 (Local) M ~Local bearing/azimuth received: Bearing 328.1, 5.9 (Local) ] DAT read: Range 10 to 50 : 170.6 m (Round-trip 227.5 ms) speed 0.4 m/s e *DAT read: user:933> m BDAT read: Tx time:19:53:47.1724 m $Ping request sent.m @i B= B?tS*?B G٣y > Nusing accuracyPremultiplier from config49D?4Y iqB ?:?v4D<;Y;i4 -6A)k5+UP?k5& k1 k5qA:k5*CBk5p)CZk5NVG@"5%#6f<$e| ?5ۜIRx%?Jk5ٿRk5'*5c> eb9@zp65u~\_X?R~nЃ "k5̑@*k5)k53lO?k5% 2k5 &Bk1 Ik5rO k5C-Bk5+Ck5MD@ addTargetRange:: Added new target pos. range: 170.600006 m, deltaT: 3.779626 s, deltaX: -1.199997 m, approachRate: -0.317491 m/s, rangeRepo size: 4 - Added new target pos. range: 170.600006 m, bearing: 178.455876 deg, lat: 36.903114 deg, lon: -122.117478 deg, deltaT: 3.779626 s, deltaX: -1.199997 m, approachRate: -0.317491 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 170.60 m.Bj5Jj1m ProNav: ac range: 170.600006 m, nav range: 171.072983 m, bearing: 175.737612 deg, approach rate: 0.000000 m/s, LOS rate: -0.197552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.680514 deg. 2ji:jm@uHeadingCmd: 4.811532 target range: 170.600006 and range: 170.60 m. jqjqjqjyiyhyhyhhTBfffrf@3Se@bf`?ɛ% B%&,< !%>I! %_ɚ)i)I-)=I5i5'$i5߃)1)1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:19:53:47.1716 *F2F:FBFJFzK} ZOK} ػ9Ky K} K}  RK ?JK $?H I  I LII BI &I .I :D6I <:I FG ҸG B O >T|w,'AbWill construct direction to contact in vehicle frame from tetrahedron phase data.j5@YjaE@jJV9j/>yjH`R?@Qx?¿y?gɊ?? ?ɨj5@js;jvCyvBv II~.I~5٢.= e=9-p;Q ->19 =G٣=5GyE< M> ]Nusing accuracyPremultiplier from configYm49]?m4Y] i]wBqu趿u?]4D]<]<]4 AZjiFNOT Ignoring new targets: 170.60 m.BjHJjH ProNav: ac range: 170.600006 m, nav range: 171.113663 m, bearing: 175.675749 deg, approach rate: 0.115066 m/s, LOS rate: -0.174942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.789641 deg. 2j:j@HeadingCmd: 4.813437 target range: 170.600006 and range: 170.60 m. jjjjihhhhfffrfbf`g_?ɛQU͕< Q]>IY e`ɚaiaIm(=Ii#i(:))ivAA aYvAyB*Fe?2Fa:FaBFe`0JFa IJJ2JJJJh:JJJJJ#;J#;mWill construct direction to contact in vehicle frame from tetrahedron phase data.G HG B O >X}|w,&+AF&@YF5@F%o9F>yFHVB?y?۝¿y?P~?ׅ?@?ɨF&@F!;FuCyRBR IIZ6IZ] 5٢bD bP=9bрQ f>hh jG٣hynR r> Nusing accuracyPremultiplier from config%49?-4Yr i}B9E&E?4D<W<k4i uAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 170.60 m.Bj%9Jj%9U ProNav: ac range: 170.600006 m, nav range: 171.158981 m, bearing: 175.606623 deg, approach rate: 0.106444 m/s, LOS rate: -0.162320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.767864 deg. 2jU޻:jU@eHeadingCmd: 4.813057 target range: 170.600006 and range: 170.60 m. jajajajaiahahahihfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛVp< !% >I! %ɚ!i!IeM(=Imim%}#iu I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247986d|w,EAy~yBImMb@Mb@Mb@iii i)iYm r?X9v?Mb?ym?m G٣y > Nusing accuracyPremultiplier from config49{?4Y iB?:?4D:;I8;4 /AZjFNOT Ignoring new targets: 170.60 m.Bj5YJj5Y ProNav: ac range: 170.600006 m, nav range: 171.219437 m, bearing: 175.524470 deg, approach rate: 0.139794 m/s, LOS rate: -0.189899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.728818 deg. 2jS:j@HeadingCmd: 4.812376 target range: 170.600006 and range: 170.60 m. jjjjih!h!h!h%_Bf)f)f)rf)bf5W?jHM<bHIHQIQ IUlIIÙBIQ&IQ.IU9D6IU<:IU FzKmLKm9KiKm Km ɛq< 隝>I `ɚiI}'=I5i=:#ie)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501095*F2F:FBFn0JFG= ?:GI GM >G B! O= >|w,ƅ_A ,I2h:V@Y:jf@:\J9:>y:Hļ?9y?¿`}o?I ^SɚiI'=I%i%"i%;)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751883)Y*FA2FA:FABFEc5JFAG%zQGBO%M> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003596|w,NyA6q@Y6@6p&969>y6H*?)w? ' 0?@/yvÄ??v?ɨ6q@6% ;4yBbBBIMb@Mb@Mb@ )Y(\?V-?y&1|y?<` A @)v@Iv@yIexIe&5٢m/; u?=9u;Q u>yy }G٣yyo; > Nusing accuracyPremultiplier from config49?4Y i?:?4D%H;G;˨4 AZjFNOT Ignoring new targets: 170.60 m.BjVDJjVD ProNav: ac range: 170.600006 m, nav range: 171.314651 m, bearing: 175.399866 deg, approach rate: 0.131853 m/s, LOS rate: -0.171652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754751 deg. 2j:j@HeadingCmd: 4.812829 target range: 170.600006 and range: 170.60 m. jjjjihhhhIBfffrf bf `=C@ɛ=!B=2Q< 9=8>I9 EɚAiAIEG'=IMiML!iM;)I)Q ]>$?IY*F2F:FBF5JF"G=G>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255688G'HGBO>Hi Ii  Im rIIm ҀBIi &Ii .Ii 6Im <:Im FBIUʣCJIUʣCRIQZIQbIQjIUʤ)4zK YKK 9K K K |w,V)A2@Y2@2D92u>y2H r?t?``o? ;ρ?6? =?ɨ2@2 ;2tCyVVBZIbWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508696ImsIme$5٢}l I=9;Q > G٣y< > Nusing accuracyPremultiplier from config49)?4Y iB?4D<;P:Ҩ4 RAZjFNOT Ignoring new targets: 170.60 m.BjDJjD ProNav: ac range: 170.600006 m, nav range: 171.369202 m, bearing: 175.330203 deg, approach rate: 0.134877 m/s, LOS rate: -0.172189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.766265 deg. 2jW:jV@HeadingCmd: 4.813029 target range: 170.600006 and range: 170.60 m. jjjjihhhh fffrf!bf%@ɛ]"B]V:< Ye>Ia e{ɚaiaIe'=Imimim"<)i)*FU?2FQ:FQBF]_0JFYGe;GB) AIAOUS>uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760683r|w,A6@Y6@696>y6HѾ?Pt?9þ?`oU@q|?|??ɨ6@6A;4yREBRIIXIX٢r rU=9vV@;Q v>tt zG٣z5Gyzx; z> Nusing accuracyPremultiplier from config 491? 4Y i  s?4Dz::٨4 AZjAUFNOT Ignoring new targets: 170.60 m.BjeCJjmC ProNav: ac range: 170.600006 m, nav range: 171.421524 m, bearing: 175.264107 deg, approach rate: 0.135684 m/s, LOS rate: -0.171349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.776961 deg. 2j0:j@HeadingCmd: 4.813216 target range: 170.600006 and range: 170.60 m. jjjjihh hhfffrfbf@ɛ/< 隵>I vɚiIE&=Ii{i2<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011619*F2F:FBFJF 1 I1 G o;G B JsK{ 3 K{S}-KsKs"KsJ J =J 1J J $;J :J 3J a @a @a @a @O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:53:49.8012  TRx dataTimestamp_ set to:1736366031.081467 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265464ӣ|w,A6⣓@Y6R@6k96H>y6H z'?s? ?,@"x?I??ɨ6⣓@6;6uCyz0B~IMb@Mb@Mb@ )Yx?{Gz? rhyK?#=C A @)I`@y@IuIH%5٢  ==9;Q > G٣yH; > Nusing accuracyPremultiplier from config49P?4Y| iB?:_?4D[;j;+4 A B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 170.60 m.Bj%]YJj%]Y5 ProNav: ac range: 170.600006 m, nav range: 171.491135 m, bearing: 175.182068 deg, approach rate: 0.161310 m/s, LOS rate: -0.190033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.729172 deg. 2j=k:j=@EHeadingCmd: 4.812382 target range: 170.600006 and range: 170.60 m. jAjAjAjAiIhIhIhIhMBfQfQfYrfYbf] @ɛ#BZ; 隍>I =sɚiIߡ&=IiiCC<))EZHRH@AH^>I ISIIBI&I.I6I<:I F*F?2F:FBFJFGsA GtAzKKKh9KK Kx cbF7.  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516692G(<G B O > 1 I9 |w,A>@Y>&@>1K9>9 >y>H6?u?@ ?d_)v?? F?ɨ>@>';>qCyNBNIIVyIV'5٢^3 ^[=9b:Q b>`` bG٣`yf: f> jNusing accuracyPremultiplier from confighn49jⲇ?n4Yj2 ijBprXr?j4Dj:j:j4vCB v$AvEZjFNOT Ignoring new targets: 170.60 m.Bj%YJj%Y5 ProNav: ac range: 170.600006 m, nav range: 171.551682 m, bearing: 175.111141 deg, approach rate: 0.162608 m/s, LOS rate: -0.190419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.762481 deg. 2j5:j5@=HeadingCmd: 4.812963 target range: 170.600006 and range: 170.60 m. j9j9jAjAiAhAhAhIhIfIfIfQrfQbfU @ɛ$BzS; 隅>I oɚiIg&=5Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 19:53:49.8012 LVL= 29984, 29297, 18850, 28227, AGC= 65, IDX= 408,-0.29, 2.668, 1.891, 3.075, 1.825, PHS= 0.931, 0.113, 1.248, RAW= 165.7, -38.6, CAL= 166.9, -43.0, ROT= 343.1, 43.0 mYgot valid direction response: 19:53:49.8012 LVL= 29984, 29297, 18850, 28227, AGC= 65, IDX= 408,-0.29, 2.668, 1.891, 3.075, 1.825, PHS= 0.931, 0.113, 1.248, RAW= 165.7, -38.6, CAL= 166.9, -43.0, ROT= 343.1, 43.0 uPDAT read: Bearing 343.1, 43.0 (Local) u~Local bearing/azimuth received: Bearing 343.1, 43.0 (Local) DAT read: Range 10 to 50 : 168.5 m (Round-trip 224.7 ms) speed 0.6 m/s *DAT read: user:934> BDAT read: Tx time:19:53:50.9224 $Ping request sent.b|w,A2@Y2x@2z92 >y2HgP?`t?c/?tшSos?@Џ?o?ɨ2@2y{;2uCy> B>~IMb@Mb@Mb@ )YE?+? %G٣%5Gy%}m: %> -Nusing accuracyPremultiplier from config)=49-l?=4Y- i-B='?=:=K=?-5D-] ;-;-~4I MAIkm ̆`?kmZt  Ihki km=`A:km(CBkmZ'CZkm$z@"m`X@5_}â`9vtF@m9'k?ۆT^s?JkmhRkm*m@͟]<ƅ\T]p`;@m4;>C(o[7?"kml*kmkm*B`?km\V 2kmͶBkm3lO?km% km/Bkm)CkmF@- addTargetRange:: Added new target pos. range: 168.500000 m, deltaT: 3.780193 s, deltaX: -2.100006 m, approachRate: -0.555529 m/s, rangeRepo size: 4  Added new target pos. range: 168.500000 m, bearing: 223.864581 deg, lat: 36.903128 deg, lon: -122.117569 deg, deltaT: 3.780193 s, deltaX: -2.100006 m, approachRate: -0.555529 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 168.50 m.BjJj ProNav: ac range: 168.500000 m, nav range: 169.534500 m, bearing: 177.718751 deg, approach rate: 0.000000 m/s, LOS rate: -0.190419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.707028 deg. 2j:j@HeadingCmd: 4.811996 target range: 168.500000 and range: 168.50 m. jjjjihhhhBfffArfMe@bfMT3?JJ;J0JJD#;J:Jـ3Jɛ&B@`C9 Wq>I ikɚiI7k&=IEiMiM"6K<)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFH I  I 'II BI &I .I 6I <:I FG 2<zK NK 9K K K PW!G B O >}w,pA2b@Y2Қ@2Y޶92 >y2H`d?y?d@N?Zޅ`v?@n? ?ɨ2b@2`;2qCy:B:dIIF{IF'5٢J Jf=9N{Q N>vWill construct direction to contact in vehicle frame from tetrahedron phase data.   G٣ y => ENusing accuracyPremultiplier from configAM49E$?M4YE iEBIU±U?E5DE:EC:E4y dAZjFNOT Ignoring new targets: 168.50 m.BjFJjF ProNav: ac range: 168.500000 m, nav range: 169.588303 m, bearing: 177.638412 deg, approach rate: 0.149510 m/s, LOS rate: -0.223179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.734248 deg. 2j *:j @HeadingCmd: 4.812470 target range: 168.500000 and range: 168.50 m. jjjji1h1h9h9h9f9fAfArfAbfE?ɛ'B9 F>I iɚiIY&=I%i%Li-xQ<)))qEyE}tA*F%?2F!:F!BF%0JF)"G5=G5> IWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm Y=<Ga Bq O >y }w,O.A:+j@Y:y@:?λ9:H>y:H\?u?9¿J?Ƅy?@V@? !?ɨ:+j@:;:sCyBBFTIIN`IN5٢V VI=9VQ Z>\\ ^G٣\yb( b> fNusing accuracyPremultiplier from configdj49f?j4Yf if}BhnCn?f%5Dfu ;f ;f4p rApZj)5FNOT Ignoring new targets: 168.50 m.Bj=yJj=yM ProNav: ac range: 168.500000 m, nav range: 169.643661 m, bearing: 177.554792 deg, approach rate: 0.144219 m/s, LOS rate: -0.217774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.724409 deg. 2jMt:jMZ@UHeadingCmd: 4.812299 target range: 168.500000 and range: 168.50 m. jQjYjYjYiYhYhahahafafifirfibfm@G?ɛ])Be imD*>I 4gɚiIL&=Ii/ii;)!)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%%1JF) IG- l<G B O- >J J 7J 1J J d&;J :J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.}w,&HAy=B=<IMb@Mb@Mb@ )YQ??Mby5?L= A )I3@yp@IcIN5٢ 6=9Q >    G٣ 5Gy > %Nusing accuracyPremultiplier from config-49Ç?-4Y i|B-A6?-:-5?95D!;j;49 EmAA]B*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 168.50 m.BjJj򄻝 ProNav: ac range: 168.500000 m, nav range: 169.716599 m, bearing: 177.450229 deg, approach rate: 0.162225 m/s, LOS rate: -0.232464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.661638 deg. 2j:j`@HeadingCmd: 4.811203 target range: 168.500000 and range: 168.50 m. jjjjihhhh&Bfffrfbf+?ɛ*B >I eɚiIJJ&=I jH<bH4<HI IIIbBI =&I.I6I<:I FiEi;))zKEcNKEs9KAKE KEs_K@4( *F2F:FBFd5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) a G} O; `wA A M YM `wAyM BGQ BY Ou > I (}w,bAy~B8III25٢% %Z=9!Q %>)) -G٣)y1 5> =Nusing accuracyPremultiplier from config9E49=!ȇ?E4Y= i={BAAM?=J5D=q:=q:=- 4UEB UAUEZjFNOT Ignoring new targets: 168.50 m.BjJj ProNav: ac range: 168.500000 m, nav range: 169.778259 m, bearing: 177.362537 deg, approach rate: 0.160662 m/s, LOS rate: -0.228405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.712208 deg. 2j:j%@EHeadingCmd: 4.812086 target range: 168.500000 and range: 168.50 m. jAjAjAjAiIhIhIhIhI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011330fafafarfibfm5@ɛ+B 隝=I KdɚiIG&=Ii,i))EV>E>*F)2F):F1BF5Y4JF1GA GErAGM;G) BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266692E}w,{A:G@Y:V@:ۻ9:o>y:HI? ? !D?@S`p{? 8? E?ɨ:G@:硌;8ybxBbI%Mb@Mb@Mb@!!! !)!Y%T㥛 ?&1?aa eG٣iym m> }Nusing accuracyPremultiplier from configy49}/͇?4Y} i}|BzA?:?}`5D}i ;};}4 HAZjFNOT Ignoring new targets: 168.50 m.Bj(Jj( ProNav: ac range: 168.500000 m, nav range: 169.853714 m, bearing: 177.251937 deg, approach rate: 0.175622 m/s, LOS rate: -0.257309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643538 deg. 2j0:j@HeadingCmd: 4.810887 target range: 168.500000 and range: 168.50 m. jjjjihhhh~BfffrfbfU@ɛ%-B%y )-Η=I) -Ecɚ1i1I5'O&=I5i=Dvi=V ;)9)9J}JyJ}0JyJ}$;JyJ}ـ3Jy*F2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517217Go;G B O >H ]>I  I II 5BI &I .I 6I Ͱ<:I FzK HLK h9K K K RK JK ?0-%}w,=AB58@YBG@BY޻9Bv>yBHϻ??`aR`̻?@z~@}{? ?U?ɨB58@BQ8;BtCyJnBJIIVIV-5٢Z  ^i=9^bbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767277Q f>dh jG٣j5GyjA j> rNusing accuracyPremultiplier from configlr49n!ч?v4Ynd iltv[v?nq5DnC:n:n4x zuA~EZj%FNOT Ignoring new targets: 168.50 m.Bj%LJj%L5 ProNav: ac range: 168.500000 m, nav range: 169.913223 m, bearing: 177.164682 deg, approach rate: 0.169754 m/s, LOS rate: -0.248814 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.713516 deg. 2j5*:j5@EHeadingCmd: 4.812109 target range: 168.500000 and range: 168.50 m. jIjIjIjQiQhQhYhahififqfqrfbfVu@ɛqu> y}F=Iy }}bɚyiyI} W&=Iiji9g:))*F)2F):F)BF)JF1G; IIIGBOI>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019271W+}w,>A6Y'@Y66@6<96>y6H@I?L?࿈K?{G}??`.?ɨ6Y'@6W;6uCyRqBRIIZIZ"25٢bd; bI=9fpQ f>dh jG٣hyjզ j> rNusing accuracyPremultiplier from configlr49nՇ?v4YnQ  in}Btvv?n5Dn:n:n( 4x ~jA|ZjFNOT Ignoring new targets: 168.50 m.Bj܇Jj܇ ProNav: ac range: 168.500000 m, nav range: 169.981583 m, bearing: 177.064293 deg, approach rate: 0.161830 m/s, LOS rate: -0.237560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674144 deg. 2j% #:j-*@mHeadingCmd: 4.811421 target range: 168.500000 and range: 168.50 m. jqjjjihhhhfffrfbf%p @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:53:53.5479 TRx dataTimestamp_ set to:1736366034.873571 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278829ɛM.BMG QU*=IQ UɀaɚQiQIU[`&=I]i]iec3)a)a*F2F!:F!BF!JF!"G-=G-= 9I9GE ;GQ GU tAG B9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523988O >J J 2J 1J J d&;J h:J 3J RP2}w,_AZ@YZl#@ZHk9Zφ>yZH ?m?g"?+0xU~?+e?@I?ɨZ@ZR;ZtCyfxBfI-Mb@Mb@Mb@))) )))Y-/$? ףp= ?{Gzt?y-1H?-Q8=-ף;-zA -@))I-3@)y-z@IEIE\05٢UO]< U&=9UyVQ ]>YY ]G٣Yye e>ZHqRHuAAHyIy I}II}BIy&Iy.Iy6I}ɰ<:I} FBIJIRIZI =bI =jIŠ4 Nusing accuracyPremultiplier from config49ڇ?4Y iBH?:?5D;;(4GB _AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 168.50 m.Bj xJj x ProNav: ac range: 168.500000 m, nav range: 170.064529 m, bearing: 176.935046 deg, approach rate: 0.171176 m/s, LOS rate: -0.266597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.587639 deg. 2j6:j@%HeadingCmd: 4.809912 target range: 168.500000 and range: 168.50 m. j!j!j!j)i)h)h)h1h5~Bf1f1f1rf9bf= @ɛe/Be im=Ii m`ɚqiqIud&=I}i}i},)y)zK7KK9KKK *F=?2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: W= 182.8, 1.0, CAL= 183.0, -6.9, ROT= 327.0, 6.9 unknown deviceResponse_: W= 182.8, 1.0, CAL= 183.0, -6.9, ROT= 327.0, 6.9 PDAT read: Bearing 327.0, 6.9 (Local) ~Local bearing/azimuth received: Bearing 327.0, 6.9 (Local) DAT read: Range 10 to 50 : 165.9 m (Round-trip 221.3 ms) speed 0.6 m/s  *DAT read: user:935>  BDAT read: Tx time:19:53:54.6724 $Ping request sent.*z8}w,TA ?@Y @ 9 97>y H`K?=?A[?@r ހ?`;?@?ɨ ?@ ; sCy%|B%II]I]V85٢mkN< mp=9mQ m?qq uG٣u5Gya ? Nusing accuracyPremultiplier from config49^އ?4Yo iB2?5D1;1;.4 MA  addTargetRange:: Added new target pos. range: 165.899994 m, deltaT: 3.788815 s, deltaX: -2.600006 m, approachRate: -0.686232 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 168.50 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:19:53:54.6716 Bj-Jj-= ProNav: ac range: 168.500000 m, nav range: 170.119751 m, bearing: 176.847543 deg, approach rate: 0.162878 m/s, LOS rate: -0.258008 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.712766 deg. 2j=1:j=@EHeadingCmd: 4.812096 target range: 168.500000 and range: 165.90 m. jIjIjIjIiIhQhQhQhYfYfYfYrfe̼d@bfe?ɛi =I z_ɚiId&=Ii -i 3))*FE?2FA:FABFMo0JFIG p Will construct direction to contact in vehicle frame from tetrahedron phase data.G B OE >z>}w,@jARg@YR@R9R=yRH??䟿 @ķ?e`@P? e?@yy }G٣yy˄ > Nusing accuracyPremultiplier from config49]⇜?4Yu$ iBF?:I?5D;;54 A I!hZjY]FNOT Ignoring new targets: 168.50 m.BjeJje} ProNav: ac range: 168.500000 m, nav range: 170.184143 m, bearing: 176.746018 deg, approach rate: 0.155036 m/s, LOS rate: -0.244346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670731 deg. 2j}':j}@HeadingCmd: 4.811362 target range: 168.500000 and range: 165.90 m. jjjjihhhh~Bfffrfbf?ɛ0BkT X=I  Tf^ɚ i I5\&=I=i=6ri=RL)9)A%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-0JF)GEtA GEtAGUG  ?G >GBOj>Hu \>Iq  Iu IIu BIq &Iq .Iq 6Iu ǰ<:Iu FzK KK 9K K K aC( E}w,>vA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:t@:%9:`>y:H`lԶ?`c?-=?T]?` ?`I?ɨ:@:Ɋ;:rCyrBr5IIzaIzk5٢3= P=9 Q  >   G٣y@ > Nusing accuracyPremultiplier from config%49<懜?%4Ye, iB)--?5D ;C ;<41 5A1ZjY]FNOT Ignoring new targets: 168.50 m.BjeeJjee ProNav: ac range: 168.500000 m, nav range: 170.247330 m, bearing: 176.645654 deg, approach rate: 0.168927 m/s, LOS rate: -0.268219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674210 deg. 2j8:j-@HeadingCmd: 4.811423 target range: 168.500000 and range: 165.90 m. jjjjihhhhfffrfbf@v?ɛ T `=I  ]ɚiIzM&=Ii i+\p))*Fu?2Fq:FqBFu`5JFq I"hJ%J%5J%0J!J%%;J%:J%ـ3J!J%ٷK}w,F&1A6R@Y6Ø@6s696E>y6H`K_? ?)%`?3BΆ?@~??ɨ6R@6;4yNBNEIIVQIVT5٢^= bP=9bN,Q b>dd fG٣f5Gyf f> nNusing accuracyPremultiplier from confighr49j ꇜ?v4YjR4 ijBtv򵿑v?j5Dj0;jl0;jC4zIB ~`A~EZj%FNOT Ignoring new targets: 168.50 m.Bj%aJj-a= ProNav: ac range: 168.500000 m, nav range: 170.310379 m, bearing: 176.545513 deg, approach rate: 0.160106 m/s, LOS rate: -0.254202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674876 deg. 2j=t.:j=E@EHeadingCmd: 4.811434 target range: 168.500000 and range: 165.90 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]@?ɛQ]xr am >I N[ɚiI75&=Iiiw))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FaBFe_5JFaG=JiGBO%o> I= Will construct direction to contact in vehicle frame from tetrahedron phase data.R}w,JA6@Y6@65K$96w>y6H?(?9Ŷ?0] P?2??ɨ6@67;4y>BB`IMb@Mb@Mb@ )YGz?~jt?I +?yp=?=9< A )Iyp@I-I-|+5٢= ==9';Q > G٣y; > Nusing accuracyPremultiplier from config49퇜?4Y< iB=?:?5Dw;v;K4 AZj  FNOT Ignoring new targets: 168.50 m.BjJj% ProNav: ac range: 168.500000 m, nav range: 170.373093 m, bearing: 176.439667 deg, approach rate: 0.144625 m/s, LOS rate: -0.244004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.657769 deg. 2j%u':j%@-HeadingCmd: 4.811136 target range: 168.500000 and range: 165.90 m. j)j)j1j1i1h1h1h9h=aBf9fAfArfAbfE ?ɛqu y}n6>Iy }eXɚyiyI}V&=Iibi|r))jH<bHp<H!I! I%II% BI!&I!.I!6I%}<:I% F*FI2FI:FIBFM_0JFI"GU=GU=zKEaMKE9KAKEKE%A ZWill construct direction to contact in vehicle frame from tetrahedron phase data.G:_GGrAGi Bq O > @$?I X}w,dA6@Y6 @696 >y6H@?U? +V +? i?"??ɨ6@6޸;4y>B>zIIFIF +5٢n= nX=9rZ;Q r>tt vG٣tyvW; v> ~Nusing accuracyPremultiplier from configxJJ0JJJ $;J_:JJJ|<J|<JX;JY;49z?4YzD izB!%%?z6Dzv;z½;zQ45JB 5A5EUB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 168.50 m.Bjm扻Jjm扻} ProNav: ac range: 168.500000 m, nav range: 170.428757 m, bearing: 176.347365 deg, approach rate: 0.145462 m/s, LOS rate: -0.241126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.698373 deg. 2j{%:j@HeadingCmd: 4.811844 target range: 168.500000 and range: 165.90 m. jjjjihhhhfffrfbf`] @ɛ,; `>I VɚiI%=Iii [)) Will construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FQBFQJFQGuiGQByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513577^}w,j~A2@Y2@26~92 >y2H`P??@`f?Uo?B? ?ɨ2@2劉;2sCyNBNI IeMb@Mb@Mb@aaa a)aYeGz?=9`:Q > G٣ 5Gy; > Nusing accuracyPremultiplier from config49Y?4YK iB1?:v?"6DU;;1Y4 AZjFNOT Ignoring new targets: 168.50 m.BjJj ProNav: ac range: 168.500000 m, nav range: 170.488235 m, bearing: 176.249788 deg, approach rate: 0.140472 m/s, LOS rate: -0.230370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682560 deg. 2j:j^@HeadingCmd: 4.811568 target range: 168.500000 and range: 165.90 m. jj!j!j!i!h!h!h)h-Bf1f1f1rf1bf5`o@ɛYe o; aex>Ia eRɚiiiIm%=Iuiu?iupP)q)y*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761655G UGBH I  I II ?BI &I .I 6I <:I FO5 >pe}w,猘AzKPNKh9KKKgD, 2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:19:53:57.2612 6TRx dataTimestamp_ set to:1736366038.396704:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014681G Yy! Be巒@YeVǙ@e(9e 3>yeH ҷ?`׊?@.?ؘt???ɨe巒@eLى;epCyލ#BޕIIoI"5٢%= 9=9c:Q > G٣y3; >  Nusing accuracyPremultiplier from config49?4YS iB9%?66DCd;d;`4=LB =GA=EZjFNOT Ignoring new targets: 168.50 m.Bj Jj  I#h% ProNav: ac range: 168.500000 m, nav range: 170.551208 m, bearing: 176.148348 deg, approach rate: 0.138474 m/s, LOS rate: -0.222978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670982 deg. 2j%:j%@UHeadingCmd: 4.811366 target range: 168.500000 and range: 165.90 m. jQjYjYjYiYhahhhfffrfbfH @ɛ1BrS; !-u>I) -TNɚ)i)I-%=I5i5Zi5=4)1)9EJ%J%4J!J!J%%;J%r:J!J!J%<J%<J%;J%;*FQ2FQ:FYBF]_0JFYGesA GaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266426G Gq B O >x:l}w,#JAy 2B II%hI%5٢5[= 5`=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configAU49E?U4YEHZ iEBQQ]?EF6DE;E:ELg4a uAyWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520620ZjIFNOT Ignoring new targets: 168.50 m.BjdJjdM ProNav: ac range: 168.500000 m, nav range: 170.602448 m, bearing: 176.066505 deg, approach rate: 0.124891 m/s, LOS rate: -0.199424 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.729735 deg. 2jM:jM@HeadingCmd: 4.812392 target range: 168.500000 and range: 165.90 m. jjjjihhhhfffrfbf @ɛ2B ; u1>Iq uIɚqiqI}T%=IiPi8) I)*F%?2F!:F!BF%`0JF!J J @A Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:53:57.2612 LVL= 28192, 28145, 22802, 31219, AGC= 64, IDX= 62,-0.08,-2.180,-3.066,-1.001,-1.958, PHS=-0.135,-1.061, 0.954, RAW= 182.7, 2.8, CAL= 182.8, -5.5, ROT= 327.2, 5.5  Ygot valid direction response: 19:53:57.2612 LVL= 28192, 28145, 22802, 31219, AGC= 64, IDX= 62,-0.08,-2.180,-3.066,-1.001,-1.958, PHS=-0.135,-1.061, 0.954, RAW= 182.7, 2.8, CAL= 182.8, -5.5, ROT= 327.2, 5.5  PDAT read: Bearing 327.2, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 327.2, 5.5 (Local)  DAT read: Range 10 to 50 : 138.3 m (Round-trip 184.5 ms) speed 0.4 m/s  *DAT read: user:936>  BDAT read: Tx time:19:53:58.3741  $Ping request sent. s}w,0AiƮX?*!e? ?)Ii6Ւ@Y6\@6*96D>y6H??Y¿`Ÿ?z@@e~?CX?3?ɨ6Ւ@6S;6tCyzBBzIHaIa IeIIebBIa&Ia.Ia6Iḛ<:Ie F Mb@Mb@Mb@    ) Y x&1?~jt?I +?y !? < 9<  A @) I `@ y f@IEkIE 5٢Ú= U"=9U:Q ]> G٣!5Gy; > Nusing accuracyPremultiplier from config 49 E?=4Y b i •B=!?=:E}E? [6D ; ; p4I MKAIkQ[?ka k kkA:kL CBk\ CZk{F@"MmM23 9 aj 'qM22h xJkЏڿRk};*Gya="@,֫'4` ¢4c?H7Hÿ"k>@*kkt[?k' 2k.Bkk{K9 k.Bk*CkD@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:53:58.3733 zK5TLK1K1K5K5,^fE' BKA:KEsAuaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 138.300003 m, deltaT: 3.778945 s, deltaX: -27.599991 m, approachRate: -7.303623 m/s, rangeRepo size: 4ZjquFNOT Ignoring new targets: 168.50 m.Bj}|Jj}| ProNav: ac range: 168.500000 m, nav range: 170.665634 m, bearing: 175.956936 deg, approach rate: 0.127142 m/s, LOS rate: -0.220390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.646604 deg. 2j@:j:@HeadingCmd: 4.810941 target range: 168.500000 and range: 165.90 m. jjjjihhhhBfffrfIa@bf ?ɛ53B5$< 1= >I9 =p+Eɚ9i9I={%=IEiEiEC^)A)iPExceeded connect timeout, disconnecting.*F2F:FBF_0JF IG K7JI JM 9JM 3JI JI JM :JM (3JI JI JI JM h;JM h;G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >z}w,ZA}ƒ@Yՙ@Y9>yH@F?`? At¿`\?s?3m?@S?ɨ}ƒ@ke;uCyuLBuIIVI5٢F= \=9Q > G٣y1 > Nusing accuracyPremultiplier from config49?4Yh iȕB?j6D;;v4! -A)eB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 168.50 m.Bj}{{Jj}{{ ProNav: ac range: 168.500000 m, nav range: 170.708099 m, bearing: 175.883209 deg, approach rate: 0.126668 m/s, LOS rate: -0.219863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.754062 deg. 2j:j@HeadingCmd: 4.812816 target range: 168.500000 and range: 165.90 m. jjjjihhhhff f rf bf f?ɛU4B]Bq< ae±>Ia e[AɚaiaIeR$=I}iid]&))*F?2F:FBF0JF"G=G=G GtAGtAGBOe>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. I }w,AyzZB~IMb@Mb@Mb@ )Ygfffff?Q?Mb?y3?u<<I A )QAIv@yQAI>I 5٢= J=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Yn i͕BN?:?x6D;;}4 AZj!-FNOT Ignoring new targets: 168.50 m.Bj5\Jj5\E ProNav: ac range: 168.500000 m, nav range: 170.751389 m, bearing: 175.807380 deg, approach rate: 0.110143 m/s, LOS rate: -0.192889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.747757 deg. 2jE`:jE@MHeadingCmd: 4.812706 target range: 168.500000 and range: 165.90 m. jjjjihhhhKBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995178ɛM5BU4r< QU>IQ U~<ɚQiQI]$=I]ie ie3")a)*F92FA:FABFE0JFAHI IIIBI&I.I6I<:I FBIyJIyRIyZIybIyjI}c4Ge G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246981zK LK 9K K K +Iv'8BJQYZY\jaD:J2KpynbZTNKGA=9852/.*)(&!!!RK JK >!}w,[A nManaging dock network, ignoring radio surface power off>@Y>u@>C9>)>y>Hxq???S¿i?2Ot5@>؉;>rCyppI%7I% 5٢5g 5T=95)Q 5>99 =G٣="5GyEB< E> MNusing accuracyPremultiplier from configIU49M ?U4YMt iMѕBQ]]?M6DMR;Ms;Mj4eNB eAm³EZjFNOT Ignoring new targets: 168.50 m.BjcYJjcY I$h ProNav: ac range: 168.500000 m, nav range: 170.794327 m, bearing: 175.734521 deg, approach rate: 0.112034 m/s, LOS rate: -0.190054 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.756666 deg. 2jn:j@HeadingCmd: 4.812862 target range: 168.500000 and range: 165.90 m. jjjjihhhhfffrfbf@?ɛ 7B e< >I ^ 8ɚ!i!I%3$=I5i5!i))*F5?2F1:F9BF=P5JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499883G-,Gi Bq O >K}w,X7AJ@YJ@J9J>yJHD?@2?@K¿|K?@X{̛?I??ɨJ@Jw;JqCyfXBjIIpI#5٢Mmܻ UI=mWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7543649MJ;Q > G٣y; %> mNusing accuracyPremultiplier from configa49e?4Ye@{ ie֕B?e6DeIJI  & 2ɚ iI#=IiJ!iV))*F?2F:FBF`5JFG GsAJ J1J0JJ(;J:Jـ3Ja%@a%@a%@a%@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003032G ҸG ?G ?G B O >3}w,wQAH4I4 I6:II6BI4&I4.I46I6ð<:I6 FF(@YFT8@Ficٻ9F\>yFHU?`F}?7¿`XL?@ǁ`,{?;?H?ɨF(@F;FsCyRZBRIMb@Mb@Mb@ )YDl?~jtx?y&1|?yO ?;`;A @)IyAIYI5٢; D=9 G٣y.< > Nusing accuracyPremultiplier from config49 ?4Y΀ iٕBT ?:8?6D""; ;Ӓ4 AZj FNOT Ignoring new targets: 168.50 m.Bj^Jj^% ProNav: ac range: 168.500000 m, nav range: 170.885147 m, bearing: 175.581480 deg, approach rate: 0.112881 m/s, LOS rate: -0.194175 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.765651 deg. 2j-B:j-@@=HeadingCmd: 4.813019 target range: 168.500000 and range: 165.90 m. j9j9jAjAiAhAhAhIhMdBfIfIfIrfQbfU`@ɛ}:B}JU< 隅>I .ɚiI#=Iip!i|w9))*F-?2F):F1BF5_0JF1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255225zKPOK 9KKK! !2S}raQE90*#    yIyGMOPGI BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507892a}w,kAy5PB5IIElIEK!5٢UG UO=9]Q ]>Ya eG٣aye e> mNusing accuracyPremultiplier from configiu49m ?}4Ymz imەByy}?m6Dm;m;m4 AZjFNOT Ignoring new targets: 168.50 m.BjOJjO ProNav: ac range: 168.500000 m, nav range: 170.926865 m, bearing: 175.510165 deg, approach rate: 0.105929 m/s, LOS rate: -0.181039 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.761295 deg. 2j}:j@HeadingCmd: 4.812943 target range: 168.500000 and range: 165.90 m. jjjjihhhhfffrfbf}@ɛ<B%hi< !%Q>I! %)ɚ!i)I-V#=I5i50 i5)1)9*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762768G!G B9 O > a Ia (F}w,XA6:c@Y6r@6Y965>y6H %?@tx?. ¿=?+`Gq?%?`?ɨ6:c@6@;4yRJBRI-Mb@Mb@Mb@))) )))Y-K7?~jtx?{Gzty- ?)-ף- A )))I-@)y-AIE`IE5٢U\ UK=9;Q > G٣#5Gy< >Jـ3KO3 K/KK"KJ J6J1JJ';J{:J3J Nusing accuracyPremultiplier from config 49J? 4Yj i  ?:߸?6D;h;4 A=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 168.50 m.BjMKJJjMKJe ProNav: ac range: 168.500000 m, nav range: 170.973221 m, bearing: 175.435627 deg, approach rate: 0.110022 m/s, LOS rate: -0.176861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.751634 deg. 2je:je>@mHeadingCmd: 4.812774 target range: 168.500000 and range: 165.90 m. jijijijiiqhqhqhyh}JBfyfyfrfbf@ɛ?BQ< 隵e>I $ɚiI<#=IiQi;))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:54:00.9604 TRx dataTimestamp_ set to:1736366042.176688checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012140E*Fi2Fi:FiBFm`0JFi"Gu=Gu=He[>Ia Ie@IIeBIa&Ia.Ia6Ie<:Ie FGGrAGG B O  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263059zK} MK} h9Ky K} K}       p}w,+2A2`r@Y2с@2r92 >y2H U?`v?`¿@|t?Yn?)??ɨ2`r@2ӈ;2pCyBCBBIIJIJ_,5٢R VV=9VP:Q V>XX ZG٣XyZɤ; ^> bNusing accuracyPremultiplier from config`f49be?f4Yb ibڕBhjn?b6Db;bK;bg4 A$?IzPB gAEZjFNOT Ignoring new targets: 168.50 m.Bj@=Jj@= ProNav: ac range: 168.500000 m, nav range: 171.013626 m, bearing: 175.371634 deg, approach rate: 0.104494 m/s, LOS rate: -0.165455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.783255 deg. 2j:j@HeadingCmd: 4.813326 target range: 168.500000 and range: 165.90 m. jjjjihhhhfff1rf1bf=oC @ɛMABmkB< qu>Iq u ɚqiqIu"=I}i}ci;))*Fm?2Fi:FqBFqJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 19:54:00.9604 LVL= 30800, 25921, 10962, 30035, AGC= 62, IDX= 422, 0.40,-1.702,-2.519,-0.452,-1.450, PHS=-0.164,-1.022, 0.995, RAW= 184.9, 2.2, CAL= 185.0, -5.9, ROT= 325.0, 5.9 UYgot valid direction response: 19:54:00.9604 LVL= 30800, 25921, 10962, 30035, AGC= 62, IDX= 422, 0.40,-1.702,-2.519,-0.452,-1.450, PHS=-0.164,-1.022, 0.995, RAW= 184.9, 2.2, CAL= 185.0, -5.9, ROT= 325.0, 5.9 G};PDAT read: Bearing 325.0, 5.9 (Local) ~Local bearing/azimuth received: Bearing 325.0, 5.9 (Local) DAT read: Range 10 to 50 : 136.6 m (Round-trip 182.2 ms) speed 0.8 m/s *DAT read: user:937> BDAT read: Tx time:19:54:02.0741 $Ping request sent.PxAe *)SuI>i'ЂR~?N@nF= N@)BҽI@iB=.?Gi\f?h5ʮ?) ?Ioiɡؿr)4=:publishing transmit ping timeFpublishing direction and range info9K/0ᅥQ5aRy )Ii )Ii.?Gi\f?h5ʮ?)Ii*}w,sA2~@Y2@2392T>y2H? v?̽?@+2rf?K?@?ɨ2~@2X;2tCyf1BfIInsIne$5٢v vF=9z;Q z>x| G٣y l; > 5Nusing accuracyPremultiplier from configMWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:19:54:02.0733 )49-?4Y-b i)r?-6D-<-h<-4 Ak-=S+\?k-] k) k-A:k-CBk-CZk-$H@"-ͽ5%0AM`N-K/0ᅥQ5aRJk-ɡؿRk-r)4=*-ØP+`c Q?я9-|rɭCujX#v?azHrǿ"k-B?*k-Ik-[?k-#] 2k-LBk-t[?k-' k)k- Ck-sE@ I%h5 addTargetRange:: Added new target pos. range: 136.600006 m, deltaT: 7.310421 s, deltaX: -29.299988 m, approachRate: -4.007976 m/s, rangeRepo size: 4 m Added new target pos. range: 136.600006 m, bearing: 179.675781 deg, lat: 36.903430 deg, lon: -122.117643 deg, deltaT: 11.099236 s, deltaX: -31.899994 m, approachRate: -2.874071 m/s, posRepo size: 4 ZjiuFNOT Ignoring new targets: 136.60 m.BjuJjq ProNav: ac range: 136.600006 m, nav range: 137.094604 m, bearing: 176.865216 deg, approach rate: 0.000000 m/s, LOS rate: -0.165455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.735069 deg. 2j:j@HeadingCmd: 4.812485 target range: 136.600006 and range: 136.60 m. jjjjihhhhfffrf@3a@bf}t?ɛDB < !%>I! %Hɚ!i!I%"=I-i-&i-V<)1)1*F?2F:FBFJFJJJJJ$;JJJWill construct direction to contact in vehicle frame from tetrahedron phase data.G O;G ?G ?ZHY RH] ?AHa Ia  Ie 4IIe BIa &Ia .Ia 6Ie ʰ<:Ie FG B O >}w,Ay%(B%IMb@Mb@Mb@ )YCl?y&1|?I +y?`;943 A )AIQAyAI0I5٢ 1=9Q > G٣$5Gy > Nusing accuracyPremultiplier from config49?4Y iؕB ? :  ?6D;S;4 DAZj9EFNOT Ignoring new targets: 136.60 m.BjEJjE] ProNav: ac range: 136.600006 m, nav range: 137.142593 m, bearing: 176.759905 deg, approach rate: 0.131133 m/s, LOS rate: -0.287668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.659368 deg. 2jelE:je @mHeadingCmd: 4.811163 target range: 136.600006 and range: 136.60 m. jijijijiiihqhqhqhu"Bfyfyfyrfybf}`?)1 1Will construct direction to contact in vehicle frame from tetrahedron phase data.GvAA ?Y vAy Bɛ%FB5'<zK}LKyKyK}K}@uB Ƅ>I n[ɚiI="=Ii[iƹ<))EE AIA*FM?2FI:FQBFUo0JFQG]tA GYG 1X<= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AGq B O >0}w,AyB%II5SI575٢E6 ES=9IQ M>II UG٣QyQ U> eNusing accuracyPremultiplier from configYe49]?e4Y] i]֕Biim?]6D]7:]:]m4q AZj  FNOT Ignoring new targets: 136.60 m.Bj~Jj~- ProNav: ac range: 136.600006 m, nav range: 137.183563 m, bearing: 176.670841 deg, approach rate: 0.102386 m/s, LOS rate: -0.222511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.708075 deg. 2j-:j5@=HeadingCmd: 4.812014 target range: 136.600006 and range: 136.60 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM@j?ɛuIB}; y}&c>Iy }rɚyiIr"=Ii48i))*F5?2F9:F9BFEK5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G=2< ! I! GI BQ Ou >d}w,дAJb Jb1Jb0J`Jb';Jb:Jbـ3J`Will construct direction to contact in vehicle frame from tetrahedron phase data.]U@Y]d@]㐻9]+>y]H?D? >$?lu \r?? ?ɨ]U@];]qCyu BuIUMb@Mb@Mb@QQQ Q)QYU ףp= ?{Gz?y&1yUQ?Uף G٣y{, > Nusing accuracyPremultiplier from config49?4Y8 iԕBr?:? 7D;[;ũ4 AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 136.60 m.Bj OJjO ProNav: ac range: 136.600006 m, nav range: 137.242722 m, bearing: 176.553750 deg, approach rate: 0.124888 m/s, LOS rate: -0.247082 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.624069 deg. 2j%):j%@-HeadingCmd: 4.810547 target range: 136.600006 and range: 136.60 m. j)j)j)j)i)h1h1h1h5 Bf9f9f9rf9bf=`v?ɛMBԌn; FL>I  @ɚiH I  I II BI &I .I 6I <:I  FIQ"=IEiE)iEl;)A)I*F2F:FBF1JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.zK FKK 9K K K    RK >JK >G= 4<GE sAGE sA I G B O= >/}w,V"A>-Z@Y>i@>?9>1 >y>H`޼?Q? ? Ep???ɨ>-Z@><;I! %ݧɚ!i!I-="=I5i5.zi5 d;)1)1*F2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982745G{/;GBOD>X}w,8- G٣y >  Nusing accuracyPremultiplier from config49!?4YX iЕB?*7Dk;T:~ө4! %A!ZjFNOT Ignoring new targets: 136.60 m.Bj<Jj< ProNav: ac range: 136.600006 m, nav range: 137.340302 m, bearing: 176.363846 deg, approach rate: 0.121090 m/s, LOS rate: -0.234719 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.644042 deg. 2j !:j@HeadingCmd: 4.810896 target range: 136.600006 and range: 136.60 m. jjjjihhhhfffrfbf ~P@ɛ}SB` 隅o >I {hɚiI."=IiuMiݘ;))*F5?2F1:F1BF565JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486187G !j;G ?G ?jH! bH% <H- Y>I)  I- II- gBI) &I) .I) 6I- 2<:I- FBIJIRIZIbIjI54G B O >%>}w,]UA6a@Y68q@6) 96X >y6H`v?-?@?1势=a? &(??ɨ6a@6;4y>B>DIEMb@Mb@Mb@AAA A)AYEMb?Zd;O?:vyE#?Ejyy }G٣yy); > Nusing accuracyPremultiplier from config49v$?4YL iϕB6#?:?97D;;٩4 AZjFNOT Ignoring new targets: 136.60 m.Bj!Jj! ProNav: ac range: 136.600006 m, nav range: 137.389450 m, bearing: 176.270739 deg, approach rate: 0.143235 m/s, LOS rate: -0.271248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.695967 deg. 2j'::jI@HeadingCmd: 4.811802 target range: 136.600006 and range: 136.60 m. jjjjihhhh{Bfffrfbf @ɛ=VB=)u 9==IA EqɚAiAIE+"=IMiMiMε;)I)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738241*F?2F:FBF_0JFzK9$MK9KKK I&hG;G B O >J J 4J J J $;J r:J J J V~y2H?? i¼?W2 1_?"?@=?ɨ2]@2a;0y^Bb@IIjIj55٢r rT=9rK':Q r>tt vG٣v&5Gyzĺ z> ~Nusing accuracyPremultiplier from config|49~'? 4Y~ i~͕B   ?~H7D~ 3;~ ;~4 AZj9EFNOT Ignoring new targets: 136.60 m.BjELJjELU ProNav: ac range: 136.600006 m, nav range: 137.442551 m, bearing: 176.170692 deg, approach rate: 0.137680 m/s, LOS rate: -0.259302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.675166 deg. 2j]1:j]P@eHeadingCmd: 4.811440 target range: 136.600006 and range: 136.60 m. jajajajaiahahihihififqfqrfqbfuX@ɛYBP 隭l=I Y ɚiIa-"=IiiS_;))*FI2FQ:FQBFQJFQG]sA G]tA]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:54:04.6579 mTRx dataTimestamp_ set to:1736366045.956722mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.242896G~q; IGB OU >R}w,A2P@Y2?`@292H >y2H`?@*?@`b?ᵊ T_?H&??ɨ2P@2;2pCy^B^.IMMb@Mb@Mb@III I)IYMFx?V-?{GztyM+?M G٣yf > Nusing accuracyPremultiplier from config49R+?4Y i+?:#?[7Da;{;4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493875 =AZjFNOT Ignoring new targets: 136.60 m.BjaJja ProNav: ac range: 136.600006 m, nav range: 137.505783 m, bearing: 176.054739 deg, approach rate: 0.148226 m/s, LOS rate: -0.271686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627491 deg. 2j t::j @HeadingCmd: 4.810607 target range: 136.600006 and range: 136.60 m. jjjjihhhhNBfffrfbfVq @ɛ]Bh  `=I * ɚ!i!I%8"=IMiUѽiU l;)Q)Q*F 2F :F BFd0JFHI IIIDBI&I.I6I<:I FG% {/;e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:54:04.6579 LVL= 24688, 20465, 13586, 27571, AGC= 63, IDX= 412, 0.28, 3.105, 2.238,-1.912,-2.947, PHS=-0.143,-1.052, 1.032, RAW= 184.2, 1.8, CAL= 184.3, -6.3, ROT= 325.7, 6.3  Ygot valid direction response: 19:54:04.6579 LVL= 24688, 20465, 13586, 27571, AGC= 63, IDX= 412, 0.28, 3.105, 2.238,-1.912,-2.947, PHS=-0.143,-1.052, 1.032, RAW= 184.2, 1.8, CAL= 184.3, -6.3, ROT= 325.7, 6.3 G B O > PDAT read: Bearing 325.7, 6.3 (Local) E ~Local bearing/azimuth received: Bearing 325.7, 6.3 (Local) M DAT read: Range 10 to 50 : 134.7 m (Round-trip 179.6 ms) speed 0.3 m/s U *DAT read: user:938> ] BDAT read: Tx time:19:54:05.7725 ] $Ping request sent. I 'hz}w,AvG@YvgW@vE9v >yvH;vqCyUB})IIIy/5٢ I=9 t9Q > G٣y- > Nusing accuracyPremultiplier from config49.?4Y< iF?l7DF;y;4TB mAijEk\?kQV k knA:kCBkCZk[H@"[ /`3l+r#s^Ģ$ Jki׿Rk[=*h`,o?2SO)6:_M$kJx?>R`ſ"k|L?*kkr\?k1 2k&Bk[?k#] k&BkCkG@M addTargetRange:: Added new target pos. range: 134.699997 m, deltaT: 3.776664 s, deltaX: -1.900009 m, approachRate: -0.503092 m/s, rangeRepo size: 4  Added new target pos. range: 134.699997 m, bearing: 179.655539 deg, lat: 36.903454 deg, lon: -122.117719 deg, deltaT: 3.776664 s, deltaX: -1.900009 m, approachRate: -0.503092 m/s, posRepo size: 4 JJ1J1JJ ;J:J3JJw<Jw<J>;J>;ZjFNOT Ignoring new targets: 134.70 m.BjJj5 ProNav: ac range: 134.699997 m, nav range: 134.652466 m, bearing: 178.726002 deg, approach rate: 0.000000 m/s, LOS rate: -0.271686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.611219 deg. 2j9:j=+@mHeadingCmd: 4.810323 target range: 134.699997 and range: 134.70 m. jqjqjyjyiyhyhhhfffrf`f`@bf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:54:05.7717 ɛaB"һ  1=I % ɚ!i!I%H"=I-i-Bi-7;)))1*F2F:FBF`0JFG !j;G B O >}w,fAWill construct direction to contact in vehicle frame from tetrahedron phase data.v9@Yv@I@v9vb >yvH ܻ?@?@{ Q Ʈ?@@a?%? ]?ɨv9@v ;ty޽B޽'I 9IAIm3Im 5٢j 7=9- Q >    G٣ '5Gy{ > Nusing accuracyPremultiplier from config%492?%4Y i!--?7D7 ;_3;49 =|A=EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 134.70 m.BjmJjm} ProNav: ac range: 134.699997 m, nav range: 134.705460 m, bearing: 178.599379 deg, approach rate: 0.129591 m/s, LOS rate: -0.309523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.595472 deg. 2j}lT:j@HeadingCmd: 4.810049 target range: 134.699997 and range: 134.70 m. jjjjihhhhfffrfbf?ɛ%dB%dľ IM=II Mk ɚIiQIUS"=IUi]xi]:)Y)YEEsA*F2F!:F!BF%0JF!"G-=G-=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GE (;ZH RH @AH I  I II %BI &I .I 6I {<:I | FG B O- >c}w,IAy{BIMb@Mb@Mb@ )Y"~?~jt?~jth?y3?=D; A @)QAIyIeI15٢ !  Y=9Q > G٣y > -Nusing accuracyPremultiplier from config!-49%Q6?54Y% i%ϕB5;4?5:5S5?%7D%;%5;%j49 EAAZjamFNOT Ignoring new targets: 134.70 m.BjuJju ProNav: ac range: 134.699997 m, nav range: 134.754379 m, bearing: 178.489639 deg, approach rate: 0.131406 m/s, LOS rate: -0.294669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.646092 deg. 2j:J:j'@HeadingCmd: 4.810932 target range: 134.699997 and range: 134.70 m. jjjjihhhh3BfffrfbfZ?ɛgBÒ XJ J /J 0J J $;J ڈ:J ـ3J J V~<J V~<J s;J s; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230053}w,A:_@Y:@: Ŋ9:>y:H4?V?@`@?@LXq?p?ù?ɨ:_@:;8y^vB^IIfUIf5٢n)R r`=9rQ v>tx zG٣xyz꽼 z> Nusing accuracyPremultiplier from config|49~9? 4Y~ i~ѕB  g ?~7D~:~n:~4 AZj9EFNOT Ignoring new targets: 134.70 m.BjMtJjMt ProNav: ac range: 134.699997 m, nav range: 134.800720 m, bearing: 178.381918 deg, approach rate: 0.126757 m/s, LOS rate: -0.294550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.652139 deg. 2j%J:j@HeadingCmd: 4.811038 target range: 134.699997 and range: 134.70 m. jjjjihhhhfffrfbf@?ɛiBY N~w,b A6-ڒ@Y6@6&Ϟ96/*>y6H`?‘? ո?is?`??ɨ6-ڒ@6׈;6rCyRpBRIMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733460 )Y5^I ?Zd;O?y&1|?y8?j<=`;3 A @)@Iv@y(AII/5٢r] <=9Q > G٣(5Gy > Nusing accuracyPremultiplier from config49=?4Y iՕBr8?:?7D;;e 4 A Zj)5FNOT Ignoring new targets: 134.70 m.Bj=Jj=M ProNav: ac range: 134.699997 m, nav range: 134.859451 m, bearing: 178.251326 deg, approach rate: 0.135115 m/s, LOS rate: -0.300307 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.583586 deg. 2jMN:jM8@]HeadingCmd: 4.809841 target range: 134.699997 and range: 134.70 m. jYjYjajaiahahahihmGBfififirfqbfu`?ɛlB 隥;I  ɚiIZy"=Iim(*im)q)qE}t>E}>HyIy I}II}BIy&Iy.Iy6I}<:I} F*F 2F :F BF _0JF G GrAGGBOf>E~G]`wAuA Y`wAy BM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985423 ! I% (hzK "LK 9K K K  #$%&%"" !~w,V$A2ޒ@Y2b@2{92K>y2H ?@u?`? m`o??`?ɨ2ޒ@2;2qCyBsBBIIJIJv35٢rR< vZ=9v1;Q v>xx zG٣xyz : z> Nusing accuracyPremultiplier from config 49pA? 4Y  tIiؕB   ?7D;3;4 AóEZjFNOT Ignoring new targets: 134.70 m.BjJj} ProNav: ac range: 134.699997 m, nav range: 134.910706 m, bearing: 178.139042 deg, approach rate: 0.129038 m/s, LOS rate: -0.282579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638468 deg. 2j}A:j@HeadingCmd: 4.810799 target range: 134.699997 and range: 134.70 m. jjjjihhhhfffrfbf@ɛ}oB} 隅;JJ7J1JJ%;J:J3JJ<J<J;J;I ~ ɚiI"=Ii#iA))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239519*Fm?2Fq:FqBFqJFqG Ga Bi O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490800~w,>AR[В@YRߙ@RpZ9Rs>yRH??z?@Me@Nk?`?T?ɨR[В@R`ه;RsCy^B^#IIfIf +5٢n= nI= I9:Q >  G٣AyU. > Nusing accuracyPremultiplier from config49E?4Y{ iەB 5ϴ5?7Dz<u< 49 =AA}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 134.70 m.BjiJji ProNav: ac range: 134.699997 m, nav range: 134.974457 m, bearing: 177.999728 deg, approach rate: 0.138821 m/s, LOS rate: -0.303218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.557450 deg. 2jP:j{@HeadingCmd: 4.809385 target range: 134.699997 and range: 134.70 m. jjjjihhhh f f frfbf@@ɛqBr 隥pIm C Im ~IIm BIm ! =&Ii .Ii 6Im <:Im FG G B O >~w,rXAF(Ȓ@YFי@Frg9FL >yFH`;T?%?;?`&邿@jl?"?4?ɨF(Ȓ@FUӇ;FoCyRBR$I5Mb@Mb@Mb@111 1)1Y5On?ˡE?~jt?y58?5'=5D<5 A 5@)5QAI11y5AIMIM|+5٢]: ]D=9] Q e>aa eG٣e)5Gym0 u> Nusing accuracyPremultiplier from config49FI?4Y iߕB8?:?7D;; 4 A1ZjFNOT Ignoring new targets: 134.70 m.BjJj ProNav: ac range: 134.699997 m, nav range: 135.024384 m, bearing: 177.886586 deg, approach rate: 0.136361 m/s, LOS rate: -0.308902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.635890 deg. 2jS:j@HeadingCmd: 4.810754 target range: 134.699997 and range: 134.70 m. jjjjihhhhQBfffrfbf+,@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:54:08.3535 TRx dataTimestamp_ set to:1736366049.484781%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994603ɛmsBz 隕 Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245630&~w,wrA6wŒ@Y6ԙ@66 a96 >y6H>?@"?`/?!A$?`'@ $l?|H?`?ɨ6wŒ@6;6pCy^B^-IIjIj05٢r0 = rR=9r9Q v>tt vG٣tyz ] z> ~Nusing accuracyPremultiplier from config|49~L?4Y~  i~B   ?~7D~:~7:~'4 UAZj9=FNOT Ignoring new targets: 134.70 m.BjEJjM] ProNav: ac range: 134.699997 m, nav range: 135.074371 m, bearing: 177.774378 deg, approach rate: 0.137563 m/s, LOS rate: -0.308674 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638693 deg. 2j]S:j]@eHeadingCmd: 4.810803 target range: 134.699997 and range: 134.70 m. jajajajaiihihihqhqfqfqfqrfybf}9 @ɛuB\ɻ 隥"~w,?A6}@Y6ș@696 >y6Hf߷? ?`n= ɷ?k(`/p?u?[?ɨ6}@6!;6qCJBJB/J@J@JB!;JBڈ:J@J@aJ@aJ@aJ@aJ@ynBn4I}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:54:08.3535 LVL= 25568, 28337, 14306, 29171, AGC= 64, IDX= 414,-0.25,-0.378,-1.225, 0.905,-0.142, PHS=-0.148,-1.036, 1.044, RAW= 184.8, 1.6, CAL= 184.9, -6.4, ROT= 325.1, 6.4 Ygot valid direction response: 19:54:08.3535 LVL= 25568, 28337, 14306, 29171, AGC= 64, IDX= 414,-0.25,-0.378,-1.225, 0.905,-0.142, PHS=-0.148,-1.036, 1.044, RAW= 184.8, 1.6, CAL= 184.9, -6.4, ROT= 325.1, 6.4 PDAT read: Bearing 325.1, 6.4 (Local) ~Local bearing/azimuth received: Bearing 325.1, 6.4 (Local) DAT read: Range 10 to 50 : 132.5 m (Round-trip 176.7 ms) speed 1.0 m/s *DAT read: user:939> BDAT read: Tx time:19:54:09.4726 $Ping request sent.   }7)}qI}@i}P}}ˡ?}plN@}< }N@)}I}@i}=yy}XS7?`o.??)}ѐ?I}?i}׿}0)=yy%:publishing transmit ping time%Fpublishing direction and range infoy9}'K:yyyyy y)yIyiyyy MGyy y)yIyiyyy}XS7?`o.??)yIyiyyyy٣IyeF e> Nusing accuracyPremultiplier from configi49mP?4Ymd imB3?:-?m8Dm;me;m/4VB 8A³EHIC IIIBI =&I.I6I<:I FBIJIRIZIbIjI(/4k}uܯ]?k}m ky k}ZA:k}CBk}CZk}G@"})T,7dr`eq}'K:Jk}׿Rk}0)=*}ڏ rL`)@/s7}9z}XDj?d5Nƿ"k}8@*k}ck}[e]?k}i 2k}!Bk}r\?k}1 kyk}NCk}oG@ addTargetRange:: Added new target pos. range: 132.500000 m, deltaT: 3.780013 s, deltaX: -2.199997 m, approachRate: -0.582008 m/s, rangeRepo size: 4  Added new target pos. range: 132.500000 m, bearing: 179.009896 deg, lat: 36.903470 deg, lon: -122.117743 deg, deltaT: 3.780013 s, deltaX: -2.199997 m, approachRate: -0.582008 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 132.50 m.Bj Jj  ProNav: ac range: 132.500000 m, nav range: 133.305618 m, bearing: 178.544615 deg, approach rate: 0.000000 m/s, LOS rate: -0.308674 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.502724 deg. 2j:j%ޙ@mHeadingCmd: 4.808430 target range: 132.500000 and range: 132.50 m. jijijijiiihqhqhqhuWBfyfyfyrf}`@bf?ɛwBƻ P=I l ɚiI"=Iii7)) *Fu?2Fy:FyBF}g0JFyGtA GsA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:19:54:09.4718 I )hG zK ?NK ]9K K K  G B O >H)~w,AB@YB@B՝9BR >yBHh?`?`w[?|ฺs??|? ?ɨB@B;BpCyNBN5IIVHIVW5٢; i=9~)Q >    G٣ *5Gy Y ? uNusing accuracyPremultiplier from configI49MoS?4YM iMBi?M#8DMr Will construct direction to contact in vehicle frame from tetrahedron phase data.,0~w,AZ@YZ@ZG9Z >yZH`? ?kw5? ||`u?@gn??ɨZ@ZDO;ZsCyfBfHIIrwIr+&5٢z= zL=9zQ z> I |! -G٣)y5λ E> mNusing accuracyPremultiplier from configa}49eV?4Ye0$ ieB?e58DeW6~w,xA2~@Y2@2ۻ92 >y2H`Ĉ??R``M?_vc{?`??ɨ2~@2u;2oCyRBREIeMb@Mb@Mb@aaa a)aYeCl?kt?~jt?ye/?e 0=eD G٣y > Nusing accuracyPremultiplier from config494Z?4Y+ iB>0?:(?H8D2;51;C4 AZjFNOT Ignoring new targets: 132.50 m.BjJj ProNav: ac range: 132.500000 m, nav range: 133.442261 m, bearing: 178.200260 deg, approach rate: 0.139709 m/s, LOS rate: -0.333284 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.614497 deg. 2jd:j@HeadingCmd: 4.810380 target range: 132.500000 and range: 132.50 m. jjj!j!i!h!h!h)h-Bf)f)f)rf1bf5?ɛ]{B]n ae|=Ia e}VɚaiaIe"=Imim`imŨ|)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258440 C$?I*F2F:FBF^0JF"G=G>zKNK 9KKK[e \ .,lD.  GUiG) BA Om >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499160<~w,qA6^@Y6Э@6MŻ96.v >y6HI? r? p?N^zx?@N?α?ɨ6^@6.;6pCyNBRFIIZIZ +5٢~; ~U=9~E:Q > G٣+5Gy 2;  > Nusing accuracyPremultiplier from config49]?4Y~2 iB!%鵿%?Y8D ;e ;J4-XB -A-óEZjQUFNOT Ignoring new targets: 132.50 m.BjeYJjeYu ProNav: ac range: 132.500000 m, nav range: 133.490128 m, bearing: 178.088586 deg, approach rate: 0.124719 m/s, LOS rate: -0.290866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.640290 deg. 2juG:juS@}HeadingCmd: 4.810831 target range: 132.500000 and range: 132.50 m. jyjyjyjyihhhhfffrfbf{?ɛ}Bԏu =I ȍɚiIZ"=Iii1]))*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751132 IGGBO >J] J] 8JY JY J] \;J] :JY JY rC~w,\wAFҵ@YFDř@F9F'>yFH&·?g? f@/?`Gu? ? ڮ?ɨFҵ@F/;FqCyVBVUIvWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003232MMb@Mb@Mb@III I)IYMq= ףp??{Gzt?yM+?Myy }G٣y!; > Nusing accuracyPremultiplier from config49`?4Y9 iB+?:?k8D;^;R4 kAZjFNOT Ignoring new targets: 132.50 m.BjJj ProNav: ac range: 132.500000 m, nav range: 133.536148 m, bearing: 177.968688 deg, approach rate: 0.102713 m/s, LOS rate: -0.267508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.615620 deg. 2j7:j@HeadingCmd: 4.810400 target range: 132.500000 and range: 132.50 m. jjjjihhhhBfffrfbfګ@HAIA IEIIE+BIA&IA.IA6IE<:IE FɛmBm. im>=Ii mHɚqiqIu"=Ii- i'27))*FI2FQ:FQBFU`0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255109Gu U Q I] *hGY Bi O >zK% ]OK! K! K% K% (=PWVURNLKGFFC?=<;;89764424321../...-RK5 ?JK5 ?I~w,((A2(ʒ@Y2ٙ@2~92>y2H d?ن?:¿P?@@+qs? A?-?ɨ2(ʒ@2;2nCy:B:XIIF|IFb(5٢N+< RZ=9R:Q V>TX ZG٣Xy^; b> fNusing accuracyPremultiplier from configdj49f_c?n4Yf{@ ifBY]Be?f{8Df Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759174zP~w,:BAZՒ@YZ@Z]9Zڈ>yZH ? r?ry¿@ ܪ?@2ڂFs?f?ߩ?ɨZՒ@Z;ZrCyjBj^I I IvI%5٢%< %B=9- nQ ->)) -G٣-,5Gy55[; 5> ENusing accuracyPremultiplier from config9E49=f?M4Y=G i=BIMM?=8D=:=:=_4a e6AiZjFNOT Ignoring new targets: 132.50 m.Bj Jj5 ProNav: ac range: 132.500000 m, nav range: 133.626038 m, bearing: 177.743286 deg, approach rate: 0.111106 m/s, LOS rate: -0.275768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.619227 deg. 2jA=:jP@HeadingCmd: 4.810463 target range: 132.500000 and range: 132.50 m. jjjjihhh1h1f9f9f9rfAbfe r@ɛBF1 隝v=I ɚiIk"=Ii!i|))J3K3 K.KK"KJ%J%4J!J!J%$;J%r:J!J!*FY2Fa:FaBFaJFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:19:54:12.0505 -TRx dataTimestamp_ set to:1736366053.265639-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013220Hq Iq  Iu IIu 5BIu =&Iq .Iq 6Iu Ұ<:Iu FG jGy B O >)A I `V~w,[A2~~G>xA\ r YrxAyr B%W@Y%@%A9%>y%HL?|?@4¿ 2?)9pr?@??ɨ%W@%m;%pCy=B=YIMb@Mb@Mb@ )Yv/?S㥛? G٣ y ;  > Nusing accuracyPremultiplier from config49i?4YKO iB%)?%:%z%?8D;;|g4uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263160 TA%B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 132.50 m.Bj=Jj=u ProNav: ac range: 132.500000 m, nav range: 133.676697 m, bearing: 177.622414 deg, approach rate: 0.120964 m/s, LOS rate: -0.288508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.612714 deg. 2juF:j}b@}HeadingCmd: 4.810349 target range: 132.500000 and range: 132.50 m. jyjjjihhhhBfffrfbf @ IɛmBuR qux=Iq uɚqiyI}mz"=Ii("iԻ))zK#NKh9KK!K+-+)('"!! !! ""  "!" BK rA:K *F}?2Fy:FyBFl0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:54:12.0505 LVL= 25504, 30881, 14882, 28579, AGC= 62, IDX= 416, 0.37, 2.348, 1.434,-2.651, 2.564, PHS=-0.129,-1.083, 1.064, RAW= 183.7, 1.6, CAL= 183.8, -6.4, ROT= 326.2, 6.4  Ygot valid direction response: 19:54:12.0505 LVL= 25504, 30881, 14882, 28579, AGC= 62, IDX= 416, 0.37, 2.348, 1.434,-2.651, 2.564, PHS=-0.129,-1.083, 1.064, RAW= 183.7, 1.6, CAL= 183.8, -6.4, ROT= 326.2, 6.4  PDAT read: Bearing 326.2, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 326.2, 6.4 (Local)  DAT read: Range 10 to 50 : 130.3 m (Round-trip 173.8 ms) speed 0.8 m/s  *DAT read: user:940> G  BDAT read: Tx time:19:54:13.1726  $Ping request sent. i% % % '1?% 1M@! % |NM@)! I% 8/@i! ! ! % :^?BMu?oz&?)% A?I% i% cq׿% ޲! ! % :^?BMu?oz&?)! I! i! ! ! ! \\~w,uAy=BEaIIUIU\05٢A< Q=9Q > G٣y > Nusing accuracyPremultiplier from config49l?4Y5V i B   ?8D\:G:yn45YB 5/A=ųEk]k^?k]& kY k]J$qA:k]LCBk]iCZk]'H@"]7aj5-R.`=]\c+ֱ°]$i=% f[Jk]cq׿Rk]޲<*]qM'b`(N+?*8 5]0z2ê?]?V=ſ"k]?*k]{k]T"^?k]MC& 2k]k)BkYkYkYk]Ck]HF@ addTargetRange:: Added new target pos. range: 130.300003 m, deltaT: 3.527928 s, deltaX: -2.199997 m, approachRate: -0.623595 m/s, rangeRepo size: 4 u Added new target pos. range: 130.300003 m, bearing: 179.188513 deg, lat: 36.903470 deg, lon: -122.117743 deg, deltaT: 3.527928 s, deltaX: -2.199997 m, approachRate: -0.623595 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 130.30 m.Bj}Jjy ProNav: ac range: 130.300003 m, nav range: 133.724091 m, bearing: 177.510712 deg, approach rate: 0.000000 m/s, LOS rate: -0.288508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634278 deg. 2j:jw@HeadingCmd: 4.810726 target range: 130.300003 and range: 130.30 m. jjjjihhhhfffrfI`@bf@?ɛuBu| qu=Iq }TɚyiyI}o"=Ii#i}ܻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:54:13.1718 *F?2F:F!BF%0JF!"G-=G-p= IGE 4λG B O- > c~w,(A61@Y6@696:>y6Hʹ?@?+n¿: ?EANQs?v?;?ɨ61@66;6nCyBBBmIzWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yw/?S㥛?~jtx?y&?;I A )IAyAI[I5٢-9= -B=95Q 5>99 =G٣=-5GyE; E> MNusing accuracyPremultiplier from configIU49Mp?U4YM@] iM BU'?]:]]?M8DM;M;Mu4eZB eAe³EZjFNOT Ignoring new targets: 130.30 m.BjJj ProNav: ac range: 130.300003 m, nav range: 133.773773 m, bearing: 177.396965 deg, approach rate: 0.126903 m/s, LOS rate: -0.290434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634075 deg. 2jRG:jp@HeadingCmd: 4.810722 target range: 130.300003 and range: 130.30 m. jjjjihhhhBfffrfbf "?HW>I III?BI! =&I.I8D6Iǰ<:I FɛB 9 L=I uɚiI`"=I-ig#iNn))*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I +hG G B O >8i~w,xAzKMK9KK"KRK*?JK*'?^@Y^@^9^k">y^H%?y?kÿ < {? Bx?@p?Ѡ?ɨ^@^-;^qCynBncIIdI5٢_) e^=9eGQ e>ii mG٣iym-ۻ u> }Nusing accuracyPremultiplier from configy49}r?4Y}c i}Bh?}8D}*:}n:}O|4 "AZjFNOT Ignoring new targets: 130.30 m.BjJj ProNav: ac range: 130.300003 m, nav range: 133.818939 m, bearing: 177.293178 deg, approach rate: 0.119554 m/s, LOS rate: -0.274630 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663934 deg. 2jy<:j@HeadingCmd: 4.811243 target range: 130.300003 and range: 130.30 m. jjjjihhhhfffrfbf/?ɛUBUN Y]=IY ef-ɚaiaIeQ"=ImimE#im\)i)qJJ6JJJ|";J{:JJJIz Will construct direction to contact in vehicle frame from tetrahedron phase data.p~w,JA 4I4^ޒ@Y^@^Eջ9^p>y^H?}?A ÿ@? @z??y?ɨ^ޒ@^;^tCyjBjpIIvEIv5٢~K= ~L=9ܺQ > G٣ y E  > %Nusing accuracyPremultiplier from config549u?E4YTj iBAExE?8Dk;;!4Q UAQZjyFNOT Ignoring new targets: 130.30 m.BjJj ProNav: ac range: 130.300003 m, nav range: 133.865921 m, bearing: 177.186053 deg, approach rate: 0.118616 m/s, LOS rate: -0.270364 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.653929 deg. 2j9:jF@HeadingCmd: 4.811069 target range: 130.300003 and range: 130.30 m. jjjjihhhhfffrf bf?ɛB@ =I  ɚiI@;"=Ii$i7))*F2F:FBFK4JFGsA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHX>I IIIIBI&I.I9D6I<:I FBIȢCJIȢCRIZI! =bI! =jIȒ4G ;3G B O >v~w,%A6~@Y6@64F96F >y6H5??¿ 3?n~|? ?@?ɨ6~@6j;6qCyNBRvI5Mb@Mb@Mb@111 1)1Y5~jt?:v?{Gzt?y5$?5<5ף;5 A 5@)5hAI5@1y5pAIUNIU5٢< >=9Q > G٣.5GyQ: > Nusing accuracyPremultiplier from config49 y?4Yq iB$?:v?8D;#;4[B AijEZj!-FNOT Ignoring new targets: 130.30 m.Bj-tJj5tE ProNav: ac range: 130.300003 m, nav range: 133.917572 m, bearing: 177.069628 deg, approach rate: 0.121412 m/s, LOS rate: -0.273567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.626050 deg. 2jE;:jEJ@UHeadingCmd: 4.810582 target range: 130.300003 and range: 130.30 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data. jQjajajaiahihihihmBfqfqfqrfqbf}`&J?ɛB#_: 隥=I 2ɚiIc""=IiK%i>)) YI],h*F12F1:F1BF5_0JF1zKMKK]9KK#K GuZJ J 7J J J !;J :J J J x<J x<J ;J ;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i }~w,A:@Y:8@:6ѻ9:K>y:H ]?? L¿d?˂;z?N?`?ɨ:@:Qb;:oCyBBFwIININ,5٢V; Z^=9Z:Q Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj49f{?j4Yfw ifBhj4j?f9Df;fs;f4p rApB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 130.30 m.BjtJjt- ProNav: ac range: 130.300003 m, nav range: 133.962662 m, bearing: 176.970178 deg, approach rate: 0.122489 m/s, LOS rate: -0.270069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.676942 deg. 2j5X9:j5@5HeadingCmd: 4.811471 target range: 130.300003 and range: 130.30 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfMk@ɛ}B}~s: y}=Iy uɚiI "=Ii%i>嗢))*F?2F:FBF`0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. MD$?IIG5;3GBO5> ~w,1A2@Y2Y@2Ż92k>y2H=ع?@d?¿ ͹?@Ox??`b?ɨ2@20;2pCyBBBI^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488874Mb@Mb@Mb@ )Y'1Z?Zd;O?y&1|?y"?j<`; A )AIQAyAIIy/5٢W9= :=9W:Q > G٣y: > Nusing accuracyPremultiplier from config49?4Y  iB"?:?9D>;1;ǘ4 WAZj!%FNOT Ignoring new targets: 130.30 m.Bj-Jj5= ProNav: ac range: 130.300003 m, nav range: 134.015381 m, bearing: 176.852471 deg, approach rate: 0.119677 m/s, LOS rate: -0.267101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.622209 deg. 2jEO7:jE@MHeadingCmd: 4.810515 target range: 130.300003 and range: 130.30 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbf]@HV>I IIISBI =&I.I8D6Iʰ<:I Fɛ-B-0P: 15n>I1 5`ɚ1i1I5|!=I=i=2&i=6⣻)9)AEi*F2F:FBF_0JF"G =G uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742460 ) I) GE I젻G9 BA O] >H3~w,*AzKJKKJ9KHKJ$KJOd;V@YV@V?ɻ9V>yVH@Ź?`V?2¿@:]?դ2y?z ? ?ɨV@V;Ty^ B^IIfIf/5٢n  rZ=9rQ r>pt vG٣tyvH v> ~Nusing accuracyPremultiplier from configx~49z?4YzF izBŷ?z$9DzX:z:zS4  sAZj9=FNOT Ignoring new targets: 130.30 m.BjEӘJjEӘU ProNav: ac range: 130.300003 m, nav range: 134.060608 m, bearing: 176.752433 deg, approach rate: 0.120850 m/s, LOS rate: -0.267219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.675177 deg. 2jUc7:j]P@]HeadingCmd: 4.811440 target range: 130.300003 and range: 130.30 m. jYjajajaiahahahihifififqrfqbfu%@ɛBL>: 隥R=I ɚiI!=IiX&i))J J;JJJ';J:JJJށ<Jށ<J3;J3;*Fe?2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993075Gj>GBO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:19:54:15.7477  TRx dataTimestamp_ set to:1736366057.044611 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245895  I H~w,dDA6|@Y6 @6t96>y6H@?Ȅ? `>?@f`w? ??ɨ6|@6Й;6oCyBBBIIJIJ.5٢ZÀ; ^M=9^s:Q ^>`` fG٣f/5Gyf: j> nNusing accuracyPremultiplier from configh%49j?%4Yj ij B!%%?j49Dj%)+A~w,m^A6@Y6 @6Jû96'>y6Hݹ?Ä?@ҹ?Six??Ѯ?ɨ6@6K8;4yRBRI=Mb@Mb@Mb@999 9)9Y=Gz?{Gz?{Gz?y=p?=ף<=#<=I A =-@)=AI99y=pAIUIU\05٢< :=9wԹQ > G٣yF > Nusing accuracyPremultiplier from config49?4Y i#B?:G?E9DD;C;4 ]B JA ƳE=Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 19:54:15.7477 LVL= 23248, 26865, 15954, 27027, AGC= 62, IDX= 419, 0.15,-0.666,-1.518, 0.660,-0.391, PHS=-0.187,-1.080, 1.048, RAW= 185.3, 2.4, CAL= 185.4, -5.8, ROT= 324.6, 5.8 }Ygot valid direction response: 19:54:15.7477 LVL= 23248, 26865, 15954, 27027, AGC= 62, IDX= 419, 0.15,-0.666,-1.518, 0.660,-0.391, PHS=-0.187,-1.080, 1.048, RAW= 185.3, 2.4, CAL= 185.4, -5.8, ROT= 324.6, 5.8 PDAT read: Bearing 324.6, 5.8 (Local) ~Local bearing/azimuth received: Bearing 324.6, 5.8 (Local) DAT read: Range 10 to 50 : 128.1 m (Round-trip 170.9 ms) speed 0.4 m/s *DAT read: user:941> BDAT read: Tx time:19:54:16.8726 $Ping request sent.)=iI9i=|?=q==$?=jN@=+= =O@)=4QϽI=uJ@i=4Q=99= ?O ?zAqf?)=a?I=)A+i=ٿ=oO=99:publishing transmit ping timeؙFpublishing direction and range info99=I ȿFYPy999FNOT Ignoring new targets: 130.30 m.Bj%Jj%9 9)9I9i99999 9)9I9i999= ?O ?zAqf?)9I9i9999 ProNav: ac range: 130.300003 m, nav range: 134.160522 m, bearing: 176.532765 deg, approach rate: 0.115455 m/s, LOS rate: -0.255500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.635625 deg. 2jY/:j@HeadingCmd: 4.810749 target range: 130.300003 and range: 128.10 m. jjjjihhhh(Bfff rf @3`@bf ?ɛB8: 隝=I PɚiIl!=I%i% 'i%p))))zKLK9KK%K  *F2F:FBF0JFG! G%sAJ J 6J 0J J +;J {:J ـ3J J <J <J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:54:16.8718 GE g{G B1 O] >r~w,gxAbb@Yb@b̀9b>ybH` ?@J? < ¿Z?ہ pw?C??ɨbb@bN;`yzBzII-I-v35٢=< =S=9E :Q E>AA MG٣iym: m> }Nusing accuracyPremultiplier from configq49u@?4Yu= iu&B0?uT9Du;u;uʹ4 "Ak]p_?k]0! K kY k] cA:k]CBk]tBZk]yG@"]Y \/U"Y__xB)]I ȿFYPJk]ٿRk]oO=*]̛m__:y@';l8]dtYpgP?Z;?6gȿ"k]@?@*k]mk](_?k]J 2k]~Bk][e]?k]i k]!Bk]ECk]DE@ZjimFNOT Ignoring new targets: 130.30 m.BjuJJjuJ ProNav: ac range: 130.300003 m, nav range: 134.206757 m, bearing: 176.431892 deg, approach rate: 0.117281 m/s, LOS rate: -0.255794 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.672674 deg. 2j/:j@HeadingCmd: 4.811396 target range: 130.300003 and range: 128.10 m. jjjjihhhhfffrfbfX?ɛB 5; >I ʓɚiI!=IEiED'iE)A)I*F?2F:FBFO5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data. IG- XG BI O >T~w,*A2n@Y2@292>y2HG-? ?¿`y*?@~@s|??`?ɨ2n@2JL;0NWill construct direction to contact in vehicle frame from tetrahedron phase data.yRBVI=Mb@Mb@Mb@999 9)9Y=+? rh?I +?y=v?=C<=94<=` A =@)=hAI=A9y=AIMrIM#5٢]ܻ eI=9e EQ e>iq uG٣u05Gy}K }> Nusing accuracyPremultiplier from config49׌?4Yȟ i*B?:N?H=T>I9 I=II=bBI=" =&I9.I96I=<:I= Fd9D\<<ݻ4Y ]-AYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 130.30 m.BjYJjY ProNav: ac range: 130.300003 m, nav range: 134.253098 m, bearing: 176.326918 deg, approach rate: 0.113005 m/s, LOS rate: -0.255895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.660377 deg. 2j/:j2@HeadingCmd: 4.811181 target range: 130.300003 and range: 128.10 m. jjjji h hhh1Bfffrfbf@?ɛeBeDw: 隍p=I G;߻ɚiI-n!=Ii6'i<))*F-?2F1:F1BF54JF1IevA HYvAypBMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. IG PG B O >A}~w,AzKKKh9KK&KRK- ?JK->y-B5IIERIE5٢U/< UL=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49mg?u4YmB im.Bqq}?mt9Dmm ;m;mª4 AZjFNOT Ignoring new targets: 130.30 m.Bj䟻Jj䟻] ProNav: ac range: 130.300003 m, nav range: 134.299438 m, bearing: 176.223044 deg, approach rate: 0.124769 m/s, LOS rate: -0.279574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663677 deg. 2je?:je@eHeadingCmd: 4.811239 target range: 130.300003 and range: 128.10 m. jijijijiiihihihhfffrfbf`Η?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248892ɛ B/; Z=I ܻɚiIP!=IiɈ(i͹))*F?2F:FBF_0JFG G B O ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499707 I .e~w,A6ݒ@Y6x@6a96,>y6H 9?@?`F¿@ G?cx@`?C??ɨ6ݒ@6h;6nCyNBRIIZDIZ5٢bCǻ fS=9fAQ f>hh jG٣hyj j> rNusing accuracyPremultiplier from configpv49rݑ?v4Yr ir1Btvev?r9Dr:r:rɪ4x ~(A~óEZjAFNOT Ignoring new targets: 130.30 m.BjJj ProNav: ac range: 130.300003 m, nav range: 134.344406 m, bearing: 176.122829 deg, approach rate: 0.106044 m/s, LOS rate: -0.236252 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674644 deg. 2j#":j<@HeadingCmd: 4.811430 target range: 130.300003 and range: 128.10 m. jjjjihhh1h9fAfifqrfqbfu@?ɛBg: |=Ia mػɚiiiIm-!=Iuiu5N)iu)q)qJJ2J1JJ $;Jh:J3Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753078*Fu?2Fy:FyBFyJFyHAIA IEIIEgBIA&IA.IA6IE<:IE FG] 4λG1 BA O] >~w,A6@Y6@@6~ ٻ96{>y6Hय?)?.¿zm?@M!{?0??ɨ6@6;6pCyBBBIMMb@Mb@Mb@III I)IYMS?Q?{Gz?yM?Myy }G٣}15Gy; > Nusing accuracyPremultiplier from config49?4YF i5B?:5?9D;;Ѫ4_B  AijE I.hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005355Zj1=FNOT Ignoring new targets: 130.30 m.Bj=혻Jj=혻m ProNav: ac range: 130.300003 m, nav range: 134.399979 m, bearing: 176.014790 deg, approach rate: 0.137599 m/s, LOS rate: -0.267395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.651209 deg. 2ju7:ju@uHeadingCmd: 4.811021 target range: 130.300003 and range: 128.10 m. jyjyjyjyiyhyhyhh7BfffrfbfJ@ɛB/; =I %ջɚ!i!I%!=I-i-4)i-7)))1*F2F:FBFJFzKeIKKe 9KaKe'KeBKq:KqG ;3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258601G B OU >V~w,AV@YV!@V9VC>yVH .? ?¿` ?w?@?`?ɨV@VJS;VqCyjBjIIUIU"25٢m mL=9m ;Q m>qq uG٣yy}; }> Nusing accuracyPremultiplier from config49?4Y i9B?9D"::ت4 )AZjFNOT Ignoring new targets: 130.30 m.Bj]Jj] ProNav: ac range: 130.300003 m, nav range: 134.452698 m, bearing: 175.914171 deg, approach rate: 0.135977 m/s, LOS rate: -0.259423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.673451 deg. 2j 2:j@HeadingCmd: 4.811409 target range: 130.300003 and range: 128.10 m. jjjjihhhhfffrfbf"U@ɛ-B-L: )-4=I) 5ӻɚ1i9I=/ =I=iE+)iE`z)A)A*F2F:FBF0JF I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507824GxFGBO>J J ;J J J d&;J :J J ~w,ͯA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759619:@Y: @: @9:M>y:Hٌ?P?@i¿ `w?Y@u???ɨ:@:~;:oCyFBFIMb@Mb@Mb@ )Y~jt?kt?{Gz?y? 0=` A -@)IyAI=I=+5٢Mݼ MJ=9MC:Q M>QQ UG٣Qy]l; ]> eNusing accuracyPremultiplier from configam49e?m4Ye ie=Bm?m:uu?e9DeD;e;e&ߪ4HI IIImBI! =&I.I6I<:I FBIJIRIZIbIjId*5 VAEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 130.30 m.BjuJju ProNav: ac range: 130.300003 m, nav range: 134.512039 m, bearing: 175.812485 deg, approach rate: 0.139417 m/s, LOS rate: -0.238798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670264 deg. 2j#:j@HeadingCmd: 4.811354 target range: 130.300003 and range: 128.10 m. jjjjihhhh3Bfffrfbf`@ɛ=BEF AEZ=IA ESrлɚAiIIM =Iuiu)iuR2)q)q*F!2F!:F!BF%0JF) IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:54:19.4455 TRx dataTimestamp_ set to:1736366060.572687%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012848GM GgG B O- >M~w, F-A6r@Y6+@6C96>y6H?`{?¿`d@Zغ?9xs?)??ɨ6r@6 ;6nCyBBBIIJIJ%.5٢R9 VX=9V:Q V>XX ^G٣^25Gy^j; ^> fNusing accuracyPremultiplier from config`f49b?j4Yb ibABhj鲿j?b9Db#;bf;b4p rgApZj FNOT Ignoring new targets: 130.30 m.Bj Jj% ProNav: ac range: 130.300003 m, nav range: 134.568619 m, bearing: 175.716905 deg, approach rate: 0.157975 m/s, LOS rate: -0.266754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.688572 deg. 2j%7:j%:@-HeadingCmd: 4.811673 target range: 130.300003 and range: 128.10 m. j)j)j)j)i)h1h1zKKK+9KK(KRK?JK>hhfffrfbf @ɛMBMv IM=II UeλɚiI =Ii)i_o))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265306*Fi2Fi:FiBFm3JFiG*G B O > F$?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515694 ~w,I-GAM@YMj/@Myʑ9M4>yMH&?~? 6(¿`?uυ K9r? 3?@?ɨM@M;MpCyeBeIIuIuv35٢z˻ 9=99Q > G٣y: > Nusing accuracyPremultiplier from config49梈?4Y iEB۲?9D*::{4 rAZjFNOT Ignoring new targets: 130.30 m.Bj0Jj0u ProNav: ac range: 130.300003 m, nav range: 134.634781 m, bearing: 175.606235 deg, approach rate: 0.136159 m/s, LOS rate: -0.227643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643343 deg. 2j}::j@HeadingCmd: 4.810884 target range: 130.300003 and range: 128.10 m. jjjjihhhhfffrfbf @JJ0J0JJ$;J_:Jـ3JɛB(sк =I ˻ɚiI =Ii)i))9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:54:19.4455 LVL= 29808, 29169, 12482, 32755, AGC= 63, IDX= 411, 0.30,-0.166,-1.052, 1.222, 0.126, PHS=-0.204,-1.131, 1.093, RAW= 185.5, 2.5, CAL= 185.5, -5.6, ROT= 324.5, 5.6 Ygot valid direction response: 19:54:19.4455 LVL= 29808, 29169, 12482, 32755, AGC= 63, IDX= 411, 0.30,-0.166,-1.052, 1.222, 0.126, PHS=-0.204,-1.131, 1.093, RAW= 185.5, 2.5, CAL= 185.5, -5.6, ROT= 324.5, 5.6 PDAT read: Bearing 324.5, 5.6 (Local) ~Local bearing/azimuth received: Bearing 324.5, 5.6 (Local) =DAT read: Range 10 to 50 : 126.4 m (Round-trip 168.6 ms) speed 0.3 m/s E*DAT read: user:942> uBDAT read: Tx time:19:54:20.5727 u$Ping request sent.u0~w,WbA |I|yBI]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:19:54:20.5719 mMb@Mb@Mb@iii i)iYm5^I ?Zd;O?y&1|?ym?mj<=m`;i m@)m~AIiiyiI{I'5٢ 5=9Q > G٣y > Nusing accuracyPremultiplier from config49?E4Y iIBM?M:MM?9DG<z<q4]`B ]A]ƳEk-!`?k-15 k) k-TA:k-BBk-BZk-eG@"- o/aØYL_I-K-B|-C)-Jk-NٿRk-8]=*-:^yQ%>@oX8- ڑ`Ұd8?ւHY%ȿ"k-1@*k-k-lH_?k- 2k-Bk-T"^?k-MC& k)k-VCk-NE@e addTargetRange:: Added new target pos. range: 126.400002 m, deltaT: 3.779948 s, deltaX: -1.700005 m, approachRate: -0.449743 m/s, rangeRepo size: 4 } Added new target pos. range: 126.400002 m, bearing: 178.714969 deg, lat: 36.903516 deg, lon: -122.117788 deg, deltaT: 7.560145 s, deltaX: -3.900002 m, approachRate: -0.515863 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 126.40 m.BjJj ProNav: ac range: 126.400002 m, nav range: 129.338852 m, bearing: 177.078041 deg, approach rate: 0.000000 m/s, LOS rate: -0.227643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670041 deg. 2j:j@HeadingCmd: 4.811350 target range: 126.400002 and range: 126.40 m. jjjjihhhh-Bfffrf_@bf ?ɛmBmS qu=Iq u(ʻɚiI =Ii Y)iI))zK KK9KK)KH_1  XNNzhXJ?6.$  *F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. i G G B O >~w,Q}A2"@Y2n2@292>y2H#'?@~? ¿ ?f r?`&)? ?ɨ2"@2l%;2nCy> BB|IIJkIJ 5٢R' Re=9RDQ V>XX ZG٣Z35Gy^: ^> bNusing accuracyPremultiplier from config`f49b6?f4Ybn ibLBhj౿j?b9DbS;b;b4l nAlZjFNOT Ignoring new targets: 126.40 m.Bj Jj  ProNav: ac range: 126.400002 m, nav range: 129.387558 m, bearing: 176.987086 deg, approach rate: 0.153616 m/s, LOS rate: -0.286760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.702426 deg. 2jD:j5@%HeadingCmd: 4.811915 target range: 126.400002 and range: 126.40 m. j!j!j!j)i)h)h)h1h1f9f9f9rf9bf=jt?ɛ-B-2 )-R=I) 5ɻɚ1i9I=/ =Ii0)iw)) iIm/hWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG=ݻG BI O >J J MJ 1J J J h:J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.|~w,AH4I4 I6II6gBI6! =&I4.I46I6<:I6 FF@YF$@Fk韻9FN >yFH#??`Յ2=?@t (s?Ǎ?`?ɨF@F۲;FlCyNBRnIuMb@Mb@Mb@qqq q)qYu$C?)\(?Mbp?yu?uGa=u;uvA u-@)qIuQAqyuAI^I5٢U 9=9WQ > G٣y큻 > Nusing accuracyPremultiplier from config49?4YS iOB? : > ?:D" ; ;X4 A=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 126.40 m.BjMJjMe ProNav: ac range: 126.400002 m, nav range: 129.452896 m, bearing: 176.872596 deg, approach rate: 0.147488 m/s, LOS rate: -0.258309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.631893 deg. 2jeF1:je @mHeadingCmd: 4.810684 target range: 126.400002 and range: 126.40 m. jijijijiiihihqhqh}'Bfyfyfyrfybf?ɛB5 15HG B O >>~w,A2 @Y2n@2ɻ92?>y2Hp?? if?`8y?u??ɨ2 @2‡;2nCzKNdOKN9KLKN*KNyVBVbIIzbIz5٢T Y=9 ~^Q  >    G٣y^8 > %Nusing accuracyPremultiplier from config%497?%4Y4 iRB)-b-?:D:: 49 =aA=óEZjFNOT Ignoring new targets: 126.40 m.BjhJjh ProNav: ac range: 126.400002 m, nav range: 129.508759 m, bearing: 176.775053 deg, approach rate: 0.146672 m/s, LOS rate: -0.255996 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682689 deg. 2j/:jc@HeadingCmd: 4.811571 target range: 126.400002 and range: 126.40 m. jjjjihhhhfffrfbf?ɛB-ϻ @5I BȻɚiI =Ii;>)i"])) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502268*F?2F:FBFJFGV'SGBO> I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752007~w,ZA:@Y:)@:29:q>y:HS? ́?`˺?O&u?`?#?ɨ:@:;:pCyFBFWIINtIN$5٢bM2 bO=9b$;Q b>dd fG٣f45GyjЎ; j> nNusing accuracyPremultiplier from confighr49j?v4Yj_ ijUBtv+v?j!:DjB;jB;j4x ~A|ZjQ]FNOT Ignoring new targets: 126.40 m.BjeJje} ProNav: ac range: 126.400002 m, nav range: 129.568161 m, bearing: 176.672871 deg, approach rate: 0.150183 m/s, LOS rate: -0.258222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.668782 deg. 2j}71:jf@HeadingCmd: 4.811328 target range: 126.400002 and range: 126.40 m. jjjjihhhhfffrfbf@ZG?ɛ}B, 隍HѼI 49ɻɚiI =Ii $)i׺))1JEJE6JE0JAJED#;JE{:JEـ3JA*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004973HaIa IeIIeXBIe" =&Ia.Ia6Ie<:Ie F)Y eCxA M YU xAyU EBG OPG B O > 9 I9 A~w,AyB%ZIEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256301Mb@Mb@Mb@ )Yx&1?Zd;O?y!?j<=` A )AIAyAIIy/5٢J< 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 D?4Y  i WB!?:_? 3:D ; W; 4%bB -A-ųEZj FNOT Ignoring new targets: 126.40 m.Bj5Jj5m ProNav: ac range: 126.400002 m, nav range: 129.633850 m, bearing: 176.552296 deg, approach rate: 0.142924 m/s, LOS rate: -0.262208 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.613651 deg. 2jm3:ju@uHeadingCmd: 4.810366 target range: 126.400002 and range: 126.40 m. jyjyjyjyiyhyhyhh Bfffrfbf @ɛB (ټI  ʻɚiI =I-i- )i-O)))1*F?2F:FBF`0JF"G=G=zKU KKQKQKU+KUWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509991G ïG B O >I~w,uAyUB]CIIeIe-5٢̽ P=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y iYB?C:D;;l4fB VAZjFNOT Ignoring new targets: 126.40 m.BjJj ProNav: ac range: 126.400002 m, nav range: 129.692444 m, bearing: 176.445730 deg, approach rate: 0.158779 m/s, LOS rate: -0.288645 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655636 deg. 2jF:j @ HeadingCmd: 4.811099 target range: 126.400002 and range: 126.40 m. jjjjihhhhff!f!rf!bf%ֽ@ɛ]B]n8 Ye*Ia e˻ɚaiaIe =Imim(iq)q)q I0h*F%?2F!:F)BF-0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762017G-i"G B1 O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:54:23.1432 % TRx dataTimestamp_ set to:1736366064.372680% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017160He U>Ia  Ie IIe DBIe ! =&Ia .Ia 6Ie <:Ie F6w,AJF@YJU@Jq-L9JX{>yJH@>?@|? N?M`i???ɨJF@Jr;JmCyRBR=IMb@Mb@Mb@ )YS㥛?v/?y$&?xi= )IQAyII15٢Ʋ 6=9;Q > G٣55GyD< > Nusing accuracyPremultiplier from config49ˆ?4Y i[B&?:ί?V:DG;F;;'4 ~AB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 126.40 m.Bj5RJj5RE ProNav: ac range: 126.400002 m, nav range: 129.767410 m, bearing: 176.321485 deg, approach rate: 0.167129 m/s, LOS rate: -0.276829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.602674 deg. 2jE=:jE@MHeadingCmd: 4.810174 target range: 126.400002 and range: 126.40 m. jIjIjIjIiQhQhQhQh]BfYfYfYrfYbfe`T @ɛB@ 隝䩽I  λɚiIH!=Ii8(idG;))*F2F!:F!BF%1JF! G$?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268087Ge pG9 BI Oe > w,x2AzKzKKz9KxKz,KzJK KKK"KJ-J)J-1J)J-$;J)J-3J)J-V~yHi? |?Y EBDAT read: Tx time:19:54:24.2227 E$Ping request sent.Myy }G٣yE: E> MNusing accuracyPremultiplier from configIU49MLj?U4YM3  iM]BY]]?Mi:Dة9حaUF¿ppFh*겿yحBةح`SحW ٭r2)٭_I٭=i٭+٭}?٭Zd?٭(oP@M:M;M/4 A٭5z= ڭ(oP@)ڭIڭ➴@iڭ=ککۭIZ"b?ݿyUH ?@~?@v ?w@;Ql?? U?ɨU@@U`;QyލBލ+ImWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yHI III5BI&I.I6Ḭ<:I FBIQJIQRIQZIQbIQjIU4Y}Fx?A`"?Mb`?y}+?}Y=};} A y)yIyyy}AII:5٢- =9.Q > G٣y8 > Nusing accuracyPremultiplier from config49̈?4Y_ i`BO,?:?}:D;F;P74hB AdzEZj9EFNOT Ignoring new targets: 124.80 m.BjEJjEU ProNav: ac range: 124.800003 m, nav range: 126.726715 m, bearing: 176.585262 deg, approach rate: 0.186970 m/s, LOS rate: -0.336691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.560020 deg. 2j]g:j]@eHeadingCmd: 4.809430 target range: 124.800003 and range: 124.80 m. jajajajaiahahihqhuBfqfqfyrfybf ?ɛEBE.x AE>II M\ԻɚIiIIMX!=IUiUץ&iUr:)y)y*F2F:FBF0JF )I51hG .A;% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ow,lA2 @Y20@2è92` >y2H??@a c?@ nu?)?@?ɨ2 @22r;0yBBB$IIHIH٢V% Vz=9VͩQ V?XX ZG٣Z65Gy^D ^? bNusing accuracyPremultiplier from config`f49bψ?f4Yb  ibbBdfj?b:Db:b:b=4l n,AlZjAMFNOT Ignoring new targets: 124.80 m.BjMJjU ProNav: ac range: 124.800003 m, nav range: 126.779747 m, bearing: 176.489038 deg, approach rate: 0.158765 m/s, LOS rate: -0.287951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.686638 deg. 2jE:j@HeadingCmd: 4.811639 target range: 124.800003 and range: 124.80 m. jjjjihhhhfffrfbf-?ɛ  B O  I 55׻ɚ1i1I= z!=I=i=R&iE)A)AJJ8J/JJ!;J:J(N3JJx<Jx<J;J;zK-cKK-9K)K--K-BK5sA:K5rA*F%?2F9:F9BF= 5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.GU_:G) B1 OM > A IA !w,EA6Y@Y6@6*ػ96v >y6H*S?@ވ?Pd`O?^~@F{?R? y?ɨ6Y@6;4y>zB>IIFgIF5٢N޼ RK=9RykQ R>TT VG٣TyVZ V> ^Nusing accuracyPremultiplier from configX^49ZԈ?b4YZ iZeB`bb?Z:DZ ;Z. ;Z D4h j[AnijEWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj  FNOT Ignoring new targets: 124.80 m.BjaJja ProNav: ac range: 124.800003 m, nav range: 126.844902 m, bearing: 176.370300 deg, approach rate: 0.164519 m/s, LOS rate: -0.299663 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.619162 deg. 2jM:jN@HeadingCmd: 4.810462 target range: 124.800003 and range: 124.80 m. jjjjihhhhfffrfbfz?ɛ  B  6  I ۻɚi1I5}!=I=i=&iE0)A)A*F2F:FBF_0JF"G=G=GMïWill construct direction to contact in vehicle frame from tetrahedron phase data.HT>I III BI&I.I6I<:I FGI BQ Ou >6'w,yA6@Y6.@6Ȼ96S >y6H`?@v?KS ?Gy?@&V?\?ɨ6@6Zc;4yN]BR IeMb@Mb@Mb@aaa a)aYem?+?MbPye.?e=eevA a)aIaayeAI}dI}5٢ <=9<:Q > G٣y > Nusing accuracyPremultiplier from config49 ؈?4Y% igB.?:?:DZ4;3;K4 A IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 124.80 m.BjīJjī ProNav: ac range: 124.800003 m, nav range: 126.910713 m, bearing: 176.239556 deg, approach rate: 0.151256 m/s, LOS rate: -0.300339 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.583163 deg. 2jN:j(@%HeadingCmd: 4.809834 target range: 124.800003 and range: 124.80 m. j!j!j)j)i)h)h)h1h5Bf1f9f9rfAbfE@3H?ɛm Bmm qu=Iq uɚqiyI}!=I}iF&ir))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG G B O >J- J- 4J- 1J) J- d&;J- r:J- 3J) J- <J- <J- ;J- ;zK /KK 9K K .K RK JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996612.w,CA^ @Y^}@^%9^2 >y^H`x?R?KR g?8@Du?X?`Q?ɨ^ @^ ;^oCyjjBjIIrIr:5٢z+< zO=9~;Q ~>|| G٣75Gy:e; > Nusing accuracyPremultiplier from config 49 ۈ?4Y , i iB? :D  ; ; R4) -A)ZjFNOT Ignoring new targets: 124.80 m.Bj/Jj/ ProNav: ac range: 124.800003 m, nav range: 126.971428 m, bearing: 176.120936 deg, approach rate: 0.148802 m/s, LOS rate: -0.290579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.619502 deg. 2jlG:jZ@ HeadingCmd: 4.810468 target range: 124.800003 and range: 124.80 m. j j jjihhhAhAfAfIfIrfIbfM@ɛB 5I ɚiI!=Ii-&i@)) I*FM?2FQ:FQBFQJFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248648G5 ԑG B O5 >&4w,{A5@Y52@595$v >y5H?@?`>xw?w"s???ɨ5@5;1yMTBMIMb@Mb@Mb@ )Yd;O?L7A`?Mbp?y4?+=; A C@)hAIyAI%I%85ZH1RH1H=S>I9 I=II=BI9&I9.I96I=<:I= FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501597٢m= m7=9uۘ:Q u>qy }G٣yy}A: }> Nusing accuracyPremultiplier from config49߈?4Y5 ikB4?:ﵿ?:D;^;VZ4jB AƳEZjFNOT Ignoring new targets: 124.80 m.BjЬJjЬ ProNav: ac range: 124.800003 m, nav range: 127.039757 m, bearing: 175.982002 deg, approach rate: 0.148690 m/s, LOS rate: -0.302170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.558618 deg. 2j`O:j@HeadingCmd: 4.809405 target range: 124.800003 and range: 124.80 m. jjjjihhhhBfff!rf!bf%T@ɛuBu q}OIy }qɚyiyI}z;"=Ii`&i7))*F=?2F9:F9BF9JF9GErA GEtA I2h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752932Ge j-G9 BA O >c ;w,NA6@Y6X"@6M96{ >y6H ,??WgÍ? Z vq?`a? ?ɨ6@6;6nCyfbBfIInIns75٢v= vg=9z9:Q z>xx ~G٣|y~: ~>  Nusing accuracyPremultiplier from config 49∜?4Y; imB⵿?:DC::`4! %A!ZjIUFNOT Ignoring new targets: 124.80 m.BjUIJjUIe ProNav: ac range: 124.800003 m, nav range: 127.094650 m, bearing: 175.871779 deg, approach rate: 0.168389 m/s, LOS rate: -0.337970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.644663 deg. 2jmg:jm@uHeadingCmd: 4.810907 target range: 124.800003 and range: 124.80 m. jqjqjqjqiqhqhyhyhyfffrfbf -@ɛBn 隵EI  ɚiIk"=Ii&iK"))*F?2F:FBF0JFJJ,JJJ\;JL:JJJt<Jt<J;J;zK KK9KK/K    eWill construct direction to contact in vehicle frame from tetrahedron phase data.aiamchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004980GGBO> I IAw,)A6 @Y6#@6Ώ96t >y6Hm? 0?Mw%@uU?` `q?~??ɨ6 @6o;6lCyNWBRIIXIXbWill construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:19:54:26.7903 fTRx dataTimestamp_ set to:1736366068.152767fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257874٢j^߼ nL=9n#Q n>pp rG٣r85Gyv v> zNusing accuracyPremultiplier from configx~49zR戜?~4YzB izpB|?z:Dz ;z? ;zg4  A Zj1FNOT Ignoring new targets: 124.80 m.BjJj5 ProNav: ac range: 124.800003 m, nav range: 127.157097 m, bearing: 175.747122 deg, approach rate: 0.155690 m/s, LOS rate: -0.310637 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.601407 deg. 2jU/U:jU@]HeadingCmd: 4.810152 target range: 124.800003 and range: 124.80 m. jYjYjYjYiYhahahahafififirfibfmܥ @ɛ}B.3 隵TI %ɚiI"=Ii'i;[))*F?2F!:F!BF%o0JF)H=Q>I9 I=xII=BI=" =&I9.I96I= <:I= FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508860G OP `wA! Ga Bi O > PY `wAy 7BAHw,"AyrQBrI H$?IMb@Mb@Mb@ )YtV??y&1|?y2?<`;I A )IypAIIp;5٢?O ==9Q > G٣y > Nusing accuracyPremultiplier from config49鈜?4YJ isB2?:u? ;D;-;o4  AB*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 124.80 m.BjdJjd5 ProNav: ac range: 124.800003 m, nav range: 127.220917 m, bearing: 175.614142 deg, approach rate: 0.147254 m/s, LOS rate: -0.306676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.576453 deg. 2j5xR:j52@=HeadingCmd: 4.809716 target range: 124.800003 and range: 124.80 m. j9j9j9j9i9h9hAhAhEzBfAfIfIrfIbfU @ɛBlJ ]I %{ɚ!i!I%@"=IMiMw,'iMjT)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 19:54:26.7903 LVL= 26576, 24161, 12530, 29219, AGC= 60, IDX= 406, 0.02, 2.962, 2.078,-1.950,-3.005, PHS=-0.228,-1.153, 1.052, RAW= 185.3, = -4.9, ROT= 324.6, 4.9 uunknown deviceResponse_: 19:54:26.7903 LVL= 26576, 24161, 12530, 29219, AGC= 60, IDX= 406, 0.02, 2.962, 2.078,-1.950,-3.005, PHS=-0.228,-1.153, 1.052, RAW= 185.3, = -4.9, ROT= 324.6, 4.9 DAT read: Bearing 324.6(Range 10 to 50 : 122.5 m (Round-trip 163.4 ms) speed 0.8 m/s unknown deviceResponse_: Bearing 324.6(Range 10 to 50 : 122.5 m (Round-trip 163.4 ms) speed 0.8 m/s *F?2F:FBF1JF"G=G=*DAT read: user:944> EBDAT read: Tx time:19:54:27.8727 E$Ping request sent.EzK LK 9K K 0K  } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.203738RHNw,;AU@YU`@U.9U >yUH0?? @`?!Xr?X??ɨU@UЇ;UnCyeLBeII}yI}'5٢P M=9lQ > G٣y > Nusing accuracyPremultiplier from config49툜?4YR iuB?;Dq:q ;v4kB *AdzEZjFNOT Ignoring new targets: 124.80 m.BjkJjk ProNav: ac range: 124.800003 m, nav range: 127.280060 m, bearing: 175.491709 deg, approach rate: 0.149081 m/s, LOS rate: -0.308472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.608062 deg. 2jS:j@%HeadingCmd: 4.810268 target range: 124.800003 and range: 124.80 m. j!j!j!j!i!h)h)h)h)fffrfbf @ I3hɛ-B5 15~fI1 57ɚ1i1I=0-#=I=iEa'i ))*F=?2F9:F9BF=1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.456375G] OPGY Ba O} >:FUw,CVAJ8J8JHJJ8JHJHJHJJ:JHJHan@an@an@an@HP>IC IlIIBI&I.I6Iװ<:I F@Y@@F9>yH?f?r ?@ }_x?`t??ɨ@;oCySBI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.707712Mb@Mb@Mb@ )YS?y&1?I +?y/?`<94< A Z@)AIAyAIxI&5٢< 5=9MQ > G٣95GyN > Nusing accuracyPremultiplier from config49?4YZ izBE/?:D?0;Dn;;}4 AijEZjFNOT Ignoring new targets: 124.80 m.BjgJjg= ProNav: ac range: 124.800003 m, nav range: 127.346947 m, bearing: 175.356395 deg, approach rate: 0.139578 m/s, LOS rate: -0.282222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.569465 deg. 2j=A:j=3@EHeadingCmd: 4.809595 target range: 124.800003 and range: 124.80 m. jAjAjAjAiAhIhIhIhMBfQfQfQrfqbf}v@ɛB¼ bI 3ɚiIj#=Ii}'i ))*F?2F:FBF`5JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960361G G ?G ?Gi Bq O >|h[w,foA:@Y:@:ѻ9:j>y:H`^F??`D? {`2z?M?&?ɨ:@:|H;:mCyFXBFIIRkIR 5٢V_f< Zu=9ZrǺQ Z?\\ ^G٣\ybO b? fNusing accuracyPremultiplier from configdj49f;DfK,;f,;fă4p vAtZjFNOT Ignoring new targets: 124.80 m.Bj%nJj%n5 ProNav: ac range: 124.800003 m, nav range: 127.396698 m, bearing: 175.255961 deg, approach rate: 0.162409 m/s, LOS rate: -0.327729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674007 deg. 2j5`:j5%@=HeadingCmd: 4.811419 target range: 124.800003 and range: 124.80 m. j9j9jAjAiAhAhAhIhIfIfIfIrfQbfU@@ɛ}Biռ 隍"`I PɚiIk#=Ii9(ini))*FU?2FQ:FQBFU_0JFQG]sA GYzKLK9KK1K5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.214760GuGQBaO}> I Pbw,9A2ޒ@Y2 @2ٻ92ͽ >y2H@?`=?@i`0? { #{?i??ɨ2ޒ@2r;2nCy>dB>IBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.463794INeIN15٢V< VK=9VIQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49be?f4YbJg ibBdjj?bP;Db:b:bΊ4l nApZj  FNOT Ignoring new targets: 124.80 m.BjJj% ProNav: ac range: 124.800003 m, nav range: 127.456909 m, bearing: 175.134962 deg, approach rate: 0.149411 m/s, LOS rate: -0.300112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.612365 deg. 2j%M:j-U@-HeadingCmd: 4.810343 target range: 124.800003 and range: 124.80 m. j)j1j1j1i1h1h1h9h9f9fAfArfAbfE@hD@ɛ B Ы  VI  7 ɚiI;#=Ii(iMY))!*F?2F:FBFJFJJ=JJJ;J:JJHQ>IC III&I.I6I<:I FBIJIRIZI" =bI" =jIǹ55Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715878G-G B O5 >yhw,;A:x@Y:@:B9:R>y:H]m? ? 5`]`O`?&Lv??`"?ɨ:x@:.U;:lC PIPyVsBVIPExceeded connect timeout, disconnecting.MMb@Mb@Mb@III I)IYMV-?Q?Mb?yM-?Mu=9}&;Q }> G٣:5GyPo; > Nusing accuracyPremultiplier from config49T?4Yn iB-?:?c;D);;R4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 124.80 m.Bj^Jj^ ProNav: ac range: 124.800003 m, nav range: 127.516510 m, bearing: 175.006646 deg, approach rate: 0.131119 m/s, LOS rate: -0.282156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.590427 deg. 2jA:j2@HeadingCmd: 4.809960 target range: 124.800003 and range: 124.80 m. jjjjihhhhBff!f!rf!bf-`F!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968545ɛEBm imKIq u:S ɚqiqIu\$=I}i})i}y̻))*F?2F:FBFJFG BzK QJK 9K K 2K RK- ?JK- ?E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220200G B O >nw,hA2@Y2@2s92Xl>y2Hf?? Gu9V?@ Xu?,?@?ɨ2@2<;2mCy:rB:IIFIF75٢J}L JZ=9N#`:Q N>PP VG٣TyZG ^> jNusing accuracyPremultiplier from configdr49f?r4Yfu ifBtzz?fs;DfT;fsuw,\AJ:J:-J8J8J:$ ;J:ч:J8J8HS>I IrIIBI# =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723711u@Y@9Q>yH? f?`¿F?JXzs? ??ɨu@f;lCyޭ~Bޭ I=Mb@Mb@Mb@999 9)9Y=x&?{Gzt?Mb?y=7)?=ף;9=` A =Z@)=~AI=hA9y=fAIUIU995٢e< e$=9md:Q m>ii mG٣iyu: u> }Nusing accuracyPremultiplier from configy49}?4Y}/~ i}B;)?:~?};D}~C;}?B;}4 pAZjFNOT Ignoring new targets: 124.80 m.BjJj ProNav: ac range: 124.800003 m, nav range: 127.633148 m, bearing: 174.750073 deg, approach rate: 0.134661 m/s, LOS rate: -0.303800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.544649 deg. 2j~P:j@HeadingCmd: 4.809161 target range: 124.800003 and range: 124.80 m. jjjjihhhhBfffrfbfǐ@ɛ!B| gEI XɚiIk$=I%i%*i- )))) I4h*F?2F:FBFJF nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:54:30.4375  TRx dataTimestamp_ set to:1736366071.681579 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978097G ̻G B O > {w,A>@Y>@>\֘9>I>y>Hu? ?@_'¿`5?$s?/?Ϭ?ɨ>@>ܳ;>mCy^B^,IIjIj35٢r~= r=9vŸ9Q v ?xx zG٣z;5Gyz8 ~ ? Nusing accuracyPremultiplier from config 49? 4Y iB  ?;D::/4 AZjAEFNOT Ignoring new targets: 124.80 m.BjM.JjM.] ProNav: ac range: 124.800003 m, nav range: 127.675049 m, bearing: 174.656556 deg, approach rate: 0.131017 m/s, LOS rate: -0.292319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.694730 deg. 2j]H:j]@eHeadingCmd: 4.811781 target range: 124.800003 and range: 124.80 m. jijijijiiqhqhqhyhyfyffrfbf@ɛ"B 隵2I 9aɚiIg$=Ii+*i&J))*F?2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227978zKeKKe]9KaKe3Ke    BKmrA:KmsAGqGIBYOu> y I 0w, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: 19:54:30.4375 LVL= 29600, 29425, 17298, 32755, AGC= 62, IDX= 408, 0.33, 1.821, 0.935,-3.043, 2.175, PHS=-0.266,-1.193, 1.062, RAW= 185.9, 4.1, CAL= 185.9, -4.4, ROT= 324.1, 4.4 RYgot valid direction response: 19:54:30.4375 LVL= 29600, 29425, 17298, 32755, AGC= 62, IDX= 408, 0.33, 1.821, 0.935,-3.043, 2.175, PHS=-0.266,-1.193, 1.062, RAW= 185.9, 4.1, CAL= 185.9, -4.4, ROT= 324.1, 4.4 VPDAT read: Bearing 324.1, 4.4 (Local) V~Local bearing/azimuth received: Bearing 324.1, 4.4 (Local) ^DAT read: Range 10 to 50 : 120.3 m (Round-trip 160.5 ms) speed 0.4 m/s b*DAT read: user:945> fBDAT read: Tx time:19:54:31.5228 f$Ping request sent.fyrH=ѹ? ?]A¿' c?@q? J? ֫?ɨr@r>ڈ;p~:publishing transmit ping timed~Fpublishing direction and range info092K*iÿ~1+ٯy2B02s2r 2C)2I2>i2'1292?2O@2C= 2O@)2nFI2@i2nF=002iA?1ɭ ?FA?)2#?I2-i2 ݿ2~=00:publishing transmit ping timedFpublishing direction and range info0yB5II-I-9592K*iÿ~1+ٯy0000 0)0I0i00000 0)0I0i0002iA?1ɭ ?FA?)0I0i0000٢< ;=9!:Q >!) -G٣)y=M: => UNusing accuracyPremultiplier from configQ]49U_?]4YU iUBaede?U;DU^;U;U4i mAik26 b?k2' k0 k2 A:k2BBk2BZk2BkE@"2:[2ϗ.]2K*iÿ~1+ٯJk2 ݿRk2~=*2MFrf]47@rSp82U0HKB=?Pʿ"k2p@*k23k2gMb?k2` 2k2Bk2lH_?k2 k2Bk2Bk2PD@5 addTargetRange:: Added new target pos. range: 120.300003 m, deltaT: 7.307987 s, deltaX: -4.500000 m, approachRate: -0.615765 m/s, rangeRepo size: 4 E Added new target pos. range: 120.300003 m, bearing: 176.738664 deg, lat: 36.903563 deg, lon: -122.117831 deg, deltaT: 7.307987 s, deltaX: -4.500000 m, approachRate: -0.615765 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 120.30 m.BjuJjy ProNav: ac range: 120.300003 m, nav range: 125.422035 m, bearing: 175.542853 deg, approach rate: 0.000000 m/s, LOS rate: -0.292319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.570049 deg. 2j:jH@HeadingCmd: 4.809605 target range: 120.300003 and range: 120.30 m. jjjjihhhhfffrf@3^@bf?ɛm$Bmt⟼ qu'Iq uɚqiqIub$=I}i}S:+iT))*F2F:FBF0JFG  G JJ,JJJJL:JJHT>I I~II BI! =&I.I6I<:I F%Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:19:54:31.5220 G% ǻG B O > Y I] 5hΈw,$A6@Y6 @6i96>y6H? ?`##¿`q޹?ʄq?,??ɨ6@6;6kCyBBB<IMb@Mb@Mb@ )Y?y&1?{Gzt?yf&?`e<ף;A -@) AIQAyI%I%45٢< >=9*9Q > G٣y: > ENusing accuracyPremultiplier from configM497?M4Y iBMq&?M:MvM?;D3</<v4]nB ]A]ȳEeWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 120.30 m.BjxJjx5 ProNav: ac range: 120.300003 m, nav range: 125.477371 m, bearing: 175.418657 deg, approach rate: 0.128189 m/s, LOS rate: -0.287580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.602768 deg. 2j5]E:j]@eHeadingCmd: 4.810176 target range: 120.300003 and range: 120.30 m. jajajajaiahahihihm Bfifqfqrfqbf`3@?ɛ%Bz zI %ɚiIq/%=Ii+iŭ))*F2F:FBF2JFG X Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.G zK LLK K K 4K RK ?JK >B O >bw,>AV@YVK@V69V>yVH2??+`@1?> u?? ?ɨV@Vn;VpCynBnHIIzjIzh 5٢-IQ UG٣}<5Gy}< }> Nusing accuracyPremultiplier from config49?4YȘ iB?;DA;|;4 vAZj  FNOT Ignoring new targets: 120.30 m.Bj5FJj5FE ProNav: ac range: 120.300003 m, nav range: 125.523415 m, bearing: 175.315554 deg, approach rate: 0.133791 m/s, LOS rate: -0.299483 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.665995 deg. 2jEM:jE@MHeadingCmd: 4.811279 target range: 120.300003 and range: 120.30 m. jIjIjQjyihhhhfffrfbf H? Iɛ  I ɚiIiY%=Ii+iS&ͻ))*F?2F:FBF 5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995428Ge !G9 BI Oe >@ޕw,XAjH%<bH!HES>IA IEIIEBIA&IA.IA6IE<:IE FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248339)I I %vA9 eYevAym_By%B-TIMb@Mb@Mb@ )YRQ?~jt?~jt?y"?<D<A C@)~AIAyAIfI5٢= =9Q > G٣y > Nusing accuracyPremultiplier from config 49 ? 4Yi iB"?:θ?;D;;ū4 +AZjFNOT Ignoring new targets: 120.30 m.BjJj I$?I ProNav: ac range: 120.300003 m, nav range: 125.592247 m, bearing: 175.168218 deg, approach rate: 0.130514 m/s, LOS rate: -0.279213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.533431 deg. 2j ?:j  @ HeadingCmd: 4.808966 target range: 120.300003 and range: 120.30 m. jj1j1j1i1h1h9h9h=!Bf9fAfArfAbfE0~?ɛ&B I ɚiIe%=Imim,iuWŻ)q)q*FA 2FA :FA BFE `5JFA "GM =GM = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499106Ge ̻GABIOm>qw,0vAN@YN+@Nu9N3 >yNHn_??`T?f"w?? ?ɨN@NX;NmCyZB^UIIfIfS<5٢n< np=9r|Q r?pt vG٣tyv! z? ~Nusing accuracyPremultiplier from configx~49z[?4Yz  izB丿?z;Dz:z :z˫4J9J=-J=0J9J9J=ч:J=ـ3J9J=} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0028592w,AB@YB)@Bz9B>yBH ?`?@yn?E?s?`J?n?ɨB@B;BjCyNBNiII^I^p;5٢b= fL=9f;Q f>hh jG٣j=5GynC[; n> rNusing accuracyPremultiplier from configpv49r?v4Yr irBtvv?r;Dr:ru ;rҫ4~oB ~A~ųEZj)5FNOT Ignoring new targets: 120.30 m.Bj=!Jj=!M ProNav: ac range: 120.300003 m, nav range: 125.691727 m, bearing: 174.958649 deg, approach rate: 0.143966 m/s, LOS rate: -0.300977 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.635118 deg. 2jMN:jM@HeadingCmd: 4.810740 target range: 120.300003 and range: 120.30 m. jjjjihhhhfffrfbf@p#@ɛY]1 Y]IY e43ɚaiaIe#%=ImiuQ-iu!R)q)y*F!2F):F)BF-_0JF)H%R>I! I%II%0BI!&I!.I!6I%<:I% FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257754GڻGy B I 6hO >#w,wAV@YV@V>}9V>yVHs)??߿` ? WIo??h?ɨV@V\;VnCybBblI5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506862Mb@Mb@Mb@ )Y-?I +?y&1?y5?9<`e< A ) AIAyAIIv35٢+< 7=9;Q >! %G٣!y%ۀ; %> 5Nusing accuracyPremultiplier from config)549-5?=4Y- i-B=Y?=:=ٷ=?-528942.)'# G B O > w,WA I B@YB@Bj9B>yBH@rI?? q(?@ESm??`+?ɨB@BOȉ;BlCy^BbvIIjIj:5٢=.= EY=9EJ:Q E>II MG٣IyM$: M> ]Nusing accuracyPremultiplier from configQe49U?e4YU iUBaeɷe?UZH RH >AH) I)  I- II- ?BI) &I) .I) 6I- <:I- FBIJIRIZI! =bI! =jIʤ>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:19:54:34.0851 - TRx dataTimestamp_ set to:1736366075.465342= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.27064427w,CAyޕ BޕIMMb@Mb@Mb@III I)IYMv?L7A`?y&1?yM?M+=IMA Mp@)M~AIM~AIyM\AIeIe.5٢u$= u8=9uQ }>yy }G٣}>5Gy > Nusing accuracyPremultiplier from config49H?4Y iB?:O?.[w,AFN@YF$@FW@9Fh_>yFHa?? i`1e? @ h?? ?ɨFN@F;FjCyR BR|II^I^<55٢f fk=9j:Q j?hh nG٣lyn; r? vNusing accuracyPremultiplier from configpv49r?z4YrP irBxzz?r; -BDAT read: Tx time:19:54:35.1728 ɛ+Bxm 隝XI !ɚiI9n&=Ii-$Ping request sent.e Will construct direction to contact in vehicle frame from tetrahedron phase data.SEw,Ab@Ybr@bdc9b>ybH,??` ¿ ,d?` H`l?C ??ɨb@bb;bkCy~ B~}IIgI5٢=; EC=9E{Q E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]49UF ?e4YU iUBae2e?UK7'fKR/:?ɿ"k@*k+kzb?kyGY 2k Bk)7ۧ`?k' kkBkB@ addTargetRange:: Added new target pos. range: 118.599998 m, deltaT: 3.782217 s, deltaX: -1.700005 m, approachRate: -0.449473 m/s, rangeRepo size: 4  Added new target pos. range: 118.599998 m, bearing: 177.817517 deg, lat: 36.903585 deg, lon: -122.117837 deg, deltaT: 3.782217 s, deltaX: -1.700005 m, approachRate: -0.449473 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 118.60 m.BjJj ProNav: ac range: 118.599998 m, nav range: 123.501938 m, bearing: 174.562325 deg, approach rate: 0.000000 m/s, LOS rate: -0.257560 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.666250 deg. 2j:j @HeadingCmd: 4.811284 target range: 118.599998 and range: 118.60 m. jjj j i hhhhfffrf%`f]@bf%?ɛM,BMp IUIQ U"ɚYiYI][&=I]ie!-ie(K)a)a*Fq2Fq:FqBFu_5JFqHI IIISBI" =&I.I6I<:I FGIBWill construct direction to contact in vehicle frame from tetrahedron phase data.O_> I Bnw,߿+A:l@Y: @:z9:~>y:HD?@ ?~:?@ʄ`p??q?ɨ:l@:K;:lCy^B^IWill construct direction to contact in vehicle frame from tetrahedron phase data.]Mb@Mb@Mb@YYY Y)YY]㥛 ?+?~jt?y]?]=]D=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-49%#?54Y%_ i%B5?=:=𳿑=?%[GBOF>J}J},J}0JyJ};J}L:J}ـ3JyJ}0r<J}0r<J};J};Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKe KMKe h9Ka Ke 8Ke )('((%"!> G f z   I 7h"fw,EAF0@YF @FV 9FM>yFH`_?`?`` K?тt?? ?ɨF0@F҉;FkCy\^IIfEIf5٢@ Z=9 /Q  >  G٣?5Gyj > %Nusing accuracyPremultiplier from config%49&?-4Y iB)-򳿑-?iEu>*F?2F:FBF4JFGBOn>H I  I II ]BI &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483650w,o_AE@YEO@Eӂ9E {>yEH^O?@F? 3?` @Wp?`U?@?ɨE@EU;ElCyUB]IMb@Mb@Mb@ )Y-?A`"?!! %G٣!y51; 5> =Nusing accuracyPremultiplier from config9E49=*?E4Y= i=BE?M:MM?=zƩw,NyA>@Y>.@>9/9>B>y>H<?+?+*ܺ?l:e??Ю?ɨ>@>r;>mCyRBRIIZIZ.5٢b޼ bd=9fR;Q f>dh jG٣hyj< j> rNusing accuracyPremultiplier from configlr49nE.?v4Yn in–BtvNv?nE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236610w,*AB /@YB~>@B9BK>yBH@%?@?@8|`R?`^?K?Y?ɨB /@Bգ;BnCyJBJpIPRAAIVIV%.5٢^% ^K=9^;Q b>`` bG٣b@5Gyf; f> jNusing accuracyPremultiplier from confighn49j2?n4Yj0 ijƖBlr r?jIy I}II}bBIy&Iy.Iy6I}<:I} FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492266 `wA9 Y`wAyBG%ïGBO%> qIyֻw,BAJ6@YJAF@J 9JD>yJHĻ?`U?`?6 aW?` ?`]?ɨJ6@J;JlCyvBvyIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740696 5@5 5@5 5@5  5@5 IEIE*5٢M = UA=9e:Q e>ii mG٣iyu; u> }bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}76?4Y} i}ʖB+::?}}<4sB `AȳEZjFNOT Ignoring new targets: 118.60 m.BjJj ProNav: ac range: 118.599998 m, nav range: 123.901001 m, bearing: 173.930813 deg, approach rate: 0.173634 m/s, LOS rate: -0.258335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.645384 deg. 2jK1:j @HeadingCmd: 4.810919 target range: 118.599998 and range: 118.60 m. jjjjihhhhfff rf bf 7n@ɛ3BOp 隵I Z(ɚiI'=IiL-i΀:))*Fi2Fi:FiBFm0JFiGusA GutAG}:Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:54:37.7723 TRx dataTimestamp_ set to:1736366078.989981checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995003Gi Bq O >zK NK 9K K :K "SmZI:&vL2,'%" RK >JK ? a Ia ȥw,A~D@Y~*T@~m-E9~>y~H 3?%~?%#?KH?@S??ɨ~D@~aه;~nCy BkII%I%?15٢5[ 5L=95:Q =>99 =G٣9yE; E> MbBottom track data is 0.8 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]49M:?]4YM iM͖B] :Y]m:]]?M;MS?M#4i mAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.60 m.BjJj ProNav: ac range: 118.599998 m, nav range: 123.970978 m, bearing: 173.828007 deg, approach rate: 0.175833 m/s, LOS rate: -0.258179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.666945 deg. 2j/1:j#@HeadingCmd: 4.811296 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbf̤ @ɛ5B 29=%\I! %)ɚ!i!I%'=I-i-,i5 ;)1)1*F?2F:FBF52JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246300GM!:GU ?GU?G! B1 OM >H I  I II ]BI &I .I 6I <:I FJu Ju *Ju 1Jq Ju <;Ju C:Ju 3Jq Ju |oyMHS?`~? ?#p&~@??`?ɨMH@M>;;MmCX#Rx 1: Read direction message, but no range.`direction in FSK: [0.798842,-0.600796,-0.029934]9(d?K 9"%P it K)]IBiXY?j??UU@:Fq S7Q@)qgI:@iqg?w?}/?s)裟?I}q?i%A<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse I8hyBaI        Mb@Mb@Mb@ )Y-?~jt?Mbp?y5?=;A Z@) AIAyAIIV85٢  $=9 :Q  > G٣A5Gym}: m> }Nusing accuracyPremultiplier from configq49u0@?4Yu iuіBT:g?:x?uw,JA6LL@Y6[@6EPC96>y6H@o?`~?M+?i/j(? ?`Ȱ?ɨ6LL@6Ԇ;6iCyFBFWIIRIR45٢^L ^r=9bv:Q b?`` fG٣dyfƭ: f? nNusing accuracyPremultiplier from confighn49jD?r4Yj ijӖBprjr?j|w,A2 N@Y2]@2;992 >y2H}??sw`4?@c<@?Y?ɨ2 N@2M-;2mCyBBBJIIJIJ@5٢rP rI=9r:Q r>tt vG٣tyz : z> ~Nusing accuracyPremultiplier from config|49~I?4Y~t  i~֖B b ?~v w,׿1AVI@YVX@VG99V >yVH`aV?`?k ?$(?@ڈ?Ų?ɨVI@V;VjCybBb<I)d d}Mb@Mb@Mb@yyy y)yY}!rh?/$?Mbp?y}l'?}=y}A }p@)}~AI}~AyyyIIV85٢I 8=969Q > G٣B5Gy > Nusing accuracyPremultiplier from config49N?4Y iږB(?:Ū?ɼw,N{KA2J@Y2[Z@2Q~l:92E >y2H d?@? |f t`D?tɏMg??ɨ2J@2ˇ;2kCyZBZ/IIjIj:5٢ra rY=9v:Q v>tt zG٣xyz: z> Nusing accuracyPremultiplier from config|49~S? 4Y~P i~ܖB   ?~ =D~q:~:~G4uB NAƳE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 118.60 m.BjMJjMe ProNav: ac range: 118.599998 m, nav range: 124.416931 m, bearing: 173.257962 deg, approach rate: 0.227997 m/s, LOS rate: -0.284365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.654352 deg. 2jm(C:jmV@HeadingCmd: 4.811076 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbf@ɛ>Bgg %eI x5ɚiII)=IiE)i`@;))EE*E"E]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse*F92F9:F9BF=f4JF9jHqbHu4<HyIy I}II}:BI}! =&Iy.Iy6I}<:I} FJ J &J 1J J J 0:J 3J J J J c;J c; Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseGe ; - K$?I- 9hGY Ba O >|w,ReAy |B IMb@Mb@Mb@ )Yv/?ˡE?{Gzt?yx)?=ף;vA @) AIAy3AII٢?q 8=9Q >   G٣ y > -Nusing accuracyPremultiplier from config!549%~Y?=4Y%! i%B=*?E:EVM?%=D%Ѯ;%J;%O4Q UAYZjFNOT Ignoring new targets: 118.60 m.BjCJjC ProNav: ac range: 118.599998 m, nav range: 124.519463 m, bearing: 173.129067 deg, approach rate: 0.225877 m/s, LOS rate: -0.283722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.588826 deg. 2jB:j@HeadingCmd: 4.809932 target range: 118.599998 and range: 118.60 m. jjjjihYhyhh Bfffrfbf@@ɛ?B[I I X9ɚiI:)=Iij(i))EMWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse*F?2F:FBF_0JFG g;G ?G ?G B O >. w,qA:<@Y:PL@:D:s:9: >y:H??@&}? @HgN~D??ɨ:<@:;8yFmBFIININ995٢V  Vc=9Z8Q Z>\\ ^GbWill construct direction to contact in vehicle frame from tetrahedron phase data.fT****** received valid address query ******fR****** received valid ping request ******freceived new query, but waiting for acoustic response period to elapse٣fC5Gyj j> nNusing accuracyPremultiplier from configlr49n^?r4Yn( inBpvv?n+=Dn;n;nU4x zAxZjFNOT Ignoring new targets: 118.60 m.Bj%ꧻJj%ꧻ= ProNav: ac range: 118.599998 m, nav range: 124.602058 m, bearing: 173.025426 deg, approach rate: 0.234142 m/s, LOS rate: -0.293605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.664474 deg. 2jI:j@%HeadingCmd: 4.811253 target range: 118.599998 and range: 118.60 m. j!j!j!j!i!h!h!h)h)f)f)f1rfQbf]!h@ Iɛ@BL I <ɚiI|*=Ii'ii:))zKm&w,QNA>-@Y>&=@>\!w99>M >y>H@x|??`! R:?+.@B-@>N;`` bG٣`yfo f> jNusing accuracyPremultiplier from confighn49j@c?n4Yj/ ijBlrɫr?j==Dj ;j: ;j\4t vFAtZjFNOT Ignoring new targets: 118.60 m.Bj%2Jj%25 ProNav: ac range: 118.599998 m, nav range: 124.694618 m, bearing: 172.909385 deg, approach rate: 0.229178 m/s, LOS rate: -0.287103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627328 deg. 2j5 E:j5y@=HeadingCmd: 4.810605 target range: 118.599998 and range: 118.60 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfUL@ɛ}BB}8 y}I  C@ɚiI*=Ii&'iMf#))HI III BI" =&I.I6I<:I F*F92F9:F9BF=0JF9JJ*JJJ\;JC:JJJt<Jt<J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse I:hG':GQBaO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse3,w,*A6%@Y6+5@696E >y6H G٣y > Nusing accuracyPremultiplier from config }49 h?4Y 6 i B /?:? P=D ~< G~< d4vB AȳEZjFNOT Ignoring new targets: 118.60 m.BjءJjء ProNav: ac range: 118.599998 m, nav range: 124.794746 m, bearing: 172.777547 deg, approach rate: 0.215099 m/s, LOS rate: -0.282992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.579996 deg. 2j6B:j@%HeadingCmd: 4.809778 target range: 118.599998 and range: 118.60 m. j!j!j!j!i!h!h)h)h-Bf1f1f1rf1bf=`@ɛeCBea aeIa m\!EɚiiiIm+=IuiuR'iuT)q)yEtAE*F2F:FBF0JFGtA GWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse IG FzK FKK 9K K >K G B O- >3w,A2)@Y2'@2-L92U >y2H Ѻ??l@ҙ?Y9EI?.?ص?ɨ2)@2;2jCy>8B>I@BAIFIF0E5٢N{ Rc=9RuQ R>TT VG٣VD5GyV V> ^Nusing accuracyPremultiplier from configXb49Zl?b4YZ0= iZBdfLf?Z`=DZ\,;Z,;Z k4h jAhB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.60 m.BjJj ProNav: ac range: 118.599998 m, nav range: 124.875938 m, bearing: 172.670882 deg, approach rate: 0.225965 m/s, LOS rate: -0.296665 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655403 deg. 2jK:j|@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseHeadingCmd: 4.811094 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbf%[@ɛDBj QI  IɚiIx+=Ii1@'i))*F2F:FBF0JF) m GHUP>IQ IU~IIU BIU! =&IQ.IQ6IU<:IU F YyAG ï Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B OM > I F9w,A @Yc@ĺ9. >yHg? ?#$`K7?}cقX?@6??ɨ @;kCy,BIMb@Mb@Mb@ )YV-?Zd;?Mb?y-?y=< @) AI~Ay\AII<5٢ м +=9ĺQ > G٣y^ > Nusing accuracyPremultiplier from config49r?4YE iBG.?:?u=D;;\s4 AųEZj)-FNOT Ignoring new targets: 118.60 m.Bj5밻Jj5밻U ProNav: ac range: 118.599998 m, nav range: 124.977859 m, bearing: 172.529739 deg, approach rate: 0.223568 m/s, LOS rate: -0.309349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.552112 deg. 2jUMT:jU@]HeadingCmd: 4.809292 target range: 118.599998 and range: 118.60 m. jYjYjYjYiYhahahahBfffrfbf @ɛUEBU QUIQ ]ONɚYiYI]+=Ii;['id))MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse*F2F:FBF:5JFGe *G9 BA O] > -@w,AJJJJJJJJa@a@a@a@F@YFn @FN9F >yFH??`4ɹ?`~#(b? &??ɨF@FZT;RWill construct direction to contact in vehicle frame from tetrahedron phase data.VT****** received valid address query ******VR****** received valid ping request ******Vreceived new query, but waiting for acoustic response period to elapseFiCymBmIII75٢#= %W=9-A Q ->)) 5G 9I9٣1y} }> Nusing accuracyPremultiplier from config49Mv?4YuL iB㰿?=D;t;1z4 OAZjFNOT Ignoring new targets: 118.60 m.Bj Jj = ProNav: ac range: 118.599998 m, nav range: 125.061600 m, bearing: 172.414025 deg, approach rate: 0.210221 m/s, LOS rate: -0.290293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628282 deg. 2j=9G:jE@EHeadingCmd: 4.810621 target range: 118.599998 and range: 118.60 m. jAjIjIjIiIhqhyhhfffrfbf@U @zK  KK ]9K K ?K 4bB`vwj^Q;+!|vrkgdɛFB  I  Sɚ i I u,=Ii'ia))yE]>E*F2F:FBF2JF"G-=G-=UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseG5 OPG B O5 >Fw,:tA6J@Y6@6\96 >y6H\?? >?@jk?E+??ɨ6J@6;6lCy> BBI F=F=IJIJ?5٢V.& VT=9VZ3Q V>H^Q>I\ I^_II^BI\&I\.I\6I^<:I^ FXh jG٣jE5GynĻ n> rNusing accuracyPremultiplier from configpv49rVz?v4Yr$S irBtv-z?r=Dr ;r ;rҀ4~xB ~A~dzEZj)FNOT Ignoring new targets: 118.60 m.BjJj ProNav: ac range: 118.599998 m, nav range: 125.142830 m, bearing: 172.301751 deg, approach rate: 0.217767 m/s, LOS rate: -0.300796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638587 deg. 2joN:j@HeadingCmd: 4.810801 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbf`!@ɛ}GB}- y}L¾Iy WɚiI,=Ii(i))Will construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse mL$?Im;h*F2F:FBF_0JFGe TG9 BQ Om >} Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseCLw,D6A2cݒ@Y2@2A92 >y2H L? `?@.@?@<3q?6??ɨ2cݒ@2Gv;2jCyB BBIMb@Mb@Mb@ )YB`"?l?~jth?y.?=D;A p@)AIAyAI-I-<5٢=< EA=9E Q E>II MG٣IyMc U> Nusing accuracyPremultiplier from config49~?4YZ iB/?:?=Do;;t4) -A)ZjQ]FNOT Ignoring new targets: 118.60 m.Bj]᩻Jj]᩻m ProNav: ac range: 118.599998 m, nav range: 125.227165 m, bearing: 172.170639 deg, approach rate: 0.191196 m/s, LOS rate: -0.297045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.582120 deg. 2juK:ju@}HeadingCmd: 4.809815 target range: 118.599998 and range: 118.60 m. jyjyjyjyiyhyhhhBfffrfbf`!@ɛHB! EI 1\ɚiI[-=Ii)(ip))*Fe?2Fa:FiBFiJFiJeJe,Je0JaJe;JeL:Jeـ3JaWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse YIYGUzKm /FOKm 9Ki Km @Km a^YTONIGHIKHIGB@<9540++(&$#""     G B O > Sw,PA6В@Y6!@6Cl96 >y6H ??Inj?Du?@M?ழ?ɨ6В@6);6lCyRBRIIZIZ.5٢b޼ bS=9f%Q f>dd fG٣hyj j> nNusing accuracyPremultiplier from configlr49nI?v4Yna inBtvv?n=Dn ;n\ ;n鎬4x ~A|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 118.60 m.Bj-Jj-EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapsee ProNav: ac range: 118.599998 m, nav range: 125.298683 m, bearing: 172.059755 deg, approach rate: 0.196419 m/s, LOS rate: -0.304359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.642730 deg. 2jeP:jm@uHeadingCmd: 4.810873 target range: 118.599998 and range: 118.60 m. jyjyjyjyiyhyhhhfffrfbf֫"@ɛ, LǾIY e`aɚaiaIe-=IiǤ)ij))E*FM?2FI:FIBFIJFIGQ GQHI ILIIBI&I.I6IҰ<:I FBIJIRIZI! =bI! =jIƥ*4G5Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG B O5 > q Iy Zw, jAyU~BUIY]A Mb@Mb@Mb@    ) Y oʡ??~jth?y -? <   )  AI ~A y \AI%I%05٢5 55=95Q 5>99 EG٣EF5GyU U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]i i]Bm--?m:m"u?]=D]G;]E;]ؖ4y }AyZj%FNOT Ignoring new targets: 118.60 m.BjMTJjMT ProNav: ac range: 118.599998 m, nav range: 125.381218 m, bearing: 171.924481 deg, approach rate: 0.175427 m/s, LOS rate: -0.287334 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.569639 deg. 2j1E:j9@HeadingCmd: 4.809597 target range: 118.599998 and range: 118.60 m. jjjjihhhhBfffrfbfà#@ɛ5IB=a"EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse Y]ξIY e hɚaiaIeZ.=Imim*ima)i)q*F2F:FBFJFG G B O >J} J} 'J} 1Jy J} t;J} :J} 3Jy  Will construct direction to contact in vehicle frame from tetrahedron phase data. y^H]?n?` =d?w}?`?ղ?ɨ^`ɒ@^;^iCyn~BnIIvIv>5 I٢ c  `=9볻Q > G٣y]Y ]> eNusing accuracyPremultiplier from configam49ey?m4Yep ieBqu?u?e=De:ee:eV4}yB  AɳEZjFNOT Ignoring new targets: 118.60 m.BjJj ProNav: ac range: 118.599998 m, nav range: 125.449013 m, bearing: 171.813969 deg, approach rate: 0.188923 m/s, LOS rate: -0.307797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.643833 deg. 2j=S:j@ HeadingCmd: 4.810893 target range: 118.599998 and range: 118.60 m. j j j j i h hh1h1f9f9f9rf9bfEgU$@ɛ9 隍ѾI lɚiI.=Iit+i="))zKNK59KKAK $',258AHVfoy~}zsBKsA:KtA*F2F:FBFo0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]-gw,AH,I, I.@II.BI." =&I,.I,6I.*<:I. FFǒ@YF+י@F9F@ >yFH@P? ? W^?@t`4?{?@0?ɨFǒ@F.;FkCyXXIbIb959zQ ~>  G٣ y &  > Nusing accuracyPremultiplier from config49k?%4Yw iB!%G%?=D:z:>4 ZjFNOT Ignoring new targets: 118.60 m.BjJj  ProNav: ac range: 118.599998 m, nav range: 125.521622 m, bearing: 171.696485 deg, approach rate: 0.178379 m/s, LOS rate: -0.288456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.622944 deg. 2jE:j@HeadingCmd: 4.810528 target range: 118.599998 and range: 118.60 m. jjjjihhh!h!f!fIfIrfIbfM %%@Will construct direction to contact in vehicle frame from tetrahedron phase data. m BDAT read: Tx time:19:54:46.1229 m $Ping request sent.m GI BY Om > Pmw,ַAE Ò@YEҙ@En8$9Eq>yEHL+?P? ¿`J?k@?@?9?ɨE Ò@EV;ElCyޅ~BޅI=Mb@Mb@Mb@999 9)9Y=?I +?Mb`?y=,?=9<=;=vA 9)=AI99y9IeIeS<5٢uA; u<9u)Q }>yy }G٣}G5Gy+ > Nusing accuracyPremultiplier from config49?4Y iB,?:ḿ?>D;U;34 AZjFNOT Ignoring new targets: 118.60 m.BjJj ProNav: ac range: 118.599998 m, nav range: 125.604362 m, bearing: 171.561380 deg, approach rate: 0.187649 m/s, LOS rate: -0.306206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.570145 deg. 2j%R:jL@HeadingCmd: 4.809607 target range: 118.599998 and range: 118.60 m. jjjjihhh h Bf ffrfbf&@ɛ9=/ AE ϾIA EwɚAiIIMH/=IUi]9-i]+)Y)Y*F?2F:FBFa2JFJ3K3 K3K3K3"K3JEJE+JE0JAJE;JEȆ:JEـ3JAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:54:46.1221 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253231 IG% 9"zK +NK +9K K BK sutqqpoljg\XTQOMIF<+  RK ?JK ?G B O- >3tw,QAJ@YJ!ę@J;9J>yJH Ǹ?o?¿6??\ ;???ɨJ@J;JjCyV~BVIIbZIbQ5٢v. vh=9vQ z>xx zG٣xWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502170y~ߢ  > Nusing accuracyPremultiplier from config491?4Y] iB!%%?>D$;;e4) -! A-ƳEMB*** querying acoustic contact ***jIjIZjQUFNOT Ignoring new targets: 118.60 m.Bj]Jj]m ProNav: ac range: 118.599998 m, nav range: 125.668869 m, bearing: 171.456242 deg, approach rate: 0.182604 m/s, LOS rate: -0.297467 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.659941 deg. 2jm&L:ju"@}HeadingCmd: 4.811173 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbf&@ɛ= FվI S|ɚiI0=Ii.i2=F))*F2F:FBF4JFZHARHE@AHIII IM3IIMBIM! =&II.II6IM <:IM FGu{#GQBYO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754050 I mezw,ԚA2@Y2@2WS92G>y2H ? j?h3¿ PI1?>b?> ?¬?ɨ2@2N;0yZ~BZIuMb@Mb@Mb@qqq q)qYu rh?=9FWQ > G٣y > Nusing accuracyPremultiplier from config49?4Y݌ i BG+?:ܻ?$>D@#;!;޹4  AZj FNOT Ignoring new targets: 118.60 m.Bj ШJj Ш ProNav: ac range: 118.599998 m, nav range: 125.740585 m, bearing: 171.329987 deg, approach rate: 0.167763 m/s, LOS rate: -0.295177 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.596641 deg. 2jJ:j%@-HeadingCmd: 4.810069 target range: 118.599998 and range: 118.60 m. j)j)j)j)i)h1h1h1h5Bf9f9f9rf9bf=@'@ɛmKBm2 imCҾIi u8ɚqiqIu70=I}i}00i}2o)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006383*F=?2F9:F9BF=_0JF9Gef AGiGmrAG9 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259164Fw,WA2 @Y2}@2Xu92`$>y2Ht??`kM¿Eƶ?b?`?)4?ͫ?ɨ2 @2OI;2iCyB~BBIIJeIJ15٢v< zX=9zHQ >)) 5G٣5H5G IIIye/ e> }Nusing accuracyPremultiplier from configy49}ꔉ?4Y}œ i} B?}4>D}<}<}4{B AȳEZj9=FNOT Ignoring new targets: 118.60 m.BjEJjE} ProNav: ac range: 118.599998 m, nav range: 125.806671 m, bearing: 171.213783 deg, approach rate: 0.161139 m/s, LOS rate: -0.283192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.626765 deg. 2j}ZB:j}d@HeadingCmd: 4.810595 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbfg(@ɛ)-l1 qu;Iq }ɚyiyI0=zKm NK 9KKCK      Iil2i))*FE?2FA:FABFE^0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511279G- JiG! B1 OM >HE P>IA  IA IA IA &IA .IA 6IE ΰ<:IE F pwG,'2A8T nYlyn1Ay]B]IImIm:5٢}ޞ= A=9Q > G٣y > Nusing accuracyPremultiplier from config49D;P:Ǭ4 dAJJ#J1JJT;J:J3JJhڱw,p9AyBIMb@Mb@Mb@ )YHzG?? G٣y > Nusing accuracyPremultiplier from config49?4Y1 iB`*?:M?X>D5;3;/Ϭ4 lAZj%FNOT Ignoring new targets: 118.60 m.Bj-Jj-= ProNav: ac range: 118.599998 m, nav range: 125.952400 m, bearing: 170.971958 deg, approach rate: 0.193784 m/s, LOS rate: -0.306890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.610145 deg. 2j=R:j=@EHeadingCmd: 4.810305 target range: 118.599998 and range: 118.60 m. jAjIjIjIiIhIhIhQhUBfQfQfYrfYbf]$*@ɛ!%2 )-I) -Ԉɚ)i)I-1=I5i5̉5i=?w)9)A*F?2F:FBF`0JF"G=G=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266995 M$?IG {G% ?G% 0?zK -MK +9K K DK   G B O >Cw,9SA6@Y6z@6{96t|>y6Hk?`?&y¿`;?d`?@}? ^?8?ɨ6@6I;6jC^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518029yb&BfIInIn6=5٢r< vZ=9vQ v>xx zG٣zI5Gy$< > Nusing accuracyPremultiplier from config-49͜?-4YŨ iB15Ҹ5?h>DUw;/x;լ49 E@AA]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 118.60 m.BjutJjut ProNav: ac range: 118.599998 m, nav range: 126.023262 m, bearing: 170.862136 deg, approach rate: 0.186775 m/s, LOS rate: -0.289302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.645910 deg. 2jF:j!@HeadingCmd: 4.810929 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbf ;*@ɛ. I ɚiIJ2=Ii6ihK)) *F?2F:FBF0JFG G"GGjH<bH<HI I:IIBI&I.I6I<:I FJJ J0JJ<;J:Jـ3JJ}o<J}o<J;J;GimWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770633ByO>  I! w,mA6i@Y6ݶ@6Q96>y6HN??@¿`c?ag?ړ?;c??ɨ6i@6;6kCyRHBRIeMb@Mb@Mb@aaa a)aYeJ +?Q? G٣y > Nusing accuracyPremultiplier from config49?4Y iB)?:*?z>D;j;%ݬ4|B AɳEZjFNOT Ignoring new targets: 118.60 m.Bj&Jj& ProNav: ac range: 118.599998 m, nav range: 126.105316 m, bearing: 170.741720 deg, approach rate: 0.195709 m/s, LOS rate: -0.287020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.614178 deg. 2jD:j@ HeadingCmd: 4.810375 target range: 118.599998 and range: 118.60 m. j j j j i hhhhBfff!rf!bf%+@ɛMJBM(" IUIQ U]MɚQiQI]R2=Ieie,8ie!Z)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:54:48.6754 TRx dataTimestamp_ set to:1736366089.829711checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024583*F?2F:FBF0JFGBO%> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274863ඡw,0A PIPynZBn IIvIv75٢~<= Q=9Q >    G٣ y > %Nusing accuracyPremultiplier from config!%49%?-4Y% i%%B))-?%>D%:%7:%49 =xA9ZjYeFNOT Ignoring new targets: 118.60 m.BjeJje ProNav: ac range: 118.599998 m, nav range: 126.182335 m, bearing: 170.629574 deg, approach rate: 0.196713 m/s, LOS rate: -0.286256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638959 deg. 2jtD:j"@HeadingCmd: 4.810807 target range: 118.599998 and range: 118.60 m. jjjjihhhhfffrfbfi,@ɛ!- 8 )M,II UUɚQiQIU2=I]i]u9i]%Z)Y)YEEzKMK9KKEK*F?2F:FBF [3JF GB!OE0>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528581H I  I SII BI &I .I 6I <:I FBIYJIYRIYZIYbIYjI]˗F4ͧw,0A6A@Y6@6E196qp>y6HHU??~¿ ]??q?`%? ]?@?ɨ6A@6(;6jCyNnBRIIZIZ:5٢bL= bQ=9bQ b>dd fG٣fJ5Gyj~9 j> nNusing accuracyPremultiplier from confighr49j?r4Yju ij,Bpr&v?j>Dj;jG;j4x z(AxZjFNOT Ignoring new targets: 118.60 m.JJJJJT;J :JJJh<Jh<JS;JT;Bj Jj  ProNav: ac range: 118.599998 m, nav range: 126.259377 m, bearing: 170.518276 deg, approach rate: 0.188977 m/s, LOS rate: -0.272838 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.641501 deg. 2j?;:j@HeadingCmd: 4.810852 target range: 118.599998 and range: 118.60 m. jjjjihhh!h!f!f!f)rf)bf-c;-@=Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 19:54:48.6754 LVL= 31200, 29153, 14114, 32755, AGC= 64, IDX= 476,-0.33,-2.092,-2.970,-0.703,-1.695, PHS=-0.309,-1.228, 0.989, RAW= 185.6, 5.7, CAL= 185.6, -3.1, ROT= 324.4, 3.1 }Ygot valid direction response: 19:54:48.6754 LVL= 31200, 29153, 14114, 32755, AGC= 64, IDX= 476,-0.33,-2.092,-2.970,-0.703,-1.695, PHS=-0.309,-1.228, 0.989, RAW= 185.6, 5.7, CAL= 185.6, -3.1, ROT= 324.4, 3.1 PDAT read: Bearing 324.4, 3.1 (Local) ~Local bearing/azimuth received: Bearing 324.4, 3.1 (Local) DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.5 m/s *DAT read: user:949> BDAT read: Tx time:19:54:49.7729 $Ping request sent.hiX))*FY2FY:FYBFu`5JFqGBOc> Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,雺A2@Y2m@2}92G>y2H R?Ԉ? ]¿|`:ŷ?v?Z/? E8?!?ɨ2@2;2iCy>B>$IEMb@Mb@Mb@AAA A)AYES㥛?I +?Zd;O?yE$&?E94=Ejii uG٣qy}器 }> Nusing accuracyPremultiplier from config49?4Y i5B&?:p?>D< ; ;B4 Akm@n1f?km>X߳ ki km`A:kmBBkmBZkm3B@"mF4}+PI[m@rSǿ% LRbT}QծJkml Rkmv=*m][$@ye6m#.1d?jɿ"km&A*kmkmqe?km; 2kmH%BkmgMb?km` kikmBkm1?@ addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 14.617997 s, deltaX: -7.299995 m, approachRate: -0.499384 m/s, rangeRepo size: 4  Added new target pos. range: 111.300003 m, bearing: 174.510830 deg, lat: 36.903630 deg, lon: -122.117865 deg, deltaT: 14.617997 s, deltaX: -7.299995 m, approachRate: -0.499384 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 111.30 m.BjJj- ProNav: ac range: 111.300003 m, nav range: 121.010452 m, bearing: 171.163806 deg, approach rate: 0.000000 m/s, LOS rate: -0.272838 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636510 deg. 2j):j-@5HeadingCmd: 4.810765 target range: 111.300003 and range: 111.30 m. j1j1j1j9i9h9h9h9hE8BfAfAfArfE@3[@bfM?ɛuIBub q}DIy ɚiI3=IiUzK} &(KK} 9Ky K} FK} r㴀w,A^Will construct direction to contact in vehicle frame from tetrahedron phase data.y5B58II]I]v35٢x= H=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y i=B?>D.';';j4 IAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 111.30 m.BjMJjM ProNav: ac range: 111.300003 m, nav range: 121.091217 m, bearing: 171.043873 deg, approach rate: 0.199487 m/s, LOS rate: -0.296032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.615634 deg. 2j *K:j @HeadingCmd: 4.810400 target range: 111.300003 and range: 111.30 m. jjjjihhhhf!f)f1rf1bf5?ɛ]HB 隭kI ɚiIU3=Ii=iyOZ))Ea>E>*F=?2F9:F9BF=_0JFAZHiRHiHqIq IulIIuBIq&Iq.Iq6Iu<:Iu FJJ"J1JJ;J:J3JJp<Jp<J;J;}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G% UG- ?G- 8? I ?hG B1 O >] w,NAyBNI = Mb@Mb@Mb@ )YMb?~jt?:v?y ?D=</A )I AyIfI5٢3= G=9Q > G٣K5Gy > Nusing accuracyPremultiplier from config49?4YH iGB!?:q?>D3;;4}B AȳEZj%FNOT Ignoring new targets: 111.30 m.Bj%[Jj%[= ProNav: ac range: 111.300003 m, nav range: 121.171738 m, bearing: 170.928325 deg, approach rate: 0.196740 m/s, LOS rate: -0.282135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628779 deg. 2j=A:j=@MHeadingCmd: 4.810630 target range: 111.300003 and range: 111.30 m. jIjIjIjIiIhIhIhQhUZBfYfYfYrfYbf] w?ɛ: 隍FI ؕɚiI3=IiQ(?iʤZ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251260*F?2F:FBFJFGG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502493w,*A I>,@Y>@>O9> ,>y>Hk?@?¿`?`<?z ???ɨ>,@>;>jCyrBrWII~I~995٢ @=  W=9 "Q  > G٣y: > -Nusing accuracyPremultiplier from config)549-ѳ?54Y- i-PB9=j=?->D-Y!;-!;-=4A MAIZjiuFNOT Ignoring new targets: 111.30 m.BjuJju𠻝 ProNav: ac range: 111.300003 m, nav range: 121.247185 m, bearing: 170.820907 deg, approach rate: 0.197776 m/s, LOS rate: -0.281409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.653137 deg. 2j A:j)@HeadingCmd: 4.811055 target range: 111.300003 and range: 111.30 m. jjjjihhhhfffrfbf ?ɛ$5 7I MɚiI"3=Ii^@iT))*Fq2Fq:FqBFu`0JFqzKN KK9KKGKP#L<IuBKrA:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756092G WGBO>Ha Ia  Ie IIe BIa &Ia .Ia 6Ie Ӱ<:Ie F!+Ȁw,B"A6輒@Y6\̙@6𿴼96a>y6H=??¿@@M?m??¹?٥?ɨ6輒@6Mڇ;4yBBBhIIJIJ/5٢R = RO=9R:Q R>TT VG٣TyVڳ; Z> ^Nusing accuracyPremultiplier from configXb49Z3?b4YZ iZYB`b#b?Z>DZ ;ZC ;Z4h jAhZj|FNOT Ignoring new targets: 111.30 m.BjAJj A ProNav: ac range: 111.300003 m, nav range: 121.325844 m, bearing: 170.710496 deg, approach rate: 0.199760 m/s, LOS rate: -0.280215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.644172 deg. 2jO@:j@%HeadingCmd: 4.810898 target range: 111.300003 and range: 111.30 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf5?ɛeGBmڒ imIi uɚqiqIu3=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006522I=i=rAiE^85)A)AEQ I *F?2F:FBFo0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258466G UG G sAG B O >xE΀w,;A @@65В@Y6ߙ@6Ό96[V>y6HⒸ?@7?¿ \$??і?@ y?`/?ɨ65В@6;6lCyBBBsI Mb@Mb@Mb@    ) Y ^I +?p= ף?Q?y X? = < A p@) I A y I%I%y/5٢5?$= 5C=9= Q =>AA EG٣AyE; M> UNusing accuracyPremultiplier from configI]49MW?]4YMn iMdBeo?e:ee?M>DMmG;M`F;Mo4q uAqZj1]FNOT Ignoring new targets: 111.30 m.Bj]搻Jj]搻 ProNav: ac range: 111.300003 m, nav range: 121.414467 m, bearing: 170.599091 deg, approach rate: 0.201698 m/s, LOS rate: -0.253363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.641219 deg. 2j-:ju@HeadingCmd: 4.810847 target range: 111.300003 and range: 111.30 m. jjjjihhhhxBfffrfbf`L@ɛAE-c IM II MtɚiI3=IiwBi|))JJJ0JJ;J :Jـ3Ja @a @a @a @MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511004*F?2F:FBFJF"G=G= )I)G 50G B O zK }:NK 9K K HK mP[A3' RK ?JK ?-Հw,UARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762636Nݒ@YN@N9N>yNH)?? ~¿``?`'؀?@6?K?ǩ?ɨNݒ@N܇;NjCy^ B^IIvIv%.5٢~m== ~N=9Q >  G٣ L5Gy ;  > Nusing accuracyPremultiplier from config49I?4Y ioB? ?D<<]4 AB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 111.30 m.Bj--Jj5-e ProNav: ac range: 111.300003 m, nav range: 121.499054 m, bearing: 170.493988 deg, approach rate: 0.210074 m/s, LOS rate: -0.260843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.660102 deg. 2je3:je(@mHeadingCmd: 4.811176 target range: 111.300003 and range: 111.30 m. jijijijiiihihqhhfffrfbf@ɛ15bۼ 15I9 =ɚ9i9I=3=IEiE CiEP)A)I)%= %C~GjH<bHH I  I II DBI &I .I 6I ߰<:I  F 5Y1y5B*F=?2F9:F9BF=0JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:19:54:52.3235 ]TRx dataTimestamp_ set to:1736366093.612612echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016348 5 N$?I1 G jG B Ou >[ۀw,oARf@YR@R䷼9Rw>yRH`6{??P¿`> ] ?`pi??%?o?ɨRf@Rǎ;RiCybBbIMb@Mb@Mb@ )YzG?p= ף??y ?< @) AI7AyAII65٢< ;=9 89Q > G٣y ;  > Nusing accuracyPremultiplier from config49É?%4YF izB%?-:-!-??D9;8;$45B 5iA5ʳEZjY]FNOT Ignoring new targets: 111.30 m.BjeFJjeFu ProNav: ac range: 111.300003 m, nav range: 121.592621 m, bearing: 170.380099 deg, approach rate: 0.227539 m/s, LOS rate: -0.276747 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.633785 deg. 2j}=:j}e@}HeadingCmd: 4.810717 target range: 111.300003 and range: 111.30 m. jjjjihhhhBfffrfbf`e @ɛAEMռ IMDսII M2hɚQiQIU[3=IUi]Ci]һ)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267363*F?2F:FBF`5JFGE JGM ?GM ?G! B) OM >J J )J J J ;J :J J ] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:54:52.3235 LVL= 28656, 24497, 13602, 32755, AGC= 61, IDX= 423,-0.22,-0.372,-1.213, 1.085, 0.055, PHS=-0.339,-1.220, 1.028, RAW= 187.1, 5.5, CAL= 187.1, -3.2, ROT= 322.9, 3.2  Ygot valid direction response: 19:54:52.3235 LVL= 28656, 24497, 13602, 32755, AGC= 61, IDX= 423,-0.22,-0.372,-1.213, 1.085, 0.055, PHS=-0.339,-1.220, 1.028, RAW= 187.1, 5.5, CAL= 187.1, -3.2, ROT= 322.9, 3.2  PDAT read: Bearing 322.9, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 322.9, 3.2 (Local)  DAT read: Range 10 to 50 : 109.7 m (Round-trip 146.3 ms) speed 0.3 m/s  *DAT read: user:950>  BDAT read: Tx time:19:54:53.4230  $Ping request sent. YY eG٣aye e> mNusing accuracyPremultiplier from configi49mlj?4Ym imB?m-?Dm;ma;mA+4 dAkf?k k kiA:kfBBkBZkAD@"F̞A83YfZ< Tj"Yƿ^₩(Jk&Rk~C=*ljS<^Z/* @̊08w￳.? Ϳ"k A*kk Ըf?kJUC 2kBkzb?kyGY kk>Bk#@@} addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.531746 s, deltaX: -1.600006 m, approachRate: -0.453035 m/s, rangeRepo size: 4  Added new target pos. range: 109.699997 m, bearing: 175.469208 deg, lat: 36.903646 deg, lon: -122.117919 deg, deltaT: 3.531746 s, deltaX: -1.600006 m, approachRate: -0.453035 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 109.70 m.BjJj ProNav: ac range: 109.699997 m, nav range: 119.121559 m, bearing: 172.394889 deg, approach rate: 0.000000 m/s, LOS rate: -0.276747 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.610071 deg. 2j:j@HeadingCmd: 4.810303 target range: 109.699997 and range: 109.70 m. jjjjihhhhfafafirfml[@bfm?zKA,NKh9KKIKɛҼ ҽI +ɚiI3=Iip'DiOٻ))*F?2F:FBF_5JFGsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:54:53.4222 H Q>I  I II ]BI &I .I 6I <:I FG% 4λG B O% >mjw,QLAB@YB"@B99BA>yBHw,?\?@k¿⼺??F?@7?}?ɨB@BR;@yBIIRI5٢E < E^=9E]JQ M>II MG٣MM5GyU; U> }Nusing accuracyPremultiplier from configy49}ˉ?4Y}P i}Bɮ?};?D}:}q:}14 WAZjFNOT Ignoring new targets: 109.70 m.Bj ҠJj Ҡ=Will construct direction to contact in vehicle frame from tetrahedron phase data.E ProNav: ac range: 109.699997 m, nav range: 119.195007 m, bearing: 172.294684 deg, approach rate: 0.206241 m/s, LOS rate: -0.281202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674758 deg. 2jE@:jEA@MHeadingCmd: 4.811432 target range: 109.699997 and range: 109.70 m. jIjIjQjqiqhqhqhyhyfyfyfrfbf? Iɛjټ  ̽I1 ]μɚYiYI]3=ImiRDiO))*F?2F:FBF[0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ѻG! B1 OM >w,%A2@Y2@2 ż92I>y2HK#?ඉ?#J #?τ?Dz? ? ?ɨ2@23;2lCyf Bf}I]Mb@Mb@Mb@YYY Y)YY] G٣y > Nusing accuracyPremultiplier from config49ω?4Ye iB?:Q?J?D;I;84 AZjFNOT Ignoring new targets: 109.70 m.Bj Jj  ProNav: ac range: 109.699997 m, nav range: 119.276550 m, bearing: 172.188057 deg, approach rate: 0.203460 m/s, LOS rate: -0.265864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655529 deg. 2ju6:j@ HeadingCmd: 4.811097 target range: 109.699997 and range: 109.70 m. j j j j ihhhhBfffrf!bf%?ɛ8 I #ɚiI4=IiGDi))!*F2F:FBF_0JFJJ%JJJ;J:JJMWill construct direction to contact in vehicle frame from tetrahedron phase data. IGxG B O >zK QJK 9K K JK {w,KARWill construct direction to contact in vehicle frame from tetrahedron phase data.yBqI))99IMJIM:5٢eK@ eM=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy49}ԉ?4Y}X  i}B?}Y?D}:}e:}?4 AdzEB*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 109.70 m.BjUJju ProNav: ac range: 109.699997 m, nav range: 119.356689 m, bearing: 172.083927 deg, approach rate: 0.193449 m/s, LOS rate: -0.251192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663009 deg. 2jd,:j@HeadingCmd: 4.811227 target range: 109.699997 and range: 109.70 m. jjjjihhhhfffrfbf`Of?ɛp 隝x I hsɚiIm4=Ii9Di))HR>I IIImBI&I.I6I԰<:I FBIqJIqRIqZIqbIqjIu3*F?2F:FBFJFUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. IG G B OE >aw,:Af@Yf:@f\̼9f4>yfHP? m?|@CI.?.?@ݑ?`{??ɨf@fe;fhCynBnoIMb@Mb@Mb@ )Y㥛 ?V-?y&1|?y?h=`;A @)IAyzAII_,5٢ D=9Q > G٣N5Gy}; > Nusing accuracyPremultiplier from config49؉?4Y iB?:?h?D;;,G4B AɳEZj)5FNOT Ignoring new targets: 109.70 m.Bj5gJj5gM ProNav: ac range: 109.699997 m, nav range: 119.443291 m, bearing: 171.973977 deg, approach rate: 0.215560 m/s, LOS rate: -0.273478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.645580 deg. 2jM;:jM@UHeadingCmd: 4.810923 target range: 109.699997 and range: 109.70 m. jQjQjQjQiQhYhYhaheuBfafafirfibfm?ɛuHBu@G y}VIy }o_ɚyiyI}"4=IiDi+K))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752357*F?2F:FBF`0JFG XG B O >J J 'J 1J J ;J :J 3J e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004182 I w,R| A:W$@Y:3@:>Ƽ9:;>y:H0? O~?)¿> ˻?s?ژ?@? Ǭ?ɨ:W$@:>;:iCyvBv`II~I~Y45٢ Y=9:Q =>99 EG٣AyEm; E> MNusing accuracyPremultiplier from configIU49M܉?u4YMe iMBy}M}?Mw?DM;M;MM4_B aAZj FNOT Ignoring new targets: 109.70 m.BjJj󑻝% ProNav: ac range: 109.699997 m, nav range: 119.523460 m, bearing: 171.873566 deg, approach rate: 0.203890 m/s, LOS rate: -0.255198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674158 deg. 2j%#/:j-+@-HeadingCmd: 4.811422 target range: 109.699997 and range: 109.70 m. j)j1j1j1i1h1h1h9h9f9f9fArfAbfEr@ɛiu quP*Iq ueɚyiyI}K94=I}iDi2y))E*FE?2FA:FIBFM0JFIzK]]JK]9KYK]KK] BKi:KmrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256076Ge7Gm?Gm>G) B1 OU >H Q>I  I I I &I .I 6I ð<:I Fw,N$A6/7@Y6F@6{ü96}>y6H@Ż?{?:¿O|[?@?@c??@6?ɨ6/7@62;6kCyRBRGIIZIZB-5٢bPͽ bP=9f:Q f>dd fG٣hyj; j> nNusing accuracyPremultiplier from configlr49n5ቜ?v4YnC inBxzz?n?Dn3;n2;nT4| ~AZj!%FNOT Ignoring new targets: 109.70 m.Bj-Jj-= ProNav: ac range: 109.699997 m, nav range: 119.606041 m, bearing: 171.771439 deg, approach rate: 0.218847 m/s, LOS rate: -0.270461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.669019 deg. 2j=9:j=o@EHeadingCmd: 4.811332 target range: 109.699997 and range: 109.70 m. jAjAjIjIiIhIhIhQhQfQfQfQrfYbf]@ɛ 隍SI <ɚiI [4=Ii$Diva:)) EP$?IEAhUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511542*F]?2FY:FYBF]b5JFYG=GRGBO=> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764110w,/>AyB1IMb@Mb@Mb@ )YV-?X9v?{Gzty?}=ףA @)IMAyGAII15٢ :=9Q > G٣O5Gy > ]Nusing accuracyPremultiplier from configYe49]扜?e4Y]v# i]Bm?m:m7m?]?D];];]\4q uAyZjFNOT Ignoring new targets: 109.70 m.BjQJjQ ProNav: ac range: 109.699997 m, nav range: 119.702995 m, bearing: 171.645988 deg, approach rate: 0.214115 m/s, LOS rate: -0.276822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.599145 deg. 2j=:jq@HeadingCmd: 4.810112 target range: 109.699997 and range: 109.70 m. jjjjihhhh\Bfffrfbf j@ɛIBx  xI  wɚiI4=IiCi0:))*F?2F:FBF`5JF AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:54:55.9716 TRx dataTimestamp_ set to:1736366097.154713checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024005G9G B O >zK ezKK 9K K LK w,!XAZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268117UvP@YU_@U9U)>yUH`掼?jz?`¿@??j??ԭ?ɨUvP@U;UhCywBIII:5٢ -=9J$:Q > G٣y; >  Nusing accuracyPremultiplier from config 49 '뉜?4Y * i Bҭ? ?D L: : d4! %A!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 109.70 m.BjUJjUjHYbH]4<HaIa IeIIeXBIa&Ia.Ia6Ie<:Ie F ProNav: ac range: 109.699997 m, nav range: 119.802780 m, bearing: 171.519037 deg, approach rate: 0.216783 m/s, LOS rate: -0.275570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594659 deg. 2j=:j@HeadingCmd: 4.810034 target range: 109.699997 and range: 109.70 m. jjjjihhhhfffrfbfOa @ɛJB( 隽I BɚiI4=IirBiq];))EE*Fu?2Fq:FyBF}1JFyJJ"J0JJT;J:Jـ3JJhMw,sAFmT@YFc@FO9F@>yFH`d?1z?¿??^?@62? ? ?ɨFmT@FXL;FjCyVFBVIXZA=Mb@Mb@Mb@999 9)9Y=p= ף?v/?:vy=%?=xi==T=A =@)=AI=A9y=(AQQI]I]s75٢m mk=9uۥQ u?qq uG٣qy}: }? Nusing accuracyPremultiplier from config49?4Y0 iB%?:(??DU;;j4`B A˳EZjiuFNOT Ignoring new targets: 109.70 m.BjuJju ProNav: ac range: 109.699997 m, nav range: 119.880058 m, bearing: 171.418218 deg, approach rate: 0.209949 m/s, LOS rate: -0.273729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.672927 deg. 2j;:j@HeadingCmd: 4.811400 target range: 109.699997 and range: 109.70 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 19:54:55.9716 LVL= 28064, 27425, 14770, 32755, AGC= 61, IDX= 420, 0.00, 0.963, 0.142, 2.372, 1.389, PHS=-0.337,-1.200, 0.980, RAW= 186.9, 5.9, CAL= 186.9, -2.9, ROT= 323.1, 2.9 =Ygot valid direction response: 19:54:55.9716 LVL= 28064, 27425, 14770, 32755, AGC= 61, IDX= 420, 0.00, 0.963, 0.142, 2.372, 1.389, PHS=-0.337,-1.200, 0.980, RAW= 186.9, 5.9, CAL= 186.9, -2.9, ROT= 323.1, 2.9 MPDAT read: Bearing 323.1, 2.9 (Local) M~Local bearing/azimuth received: Bearing 323.1, 2.9 (Local) ]DAT read: Range 10 to 50 : 108.3 m (Round-trip 144.5 ms) speed 0.4 m/s e*DAT read: user:951> mBDAT read: Tx time:19:54:57.0730 m$Ping request sent.m*#w,HA6Z@Y65j@6¼96>>y6H?y?`a*r?"? [???]?ɨ6Z@6׈;6kCyR'BRII^oI^"5٢fΡ fW=9jֹQ j>hh jG٣jP5Gyr; r> vNusing accuracyPremultiplier from configtz49v(?z4Yv6 ivBxzz?v?Dv:v ;vTq4 hAȳEkEg?kEti kA kEYyA:kEBBkEBZkELD@"EY@41Z!Q!EpQeǿYb2 Tl2JkE$8RkEl==*EA=UZ wSi@ `7E'> o5?2<<̿"kEJ@*kEkE/|lFg?kE4 h 2kEBkEqe?kE; kEBkEBkEsy@@] addTargetRange:: Added new target pos. range: 108.300003 m, deltaT: 3.788164 s, deltaX: -1.399994 m, approachRate: -0.369571 m/s, rangeRepo size: 4 m Added new target pos. range: 108.300003 m, bearing: 175.736592 deg, lat: 36.903729 deg, lon: -122.117957 deg, deltaT: 3.788164 s, deltaX: -1.399994 m, approachRate: -0.369571 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 108.30 m.Bj}Jjy ProNav: ac range: 108.300003 m, nav range: 110.353958 m, bearing: 172.312058 deg, approach rate: 0.000000 m/s, LOS rate: -0.273729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.675213 deg. 2j:jQ@HeadingCmd: 4.811440 target range: 108.300003 and range: 108.30 m. jjjjihhhhfffrf@3[@bf ?ɛKBTD I ɚiI+G5=IiAi+;))*Fm?2Fi:FiBFm_0JFizK%FJK%s9K!K%MK%BK5sA:K1%Will construct direction to contact in vehicle frame from tetrahedron phase data.G5l;~~GGBO > vAI H I  I II 5BI &I .I 6I ۰<:I F Y vAy `BT)w,"A6^7@Y6F@6˼96N>y6H@2ǻ?-{?G¿ @f?`?q?m ??ɨ6^7@6-;6iCyNBRIJـ3K(3 K(.KK"KJrJpJr1JpJr;JpJr3JpJrcg<Jrdg<JpJp )I-BhIZIZY45}Will construct direction to contact in vehicle frame from tetrahedron phase data.٢1 :=9Q > G٣yA %> -Nusing accuracyPremultiplier from config)U49-?U4Y-^> i-BY]]?-?D-;-c;-y4a eAaZjFNOT Ignoring new targets: 108.30 m.Bj6Jj6 ProNav: ac range: 108.300003 m, nav range: 110.448471 m, bearing: 172.170829 deg, approach rate: 0.208712 m/s, LOS rate: -0.311608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.551870 deg. 2jU:j@5HeadingCmd: 4.809288 target range: 108.300003 and range: 108.30 m. j1j1j1j1i9h9h9h9hAfAfAfArfAbfM@?ɛY]i< Y]ǾIY ]ɚaiaIe5=Imim@iux9)q)qER>E>*Fe?2Fa:FiBFiJFq- Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge ;Gm ?Gm ?G9 BI Oe ><0w,A> +@Y>}:@>ϼ9>;>y>He??`¿T????,?ɨ> +@><;QQ UG٣QyUC ]> eNusing accuracyPremultiplier from configam49e?m4Ye8E ie—Bm2?m:m˱m?e?De;eo;e4 OAZjFNOT Ignoring new targets: 108.30 m.Bj)˻Jj)˻ ProNav: ac range: 108.300003 m, nav range: 110.531540 m, bearing: 172.040642 deg, approach rate: 0.226838 m/s, LOS rate: -0.355237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.584926 deg. 2js:ji@HeadingCmd: 4.809865 target range: 108.300003 and range: 108.30 m. jjjjihhqhqh}BfyffrfbfG?ɛLB{T bվI 3ɚiI5=I%i%<@i%lG)!)! IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFG}:GYBaOY>' TFailed to parse incomplete device message.= Will construct direction to contact in vehicle frame from tetrahedron phase data.g6w,AVD@YV,@Vfڼ9V >yVHO? ?{-?&_?@w]?? ?ɨVD@V;Tyn~BrII=I=B5٢Mxe MJ=9MjQ M>QQ UG٣UQ5Gy} > Nusing accuracyPremultiplier from config49M?4YL iŗB??D;;4 AZj FNOT Ignoring new targets: 108.30 m.Bj5Jj5E ProNav: ac range: 108.300003 m, nav range: 110.621666 m, bearing: 171.899834 deg, approach rate: 0.216185 m/s, LOS rate: -0.337481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.553114 deg. 2jEg:jM@uHeadingCmd: 4.809309 target range: 108.300003 and range: 108.30 m. jqjyjyjyihhhhfffrfbf?ZHQRHQH]P>IY I]xII]BIY&IY.IY6I]<:I] FɛZR 隝HI MLɚiIE6=Iii@iWF ))*Fa2Fa:FaBFaJFaRK?JK> IJJ(JJJ;J9:JJJpk<Jpk<J.;J.;Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm !G G rAGA BI Oe >MyVH A?@?@&?$?@T?Av??ɨV&@Vˇ;VfCyb~BbIMMb@Mb@Mb@III I)IYMCl? ףp= ?yy G٣y5; > Nusing accuracyPremultiplier from config49?4YfT iȗB;?:g?@D;5;4aB  AʳEUB*** querying acoustic contact ***jQjQZjyFNOT Ignoring new targets: 108.30 m.BjǻJjǻ ProNav: ac range: 108.300003 m, nav range: 110.713295 m, bearing: 171.752681 deg, approach rate: 0.217510 m/s, LOS rate: -0.349022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.534104 deg. 2jo:j$@HeadingCmd: 4.808977 target range: 108.300003 and range: 108.30 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hh:Bfffrfbf +@ɛQUJ_ 隕I PɚiID6=Ii?i`))E*FM?2FI:FIBFM|0JFQ"G]=G]=G b( Q$?I Gi By  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254547O >.xCw,LA6`0@Y6?@6׼96 >y6HU?C?@@49?@M? U?`Q? ̱?ɨ6`0@6C;6iCyR~BRITVAIZIZ75٢U 5R=9=A9Q =>AA EG٣AyEH; E> UNusing accuracyPremultiplier from configIU49M?]4YM[ iM̗BY]?]?M#@DM: ;M ;Mٔ4a mb AiZjFNOT Ignoring new targets: 108.30 m.BjڻJjڻ ProNav: ac range: 108.300003 m, nav range: 110.802635 m, bearing: 171.611133 deg, approach rate: 0.241344 m/s, LOS rate: -0.382070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.550893 deg. 2j:j@HeadingCmd: 4.809270 target range: 108.300003 and range: 108.30 m. jjjjihhhhfffrfbf@ɛFcn I b$ɚiI7=I i ?i 9) )*F?2F:FBFa5JFzKKKh9KKOKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506442GuzQGQBYOu>He O>Ie C Ie FIIe BIe " =&Ia .Ia 6Ie <:Ie FBIJIRIZIbIjI4Iw,k(A2J,@Y2;@2ڌۼ92^ >y2Hn?H?;?E?p?@\?S?ɨ2J,@2;2jC DIFChJfJf"JdJdJf;Jf:JdJdJfj<Jfj<Jf;Jf;y~BIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759519IuIu95٢ ;  <=9 Q > G٣R5Gy{ %> ]Nusing accuracyPremultiplier from configQe49U; ?e4YU7d iUϗBaePe?U7@DU:U;U4q uZ AqZjFNOT Ignoring new targets: 108.30 m.BjɻJjɻ ProNav: ac range: 108.300003 m, nav range: 110.903008 m, bearing: 171.453376 deg, approach rate: 0.224867 m/s, LOS rate: -0.353108 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.502355 deg. 2jUr:jޙ@%HeadingCmd: 4.808423 target range: 108.300003 and range: 108.30 m. j!j!j!j!i!h!h!h)h)fIfQfQrfQbfU@ɛf^ 隥I bºɚi)I-Jl7=I-i5?i5=)1)1*F?2F:FBFd3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:54:59.6193  TRx dataTimestamp_ set to:1736366100.928532 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011490G G B O5 >fPw,HBAy~BIMb@Mb@Mb@ )YCl?+?y;??=` A )hAI AyAII6=5٢a< N=9Q > G٣y   > Nusing accuracyPremultiplier from config49-?4Yk i՗B%~??%:%%?J@DY;w;k4-bB -G A-dzEZjQ]FNOT Ignoring new targets: 108.30 m.BjeqֻJjeqֻ ProNav: ac range: 108.300003 m, nav range: 110.993073 m, bearing: 171.307942 deg, approach rate: 0.232396 m/s, LOS rate: -0.374961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.539246 deg. 2j:j@HeadingCmd: 4.809067 target range: 108.300003 and range: 108.30 m. jjjjihh h h"Bfffrfbf @ɛae|h yI}Dh 隍I ٽɚiI7=Ii@>iڹ))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263602*F?2F:FBFJ5JFG GG 'HG B O >zK KK K K PK  A^|xtpnomkcRJECEADGGA'BK rA:K sA Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 19:54:59.6193 LVL= 27248, 25361, 14466, 30451, AGC= 62, IDX= 411, 0.28, 2.735, 1.960,-2.151,-3.113, PHS=-0.347,-1.163, 0.959, RAW= 187.6, 6.0, CAL= 187.6, -2.8, ROT= 322.4, 2.8 8Vw,X\AYgot valid direction response: 19:54:59.6193 LVL= 27248, 25361, 14466, 30451, AGC= 62, IDX= 411, 0.28, 2.735, 1.960,-2.151,-3.113, PHS=-0.347,-1.163, 0.959, RAW= 187.6, 6.0, CAL= 187.6, -2.8, ROT= 322.4, 2.8 PDAT read: Bearing 322.4, 2.8 (Local) ~Local bearing/azimuth received: Bearing 322.4, 2.8 (Local) DAT read: Range 10 to 50 : 106.5 m (Round-trip 142.1 ms) speed 0.4 m/s *DAT read: user:952> "BDAT read: Tx time:19:55:00.7230 &$Ping request sent.&iMM/ݔMu?MQ@MPw= MQ@)M+HIM@iM+H=IIM2B?cal?iY?)M?IMhֽiMGΈM =II6:publishing transmit ping time$6Fpublishing direction and range infoI9M`ǿBwJl1yIIII I)IIIiIIIII I)IIIiIIIM2B?cal?iY?)IIIiIIIIjH<bH<H P>I  I !II BI &I .I 6I <:I  Fy~BI =p=II<5٢; ,=9 Q  > G٣y > %Nusing accuracyPremultiplier from configM49?M4Yu iۗBIIM?a@D;5;4Y ]E A]ȳEkM} Ph?kM̜ kI kM[A:kMBBkMBZkMC@"M(37tZg#M`ǿBwJl1JkMGRkM =*M&Y{ @V8MIYl@ բݳ?}Ϳ"kM=A*kMkM:h?kM6O 2kMBkM Ըf?kMJUC kIkMxBkMOBA@ addTargetRange:: Added new target pos. range: 106.500000 m, deltaT: 3.527915 s, deltaX: -1.800003 m, approachRate: -0.510217 m/s, rangeRepo size: 4  Added new target pos. range: 106.500000 m, bearing: 175.425723 deg, lat: 36.903750 deg, lon: -122.118002 deg, deltaT: 3.527915 s, deltaX: -1.800003 m, approachRate: -0.510217 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 106.50 m.BjJj ProNav: ac range: 106.500000 m, nav range: 108.235161 m, bearing: 173.014471 deg, approach rate: 0.000000 m/s, LOS rate: -0.374961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.403426 deg. 2j:juЙ@ HeadingCmd: 4.806696 target range: 106.500000 and range: 106.50 m. j j j jihhhhfff!rf%Z@bf%K? iIiɛCY ^I Vɚ i I ~?8=I=i=a>iA)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:00.7222 JJ'J0JJT;J:Jـ3JJh<Jh<JH;JI;PExceeded connect timeout, disconnecting.*FE ?2FI :FI BFU 0JFQ -Will construct direction to contact in vehicle frame from tetrahedron phase data.GAG BO-?^w,~AV@YV@Vm9V>yVHӹ? ]?`8`d? ?q0? Z?@b?ɨV@Vo;VhCyr~BrI5Mb@Mb@Mb@111 1)1Y5+?L7A`?{Gz?y5??5+=5#<5vA 1)1I5~A1y5AIMaIMk5٢]< ],=9eQ > G٣S5GyU > Nusing accuracyPremultiplier from config49:?4Y~ iB??:?x@Dm;;4  A5B*** querying acoustic contact ***j1j1ZjamFNOT Ignoring new targets: 106.50 m.Bju?Jju?軝 ProNav: ac range: 106.500000 m, nav range: 108.330574 m, bearing: 172.829569 deg, approach rate: 0.209738 m/s, LOS rate: -0.406093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.420988 deg. 2jY:jҙ@HeadingCmd: 4.807003 target range: 106.500000 and range: 106.50 m. jjjjihhhh8Bfffrfbf@ie cȻ)a)a I*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G= zQG B O= >ew,qȗAy~~B~II ~I E)5٢ > b=9%Q %>!) -G٣)y- -> =Nusing accuracyPremultiplier from config1=495g?E4Y5e i5BAAE?5@D5 ;5 ;5C4Q UYAYZjyFNOT Ignoring new targets: 106.50 m.Bj<߻Jj<߻ ProNav: ac range: 106.500000 m, nav range: 108.400925 m, bearing: 172.694833 deg, approach rate: 0.203941 m/s, LOS rate: -0.390337 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.571246 deg. 2j:jt@HeadingCmd: 4.809626 target range: 106.500000 and range: 106.50 m. jjjjihhhhfffrfbfa?zKXNK 9KKQKɛVf kԾI wǼɚiI8=I i ?i |() Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992065)!*F?2F:FBF_0JF"G=G=GԑH-O>I) I-II-lBI-! =&I).I)6I-<:I- FGBOE> yIy Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244279  nManaging dock network, ignoring radio surface power offkw,vAVU@YV@V49V=yVH? j?@CDZ??x?`?,?ɨVU@V;;VkCy~BII5fI55٢E}C= EH=9MNQ M>II UG٣QyU! U> eNusing accuracyPremultiplier from configYe49]!?m4Y]e i]Bimڶm?]@D]:]z:]k4q } AyZjFNOT Ignoring new targets: 106.50 m.Bj]RŻJjeRŻ ProNav: ac range: 106.500000 m, nav range: 108.483063 m, bearing: 172.538697 deg, approach rate: 0.181644 m/s, LOS rate: -0.345024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.507146 deg. 2jl:jJߙ@HeadingCmd: 4.808507 target range: 106.500000 and range: 106.50 m. jjjjihhhhfffrfbf`?ɛKBSL 隍ɾI ʼɚiIS-9=Ii?i,ѻ))%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496702*F?2F!:F!BF!JF!G] ǻG9 BA a Ia Ou >J= J= &J= 1J9 J= <;J= 0:J= 3J9 aE @aE @aE @aE @rw,zABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747997~@Y~ @~49~-=y~H@{? ?`7J?@P?%? ?`p?ɨ~@~t;~gCy0BIMb@Mb@Mb@ )Y$C?l?{Gz?y:?=ף< A Z@)QAIy=AII25٢V= B=9Q > G٣T5GyI > Nusing accuracyPremultiplier from configu49$?u4Yc iB}l:?}:}A}?@D<Y<ȭ4cB [AʳEZjFNOT Ignoring new targets: 106.50 m.BjNJjNờ ProNav: ac range: 106.500000 m, nav range: 108.567352 m, bearing: 172.383055 deg, approach rate: 0.213516 m/s, LOS rate: -0.393954 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.508635 deg. 2j/:jߙ@HeadingCmd: 4.808533 target range: 106.500000 and range: 106.50 m. jjjjih!h!h!h%Bf)f)f)rf)bfuT?ɛsL ֲI t̼ɚiIh9=Imime@im׻)i)q*F?2F!:F!BF!JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000640zKmiKKiKiKmRKm) GG 4λ% `wA9 m %Ym `wAym BG B ZH! RH% ?AH- P>I- C I- 'II- BI) &I) .I) 6I- ذ<:I- FU @U BO] >xw,VAJ@YJE@J̓9J>yJH+E?6?F?S?`Q? BM?@?ɨJ@J+@;JhCyRaBVII^I^v35٢f> f]=9fmQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv49r#(?v4Yrc irBtvav?r@Dr:r:r@ϭ4| ~A|Zj!-FNOT Ignoring new targets: 106.50 m.Bj-+ܻJj-+ܻU ProNav: ac range: 106.500000 m, nav range: 108.641579 m, bearing: 172.246903 deg, approach rate: 0.210021 m/s, LOS rate: -0.384975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.567016 deg. 2jU:j]@mHeadingCmd: 4.809552 target range: 106.500000 and range: 106.50 m. jijqjqjqiyhhhhfffrfbf @ R$?IEhɛJBB 隍I ;μɚiIs9=Ii@i))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253472*Fu?2Fq:FqBFu`0JFqG GG߻G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503998%w, 2Ay~B~+IMb@Mb@Mb@ )Y9v?ˡE?X9v?y4?'=< )@IyAII+5٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config49,?4Y` iBx5?:?@D(S;P;֭4 AZjFNOT Ignoring new targets: 106.50 m.Bj˻Jj˻ ProNav: ac range: 106.500000 m, nav range: 108.728592 m, bearing: 172.091833 deg, approach rate: 0.200214 m/s, LOS rate: -0.356523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.510360 deg. 2jt:jߙ@HeadingCmd: 4.808563 target range: 106.500000 and range: 106.50 m. jjjjihhhhBfffrfbf `]<@ɛIBl- 隝hI aZмɚiIƽ9=Ii#Ai#*))) I*F?2F:FBFm0JFJJ"JJJ;J:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756002G 6G B O >Xw,A6ے@Y6@6L96 >y6H?`͋? Y`(ι?z?`Ҩ?-??ɨ6ے@67;6iCy>BBFIIJIJ?15٢R= R]=9V Q V>XX ZG٣^U5Gy^P} ^> bNusing accuracyPremultiplier from config`f49bN/?f4Yb3 ibBdjj?b@Db:bn:bQݭ4l n(Al~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 106.50 m.Bj ̻Jj ̻% ProNav: ac range: 106.500000 m, nav range: 108.803078 m, bearing: 171.959526 deg, approach rate: 0.201048 m/s, LOS rate: -0.356872 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578543 deg. 2j%t:j%@5HeadingCmd: 4.809753 target range: 106.500000 and range: 106.50 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfEo@ɛqu^5) qu(UIq }ѼɚyiyI}9=IiŻAiz ))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:55:03.2663 TRx dataTimestamp_ set to:1736366104.456792checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009248zKJKKKSKRK ?JK?*F?2F:FBF2JFHI IYIIBI&I.I6Iְ<:I F IGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260001##w,G2A2sՒ@Y2@2R92V >y2H Ⱥ?? ,@C å?ͮ?ɠ?Z?`?ɨ2sՒ@2;2gCyRBReIIZIZ*5٢b= bI=9b`!Q b>dd fG٣dyjݺ j> nNusing accuracyPremultiplier from confighr49j2?r4Yj ij*Bprv?j@DjG;jy;jh4zdB zmAzɳEZj%FNOT Ignoring new targets: 106.50 m.Bj%a˻Jj-a˻5 ProNav: ac range: 106.500000 m, nav range: 108.885033 m, bearing: 171.814944 deg, approach rate: 0.201731 m/s, LOS rate: -0.355617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.541777 deg. 2j=t:j==@EHeadingCmd: 4.809111 target range: 106.500000 and range: 106.50 m. jAjAjAjAiAhIhQhhfff!rf)bf-` z @ɛHB% QU!IQ ]KҼɚaiaIN9=IiBi()Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:55:03.2663 LVL= 31392, 27361, 13634, 31603, AGC= 59, IDX= 412, 0.09,-3.065, 2.470,-1.668,-2.602, PHS=-0.375,-1.164, 0.931, RAW= 188.1, 6.7, CAL= 188.2, -2.2, ROT= 321.8, 2.2 Ygot valid direction response: 19:55:03.2663 LVL= 31392, 27361, 13634, 31603, AGC= 59, IDX= 412, 0.09,-3.065, 2.470,-1.668,-2.602, PHS=-0.375,-1.164, 0.931, RAW= 188.1, 6.7, CAL= 188.2, -2.2, ROT= 321.8, 2.2 )EEPDAT read: Bearing 321.8, 2.2 (Local) ~Local bearing/azimuth received: Bearing 321.8, 2.2 (Local) mDAT read: Range 10 to 50 : 104.2 m (Round-trip 139.0 ms) speed 0.4 m/s u*DAT read: user:953> BDAT read: Tx time:19:55:04.3731 $Ping request sent.w, LA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*JDAT read: TxSync time:19:55:04.3723 B+ݒ@YB@B>9BX >yBHO??U߹??@?z??ɨB+ݒ@B;BiCyz Bz}IEMb@Mb@Mb@AAA A)AYES㥛? ףp= ? rh?yE$&?EQ8=EC =EA EC@)EAIE AAyEAI}~I}E)5٢= /=9ێ:Q > G٣yy; > Nusing accuracyPremultiplier from config496?4Y i9B&?:? AD;;4 Ak5g-Si?k5K"h k1 k5?=A:k5fBBk5BZk5B@"5u1*4=OJ&cY=yv%5RÑzɿ///Rs]Jk5Rk5K=*5Ì&YLW$@W~)95G?e5?P+ο"k5"A*k54k5Ei?k5 2k5pBk5/|lFg?k54 h k5Bk5Bk59ZA@ addTargetRange:: Added new target pos. range: 104.199997 m, deltaT: 3.530062 s, deltaX: -2.300003 m, approachRate: -0.651547 m/s, rangeRepo size: 4  Added new target pos. range: 104.199997 m, bearing: 174.227077 deg, lat: 36.903765 deg, lon: -122.118035 deg, deltaT: 3.530062 s, deltaX: -2.300003 m, approachRate: -0.651547 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 104.20 m.Bj%Jj!U ProNav: ac range: 104.199997 m, nav range: 106.918343 m, bearing: 173.098101 deg, approach rate: 0.000000 m/s, LOS rate: -0.355617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.445664 deg. 2jY:j]֙@eHeadingCmd: 4.807434 target range: 104.199997 and range: 104.20 m. jajajajaiahahihhCBfffrf Z@bf 6?ɛGB I IӼɚ iIL9=IirCi))*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKJKh9KKTKH I  I II BI &I .I 6I <:I FBIqJIqRIqZIqbIu" =jIuʵ4G G B O5 >3w,FfANђ@YNT@N_9N >yNHH?`o?్?`ړ?*?`?`9?ɨNђ@NYO;NfCyf BjIIvmIv!5٢~T= ~j=9~-Q > G٣V5Gy f  > Nusing accuracyPremultiplier from config499?4Yl iDB!%ش%?AD. ; ;4) -"A)ZjQ IFNOT Ignoring new targets: 104.20 m.BjIѻJjIѻ ProNav: ac range: 104.199997 m, nav range: 106.980774 m, bearing: 172.981544 deg, approach rate: 0.196123 m/s, LOS rate: -0.365942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.625723 deg. 2j${:j>@%HeadingCmd: 4.810576 target range: 104.199997 and range: 104.20 m. j)j)j)j)i)h1h1hyhyfyfyfrfbf`Y"?ɛFBG pJJI EԼɚiI'9=Ii3#Di))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGZG B O5 >5 Will construct direction to contact in vehicle frame from tetrahedron phase data. w,:A6m̒@Y6ۙ@6 968/>y6H@r?@f?@Q X?@c?@S??`>?ɨ6m̒@6)I;6hCyb:BbIeMb@Mb@Mb@aaa a)aYe^I +?S㥫? G٣y>к > Nusing accuracyPremultiplier from config49=?4Y iQB=?:P?*AD#;;4 WAZjFNOT Ignoring new targets: 104.20 m.Bj Jj  ProNav: ac range: 104.199997 m, nav range: 107.055237 m, bearing: 172.853259 deg, approach rate: 0.177777 m/s, LOS rate: -0.306060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.590608 deg. 2j R:j9@ HeadingCmd: 4.809964 target range: 104.199997 and range: 104.20 m. j j j j i h hhhBfffrfbf ?ɛEB  кI  -F,Լɚ1i1I5^9=I5i=@Ei=#)9)9EMe>EM> I*F-?2F1:F1BF1JF1GEtA GAJ J J 0J J 5;J :J ـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data.GM G! B) OM >9w,A6@В@Y6ߙ@6 96>y6H?@T? d~??t|?`!i?@?ɨ6@В@6Y;6fCyBFBBIIJDIJ5٢Rc= RZ=9R(YQ R>TT VG٣TyZ: ^> bNusing accuracyPremultiplier from config`f49bA?f4Yb ib]BdfIj?b8ADb":b:b4l nAl~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 104.20 m.Bj ⮻Jj ⮻ ProNav: ac range: 104.199997 m, nav range: 107.122528 m, bearing: 172.738359 deg, approach rate: 0.179200 m/s, LOS rate: -0.305793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630706 deg. 2j%Q:j%@-HeadingCmd: 4.810663 target range: 104.199997 and range: 104.20 m. j)j)j)j)i)h)h)h9h9fAfAfArfAbfE?ɛiuKҼ qu+;Iy }k(ԼɚyiyI}`9=IiEi))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKKK9KKUK*F2F:FBFJFHI III]BI&I.I6I<:I F IG"GqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702289aw,A6ْ@Y6@6996X>y6H ۸?? 2ù?z`?`?`&?@?ɨ6ْ@6/n;4yNOBRIIZoIZ"5٢b{4= bH=9b!;Q b>dd fG٣fW5Gyj6; j> nNusing accuracyPremultiplier from configlr49nD?r4Yn injBpv,v?nHADnG;n;n4zeB zAz˳EZj!%FNOT Ignoring new targets: 104.20 m.Bj-aJj-a= ProNav: ac range: 104.199997 m, nav range: 107.196083 m, bearing: 172.614151 deg, approach rate: 0.180690 m/s, LOS rate: -0.304912 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.602823 deg. 2j=BQ:j=@EHeadingCmd: 4.810177 target range: 104.199997 and range: 104.20 m. jAjAjAjAiIhIhIhIhIfQfQfQrfQbf`Ȝ?ɛ%DB%Ǽ !- I .Jw,\A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2061386@Y6@6)S96R >y6HȢ?? ?? )?JE??ɨ6@6;6jCyFcBFIMb@Mb@Mb@ )Y|?5^?Mb?Q?y ?=<vA @)hAIy\AIqI#5٢= <=9An;Q > G٣y; > Nusing accuracyPremultiplier from config49H?4YP iwB?:?WAD$;#;<4 AZjFNOT Ignoring new targets: 104.20 m.BjJj- ProNav: ac range: 104.199997 m, nav range: 107.276062 m, bearing: 172.492327 deg, approach rate: 0.183882 m/s, LOS rate: -0.279881 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.609992 deg. 2j-@:j-@=HeadingCmd: 4.810302 target range: 104.199997 and range: 104.20 m. j9j9j9j9iAhAhAhAhEBfIfIfIrfIbfU@ɛMCBmvt im=Iq uӼɚqiqIuuq9=I}i}z Gi}))y)E*FE?2FA:FABFEo0JFI"GM=GM=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458972zKM &`KKM 9KI KM VKM Gm Gm ?Gm 9?G! B1 OM >H I C I !II BI &I .I 6I ٰ<:I Fuw,A6Q @Y6@6H 96 >y6H`X??'? V?Z?`Y?ٮ?ɨ6Q @6;4yJlBJIIVjIVh 5٢Z<= ^[=9^;Q b>`` bG٣`yf; f> rNusing accuracyPremultiplier from configlv49nL?v4Yn inBxz.z?neADnX;n- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964319Zw,}A^"@Y^*2@^+.9^>y^H;"?? ¿u t?u?d??a?ɨ^"@^k_;^hCyjvBjIeMb@Mb@Mb@aaa a)aYeQ?l?=9AJ;Q > G٣X5GyK; > Nusing accuracyPremultiplier from config49Q?4Y iBW ?:?sAD" ; ;C4fB AȳEZjFNOT Ignoring new targets: 104.20 m.BjJj ProNav: ac range: 104.199997 m, nav range: 107.429688 m, bearing: 172.272959 deg, approach rate: 0.200499 m/s, LOS rate: -0.274058 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630959 deg. 2j<:j@HeadingCmd: 4.810668 target range: 104.199997 and range: 104.20 m. jjjjihhhhȀBfffrfbf@5> @ɛϙ 隵=I YҼɚiI-9=Ii_Fi\)) 1I1*Fe?2Fa:FaBFe1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:55:06.9144 TRx dataTimestamp_ set to:1736366108.240928checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219592G _vG B O >lƁw,fAj!/@Yj>@j3<9j=>yjH$? |?-¿@M`A?#?@? ?O?ɨj!/@j;jjCyvsBvIIwI+&5٢ v R=9k:Q > %G٣!y%~; %> -Nusing accuracyPremultiplier from config)549-KU?=4Y- i-B9=h=?-AD-;-;-$4A MAIeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 104.20 m.Bj}ژJj}ژ ProNav: ac range: 104.199997 m, nav range: 107.506630 m, bearing: 172.168825 deg, approach rate: 0.197621 m/s, LOS rate: -0.267269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663011 deg. 2jl7:j@HeadingCmd: 4.811227 target range: 104.199997 and range: 104.20 m. jjjjihhhhfffrfbf* @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4712695~GxA %6Y%xAy-BɛEBBzKMKKMͼ9KIKMWKM| 隍=I \ѼɚiI9=IiFiH))EEsAHIIMC IMYIIMBII&II.II6IM<:IM F*F12F9:FBF`5JFGsA GtA !I%HhJJJJJ;JJJJ f<J f<JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 19:55:06.9144 LVL= 30784, 28657, 15410, 32355, AGC= 60, IDX= 425, 0.04,-0.134,-0.849, 1.295, 0.355, PHS=-0.401,-1.158, 0.936, RAW= 189.1, 6.8, CAL= 189.2, -2.0, ROT= 320.8, 2.0 5 Ygot valid direction response: 19:55:06.9144 LVL= 30784, 28657, 15410, 32355, AGC= 60, IDX= 425, 0.04,-0.134,-0.849, 1.295, 0.355, PHS=-0.401,-1.158, 0.936, RAW= 189.1, 6.8, CAL= 189.2, -2.0, ROT= 320.8, 2.0 5 PDAT read: Bearing 320.8, 2.0 (Local) = ~Local bearing/azimuth received: Bearing 320.8, 2.0 (Local) GE ïu DAT read: Range 10 to 50 : 102.9 m (Round-trip 137.2 ms) speed 0.2 m/s } *DAT read: user:954>  BDAT read: Tx time:19:55:08.0231  $Ping request sent. )ۭ V?Iۭ }viۭ 㿉ۭ *[=۩ ۩ M :publishing transmit ping timeء U Fpublishing direction and range infoة 9ح 0ɿ:2N͕yة ة ة ة ٩ )٩ I٩ i٩ ٩ ٩ ٩ ٩ ک )ک Iک iک ک ک ۭ 3 ?ȏЭ?E?|?)۩ I۩ i۩ ۩ ۩ ۩ ́w,95AynpBrI v=v=IzvIz%5٢%i\ -I=9-Q ->11 5G٣1y5 }> Nusing accuracyPremultiplier from config49Y?4Y iB?ADT;;R+4 AkKj?k k k/A:kBBkeBZkC@"Cg4BVY._%(0ɿ:2N͕JkRk*[=*dۭXL&F)"@Àp:26=;?Pп"kA*kkxLi?k 2kBk:h?k6O kBkBk)A@ addTargetRange:: Added new target pos. range: 102.900002 m, deltaT: 3.782680 s, deltaX: -1.299995 m, approachRate: -0.343670 m/s, rangeRepo size: 4 - Added new target pos. range: 102.900002 m, bearing: 174.655465 deg, lat: 36.903787 deg, lon: -122.118057 deg, deltaT: 3.782680 s, deltaX: -1.299995 m, approachRate: -0.343670 m/s, posRepo size: 4 Zj1EFNOT Ignoring new targets: 102.90 m.BjJj ProNav: ac range: 102.900002 m, nav range: 104.909256 m, bearing: 172.926211 deg, approach rate: 0.000000 m/s, LOS rate: -0.267269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.624758 deg. 2j:j@HeadingCmd: 4.810560 target range: 102.900002 and range: 102.90 m. jjjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:08.0223 hf!f!f)rf-Y@bf-c?ɛq}) y}D=I ѼɚiI8=Ii&Fi&))*Fq2Fq:FqBFuS5JFy I G= zQG B O% >ڗӁw,#OA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:B@Y:pR@:>޼9:w>y:H#?z?D*¿Qּ?`#X?fڛ?N??ɨ:B@:;:gCy^jB^IMb@Mb@Mb@ )Yv/? G٣Y5Gy; > Nusing accuracyPremultiplier from config49P^?4Yx iB ?: = ?ADD;;24gB AʳEZj9=FNOT Ignoring new targets: 102.90 m.BjEJjE ProNav: ac range: 102.900002 m, nav range: 104.990196 m, bearing: 172.810654 deg, approach rate: 0.204340 m/s, LOS rate: -0.291507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628788 deg. 2jH:j@HeadingCmd: 4.810630 target range: 102.900002 and range: 102.90 m. jjjjihhhhBfffrfbf0?ɛ!%и !%=I) -мɚ)i)I58=IUiUEiU;)Q)Y*FA2FA:FABFE_0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm !zK K 9K K XK jH) bH- 4=H1 I1  I5 rII5 ҀBI1 &I1 .I1 6I5 <:I5 FGa By O >فw,chAJJ&@YJ5@Jr9J#> TIXyJH@>??@5?@?`T?d?%?ɨJJ&@J;JhCyf\BfII~YI~5٢y X=9%xQ %>)) -G٣)y5 5> ENusing accuracyPremultiplier from configAM49Efb?U4YE iEBQU]?EADEC;EzD;EJ94a eRAaZjFNOT Ignoring new targets: 102.90 m.BjdJjd ProNav: ac range: 102.900002 m, nav range: 105.063507 m, bearing: 172.705684 deg, approach rate: 0.192338 m/s, LOS rate: -0.275208 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.660499 deg. 2j<:j7@HeadingCmd: 4.811183 target range: 102.900002 and range: 102.90 m. jjjjihhhhfffrfbf?ɛ[۱ 隥Q=I OмɚJ3K3 K/.KK"KJJ#JJJ<;J:JJJ}o<J}o<J;J;iI88=Ii/fEi)ͺ))E)E->uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFG :G1 BQ O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,hʂA @@>+@Y>T;@>\39>>y>Hk? \?t`%? ލ?`_? ;? ?ɨ>+@>H*;>fCyJNBJIPRA%Mb@Mb@Mb@!!! !)!Y%V-?333333?Mbpy% ?%=%%A !)% AI% A!y%AI=JI=:5٢M  MG=9URQ U>YY ]G٣Yy]: e> mNusing accuracyPremultiplier from configam49eg?u4Ye ieBu?u:u}?eADe_;e;eo@4 AZjFNOT Ignoring new targets: 102.90 m.BjܡJjܡ ProNav: ac range: 102.900002 m, nav range: 105.146027 m, bearing: 172.589838 deg, approach rate: 0.201758 m/s, LOS rate: -0.283017 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627926 deg. 2j;B:j@HeadingCmd: 4.810615 target range: 102.900002 and range: 102.90 m. jjjjihhhhBfffrfbf`?ɛ{ü w,A2:-@Y2<@2Z92]>y2H`u?@g? d /?l?O*??H?ɨ2:-@2܏;2gCyBGBBIIJIJ*5٢V  VU=9Vm:Q V>XX ZG٣XyZ9 ^> bNusing accuracyPremultiplier from config`f49bQk?f4Yb  ibBdfj?bADb*:bn:bG4l nAlzB*** querying acoustic contact ***jxjxZj  FNOT Ignoring new targets: 102.90 m.BjJj% ProNav: ac range: 102.900002 m, nav range: 105.223717 m, bearing: 172.481522 deg, approach rate: 0.202726 m/s, LOS rate: -0.282431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.650484 deg. 2j%A:j-@-HeadingCmd: 4.811008 target range: 102.900002 and range: 102.90 m. j)j1j1j1i1h1h1h9h9fAfAfArfAbfE@?ɛiuJʼ quGJ J J 1J J ;J ~:J 3J J d<J d<J n;J n;BI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984012O >w,}A:WK@Y:Z@:ۼ9:>y:He?? WT?d?b?^ ??ɨ:WK@:;:fCy^8B^IIfrIf#5٢n rG=9vk;Q v>tt zG٣zZ5GyzW< z> Nusing accuracyPremultiplier from config|49~p? 4Y~ i~B   ?~AD~:~q:~PN4 wAdzEZj9EFNOT Ignoring new targets: 102.90 m.BjE͡JjE͡U ProNav: ac range: 102.900002 m, nav range: 105.308441 m, bearing: 172.365413 deg, approach rate: 0.206609 m/s, LOS rate: -0.282916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.627144 deg. 2jU)B:jUr@eHeadingCmd: 4.810601 target range: 102.900002 and range: 102.90 m. jajajajaiihihihqhqfqfqfyrfybf}=@ɛۼ 隭ЧI <мɚiIH8=IiV DifC;))*F%?2F):F1BF51JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240559GUzQG1B9OU> u T$?Iu Ihw,\A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492322>W@Y>.g@>^rռ9>$ >y>H .ȼ? g~?`نC(l?w??@AB?b?ɨ>W@>͎; G٣ya; >  Nusing accuracyPremultiplier from config 49t?4Y iB5?5:5\=?AD-;;U4EhB E7AEɳEZjFNOT Ignoring new targets: 102.90 m.BjJj ProNav: ac range: 102.900002 m, nav range: 105.395294 m, bearing: 172.233132 deg, approach rate: 0.194259 m/s, LOS rate: -0.295621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578677 deg. 2jJ:j@HeadingCmd: 4.809755 target range: 102.900002 and range: 102.90 m. jjjjihhhh%TBf)fQfYrfYbf] @ɛCB,  @I  )мɚ i I8=IiBiO߀;))*F92F9:F9BF=0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744126ZH RH @AH I  I SII BI &I .I 6I <:I FzKE /KKE +9KA KE ZKE G (;G B O > a Ia w,\Aje@YjFu@j@ϼ9jy >yjHO8?`Z{?Mս?4#?M?`m? ?ɨje@j;jgCyv Bv}II~I~-5٢   V=9;Q > G٣yp; > 5Nusing accuracyPremultiplier from config)E49-tx?M4Y-M i-BIM$U?-AD-v;-;-\4Y ]AYZjFNOT Ignoring new targets: 102.90 m.BjJj ProNav: ac range: 102.900002 m, nav range: 105.471092 m, bearing: 172.119177 deg, approach rate: 0.203639 m/s, LOS rate: -0.305930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.633573 deg. 2jQ:j]@HeadingCmd: 4.810713 target range: 102.900002 and range: 102.90 m. jjjjihhhhfffrfbf@ɛ 隅|I LhѼɚiI8=Ii+ BiKE;))eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:19:55:10.5632 uTRx dataTimestamp_ set to:1736366111.773740}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998618*FU?2FQ:FYBF]P5JFYG=g;G BI O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248190w,AyBkIMb@Mb@Mb@ )YS㥛?A`"?Qy$&?Y=u A -@)I AyAII/5٢| A=9Q > G٣[5Gy > Nusing accuracyPremultiplier from config49 }?4Yn iB&?:?BD+;I;c4 _AZjFNOT Ignoring new targets: 102.90 m.Bj%Jj%5 ProNav: ac range: 102.900002 m, nav range: 105.562378 m, bearing: 171.977736 deg, approach rate: 0.216412 m/s, LOS rate: -0.335026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.551239 deg. 2j=e:j=@=HeadingCmd: 4.809277 target range: 102.900002 and range: 102.90 m. jAjAjAjAiAhAhAhIhMBfIfQfQrfQbfU_* @ɛ}DBk  隅uI I -VҼɚ)i)I-8=I5i5w@i5[;)1)9EAEA*F 2F :F BF 4JF"G==G==JYJYJYJYJYJYJYJYam@am@am@au@}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:55:10.5632 LVL= 26192, 28625, 15602, 32755, AGC= 61, IDX= 427, 0.08,-2.251,-2.905,-0.833,-1.750, PHS=-0.413,-1.109, 0.914, RAW= 190.2, 6.9, CAL= 190.4, -1.9, ROT= 319.6, 1.9 Ygot valid direction response: 19:55:10.5632 LVL= 26192, 28625, 15602, 32755, AGC= 61, IDX= 427, 0.08,-2.251,-2.905,-0.833,-1.750, PHS=-0.413,-1.109, 0.914, RAW= 190.2, 6.9, CAL= 190.4, -1.9, ROT= 319.6, 1.9 PDAT read: Bearing 319.6, 1.9 (Local) ~Local bearing/azimuth received: Bearing 319.6, 1.9 (Local) DAT read: Range 10 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.4 m/s *DAT read: user:955> BDAT read: Tx time:19:55:11.6732 $Ping request sent.yy%:publishing transmit ping time%Fpublishing direction and range infoy9}QjDqɿgݑ4% dyyyyy y)yIyiyyyyy y)yIyiyyy}|oN?b?;?)yIyiyyyyG= ~q;G B O% >%w,PAynBrTIIzIz-5٢ W=9 Q  >    G٣y > %Nusing accuracyPremultiplier from config%49(?-4Y% iB))-?BDP::j49 =A9k56j?kh^H k kOA:kBBkhBZkC@"Z8A4Y xXM0,QjDqɿgݑ4% dJkRk>*.1NUhX @Ї;C? bѿ"kmA*kBkr^j?k+F 2kBkEi?k kpBkBk,#@@ addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 3.531655 s, deltaX: -1.000000 m, approachRate: -0.283153 m/s, rangeRepo size: 4  Added new target pos. range: 101.900002 m, bearing: 175.045088 deg, lat: 36.903815 deg, lon: -122.118065 deg, deltaT: 3.531655 s, deltaX: -1.000000 m, approachRate: -0.283153 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 101.90 m.BjJj ProNav: ac range: 101.900002 m, nav range: 102.479179 m, bearing: 172.010332 deg, approach rate: 0.000000 m/s, LOS rate: -0.335026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.586816 deg. 2j:j@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:11.6724 HeadingCmd: 4.809897 target range: 101.900002 and range: 101.90 m. jjjjihhhhfffrfyY@bf@q?ɛұ 隵Q4I ӼɚiI9=Ii=?i))HyIy I}!II}BIy&Iy.Iy6I}<:I} FzK%KK%s9K!K%[K%*F?2F:FBF_0JF IG;G  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >K w,&7Ay~B~AII TI 5٢ %I=9!Q %>)) -G٣)y) 5> =Nusing accuracyPremultiplier from config1E495?E4Y5, i5˜BAIM?5'BD5+V;5'W;5q4Y ]mAYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 101.90 m.BjYƻJjYƻ ProNav: ac range: 101.900002 m, nav range: 102.567101 m, bearing: 171.870968 deg, approach rate: 0.218987 m/s, LOS rate: -0.346820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.557460 deg. 2jn:j{@HeadingCmd: 4.809385 target range: 101.900002 and range: 101.90 m. jjjjihhhhfffrfbf@a?ɛ  9' %SI! 5Լɚ1i1I5#O9=I=iE>iEc;)I)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IGt;G B O >J J J J J T;J J J 3w,QA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995237:zL@Y:[@:ڼ9:#>y:Hn?@?``_j?Y?^?? ?ɨ:zL@:F;8yF~BF IMb@Mb@Mb@ )YM?L7A`?~jtyn2?+=D C@)I~AyI%I%-5٢] ]8=9]}SQ ]>aa eG٣e\5Gym3 m> Nusing accuracyPremultiplier from configq49u?4Yu4 iuŘB2?:?u;BDu;u;uy4iB MA˳EZjFNOT Ignoring new targets: 101.90 m.BjѻJjѻ- ProNav: ac range: 101.900002 m, nav range: 102.659805 m, bearing: 171.705825 deg, approach rate: 0.205413 m/s, LOS rate: -0.365589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.480218 deg. 2j5z:j5pۙ@=HeadingCmd: 4.808037 target range: 101.900002 and range: 101.90 m. j9jAjAjAiAhAhAhIhMBfififqrfqbfuI?ɛm0 (I ּɚiI9=Imim=imd;)i)q*F?2F:F!BF!JF!G-tA G-sA)  ~~GvA1 eYevAye BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247122jH} <bH} <H O>I C I II gBI &I .I 6I <:I FG% ;G- sAG) zK 7KK 9K K \K G B O% > I Jh^w,~kAf.:@YfI@f߼9f*>yfH!ݻ?`?`DBሼ?`Z?`?h?Y?ɨf.:@f+;feCyrVBrIIzcIzN5٢۽ c=9 ;ͺQ  >   G٣yʻ > %Nusing accuracyPremultiplier from config%49?-4YH; iǘB)-ϴ-?KBD::41 5A9ZjYeFNOT Ignoring new targets: 101.90 m.BjeٻJjeٻ ProNav: ac range: 101.900002 m, nav range: 102.735214 m, bearing: 171.571787 deg, approach rate: 0.214277 m/s, LOS rate: -0.380594 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.573375 deg. 2j:j@HeadingCmd: 4.809663 target range: 101.900002 and range: 101.90 m. jjjjihhhhfffrfbf#k?ɛH I  uzؼɚ i I 9=Ii=i):))UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500635*Fa2Fi:FiBFmo0JFiG$;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754255sJ!w,jARZ@YR.@RZ9RW>yRHu??Ż??5ݝ? d}?@9?ɨRZ@RA;Py^NB^IMb@Mb@Mb@ )Yףp= ?~jt?~jty>?<I A @)v@IyAII?15٢ @=9Q > G٣y > Nusing accuracyPremultiplier from config49ː?4YC iʘB>?:)?_BD(;';A4 AȳE QIQZjFNOT Ignoring new targets: 101.90 m.BjhڻJjhڻ ProNav: ac range: 101.900002 m, nav range: 102.825615 m, bearing: 171.401939 deg, approach rate: 0.203441 m/s, LOS rate: -0.381896 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.466105 deg. 2j :jkٙ@HeadingCmd: 4.807790 target range: 101.900002 and range: 101.90 m. jjjjihhhhXBfffrfbf@{?ɛAe@ amIi m˷ڼɚiiqIuq:=I}i}^a=i8))*F=?2F9:F9BF=~0JF9JJ!JJJm;J:JJUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003229Ge ?:G9 BA Oe >p'w, 5A6y*@Y69@6b96>y6H `?u?T?` ?W ?? ?ɨ6y*@6݊;6gCy>:B>IIFIF<55٢Nr] R^=9R;Q R>PT VG٣V]5GyVq; V> ^Nusing accuracyPremultiplier from configXb49Z ?b4YZJ iZ̘B`bb?ZqBDZc;Z;Z4h jbAlZjFNOT Ignoring new targets: 101.90 m.BjJjờ ProNav: ac range: 101.900002 m, nav range: 102.904770 m, bearing: 171.255545 deg, approach rate: 0.213697 m/s, LOS rate: -0.394919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.536352 deg. 2j:jw@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255373HeadingCmd: 4.809017 target range: 101.900002 and range: 101.90 m. jjjjihhhhfffrfbf m1@ɛq}|O y} Iy }ܼɚiIU:=Ii'=i|ɹ))HI III5BI" =&I.I6I<:I| F*FM?2FI:FIBFM2JFI"GU=GU=zKiJKKK]K 7s~m^PC0% G%b(G5?G5> ]U$?IaGB O%M>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507106e-w,9A6(@Y6[8@696>y6HS?? ?? ?.??ɨ6(@6X;6dCyB0BBIDDIJIJ75٢f jG=9j{8Q j>hl nG٣lyr r> vNusing accuracyPremultiplier from configtz49v?z4YvR ivϘBxzz?vBDv:v;:vܔ4jB AɳEB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 101.90 m.Bj5>Jj> ProNav: ac range: 101.900002 m, nav range: 102.993713 m, bearing: 171.092677 deg, approach rate: 0.227692 m/s, LOS rate: -0.416577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.487016 deg. 2j:jiܙ@HeadingCmd: 4.808156 target range: 101.900002 and range: 101.90 m. jjjjihhhhff!f!rf!bf%@z@ɛCB:M 隵[I ޼ɚiIС:=IinJ J J J J J ~:J J 4w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011151b@Yb)@bm9b>ybH`ݺ?)) 5G٣1y58 => ENusing accuracyPremultiplier from config9E49=p?M4Y=[ i=ԘBMB?M:M1M?=BD=;=;=4Y ]AYZjFNOT Ignoring new targets: 101.90 m.BjgJjg绝% ProNav: ac range: 101.900002 m, nav range: 103.090645 m, bearing: 170.911289 deg, approach rate: 0.216426 m/s, LOS rate: -0.404615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.431554 deg. 2j%׊:j%{ԙ@-HeadingCmd: 4.807188 target range: 101.900002 and range: 101.90 m. j)j)j)j1i1h9h9h9h=~BfAfAfArfAbfE`- @ɛ1= FS 9=#I9 =ɚ9iAIEf:=Ii%zK NK 9K K ^K G! B1 I IQ Ou >:w,Av @Yv@v9v>yvHlf?ୈ?N+??y?@$?г?ɨv @vgʈ;vfCy BII5I565٢E&= EZ=9E٥Q E>II MG٣M^5GyM- U> ]Nusing accuracyPremultiplier from configQe49U?e4YUc iUؘBaemm?UBDU^;U:U:4q uAqZjFNOT Ignoring new targets: 101.90 m.BjJj绝 ProNav: ac range: 101.900002 m, nav range: 103.171967 m, bearing: 170.759839 deg, approach rate: 0.217555 m/s, LOS rate: -0.404845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.521205 deg. 2j늼:jL@eHeadingCmd: 4.808752 target range: 101.900002 and range: 101.90 m. jajajajaiahahahihifififqrfybf} @ɛR[ I ɚiIqC;=I%i%  BDAT read: Tx time:19:55:15.3248  $Ping request sent. TAw, A bdirection in FSK: [-0.194960,-0.968371,-0.155717]:publishing transmit ping time Fpublishing direction and range info9:qsȿ^rЅÿy3B]n ;)I?iR޾팿n?%U@= UU@)5IK@i5=wK)k?)6![?KH=?)1?I3{i}⿉ >B:publishing transmit ping time BFpublishing direction and range info9:qsȿ^rЅÿy )Ii )IiwK)k?)6![?KH=?)Ii IE@YE8 @E%*9E >yEH,?@w?`@@ƺ?6?? s?`#?ɨE@E>;Ayޥ*BޥI ==Mb@Mb@Mb@ )Y?Mb?~jth?yfF?<D; A @)`@IyIMIM25٢]M< e=9eSQ e>ii mG٣iymCP u> Nusing accuracyPremultiplier from config49?4Ym iߘBqF?:|?BD;;B4 AkXRrk?k4r{ k kW A:k3BBkBZkAC@"3` ;Xu,/:qsȿ^rЅÿJk}Rk >*A}^WW9Z "@h7jۀ<Fֽ??ҿ"kRA*kʾk"a;k?k 2k\ BkxLi?k kBkBkF@@m addTargetRange:: Added new target pos. range: 100.099998 m, deltaT: 3.781496 s, deltaX: -1.800003 m, approachRate: -0.476003 m/s, rangeRepo size: 4  Added new target pos. range: 100.099998 m, bearing: 174.598450 deg, lat: 36.903834 deg, lon: -122.118098 deg, deltaT: 3.781496 s, deltaX: -1.800003 m, approachRate: -0.476003 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 100.10 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:15.3240 5 ProNav: ac range: 100.099998 m, nav range: 100.779861 m, bearing: 171.996709 deg, approach rate: 0.000000 m/s, LOS rate: -0.404845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.326078 deg. 2j1:j=fř@EHeadingCmd: 4.805346 target range: 100.099998 and range: 100.10 m. jAjAjAjiiihihqhyh Bfffrf`fY@bfT?ɛmBBm`F im,Iq ugɚqiqIu7;=I}i})=i})y)*F} ?2Fy :Fy BF} P5JF G x Will construct direction to contact in vehicle frame from tetrahedron phase data.GyBO>Iw,& AH IC IeIIBI &I .I 6I"<:I FFߒ@YFj@F 9F >yFH?@? ?ȷ??H? ?ɨFߒ@F;FeCyR:BRIIZIZ05٢b.= f_=9fQ j>hh jG٣hynV" n> vNusing accuracyPremultiplier from configpv49rn?v4Yrt irBxzz?rBDr;r;r4| ~nA˳EZj1=FNOT Ignoring new targets: 100.10 m.Bj=Jj=U ProNav: ac range: 100.099998 m, nav range: 100.851868 m, bearing: 171.842290 deg, approach rate: 0.206993 m/s, LOS rate: -0.443582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.512273 deg. 2jU6:jU@]HeadingCmd: 4.808596 target range: 100.099998 and range: 100.10 m. jYjYjYjYiYhahhhfffrfbf6? 1I1zKeJKe9KaKe_Ke; "A  'ɛABW I lɚiI;=IEiM/=iM<)I)I*F2F:FBF_0JFJJ"J0JJ;J:Jـ3JJaJaJ;aJ;a Will construct direction to contact in vehicle frame from tetrahedron phase data.G bG B O >O0Ow,? A6ْ@Y6u@696E>y6HK׸?ଂ?¿`5`?@JБ?^9?r6?~?ɨ6ْ@6ے;6fCy>NBBIIN]IN5٢~ H= ~H=9~Q > G٣_5Gy   > Nusing accuracyPremultiplier from config%49?%4Y} iB)--?BD%;:41 5A1B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 100.10 m.BjJj-Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.u ProNav: ac range: 100.099998 m, nav range: 100.933350 m, bearing: 171.669051 deg, approach rate: 0.192547 m/s, LOS rate: -0.409044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.455904 deg. 2j}\:j}י@}HeadingCmd: 4.807612 target range: 100.099998 and range: 100.10 m. jjjjihhhhfffrfbf`?ɛ@BG I dɚ)i)I-v<=I5i5>i5 )1)9 1I5Lh*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223211G JG ?G ?G B O >xVw,Y A2ǒ@Y2 י@2g= 92>y2H TL? I?`m6¿e1D?8?&?T? ?ɨ2ǒ@2;2eCyBkBBIMb@Mb@Mb@ )Y!rh?:v?Mb?ylG?<< A )I@Iy@I]SI]75٢mb= uC=9}YQ }> G٣yȤ > Nusing accuracyPremultiplier from config49?4Y iBG?:?CD%;;"4 AZjAMFNOT Ignoring new targets: 100.10 m.Bj]rJj]r ProNav: ac range: 100.099998 m, nav range: 101.022148 m, bearing: 171.488616 deg, approach rate: 0.213117 m/s, LOS rate: -0.432665 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.434373 deg. 2jw:jԙ@HeadingCmd: 4.807237 target range: 100.099998 and range: 100.10 m. jjjjihhhh.Bfffrfbf ?ɛAME Y]LIY eɚaiaIeD<=Imin?i=,))%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474780*FE?2FI:FIBFM`0JFIjH!bH%4<H)I-C I)I)I)&I).I)6I-<:I- F I!zKLK9KK`K5I_o|{wromkgc\RLF>6.'$  G ZGa Bi O >J J J J J ;J x:J J J pk<J qk<J ;J ;E\w,vs A2ϒ@Y2Eߙ@292 Q>y2H퍸?? ¿~?_?@٠???ɨ2ϒ@2!;2dC>Will construct direction to contact in vehicle frame from tetrahedron phase data.ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.726936yFBF/IIVIV15٢m= mJ=9u:Q u>yy }G٣yy}$; > Nusing accuracyPremultiplier from config49Q?4Yލ iB㸿?CD+;,;Ȯ4 AZj FNOT Ignoring new targets: 100.10 m.BjiJji󻝊- ProNav: ac range: 100.099998 m, nav range: 101.106949 m, bearing: 171.319123 deg, approach rate: 0.213122 m/s, LOS rate: -0.425614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.467149 deg. 2j- :j-ٙ@5HeadingCmd: 4.807809 target range: 100.099998 and range: 100.10 m. j1j9j9j9i9h9h9hAhAfAfAfIrfIbfM"?ɛ?B88 hI ɚiIol<=I%i%G@i%)!)i*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.982397GE "G B) OE >  I Mh@*cw,oF AyB>IMb@Mb@Mb@ )YV-?V-?~jt?y G٣`5Gy   > Nusing accuracyPremultiplier from config49?4Y i B,=?%:%Y%?)CDV;;wϮ4-lB -A-ʳEZjY]FNOT Ignoring new targets: 100.10 m.BjeRJjeR黝u ProNav: ac range: 100.099998 m, nav range: 101.193756 m, bearing: 171.150389 deg, approach rate: 0.210068 m/s, LOS rate: -0.407974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.469433 deg. 2ju:j}ٙ@}HeadingCmd: 4.807848 target range: 100.099998 and range: 100.10 m. jyjjjihhhhBfffrfbf`4@ɛ>B0 LI CDɚiI<=Iio Ai`))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231204*F?2F:FBF0JFGrA GsAG GGtA= GU xAa Y xAy DBG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485251H) I- C I- ~II- BI) &I) .I) 6I- <:I- FTiw,$ A:pŒ@Y:ԙ@:9:_ >y:H[;?`ϊ?)??Ԡ?6?`d?ɨ:pŒ@:b;:hCyRBRhIIZ~IZE)5٢e1> eT=9m8Q m>qq uG I٣qy#S > Nusing accuracyPremultiplier from config49굊?4Y iB?y6H@'?@?`]` ?Dʓ?Ġ?`?@?ɨ6’@6[8;6fCy^BbIIjIj(*5٢r!= rS=9rJ9Q r>tt vG٣tyz|P z> Nusing accuracyPremultiplier from config %49 븊?-4Y  i B)--? NCD i; ; ܮ41 =A9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 100.10 m.BjmWJjmW廝 ProNav: ac range: 100.099998 m, nav range: 101.354996 m, bearing: 170.840592 deg, approach rate: 0.209913 m/s, LOS rate: -0.401007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.524791 deg. 2j:j@HeadingCmd: 4.808815 target range: 100.099998 and range: 100.10 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:55:17.8595 %TRx dataTimestamp_ set to:1736366119.0842025checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992809hhyhhfffrfbf=@ɛdfvw, A6D@Y6͙@696I >y6H@S?C?``V?d? ?`?`6?ɨ6D@6Э;4y>)BBIEMb@Mb@Mb@AAA A)AYE"~?ˡE?:v?yE3?E'=Eqq uG٣ua5Gy}{ }> Nusing accuracyPremultiplier from config49?4Y i)Be4?:I?aCD ; ;S4 AZjFNOT Ignoring new targets: 100.10 m.BjٻJjٻ ProNav: ac range: 100.099998 m, nav range: 101.444290 m, bearing: 170.681953 deg, approach rate: 0.214318 m/s, LOS rate: -0.380418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.499701 deg. 2j:j9ޙ@HeadingCmd: 4.808377 target range: 100.099998 and range: 100.10 m. jjjjihhhhBfffrfbf k @ɛ-;B5? 隽I ɚiI@<=Ii=DiZ9)) Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 19:55:17.8595 LVL= 27712, 24305, 13042, 32755, AGC= 59, IDX= 405,-0.01, 1.172, 0.571, 2.696, 1.743, PHS=-0.484,-1.126, 0.950, RAW= 192.4, 7.2, CAL= 192.8, -1.6, ROT= 317.2, 1.6 MYgot valid direction response: 19:55:17.8595 LVL= 27712, 24305, 13042, 32755, AGC= 59, IDX= 405,-0.01, 1.172, 0.571, 2.696, 1.743, PHS=-0.484,-1.126, 0.950, RAW= 192.4, 7.2, CAL= 192.8, -1.6, ROT= 317.2, 1.6 UPDAT read: Bearing 317.2, 1.6 (Local) U~Local bearing/azimuth received: Bearing 317.2, 1.6 (Local) *Fe?2Fa:FaBFe4JFa"Gu=Gu=DAT read: Range 10 to 50 : 97.8 m (Round-trip 130.5 ms) speed 0.4 m/s *DAT read: user:957> BDAT read: Tx time:19:55:18.9733 $Ping request sent. \W@) I m(@i <ZHRHHI III5BI" =&I.I6I<:I F   Ķ{,?A|C?5Zn?) ʡ?I i [㿉 iq4>  :publishing transmit ping timeؙFpublishing direction and range info 9 mɿ "Wpƿy     ) I i      ) I i    Ķ{,?A|C?5Zn?) I i     INhzK g3LK K K bK G &G ?G >Ga Bi O >J J J J J m;J v:J J J a<J a<J );J );a|w,y A6Will construct direction to contact in vehicle frame from tetrahedron phase data.>JDAT read: TxSync time:19:55:18.9725 J{@YJΙ@J9-9J[>yJH ?? d¿~`T? -?@넠?`??ɨJ{@J;p;JeCyf>BfIInIn%.5٢v= vS=9z^:Q z>xx zG٣|y~i9 ~> Nusing accuracyPremultiplier from config =49 鿊?E4Y  i 4BIMFM? rCD 2 < < 4Q UoA}̳Ek= tl?k=w> k9 k=a A:k=BBk=CBZk="B@"=^60\3^ PWs%1=mɿ "WpƿJk=[Rk=iq4>*=(lWI@:$@bq>= i Ii Uxw, A6@Y6 @696>y6H`z? r?;¿y?? Ѡ???ɨ6@6";4yb\BbIUMb@Mb@Mb@QQQ Q)QYU#~j?~jt?y&1?yU%?UD=U` A=9Q > G٣y > Nusing accuracyPremultiplier from config49Ê?4Yκ i@B&?:?CD; ;4 AZjDNOT Ignoring new targets: 97.80 m.Bj6ڻJj6ڻ ProNav: ac range: 97.800003 m, nav range: 99.425934 m, bearing: 171.836381 deg, approach rate: 0.205304 m/s, LOS rate: -0.381552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.522941 deg. 2j킼:j@HeadingCmd: 4.808783 target range: 97.800003 and range: 97.80 m. j j j j i h h hhLBfffrfbf?ɛU8BUDȼ Y]=IY ])oɚYiYI]<=IeieFie U)iuWill construct direction to contact in vehicle frame from tetrahedron phase data.)*F2F:FBFJFG K7G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.H I C I II gBI ! =&I .I 6I <:I FBIˡCJIˡCRIZIbIjI4Ow,sh( AV@YV4@V) 9VAm>yVH??`3 ?@"?Ud??Ƴ?ɨV@V ;VgCyfoBfIIv/IvC5 I ٢%)= %Q=9-;Q ->11 5G٣5b5GyE E> UNusing accuracyPremultiplier from configI49MƊ?4YMq iMLBʹ?MCDMrw,EB A6֖@Y6K@6V 96 >y6HǶ??w@ŷ?@̖?@"?"? N?ɨ6֖@6<Ɋ;6eCyBBBIIJ>IJ 5٢R> RS=9VQ V>TT VG٣TyZa Z> Nusing accuracyPremultiplier from config\%49^Aʊ?%4Y^ i^WB!--?^CD^,;^.+;^41 5!A1mB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 97.80 m.Bjy˻Jjy˻ ProNav: ac range: 97.800003 m, nav range: 99.576324 m, bearing: 171.558859 deg, approach rate: 0.193343 m/s, LOS rate: -0.355782 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.563869 deg. 2j+t:jf@HeadingCmd: 4.809497 target range: 97.800003 and range: 97.80 m. jjjjihhhhfffrfbf[?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ6Bȋ $>I DɚiI <=IiCI Ii‚{))))*F?2F:FBFJFJ 3K w3 K .-KK"KJJJJJ;Jy:JJa@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746003G JiG B O >ww,`\ A>@Y>"@>I9> >y>H[N?t?Fr1A?`zҔ??9o??ɨ>@>;>fCybBb(I]Mb@Mb@Mb@YYY Y)YY]d;O?&1?L7A`?y]?]P=]+=]I A ]@)]QAIYYy]AIufIu5٢8{= ==9Z;Q > G٣y; > Nusing accuracyPremultiplier from config49͊?4Y{ idB?:=?CD;;4 AZjDNOT Ignoring new targets: 97.80 m.BjJj ProNav: ac range: 97.800003 m, nav range: 99.655304 m, bearing: 171.421326 deg, approach rate: 0.178875 m/s, LOS rate: -0.311243 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.562920 deg. 2jU:jC@HeadingCmd: 4.809480 target range: 97.800003 and range: 97.80 m. jjjjihhh!h%Bf!f!f)rf)bf- V?ɛ55B5 9=0B>I9 =JRɚ9i9I=;=IEiE/Kiu?9Z)q)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997748jHibHm<HqIq Iu:IIuBIq&Iq.Iq6Iu<:Iu F*F=?2F9:F9BFEo0JFA I zK JK +9K K dK _7,Wria\WG<61/,$  Ga G9 BI Oe >䜂w,v AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249736:@Y:ϙ@:9: >y:H ???@}x?@? ?J?ɨ:@:;;:cCyBBB>IINZINQ5٢Z= ZX=9bГ;Q b>hh jG٣jc5Gyn< n> rNusing accuracyPremultiplier from configpv49rъ?v4Yr; iroBxzಿz?rCDr;r;rY4~mB ~-A~˳EZj!%DNOT Ignoring new targets: 97.80 m.Bj-»Jj-»= ProNav: ac range: 97.800003 m, nav range: 99.725891 m, bearing: 171.300573 deg, approach rate: 0.198526 m/s, LOS rate: -0.339376 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.613190 deg. 2j=h:j=s@EHeadingCmd: 4.810358 target range: 97.800003 and range: 97.80 m. jAjAjAjAiIhIhQhQhQfQfYfYrfYbf]q@ɛ%4B%B !%g>I! MɚIiIIM|;=IUiUtLiU%0)Q)YE*FA2FA:FIBFM3JFIWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504716GM:_G) Ba I OhO >xǣw,ُ A2В@Y2@292>y2H!?`,?<¿S@p?J?g1??I?ɨ2В@2;2eCy>BBKI=Mb@Mb@Mb@999 9)9Y=(\?~jt?~jt?y=?=D==<9 =@)=@I99y9QU@AIUkIU 5٢e?= e@=9m;Q m>ii mG٣qyuҜ; u> Nusing accuracyPremultiplier from config49Ԋ?4YW iyB?:?CDI;;4 AZjDNOT Ignoring new targets: 97.80 m.BjJj ProNav: ac range: 97.800003 m, nav range: 99.801933 m, bearing: 171.172547 deg, approach rate: 0.179330 m/s, LOS rate: -0.301692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.591408 deg. 2j O:jV@HeadingCmd: 4.809978 target range: 97.800003 and range: 97.80 m. jjjjihhhhBfffrfbf `@ɛ53B5L: 9=}>I9 =`ɚ9i9IEf;=IEiELiM)I)IJJJJJ;Jv:JJUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754364*F?2F:FBFM5JFG .-GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005503Hi Ii  Im IIm BIi &Ii .Ii 6Im <:Im Fw,b A DIDrQ@Yr@rN9rN>yrHQ?ق?@!X¿H@!??@?`??ɨrQ@rkɉ;rcCyŀBbII-\I-45٢e%= eJ=9m0;Q m>iq uG٣qyu; }> Nusing accuracyPremultiplier from configy49}׊?4Y}& i}B2?}CD}:}:}4 FAZjDNOT Ignoring new targets: 97.80 m.BjJj ProNav: ac range: 97.800003 m, nav range: 99.875328 m, bearing: 171.051064 deg, approach rate: 0.181814 m/s, LOS rate: -0.300717 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.611011 deg. 2jaN:j#@HeadingCmd: 4.810319 target range: 97.800003 and range: 97.80 m. jjjjihhhhfffrfbf @ɛ-2B5 157>I1 5}ɚ1i9I=;=I=iE|MiE)A)AzKNK9KKeK 4@RK?JK>*F?2F:F BF n1JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:19:55:21.5059 eTRx dataTimestamp_ set to:1736366122.860693mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258588GGBO >kذw, A2@Y2@2m92P>y2H? xx zG٣~d5Gy ;  > -Nusing accuracyPremultiplier from config!=49%/ۊ?E4Y% i%BAMM?%CD%Ӟ;%/;%#4a e-AaB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511293ZjDNOT Ignoring new targets: 97.80 m.BjEJjE ProNav: ac range: 97.800003 m, nav range: 99.947350 m, bearing: 170.933319 deg, approach rate: 0.175819 m/s, LOS rate: -0.287231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.622212 deg. 2jE:j@HeadingCmd: 4.810515 target range: 97.800003 and range: 97.80 m. j!j!j!j!i!h)hhhfffrfbf Տ @ EW$?IIɛJ />I ɚiI:=IMiM MiMJ?)I)Q*F2F:FBF15JFJJJJJ;Jw:JJu Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:55:21.5059 LVL= 28912, 29041, 15090, 32755, AGC= 57, IDX= 416, 0.03, 1.624, 1.111,-3.120, 2.231, PHS=-0.519,-1.073, 0.929, RAW= 194.5, 7.5, CAL= 195.0, -1.2, ROT= 315.0, 1.2  Ygot valid direction response: 19:55:21.5059 LVL= 28912, 29041, 15090, 32755, AGC= 57, IDX= 416, 0.03, 1.624, 1.111,-3.120, 2.231, PHS=-0.519,-1.073, 0.929, RAW= 194.5, 7.5, CAL= 195.0, -1.2, ROT= 315.0, 1.2  PDAT read: Bearing 315.0, 1.2 (Local)  ~Local bearing/azimuth received: Bearing 315.0, 1.2 (Local)  DAT read: Range 10 to 50 : 96.3 m (Round-trip 128.5 ms) speed 0.0 m/s  *DAT read: user:958>  BDAT read: Tx time:19:55:22.6233  $Ping request sent. u -Y@)u Iu @iu q q  :publishing transmit ping time  Fpublishing direction and range infoq 9u HmɿEҟ?G0ʿyq q q q q )q Iq iq q q q q q )q Iq iq q q u UӢ?iO??)q Iq iq q q q Ge Gm rAGm sAG9 BA Oe >D w, A)! !~G`wA Y`wAyBy-ӀB-sI}Mb@Mb@Mb@yyy y)yY}y&1?~jt?:v?y}`?}=}T<} A y)}v@I}~Ayy}GAIVI5٢-= $=9Q > G٣y > Nusing accuracyPremultiplier from config E49 ފ?M4Y  i BM?M:McM? CD < < h,4Q }AyWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:22.6225 kխm?kj9n ZHRHHI IIIBI&I.I6IҰ<:I Fk kX A:kBBkIBZkZB@" gğha3Wʄ= We(|4HmɿEҟ?G0ʿJkRkzW>*.0rVg?S"@);@mRl~J?(#UBֿ"k A*kk1EPm?kib 2kZAk"a;k?k k\ Bk4Bk ?@m addTargetRange:: Added new target pos. range: 96.300003 m, deltaT: 3.780696 s, deltaX: -1.500000 m, approachRate: -0.396752 m/s, rangeRepo size: 4  Added new target pos. range: 96.300003 m, bearing: 173.995007 deg, lat: 36.903874 deg, lon: -122.118154 deg, deltaT: 3.780696 s, deltaX: -1.500000 m, approachRate: -0.396752 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 96.30 m.BjJj ProNav: ac range: 96.300003 m, nav range: 97.103348 m, bearing: 171.803540 deg, approach rate: 0.000000 m/s, LOS rate: -0.287231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.528702 deg. 2j:j_@%HeadingCmd: 4.808883 target range: 96.300003 and range: 96.30 m. j!j!j)j)i)hIhQhYh]BfYfYfarfe@3X@bfe?ɛ1BX >I +ɚ i I {:=IigNil ƻ)) 1I9*F?2F:FBF05JFzK VLK h9K K fK u Will construct direction to contact in vehicle frame from tetrahedron phase data.} Ai} AG G B O >`w,vn AR@YR@R9R\>yRHc? ?B¿ D?7@?@?s?z?ɨR@Rz;RfCy^΀B^nIIf'If5٢nļ nd=9n!:Q r>pp rG٣pyv< v> zNusing accuracyPremultiplier from configx~49zኜ?~4YzR izB?z DDz:z:z24 nB AͳEZj15DNOT Ignoring new targets: 96.30 m.Bj=Jj=񹻝U ProNav: ac range: 96.300003 m, nav range: 97.160187 m, bearing: 171.701144 deg, approach rate: 0.180578 m/s, LOS rate: -0.325124 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.668180 deg. 2jU!_:jUP@eHeadingCmd: 4.811317 target range: 96.300003 and range: 96.30 m. jijijqjqiqhqhyhhfffrfbf>;?ɛ`X >I =ɚiI<:=I irNi K))*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data. IG 4λGq B O >Ăw,D2 A2 @Y2@2f92>y2H@V?@H?~^¿`5&?@Q? V?!?Q?ɨ2 @2ڇ;2dCyBɀBBhIJ J J 0J J ;J x:J ـ3J ]Mb@Mb@Mb@YYY Y)YY]L7A`??{Gzt?y]+?]L=]ף;Y Y)]@I]AYy]AIu&IuF5٢ A=9MQ > G٣e5Gyк > Nusing accuracyPremultiplier from config497劜?4Y! iB?:?DD;;94Will construct direction to contact in vehicle frame from tetrahedron phase data. (AZjDNOT Ignoring new targets: 96.30 m.BjJj  ProNav: ac range: 96.300003 m, nav range: 97.235451 m, bearing: 171.576237 deg, approach rate: 0.176715 m/s, LOS rate: -0.293045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.600763 deg. 2j I:j@-HeadingCmd: 4.810141 target range: 96.300003 and range: 96.30 m. j)j1j9j9iAhAhAhIhM΀BfIfQf rfbf@?ɛ]0Bel ae>Ia eɚiiiIm9=IuiuNiu爻)q)yEV>E>*F ?2F :F BF JFG- V'Sm Will construct direction to contact in vehicle frame from tetrahedron phase data.H P>I  I II )BI &I .I 6I <:I FG! B1 O] > I PhZʂw,x . A6@Y6@68$96a>y6H~?`?7.¿L*P?@?WÞ???ɨ6@6͈;6eCyNŀBRbIIZIZ4٢b¼ bX=9b:Q f>dd fG٣dyj: j> vNusing accuracyPremultiplier from configtz49v芜?z4YvW ivBxz~?v%DDvG:vX;v@4 LAZj)-DNOT Ignoring new targets: 96.30 m.Bj5\Jj5\ ProNav: ac range: 96.300003 m, nav range: 97.303421 m, bearing: 171.464471 deg, approach rate: 0.179153 m/s, LOS rate: -0.294384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.640125 deg. 2jJ:jM@HeadingCmd: 4.810828 target range: 96.300003 and range: 96.30 m. jjjjihhhhf f f rf bf @?ɛy}(Ż y}>I D޼ɚiI۞9=IiˡNig)zK}\KK9KKgK)*FM?2FI:FIBFMo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.Gg{G B O >тw,G AWill construct direction to contact in vehicle frame from tetrahedron phase data.b#@Yb2@b9b>ybH%?Z?¿I}?ތ?D?`?@/?ɨb#@bq;bfCynBnJIIv_Iv5٢   G=9:Q %>)1 5G٣9yUq; ]> Nusing accuracyPremultiplier from configq49u=슜?4Yu  YIYiuBamm?u3DDuh=ue=uG4=oB =A9}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 96.30 m.BjJj ProNav: ac range: 96.300003 m, nav range: 97.379745 m, bearing: 171.340876 deg, approach rate: 0.158529 m/s, LOS rate: -0.256511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.604698 deg. 2j 0:j<@HeadingCmd: 4.810209 target range: 96.300003 and range: 96.30 m. jjjjihhhhfffrfbf-CO?ɛQ]- Y] >IY ]TܼɚYiYIe`U9=IicNiQ))*F%?2F!:F!BF!JF!JJJJJ;J :JJWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G V'SG B O > ؂w,"a Ay~B~FIMb@Mb@Mb@ )Y rh?Mb?~jtxy ?@=Ļ A @)`@IhAyzAINI5٢? <=9Q > G٣f5Gy > Nusing accuracyPremultiplier from config49?4Y iB  ? : o ?BDD;^;UO4 AZjDNOT Ignoring new targets: 96.30 m.BjUJjU ProNav: ac range: 96.300003 m, nav range: 97.458229 m, bearing: 171.212293 deg, approach rate: 0.203298 m/s, LOS rate: -0.332802 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.589756 deg. 2jfd:j@%HeadingCmd: 4.809948 target range: 96.300003 and range: 96.30 m. j!j)j)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255571jH=<bH=<HAIA IEIIE.BIA&IA.IA6IE<:IE FBI¢CJI¢CRIZIbIjI/3j)iahahihihmBfqfqfqrfqbfu4@ɛ- 15}>I1 5ڼɚ9i9I=9=IUi]:.Ni]r˺)Y)yE QIQ*F?2F!:F!BF%0JF!G-sA G-tAzK KK +9K K hK GE ˴GI GM tA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509129G! B1 OM >6ނw,4{ ABO@YB~^@B>ܼ9BZ >yBH?@}?ر `0?E??@j?а?ɨBO@Ḃ;BhCyJBJ2IIVmIV!5٢Z ^`=9^;Q b>`` bG٣`yjo< j> zNusing accuracyPremultiplier from configt 49vY?4Yv^ ivB!%%?vODDv;v";vU4) 5A5ʳEZjDNOT Ignoring new targets: 96.30 m.Bj 粻Jj 粻E ProNav: ac range: 96.300003 m, nav range: 97.528343 m, bearing: 171.100140 deg, approach rate: 0.195705 m/s, LOS rate: -0.312818 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.638976 deg. 2jEV:jE#@MHeadingCmd: 4.810808 target range: 96.300003 and range: 96.30 m. jIjIjIjQiQhhhhfffrfbfMhe@ɛq}; y}[>Iy }bټɚyiI8=IirMiFbd;))*FE?2FA:FABFE`5JFI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759369 QIQG Ga Bi O ><w,w A6_@Y6Ko@6ּ96 >y6H?N|? w`O2?H? Sٚ?c?:?ɨ6_@6;6dCy>BB'ImMb@Mb@Mb@iii i)iYm`"?/$?~jtym?m,=mDmI A m@)m3@Iiiym(AIgI5٢* ==9:Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:55:25.1546 TRx dataTimestamp_ set to:1736366126.388824checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012617 G٣y; > Nusing accuracyPremultiplier from config49[?4Y tIiB8?:0?`DD;w;S]4pB A̳EZj DNOT Ignoring new targets: 96.30 m.BjfJjf- ProNav: ac range: 96.300003 m, nav range: 97.614662 m, bearing: 170.958234 deg, approach rate: 0.205881 m/s, LOS rate: -0.338164 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.549852 deg. 2j-h:j5e@=HeadingCmd: 4.809252 target range: 96.300003 and range: 96.30 m. j9j9j9j9i9h9hAhAhEBfAfIfIrfIbfM P]@ɛF 隍I>I /ؼɚiI8=IirLi>1;))*FE?2FA:FABFE95JFIG;GBOk>H1 I1  I5 II5 #BI5 =&I1 .I1 6I5 <:I5 FM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263315 A IA Iw,W AVd@YVst@V+>ټ9V >yVH1?,{?˷ ٽ?[?&?1q??ɨVd@VR;VcCyn}Bn IIvIv|+5٢~ T=9WIQ >    G٣ g5Gy :  > Nusing accuracyPremultiplier from config%49?%4Y iB!%%?nDD ;:c4) 5A1ZjaeDNOT Ignoring new targets: 96.30 m.BjmEJjmE} ProNav: ac range: 96.300003 m, nav range: 97.691635 m, bearing: 170.832964 deg, approach rate: 0.201364 m/s, LOS rate: -0.327452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.599680 deg. 2j`:j@HeadingCmd: 4.810122 target range: 96.300003 and range: 96.30 m. jjjjihhhhfffrfbfl @ɛg>~ >I =׼ɚiIF8=Ii KiC;))zKQJKKKiK#hfD+ EaEaJJJJJ;Jq:JJJX۱۱T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G !j;Ga Bq O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:19:55:26.2725 e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768176<@w,p ABra@YBp@Btݼ9Bt| >yBHC?|?@٨q½??@?@"`?#?ɨBra@BE;BfCybrBbIhhInyIn'5٢v:Y vJ=9vQ v>xx zG٣x IQhy~ U> Nusing accuracyPremultiplier from config 49D?m4Y! iBqu*u?DDL<<+l4y }Aykcm?kf k k4 A:k̾BBkBZkC@"نj2)zŏZVзa5\#Lȿ2 *θ;̿Jkk+Rki>*nޜ0Vz@̔ИA7Ro?/?|MBֿ"k@*kkmfm?kd 2kAkR]l?k?hp kBkDBka?@5 addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.529014 s, deltaX: -0.900002 m, approachRate: -0.255029 m/s, rangeRepo size: 4 e Added new target pos. range: 95.400002 m, bearing: 175.394576 deg, lat: 36.903905 deg, lon: -122.118173 deg, deltaT: 3.529014 s, deltaX: -0.900002 m, approachRate: -0.255029 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 95.40 m.BjuJjq ProNav: ac range: 95.400002 m, nav range: 94.134171 m, bearing: 171.334605 deg, approach rate: 0.000000 m/s, LOS rate: -0.327452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.484688 deg. 2j:jܙ@HeadingCmd: 4.808115 target range: 95.400002 and range: 95.40 m. jjjjihhhhfffrfW@bf,?ɛ)- )5>I1 5)ּɚ1i1I5%k8=I=i=9Ji=;)9)a*F?2F:FBF<1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021019G s;G B OE >A`w,! AB?@YBhO@B'9B >yBH ?`~?@5ͼ??p֝?ಀ?`?ɨB?@B;BdCyN`BNI-Mb@Mb@Mb@))) )))Y-RQ?ˡE?:vy-"?-'=-T- A -@)-I@I-A)y- @IEkIE 5٢Uܧ UE=9UQ U>YY ]G٣Yye! e> mNusing accuracyPremultiplier from configiu49m?}4Ym& imB}"?:y?mDDmbU;mT;mRr4 ~AZHRH?AHI IIIBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271658MB*** querying acoustic contact ***jIjIZjYDNOT Ignoring new targets: 95.40 m.BjĻJjĻ ProNav: ac range: 95.400002 m, nav range: 94.206528 m, bearing: 171.205580 deg, approach rate: 0.192947 m/s, LOS rate: -0.343793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.588415 deg. 2jk:j@HeadingCmd: 4.809925 target range: 95.400002 and range: 95.40 m. jjjjih!h!h!h%7Bf)f)f)rf)bf-@V?ɛя 隥D=I ռɚiIK8=Ii٫Ii3]:)) X$?I*FU?2FQ:FQBFU_0JFQzK} MK} h9Ky K} jK} J J AAJ J J 1J J M;J u:J 3J J \<J \<J D;J D;Gu 1; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523467GQ By O >w,6 A21@Y2A@2892 >y2HX? ? !y f?AU?`? O??ɨ21@2T;2eCyBSBBIIR4IR{5٢Z ZV=9^NQ ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn49j'?n4Yj9- ijBprr?jDDj~ ;j;jy4t vAtZjDNOT Ignoring new targets: 95.40 m.Bj Jj - ProNav: ac range: 95.400002 m, nav range: 94.285416 m, bearing: 171.065303 deg, approach rate: 0.241165 m/s, LOS rate: -0.428475 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.554716 deg. 2j-:j5@EHeadingCmd: 4.809337 target range: 95.400002 and range: 95.40 m. jAjIjIjIiIhQhYhYhYfafafarfabfe`$?ɛ1B˲ =I 7ռɚ!i!I%18=I%i-ZIi-))))Eme>Ei*FM?2FI:FIBFMo0JFIG%?:GB %Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775427O5O> IRhdlw,U A6 @Y6.@696 >y6H ?-?c Z׻?p?@|?A? N?ɨ6 @6W;6cCyNGBRI=Mb@Mb@Mb@999 9)9Y=V-?+?Mby=-?==== A 9)=@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027626I=@9y=@IUI5٢k <=9ysQ > G٣h5GyP > Nusing accuracyPremultiplier from config496 ?4Y4 iB-?:?DD:;9;4qB RAͳEZjDNOT Ignoring new targets: 95.40 m.Bj ޻Jj ޻ ProNav: ac range: 95.400002 m, nav range: 94.378532 m, bearing: 170.895632 deg, approach rate: 0.214114 m/s, LOS rate: -0.389758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.466689 deg. 2j:jٙ@%HeadingCmd: 4.807801 target range: 95.400002 and range: 95.40 m. j!j!j)j)i)h)h)h1h5Bf1f9f9rf9bf=`?ɛqu8 quh-=Iq }<ԼɚyiyI}8=Ii1Ii ))*F?2F:FBFp0JF5~~GUvA YvAy BHO>IC IIIBI! =&I.I6Iа<:I FG }:= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281828G B O > I w,0 A:x)@Y:8@:z89: >y:HW??`ׄ`c@#? v??]3??ɨ:x)@:R;:dCyB7BFIIRIR65٢Z ZZ=9^:Q ^>\\ ^G٣`ybv^; b> fNusing accuracyPremultiplier from configdj49f ?j4Yf|; ifřBlnݳn?fDDf ;fP ;f$4p rApZj  DNOT Ignoring new targets: 95.40 m.Bj߻Jj߻- ProNav: ac range: 95.400002 m, nav range: 94.459908 m, bearing: 170.749445 deg, approach rate: 0.217871 m/s, LOS rate: -0.391059 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.537011 deg. 2j-0:j-@5HeadingCmd: 4.809028 target range: 95.400002 and range: 95.40 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM?ɛy}-Cμ y隅65 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783351w,J A:#@Y:}2@:ߪ9:p>y:H$? ?`Q ?`N?@.?K?@?ɨ:#@:/s;:bCyf,BjIIr|Irb(5٢vN zF=9z9Q z>|| ~G٣|y  > 5Nusing accuracyPremultiplier from config)=49-?=4Y-B i-əB9EE?-DD-:-:-j4I M(AMʳEZji yIyDNOT Ignoring new targets: 95.40 m.Bj޻Jj޻ ProNav: ac range: 95.400002 m, nav range: 94.550880 m, bearing: 170.587193 deg, approach rate: 0.218380 m/s, LOS rate: -0.389110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488912 deg. 2j:jܙ@eHeadingCmd: 4.808188 target range: 95.400002 and range: 95.40 m. jijjjihhh1h1f9fAfirfqbf}z@ɛ)5ڼ 15@!I1 55Լɚ1i9I=D7=I=ieHie]qͺ)a)i*F?2F:FBF_1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035513G= 'HG B! O= >w,eQd A21(@Y27@2S&92>y2HM?L?W?ৎ?C?7??ɨ21(@2;2cCy>*B>I Mb@Mb@Mb@    ) Y \(\?l?Mby :? =   A @) I QA y p@I%I%?15٢5J 5F=9=:Q =>99 EG٣Ei5GyE1: E> MNusing accuracyPremultiplier from configIU49M?U4YMJ iM̙B]!;?]:]ô]?MDDM;Mt;M4a m=AqZj)UDNOT Ignoring new targets: 95.40 m.Bj]1Jj]1jHybHyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288223 ProNav: ac range: 95.400002 m, nav range: 94.645714 m, bearing: 170.416355 deg, approach rate: 0.221710 m/s, LOS rate: -0.398999 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.463200 deg. 2jꈼ:jٙ@%HeadingCmd: 4.807740 target range: 95.400002 and range: 95.40 m. j!j!j!j)i)hIhQhQh]BfYfYfarfabfe G@HN>I I4IIBI&I.I6I<:I Fɛ  ݼ  @uI ռɚiI.7=IicHi eh))! qIq*F?2F:FBF_5JFG i"zK ]JK 9K K lK J J J J J ;J q:J J J Y<J Y<J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data.յ Aiձ  BDAT read: Rx Time:19:55:28.8030  TRx dataTimestamp_ set to:1736366129.919321 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543138G B O >`w,.~ A:@Y:,+@:9:>y:H`V?`?U?@!?ߞ? ??ɨ:@:;:fCyF$BFIIRIR55٢V ߼ ZS=9ZɺQ Z>X\ ^G٣\yb b> fNusing accuracyPremultiplier from config`j49bV?j4YbQ ibЙBhjn?bDDb6D;bD;bK4vrB znAz̳EB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 95.40 m.Bj5Jj5E ProNav: ac range: 95.400002 m, nav range: 94.736237 m, bearing: 170.254178 deg, approach rate: 0.244234 m/s, LOS rate: -0.437141 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.489134 deg. 2jE:jEܙ@MHeadingCmd: 4.808192 target range: 95.400002 and range: 95.40 m. jIjIjIjIiQhQhQhYhYfYfYfYrfabfe ?@ɛY% 隍`мI ,ռɚiI7=IiLHiw))*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791477 YI]ShGe˴G1BO>i%w, A6@Y6!@696, >y6H@Ν?@?mh-o??o?i?Dz?ɨ6@6Ȇ;6bCy>%B>IEMb@Mb@Mb@AAA A)AYE+?y&1?~jth?yEv>?E`=9}Q > G٣y2 > Nusing accuracyPremultiplier from config49?4YEZ iיB>?:? ED);;ͣ4 hAZjDNOT Ignoring new targets: 95.40 m.Bj>Jj> ProNav: ac range: 95.400002 m, nav range: 94.834564 m, bearing: 170.070330 deg, approach rate: 0.230517 m/s, LOS rate: -0.430562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.424232 deg. 2j:joә@HeadingCmd: 4.807060 target range: 95.400002 and range: 95.40 m. jjjjihhh h Bf f frfbffd @ɛamJd qu@Iy VռɚiI7=IiNHi ^U) ) EE*F?2F:FBFJFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 19:55:28.8030 LVL= 21152, 22161, 11362, 28515, AGC= 58, IDX= 416, 0.21,-1.451,-1.860, 0.146,-0.804, PHS=-0.559,-1.009, 0.947, RAW= 197.3, 7.1, CAL= 198.0, -1.4, ROT= 312.0, 1.4 u Ygot valid direction response: 19:55:28.8030 LVL= 21152, 22161, 11362, 28515, AGC= 58, IDX= 416, 0.21,-1.451,-1.860, 0.146,-0.804, PHS=-0.559,-1.009, 0.947, RAW= 197.3, 7.1, CAL= 198.0, -1.4, ROT= 312.0, 1.4 } PDAT read: Bearing 312.0, 1.4 (Local) } ~Local bearing/azimuth received: Bearing 312.0, 1.4 (Local)  DAT read: Range 10 to 50 : 94.0 m (Round-trip 125.4 ms) speed 0.4 m/s  *DAT read: user:960>  BDAT read: Tx time:19:55:29.9234  $Ping request sent.   = :publishing transmit ping timeؑ E Fpublishing direction and range info Y IY Gm b( 9  8vȿ0uY5DxYQпy     ) I i      ) I i    D_$? .x?q"2p?) I i    G9 BA Oe >+w, Ayޭ#B޵III35٢O6 B=9Q > G٣j5Gy   > Nusing accuracyPremultiplier from config49 ?4Yyb iݙB!!%?!ED=;;04I M{AQk55}Tn?k5E k1 k5 A:k5BBk5BZk5iC@"5'15IV.i{75 8vȿ0uY5DxYQпJk5&Rk5>*5UI@ _ZB511S9kYiִ?Bؿ"k5@*k5լk5\vn?k5y 2k5Ak51EPm?k5ib k5ZAk5FBk5VM?@ addTargetRange:: Added new target pos. range: 94.000000 m, deltaT: 3.778417 s, deltaX: -1.400002 m, approachRate: -0.370526 m/s, rangeRepo size: 4 M Added new target pos. range: 94.000000 m, bearing: 174.940323 deg, lat: 36.903930 deg, lon: -122.118204 deg, deltaT: 3.778417 s, deltaX: -1.400002 m, approachRate: -0.370526 m/s, posRepo size: 4 ZjQUDNOT Ignoring new targets: 94.00 m.BjUJjY ProNav: ac range: 94.000000 m, nav range: 91.638588 m, bearing: 171.262540 deg, approach rate: 0.000000 m/s, LOS rate: -0.430562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.399624 deg. 2j:jϙ@zKK+9KKmKHeadingCmd: 4.806630 target range: 94.000000 and range: 94.00 m. jjjjihhhhfffrfW@bf 8?ɛIM ; IM`II U\ռɚQiQIU7=]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:19:55:29.9226 ImimPHimnL)i)q*F5?2F1:F9BF9JF9Gu V'SG1 B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.2w,s AR@YR0@R9RK>yRH`?? q?7?`?`?ɵ?ɨR@R4҇;RdCyZ$B^IIftIf$5٢n; n_=9rQ r>pp rG٣tyv6 z> I  Nusing accuracyPremultiplier from config|49~#?4Y~i i~B?~2ED~:~q:~4! %sA!ZjAMDNOT Ignoring new targets: 94.00 m.BjMJjM ProNav: ac range: 94.000000 m, nav range: 91.716621 m, bearing: 171.099609 deg, approach rate: 0.227211 m/s, LOS rate: -0.474005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.486822 deg. 2j:jbܙ@HeadingCmd: 4.808152 target range: 94.000000 and range: 94.00 m. jjjjihhhhfffrfbfo?ɛ 5WP 9=@ϼIA MռɚqiqIu7=IiHi6))*F?2F:FBFJFJJ J0JJ ;Jun:Jـ3Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >8w,ę A6@Y6H@6d96lB>y6H`\?p?rC:?a?@ˠ?@?`r?ɨ6@6Չ;6eCyB*BBIMb@Mb@Mb@ )YZd;?l?Mb`?y>?=; K@)@II@y@I-bI-5٢=< ED=9EбQ E>II MG٣IyUL U> eNusing accuracyPremultiplier from configYm49]'?m4Y]q i]Bm6??m:mm?]FED]@;];]߸4ZHRH@A-sB -FA-γEZjDNOT Ignoring new targets: 94.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.HI IIIBI&I.I6I<:I FBj-Jj-绝} ProNav: ac range: 94.000000 m, nav range: 91.810135 m, bearing: 170.914219 deg, approach rate: 0.204556 m/s, LOS rate: -0.405117 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.419602 deg. 2j:jҙ@HeadingCmd: 4.806979 target range: 94.000000 and range: 94.00 m. jjjjihhhh^Bfffrfbfb? Z$?IThɛ=0B=_ܼ 9=IIA EռɚAiAIE7=IMiMHIiMj)I)QER>E>*F}?2Fy:FyBF}`0JFy"G=Gp=zKe KKa Ka Ke nKe  Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >#?w, AB!Ԓ@YB@B$j 9BR`>yBH@ ?@K?y?i?lL?}??ɨB!Ԓ@B_n;@yJ/BJIIj\Ij45٢rE< rP=9r#Q r>tt vG٣vk5Gyztݻ z> ~Nusing accuracyPremultiplier from config|49~l+?4Y~Oy i~B p ?~YED~n:~n:~4 A-B*** querying acoustic contact ***j)j)ZjAMDNOT Ignoring new targets: 94.00 m.Bje Jje } ProNav: ac range: 94.000000 m, nav range: 91.898079 m, bearing: 170.740330 deg, approach rate: 0.250506 m/s, LOS rate: -0.494843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.454035 deg. 2j}ͩ:j}י@HeadingCmd: 4.807580 target range: 94.000000 and range: 94.00 m. jjjjihhhhfffrfbf?ɛּ I ռɚiI07=IiIi4))*FU?2FY:FYBF](2JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IG;3GqBO= > Fw,R AJcKkO3 Kk(.KcKc"KcJBJBJB1J@JB;JBv:JB3J@y~:B~I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751611Mb@Mb@Mb@ )YZd;O?L7A`?y&1?yj G٣y > Nusing accuracyPremultiplier from config49"/?4Y iBI  I 'II BI &I .I 6I <:I F I G ܜG B O >j3Lw,,3 A2Ԓ@Y2p@2y92 >y2H?g?,@L?ߓ?@pΠ?i,?`z?ɨ2Ԓ@27j;2dCyNCBNIIVIV.5٢b5= b]=9bi*;Q b>dd fG٣dyfǒ9 j> -Nusing accuracyPremultiplier from configh549jM2?54Yj ijB9=P=?jEDjVJK]%?mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255611GuGQByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507313Sw,M A 4I4bג@Yb@b*\9bz >ybHǸ?v?`*?3g?@Ī?`8_? ү?ɨbג@b˨;baCyrPBrIIzIz%.5٢ۅ= F=9-:Q  >    G٣ l5Gy": > Nusing accuracyPremultiplier from config-495?54Y i B1=I=?ED;E;ԯ4UtB ]AeͳEZjDNOT Ignoring new targets: 94.00 m.BjJj ProNav: ac range: 94.000000 m, nav range: 92.166588 m, bearing: 170.209328 deg, approach rate: 0.223716 m/s, LOS rate: -0.436685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.436043 deg. 2jؕ:j%ՙ@eHeadingCmd: 4.807266 target range: 94.000000 and range: 94.00 m. jajajijihhhhfffrfbf 5Q@ɛ.B䱼 隽=I ԼɚiI307=Ii7Li))*Fy2Fy:FyBFP5JFJJJJJe ;Jp:JJ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759655)= ſ= = C G `wA Y `wAy BG ZG B O >DYw,f A:ג@Y:"@: 9: >y:H̸?? `!9?E?r?k?h?ɨ:ג@:};:eCyRVBRIMb@Mb@Mb@ )Yn?/$?Q?y6?<u<zA @)@I`@y@II +5jH<bHp<٢< ==9[?9Q > G٣y09 > Nusing accuracyPremultiplier from config 49 9?4Y iB"6?:A%?ED;j;ܯ41 =AAZjimDNOT Ignoring new targets: 94.00 m.BjuJju ProNav: ac range: 94.000000 m, nav range: 92.256439 m, bearing: 170.026227 deg, approach rate: 0.211030 m/s, LOS rate: -0.429622 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.426437 deg. 2jl:jә@HeadingCmd: 4.807098 target range: 94.000000 and range: 94.00 m. jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:55:32.4504 TRx dataTimestamp_ set to:1736366133.700692checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012455HN>I I@IIBI&I.I6I<:I F QI]UhjiYhahahaheBfiffrfbf`i@ɛ-B\c =I [ԼɚiI 7=Ii5MiZ))*F2F:FBF_0JF ]nManaging dock network, ignoring radio surface power offG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263385G B O >zK uJK ]9K K pK BK :K ,`w, AbԒ@Yb-@b9bx >ybH?1?q*?`???^?ɨbԒ@bDZ;`yjeBnIIvIvy/5٢z`= ~Z=9~ȏ9Q ~> G٣y }  > Nusing accuracyPremultiplier from config49;?4Y iB%M%?EDP ; ; 4) -xA)EB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 94.00 m.Bj]Jj]󻝊m ProNav: ac range: 94.000000 m, nav range: 92.334335 m, bearing: 169.869104 deg, approach rate: 0.211392 m/s, LOS rate: -0.426037 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.504225 deg. 2jm1:jmޙ@uHeadingCmd: 4.808456 target range: 94.000000 and range: 94.00 m. jqjqjyjyiyhyhyhhfffrfbf@' @ɛ,B =I UrӼɚQiQI]6=I]ieMie)a)a*FY2Fa:FaBFiJFi"Gu=Gu=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:55:32.4504 LVL= 29792, 32753, 13906, 32755, AGC= 59, IDX= 423,-0.34,-2.093,-2.436,-0.469,-1.426, PHS=-0.579,-0.964, 0.954, RAW= 199.1, 6.8, CAL= 199.9, -1.5, ROT= 310.1, 1.5 %Ygot valid direction response: 19:55:32.4504 LVL= 29792, 32753, 13906, 32755, AGC= 59, IDX= 423,-0.34,-2.093,-2.436,-0.469,-1.426, PHS=-0.579,-0.964, 0.954, RAW= 199.1, 6.8, CAL= 199.9, -1.5, ROT= 310.1, 1.5 -PDAT read: Bearing 310.1, 1.5 (Local) -~Local bearing/azimuth received: Bearing 310.1, 1.5 (Local) AIAMDAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed 0.4 m/s U*DAT read: user:961> UBDAT read: Tx time:19:55:33.5734 ]$Ping request sent.]:publishing transmit ping timeYFpublishing direction and range info9)$wƿ*{&bmҿy )Ii )Iiz?3V3?W?)IiGQG1 Ba O >Wfw, AJ2J2 J0J0J2;J2lm:J0J0B?֒@YB@B>9BP >yBH P? ? Ym?Β?Mx??z?ɨB?֒@B;BcCybxBbI=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:19:55:33.5726 Mb@Mb@Mb@ )YGz?{Gz?~jt?y0?ף<D< A @)II@yI-I-,5٢}լ= }4=99Q > G٣m5Gy9 > Nusing accuracyPremultiplier from config49??4Y i$B0?:I?EDL;<4Q UAQk@ o?k k k A:k3BBkBZkC@"l;õ-0 ˱U :)$wƿ*{&bmҿJk'Rkג>*^iTT@'H$C󶻽{ gbl1? f/ڿ"kx@*kk}o?kK 2kAkmfm?kd kAkBkX@@ addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.531830 s, deltaX: -1.900002 m, approachRate: -0.537965 m/s, rangeRepo size: 4 % Added new target pos. range: 92.099998 m, bearing: 175.024555 deg, lat: 36.903943 deg, lon: -122.118252 deg, deltaT: 3.531830 s, deltaX: -1.900002 m, approachRate: -0.537965 m/s, posRepo size: 4 Zj!MDNOT Ignoring new targets: 92.10 m.BjMJjI] ProNav: ac range: 92.099998 m, nav range: 90.353172 m, bearing: 172.197116 deg, approach rate: 0.000000 m/s, LOS rate: -0.426037 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.351531 deg. 2ja:je ə@HeadingCmd: 4.805791 target range: 92.099998 and range: 92.10 m. jjjjihhhhBfffrf`fW@bf`?ɛm+Bm im>Ii ubwҼɚqiqIuK6=I}i}jNi}/))*FE?2FA:FABFAJFAHI IfIIȀBI&I.I6Iа<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 G9 G B! OE >xlw,wL A2Œ@Y2Iՙ@2692$>y2Hp>? ? ¿0?jٓ???A?ɨ2Œ@2r ;2dCy>~BB IIJnIJ."5٢Rz= Rp=9R!Q R?TT VG٣TyZû Z? ^Nusing accuracyPremultiplier from config\b49^kA?b4Y^ i^*Bdff?^ED^:^7 ;^4h jAlZjDNOT Ignoring new targets: 92.10 m.BjJj% ProNav: ac range: 92.099998 m, nav range: 90.412407 m, bearing: 172.055170 deg, approach rate: 0.192639 m/s, LOS rate: -0.461323 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.549637 deg. 2j-M:j-]@EHeadingCmd: 4.809248 target range: 92.099998 and range: 92.10 m. jAjYjajaiahahihqhqfyfyfyrfybf}8?ɛ*B!W 隭(>I hѼɚiI`6=IiOi%3))eWill construct direction to contact in vehicle frame from tetrahedron phase data.zKiJK+9KKqK   RK>JK?*Fu?2Fq:FqBFuh0JFqG= G B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 \Ysw, A6@Y6ș@6 96m=y6H`շ?`̞?E@@ƴ?@ٖ?S?@u??ɨ6@62!;4y>B^#IIreIr15٢zB= zF=9zQ z>|| ~G٣|y5 >  Nusing accuracyPremultiplier from config 49 ID?4Y b i 2B? ED  ; ` ; %4! %A%ϳEZjIMDNOT Ignoring new targets: 92.10 m.BjUJjU񻝊m ProNav: ac range: 92.099998 m, nav range: 90.485527 m, bearing: 171.881198 deg, approach rate: 0.177736 m/s, LOS rate: -0.422538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.453707 deg. 2jm:jmי@uHeadingCmd: 4.807574 target range: 92.099998 and range: 92.10 m. jqjqjqjqiqhyhyhyhfffrfbf ?ɛ)B$$ 隽P>I dмɚiIu6=IiPiG))*FY2FY:FaBFe1JFi}Will construct direction to contact in vehicle frame from tetrahedron phase data.G-,GsAGsAGiBO>ׄyw, A6`@Y6͙@6 96)=y6H?? 뿿$?੟?b?:??ɨ6`@6&;6eCy^B^2IZHyRHyMb@Mb@Mb@HO>I IIIBI&I.I6Iְ<:I FBIJI¡CRIZIbIjIŸ4 )Y~jt?Mbp?Q?y$?;u< A @)@Iy@I%7I% 5٢=a= =7=9E΁Q E>II MG٣Mn5GyMt: U> ]Nusing accuracyPremultiplier from configYe49]F?e4Y] i];Be$?m:mm?]ED];]#;]4q uAqZjDNOT Ignoring new targets: 92.10 m.BjJjờ ProNav: ac range: 92.099998 m, nav range: 90.553963 m, bearing: 171.704611 deg, approach rate: 0.152940 m/s, LOS rate: -0.394337 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.445842 deg. [$?IVhWill construct direction to contact in vehicle frame from tetrahedron phase data.2jMP:jM֙@UHeadingCmd: 4.807437 target range: 92.099998 and range: 92.10 m. jQjQjQjQiQhYhYhYh]-Bfafafarfabfe ~?ɛ(B=( ll>I ˝μɚiIH5=Ii Qi 2:) )*F?2F:FBF0JFJ J J J J ;J q:J J J ~Tkw,A6Ò@Y6ҙ@6 96i>>y6H+? G٣y :  > Nusing accuracyPremultiplier from config49H?4Y iBB%%? FDD;'W;G4A E^AIeB*** querying acoustic contact ***jajaZjquDNOT Ignoring new targets: 92.10 m.Bj}޻Jj}޻ ProNav: ac range: 92.099998 m, nav range: 90.610001 m, bearing: 171.562170 deg, approach rate: 0.153266 m/s, LOS rate: -0.389340 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.548136 deg. 2j:j&@HeadingCmd: 4.809222 target range: 92.099998 and range: 92.10 m. jjjjihhhhfffrfbf ?ɛ'BD; y}>Iy } 2ͼɚyiyI}o5=IiHRi2))*FU?2FQ:FYBF]A5JFY I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G5N<8G B9 O} >w,A6ϒ@Y6ޙ@6C96>y6H`??`Nl?@%w?D?@xh??ɨ6ϒ@6E;6eCybBbJIMMb@Mb@Mb@III I)IYMCl?:v?Mb?yM;?MT G٣yc; > Nusing accuracyPremultiplier from config49K?4Y iHBG?:Q?FD;^; 4 AZjDNOT Ignoring new targets: 92.10 m.BjڻJjڻ ProNav: ac range: 92.099998 m, nav range: 90.678528 m, bearing: 171.401831 deg, approach rate: 0.163637 m/s, LOS rate: -0.382587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.494544 deg. 2jH:j|ݙ@ HeadingCmd: 4.808287 target range: 92.099998 and range: 92.10 m. j j jjihhhhPBf!f!f!rf!bf%Ka@ɛ-&BM QU>IQ U3˼ɚQiQIUQ5=I]i]Si]>)a)aEq*F?2F:FBF 4JF "G=G>HIC IIIBI&I.I6I<:I F I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513350G5 K7G= ?G= ?G B O >w,5A6:ݒ@Y6@6yH96>y6H?`?@:`Թ?@??@_(?`??ɨ6:ݒ@6ږ;6cCyBBBRIIJzIJ'5٢R= RX=9V I;Q V>TT VG٣Zo5GyZc; Z> bNusing accuracyPremultiplier from config`f49bcM?f4Yb ibNBhjj?b-FDb:b:b<4p rApZjDNOT Ignoring new targets: 92.10 m.Bj^ϻJj^ϻ ProNav: ac range: 92.099998 m, nav range: 90.740425 m, bearing: 171.259501 deg, approach rate: 0.157795 m/s, LOS rate: -0.362593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.548499 deg. 2jx:j3@HeadingCmd: 4.809228 target range: 92.099998 and range: 92.10 m. jjjjihhhhfffrfbf@ɛ-%BU ~ QU">IQ U5vɼɚYiYI]4=IeimfwTim)i)JuJu Ju0JqJu ;Jubl:Juـ3JqJu$S<Ju%S<Ju4;Ju4;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765574*F?2F:FBF_0JFzK/KK9KKsKGG B O > I Wh5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:19:55:36.0984 = TRx dataTimestamp_ set to:1736366137.236600E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018412w,SOA6@Y6r@6596Q >y6H?`+?FB g?W?`Ş?$z? ?ɨ6@6`;6dCyB€BB_IIJsIJe$5٢R4R= RK=9Vu;Q V>TT VG٣TyZ; Z> bNusing accuracyPremultiplier from config\f49^O?f4Y^ i^TBdfйf?^=FD^&:^:^C4juB nAnѳEZjDNOT Ignoring new targets: 92.10 m.BjջJjջ ProNav: ac range: 92.099998 m, nav range: 90.807838 m, bearing: 171.107532 deg, approach rate: 0.165864 m/s, LOS rate: -0.373627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.519628 deg. 2j5:j@HeadingCmd: 4.808725 target range: 92.099998 and range: 92.10 m. jjjjihhhhfffrfbf '@ɛ9= B AEr>IA MWkǼɚIiIIM[4=I}itTiů̻))*F%?2F!:F)BF)JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269456GJG B O >_љw,-iAJ9@YJ @J!9Jv>yJH`? j?)¿L? J?U?=?B?ɨJ9@Ji;JeCyZɀBZgIjHU<bHU4<Mb@Mb@Mb@ )Y1Zd?~jt? G٣yw[; > Nusing accuracyPremultiplier from config 49 S? 4Y iZBF?:K?OFDf;;#4! %fA%γE 9I9ZjY]DNOT Ignoring new targets: 92.10 m.BjeٻJjeٻ} ProNav: ac range: 92.099998 m, nav range: 90.886528 m, bearing: 170.944463 deg, approach rate: 0.183681 m/s, LOS rate: -0.380312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.486417 deg. 2j}:j}Sܙ@HeadingCmd: 4.808145 target range: 92.099998 and range: 92.10 m. jjjjihhhhbBfffrfbf0 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521396ɛU$B]A 隍>I żɚiIn3=Ii& E BDAT read: Tx time:19:55:37.2235 E $Ping request sent.E ۩ ۩  :publishing transmit ping timeA  Fpublishing direction and range infoة G B O >ֹw,t A93!e cǿ ]`ѵӿy )Ii )Ii5Bf!?:Y?Djʿ?)Iib@YbF @b9bN >ybH&?~? UV¿uQ?҉?\?B?ת?ɨb@bӓ;bbCy}ĀB}aIIyI'5٢" N=9jH;Q > G٣p5Gy); > Nusing accuracyPremultiplier from config49U?4Y i`B?^FD;;*4  Ak p?kAa* k kA:k3BBkBZkKvC@"~0Z]<Ud[B<3!e cǿ ]`ѵӿJkrRkk>*Pq3TyV}Z@+qza,Dhʊ쿚?Aܿ"k@*kk5p?ko) 2kLAk\vn?ky kAkBk?@ addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.788391 s, deltaX: -1.500000 m, approachRate: -0.395946 m/s, rangeRepo size: 4  Added new target pos. range: 90.599998 m, bearing: 174.986759 deg, lat: 36.903968 deg, lon: -122.118274 deg, deltaT: 3.788391 s, deltaX: -1.500000 m, approachRate: -0.395946 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 90.60 m.BjJj ProNav: ac range: 90.599998 m, nav range: 87.949226 m, bearing: 171.787818 deg, approach rate: 0.000000 m/s, LOS rate: -0.380312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.508152 deg. 2j:joߙ@%HeadingCmd: 4.808525 target range: 90.599998 and range: 90.60 m. j!j!j!j)i)h)h)h)h1f1f1f1rf5`fV@bf=Z?ɛ#B9 >I )I) -¼ɚ)i1I5R3=I5i=BUi=nM)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:37.2227 *F5?2F9:F9BF=`0JF9G TG B O >7䦃w,A:y@Y:$@:09:>y:H@A?7}?Fs¿!t?:?(%?-?ԩ?ɨ:y@:;:cCyb؀BbzI]Will construct direction to contact in vehicle frame from tetrahedron phase data.-~GEvA]A YvAyBMb@Mb@Mb@ )Yx?S㥛?~jtx?yK?/<; A )@Iv@y@I=PI=5٢uC= u1=9u9Q u>yy }G٣yy: > Nusing accuracyPremultiplier from config49RY?4Y igBv?:?oFD;;24 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 90.60 m.Bj׻Jj׻M ProNav: ac range: 90.599998 m, nav range: 88.028618 m, bearing: 171.616601 deg, approach rate: 0.174519 m/s, LOS rate: -0.376031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.462015 deg. 2jM:jMؙ@]HeadingCmd: 4.807719 target range: 90.599998 and range: 90.60 m. jajjjihhhh|BfffrfbfF?ɛ  0v: = >I  jɚiI;3=Ii9Uic?))*F2F:FBFi0JFH9I9 I=II=.BI9&I9.I96I=<:I=~ F I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G OPG B O >v w,A6@Y6T&@6Y962P>y6H@7ĺ? ?!¿@?@G? ל?A??ɨ6@66;4yRӀBRtIIZ,IZ5٢b  f=9j Q j ?pp rG٣pyz : z ? Nusing accuracyPremultiplier from config 49 [?4Y  i kB!- -? |FD B; ; 749 =AAZj  DNOT Ignoring new targets: 90.60 m.Bj5ŻJj5ŻE ProNav: ac range: 90.599998 m, nav range: 88.083412 m, bearing: 171.499677 deg, approach rate: 0.162290 m/s, LOS rate: -0.346091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.624637 deg. 2jMm:jM@uHeadingCmd: 4.810557 target range: 90.599998 and range: 90.60 m. jqjyjyjyiyhyhyhhfffrfbf D?ɛE; x>I ɚiIg2=Ii.Ui 9))J]J] J]0JYJ] ;J]bl:J]ـ3JYJ]~T<J]~T<J]4;J]4;Ea>E>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989316*FE?2FA:FABFE0JFA"GU=GUp=zKeKKe9KaKeuKeG r2G ?G >G B O- >  I Xh Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240035xw,̚Ay]؀B]yIaaIm8Im@ 5٢}< ?=9Q > G٣q5Gy > Nusing accuracyPremultiplier from config49^?4Yi ipB?FD0;!; ?4vB AгEZjDNOT Ignoring new targets: 90.60 m.Bj޻Jj޻ ProNav: ac range: 90.599998 m, nav range: 88.156700 m, bearing: 171.344709 deg, approach rate: 0.184292 m/s, LOS rate: -0.389363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.510678 deg. 2ju:juߙ@}HeadingCmd: 4.808568 target range: 90.599998 and range: 90.60 m. jyjyjyjyiyhhhhfffrfbfњ?ɛ"B 9 b>I M ݻɚIiIIUv2=IiUi4:))*FU?2FQ:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493089G} @KGY Bq O >Ew,AZHHRHHHLIL INIIN8BIN =&IL.IL6IL:ILyMրBMxI qIqMb@Mb@Mb@ )YA`"?Zd;O?Mb`?y?j<=; @)I3@y@II|+5٢}s }7=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7440369Q > G٣y > Nusing accuracyPremultiplier from config49b?4Ya ivB?:?FD;8;F4 AZj DNOT Ignoring new targets: 90.60 m.Bj3лJj3л- ProNav: ac range: 90.599998 m, nav range: 88.244553 m, bearing: 171.179657 deg, approach rate: 0.193964 m/s, LOS rate: -0.364043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.480539 deg. 2j-y:j-|ۙ@EHeadingCmd: 4.808043 target range: 90.599998 and range: 90.60 m. jAjIjQjQiYhahahaheuBfififirfibfu?ɛ= ; 9=^>I9 E#ɚAiAIEq2=IMiUrUiQ)Q)QEC;=EJ! J! *F5 ?2F9 :F9 BF= x0JF9 E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998233zK N KK 9K K vK BK :K rAG}$AGqBO?aƒw, AjM@Yj.]@jLҼ9j+>yjH`x?{?@t@?H?R?a?`}?ɨjM@jsފ;jdCyv؀BvzII~pI~#5٢ ;  0= I9ۭ;Q >!! %G٣!y-wl< -> MNusing accuracyPremultiplier from configA49E8g?4YE iE|B?EFDEsIQ UɚQiQI]B1=Ieim?(TimT;)i)qE=*F?2F:FBF1JFJJJJJe ;Jp:JJa@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503217G j-Gq By O >ȃw,1%AyMb@Mb@Mb@ )YK?)\(?Mbp?y^?Ga=; A x@)Iy=@IsIe$5٢t @=9Q > G٣r5Gy > Nusing accuracyPremultiplier from config49k?4Y6 iB?:^?FD<<lV4 AB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 90.60 m.HYIY IYIYI]! =&IY.IY6I]<:I] FBIâCJIâCRIZIbIjI3Bj}λJj}λ ProNav: ac range: 90.599998 m, nav range: 88.428253 m, bearing: 170.853670 deg, approach rate: 0.209578 m/s, LOS rate: -0.361652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.509812 deg. 2j2x:jߙ@HeadingCmd: 4.808553 target range: 90.599998 and range: 90.60 m. jjjjihhhhbBfffrfbf@ \$?IɛY]@: ae>I +ɚiIB1=Ii:SSi&;))EE*E"EmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752757*F! 2F) :F) BF- ~0JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:55:39.7468  TRx dataTimestamp_ set to:1736366141.016551% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004934G-!j;zKqkKK9KKwKRK?JK?GBO->`Jуw,iEA25T@Y2c@2:ͼ92 >y2H v?`O|?@!I?2?૦???ɨ25T@2;2bCy>ـBB{IIJvIJ%5٢R__; R1=9R:Q R>TT VG٣TyZw: Z> ^Nusing accuracyPremultiplier from config\b49^4p?b4Y^c i^B`bCf?^FD^*:^:^s^4jwB jAjϳEZj|~DNOT Ignoring new targets: 90.60 m.BjJjờ ProNav: ac range: 90.599998 m, nav range: 88.526863 m, bearing: 170.685375 deg, approach rate: 0.231496 m/s, LOS rate: -0.394646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.470880 deg. 2jk:jڙ@HeadingCmd: 4.807874 target range: 90.599998 and range: 90.60 m. jjjji!h!h!h!h!f)f)f)rf)bf5B @ɛ!%hMX; !m>Ii uLױɚqiqIu0=IilRi7,V;)) 1I5Yh*Fa2Fa:FaBFeO5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256378G;Ga B O >J5 J5 J1 J1 J5 -;J5 q:J1 J1 Fp׃w,3_A:Q@Y:Pa@:7̼9:{ >y:HÙ?|?;@'V5?@c?`O?`?P?ɨ:Q@:L;:cCyFBFIWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 19:55:39.7468 LVL= 24560, 25233, 12194, 30963, AGC= 57, IDX= 433,-0.07,-0.355,-0.580, 1.392, 0.396, PHS=-0.663,-0.930, 0.993, RAW= 202.7, 6.7, CAL= 204.0, -1.1, ROT= 306.0, 1.1 }Ygot valid direction response: 19:55:39.7468 LVL= 24560, 25233, 12194, 30963, AGC= 57, IDX= 433,-0.07,-0.355,-0.580, 1.392, 0.396, PHS=-0.663,-0.930, 0.993, RAW= 202.7, 6.7, CAL= 204.0, -1.1, ROT= 306.0, 1.1 PDAT read: Bearing 306.0, 1.1 (Local) ~Local bearing/azimuth received: Bearing 306.0, 1.1 (Local) DAT read: Range 10 to 50 : 89.4 m (Round-trip 119.2 ms) speed 0.3 m/s *DAT read: user:963> BDAT read: Tx time:19:55:40.8235 $Ping request sent.:publishing transmit ping timeFpublishing direction and range infoMb@Mb@Mb@ )YMbX9?Mb?y&1|?y!?=`;zA )II@y9lbſզټKM]տy )Ii )Ii)c5uJ?ӱ??"?)IiIwI+&5٢= =9z9Q >! %G٣!y% M> ]Nusing accuracyPremultiplier from configQe49Uv?m4YU iUBm"?u:uu?UFDUw;U{v;Ug4 Ak/q?k6ˊ k kFaA:k̲BBkBZkD@"{c.ykDT62dS>lbſզټKM]տJkăRk1>*U_S>K@hsDaDm;߮Ȋ?aݿ"k=@*kkq?kVwΉ 2kAk}o?kK kAkͩBk]D@@5 addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.527513 s, deltaX: -1.199997 m, approachRate: -0.340182 m/s, rangeRepo size: 4 m Added new target pos. range: 89.400002 m, bearing: 176.005470 deg, lat: 36.903998 deg, lon: -122.118308 deg, deltaT: 3.527513 s, deltaX: -1.199997 m, approachRate: -0.340182 m/s, posRepo size: 4 ZjquDNOT Ignoring new targets: 89.40 m.jHbH<HI III=BI&I.I6IӰ<:I FBjuJj ProNav: ac range: 89.400002 m, nav range: 84.901283 m, bearing: 172.126415 deg, approach rate: 0.000000 m/s, LOS rate: -0.394646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.296879 deg. 2j:j9@HeadingCmd: 4.804837 target range: 89.400002 and range: 89.40 m. jjjjihhhhmBfffrfYV@bf `E? I!ɛYexT9 aeP>Ia eh%ɚaiiImNe0=I}i}mHQi}s@;)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:40.8227 *F) 2F) :F) BF- 0JF) G5 tA G5 sAGU g;GQ GU tAGBO5>ljރw,D|AFO@YF~^@Fs˼9F4 >yFH``?|?`? ԥ? `???ɨFO@F,<;FbCyb߀BbIIz?IzZ 5٢6 `=9?9Q  >    G٣ s5Gy5t 5> =Nusing accuracyPremultiplier from config9E49=z?E4Y= i=BIM'M?=FD=:=>;=m4q uAyZjDNOT Ignoring new targets: 89.40 m.BjJj ProNav: ac range: 89.400002 m, nav range: 84.980209 m, bearing: 171.980058 deg, approach rate: 0.246559 m/s, LOS rate: -0.456781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.536534 deg. 2j:j}@HeadingCmd: 4.809020 target range: 89.400002 and range: 89.40 m. jjjjihh-Will construct direction to contact in vehicle frame from tetrahedron phase data.h1h1f9f9f9rf9bf=`-0?ɛ#BA < >I wKɚiI0=IiPiu.;))zK%MKK%9K!K%xK%&4Ehs]?& *F2F:FBFp4JF IIIG']?;G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >Slw,A20@Y2C@@2ռ9277>y2H ؒ?@O{?AW¿=?8?`͟???ɨ20@2#;2eCyNBRIIffIf5٢rN< rM=9vHQ v>tt zG٣xyzK z> Nusing accuracyPremultiplier from config|49~i~? 4Y~O' i~B   ?~GD~];~;~t4 AZjIUDNOT Ignoring new targets: 89.40 m.BjmJjm黝M ProNav: ac range: 89.400002 m, nav range: 85.065521 m, bearing: 171.821467 deg, approach rate: 0.220050 m/s, LOS rate: -0.408652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.499902 deg. 2ju::j}Aޙ@HeadingCmd: 4.808381 target range: 89.400002 and range: 89.40 m. jjjjihhh1h1f9fAfirfibfuS?ɛl; 隽>I #ɚiI/=IJAJEJE1JAJAJEp:JE3JAiBPi Y:) ) EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFG H P>I  I II BBI &I .I 6I <:I F A II Gy B O >w,tARWill construct direction to contact in vehicle frame from tetrahedron phase data.yBIMb@Mb@Mb@ )Y'1Z?Q?{Gz?y"?u=#<dA @)I3@y@I2I5٢撻 <=9Q > G٣y > Nusing accuracyPremultiplier from config49 ?4Y|. iB#?:?GD(;{;j|4  A-B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 89.40 m.BjMJjM滝 ProNav: ac range: 89.400002 m, nav range: 85.159019 m, bearing: 171.645370 deg, approach rate: 0.214474 m/s, LOS rate: -0.403503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447491 deg. 2ju:j֙@HeadingCmd: 4.807466 target range: 89.400002 and range: 89.40 m. jjjjihhhhgBf ffrfbf:q?ɛy}j; 隅>I (ɚiI5/=Ii:Oi8Jx))E*FE?2FA:FABFE`0JFA"GM=GM=GFG%?G%>GBOj>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.zK _oNK +9K K yK w,AZW*@YZ9@Z<4̼9Z >yZH@_?@Y?`q y? ?@څ?h?b?ɨZW*@Z;ZaCyfBfI j=jR=In{In'5٢v< vZ=9zH<;Q z>|| ~G٣~t5Gy~ >  Nusing accuracyPremultiplier from config 49?4Y4 iB?&GD;;4%xB %A%ѳE IZjDNOT Ignoring new targets: 89.40 m.BjܻJjܻ ProNav: ac range: 89.400002 m, nav range: 85.239990 m, bearing: 171.494039 deg, approach rate: 0.206071 m/s, LOS rate: -0.384774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.521633 deg. 2j:j\@%HeadingCmd: 4.808760 target range: 89.400002 and range: 89.40 m. j!j!j!j!i!h)h)hhfffrfbf)?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736527ɛ$BG; >I ɚiI.=IiOiX}))!*F2F:FBF_0JFG 'HJ3K3 K/.KK"KJM JM JM 0JI JM ;JM lm:JM ـ3JI ) G = G] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987006U `wABa A ?Y `wAy BO >w,TAB.@YBt>@B9B >yBH?,?@#P?#ـ?f?@c?ұ?ɨB.@B#\;B`CyNBNIUMb@Mb@Mb@QQQ Q)QYUNbX9?T㥛 ?:v?yU%?U=UT G٣yP: > Nusing accuracyPremultiplier from config49?4Y; iBr&?:K?7GD;;[4 AZjDNOT Ignoring new targets: 89.40 m.Bj4Jj4 ProNav: ac range: 89.400002 m, nav range: 85.334480 m, bearing: 171.320827 deg, approach rate: 0.234151 m/s, LOS rate: -0.428751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.456142 deg. 2j:j י@ HeadingCmd: 4.807617 target range: 89.400002 and range: 89.40 m. j jjjihhhhoBff!f!rf!bf%`@ɛIU]; QU>IQ ] lɚYiYI]@n.=Ieie>Oimwq)i)ZHIRHIHYIY IYIYI] =&IY.IY6I] <:I] F*F?2F:FBFo0JF IZhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239165GGI BY Ou >w,+A6\3@Y6B@6߲96/ >y6H짻? d?`Yk (?@|?`[?7? ?ɨ6\3@6φ;6aCyRBRIIZIZ.5٢b(< bX=9bKj;Q f>hh jG٣hyj>: n> rNusing accuracyPremultiplier from configpv49rˏ?v4YrB irBtv9v?rGGDr:r:r4| ~AZj!-DNOT Ignoring new targets: 89.40 m.Bj-6Jj-6黝 ProNav: ac range: 89.400002 m, nav range: 85.419945 m, bearing: 171.165959 deg, approach rate: 0.225262 m/s, LOS rate: -0.407782 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.511059 deg. 2j틼:jߙ@HeadingCmd: 4.808575 target range: 89.400002 and range: 89.40 m. jjjjihhhhfffrfbf]"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491035ɛm%Bm!; qu$>I 㟼ɚiIo .=IiNii8))zKm>BKKm9KiKmzKm*F%?2F!:F!BF%0JF!G-sA G-tA ]$?IG- >G5 rAG5 sA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745527G B! OE >w,:A6b4@Y6C@696X >y6H@'?`?Y@1+?>Hz??J'? >?ɨ6b4@6];6cCyR߀BRIIZIZ+5٢f" fJ=9f:Q f>hh jG٣ju5Gyj9 n> rNusing accuracyPremultiplier from configpv49r:?v4YrH irBtv4v?rXGDr:r7:r 4| ~AγEZjAMDNOT Ignoring new targets: 89.40 m.BjMJjM滝e ProNav: ac range: 89.400002 m, nav range: 85.511765 m, bearing: 171.001233 deg, approach rate: 0.224918 m/s, LOS rate: -0.403073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.481552 deg. 2jeP:jeۙ@mHeadingCmd: 4.808060 target range: 89.400002 and range: 89.40 m. jijijijiiihihqhqhqfyfyfyrfybf;@ɛ&BG; 隥4>I ɚiI)-=Ii_Ni89))!*F2F:FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:19:55:43.3454 =TRx dataTimestamp_ set to:1736366144.545881Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.998659Gm ^:GA HQ IQ  IU IIU GBIQ &IQ .IQ 6IU <:IU FBq O > I 5 w,1A24@Y21D@2Z922 >y2H`?@?a/'?@v??2?@?ɨ24@2/;2aC>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.246994yFBFIMb@Mb@Mb@ )YNbX9?&1?:v?yP=dA )I@yG@I5rI5#5٢E< EB=9M:Q M>II MG٣IyU8 U> ]Nusing accuracyPremultiplier from configYe49]m?e4Y]O i]ȚBm-&?m:mm?]iGD];];]d4q }Ay=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 89.40 m.BjU~JjU~ໝe ProNav: ac range: 89.400002 m, nav range: 85.603325 m, bearing: 170.829170 deg, approach rate: 0.209105 m/s, LOS rate: -0.392536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.459565 deg. 2je:je|ؙ@HeadingCmd: 4.807676 target range: 89.400002 and range: 89.40 m. jjjjihhhh_Bfffrfbf` @ɛ'B@; >I <ɚi!I%Q-=IMiM"MiM>9)I)Q*F2F:FBF`5JFJ]J]J]1JYJ]e ;J]Fi:J]3JYJ]U  BDAT read: Tx time:19:55:44.4235  $Ping request sent. )=I9i='1(= P=p}?=e@=+= = g@)=Ge D@I=qH@i=<99=})Ř?_0?e?)=?I=:Ƚi=Jݿ=l>99 :publishing transmit ping time  Fpublishing direction and range info99=HOΚ¿/}ؿy999G! B1 OM >9 9)9I9i99999 9)9I9i999=})Ř?_0?e?)9I9i9999zK KK 59K K {K w,fKA28@Y2NH@292T >y2H`ӻ??>H@>?s?`???ɨ28@2z~;2dCyNBLIjIj +5 aIa٢ G=9 ;Q > G٣y.: > Nusing accuracyPremultiplier from config49?4YV iϚBy?{GDe::4yB AϳEku.r?ku\ kq ku/CA:kufBBku2BZkuE@"uγ)<#TTݨ@uHOΚ¿/}ؿJkuJݿRkul>*uF禮S5\թ @?ҙ@Fu\qA뿨 C?%"kuNm@*kuku_Vr?ku8: 2kuAku5p?kuo) kuLAkuBku#@@ addTargetRange:: Added new target pos. range: 88.199997 m, deltaT: 3.529801 s, deltaX: -1.200005 m, approachRate: -0.339964 m/s, rangeRepo size: 4  Added new target pos. range: 88.199997 m, bearing: 177.208967 deg, lat: 36.904024 deg, lon: -122.118336 deg, deltaT: 3.529801 s, deltaX: -1.200005 m, approachRate: -0.339964 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 88.20 m.BjJj ProNav: ac range: 88.199997 m, nav range: 82.448578 m, bearing: 172.013189 deg, approach rate: 0.000000 m/s, LOS rate: -0.392536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.494470 deg. 2j:jzݙ@%HeadingCmd: 4.808286 target range: 88.199997 and range: 88.20 m. j!j!j!j)i)h)hIhQhQfQfQfQrf] V@bf] !?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:44.4227 ɛ(B(v; >I -]ɚ1i1I5,=I5i=hcMi=):)9)9*F2F:FBFK5JF"G=GG !G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ǜeA63@Y6C@6a496>y6H?@7?^5?@Yq?>? 7 ??ɨ63@6m;6cCy<@Mb@Mb@Mb@ )Y{Gz?A`"?AA EG٣Ev5GyEպ M> Nusing accuracyPremultiplier from config49?4Y] i՚Bj$?:󰿑?GD);*(;4 ZjDNOT Ignoring new targets: 88.20 m.BjJj컝 ProNav: ac range: 88.199997 m, nav range: 82.532219 m, bearing: 171.843158 deg, approach rate: 0.203811 m/s, LOS rate: -0.413900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.465625 deg. 2j:jZٙ@HeadingCmd: 4.807782 target range: 88.199997 and range: 88.20 m. jjjj!i!h!h!h)h-TBfIfIfQrfQbfU`j?ɛ)BЖ; >I ɚiI,=HI III! =&I.I6I<:I FBIJIRIZIbIjIڋ4 QIU[hIiLi3p))*F92F9:F9BF=4JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9GY Ba O > w,sA6@Y6V#@6696?>y6H ?xx?A¿@E'? s?@wƔ??@|?ɨ6@6̉;6aCyBBBIIJkIJ 5٢Re< V<9VOQ V>X\ ^G٣\JlJlJrJr Jr0JpJr-;Jrlm:Jrـ3JpJr1W<Jr1W<Jr;Jr;y1 > %Nusing accuracyPremultiplier from config!-49%|?-4Y%d i%ۚB9=}=?%GD%F;%:G;%n4A E}AIZjDNOT Ignoring new targets: 88.20 m.BjJj ProNav: ac range: 88.199997 m, nav range: 82.611839 m, bearing: 171.680784 deg, approach rate: 0.216231 m/s, LOS rate: -0.440546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488546 deg. 2j+:jܙ@HeadingCmd: 4.808182 target range: 88.199997 and range: 88.20 m. jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.jihhhhf f f rf bf#?ɛ*B< 隥@>I ɚiIA,=Ii],Li]+e)Y)YzK KKKK|KBK:KoA*F%?2F!:F!BF%^0JF! 9I9Gm ! Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga B O >&&w,LA!@Y@9D>yH?{?@4¿@I? t? Ք?a?8?ɨ!@;騵cCy ހBII]4I]{5٢'= 0=9Q >1 =G٣9yM u> Nusing accuracyPremultiplier from config49O?4Y#l iB)--?GDza<]<41 5A9Zjy}DNOT Ignoring new targets: 88.20 m.BjJj껝 ProNav: ac range: 88.199997 m, nav range: 82.713654 m, bearing: 171.475090 deg, approach rate: 0.203530 m/s, LOS rate: -0.410682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.358888 deg. 2j쌼:jʙ@HeadingCmd: 4.805919 target range: 88.199997 and range: 88.20 m. jjjjihhhhfffrfbf!? Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ%+B%(Ҍ; !%Dz>I! -zߐɚ)i1I5+=I5i= Mi=jo)9)E*F5?2F1:F9BF=_0JF9GEtA GAH Q>I  I II BBI &I .I 6I <:I F ) I- \hG g{G) G- rA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >,w,ɴAy%߀B%IMb@Mb@Mb@ )YRQ?L7A`?~jth?y"?+=D;zA @)@I@y=@IZIQ5٢ њ;  F=9Q > G٣w5Gy > %Nusing accuracyPremultiplier from config!-49%i?-4Y%_r i%B5"?5:=K=?%GD%S;%Q;%ð4A EAEѳEeB*** querying acoustic contact ***jijiZjquDNOT Ignoring new targets: 88.20 m.Bj}Jj}- ProNav: ac range: 88.199997 m, nav range: 82.785477 m, bearing: 171.316917 deg, approach rate: 0.197837 m/s, LOS rate: -0.435308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.501093 deg. 2j-_:j-lޙ@5HeadingCmd: 4.808401 target range: 88.199997 and range: 88.20 m. j1j1j9j9i9hAhahahmiBfififirfibfu 2?ɛ,B$A; >I ɚ i I +=IifMiCj))*F?2F:FBFJFJEJE JAJAJE ;JEYk:JAJAJE$S<JE%S<JEO;JEO;UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.G xGy B zK KK 9K K }K O > Q IQ x~3w,AV#@YV2@Vf9Vi>yVH o*??c@`;?Yj?@?@?`??ɨV#@V+;VaCyfـBf{IInfIn5٢v?  v^=9-;Q ->11 5G٣1y= ; => ENusing accuracyPremultiplier from configAM49E?M4YEx iEBIM󴿑U?EGDE ;E%;Eʰ4Y ]AYZjDNOT Ignoring new targets: 88.20 m.BjJj ProNav: ac range: 88.199997 m, nav range: 82.858238 m, bearing: 171.159800 deg, approach rate: 0.192869 m/s, LOS rate: -0.416105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.504260 deg. 2jȎ:jޙ@HeadingCmd: 4.808456 target range: 88.199997 and range: 88.20 m. jjjjihhhhfffrfbf@@ɛ-.B-; )->I) 5̌ɚ1i1I5M6+=I=i=+Li=x)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238826*F?2F:FBF0JFGV'SGBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490824G9w,lA64@Y6FD@6솼96 q >y6H,?h?;?IW?dݐ?r? ?ɨ64@6M;6bCyJրBJxIMb@Mb@Mb@ )Y!rh?:v?=9Z;Q > G٣y.; > UNusing accuracyPremultiplier from config]49?]4Y iB]'?]:]浿e?GD3<;zѰ4mzB mAmγEZjDNOT Ignoring new targets: 88.20 m.Bj Jj ﻝ ProNav: ac range: 88.199997 m, nav range: 82.941193 m, bearing: 170.978032 deg, approach rate: 0.190946 m/s, LOS rate: -0.417980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.430444 deg. 2jm:jRԙ@HeadingCmd: 4.807168 target range: 88.199997 and range: 88.20 m. jjjjihhhh7BfZHRH?AHI III=BI =&I.I6I< ^$?I:I Fffrfbf@Nq@ɛ5/B5; 9=<>I9 =cvɚ9i9I=*=IEiE5nLiE\19)I)I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743282G >G ?G >G B O >l@w,DAJJJ1JJ;JJ3JJY<JY<JJB"@@YBO@Bst9Bq >yBH\?q?zP? (`1?`_?B?ɨB"@@Bk;@yNˀBNjIIVIV)5%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:19:55:46.9438 5TRx dataTimestamp_ set to:1736366148.0736655checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996820٢]` ]Q=9el;Q m>ii mG٣mx5Gyuf; u> %Nusing accuracyPremultiplier from config!-49%u?-4Y%ц i%B)-5?%GD%:%:%ذ4Y ]sAYZjDNOT Ignoring new targets: 88.20 m.BjJj ProNav: ac range: 88.199997 m, nav range: 83.023872 m, bearing: 170.799865 deg, approach rate: 0.203846 m/s, LOS rate: -0.438830 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.441234 deg. 2j:jՙ@5HeadingCmd: 4.807356 target range: 88.199997 and range: 88.20 m. j1j1j1j1i9h9h9h9h9fAfAfArfAbfMֽ@ɛ0B=; 隥>I SdɚiI *=Ii)Kidc:))zK]JK9KK~K(*F?2F:FBF 1JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246825G 9Gi B O >4Fw,&A:A@Y:.Q@:LKc9: >y:H`?? ~S?eT-i?`g??ɨ:A@:;:cCyFĀBFaIIRIR*5٢n rS=9v0;Q z> G٣ y :  > Nusing accuracyPremultiplier from config49?%4Y iB!%%?HD>;;,߰4) -A1ZjYeDNOT Ignoring new targets: 88.20 m.BjeJjm ProNav: ac range: 88.199997 m, nav range: 83.098473 m, bearing: 170.640983 deg, approach rate: 0.206116 m/s, LOS rate: -0.438585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.498982 deg. 2j:jޙ@~GQ YyBHeadingCmd: 4.808364 target range: 88.199997 and range: 88.20 m. jjjjihhhhfffrfbf -# @-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498765ɛ]1B](B; Y]v>IY ]cɚaiaImh*=Ii,Ki))*FQ2FY:FYBFeR2JFa IHI III)BI&I.I6Iư<:I FG} Y:GY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:55:46.9438 LVL= 25584, 28065, 13522, 31667, AGC= 56, IDX= 417, 0.19,-1.690,-1.824, 0.103,-0.918, PHS=-0.684,-0.859, 1.018, RAW= 205.2, 5.9, CAL= 206.6, -1.5, ROT= 303.4, 1.5  Ygot valid direction response: 19:55:46.9438 LVL= 25584, 28065, 13522, 31667, AGC= 56, IDX= 417, 0.19,-1.690,-1.824, 0.103,-0.918, PHS=-0.684,-0.859, 1.018, RAW= 205.2, 5.9, CAL= 206.6, -1.5, ROT= 303.4, 1.5 % PDAT read: Bearing 303.4, 1.5 (Local) % ~Local bearing/azimuth received: Bearing 303.4, 1.5 (Local) 5 DAT read: Range 10 to 50 : 87.1 m (Round-trip 116.2 ms) speed 0.3 m/s = *DAT read: user:965> E BDAT read: Tx time:19:55:48.0235 E $Ping request sent.E %:publishing transmit ping timey%Fpublishing direction and range info 9 Y[fÿ4:u/ؿy  ) I i ) I i ]/3}?R12?H=_Q?) I i 0@@YO@+L9O >yH ?@?ct`@G;?pe M?@b?r?ɨ0@@;騍aCyB]I @ @ @  @ IEfIE5٢ b  !=96;Q > G٣yr¹ > mbBottom track data is 0.5 s old, using for 20.0 s. mNusing accuracyPremultiplier from config!u49%?u4Y% i!u+:qu:}}?%HD%3<%?%O4 AгEk ^ s?k AD! k  k 4A:k 3BBk BZk KE@" o g* *hSb&_u@ Y[fÿ4:u/ؿJk ޿Rk |i>* y:Ii mɚqiqIuF/*=IipJiZ:))ER>E>*FI 2FI :FQ BFU 0JFQ zK MK h9K K K q$"BMybRG8)"  I ]hG5 t:G= sAG= sAG B O%>Tw,SA2 *@Y29@2_92R >y2H^??cG@閻?hOU@?? [?ɨ2 *@2];0y:B:SIIFlIFK!5٢N+6 Ri=9RGWQ R>TT VG٣Vy5GyV V> ^bBottom track data is 0.9 s old, using for 20.0 s.bWill construct direction to contact in vehicle frame from tetrahedron phase data. jNusing accuracyPremultiplier from configXr49Z?v4YZ iZBz :xzT:z~?Z$HDZ I  ˂ɚiI)=I5i53Ji5)9)9*F?2F:FBF4JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՅAiՅAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gx:G B O >Zw,ʇmA:"@Y:62@:Y9:0 >y:H$?:?`;Z?W;?h?ر?ɨ:"@:5;8 DIDyNBNFIjHPbHR4<HVP>IT IVIIVBIT&IT.IT6IV<:IV F U U UU UU  U U UMb@Mb@Mb@QQQ Q)QYUFx?I +?y&1|yU+?U9 G٣y > Nusing accuracyPremultiplier from config49ċ?4YJ iBT:+?:?7HD/;;4 `AZjy}DNOT Ignoring new targets: 87.10 m.BjJj ProNav: ac range: 87.099998 m, nav range: 80.507286 m, bearing: 172.373592 deg, approach rate: 0.183103 m/s, LOS rate: -0.467889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.377997 deg. 2j:j̙@HeadingCmd: 4.806253 target range: 87.099998 and range: 87.10 m. jjjjihhhhBfffrfbf`[?ɛ=4B=@9 AEt>IA E"ɚAiAIE)=ImiuIiuPԺ)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994933*FE?2FA:FABFE_0JFAGm ݻGA BQ Ou >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246756 aw,(dA2@Y2A-@2f92z! >y2HY??s:?> A6Ҍ?`u?`?ɨ2@2چ;2cCyBBB?IIJaIJk5٢r vT=9vQ v>xx zG٣xy˺ > ENusing accuracyPremultiplier from configAM49ENj?M4YE0 iEBQU3U?EGHDE:E:E4 AZj-DNOT Ignoring new targets: 87.10 m.Bj]YJj]Y ProNav: ac range: 87.099998 m, nav range: 80.578857 m, bearing: 172.192591 deg, approach rate: 0.183174 m/s, LOS rate: -0.462828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.432683 deg. 2jў:jԙ@HeadingCmd: 4.807207 target range: 87.099998 and range: 87.10 m. jjjjihhhhfffrfbfi? qIqzKNK9KKKɛ5B-` )-"f>I) -"ɚ1i1I5)=I=i=7Ii=v9)9)9EI*F?2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498785G ^غG ?G 6?G B O >gw,jOAJUJU JU0JQJU ;JUOj:JUـ3JQa}@a@a@a@%)@Y%_9@%~K9%u >y%H ]?&?`rk ?_bv?`??ɨ%)@%3J;5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750883%aCyEBE9IEMb@Mb@Mb@AAA A)AYECl?/$?~jthyE/?Eyy }G٣}z5GyH; > Nusing accuracyPremultiplier from config49ʋ?4Yɲ iB/?:f?]HD;;'4{B AҳEZjDNOT Ignoring new targets: 87.10 m.Bj= Jj=  ProNav: ac range: 87.099998 m, nav range: 80.668709 m, bearing: 171.967327 deg, approach rate: 0.193042 m/s, LOS rate: -0.483428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.300182 deg. 2j⥼:j@-HeadingCmd: 4.804894 target range: 87.099998 and range: 87.10 m. j)j)j)j)i)h1h1h9h=Bf9ffrfbf_?ɛ56B5Xt 1MZ>II MR|ɚQiQIUs)=I]i]CIie-)a)a aIe^hHI IIIBI&I.I6I<:I FBIiJIiRIiZIm =bIm =jImO4*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004086G i"G B O >nw,iAB+@YBK;@B~t:9BQ >yBHAm?`N?@JQ`?ZjnN?I zɚiINT)=IiHIiF))*F ?2F :F BF o0JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254865GzQGBO> a Ia zKe QJKe s9Ka Ke Ke      RKm ?JKm >3tw,ZA>z(@Y>7@>09>> >y>H R?v?3`q?mn?F'? ?ɨ>z(@>bɈ;>bCRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506751yTTI-I--59U:Q U>YY eG٣ayeF e> mNusing accuracyPremultiplier from configiu49mЋ?}4Ym imBy}l?m}HDm*;m.+;m 4 AϳEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 87.10 m.BjJj ProNav: ac range: 87.099998 m, nav range: 80.809418 m, bearing: 171.621640 deg, approach rate: 0.191538 m/s, LOS rate: -0.467942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.388855 deg. 2j:j`Ι@HeadingCmd: 4.806442 target range: 87.099998 and range: 87.10 m. jjjjihhhhfffrfbfa@ɛ=7B=o AEQ>IA E;wɚAiAIMH2)=IMiMHiU-)Q)*F2F:FBF0JFJuJuJqJqJuE ;Ju3g:JqJq]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761225G >GrAGtAG B O > Y IY /0{w,BAZHRH@AHI IIIBI&I.I6Iٰ<:I F^@Y^3.@^k-9^v >y^H+?s?`E5#?}nd? J)?@?ɨ^@^R;^aCyjBj1IeMb@Mb@Mb@aaa a)aYeX9v?Zd;O?MbPye3?ej G٣{5Gy< > Nusing accuracyPremultiplier from config49+ԋ?4Y iB3?:X?HD#;U";C4 AZjamDNOT Ignoring new targets: 87.10 m.BjmJjm ProNav: ac range: 87.099998 m, nav range: 80.891335 m, bearing: 171.424488 deg, approach rate: 0.198633 m/s, LOS rate: -0.477571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.384352 deg. 2jࣼ:j͙@HeadingCmd: 4.806364 target range: 87.099998 and range: 87.10 m. jjjjihhhhBfffrfbfg@ɛ8Ǻ K>I htɚiI])=I%i%Hi%Ȁ))))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:55:50.5421 TRx dataTimestamp_ set to:1736366151.853409checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012979*F?2F:FBF;1JFG˴G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262750w, A64@Y6(@6Z'96N >y6H0ٺ?@? a'@d@?@gp@?s? ?ɨ64@6>;6_CyPPIZIZ359bs:Q b>dd fG٣dyj] j> -Nusing accuracyPremultiplier from configl549n9׋?54Yny inB15n=?nHDnNI! -(qɚ)i1I5t(=IMiHiJ%))zK-LK-9K)K-K-BK9:K=rA*F!2F!:F!BF-`5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:55:50.5421 LVL= 25808, 28657, 13106, 30883, AGC= 55, IDX= 416,-0.43, 0.113, 0.051, 1.978, 0.944, PHS=-0.743,-0.846, 1.031, RAW= 207.2, 6.2, CAL= 209.1, -1.0, ROT= 300.9, 1.0 Ygot valid direction response: 19:55:50.5421 LVL= 25808, 28657, 13106, 30883, AGC= 55, IDX= 416,-0.43, 0.113, 0.051, 1.978, 0.944, PHS=-0.743,-0.846, 1.031, RAW= 207.2, 6.2, CAL= 209.1, -1.0, ROT= 300.9, 1.0 PDAT read: Bearing 300.9, 1.0 (Local) ~Local bearing/azimuth received: Bearing 300.9, 1.0 (Local) DAT read: Range 10 to 50 : 85.8 m (Round-trip 114.4 ms) speed 0.4 m/s *DAT read: user:966> BDAT read: Tx time:19:55:51.6236 $Ping request sent.%ٽuXٽ?ٽqg@ٽk= ڽ$i@)ڽ5Iڽ @iڽ5<ڹڹ۽޷Xب?Ig?Bu7y?)۽?I۽M6ܽi۽d޿۽3>۹۹:publishing transmit ping timeFpublishing direction and range infoع9ؽek{ÿQ훹/*-ڿyعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽޷Xب?Ig?Bu7y?)۹I۹i۹۹۹۹GU w*G! B1 OM >X;w,׆"AJ=J=J9J9J=} ;J=Fi:J9J9@Y@V&9>%Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:19:55:51.6228 yH`?`? &?eo@3ք?-?d?ɨ@;yޅBޅCIMb@Mb@Mb@ )Y +?Q?y6?\= b@)@Iy@IUIU/5٢V< <9Z8Q > G٣y< > Nusing accuracyPremultiplier from config49܋?4YY iB7?:?HD;;%4|B AѳEkt?kES k kA:kBBkmBZkD@"TGӻ*] vLSʟ@Aek{ÿQ훹/*-ڿJkd޿Rk3>*/R.]@[_F%Sr!j<9ab?M /-"k@*k~kxEs?k3R 2kAk_Vr?k8: kfAkBkA@ addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.528110 s, deltaX: -1.299995 m, approachRate: -0.368468 m/s, rangeRepo size: 4 I_h  Added new target pos. range: 85.800003 m, bearing: 175.996256 deg, lat: 36.904074 deg, lon: -122.118423 deg, deltaT: 3.528110 s, deltaX: -1.299995 m, approachRate: -0.368468 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 85.80 m.HEO>IA IEIIEBIA&IA.IA6IE<:IE FBjJjau ProNav: ac range: 85.800003 m, nav range: 77.293640 m, bearing: 173.596227 deg, approach rate: 0.000000 m/s, LOS rate: -0.462643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.224623 deg. 2jq:ju嶙@HeadingCmd: 4.803576 target range: 85.800003 and range: 85.80 m. jjjjihhhh Bfffrf@3sU@bfۼ?ɛ8Bm !% g>I! %dmɚ!i!I%-(=I-i-Hi5/k)1)Q*F ?2F :F BF 0JF "G p=G p= Will construct direction to contact in vehicle frame from tetrahedron phase data.GU b(G] ?G] ?G)B1OU>1"w,i@A6@Y6!@6>;96>y6H?@?@?~Yg? s?`?ɨ6@6;6bCy>B<IJqIJ#5٢Na; Rp=9R6qQ R?TX ZG٣Z|5Gy^5 ^? bNusing accuracyPremultiplier from config`f49bߋ?f4Yb ibBdf j?bHDb_I  yokɚ i I S(=Ii/Ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF)5JF IzKLK9KKKG xG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,TZAB9ג@YB@B7J9BΚ>yBH ˸?@?@B[`*?P#\B?@G?@׼?ɨB9ג@B܉;@y^BbJIIjiIj5٢r< rG=9rVQ r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~⋜?4Y~P i~B l ?~HD~;~ ;~324 RA-B*** querying acoustic contact ***j)j)Zj9=DNOT Ignoring new targets: 85.80 m.BjEJjEU ProNav: ac range: 85.800003 m, nav range: 77.432457 m, bearing: 173.212955 deg, approach rate: 0.192790 m/s, LOS rate: -0.531173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.347688 deg. 2jUE:jU}ș@eHeadingCmd: 4.805724 target range: 85.800003 and range: 85.80 m. jajijijiiihqhqhhfffrfbfb?ɛH6;  s>I uthɚqiqIuo(=I}i}Ii}j)y))e= eC~~G vA*F?2F!:F mGYuvAyuBBF5_0JFyJmJm JiJiJm ;Jmun:JiJiUWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GM >u I G! B1 jHM <bHM <HQ IQ  IU IIU BIQ &IQ .IQ 6IU <:IU FOu >yqw,0tAyB[IMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500066Y G٣yu u> Nusing accuracyPremultiplier from config49拜?4Y iB3?:U?HD;;%:4 AZjDNOT Ignoring new targets: 85.80 m.Bj  Jj % ProNav: ac range: 85.800003 m, nav range: 77.516541 m, bearing: 172.985394 deg, approach rate: 0.183347 m/s, LOS rate: -0.495666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.293277 deg. 2j%:j%@-HeadingCmd: 4.804774 target range: 85.800003 and range: 85.80 m. j)j)j)j)iIhIhQhQhUBfYfYfYrfYbf]8?ɛ %T; >I &ydɚiI|3(=IiJi*)))*F?2F:FBFJFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751884G5 GA GE rAG B1 OM >UYw, A:Ȓ@Y:Zؙ@:߅D9:>y:HY??`C?EF@??`3?ɨ:Ȓ@:;:^C @IF`hyJπBJnIIRxIR&5٢ZF= Z]=9^p:Q ^>   G٣yǟ > %Nusing accuracyPremultiplier from config%49鋜?%4Y- i B)--?HD;:\:g@41 5mA=ӳEZjimDNOT Ignoring new targets: 85.80 m.BjuJju ProNav: ac range: 85.800003 m, nav range: 77.583199 m, bearing: 172.806370 deg, approach rate: 0.187549 m/s, LOS rate: -0.503269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.438592 deg. 2j:j|ՙ@HeadingCmd: 4.807310 target range: 85.800003 and range: 85.80 m. jjjjihhhhfffrfbf ?ɛb < Җ>I )aɚiIt'=IiKi -))zK7KK9KKK1l  "'-.'$*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005797GuZGiBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259542w,_Auǒ@YuIי@uA:9uM >yuH@YQ?Đ?%l }? XH?g?`$?ɨuǒ@u;u`CyޭـBޭ{IMb@Mb@Mb@ )Y/$?X9v?~jt?y,?<<MA x@)@I@yQ@II,5٢g'=  (=99:Q > G٣}5Gy% %> -Nusing accuracyPremultiplier from config) 9I9=49-Z틜?E4Y- i-BEH,?E:EE?-ID-y;-/x;-H4IHI IIIBI! =&I.I6I<:I F AZj9=DNOT Ignoring new targets: 85.80 m.BjEJjEu ProNav: ac range: 85.800003 m, nav range: 77.667313 m, bearing: 172.577255 deg, approach rate: 0.167091 m/s, LOS rate: -0.454637 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.288622 deg. 2j}:j @HeadingCmd: 4.804693 target range: 85.800003 and range: 85.80 m. jjjjihhhhDBfffrfbfq@ɛquH; qu>Iy }[ɚyiyI}w'=Ii%LiN+))*F]?2FY:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508988G {#G ?G >GY Bi O >͞w,AFǒ@YFNי@F19F 0 >yFH@Q??$F@xx?!a9?X8? ?ɨFǒ@Flj;FdCyRBRIIZIZ*5٢b= fs=9f:Q f?dh jG٣hyn6 n? rNusing accuracyPremultiplier from configpv49r?v4Yrr irBtvv?r"IDr:re";rN4| ~A|Zj!%DNOT Ignoring new targets: 85.80 m.Bj-[Jj-[E ProNav: ac range: 85.800003 m, nav range: 77.726944 m, bearing: 172.417120 deg, approach rate: 0.193345 m/s, LOS rate: -0.518813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.495161 deg. 2jE:jEݙ@MHeadingCmd: 4.808298 target range: 85.800003 and range: 85.80 m. jIjIjIjQiQhQhQhYhYfYfYfarfabfe`?@ɛ2y< 隕>I ڋXɚiIn'=Ii] Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:19:55:54.1402  TRx dataTimestamp_ set to:1736366155.382258 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016867Ŷw,gA2Œ@Y2ՙ@2:092b< >y2H 1??્?@de?b@? Fy?Բ?ɨ2Œ@2u{;2aCy^B^IIfIf|+5٢rB-= rI=9rJ9Q r>tt vG٣tyz5 z> ~Nusing accuracyPremultiplier from config|49~?4Y~ i~B ?~4ID~X:~:~U4}B lAгE-B*** querying acoustic contact ***j1j1Zj9EDNOT Ignoring new targets: 85.80 m.BjEGJjEGU ProNav: ac range: 85.800003 m, nav range: 77.800026 m, bearing: 172.223106 deg, approach rate: 0.179687 m/s, LOS rate: -0.476572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.393715 deg. 2j]:j]ϙ@eHeadingCmd: 4.806527 target range: 85.800003 and range: 85.80 m. jajajajaiahahihyhyfffrfbf`= @ɛ6< 隅)>I rSɚiI'=IiךNin/))*F}?2Fy:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266632G{# IGa Bq ZH RH H I  I II 8BI =&I .I 6I <:I FBIQJIQRIQZIQbIQjIUx4O >w,nLAB~ʒ@YBٙ@By'9B4 >yBHf?؋?PET?Pi? ?`w?ɨB~ʒ@Bm;B`Cy^B^IWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 19:55:54.1402 LVL= 24672, 28801, 13154, 32755, AGC= 54, IDX= 428,-0.21, 1.779, 1.778,-2.599, 2.646, PHS=-0.779,-0.820, 1.035, RAW= 208.9, 6.2, CAL= 210.9, -0.6, ROT= 299.1, 0.6 ]Ygot valid direction response: 19:55:54.1402 LVL= 24672, 28801, 13154, 32755, AGC= 54, IDX= 428,-0.21, 1.779, 1.778,-2.599, 2.646, PHS=-0.779,-0.820, 1.035, RAW= 208.9, 6.2, CAL= 210.9, -0.6, ROT= 299.1, 0.6 ePDAT read: Bearing 299.1, 0.6 (Local) e~Local bearing/azimuth received: Bearing 299.1, 0.6 (Local) uDAT read: Range 10 to 50 : 84.3 m (Round-trip 112.5 ms) speed 0.3 m/s }*DAT read: user:967> BDAT read: Tx time:19:55:55.2236 $Ping request sent.:publishing transmit ping time؁Fpublishing direction and range info9Z2$ÿ"lTۿy )Ii )Iix1??tj?)Ii Mb@Mb@Mb@    ) Y %C?l?~jt?y Z$? =  A ) @I @ y G@I%tI%$5٢?= +=9֗:Q > G٣~5Gy%h: %> Nusing accuracyPremultiplier from configq49u?4Yu iu%B$?:?uHIDu;u;u6^4B  AҳEk<u?k1 k kēA:kBBksBZkD@"bz6)~RMBZ2$ÿ"lTۿJki޿Rkv>*5i}Q "@'YG I$),O?6LL"k@*kk?t?k05 2k_Akr?kF kAkBk~]A@  addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.528055 s, deltaX: -1.500000 m, approachRate: -0.425163 m/s, rangeRepo size: 4 % Added new target pos. range: 84.300003 m, bearing: 175.517311 deg, lat: 36.904085 deg, lon: -122.118442 deg, deltaT: 3.528055 s, deltaX: -1.500000 m, approachRate: -0.425163 m/s, posRepo size: 4 Zj!-DNOT Ignoring new targets: 84.30 m.Bj-Jj)] ProNav: ac range: 84.300003 m, nav range: 76.517082 m, bearing: 173.109536 deg, approach rate: 0.000000 m/s, LOS rate: -0.476572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.173802 deg. 2ja:je@eHeadingCmd: 4.802689 target range: 84.300003 and range: 84.30 m. jijijijiiihihihhzBfffrf@3U@bf`Y0?ɛ@q.< ->I f|LɚiI&=I%i%EOi%&)!))JJJ0JJ} ;J*f:Jـ3JJO<JO<JԷ;Jշ;*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:55:55.2228 I ahG -,G sAG sAG B O >Ąw,KAN˒@YNڙ@N$9N >yNH@n??"0d?Rk琄??ྯ?ɨN˒@N;NaCyZ BZIIbMIb5٢vɖ= vV=9z%9Q z>x| ~G٣|y~ԩ9 ~> Nusing accuracyPremultiplier from config 49?4Y i+B ?WID;2;d4 %A!ZjAzKMMKM 9KIKMKM]DNOT Ignoring new targets: 84.30 m.Bj]%Jj]%u ProNav: ac range: 84.300003 m, nav range: 76.581085 m, bearing: 172.936627 deg, approach rate: 0.214787 m/s, LOS rate: -0.579780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.456907 deg. 2juƼ:juؙ@}HeadingCmd: 4.807630 target range: 84.300003 and range: 84.30 m. jyjyjyjyiyhyhhhfffrfbf?ɛ9B`< W>IA EEHɚAiIIMq&=IMiU_PiUL%)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFG]%G9 BA O > Will construct direction to contact in vehicle frame from tetrahedron phase data.,ʄw,y-A:@Y:Qљ@:Fe49:5>y:H@!? ?@  J?b?m?@?ɨ:@: L;:dCyRBRITT `$?IUMb@Mb@Mb@QQQ Q)QYU\(\? rh?{Gz?yU?UC =UףI IIIVBI&I.I6I<:I F٢m < u5=9u Q u>yy }G٣}5Gy)+ > Nusing accuracyPremultiplier from config49M?4Y i2B5?:r?iID";H!;l4 pAZjDNOT Ignoring new targets: 84.30 m.Bj#Jj# ProNav: ac range: 84.300003 m, nav range: 76.654091 m, bearing: 172.739698 deg, approach rate: 0.161650 m/s, LOS rate: -0.435625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.384987 deg. 2j{:j͙@HeadingCmd: 4.806375 target range: 84.300003 and range: 84.30 m. jjjjihhhhBfff rf bf `d?ɛ1=2< 9=>I9 =bBɚ9i9IE &=IEiMQiM7)I)Q*F2F:FBFA5JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >фw,FAJJ JJJJOj:JJJJJi;Jj;B@YBϙ@B7=9Bi>yBH??#A?/[`?B?\?ɨB@B);BaCyN!BNIIV3IV 5٢b= bj=9fʺQ f>dd fG٣hyjm! j>MWill construct direction to contact in vehicle frame from tetrahedron phase data. ]Nusing accuracyPremultiplier from configYe49]?e4Y]% i]8Bimxm?]wID]q:]P:]s4y }AZjDNOT Ignoring new targets: 84.30 m.Bj0Jj0 ProNav: ac range: 84.300003 m, nav range: 76.713882 m, bearing: 172.580363 deg, approach rate: 0.161006 m/s, LOS rate: -0.428721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.497564 deg. 2j:jݙ@ HeadingCmd: 4.808340 target range: 84.300003 and range: 84.30 m. j j j j ihhhQhQfYfYfYrfYbfe`?ɛ:B< >I #<ɚiIɢ%=IiRik9)) I*F?2F:FBF_0JFGaBiO9>zKJKKKKZ/ !UO) RK ?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.pׄw,@`A6@Y6d͙@6|[E96>y6H?`N?@K`q4?T`H??Ů?ɨ6@64;4y^&B^IIj,Ij5٢L< %D=9%Q %>)) -G٣)y-r& -> =Nusing accuracyPremultiplier from config1E495?E4Y5,, i5>BAEE?5ID5\:5:5y4I UAQmB*** querying acoustic contact ***jijiZjy}DNOT Ignoring new targets: 84.30 m.BjJj ProNav: ac range: 84.300003 m, nav range: 76.779816 m, bearing: 172.406522 deg, approach rate: 0.167242 m/s, LOS rate: -0.440574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.454128 deg. 2j.:jי@HeadingCmd: 4.807581 target range: 84.300003 and range: 84.30 m. jjjjihhhhf f f rf bf `?ɛy}q< y隅->I ȡ6ɚiI3%=IiSi*=))UWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFGB!OEQ> IjH<bH<HI I:IIuBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006266݄w, zA24Ӓ@Y2@2-92>y2H ?@M?@hθ?Jiȣ??@Ǯ?ɨ24Ӓ@2&;2`Cy 0B IMb@Mb@Mb@ )YtV?{Gz?y&1?y?#=`e< @)@I@y=@IcIN5٢a)= <=9e)Z;Q e>aa mG٣iym; m> }Nusing accuracyPremultiplier from configq49uk?4Yu2 iuDB?:N?uIDuy;u;u4B AԳEZjDNOT Ignoring new targets: 84.30 m.BjJj軝 ProNav: ac range: 84.300003 m, nav range: 76.854294 m, bearing: 172.224555 deg, approach rate: 0.166896 m/s, LOS rate: -0.407370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.429831 deg. 2jɋ:j<ԙ@HeadingCmd: 4.807158 target range: 84.300003 and range: 84.30 m. jjjjihhhhBfffrfbf ` @ɛ5;B=< 9=>I9 =i/ɚ9iAIE$=IEiM|TiM)I)Q*F?2F:FBFJFGBOI>JEJAJAJAJEE ;JAJAJAJEqP<JErP<JAJAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258340 I bhw,vAJ@YJY@J9J~>yJH A?R?¿)@˹?=Lx??`%?ɨJ@JQ;HyI%hI%5٢5; 5Z=9=";Q =>99 =G٣E5GyEf=< E> MNusing accuracyPremultiplier from configIU49MZ ?U4YMC8 iMIBaeije?MIDMt;M;M'4zKMK9KKK  > &"Oj1 - K}O AZj9EDNOT Ignoring new targets: 84.30 m.BjEܻJjMܻ ProNav: ac range: 84.300003 m, nav range: 76.917053 m, bearing: 172.075139 deg, approach rate: 0.162216 m/s, LOS rate: -0.385884 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.527315 deg. 2jj:j,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510353HeadingCmd: 4.808859 target range: 84.300003 and range: 84.30 m. jjjjihhhh!f!f!f!rf!bf-YO@ɛUIQ ])p)ɚYiYI];U$=Iei Ui7))EE*F2F:FBFJF`wAY Y`wAyqBu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765930G ҸG G tAG B OM >w,BA 4I4N@YN@N:9NF>yNH-?i?`@0? ob|`F~?y?`?ɨN@N);LyZ/BZIHiIi ImMIImBIi&Ii.Ii6Im<:Im FMb@Mb@Mb@ )YV-?Zd;O?I +?y ?j<=94< A )@I@y3@IrI#5٢%-k %<=9%^:Q %>)) -G٣)y5}; 5> ENusing accuracyPremultiplier from configAU49E ?U4YE> iENB]?]:]ȱ]?EIDEy;Eq;E4a mAiZjDNOT Ignoring new targets: 84.30 m.BjzJjUz뻝e ProNav: ac range: 84.300003 m, nav range: 76.993233 m, bearing: 171.904934 deg, approach rate: 0.184467 m/s, LOS rate: -0.411740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.465091 deg. 2jeI:jeFٙ@mHeadingCmd: 4.807773 target range: 84.300003 and range: 84.30 m. jijijijiiihhhhɀBfffrfbf`1@ɛ=Bd< >I "ɚiI'#=I%i%=Ui-ǩ)))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:55:57.7387 TRx dataTimestamp_ set to:1736366158.914653checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017933*F2F:FBF`0JFG- |G B O- >w,cA:@Y:Z$@:̙ջ9:>y:H?`?`B?΀ -z? ? ?ɨ:@:;8yF6BFI)H HLNAIRlIRK!5٢V6= Zg=9^=;Q ^>`` bG٣`yb; f> jNusing accuracyPremultiplier from configdn49f ?n4YfC ifQBlnr?fIDf;f;f4t vZAvѳE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266815ZjDNOT Ignoring new targets: 84.30 m.Bj-ԻJj-Ի ProNav: ac range: 84.300003 m, nav range: 77.056190 m, bearing: 171.766616 deg, approach rate: 0.169006 m/s, LOS rate: -0.371000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.560580 deg. 2j~:j@HeadingCmd: 4.809439 target range: 84.300003 and range: 84.30 m. jjjjih!h!hqhqfqfyfyrfbf( @ qIqɛ>B< 隵M>I ɚiI#=Ii6Ui4))*FY2FY:FaBFe0JFazK 4CPK K K K R$e!Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520864GE xGA BI Om >w,xA: @Y:Z0@:78û9:Y<>y:H ?แ?j@ ?@43`fx?? د?ɨ: @:;:aCyF+BFIINmIN!5٢V] VJ=9Zo:Q Z>\\ ^G٣^5Gybm; b> fNusing accuracyPremultiplier from configdj49f?j4YfbI ifVBhnRn?fIDf;f;f4t zAqB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.30 m.BjpݻJjpݻu ProNav: ac range: 84.300003 m, nav range: 77.128807 m, bearing: 171.609322 deg, approach rate: 0.178918 m/s, LOS rate: -0.387190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.503758 deg. 2ju܄:juޙ@}HeadingCmd: 4.808448 target range: 84.300003 and range: 84.30 m. jyjyjyjyiyhyhhhfffrfbf  @J5J5 J1J1J5 ;J5bl:J1J1a=@a=@a=@a=@ɛu?B}< y}>Iy }ɚyiIs$#=IiFUi 3ݺ) )]Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 19:55:57.7387 LVL= 26464, 29857, 15746, 31459, AGC= 55, IDX= 429,-0.18,-0.494,-0.417, 1.501, 0.429, PHS=-0.835,-0.799, 1.069, RAW= 211.0, 6.1, CAL= 213.1, -0.2, ROT= 296.9, 0.2 EYgot valid direction response: 19:55:57.7387 LVL= 26464, 29857, 15746, 31459, AGC= 55, IDX= 429,-0.18,-0.494,-0.417, 1.501, 0.429, PHS=-0.835,-0.799, 1.069, RAW= 211.0, 6.1, CAL= 213.1, -0.2, ROT= 296.9, 0.2 aIaPDAT read: Bearing 296.9, 0.2 (Local) ~Local bearing/azimuth received: Bearing 296.9, 0.2 (Local) *F?2F:FBF0JF=DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed 0.0 m/s =*DAT read: user:968> EBDAT read: Tx time:19:55:58.8236 U$Ping request sent.Uaa:publishing transmit ping timeIFpublishing direction and range infoa9e9<¿nIk.ȹݿyaaaa a)aIaiaaaaa a)aIaiaaaeeYԐ/U?d?)aIaiaaaaG OPG G ?G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >6w,AF@YF.@Flһ9F>yFH???>ATz?@?@?ɨF@Fv;F_Cyb#BbIMb@Mb@Mb@ )Y(\?kt?~jth?y? 0=D; A x@)Iy@I-7I- 5٢e e2=9eMQ m>ii mG٣iyuh u> }Nusing accuracyPremultiplier from configy49}j?4Y}P i}YB?:б?}ID}Gc;}b;}4B AӳEky v?k!d k kA:kfBBkCBZkSD@"獅''/.R [RC9<¿nIk.ȹݿJkݿRkO>*BP@fƴ?Hw]j?W?*Q("k,@*kkru?kH 2kAkxEs?k3R kAk)Bk1@@u addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 3.787374 s, deltaX: -1.100006 m, approachRate: -0.290440 m/s, rangeRepo size: 4  Added new target pos. range: 83.199997 m, bearing: 176.231813 deg, lat: 36.904111 deg, lon: -122.118463 deg, deltaT: 3.787374 s, deltaX: -1.100006 m, approachRate: -0.290440 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 83.20 m.BjJj ProNav: ac range: 83.199997 m, nav range: 74.080292 m, bearing: 172.527970 deg, approach rate: 0.000000 m/s, LOS rate: -0.387190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447809 deg. 2j:j֙@HeadingCmd: 4.807471 target range: 83.199997 and range: 83.20 m. jjjjihhhhBfffrfT@bfW?ɛm@Bu< qux>Iq umɚqiyI}Z"=I}iTiQ))*FE?2FA:FABFE4JFA]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Ai]A Q IQ G 4ȺGa B O >ow,|AV"@YVk2@Vѻ9V>yVH@&?j?@,!?6z??@ʷ?ɨV"@VU#;V`CybBbI f=fp=InbIn5٢vzi ve=9zѦ8Q z>x1 5G٣9y=ު: => ENusing accuracyPremultiplier from configAM49E?M4YEAU iE[BQUU?EIDE :E:E]4a mFAiZjDNOT Ignoring new targets: 83.20 m.BjJj ProNav: ac range: 83.199997 m, nav range: 74.142899 m, bearing: 172.378892 deg, approach rate: 0.179959 m/s, LOS rate: -0.428150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.528342 deg. 2j꒼:jR@HeadingCmd: 4.808877 target range: 83.199997 and range: 83.20 m. jj1j1j1i1h1h9h9h9f9fAfArfAbfE?zKU4OKQKQKUKUWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛAB< 隽>I V ɚiIj"=IiTi[Ѻ))*F2F:FBF2JFGpJU JU JQ JQ JU E ;JU Fi:JQ JQ G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. A IE chH w,U/AH!I! I%@II%zBI!&I!.I!6I%<:I% FBIJIRIZIbIjI`4y}B}I=Mb@Mb@Mb@999 9)9Y=tV?Zd;O?~jthy=?=j<==D=zA =@)9I99y9ImFImt5٢}e 3=9Q > G٣5Gy > Nusing accuracyPremultiplier from config49?4Y[ i\B)?:5?ID];;.4 AZj%DNOT Ignoring new targets: 83.20 m.Bj%Jj%컝] ProNav: ac range: 83.199997 m, nav range: 74.224037 m, bearing: 172.190419 deg, approach rate: 0.178327 m/s, LOS rate: -0.413773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.410405 deg. 2j]:j]uљ@eHeadingCmd: 4.806818 target range: 83.199997 and range: 83.20 m. jajajajaiihihyhyh}Bfyffrfbf?ɛBB< >I  ɚiI"=I-i-rTi-`ٺ)))1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ˴G G sAG B O >92w,"6IA6.@Y6>@6NŻ96 >y6H?? ;fdx?@Ɓߺx? j??ɨ6.@6kΊ;6aCy>B>IIF~IFE)5٢R Rn=9V :Q V?TT VG٣XyZ; Z? bNusing accuracyPremultiplier from config\b49^!?b4Y^a i^^Bdff?^ JD^:^e:^/4h jAlZj  DNOT Ignoring new targets: 83.20 m.Bj.Jj.- ProNav: ac range: 83.199997 m, nav range: 74.287163 m, bearing: 172.046028 deg, approach rate: 0.187585 m/s, LOS rate: -0.428709 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.542390 deg. 2j-:j-T@=Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 4.809122 target range: 83.199997 and range: 83.20 m. jjjjihhhhfffrfbf? a$?IɛCB{< >I ɚiI!=Ii_TiWm))*F?2F!:F!BF!JF!zK KKh9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.GM ,GA BQ O >Yw,`cA>B@Y> R@>9> >y>H`"?@ ?`~K`?kqr???ɨ>B@>a;>`CyRBVIXZAI^I^-5٢f fH=9fNv;Q j>hh jG٣hynA; n> rNusing accuracyPremultiplier from configpv49r_%?v4Yrg ir_Bxzz?rJDr:r:rQ41 =tA9mB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 83.20 m.BjJj軝 ProNav: ac range: 83.199997 m, nav range: 74.363319 m, bearing: 171.874909 deg, approach rate: 0.181327 m/s, LOS rate: -0.407014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.462369 deg. 2j:jؙ@HeadingCmd: 4.807725 target range: 83.199997 and range: 83.20 m. jjjjihhhhfffrfbf ?ɛEB!ȅ< 隵F>I ɚiI!=IiKSi_H:))J%J%J!J!J%} ;J%c:J!J!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF`0JF IjH<bHH)I) I-!II-`BI)&I).I)6I-<:I- FGzQGI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173452w,.|A:)Q@Y:`@:i9:g >y:H ?i~?ؚ p?^ ;m?*??ɨ:)Q@:U;8yBIMb@Mb@Mb@ )Y\(\?v/?{Gzty?xi=ףA )I@y=@I~IE)5٢* :=9 ;Q > G٣5GyA; > Nusing accuracyPremultiplier from config 49)? 4Yn i`B ?:?)JD;K;ȱ4 AZjAEDNOT Ignoring new targets: 83.20 m.BjMzJjMz ProNav: ac range: 83.199997 m, nav range: 74.455086 m, bearing: 171.681085 deg, approach rate: 0.214640 m/s, LOS rate: -0.452791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.394451 deg. 2j_:j-ϙ@HeadingCmd: 4.806540 target range: 83.199997 and range: 83.20 m. jjjjihhhhtBfffrfbf@ɛEFBM%b< qu4>Iq u"YɚqiyI}1?!=I}iHRi J;))*F?2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425607 IG :G G >G B O >n%w,ɖA:W@Y:7g@:7R9:0 >y:Hʼ?@}?X?L Fj? ??ɨ:W@:܈;:^CyNۀBN}IIVIV\05٢^~ b_=9bЀ:Q f>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlr49n-?r4Yns inaBtvv?n7JDn:n:noα4x %;A-ԳEZjQUDNOT Ignoring new targets: 83.20 m.Bj] Jj] m ProNav: ac range: 83.199997 m, nav range: 74.532280 m, bearing: 171.520177 deg, approach rate: 0.206600 m/s, LOS rate: -0.430202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.492974 deg. 2jm:jmCݙ@uHeadingCmd: 4.808259 target range: 83.199997 and range: 83.20 m. jyjyjyjyiyhyhyhhfffrfbf@ɛHBh< 隽ϒ>I ȶɚiI !=IiQin;))zK.JK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682160*FM?2FI:FIBFUA1JFQGg;GBO>J5 J5 J1 J1 J5 E ;J5 e:J1 J1  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:56:01.3378  TRx dataTimestamp_ set to:1736366162.705263 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.941228 I +w,AH\I\ I^II^=BI\&I\.I\6I^<:I^ FvW@YvXg@vO9v >yvH˼?@h}?@ۡ@ม?v i? ?C?ɨvW@v-;v`Cy]ɀB]gI im==Mb@Mb@Mb@999 9)9Y=S㥛?J +?{Gzy=$?=H==#=dA =x@)=@I=@9y=Q@IU}IU(5٢] e2=9eS8Q e>ii mG٣iyu98 u> }Nusing accuracyPremultiplier from configy49}2?4Y}f{ iy\%?:?}JJD}j<;}:;}mֱ4 AҳEZjDNOT Ignoring new targets: 83.20 m.BjJjU ProNav: ac range: 83.199997 m, nav range: 74.630783 m, bearing: 171.306211 deg, approach rate: 0.212965 m/s, LOS rate: -0.461986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.334165 deg. 2jU:jUƙ@]HeadingCmd: 4.805488 target range: 83.199997 and range: 83.20 m. jYjYjYjYiYhahqhqhu5Bfqfyfyrfybf}& @ɛ JB <  ~>I  ɚiI =Ii5PiIi;))AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185624*F?2F:FBF0JFG !j;G B O >X2w,}A2[@Y28k@2y2H? l}?Δ ƿ?vEi?e?റ?ɨ2[@2!;2^CyNBN]IIVIV-5٢b\D bi=9bw9Q f>dd fG٣f5Gyj : j> nNusing accuracyPremultiplier from configlr49n+6?r4YnA in`Btvv?nYJDn:n:nܱ4x zA=Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 19:56:01.3378 LVL= 25344, 30961, 14498, 32755, AGC= 52, IDX= 435,-0.31, 0.940, 1.067, 2.965, 1.901, PHS=-0.872,-0.787, 1.062, RAW= 212.2, 6.4, CAL= 214.6, 0.8, ROT= 295.4, -0.8 Ygot valid direction response: 19:56:01.3378 LVL= 25344, 30961, 14498, 32755, AGC= 52, IDX= 435,-0.31, 0.940, 1.067, 2.965, 1.901, PHS=-0.872,-0.787, 1.062, RAW= 212.2, 6.4, CAL= 214.6, 0.8, ROT= 295.4, -0.8 PDAT read: Bearing 295.4, -0.8 (Local) ~Local bearing/azimuth received: Bearing 295.4, -0.8 (Local) DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.1 m/s *DAT read: user:969> BDAT read: Tx time:19:56:02.4237 $Ping request sent.¿K뿊eUqT޿y=B9=c=x =8)=I=4i=d;_=xI=?=m@== =o@)=dɣpb?k>^?)=t ?I==l yI}dh} ProNav: ac range: 83.199997 m, nav range: 74.707062 m, bearing: 171.142674 deg, approach rate: 0.205817 m/s, LOS rate: -0.440806 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.485091 deg. 2j}B:j}"ܙ@HeadingCmd: 4.808122 target range: 83.199997 and range: 83.20 m. jjji=!t޿='?99:publishing transmit ping timeFpublishing direction and range info99=d>¿K뿊eUqT޿y9999 9)9I9i99999 9)9I9i999=g>ɣpb?k>^?)9I9i9999jihhhhfffrfT@bf\T?ɛmKBu< quk>Iq u;ݻɚqiyI} =I}iOi_;))*F?2F:FBF`5JFG G"GGzK&KKs9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.Gi Gi GA BI Oe >)- ſ= - C vA Y vAy B8w,N^A:8J@Y:Y@:u9: >y:H`^_??y`,;8y^B^IIjN@n>BIz]Iz5٢=\ =C=9E}̺Q E>AA MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]49Ur:?]4YUF iQae򰿑e?UjJDU:UX:U4i mAikmm氦v?kmjX ki km A:kmBBkmߣBZkm[D@"mmȆL(\ Qr mCmd>¿K뿊eUqT޿Jkm!t޿Rkm'?*mPh'.@yP5HmJ"r=4?{j"kmq@*kmkmv?km܇ 2kmpAkm?t?km05 km_AkmBkm@@ addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.532577 s, deltaX: -0.699997 m, approachRate: -0.198155 m/s, rangeRepo size: 4  Added new target pos. range: 82.500000 m, bearing: 176.060570 deg, lat: 36.904139 deg, lon: -122.118483 deg, deltaT: 3.532577 s, deltaX: -0.699997 m, approachRate: -0.198155 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 71.463303 m, bearing: 171.998781 deg, approach rate: 0.000000 m/s, LOS rate: -0.440806 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.451840 deg. 2j:jaי@HeadingCmd: 4.807541 target range: 82.500000 and range: 82.50 m. jjjjihhh)h)f1f1f1rf9bf= ?ɛLB3; 隽G>I ׻ɚiI =I%i-2Oi-.;)1)9mWill construct direction to contact in vehicle frame from tetrahedron phase data. yI*F ?2F:FBFP5JFZHRHHI IIIBI&I.I6I<:I FG BO5q> Will construct direction to contact in vehicle frame from tetrahedron phase data.= PExceeded connect timeout, disconnecting.>w,/kA6%@Y65@6ư965 >y6H IlnAMb@Mb@Mb@ )Y7A`?/$?Mby6?,=A )I@yG@II?15٢ 0=9  Q  > q uG٣qy}  }> Nusing accuracyPremultiplier from config497??4Y& i6?:ó?JDJ;;?4B AӳEB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 82.50 m.Bj@Jj@% ProNav: ac range: 82.500000 m, nav range: 71.566994 m, bearing: 171.737937 deg, approach rate: 0.216141 m/s, LOS rate: -0.542931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.193840 deg. 2j%M:j%~@UHeadingCmd: 4.803039 target range: 82.500000 and range: 82.50 m. jQjQjQjQiQhQhYhYh]"BfYfafarfabfeE?ɛNBc; 隭(3>I һɚiIDh =Ii&NiW)JJJ1JJ} ;JFi:J3JJOGEw,A6 @Y6I@6uʻ96 >y6Hn?i?OS@Bg?V, Ny?@=V?@Z?ɨ6 @6蘇;6^CyBBB8IIJpIJ#5٢b b{=9bQ b ?dd fG٣f5Gyj$ j? nNusing accuracyPremultiplier from configlr49nGB?r4Yn inaBtv*v?nJDnW;n;n4x zAxZj!-DNOT Ignoring new targets: 82.50 m.Bj5Jj5 ProNav: ac range: 82.500000 m, nav range: 71.634926 m, bearing: 171.567609 deg, approach rate: 0.222737 m/s, LOS rate: -0.557944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.464702 deg. 2jt:j8ٙ@HeadingCmd: 4.807766 target range: 82.500000 and range: 82.50 m. jjjjihhhhfffrfbf ?ɛuOBu%; q}'>Iy }WϻɚyiyI}F =IiNi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239599zKKK+9KKKBK:KE9*F2F:FBF_0JFG ?G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491400 c$?I Kw,o1AH8I8 I:II:BI8&I8.I86I:<:I: F @Y@ʻ96 >yHH?`?EB?@-_y?bH?Ӵ?ɨ @;aCy-BU/IMb@Mb@Mb@ )Y$C?{Gz?Mbpy:?#=MA @)I@yII95٢' +=9 Q  > G٣y > -Nusing accuracyPremultiplier from config!-49%F?-4Y% i%bB5e:?5:5Դ5@%JD%[;%U;%49 =?AAZjamDNOT Ignoring new targets: 82.50 m.BjmJjm} ProNav: ac range: 82.500000 m, nav range: 71.740746 m, bearing: 171.301351 deg, approach rate: 0.221196 m/s, LOS rate: -0.555740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.177645 deg. 2j}:j-@HeadingCmd: 4.802756 target range: 82.500000 and range: 82.50 m. jjjjihhhhBfffrfbf #?ɛPBeb; t>I ZʻɚiIQ! =Ii&OiF))*F}?2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743548 nManaging dock network, ignoring radio surface power offG :Gy B O >J J J J J ;J *f:J J J dL<J eL<J Է;J շ;Rw,KAN\@YN@NS9N5 >yNH+?M?@5@o"?L@Ax?:9? [?ɨN\@N>M;N_CyZBZ+I ^=^=IfIf55٢jݣ jv=9nw:Q n?pp rG٣pyrB v? ~Nusing accuracyPremultiplier from configx49zJ?4YzW izcB㴿@zJDz;z;z4! %ZA)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995471ZjY]DNOT Ignoring new targets: 82.50 m.BjeJje} ProNav: ac range: 82.500000 m, nav range: 71.814682 m, bearing: 171.117755 deg, approach rate: 0.219934 m/s, LOS rate: -0.545567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.424984 deg. 2j}5:j}ә@HeadingCmd: 4.807073 target range: 82.500000 and range: 82.50 m. jjjjihhhhfffrfbf@@ɛQBEX;  >I ǻɚiI =Ii>POi)) 9I9*F?2F:FBF~0JFGm}G!B1OM0>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247386zKm JKm 9Ki Km Km nv/nS@/" RKu ?JKu &?Xw,NeA:@Y:-@:W9: >y:H ??`+*O?Zx?`}-??ɨ:@:u;8yNBR1IIZIZ75٢f< fK=9jFQ j>hh nG٣n5Gyn n> vNusing accuracyPremultiplier from configpv49rM?z4Yr irdBxz񴿑z@rJDr;r];r4a e0AaZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 71.905106 m, bearing: 170.895840 deg, approach rate: 0.218133 m/s, LOS rate: -0.534662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.310310 deg. 2jw:j%Ù@HeadingCmd: 4.805071 target range: 82.500000 and range: 82.50 m. j!j!j!j)i)h1h1hYhYfafafirfbf ׿@ɛRBm; 隝N>I ûɚiI=IiOi))MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.499599 IIUfh*Fm?2Fi:FiBFuo0JFqjHqbHu<HI IIIBI&I.I6I<:I FBIIJIIRIIZIIbIIjIM"4G ԑG rAG tAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752168;!_w,uA6@Y6a@6ɻ969 >y6H |ع? c?`ҹ?"]~(>y??e?ɨ6@6Z;6`CybBb-IMb@Mb@Mb@ )YCl?/$?MbP?yd;?,=:dA x@)I@y@II<55٢R{ ==9)Q > G٣y > Nusing accuracyPremultiplier from config49.R?4Y; igB;?:޴@JD#;"";4B RAҳEZjDNOT Ignoring new targets: 82.50 m.Bj$Jj$- ProNav: ac range: 82.500000 m, nav range: 72.004807 m, bearing: 170.655269 deg, approach rate: 0.239000 m/s, LOS rate: -0.575890 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.254512 deg. 2j-ż:j-+@=HeadingCmd: 4.804098 target range: 82.500000 and range: 82.50 m. jAjAjIjIiIhQhYhaheBfafifirfibfm`@ɛۇ; 隥 >I ɚiI=Ii=Oiຽ))*FM?2FI:FIBFM2JFIGUsA GUtAJ3K;3 K;.-K3K3"K3JJJ0JJ%;J e:Jـ3JJ K<J K<J;J;]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:19:56:04.9365 eTRx dataTimestamp_ set to:1736366166.232785echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004632 1I9GXG B O >fw,NA6@Y6@60߻96(- >y6Hr??@;`s?@z@{?m?j?ɨ6@6H;6_CyBBB:IIJIJ%.5٢Voi= V]=9VQ Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49bU?f4YbH ibiBhjj@bJDb:b:b4y }AyB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 82.50 m.Bj?Jj? ProNav: ac range: 82.500000 m, nav range: 72.090302 m, bearing: 170.450849 deg, approach rate: 0.218548 m/s, LOS rate: -0.521932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.362679 deg. 2j:jʙ@HeadingCmd: 4.805985 target range: 82.500000 and range: 82.50 m. jjjjihhhhfffrfbf@ @ɛSB,; ">I 1ɚiI%=I%i-aPi-P))))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256100zKUMKU9KQKUKU*F?2F:FBFB5JFGGBO >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:56:04.9365 LVL= 27632, 31889, 14818, 31971, AGC= 59, IDX= 421,-0.33,-2.250,-2.075,-0.178,-1.269, PHS=-0.893,-0.760, 1.088, RAW= 213.5, 5.9, CAL= 215.8, 0.6, ROT= 294.2, -0.6  Ygot valid direction response: 19:56:04.9365 LVL= 27632, 31889, 14818, 31971, AGC= 59, IDX= 421,-0.33,-2.250,-2.075,-0.178,-1.269, PHS=-0.893,-0.760, 1.088, RAW= 213.5, 5.9, CAL= 215.8, 0.6, ROT= 294.2, -0.6  PDAT read: Bearing 294.2, -0.6 (Local)  ~Local bearing/azimuth received: Bearing 294.2, -0.6 (Local) 9 IA m DAT read: Range 10 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.3 m/s - *DAT read: user:970> E BDAT read: Tx time:19:56:06.0237 U $Ping request sent.Hy Iy  Iy Iy Iy &Iy .Iy 6I} ư<:I} F+mlw,A yHE?Ս? $NI?`yyb}?"? ?ɨs@q;yBFIMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;?Mb?:v?y9?=T<A )@Iy@IEIE:5٢U= U=9]2Q ]>YY ]G٣]5Gye m> uNusing accuracyPremultiplier from configiu49mZ?}4Ym impB}:?}:}}@m KDm3;m[;m4 Ak%0Ww?k%V k! k%3A:k%̢BBk%BZk%UD@"%\&.fQ ]D%)&aXS9])j+Jk%.ݿRk%'?*%!hP+'yk@0 SWH%AD鿮NWd?Տ"k%]@*k%k%2w?k%OV 2k%IiAk%ru?k%H k%Ak%Bk%@@e addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.531882 s, deltaX: -1.099998 m, approachRate: -0.311448 m/s, rangeRepo size: 4 u Added new target pos. range: 81.400002 m, bearing: 176.123438 deg, lat: 36.904165 deg, lon: -122.118521 deg, deltaT: 3.531882 s, deltaX: -1.099998 m, approachRate: -0.311448 m/s, posRepo size: 4 Zjq}DNOT Ignoring new targets: 81.40 m.BjJj ProNav: ac range: 81.400002 m, nav range: 68.852226 m, bearing: 172.467410 deg, approach rate: 0.000000 m/s, LOS rate: -0.521932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.034830 deg. 2j:j›@HeadingCmd: 4.800263 target range: 81.400002 and range: 81.40 m. jjjjih!h!h)h-.Bf)f)f1rf5YT@bf5/?ɛ TB ݈;  % 3>I! - ;ɚ) i) I- 2Z=IU iU XMQi] vB)Y )Y Em V>Ei *F ?2F :F BF o0JF "G =G =J J J J J ;J `:J J J dL<J eL<J Z;J Z; Will construct direction to contact in vehicle frame from tetrahedron phase data. I GUG?G ?GBO?uw,WA2dԒ@Y2@2.j92 >y2H? ?@\9@}C¸?@t:M?4?b?ɨ2dԒ@2U;0y>B>YIIJ{IJ'5٢N = Rv=9R+Q R?TT VG٣TyZmٻ Z? ^Nusing accuracyPremultiplier from config\b49^]?b4Y^ i^tB`fhf@^KD^:^ ;^U%4h j4AhZjDNOT Ignoring new targets: 81.40 m.Bj F/Jj F/ ProNav: ac range: 81.400002 m, nav range: 68.916847 m, bearing: 172.274018 deg, approach rate: 0.205005 m/s, LOS rate: -0.612945 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.395574 deg. 2jTҼ:jVϙ@%HeadingCmd: 4.806560 target range: 81.400002 and range: 81.40 m. j!j!j)j)i)h1h1h1h1f9f9f9rf9bf=@/j?ɛUB ";<  RQ>I  Ͱɚ i I+=Ii~Qi2))*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.'TFailed to parse incomplete device message.G%;3G B1 Om >M<{w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA>Ò@Y>!ә@>'9>J>y>Ha0?@?¿ H?@pr??u?ɨ>Ò@>;>^CyF€BF_I Np=Np=IR_IR5٢V< ZJ=9Z[Q Z>\\ ^G٣\ybX b> fNusing accuracyPremultiplier from configdj49f a?j4 pIpYf ifyBtvv@f+KDf;f;fh,4 AԳEH9I9 I=II=BI9&I9.I96I=ɰ<:I= FZjAuDNOT Ignoring new targets: 81.40 m.Bj Jj  ProNav: ac range: 81.400002 m, nav range: 68.996010 m, bearing: 172.038765 deg, approach rate: 0.166155 m/s, LOS rate: -0.493206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.270275 deg. 2j=:jl@HeadingCmd: 4.804373 target range: 81.400002 and range: 81.40 m. jjjjihhhhfffrfbf?ɛ < 隍Y>I *ɚiI=IilSitn7))*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G] G1 BA O] >t'w, AyՀBwIMb@Mb@Mb@JJ )YQ?? G٣5Gy %> -Nusing accuracyPremultiplier from config)=49-Xd?E4Y- i-BM/?U:U˸U@-?KD-;-1;-D44q uuAyZjDNOT Ignoring new targets: 81.40 m.Bj5Jj5 ProNav: ac range: 81.400002 m, nav range: 69.077705 m, bearing: 171.792050 deg, approach rate: 0.210450 m/s, LOS rate: -0.634790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.235963 deg. 2jټ:j@ HeadingCmd: 4.803774 target range: 81.400002 and range: 81.40 m. jjjjihhMWill construct direction to contact in vehicle frame from tetrahedron phase data.hhFBfffrfbf*j? d$?Ighɛ!%< N< !->I) -뛣ɚ)i)I-=I5i5Ti5Ћ3)1)Y*F2F:FBF4JFG5 .- Will construct direction to contact in vehicle frame from tetrahedron phase data.G BA Oa Kw,K"A G"`wA( HYJ`wAyJBrK@Yr͙@ri"9rT>yrH?@? s`$?Tk@S?T? |?ɨrK@ra;r_CyzBzIzK~^LK~9K|K~K~BK:KsAII?15٢-!= -[=9-RպQ ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM49Eg?M4YEs iEBIM฿U@EOKDE:En:E:4Y ]AY}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 81.40 m.BjJj ProNav: ac range: 81.400002 m, nav range: 69.146217 m, bearing: 171.587998 deg, approach rate: 0.186359 m/s, LOS rate: -0.554490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.363661 deg. 2jE:jʙ@HeadingCmd: 4.806003 target range: 81.400002 and range: 81.40 m. jjjjihhhhfffrfbf%?ɛVBY}< D>I ,ɚiIN=IiUiE=))!JJJJJ ;J3g:JJa@a@a@a@*F%?2F):F)BF-^0JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. IH9I9 I=II=BI9&I9.I96I=<:I= FG- -,G B O- >vvw,?<A6’@Y6љ@6O[96>y6H5'? ? @`K??Op@X??@o?ɨ6’@6#ψ;4yFBFIHH5Mb@Mb@Mb@111 1)1Y5w/? G٣y: > Nusing accuracyPremultiplier from config49i?4Y iB '?:@`KD;M;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206034B49 =wA9ZjyDNOT Ignoring new targets: 81.40 m.BjJj ProNav: ac range: 81.400002 m, nav range: 69.217705 m, bearing: 171.371293 deg, approach rate: 0.165892 m/s, LOS rate: -0.502360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.325773 deg. 2ja:j[ř@HeadingCmd: 4.805341 target range: 81.400002 and range: 81.40 m. jjj jihhhhBfffrf!bf%j@ɛ2< 隝 >I pɚiI=IiY*Vi4))*Fe?2Fa:FaBFe_0JFam Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458688G K7 I Ga Bi O >$dw,VAZ̒@YZܙ@ZDY 9ZPf>yZHw? ? 4U?}tK?? ?ɨZ̒@Z+;Z^CybBbII5uI5H%5٢Eq< EN=9E*;Q E>II MG٣M5GyUSK; U> eNusing accuracyPremultiplier from configam49eYl?m4YeS ieBqu͹u@eqKDe;e<;eI4}B }bA}ֳEZjDNOT Ignoring new targets: 81.40 m.BjaJja ProNav: ac range: 81.400002 m, nav range: 69.287231 m, bearing: 171.164752 deg, approach rate: 0.184275 m/s, LOS rate: -0.546871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.356210 deg. 2j:jə@HeadingCmd: 4.805872 target range: 81.400002 and range: 81.40 m. jjjjihhhhfffrfbfm@ɛ WB |< >I :ɚiI*=IiVi%Ro#)!)!*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710544zKmKKm9KiKmKmRK?JK>GI6GBO >J J J J J ;J Oj:J J u Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:56:08.5348 I  TRx dataTimestamp_ set to:1736366169.762858 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970505św,]qA-~ے@Y-@-19->y-H?? ؇?`R?wxy~??`?ɨ-~ے@-a$;-_CHAIA IEIIEBBIA&IA.IA6IE<:IE Fy޽B޽IIEkIE 5٢< &=9:Q > G٣y"p; > Nusing accuracyPremultiplier from config49o?4Y iB@KDc;;Q4 -AZj9EDNOT Ignoring new targets: 81.40 m.BjEJjm} ProNav: ac range: 81.400002 m, nav range: 69.375755 m, bearing: 170.907888 deg, approach rate: 0.175774 m/s, LOS rate: -0.509379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.205627 deg. 2j}ʮ:j}-@HeadingCmd: 4.803244 target range: 81.400002 and range: 81.40 m. jjjjihhhhfffrfbfQ} @ɛ!-Ä< )-~>I) -ɚ)i)I58=I5i=Wi=J\ )9)9*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.214845G "G B O >rw,ZEAJI@YJ@J59J!>yJHT?`h? n`R?1}@|??ˮ?ɨJI@J;J^CyfBnIMb@Mb@Mb@ )YGz??:v?yp?<T< A @)3@Iy3@ItI$5٢ = [=9:Q > G٣ym; %>-Will construct direction to contact in vehicle frame from tetrahedron phase data. IIMhhuDAT read: 19:56:08.5348 LVL= 27568, 32753, 14386, 32755, AGC= 54, IDX= 420, 0.22, 2.826, 3.060,-1.307,-2.414, PHS=-0.955,-0.762, 1.104, RAW= 214.9, 6.3, CAL= 217.5, 1.8, ROT= 292.5, -1.8 }Ygot valid direction response: 19:56:08.5348 LVL= 27568, 32753, 14386, 32755, AGC= 54, IDX= 420, 0.22, 2.826, 3.060,-1.307,-2.414, PHS=-0.955,-0.762, 1.104, RAW= 214.9, 6.3, CAL= 217.5, 1.8, ROT= 292.5, -1.8 PDAT read: Bearing 292.5, -1.8 (Local) ~Local bearing/azimuth received: Bearing 292.5, -1.8 (Local) DAT read: Range 10 to 50 : 80.2 m (Round-trip 107.0 ms) speed 0.2 m/s *DAT read: user:971> BDAT read: Tx time:19:56:09.6237 $Ping request sent.wk5ux?k5P 2k5GZAk5v?k5܇ k5pAk5Bk5P@@- addTargetRange:: Added new target pos. range: 80.199997 m, deltaT: 3.528595 s, deltaX: -1.200005 m, approachRate: -0.340080 m/s, rangeRepo size: 4 e Added new target pos. range: 80.199997 m, bearing: 175.667478 deg, lat: 36.904182 deg, lon: -122.118544 deg, deltaT: 3.528595 s, deltaX: -1.200005 m, approachRate: -0.340080 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 80.20 m.BjuJjq ProNav: ac range: 80.199997 m, nav range: 67.291306 m, bearing: 172.170236 deg, approach rate: 0.000000 m/s, LOS rate: -0.509379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.335192 deg. 2j:jƙ@HeadingCmd: 4.805506 target range: 80.199997 and range: 80.20 m. jjjjihhhhBfffrf T@bf@?ɛmXBu < 隕>I ΄oɚiIs=Ii0yXi,))*FI2FI:FIBFIJFI Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:56:09.6229 G} JGI BY zKm JKm h9Ki Km Km BKq :Ku rAO >9w,-Af@YfH@fd9f"~>yfHH`?م?u^?%o} |?`T?c?ɨf@fx;f`Cy~B~IIiI5٢% = %W=9%Q %>)) -G٣-5GyU_: U> eNusing accuracyPremultiplier from configa49et?4Ye ieB@eKDe;e;e^4 ~A]B*** querying acoustic contact ***jYjYZjDNOT Ignoring new targets: 80.20 m.Bj_Jj_ ProNav: ac range: 80.199997 m, nav range: 67.352310 m, bearing: 171.986101 deg, approach rate: 0.169742 m/s, LOS rate: -0.511880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423299 deg. 2j:jMә@HeadingCmd: 4.807044 target range: 80.199997 and range: 80.20 m. jjjjihhhhfffIrfIbfM@?JJ JJJE ;Jlm:JJɛYB6< 隽>I _^^ɚiIy=IiIXi)) I Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF0JFHQ>I III[BI&I.I6I<:I FBIYJIYRIYZIYbIYjI]3G ;3G B O >w,yA6@Y6@696G>y6HV? 8?^? x@??య?ɨ6@6;;6_CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.745763y^BbIMb@Mb@Mb@ )YI +?V-?Mb?y9?<< )I@y@IHIW5٢$< ?=9fQ > G٣y > Nusing accuracyPremultiplier from config49w? 4YM iB l? : E @KD;;Af4 lAZjAMDNOT Ignoring new targets: 80.20 m.BjUJjUe ProNav: ac range: 80.199997 m, nav range: 67.422058 m, bearing: 171.786196 deg, approach rate: 0.177226 m/s, LOS rate: -0.507422 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.376115 deg. 2je:je̙@mHeadingCmd: 4.806220 target range: 80.199997 and range: 80.20 m. jijijijiiihqhqhyh}Bfyfyfyrfbf4c?ɛJ(< )->I1 5sLɚ1i1I5s=I=i=sYiE)A)I*F?2F:FBF _5JF  I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997619G- 6G B O% >%Gw,TA6@@Y6@696?>y6HC?'?)``K? x\?`\?`d?ɨ6@@6q;4ybBfIIn;In 5٢v#= v\=9vV7Q v>xx zG٣xy~K ~> Nusing accuracyPremultiplier from config 49z? 4Y iB  O@KD:7:l4! %2A%ճEZjAMDNOT Ignoring new targets: 80.20 m.BjMJjMe ProNav: ac range: 80.199997 m, nav range: 67.483925 m, bearing: 171.610984 deg, approach rate: 0.166769 m/s, LOS rate: -0.471870 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.450049 deg. 2je롼:je י@mHeadingCmd: 4.807510 target range: 80.199997 and range: 80.20 m. jijijijiiihihqhqhqfqfyfyrfybf!?ɛZBok< 隵>I -9ɚiI=Ii,Yig))*FQ2FQ:FQBFU^0JFQG] G]"G]G]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249909zKKK9KKKGBO >J J J 1J J } ;J `:J 3J I E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501705Fqw,0AHI I4IIpBI&I.I6IҰ<:I FR@YR @R9R>yRH:?@у?'¿?Сz@?`?3?ɨR@R;R^CyZBZIIf6If] 5٢jW nK=9n~ Q n>pp rG٣r5Gyv; v> Nusing accuracyPremultiplier from config549}?=4Y  iB@KD<O<s4  MA9Zj1=DNOT Ignoring new targets: 80.20 m.Bj=VJj=V黝u ProNav: ac range: 80.199997 m, nav range: 67.552841 m, bearing: 171.420007 deg, approach rate: 0.147382 m/s, LOS rate: -0.408000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.402861 deg. 2ju:juaЙ@}HeadingCmd: 4.806687 target range: 80.199997 and range: 80.20 m. jyjyjyjyiyhyhhhfffrfbf@3?ɛ%[B%d< !%+>I! M!ɚIiIIM:=IUiUQZiUce)Q)YEa*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757503GBO>YÅw, A6@Y65!@6-Rͻ96O>y6H`?@P? ¿ p?`j:y?@?ݭ?ɨ6@6JM;6_CybBbIUMb@Mb@Mb@QQQ Q)QYUʡE?{Gz?~jth?yU-?U#=UD;U A U@)UI@IU3@QyUz@IuS IihIu75٢ʆ< ?=9v;Q > G٣y; > Nusing accuracyPremultiplier from config49?4YU iB?:@KD $;";={4 1AZjDNOT Ignoring new targets: 80.20 m.BjyJjy  ProNav: ac range: 80.199997 m, nav range: 67.629974 m, bearing: 171.225397 deg, approach rate: 0.212967 m/s, LOS rate: -0.536710 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.392043 deg. 2j +:j Ι@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014048HeadingCmd: 4.806498 target range: 80.199997 and range: 80.20 m. jjjjihhhh̀Bfffrfbf \@ɛ5\B5+< 9=>I9 =ɚ9i9I==IEiETZiM L)I)I*F2F :F BF _0JF GB O%M> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266757Ʌw,C'A:*@Y:I:@:R9:Y>y:He? n~?`¿2L?J(t?`??ɨ:*@:;:]CyFBFIINpIN#5٢V VZ=9Zp;Q Z>zK^>BKK^9K\K^K^ll nG٣pyr< v> zNusing accuracyPremultiplier from configx49zM?4Yz% izB   @zKDzY;zf;z恲4 %TA!ZjaeDNOT Ignoring new targets: 80.20 m.Bjm`Jjm` ProNav: ac range: 80.199997 m, nav range: 67.700729 m, bearing: 171.050701 deg, approach rate: 0.183436 m/s, LOS rate: -0.452434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.451661 deg. 2j@:j[י@HeadingCmd: 4.807539 target range: 80.199997 and range: 80.20 m. jjjjihhhhfffrfbf V@ɛ]Bt< 隥X>I ^ɚiI{=IiZi/))JMJMJIJIJM ;JM e:JIJI qIy*F}?2Fy:FyBFyJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518535GQBaO}7>H!I! I%:II%uBI!&I!.I!6I%%<:I%5 FkkЅw,AA2(;@Y2J@2:926>y2H ?`(}?¿Ż?SP\p?`?@?ɨ2(;@2֧;2_CyBBBIRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7701075Mb@Mb@Mb@111 1)1Y59v?A`"?y5?5Y=55 A 5@)53@I5@1y5(@IMiIM5٢]6 e?=9e":Q e>ii mG٣m5Gym; u> 5Nusing accuracyPremultiplier from configq=49uf?=4YuV, iuBE?E:EE@uKDu;uD;u@4I M]AImB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 80.20 m.BjJj ProNav: ac range: 80.199997 m, nav range: 67.786621 m, bearing: 170.855954 deg, approach rate: 0.193432 m/s, LOS rate: -0.438021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.391708 deg. 2jN:jΙ@HeadingCmd: 4.806492 target range: 80.199997 and range: 80.20 m. jjjjihhh hÀBfffrfbf@@ɛm_BEշ< 隵ú>I -кɚiI=IiswYib:))*Fe?2Fa:FaBFaJFa me$?ImjhUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:19:56:12.1335 ]TRx dataTimestamp_ set to:1736366173.300823echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022924GU Ga Ga Ga Bq O >օw,[A2H@Y2NX@2si92x_>y2H`T?q|?(-?`3m? ??ɨ2H@2V;0ybBbIIjuIjH%5٢v2Z vR=9v:Q v>xx zG٣xyzČ; ~>  Nusing accuracyPremultiplier from config 49:?4Y72 iB[@ LDP::4%B %A%׳EZjIMDNOT Ignoring new targets: 80.20 m.BjUdJjUde ProNav: ac range: 80.199997 m, nav range: 67.867271 m, bearing: 170.676038 deg, approach rate: 0.223484 m/s, LOS rate: -0.497956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.436099 deg. 2jeߪ:je!ՙ@mHeadingCmd: 4.807267 target range: 80.199997 and range: 80.20 m. jijijijiiqhqhqhyhyfyffrfbf 8 @ɛ`B(< 隽>I ɚiIT=IiXi'n;)))E= EC*FQ2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273722~G!G-ï YyBGBO5->zK.JK9KKK Y IY m Will construct direction to contact in vehicle frame from tetrahedron phase data.m Aii  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529139jH- <bH- p<܅w,euAHiIi Im.IImkBIi&Ii.Ii6ImӰ<:Im F%T@Y% d@%s7P9%>y%Hű?|{?U4?Ỷj? ^?`?ɨ%T@%p;%\CyB IAIsIe$5٢5{U 5*=9E.S:Q m>qq uG٣qyu@; }> Nusing accuracyPremultiplier from configy49}?4Y}9 i}B,@}LD};};}4 AԳEZj)-DNOT Ignoring new targets: 80.20 m.Bj5Jj5e ProNav: ac range: 80.199997 m, nav range: 67.969147 m, bearing: 170.452424 deg, approach rate: 0.203982 m/s, LOS rate: -0.447065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.305381 deg. 2jmh:jmq™@}HeadingCmd: 4.804986 target range: 80.199997 and range: 80.20 m. jyjyjyjihhhhfffrfbf` @ɛbB< U>I ݄ɚiIJf=IiWi@PW;))1Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 19:56:12.1336 LVL= 22560, 27745, 14354, 29107, AGC= 56, IDX= 423, 0.38, 2.699, 2.980,-1.374,-2.514, PHS=-0.982,-0.742, 1.137, RAW= 215.9, 5.9, CAL= 218.6, 1.6, ROT= 291.4, -1.6 EYgot valid direction response: 19:56:12.1336 LVL= 22560, 27745, 14354, 29107, AGC= 56, IDX= 423, 0.38, 2.699, 2.980,-1.374,-2.514, PHS=-0.982,-0.742, 1.137, RAW= 215.9, 5.9, CAL= 218.6, 1.6, ROT= 291.4, -1.6 UPDAT read: Bearing 291.4, -1.6 (Local) U~Local bearing/azimuth received: Bearing 291.4, -1.6 (Local) mDAT read: Range 10 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.0 m/s *DAT read: user:972> BDAT read: Tx time:19:56:13.2238 $Ping request sent.mw,A ,I0FT@YF4d@FFY9F=>yFH?|?`,P@?)?`(k?@?[?ɨFT@F;F_CyrBrIuWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y +?x&?y?7= A )Iy@I]PI]5٢; M=9Q > G٣5Gy.E8 > Nusing accuracyPremultiplier from config49n?4Y? iB?:R@-LD/<)<v4 AkM5x?kM! kI kM!A:kMfBBkMQBZkME@"Mع$9P%3EMWiX%:?v!JkMܿRkM?*M(NUl @Tǭ*ɛIM<^Ġv?Kښ"kMU@*kMEqkM.x?kMe~ 2kMTAkM2w?kMOV kMIiAkM#BkMa@@ addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.791530 s, deltaX: -1.000000 m, approachRate: -0.263746 m/s, rangeRepo size: 4  Added new target pos. range: 79.199997 m, bearing: 176.827771 deg, lat: 36.904201 deg, lon: -122.118573 deg, deltaT: 3.791530 s, deltaX: -1.000000 m, approachRate: -0.263746 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 79.20 m.BjJj5 ProNav: ac range: 79.199997 m, nav range: 65.568634 m, bearing: 172.229339 deg, approach rate: 0.000000 m/s, LOS rate: -0.447065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.426265 deg. 2j1:j5ә@=HeadingCmd: 4.807095 target range: 79.199997 and range: 79.20 m. jYjYjYjYiahahahahmBfififirfmS@bfua?ɛcB+< F>I  ~Iɚ i I 2=IiViO;))Y*F?2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;G B O- >"w,oAzKJK9KKK ,@EQ_BDq]J;*BK&sA:K&sAR6@YRWF@R9R=yRH|Ż?+?`?f`s?@Ŀ? ?ɨR6@RO;R\CyBIIWI5٢%{ %b=9-Q ->)) 5G٣1y5& => ENusing accuracyPremultiplier from config9E49=[?M4Y=E i=BIM¬M@=:LD=7:=:=4Q ]oAYZjyDNOT Ignoring new targets: 79.20 m.BjJj ProNav: ac range: 79.199997 m, nav range: 65.643089 m, bearing: 172.055661 deg, approach rate: 0.225113 m/s, LOS rate: -0.524513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.454759 deg. 2j:jי@HeadingCmd: 4.807592 target range: 79.199997 and range: 79.20 m. jjjjihhhhfffrfbf"??ɛeB=< >I &ɚiI=IiVih)) YIY*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H!I! I%II%[BI!&I!.I!6I%<:I%| FG']?;GBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,UAy=B=IMb@Mb@Mb@ )YZd;?~jt?Mb`?y?=; )@Iy3@INI5٢|  ==9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%?-4Y%K i%B-) ?-:-5@%LLD%N;%5;%H49 =A9]B*** querying acoustic contact ***jYjYZjamDNOT Ignoring new targets: 79.20 m.BjuJju ProNav: ac range: 79.199997 m, nav range: 65.740837 m, bearing: 171.835677 deg, approach rate: 0.225693 m/s, LOS rate: -0.507172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.316246 deg. 2j:jÙ@HeadingCmd: 4.805175 target range: 79.199997 and range: 79.20 m. jjjjihhhhBfffrfbf?ɛfBϊ< >I 1ɚiI=Ii4 Vi1w,+A:b0@Y:?@:_9:~>y:H?` ?@4>`?(+u?@ė?ĺ?ɨ:b0@:{;:^CyRBRIIZGIZ5٢bL bb=9fYQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rݢ?v4YrQ irBxz׫z@rZLDrs;r;r4~B ~AֳEZj!%DNOT Ignoring new targets: 79.20 m.Bj-Jj-= ProNav: ac range: 79.199997 m, nav range: 65.823456 m, bearing: 171.651456 deg, approach rate: 0.227802 m/s, LOS rate: -0.507308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423235 deg. 2j=:jEJә@EHeadingCmd: 4.807042 target range: 79.199997 and range: 79.20 m. jIjIjIjIiQhQhQhYhYfYfafarfabfe`%_?ɛhB(“< 隕}>I \CɚiI{8=IiUi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481764*F?2F:FBF_0JFzKNK+9KKKRK>JK?G5!GIBYO> 1 I5 kh Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732392H% P>I!  I% II% BBI%  =&I! .I! 6I% ǰ<:I% FBI JI RI ZI bI jI !x4[w,AB5@YBzD@B9B>yBH ? ? ?@ vq? ?Ѹ?ɨB5@BTf;@yb߀BbIIn}In(5٢v  vH=9z;Q ~>  G٣5Gy%:: %> MNusing accuracyPremultiplier from configAe49E֧?m4YExX iEBquƫ}@EkLDE~I pF8ɚiIL=Ii$UiE*9)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985593*F?2F:FBFJFG u4G ?G >G J J J J J ];J c:J J J I<J I<J $;J %; ! I! B) OE >r<w,~A6u8@Y6G@6U96& >y6H һ?z?@gjZ?*p?v)??ɨ6u8@6A;6_Cy^рB^qImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.236493}Mb@Mb@Mb@yyy y)yY}E?ʡE?y}&?}=}}zA y)yI}@yy}=@II٢c ?=9 C:Q > G٣yւ: > Nusing accuracyPremultiplier from config49?4Y_ iÛB'?:0@}LD@;;4²4 AZjDNOT Ignoring new targets: 79.20 m.Bj  *Jj  * ProNav: ac range: 79.199997 m, nav range: 66.019997 m, bearing: 171.219527 deg, approach rate: 0.271428 m/s, LOS rate: -0.594684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.311976 deg. 2j̼:jbÙ@-HeadingCmd: 4.805100 target range: 79.199997 and range: 79.20 m. j)j)j)j)i)h1h1h1h5[Bf9f9f9rf9bf=[@ɛmlBmB< im`J>Ii u59ɚqiqIuȴ=I}i}Ti}]9)y)*F?2F:FBFJFGEzQGB  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488515O5 >^ w,~+A:!<@Y:K@:p{9: # >y:HT??I`Yϻ?8so?V?`o?ɨ:!<@:;:^CyFŀBJbIzKNKKLKLKNKNBKVqA:KTI^qI^#5٢f| f[=9f9Q f>hh jG٣hyj^: n> rNusing accuracyPremultiplier from configpv49r?v4Yre irƛBtv"z@rLDr*:r:rȲ4| ~A~ӳEZj!%DNOT Ignoring new targets: 79.20 m.Bj-Jj-= ProNav: ac range: 79.199997 m, nav range: 66.111038 m, bearing: 171.022400 deg, approach rate: 0.243830 m/s, LOS rate: -0.527222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.384642 deg. 2j=괼:j=͙@EHeadingCmd: 4.806369 target range: 79.199997 and range: 79.20 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]V@ɛmBP< 隅/>I L9ɚiI=IiCTi5b:)) f$?I*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740672HI III.BI =&I.I6I<:I FG9GB!O}>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:19:56:15.7330 E TRx dataTimestamp_ set to:1736366177.081097M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993966kFw,YEA27@Y2F@2992 >y2H`Hǻ?? f`V?<2p?r?u?ɨ27@2/;0yBÀBB`IMb@Mb@Mb@ )Y|?5^?K?Mb`?y-?^=; @)I@y@II٢* 8=9Q >    G٣ 5Gyx > Nusing accuracyPremultiplier from config%49?%4Ym iʛB%`/?-:-L-@LD;;}в41 5A9UB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 79.20 m.BjJj ProNav: ac range: 79.199997 m, nav range: 66.229202 m, bearing: 170.779822 deg, approach rate: 0.258717 m/s, LOS rate: -0.530168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.248794 deg. 2j쵼:jY@HeadingCmd: 4.803998 target range: 79.199997 and range: 79.20 m. jjjjih)h1h1h5XBf1f9f9rf9bf= @ɛoB84< '>I Z9ɚiID=Ii3Sit9))*F?2F:FBFp0JFJ3K3 K/.KK"KJJJJJ;J`:JJ I JXH<JXH<JZ;JZ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244581G 7:G sAG G B O >pw,5_AB :@YBI@Bi9B >yBH d߻?`?;^;?@n@ mp?j??ɨB :@B;BaCyJBJRIIRIR\05٢Zls Zb=9^y9Q ^>`` bG٣`yb: f> jNusing accuracyPremultiplier from confighr49j?r4Yjs ij͛Bpr@r@jLDj;j;jֲ4x zzAzճEZjDNOT Ignoring new targets: 79.20 m.Bj!Jj%!- ProNav: ac range: 79.199997 m, nav range: 66.326645 m, bearing: 170.582444 deg, approach rate: 0.278466 m/s, LOS rate: -0.563226 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.383946 deg. 2j5D:j5͙@=HeadingCmd: 4.806356 target range: 79.199997 and range: 79.20 m. j9j9j9j9i9hAhAhAhAfIfIfIrfQbf] @ɛpB8< 隅`>I (@:ɚiI=IiJSi0:))Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 19:56:15.7330 LVL= 29840, 31809, 12786, 32755, AGC= 59, IDX= 432, 0.45,-0.264, 0.090, 2.013, 0.850, PHS=-1.026,-0.713, 1.160, RAW= 217.6, 5.7, CAL= 220.4, 2.0, ROT= 289.6, -2.0 =Ygot valid direction response: 19:56:15.7330 LVL= 29840, 31809, 12786, 32755, AGC= 59, IDX= 432, 0.45,-0.264, 0.090, 2.013, 0.850, PHS=-1.026,-0.713, 1.160, RAW= 217.6, 5.7, CAL= 220.4, 2.0, ROT= 289.6, -2.0 EPDAT read: Bearing 289.6, -2.0 (Local) E~Local bearing/azimuth received: Bearing 289.6, -2.0 (Local) MDAT read: Range 10 to 50 : 78.7 m (Round-trip 105.0 ms) speed 0.1 m/s U*DAT read: user:973> ]BDAT read: Tx time:19:56:16.8238 e$Ping request sent.e Ilh Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:56:16.8230 H I  I II BI &I .I 6I <:I Fw,nyAy5B=VIIM{IM'5٢eR< m@=9}Q }> G٣y > Nusing accuracyPremultiplier from config49Œ?4Y{ iћBiq}@LD<<k޲4 dAk-Hғy?k-B+ k) k-peA:k-fBBk-SBZk-E@"-X]L#$P:{E--0ZbjxA,MJk- ܿRk-_?*-qVMX̋@G=-J-jaS翡a^?8U fI"k-^D@*k-jk-ry?k-s* 2k-#@Ak-ux?k-P k-GZAk-}Bk- ?@ addTargetRange:: Added new target pos. range: 78.699997 m, deltaT: 3.529017 s, deltaX: -0.500000 m, approachRate: -0.141683 m/s, rangeRepo size: 4  Added new target pos. range: 78.699997 m, bearing: 177.006698 deg, lat: 36.904225 deg, lon: -122.118594 deg, deltaT: 3.529017 s, deltaX: -0.500000 m, approachRate: -0.141683 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 78.70 m.BjEJjAU ProNav: ac range: 78.699997 m, nav range: 63.448589 m, bearing: 171.576258 deg, approach rate: 0.000000 m/s, LOS rate: -0.563226 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.139643 deg. 2jQ:jU@]HeadingCmd: 4.802093 target range: 78.699997 and range: 78.70 m. jYjYjYjaiahahihihififqfqrfu̬S@bfuL?ɛMrBU< 隝Z>I 46:ɚiI=IiRi%:))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF I J J @AG 7:G B O >$w,A6@Y6@696f=y6H??x?`znv?`??ɨ6@6;6^CyBBBNIJWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ym?MbX9?~jtx?y.?ʡ=;A @)@I@y=@I^I5٢ 7=9eQ > G٣5Gy? > %Nusing accuracyPremultiplier from config-491Ȍ?54YR i՛B=/?=:=9=@LD ;<4 AZjDNOT Ignoring new targets: 78.70 m.Bj%3JjE3U ProNav: ac range: 78.699997 m, nav range: 63.557003 m, bearing: 171.321583 deg, approach rate: 0.267920 m/s, LOS rate: -0.628295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.212513 deg. 2jU׼:jU)@HeadingCmd: 4.803364 target range: 78.699997 and range: 78.70 m. jjjjihhhh>BfffrfbfO?ɛsB< 隭r>I ӦQ:ɚiI =Ii^Ri))*FU?2FQ:FQBF]_5JFYE~~G]vAq YvAyWBEWill construct direction to contact in vehicle frame from tetrahedron phase data.G 9G B O > +w,QAzK:KK:h9K8K:K:Fl @YF@Fq9Fla=yFH [?_?TX?z`v?/?@ ?ɨFl @F;F_CyRBRSIVAVAIZbIZ5٢b< f_=9f&Q f>dh jG٣hyj! j> rNusing accuracyPremultiplier from configpv49ř?v4Yr irٛBtzSz@rLDrX:r:rt4| ~yA|Zj!%DNOT Ignoring new targets: 78.70 m.Bj-b0Jj-b0= ProNav: ac range: 78.699997 m, nav range: 63.647011 m, bearing: 171.112507 deg, approach rate: 0.265920 m/s, LOS rate: -0.616821 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.348872 deg. 2j=Ӽ:j=ș@EHeadingCmd: 4.805745 target range: 78.699997 and range: 78.70 m. jAjAjIjIiIhIhIhQhQfQfQfYrfYbf] ?ɛtB^9< 隍x>I ^g:ɚiI=IiGRiȔ)) IJJJJJ;J_:JJa@a@a@a@*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HI III BI&I.I6I<:I FG5'HGB O-,>] Will construct direction to contact in vehicle frame from tetrahedron phase data.'1w,g)Ae @Ye@e#?̻9e=yeH =??-`(? 11 5G٣55Gy55 => ENusing accuracyPremultiplier from config9M49=AҌ?M4Y= i=ܛBM1?M:M-U@=LD=;=9;=o4]B ]A]ԳE}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 78.70 m.Bj&Jj& ProNav: ac range: 78.699997 m, nav range: 63.766941 m, bearing: 170.811732 deg, approach rate: 0.232701 m/s, LOS rate: -0.582496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.074635 deg. 2jǼ:js@HeadingCmd: 4.800958 target range: 78.699997 and range: 78.70 m. jjjjihh g$?IhhJBfffrfbf`7?ɛ vB "|<  >I :ɚiI>=Ii Sia))!*F2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G B O >8w,AB@YBe @BԻ9B&>yBHk?ด? ; @? |zw?| ?7?ɨB@B8;B^CyNBNHIIVIV-5٢^3 ^=9b:Q b?`` bG٣dyf f? jNusing accuracyPremultiplier from confighn49jiՌ?n4Yj) ijޛBpr<r@j MDj ;jK ;j4t vAtZj!%DNOT Ignoring new targets: 78.70 m.Bj-&Jj-&= ProNav: ac range: 78.699997 m, nav range: 63.835903 m, bearing: 170.641016 deg, approach rate: 0.235461 m/s, LOS rate: -0.582253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.463608 deg. 2j=Ǽ:j=ٙ@EHeadingCmd: 4.807747 target range: 78.699997 and range: 78.70 m. jAjAjAjAiIhIhIhIhIfQfQfYrfYbf]?ɛwB &< 隝=I X:ɚiI=Ii:;SiX))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007081*F2F:FBF_0JFG!GBO$>zKJK9KKKO~R ImhJJJ0JJE ;Jd:Jـ3JZH RH H I  I I I &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258713I>w,Ay]B]MIII)5٢g< :=9Q > G٣ y% %> Nusing accuracyPremultiplier from config49}ڌ?4Y iB@MD<;4Q UAQZjDNOT Ignoring new targets: 78.70 m.BjP!JjP! ProNav: ac range: 78.699997 m, nav range: 63.948147 m, bearing: 170.366867 deg, approach rate: 0.231373 m/s, LOS rate: -0.564122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.154243 deg. 2j:jլ@HeadingCmd: 4.802348 target range: 78.699997 and range: 78.70 m. jjjjihhh h f f f rfbf@ɛ]xB] < Y@=I P:ɚiI =I i*SiZe))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510500*F?2F:FBFJF I G XG B O >-Ew,sA6@Y6! @6Rˢ96<>y6Hu??@`׹?bdYt??ܷ?ɨ6@6r;6[Cy>BBWIRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762362%Mb@Mb@Mb@!!! !)!Y%i|?5?kt?y&1|?y%1?% 0=%`;! !)!I!!y!I5wI5+&5٢= F=9%:Q %>!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=495ތ?=4Y5| i5BE2?E:EhE@5/MD5K;5_/;5p 4Y ]`AYZjDNOT Ignoring new targets: 78.70 m.Bj[.Jj[. ProNav: ac range: 78.699997 m, nav range: 64.034386 m, bearing: 170.142492 deg, approach rate: 0.234671 m/s, LOS rate: -0.609738 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.303001 deg. 2j:Ѽ:j™@HeadingCmd: 4.804944 target range: 78.699997 and range: 78.70 m. jjjjihhhhPBfffrfbf`I@ɛUyBUP2< Y]Z>IY ]ܨ:ɚYiYIe=IeieSim˔)i)q*F ?2F :F BF p0JF UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:19:56:19.3321 ]TRx dataTimestamp_ set to:1736366180.612617echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015829GU bG! B9 O] >WKw,>/A2@Y2@292 >y2H??M!w?9vlt?@"'? ?ɨ2@2+L;2_CyRÀBR`IzK^`NK^+9K\K^K^wa]]\[[UPMHHB;62("    BKfrA:KftAI^yI^'5٢n:= na=9rWѸQ r>pt vG٣v5GyvG v> zNusing accuracyPremultiplier from configx~49z{ጜ?4Yz izB@z@MDzT ;z ;z4  (AZj15DNOT Ignoring new targets: 78.70 m. AIABjM(JjM(JJJJJJb:JJ ProNav: ac range: 78.699997 m, nav range: 64.117317 m, bearing: 169.929144 deg, approach rate: 0.229688 m/s, LOS rate: -0.590128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.335997 deg. 2jʼ:jƙ@HeadingCmd: 4.805520 target range: 78.699997 and range: 78.70 m. jjjjihh h h f ffrf1bf5 @ɛ}zB8?< 隅>I |1:ɚiIv=Ii4Ti_ͻ))HI IIIBI&I.I6I<:I FBIAJIARIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267756ZIAbIAjIEÎ4*F?2F:FBF0JFGuҸGi Bq O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:56:19.3321 LVL= 17760, 23073, 13650, 28051, AGC= 55, IDX= 439, 0.04,-1.195,-0.805, 1.105,-0.103, PHS=-1.004,-0.655, 1.205, RAW= 218.5, 4.5, CAL= 220.6, 0.2, ROT= 289.4, -0.2  Ygot valid direction response: 19:56:19.3321 LVL= 17760, 23073, 13650, 28051, AGC= 55, IDX= 439, 0.04,-1.195,-0.805, 1.105,-0.103, PHS=-1.004,-0.655, 1.205, RAW= 218.5, 4.5, CAL= 220.6, 0.2, ROT= 289.4, -0.2  PDAT read: Bearing 289.4, -0.2 (Local)  ~Local bearing/azimuth received: Bearing 289.4, -0.2 (Local)  DAT read: Range 10 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.2 m/s  *DAT read: user:974>  BDAT read: Tx time:19:56:20.4238  $Ping request sent. yEH?4?5@ѹ?1r?@0=?F?ɨE@EW;E\CyuŀBubI-only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V  @ @ @  @ II-5٢l< .=9)_:Q > G٣y: > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 匜?4Y  i B+:aew:eje@ UMD 8< > 4i uAuֳEkgTz?ke@F k knmGA:kBBkBZkNG@">$p9Ox56F*rIdt꿱 Z9Jk XؿRk=!?*V{ L+5I?`JPJ*翄ŒpY?f"kI?*k0fk y?kو 2kI j:ɚiI>6=IiTi))EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:56:20.4230 *F?2F:FBF0JF"G=Gp=G ̻G G sAG B O >Xw,}=dA2@Y2@2ү92Ge >y2H ?`?W {x?bUs?^??ɨ2@2B;2^CyB̀BBlIIJAIJ=5٢RV/= Vl=9VЮQ V?XX ZG٣XyZ ^? bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f49^$錜?f4Y^ͼ i^Bj :hjH:jj@^dMD^6;^Q?^j4l nApB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.00 m.Bj@Jj@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 78.000000 m, nav range: 61.843800 m, bearing: 172.477183 deg, approach rate: 0.217527 m/s, LOS rate: -0.674916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.342863 deg. 2j:jǙ@HeadingCmd: 4.805640 target range: 78.000000 and range: 78.00 m. jjjjih h h hfffrfbf`"?ɛC^d< ">I ":ɚ i I =IiTi]Q6λ)Y)a*FM?2FQ:FQBFU`5JFQ InhzK* NK59KKK)Ku_<*  RKJK ?JeJaJaJaJe%;JaJaJaH I  I II BI &I .I 6I <:I F} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749113G nʻGQ Ba O} >^w,}AJݒ@YJ/@Jxƻ9JF >yJH? ?@|@ `?`l~x?ԫ?g?ɨJݒ@J\;J`CyRҀBRsII^KI^5٢b< fI=9fWQ f>hh jG٣j5Gyn n> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|-49~쌜?54Y~7 i~BE9AM":MߴU@~vMD~6<~q?~84 AZj)5DNOT Ignoring new targets: 78.00 m.Bj5[Jj5[E ProNav: ac range: 78.000000 m, nav range: 61.925594 m, bearing: 172.224528 deg, approach rate: 0.173853 m/s, LOS rate: -0.536302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.218269 deg. 2jE:jE@uHeadingCmd: 4.803465 target range: 78.000000 and range: 78.00 m. jqjqjqjqiqhyhyhyhyfffrfbf@?ɛ|B 6W< ,>I `:ɚiI̼=IiUiJ)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001376*F?2F:FBF 5JF I G ̻G B O >ew,ȗA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253182yލՀBލvI % % %% %%  % % %Mb@Mb@Mb@!!! !)!Y%v/?Mb?YY ]G٣Yy] e> mNusing accuracyPremultiplier from configam49e?u4Ye ieBuT:u)?u:}}@eMDe;e;e&4 AZjDNOT Ignoring new targets: 78.00 m.BjMDJjMDe ProNav: ac range: 78.000000 m, nav range: 62.001568 m, bearing: 171.958211 deg, approach rate: 0.196505 m/s, LOS rate: -0.687981 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.177269 deg. 2je:je@uHeadingCmd: 4.802749 target range: 78.000000 and range: 78.00 m. jqjqjqjqiqhqhyhyh}_Bfyffrfbf ?ɛ 1@e< 1>I Ѫ:ɚiIx=Ii%WVi%k )!)EEpA*F?2F:FBF\0JF!G%sA G%pAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504366GE GM ?GM >G B) OE >kw,A $I&oh:ڒ@Y:0@:T9:S` >y:H`?? S`?cy 9}?? ձ?ɨ:ڒ@:';:_Cyr݀BvII I (*5٢<= `=9% ^Q %>!) -G٣)y-m ->zK=ՋNK=9K9K=K=  MNusing accuracyPremultiplier from config1U495W?U4Y5S i5BY]ù]@5MD5G;5;5t,4eB e^AmճEZjDNOT Ignoring new targets: 78.00 m.Bjk'Jjk' ProNav: ac range: 78.000000 m, nav range: 62.064056 m, bearing: 171.742768 deg, approach rate: 0.169988 m/s, LOS rate: -0.585478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.329539 deg. 2jȼ:jř@HeadingCmd: 4.805407 target range: 78.000000 and range: 78.00 m. jjjjihhhhfffrfbf;x?ɛ}Br< A>I P;ɚiI5=Ii/Vi/))HI III#BI&I.I6I<:I FeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiauchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759923*F}?2F:FBF_0JFG}ZGqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008307rw,$|A6j@Y6@6Cwɻ96jM >y6Hm?Q?`ߘV}f?#.y?`A??ɨ6j@6 ;6]Cy>B>I-Mb@Mb@Mb@))) )))Y-Pn?Mb?Mb?y-$?)-<- A ))-I@I-@)y-(@IsIe$5٢)= A=91;Q > G٣5GyÝ; > Nusing accuracyPremultiplier from config49#?4Yl iB($?:b@MD;p;34 AZjDNOT Ignoring new targets: 78.00 m.Bj#Jj#- ProNav: ac range: 78.000000 m, nav range: 62.136120 m, bearing: 171.501317 deg, approach rate: 0.171245 m/s, LOS rate: -0.573096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.251714 deg. 2j-ļ:j-ĺ@=HeadingCmd: 4.804049 target range: 78.000000 and range: 78.00 m. j9j9j9j9i9h9h9hAhEBfAfIfIrfIbfM@l]JTimed out from 2025-01-08T19:46:23.0Zq6]l]fCompleted lineCaptureHoming:MicromodemComms:CheckIn16] l]Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkeVCompleted lineCaptureHoming:MicromodemCommsɛ< 隅R>I ;ɚiI=Ii[yWi)) =h$?IA*F5?2F1:F1BF1JF1JeJaJaJaJe;JaJaJaJaauJaauJe?;auJe?;aueWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260483GU׹G) B9 OU >)) ) `wA  Y `wAy Bxw,B_AJF@YJ @J"9J/>yJH@K??>? -ws?9??ɨJF@J;HyVBVII^oI^"5٢f fZ=9jt;Q j>11 5G٣1y=; => ENusing accuracyPremultiplier from configAM49E?M4YE iEBIMM@EMDE:EP:E:4Y ]BAY}B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 78.00 m.Bj!Jj! ProNav: ac range: 78.000000 m, nav range: 62.203377 m, bearing: 171.281552 deg, approach rate: 0.173522 m/s, LOS rate: -0.566379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.316633 deg. 2jY¼:j ę@HeadingCmd: 4.805182 target range: 78.000000 and range: 78.00 m. jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512377jihhhhfffrfbf@6@5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6ɛ%~B%ȴ< )-"F>I) 5;ɚ1i9I=(=IEiEWiML)I)I*F ?2F :F BF p0JF "G=G= !I!zK5"LK1K1K5K5G-DػG1G5tAZHRHHI III3BI&I.I6IŰ<:I FG B! m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764958Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:56:22.9310 %TRx dataTimestamp_ set to:1736366184.144634%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017325O$?{w,˜A69@Y6@6Z496>y6H@??7P@?vŃr?@???ɨ69@6dՈ;6^Cy>BBIMMb@Mb@Mb@III I)IYM)\(? rh?Mbp?yMG!?MC G٣5Gy4: > Nusing accuracyPremultiplier from config49*?4Y iBW!?:@MD7;55; F4 I AZjDNOT Ignoring new targets: 78.00 m.BjJj ProNav: ac range: 78.000000 m, nav range: 62.318607 m, bearing: 170.917181 deg, approach rate: 0.175707 m/s, LOS rate: -0.554572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.884234 deg. 2jL:j:@HeadingCmd: 4.797635 target range: 78.000000 and range: 78.00 m. j j j j i h hhhBfff!rf!bf%`t @ɛUBUNn< QU]>IQ ]/;ɚYiYI]8=Ieie Xiee)a)aJ J AAJJJJJ];Jc:JJJI<JI<J$;J%;*F 2F :F BF _0JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269039G-XG B O- >Aw,x(A>Will construct direction to contact in vehicle frame from tetrahedron phase data.fDAT read: 19:56:22.9310 LVL= 19344, 23697, 11762, 24483, AGC= 55, IDX= 427, 0.00, 0.451, 0.895, 2.877, 1.608, PHS=-1.068,-0.665, 1.266, RAW= 219.3, 4.4, CAL= 221.5, 0.4, ROT= 288.5, -0.4 ~Ygot valid direction response: 19:56:22.9310 LVL= 19344, 23697, 11762, 24483, AGC= 55, IDX= 427, 0.00, 0.451, 0.895, 2.877, 1.608, PHS=-1.068,-0.665, 1.266, RAW= 219.3, 4.4, CAL= 221.5, 0.4, ROT= 288.5, -0.4 PDAT read: Bearing 288.5, -0.4 (Local) ~Local bearing/azimuth received: Bearing 288.5, -0.4 (Local) ]DAT read: Range 10 to 50 : 77.2 m (Round-trip 103.0 ms) speed 0.1 m/s e*DAT read: user:975> mBDAT read: Tx time:19:56:24.0239 m$Ping request sent.yHt?؃?8/W? h@Ĉp?%??ɨ @u;]CyBI Bjw@)B;IB @iB@@BJ]xĿ d|?62?)B?IB.iBP׿BV?@@:publishing transmit ping timeiFpublishing direction and range info@9B@U-qB qy@@@@ @)@I@i@@@@@ @)@I@i@@@I=qI=#5BJ]xĿ d|?62?)@I@i@@@@٢= >=9:Q > G٣y_; > Nusing accuracyPremultiplier from config490?4Y iB@MD::M4 A׳EkB:Zz?kB k@ kB)A:kBfBBkBXBZkBۓG@"B]6?)%5OlFB@U-qB qJkBP׿RkBV?*BuKƨ޲?e JB慒3B\H9?!r"kB5?*kB_kB",z?kBc 2kBR5AkBry?kBs* kB#@AkBoBkB@@ addTargetRange:: Added new target pos. range: 77.199997 m, deltaT: 3.532374 s, deltaX: -0.800003 m, approachRate: -0.226477 m/s, rangeRepo size: 4 Iph Added new target pos. range: 77.199997 m, bearing: 178.671122 deg, lat: 36.904262 deg, lon: -122.118664 deg, deltaT: 3.532374 s, deltaX: -0.800003 m, approachRate: -0.226477 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 77.20 m.BjJj  ProNav: ac range: 77.199997 m, nav range: 59.874527 m, bearing: 172.743955 deg, approach rate: 0.000000 m/s, LOS rate: -0.554572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.193369 deg. 2j :j m@HeadingCmd: 4.803030 target range: 77.199997 and range: 77.20 m. jjjjyiyhyhyhhfffrfLS@bf`=?ɛBw%<  k>I  >;zK5 KK59K1K5K5  BKEsA:KErAɚiAIE=IMiM!w,IDA:@Y@TDž9>yH-?2?`@l?@ozp??R?ɨ:@j;騕^CyBI a=mWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yx&1? G٣y&: > Nusing accuracyPremultiplier from config49?4Yd iB R ? : 5 @MD;N;V41 =A9ZjDNOT Ignoring new targets: 77.20 m.Bj,Jj, ProNav: ac range: 77.199997 m, nav range: 59.957958 m, bearing: 172.445123 deg, approach rate: 0.168922 m/s, LOS rate: -0.604196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.080015 deg. 2jSϼ:j8@HeadingCmd: 4.801052 target range: 77.199997 and range: 77.20 m. jjjjihhhhBfffrfbf?ɛEB qIquyx< quc>Iy }L;ɚyiyI}=IiHXi1l))J J J J J } ;J d:J J J O<J O<J  ;J  ;*F12F1:F1BF5/4JF9GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,l^A6@Y6)@696>y6HR.???@'u???ɨ6@6ZƇ;6\CybBbIIjIj+5٢r(= r=9rpQ v"?tt vG٣tyz못 z%? ~Nusing accuracyPremultiplier from config|49~?4Y~ i~B  c @~ND~ :~ :~[4 AZjDNOT Ignoring new targets: 77.20 m.Bj Jj  ProNav: ac range: 77.199997 m, nav range: 60.001987 m, bearing: 172.289196 deg, approach rate: 0.158127 m/s, LOS rate: -0.559586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.507760 deg. 2j:j`ߙ@HeadingCmd: 4.808517 target range: 77.199997 and range: 77.20 m. jjjjih h h h fffrf9bf=?ɛB޶< %Fm>I! %T;ɚ!i!I%F=I-i-lXi5礻)1)9*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5P> q Iq zK KK 9K K K RK ?JK &?jH= <bH= <HA IA  IE IIE GBIA &IA .IA 6IE <:IE Fqkw,IIxABI9JI9RI9ZI9bI9jI=4:@Y:H@:i9:hs >y:HW?p? [e`J?@_`-v?`?@?ɨ:@:7;:]CrWill construct direction to contact in vehicle frame from tetrahedron phase data.y%B%IIUTIU5٢p< @=9d'Q > G٣5Gy: > Nusing accuracyPremultiplier from config49?4Y iBN@ND&<2'<c4 nA!]B*** querying acoustic contact ***jYjYZjamDNOT Ignoring new targets: 77.20 m.Bjmh&Jjh& ProNav: ac range: 77.199997 m, nav range: 60.073212 m, bearing: 172.041333 deg, approach rate: 0.167420 m/s, LOS rate: -0.581936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.232521 deg. 2jǼ:j@HeadingCmd: 4.803714 target range: 77.199997 and range: 77.20 m. jjjjihhhhfffrfbfBO?ɛ]Be< 隭fq>I -a;ɚiI=IiEXi))EEtA*Fy2F:FBFl0JFGGsAGBOUu>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. i Ii cw,fAy=B=I)A AIMAJJJ1JJ%;Jb:J3JJ K<J K<J?;J?;=Mb@Mb@Mb@999 9)9Y=+?kt?~jth?y=?= 0=9= A 9)=`@I=@9y=(@IUFIUt5٢m< m;=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49r ?4Y  i B ?:9@(ND);q';j4 MAZjDNOT Ignoring new targets: 77.20 m.Bj&Jj& ProNav: ac range: 77.199997 m, nav range: 60.156109 m, bearing: 171.796061 deg, approach rate: 0.197304 m/s, LOS rate: -0.582965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.240428 deg. 2j ȼ:j'@HeadingCmd: 4.803852 target range: 77.199997 and range: 77.20 m. jjjjihhhhBfffrf bf  ?ɛ5B5^< 9=zw>I9 =n;ɚ9i9I=ܕ=IEiE9XiE)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733553)*F?2F:FBF0JFG g{G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987260|w,Ab@Yb{&@b櫻9b]Z>ybH Ⱥ?Ӄ?` b?x@|u? ?۰?ɨb@b;b[CyppIzIz(*5٢RY;  g=9 Pm:Q  >  G٣yi; > %Nusing accuracyPremultiplier from config-49?-4Y i B)--@6ND*:n:p45B =KA=سEZjiuDNOT Ignoring new targets: 77.20 m.Bju Jj}  ProNav: ac range: 77.199997 m, nav range: 60.225231 m, bearing: 171.595655 deg, approach rate: 0.194153 m/s, LOS rate: -0.562259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.374682 deg. 2j:jY̙@HeadingCmd: 4.806195 target range: 77.199997 and range: 77.20 m. jjjjihhhhfffrfbf˽@ɛMBM< QUfv>Iq }Mz;ɚyiyI}KC=IiXinB-)) Iqh*Fm?2Fi:FqBFua4JFqzKKK9KKKW1|7g[^9?}!29;BKrA:KsAHI IIIQBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237571GuTGI BQ Ou >iw,A%a @Y%/@%Yř9%=>y%H?@?<`?8s?@??ɨ%a @%N;%]Cy=B=IMb@Mb@Mb@ )Yjt?S㥫?~jtx?y ?/]=; A @)3@IyI=sI=e$5MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.489479٢]; ]6=9]:Q ]>aa eG٣e5Gym&; m> uNusing accuracyPremultiplier from configq}49u#?}4Yu iuB}^!?:˰@uHNDuD;u;ux4 AAֳEZjDNOT Ignoring new targets: 77.20 m.BjO!JjO! ProNav: ac range: 77.199997 m, nav range: 60.319122 m, bearing: 171.342107 deg, approach rate: 0.209221 m/s, LOS rate: -0.564110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.215772 deg. 2j:j@HeadingCmd: 4.803421 target range: 77.199997 and range: 77.20 m. jjjjihhhhBfffrfbf-U@ɛB7<  v>I  ^;ɚ i I P=IioXi~))*F?2F:FBF`5JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742901G *G% ?G% ?G1 BA Oe >$w,øA>e,@Y>;@>X9>Io>y>H8r??R?pp??ಯ?ɨ>e,@>;>^CyRBRIIZIZy/5٢bN6 bi=9f:Q f>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlr49n?r4Yn inBtvv@nWNDn:n:n~4x zQAxZj)-DNOT Ignoring new targets: 77.20 m.Bj5!Jj5!E ProNav: ac range: 77.199997 m, nav range: 60.393692 m, bearing: 171.144423 deg, approach rate: 0.212658 m/s, LOS rate: -0.563057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.382892 deg. 2jE5:jE͙@eHeadingCmd: 4.806338 target range: 77.199997 and range: 77.20 m. jajijqjqiyhyhyhhfffrfbf-@ɛB< >p>I |;ɚiI=Ii)Xi))Q*F?2F:FBF_0JF"Ga=Gp=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:19:56:26.5302 uTRx dataTimestamp_ set to:1736366187.673438}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995773G ^غ i$?IGB O >J J J J J ;J c:J J a @a @a @a @H I  I I I &I .I 6I <:I FzKU OKU 9KQ KU KU 6& (FnAs^H5"}wtnic_[TPLMLGCD@??:RKe ?JKe ?½w,AA62@Y6A@6z96>y6H Ɵ? ?`G}?g+`_o?H? ?ɨ62@6\;6\Cy>B>IIJrIJ#5٢R; RK=9R:Q R>VWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.245587X\ ^G٣\y^: ^> fNusing accuracyPremultiplier from config`j49b?j4Yb9& ibBhjj@bgNDb. ;b ;bȅ4l rHApZjDNOT Ignoring new targets: 77.20 m.Bj7Jj7M ProNav: ac range: 77.199997 m, nav range: 60.480427 m, bearing: 170.917955 deg, approach rate: 0.204162 m/s, LOS rate: -0.532311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.296788 deg. 2jM:jM6@UHeadingCmd: 4.804835 target range: 77.199997 and range: 77.20 m. jQjQjQjQiQhYhYhYhafafafarfibfm @ɛB< ^o>I H>;ɚiIC=IEiEbWiE$a)A)I*F?2F :F BF JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499753G} u4G B O > I Ćw,iAN|=@YNL@Nc9Nz>yNH&?g~?q@dӻ?`Qpl?? `?ɨN|=@N@;N]CyZBZImMb@Mb@Mb@iii i)iYm}?5^I?MbX9?Mb?ymM"?mʡ=m G٣5GyR; > Nusing accuracyPremultiplier from config49 ?4YI- iB#?:@xNDD;C;Q4 AuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 77.20 m.Bj Jj  ProNav: ac range: 77.199997 m, nav range: 60.585384 m, bearing: 170.677057 deg, approach rate: 0.244998 m/s, LOS rate: -0.561342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.253787 deg. 2j:j@HeadingCmd: 4.804085 target range: 77.199997 and range: 77.20 m. jjjjih!h!h!h%Bf)f)f)rfQbfU2@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:56:26.5302 LVL= 17680, 20849, 11410, 20835, AGC= 54, IDX= 435,-0.13,-0.991,-0.485, 1.526, 0.196, PHS=-1.099,-0.634, 1.327, RAW= 220.4, 3.7, CAL= 222.4, -0.2, ROT= 287.6, 0.2 Ygot valid direction response: 19:56:26.5302 LVL= 17680, 20849, 11410, 20835, AGC= 54, IDX= 435,-0.13,-0.991,-0.485, 1.526, 0.196, PHS=-1.099,-0.634, 1.327, RAW= 220.4, 3.7, CAL= 222.4, -0.2, ROT= 287.6, 0.2 %PDAT read: Bearing 287.6, 0.2 (Local) %~Local bearing/azimuth received: Bearing 287.6, 0.2 (Local) 5DAT read: Range 10 to 50 : 76.6 m (Round-trip 102.2 ms) speed 0.0 m/s =*DAT read: user:976> =BDAT read: Tx time:19:56:27.6239 E$Ping request sent.EI  ;ɚiI=IiCWi:))*Fe?2Fa:FaBFaJFa G1 eYayeBG zQG G Ga Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >}ʆw,K-Ab'/@Yb>@b9b>ybH!??``dn?*`s??`?ɨb'/@be;`yjBjII ]I 5٢=3 =R=9Ea_Q E>AA MG٣IyMܑ M> }Nusing accuracyPremultiplier from configQ49U$?4YU3 iU Bƫ@UNDU;U:U/4B <A׳EkI ;ɚiI=IiVi=))Jـ3K3 K.KK"KJJJ0JJ;J`:Jـ3J*Fe?2Fa:FaBFe`0JFaGmsA GmtAHI IIIVBI&I.I6I<:I FzKOK9KKK54320/4TiZQLIDC@><:640,)+)$" Will construct direction to contact in vehicle frame from tetrahedron phase data.iG- ?:G B O >цw,IMGAyBI%Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}}?5^I?(\µ?~jt?yy}=}D<} A y)yIyyy}(@IeI15٢<; 2=9Q > G٣y > Nusing accuracyPremultiplier from config49*?4Y%; i&B#?:@ND;;4 /AZjDNOT Ignoring new targets: 76.60 m.Bj0Jj0% ProNav: ac range: 76.599998 m, nav range: 58.735088 m, bearing: 173.537816 deg, approach rate: 0.229814 m/s, LOS rate: -0.618211 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.178488 deg. 2j%"Լ:j%L@-HeadingCmd: 4.802771 target range: 76.599998 and range: 76.60 m. j)j)j1j1i1h1h1h9h=Bf9fAfArfAbfE \?ɛmBm< quk>Iq u);ɚiI@>=I%i%_Vi%>)!)) YIerh*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O >B׆w,!aA: @Y:/@:9:U>y:H? ? ?q?~`9;x? ?`?ɨ: @:;:[CyVBVII^QI^T5٢f jo=9j9SQ j?ll nG٣n5Gynʪ n? vNusing accuracyPremultiplier from configpz49r.?~4Yr@ ir+B|~ݪ~@rNDrmC;r;r4 eA Zj15DNOT Ignoring new targets: 76.60 m.Bj=&Jj=&M ProNav: ac range: 76.599998 m, nav range: 58.810242 m, bearing: 173.337383 deg, approach rate: 0.218608 m/s, LOS rate: -0.582277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.374680 deg. 2jMǼ:jMY̙@UHeadingCmd: 4.806195 target range: 76.599998 and range: 76.60 m. jQjQjQjQiQhYhYhYhYfafafarfibfm`7,?ɛ=B=T< 9=[>I9 eD;ɚaiaIe=Imiu7Vi})y)y*F2F!:F!BF%0JF)5Will construct direction to contact in vehicle frame from tetrahedron phase data. IIIG]'HGe?Ge?G9 BA Oe >J J J J J ;J J J jHm <bHi Hu Q>Iq  Iq Iq Iq &Iq .Iq 6Iu <:Iu Fކw,zAzK&lq @RWill construct direction to contact in vehicle frame from tetrahedron phase data.Y>/@>]9>>y>H? ?J< ?@{@pw?@N??ɨ>q @>;>^CyZB^IIf^If5٢n*= nK=9n9Q r>pp rG٣pyvhƷ v> zNusing accuracyPremultiplier from configx~49z3?~4Yz[G iz1Bિ@zNDz ;zh;z"4  $A ԳEZj15DNOT Ignoring new targets: 76.60 m.Bj9'Jj9' ProNav: ac range: 76.599998 m, nav range: 58.899628 m, bearing: 173.102039 deg, approach rate: 0.222449 m/s, LOS rate: -0.584795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.270265 deg. 2jȼ:jk@HeadingCmd: 4.804372 target range: 76.599998 and range: 76.60 m. jjjjihhhhfffrfbf9?ɛB-R< 隭\h>I ~q;ɚiI=Ii5 Vi))*F?2F:FBFI3JF"G=GUWill construct direction to contact in vehicle frame from tetrahedron phase data.GpG B O > A II w,*ɔAB $@YB3@BĦ9B>yBH /??'?C`|t???ɨB $@Bב;B_Cy\^I-Eonly read 0 of 1 data item for altitude. Device response is::BD, +38.90, + +4.73, 7.88, 0.00  M@M M@M M@M  M@M IUIU_,5٢e eA=9ed:Q m>iq uG٣qyu: u> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}P9?JJ 4Y}IN i}6B+::֪@}ND}<}>} 4 (A!]B*** querying acoustic contact ***jYjYZja}DNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 58.994610 m, bearing: 172.855764 deg, approach rate: 0.213464 m/s, LOS rate: -0.552589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.237593 deg. 2j:j@HeadingCmd: 4.803802 target range: 76.599998 and range: 76.60 m. jjjjihhhh f f f rfbfa?ɛ]B]2!< Y]Pc>IY ;ɚiI3=IiiUi1FǺ))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F92F9:F9BF=`5JF9Gy GY Bi O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258127w,KA:'+@Y::@:`9:M >y:H Uh?:? 1N?q?&F VW=9Z~;Q Z>XX ^G٣^5Gyb; b> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from configdj49f>?j4YfT if;Bn :lnY:nn@fNDf:;fDN?fz4p vuAvֳEZj DNOT Ignoring new targets: 76.60 m.BjC/JjC/ j$?Ish ProNav: ac range: 76.599998 m, nav range: 59.080875 m, bearing: 172.635661 deg, approach rate: 0.240573 m/s, LOS rate: -0.612913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.315873 deg. 2jQҼ:j%Ù@-HeadingCmd: 4.805169 target range: 76.599998 and range: 76.60 m. j)j1j1j9iAhAhAhIhIfffrfbf@@ɛBs< L>I ;ɚ)i1I5 =I5i=~Ui=F)9)9EMC>EM>JJJJJ;J*f:JJH9I9 I9I9I9&I9.I96I=<:I= FBIJIRIZIbIjIx4*F2F:FBF05JFzK}NK}9KyK}K}!.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505973G <G rAG Ga Bi O >> w,A}.@Y} >@}>9} >y}H.?? h`z6e?`p?@>t? k?ɨ}.@};yy޵B޵IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758186 U U UU UU  U U UMb@Mb@Mb@QQQ Q)QYU?{Gz?Q?yU ?Uף=Uu G٣yp: > Nusing accuracyPremultiplier from config49C?4Y \ iBBT:Y!?:@NDu ; ;4 XAZjDNOT Ignoring new targets: 76.60 m.Bj#Jj# ProNav: ac range: 76.599998 m, nav range: 59.184772 m, bearing: 172.369403 deg, approach rate: 0.222832 m/s, LOS rate: -0.570049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.177869 deg. 2jü:j5@ HeadingCmd: 4.802760 target range: 76.599998 and range: 76.60 m. j j j j i hhhhBfffrfbf@@ɛ=B=< 9EPO>IA E۩;ɚAiAIE; =IMiMUiMN)I)Q I*F?2F:FBFW1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:56:30.1298  TRx dataTimestamp_ set to:1736366191.452760 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011258GM ݻGi Bq OM >0w,`WAFW7@YFF@F75X9F >yFHJɻ?K?}?҇k? ??ɨFW7@F;DyNBRIIZIZ-5٢ba; fm=9f?:Q f?hh jG٣hynH; n? vNusing accuracyPremultiplier from configpv49rG?z4Yra irGB|~i~@rNDr 2;rt2;r4 RAZj)-DNOT Ignoring new targets: 76.60 m.Bj59"Jj59"E ProNav: ac range: 76.599998 m, nav range: 59.262901 m, bearing: 172.172511 deg, approach rate: 0.225412 m/s, LOS rate: -0.567310 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.385311 deg. 2jE¼:jE͙@MHeadingCmd: 4.806380 target range: 76.599998 and range: 76.60 m. jIjQjQjQiQhQhYhahafafafarfibfm; @ɛB< 隝M>I m;ɚiIJ =Ii9Tis9))*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262262G-9 IGBO >ZH RH H I  I II QBI  =&I .I 6I <:I FUw, AJ&J&J$J$J&];J&`:J$J$J&I NBDAT read: Tx time:19:56:31.2239 N$Ping request sent.NyjH^ܻ?D?vM$?`'5`i??ϲ?ɨj9@je;j^CyB IzKLKh9KKK331)%"  RK-?JK- ?II*5٢EU MC=9M9Q M>QQ UG٣U5GyUq7: }> Nusing accuracyPremultiplier from config49%M?4Ysh iMB_@ OD;::ɳ4 A addTargetRange:: Added new target pos. range: 76.300003 m, deltaT: 3.527621 s, deltaX: -0.299995 m, approachRate: -0.085042 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 59.359329 m, bearing: 171.932819 deg, approach rate: 0.212695 m/s, LOS rate: -0.527839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.257318 deg. 2j :j@%HeadingCmd: 4.804146 target range: 76.599998 and range: 76.30 m. j!j!j!j!i!h)h)hIhQfQfQfQrfU@3S@bf]@ʷ?ɛ-B5< 15 3>I1 5a;ɚ9i9I= =I=iE@TiE>:)A)I*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:19:56:31.2231 G G G > I G B O% >|=w,A6Z1@Y6@@6u)^96 >y6H ?`?@2y4au?@f +k?v?Ų?ɨ6Z1@6;6\CybBbImMb@Mb@Mb@iii i)iYmZd;?#~j? G٣yJ" > Nusing accuracyPremultiplier from config49+R?4Yo iRBV ?: @OD8;=7;;г4B AӳEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.Bj,Jj, ProNav: ac range: 76.599998 m, nav range: 59.453865 m, bearing: 171.702793 deg, approach rate: 0.248433 m/s, LOS rate: -0.603528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.286241 deg. 2jϼ:j@HeadingCmd: 4.804651 target range: 76.599998 and range: 76.30 m. jjjjihhhhBfffrfbf i?ɛEBEP#< AEP >IA MnN;ɚIiIIMε =Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IiýSi/))*Fe?2Fa:FaBFaJFa"Gm=Gm=G }:Ga Bi O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753111i w, /A^@Y^.@^9^b >y^H? ?`K, ?G=r? TU?u?ɨ^@^S;\y~B~III-5٢%  %Q=9-@2Q ->)) 5G٣1 9IEthy5 E> MNusing accuracyPremultiplier from configIU49MV?U4YMOu iMVBY]R]@M,ODM;M;M׳4a eAmճEZjDNOT Ignoring new targets: 76.60 m.BjJ JjJ  ProNav: ac range: 76.599998 m, nav range: 59.544567 m, bearing: 171.483513 deg, approach rate: 0.232216 m/s, LOS rate: -0.560546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.318380 deg. 2jY:jLę@HeadingCmd: 4.805212 target range: 76.599998 and range: 76.30 m. jjjjihhhhfffrfbf@Z8?ɛBތ< 隕>I ;ɚiIt =IiߙSiG))*Fe?2Fa:FaBFe0JFiHI IIILBI =&I.I6IB<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006302zKMKKKKBK:KoAGiG B O >yVw,-IAu@Y @x9 >yH⛺??@wk܋?X<@u?q?t?ɨu@Ó;騑yBIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258224Mb@Mb@Mb@ )YZd;?L7A`?MbP?y+=: A @)`@I@y(@IaIk5٢w 3=9Q > G٣5Gye > Nusing accuracyPremultiplier from config49[?4Y| iYB?:U@>OD;+;߳4 EAZjDNOT Ignoring new targets: 76.60 m.BjJj !I!5 ProNav: ac range: 76.599998 m, nav range: 59.644344 m, bearing: 171.228426 deg, approach rate: 0.206793 m/s, LOS rate: -0.527793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.211254 deg. 2j5:j5@}HeadingCmd: 4.803342 target range: 76.599998 and range: 76.30 m. jyjyjjihhhhBfffrfbf`?ɛ=B=m< AE&>IA E;ɚAiAIM =IMiMSiUFg))EEpA*FM?2FI:FIBFMp0JFIJ J J 1J J ;J ]:J 3J a@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509263G %G sAG )9 9 ~G vAG  Y vAy VBB OU >Fw,eA>@Y>)@>ެ9>u` >y>H?҅?r @ĺ?Gup?}??ɨ>@>Ɉ;>ZCyZ׀BZyIIfIf75٢n nY=9nf;Q r>pp rG٣pyv7; z> ~Nusing accuracyPremultiplier from configx49z`?4Yz iz\B2@zMODz:z;z4 AZj9=DNOT Ignoring new targets: 76.60 m.BjEW-JjMW-] ProNav: ac range: 76.599998 m, nav range: 59.728344 m, bearing: 171.017284 deg, approach rate: 0.241504 m/s, LOS rate: -0.606191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.342678 deg. 2j]м:j]Ǚ@eHeadingCmd: 4.805636 target range: 76.599998 and range: 76.30 m. jajajajaiahihihihqfqfqfqrfybf}?ɛB/k< 隥=I f2;ɚiI =IiŋSi ))*FA2FA:FABFET5JFAGQ GUrAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762564Gb(GBO'> k$?IH I  I II =BI  =&I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013122zK% BoJK% 9K! K% K% RK5 ?JK5 ?=!w,uA:'@Y:N7@:&,9:< >y:HM?@?@g_=>$?`6o #e?o??ɨ:'@: ;:\Cy~ԀB~uII I 45٢5w 5F=9=Z;Q =>9A EG٣AyEՄ; E> UNusing accuracyPremultiplier from configIU49Md?]4YMS iM^BY]]@M^ODM ;M ;M4a mAiZjDNOT Ignoring new targets: 76.60 m.BjdJjd ProNav: ac range: 76.599998 m, nav range: 59.821655 m, bearing: 170.786910 deg, approach rate: 0.226128 m/s, LOS rate: -0.557409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.285179 deg. 2jE:j@HeadingCmd: 4.804633 target range: 76.599998 and range: 76.30 m. jjjjihhhhfffrfbf`w@ɛB~#R< 隭=I =;ɚiI= =Ii?Siƻ{))*F2F:FBF75JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268094GmsGu ?Gu*?  I GI BY Ou >S &w,UA64@Y6D@6Y̺96i* >y6H??b``#?Y?Mw?]?ɨ64@6qf;6ZCy>΀B>nIJrJrJr0JpJr%;Jr_:Jrـ3Jp-Mb@Mb@Mb@))) )))Y-MbX9?Mb?~jthy-!?-@=-D- A -@))I))y-@IEIE05٢U| UH=9],;Q ]>Ya eG٣e5GyeLz; e> mNusing accuracyPremultiplier from configi}49mh?}4Ym im_B}="?}:}@moODm $;m #;m4 A׳EEB*** querying acoustic contact ***jAjAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517308ZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 59.909267 m, bearing: 170.553908 deg, approach rate: 0.201099 m/s, LOS rate: -0.534034 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.277238 deg. 2j@:jk@HeadingCmd: 4.804494 target range: 76.599998 and range: 76.30 m. jjjjihh hhBfffrfbf%#V@ɛBC< =I ;ɚiI =IimRi.9))*F2F:FBF5JFG GR- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770187G B O > I uhx3,w,,A22@Y2nB@292. >y2Hw? ?@\o? @u1U?@rr?@?ɨ22@2;2\CybBf\IInIn<55٢vy vQ=9z04:Q z>|| G٣y >  Nusing accuracyPremultiplier from config 49 Sl?4Y t i `B@ ~OD o; ; 4! -dA)ZjIUDNOT Ignoring new targets: 76.60 m.BjU.JjU.e ProNav: ac range: 76.599998 m, nav range: 59.994125 m, bearing: 170.331185 deg, approach rate: 0.232991 m/s, LOS rate: -0.610653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.307996 deg. 2jmѼ:jm™@mHeadingCmd: 4.805031 target range: 76.599998 and range: 76.30 m. jqjqjqjqiyhyhyhhfffrfbf`|&@ɛB(< 隽 A=I ;ɚiIb =IimRi7))*F12F1:F1BF=_0JF9"GAGEp=HqIq IuIIu)BIq&Iq.Iq6Iṵ<:Iu FWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉBDAT read: Rx Time:19:56:33.7296 TRx dataTimestamp_ set to:1736366194.981805checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023410zK=KK=9K9K=K=Gu!GQBiO>PExceeded connect timeout, disconnecting.#3w, (AnWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276243]T;@Y]J@]h+9]H> >y]H ?ւ?ka*`?})|E?y?J?ɨ]T;@][x;YyuBuUIuMb@Mb@Mb@qqq q)qYuQ?~jt? G٣y  ;  > Nusing accuracyPremultiplier from config49p?4Y i_BA)?:@ODy;a;g4B AԳEZjDNOT Ignoring new targets: 76.60 m.Bj)Jj) ProNav: ac range: 76.599998 m, nav range: 60.102707 m, bearing: 170.037733 deg, approach rate: 0.219819 m/s, LOS rate: -0.593007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.096493 deg. 2j|˼:j@HeadingCmd: 4.801340 target range: 76.599998 and range: 76.30 m. j!j!j!j!i!h!h!h)h-rBf)f)f1rf1bf5{ @ɛeBei< aeX=Ia m~ ;ɚiiiIm; =IuiuQiu|ud:)q)y*FE?2FA:FABFE^0JFAJ J J 1J J ];J b:J 3J Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 76.1 m (Round-trip 101.5 ms) speed 0.0 m/s *DAT read: user:978> BDAT read: Tx time:19:56:34.8240 $Ping request sent.G9w,FAf$<@YfK@fgF9fp >yfH?x?`YLo?`ę?? ;e??ɨf$<@f^;f[Cy%B%>III:5٢I̽ c=9$9Q > G٣5GyT9 > UNusing accuracyPremultiplier from config U49 *t?U4Y  i ^BY]]@ OD $0< O+< z 4a e+Ai addTargetRange:: Added new target pos. range: 76.099998 m, deltaT: 3.528037 s, deltaX: -0.200005 m, approachRate: -0.056690 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.Bj%Jj%- ProNav: ac range: 76.599998 m, nav range: 60.180195 m, bearing: 169.831562 deg, approach rate: 0.218025 m/s, LOS rate: -0.579347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.357495 deg. 2j5Ƽ:j5ə@5HeadingCmd: 4.805895 target range: 76.599998 and range: 76.10 m. j9j9jAjAiAhAhAhhfffrf`fS@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:56:34.8232 ɛ}B}\:; 隥ŻI `;ɚiI9$ =IiV>Qi)) I*Fu?2Fy:FyBF}_0JFyZHa RHa Hi Ii  Im IIm BIi &Ii .Ii 6Im <:Im FBI)JI)RI)ZI- =bI- =jI- 3G 7: Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >1-@w,AB5@YB]E@B)9B| >yBHͽ?`?wQ?}㌿!E?`ri?ٳ?ɨB5@Bɇ;B\CyJBN;IzKNKKN]9KLKNKNI^[I^5٢f] fY=9fQ f>hh jG٣hyn n> vNusing accuracyPremultiplier from configpv49rw?z4Yr. ipxzz@rODr:r.:r4| @AZj!-DNOT Ignoring new targets: 76.60 m.Bj--Jj--E ProNav: ac range: 76.599998 m, nav range: 60.262455 m, bearing: 169.614979 deg, approach rate: 0.230110 m/s, LOS rate: -0.605027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.326356 deg. 2jEϼ:jEpř@MHeadingCmd: 4.805351 target range: 76.599998 and range: 76.10 m. jIjIjIjIiIhQhQhQhYfYfYfYrfabfe NR?ɛ  ڽ;  SI  l;ɚiI =Ii%Pi%v9)!)1 nManaging dock network, ignoring radio surface power off*F-?2F):F)BF-p0JF)G1 G5tAWill construct direction to contact in vehicle frame from tetrahedron phase data.GM': IGI BQ Om >'ZFw,AJ\J^@AJMJMJM0JIJM%;JM]:JMـ3JIy޵B޵-IEMb@Mb@Mb@AAUWill construct direction to contact in vehicle frame from tetrahedron phase data.A A)AYE|?5^?V-?{GzyE-?E G٣y > Nusing accuracyPremultiplier from config49{?4YU i]B.?:~@OD[; ;4 AֳEmB*** querying acoustic contact ***jijiZjyDNOT Ignoring new targets: 76.60 m.Bj&Jj& ProNav: ac range: 76.599998 m, nav range: 60.365856 m, bearing: 169.334240 deg, approach rate: 0.214882 m/s, LOS rate: -0.582415 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.134473 deg. 2jǼ:j@HeadingCmd: 4.802002 target range: 76.599998 and range: 76.10 m. jjjj!i!h!h!h)h-BBf)f)f1rf1bf5?ɛB; 隭8I ~;ɚiI =IiUPi09))*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.G ! y I vhG B O >Lw,qt4A:@Y:5@:79:y>y:H`M?@P?0¿@U?`b?`,B?5?ɨ:@:PÉ;8y\^,IIfxIf&5٢r6[ ri=9v*Q v>tt vG٣z5Gyz_ z> Nusing accuracyPremultiplier from config|49~~?4Y~ i~\B   @~OD~:~P:~ 4 AZj9EDNOT Ignoring new targets: 76.60 m.BjE8JjE8U ProNav: ac range: 76.599998 m, nav range: 60.444416 m, bearing: 169.120983 deg, approach rate: 0.237992 m/s, LOS rate: -0.645205 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.336277 deg. 2j]fݼ:j]ƙ@eHeadingCmd: 4.805524 target range: 76.599998 and range: 76.10 m. jajijijiiihihihqhqfqfyfyrfbf(?ɛ@e; 隵 %I d;ɚiI =Ii_PiX))EEsAH!I! I%II%BI% =&I!.I!6I%<:I% F*F-?2F):F)BF-`5JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509077zKKK+9KKK*QPq8 $($G7:Ga Bq O >zlSw,6\NAfWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764095 @YF@39L>yHn?11 5G٣1y5 D 5> MNusing accuracyPremultiplier from configIU49MU?U4YM= iM[BU1?U:U]@MODM;M;Mo&4a eAaZjDNOT Ignoring new targets: 76.60 m.Bj1Jj1 ProNav: ac range: 76.599998 m, nav range: 60.551727 m, bearing: 168.822205 deg, approach rate: 0.223668 m/s, LOS rate: -0.621633 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.080518 deg. 2jOռ:jJ@HeadingCmd: 4.801061 target range: 76.599998 and range: 76.10 m. jjjjihhhh,BfffrfbfV?ɛB:L; XbI ;ɚiI =IizPiL))*F2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013084G G B O >KYw,-hA2 @Y2@2_v#92 >y2Hnm??z4C? Snd?? ?ɨ2 @2B;2^CyhhI~I~S<5٢ْ: k=9C:Q %?!! %G٣!y-x -? ENusing accuracyPremultiplier from configAM49E?U4YEX iEZBY]]@EODEWg;E^;EQ,4i mAiZjDNOT Ignoring new targets: 76.60 m.Bji.Jji. ProNav: ac range: 76.599998 m, nav range: 60.628021 m, bearing: 168.613117 deg, approach rate: 0.222836 m/s, LOS rate: -0.609924 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.348740 deg. 2jJѼ:jș@HeadingCmd: 4.805742 target range: 76.599998 and range: 76.10 m. jjjjihhhhfffrfbf @ɛ:; PfI %Q;ɚ!i!I% =I-i-̎Pi)))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266121*Fa2Fi:FiBFmr0JFi m$?IGg{jH <bH 4<H P>I  I II BI &I .I 6I ԰<:I FGA By O >J J J 1J J ;J [:J 3J J FynH? ? P@_?dx`?b??ɨn@nsM;n[CyzBz!III85٢. J=90:Q >! %G٣%5Gy%=: %> -Nusing accuracyPremultiplier from config)549-,?54Y- i-XB9==@- PD- ;-: ;-U34A EAIZjimDNOT Ignoring new targets: 76.60 m.Bju:3Jju:3 ProNav: ac range: 76.599998 m, nav range: 60.720085 m, bearing: 168.364766 deg, approach rate: 0.232700 m/s, LOS rate: -0.626778 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.231306 deg. 2j׼:jٷ@HeadingCmd: 4.803692 target range: 76.599998 and range: 76.10 m. jjjjihhhhfffrfbf Z@ɛmBm; im}I ;ɚiI =IiPiWVa))*Fi2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771493 !I!G G B O >fw,+ޛA2;@Y2@2 92ړ >y2H@:??5?8Z`d?D? ?ɨ2;@2~ň;2ZCyޅBޅ.IMb@Mb@Mb@ )Yv?{Gz?Mbpy8?ף< A @)I3@yz@I-I-6=5=Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:19:56:37.3289 ETRx dataTimestamp_ set to:1736366198.508785Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022254٢U';= U8=9]pQ ]>YY ]G٣aye9 m> uNusing accuracyPremultiplier from configq}49u?}4Yu iuYB8?:P@uPDu+;u;u;4 AسEZjDNOT Ignoring new targets: 76.60 m.BjP7JjP7 ProNav: ac range: 76.599998 m, nav range: 60.826347 m, bearing: 168.078278 deg, approach rate: 0.238194 m/s, LOS rate: -0.641058 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.117293 deg. 2jۼ:j@HeadingCmd: 4.801702 target range: 76.599998 and range: 76.10 m. jjjjihhhhIBff~~G5`wAfAIrfA }Y}`wAy}Bbf@@ɛMBMx; IM0II Uo;ɚQiQIU =I]i]>Pi]s=)Y)a*F?2F:FBFJFGrA GsA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272983 I whG ˴G B O >lw,ԵA6%@Y6 @68:96u >y6HP??3ֹ?HAg?1A?1?ɨ6%@6;4y>BB3IIJIJ:5٢R< Ri=9R,Q V>TT ZG٣Xy^(8 ^> bNusing accuracyPremultiplier from config`f49bx?f4Yb i`hjqj@b0PDbW;b;b=A4l nvAl~B*** querying acoustic contact ***j|j|Zj DNOT Ignoring new targets: 76.60 m.Bj6Jj6% ProNav: ac range: 76.599998 m, nav range: 60.910679 m, bearing: 167.853777 deg, approach rate: 0.240579 m/s, LOS rate: -0.639562 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.302649 deg. 2j%vۼ:j% ™@-HeadingCmd: 4.804938 target range: 76.599998 and range: 76.10 m. j)j)j)j)i)h1h1h9h9f9fAfArfAbfE,0 @ɛquHd; qu Iq };ɚyiyI} =IiQi0))HI IIIBI&I.I6I<:I FJJJ0JJJ]:Jـ3JJJJ;J;*F?2F:FBF`0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 75.5 m (Round-trip 100.7 ms) speed 0.0 m/s U*DAT read: user:979> -UX#Rx 1: Read range message, but no direction.9y=B9eT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.zKJK+9KKKBK:KsAGԑGBO>sw,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.^rDAT read: Tx time:19:56:3.440 TxSync time:19:56:38.4232 f$Ping request sent.fyH@?? 4m@t?4j? m@?5?ɨ@nF;[CyB<IMb@Mb@Mb@ )Y +?Zd;O?Mb?y6?j<< A @)I@y@II<55٢< !=9ujQ > G٣5Gy > Nusing accuracyPremultiplier from config49v?4Y i\B6?:F@GPD;I;J4 B @AճEe addTargetRange:: Added new target pos. range: 75.500000 m, deltaT: 3.528134 s, deltaX: -0.599998 m, approachRate: -0.170061 m/s, rangeRepo size: 4 ZjamDNOT Ignoring new targets: 76.60 m.Bjmo2Jjmo2} ProNav: ac range: 76.599998 m, nav range: 61.033531 m, bearing: 167.533459 deg, approach rate: 0.239808 m/s, LOS rate: -0.624000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.016260 deg. 2jּ:j@HeadingCmd: 4.799939 target range: 76.599998 and range: 75.50 m. jjjjihhhhJBfffrfR@bf`C?ɛB; I #;ɚiIn =Ii'|QiiȻ))*Fu?2Fq:FqBFu_0JFqMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246481G XG B O >yw,wAJ@YJ5@J#\9Jy >yJHW?`ы? oX`K??okp? _a? ?ɨJ@Jq;J\CyZB^UIInaInk5٢z> z=9~Q ?   G٣ yz ? Nusing accuracyPremultiplier from config%49ᔍ?%4Y i^B!-z-@UPD:":O41 5AZjDNOT Ignoring new targets: 76.60 m.Bj-Jj- ProNav: ac range: 76.599998 m, nav range: 61.109432 m, bearing: 167.337675 deg, approach rate: 0.236034 m/s, LOS rate: -0.608083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.388587 deg. 2jм:jVΙ@HeadingCmd: 4.806437 target range: 76.599998 and range: 75.50 m. jjjj!i!h!h!h)h)f)f)f)rfQbfU?ɛƤ; 隥~Qi6))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498777 Ixh*F?2F:FBF0JF"GGHI IIIBI&I.I6I<:I FG UJ#K# K#K#K#"K#J J J J J ;J _:J J J XH<J XH<J t;J u;G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7502968ɀw,KA6Ԓ@Y6-@6u96̱ >y6H P?y?D@!?(u?H?ܴ?ɨ6Ԓ@6;6[CyNBRZIIZIZ15٢b< bN=9bXUQ f>dd fG٣dyjXʻ j> nNusing accuracyPremultiplier from configlv49n嗍?v4YnG inaBxzʸz@ngPDn];n];nqV4 A׳EzKJKh9KKK 1540///-+(%%#"! RK% ?JK%?ZjDNOT Ignoring new targets: 76.60 m.Bj2Jj2 ProNav: ac range: 76.599998 m, nav range: 61.206314 m, bearing: 167.089243 deg, approach rate: 0.244272 m/s, LOS rate: -0.625389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.231113 deg. 2jּ:jҷ@HeadingCmd: 4.803689 target range: 76.599998 and range: 75.50 m. jjjjihhhhfffrf!bf%?ɛ < 隅pw,l%A6浒@Y6_ř@6r96 >y6H·? :?I mɷ?`$wB}??˲?ɨ6浒@6;6]Cy>ˀB>iI Mb@Mb@Mb@    ) Y X9v?Zd;O?I +?y 3? j<= 94< zA @) @I I@ y @I=iI=5٢Un= UB=9UQ U> G٣y > Nusing accuracyPremultiplier from config49雍?4YG ifB4?:#@{PD;;^4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254475Zj)5DNOT Ignoring new targets: 76.60 m.Bj54Jj54E ProNav: ac range: 76.599998 m, nav range: 61.321281 m, bearing: 166.822611 deg, approach rate: 0.272844 m/s, LOS rate: -0.631589 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.176846 deg. 2jEؼ:jM@]HeadingCmd: 4.802742 target range: 76.599998 and range: 75.50 m. jYjYjajaiahahahihmBfififirfqbfu`_?ɛBp < 隥(@=I S;ɚiI =Ii!SiP))*Fi2Fi:FiBFmP5JFiGGi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506471 I w,7A2@Y23ș@292_d>y2Hsٷ?? -@Fݷ?xZ|?`Ľ?`?ɨ2@2ᢇ;2\CyN؀BNzIIZIZ65٢b= fS=9f:Q f>hh jG٣j5Gyj\s: n> rNusing accuracyPremultiplier from configpv49rV?v4Yr irkBtvz@rPDr:r:rd4y }AyB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.Bj&Jj& ProNav: ac range: 76.599998 m, nav range: 61.420246 m, bearing: 166.596499 deg, approach rate: 0.255657 m/s, LOS rate: -0.583176 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.297976 deg. 2j ȼ:j b@5HeadingCmd: 4.804856 target range: 76.599998 and range: 75.50 m. j9j9j9j9i9hAhIHaIa IeIIe BIa&Ia.Ia6Iḛ<:Ie FBI!JI!RI!ZI% =bI% =jI%<3hhfffrfbf?JJJJJ=;JY:JJJKD<JLD<J;J;ɛ;< 隍ܕ=I j;ɚiIΠ =IiFUiD))%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758631*FY2FY:FYBF]T5JFYGesA GerAzKGMK9KKK   Ge KG9 BA Oe >w,HPAJWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013891 yIm@Ym}Ι@m qɻ9mNy>ymH ?O?`?@Ň|.y?a??ɨm@mC;m]CyޥBޥIeMb@Mb@Mb@aaa a)aYeFx?)\(?{Gz?ye+?eGa=eף G٣y: >  Nusing accuracyPremultiplier from config49:?4Y  isBm,?:-@PDs:;#9;qm4) -:A)ZjIUDNOT Ignoring new targets: 76.60 m.BjU)Jj])m ProNav: ac range: 76.599998 m, nav range: 61.555435 m, bearing: 166.304634 deg, approach rate: 0.275330 m/s, LOS rate: -0.593111 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.101589 deg. 2jm˼:jmM@uHeadingCmd: 4.801428 target range: 76.599998 and range: 75.50 m. jqjqjqjqiqhyhyhyh}Bfffrfbf`2@ɛ_< 隽=I Q;ɚiIZ =Ii_ViBG:))*F}?2Fy:FyBF}4JFy5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262353Ge IG9 BI Oa u1w,jAFbĒ@YFә@Fe9F>yFH@W6? ? & T,? v?[? i?ɨFbĒ@FJ;F[CyRBRIXZAAI^I^,5٢b > f=9f:Q f?hh jG٣hy-0 ; -? =Nusing accuracyPremultiplier from config1=495@?E4Y5f i5xBAEE@5PD57:5X:5r4I UAUٳEZjyDNOT Ignoring new targets: 76.60 m.Bj#Jj# ProNav: ac range: 76.599998 m, nav range: 61.639595 m, bearing: 166.125587 deg, approach rate: 0.269487 m/s, LOS rate: -0.572541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.438796 deg. 2jwļ:jՙ@HeadingCmd: 4.807314 target range: 76.599998 and range: 75.50 m. jjjjihhhhfffrfbf@ɛ< 1<>I  E;ɚiI =Ii(Wio1))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514602*F?2F:FBF`0JF un$?IuyhG0,.jHQbHU<HYIY I]II].BIY&IY.IY6I]<:I] FGBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766377Mw,yAzƒ@Yz+֙@zg9zw>yzHH?@?@@ _;? lu?{?`#?ɨzƒ@z#;xy B III|+5٢-_= -D=9-ES:Q 5>11 5G٣55Gy=1: => ENusing accuracyPremultiplier from configAU4zK],pLK]]9KYK]K]9E.?m4YEz iE~Bimm@EPDE;E;Ey4y /AZjDNOT Ignoring new targets: 76.60 m.Bj!Jj! ProNav: ac range: 76.599998 m, nav range: 61.749786 m, bearing: 165.893969 deg, approach rate: 0.269824 m/s, LOS rate: -0.566148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.281606 deg. 2jE¼:j @HeadingCmd: 4.804570 target range: 76.599998 and range: 75.50 m. jjjjihhhhfYfYfYrfYbfet @ɛz< 隭|+>I 8;ɚiI=IiB5XiH(/))*F?2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:56:40.9281 TRx dataTimestamp_ set to:1736366202.288710checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019460 qIyG.-G B O >Aw,mAJ2J0J0J0J2;J0J0J0a:@a:@a:@a:@Fʒ@YFLڙ@Fr9F$>yFHi?҈?¿ @W?`V́@Is??8?ɨFʒ@F;F\CyRBRIEMb@Mb@Mb@AAA A)AYEMbX9?X9v?y&1?yE!?E}=E` G٣yn: > Nusing accuracyPremultiplier from config49G?4YH  iB"?:;@PD;;74 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272842q uAqZjDNOT Ignoring new targets: 76.60 m.Bj[Jj[ ProNav: ac range: 76.599998 m, nav range: 61.860382 m, bearing: 165.672915 deg, approach rate: 0.251274 m/s, LOS rate: -0.501335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.313244 deg. 2j:jÙ@HeadingCmd: 4.805122 target range: 76.599998 and range: 75.50 m. jjj j iAhIhqhhBfffrfbfB @ɛS< NV>I h);ɚi!I%f=IiX  BDAT read: Tx time:19:56:42.0240  $Ping request sent. jw,GAvԒ@Yv!@v-9vM>yvH? ?H?B pq?x?`A?ɨvԒ@v;vZCy$BIII_,5٢-V< -P=9-W:Q ->11 5G٣1y=&H; => ENusing accuracyPremultiplier from configAM49E2?M4YE& iEBQUU@EPDE:E:E4eB eYAeֳE}B*** querying acoustic contact ***jjHI IIIVBI&I.I6IͰ<:I F addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.782778 s, deltaX: -0.500000 m, approachRate: -0.132178 m/s, rangeRepo size: 4 Zj!%DNOT Ignoring new targets: 76.60 m.Bj-#Jj-#] ProNav: ac range: 76.599998 m, nav range: 61.966549 m, bearing: 165.463814 deg, approach rate: 0.291322 m/s, LOS rate: -0.572790 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.348984 deg. 2j]ļ:j]ș@eHeadingCmd: 4.805747 target range: 76.599998 and range: 75.00 m. jajajajaiahihihihifqffrfR@bf a?ɛ< a>I p;ɚiI=Ii%Yi%Q)!)! Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:56:42.0232 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EQEYzKJK9KKK *F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499758GI y Iy GBO>mw,ΈAy0BIMb@Mb@Mb@ )Yn? rh??y?C=<3 A @)v@I`@y @IJI:5٢E=  =9Q > G٣5Gy > Nusing accuracyPremultiplier from config49Z?4Y}. iB(?:̮@PD1; ;4  A ZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 62.100124 m, bearing: 165.215457 deg, approach rate: 0.254233 m/s, LOS rate: -0.471679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.231761 deg. 2jڡ:j귙@HeadingCmd: 4.803700 target range: 76.599998 and range: 75.00 m. jjjjihhhhBff!f!rf!bf%`d?ɛ{v< 隕z>I ;ɚiI^=IihZi))JJJ1JJJb:J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750018) CQvA XYvAyBE-~E<*F ?2F :F BF JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001402 I G GBO>w,A6ג@Y6!@6dϻ96>y6Hϸ??B¿DJʸ?ඵ~@y?$ ?H?ɨ6ג@6;6\CyB9BBIIJVIJ5٢R= R5=9R4Q V>TT VG٣TyZWU: Z> bNusing accuracyPremultiplier from config`f49b뼍?f4YbV5 ibBdff@bQDb:b:bߘ4l nAnسEZjyDNOT Ignoring new targets: 76.60 m.Bj Jj  ProNav: ac range: 76.599998 m, nav range: 62.219345 m, bearing: 164.996673 deg, approach rate: 0.264800 m/s, LOS rate: -0.485005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.320124 deg. 2jm:ję@HeadingCmd: 4.805243 target range: 76.599998 and range: 75.00 m. jjjjihhhhfffrfbf?ɛ!%Ś< !%>I) M3;ɚIiQIU)=IUi][i])Y)YEaEa*Ei"EiZHRHAAHI I@IIzBI&I.I6IѰ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253614*F-?2F):F)BF-`0JF)zK LK K K K GM GU ?GU >G) B1 Oe >ćw,EA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505581 dIfzhZ@YZE@Z⽻9Zb>yZH?x?a¿{?v6Iw??`o?ɨZ@Z6(;Z[Cyޭ8B޵IIQIQ٢ #=9y:Q > G٣5Gy%W; %> MNusing accuracyPremultiplier from config)U49->?U4Y-6= UtIi-BQ]d]@-QD-;-;-4a eAaZjDNOT Ignoring new targets: 76.60 m.Bj Jj  ProNav: ac range: 76.599998 m, nav range: 62.358303 m, bearing: 164.746520 deg, approach rate: 0.274643 m/s, LOS rate: -0.493311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.226445 deg. 2jG:j'@HeadingCmd: 4.803607 target range: 76.599998 and range: 75.00 m. jjjjihhhh!f)f)f)rf)bf-4?ɛ}B},< y} >I ]w<ɚiI=Iij\i}Iػ))EErAJeJeJaJaJe;Je]:JaJa*F}?2Fy:FyBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757388GY G9 BI Ou >qʇw,,A2 @Y2@2U_w92A>y2Hd?\?¿IC?.n???ɨ2 @2Ӈ;2ZCyBBBBI F=F=Mb@Mb@Mb@ )YGz?333333?Q?y?=u< A )QAIy@I-xI-&5٢5b= =c=9=E;Q E>AA EG٣AyMd!< M? UNusing accuracyPremultiplier from configQ]49Uƍ?]4YU9B iUBe?e:ee@U%QDU;UO;U4i mhAiZjDNOT Ignoring new targets: 76.60 m.Bj%KJj%KU ProNav: ac range: 76.599998 m, nav range: 62.451672 m, bearing: 164.588808 deg, approach rate: 0.261558 m/s, LOS rate: -0.441144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.502770 deg. 2jU`:jUޙ@}HeadingCmd: 4.808431 target range: 76.599998 and range: 75.00 m. jjjjihhhh#Bfffrfbfn?ɛr!<  >I  a<ɚ)i1I5G=I5i=Q\i=p)9)9UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.009635 I*F?2F:FBF0JFHI IYIIBI&I.I6Iΰ<:I FG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261458чw,FA>5(@Y>7@>ٺ9>^>y>H P?`5?@ 8?\`~1[???ɨ>5(@>/;X\ ^G٣\yb< b> fNusing accuracyPremultiplier from configdj49fNʍ?n4YfG ifBprr@f3QDfEs;fs;f4t vAx B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 76.60 m.Bj% Jj% 5 ProNav: ac range: 76.599998 m, nav range: 62.558090 m, bearing: 164.412118 deg, approach rate: 0.287014 m/s, LOS rate: -0.475727 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.446035 deg. 2j5>:j5֙@=HeadingCmd: 4.807440 target range: 76.599998 and range: 75.00 m. j9j9jAjAiAhAhAhIhIfIfIfIrfQbfU@ɛBzi< 隅>I % <ɚiI=IiD\i`P))zKKKh9KKK*F?2F:FBFP5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514981 o$?IG]]UG}rAG}sAGqBO>ׇw,yy`AJJJ0JJJ*f:Jـ3JR:@YR$J@R-:9R:>yRH ?~?U`=?E'??`?ɨR:@R ;R]Cyb0BbIMMb@Mb@Mb@III I)IYM rh?~jt?y&1|?yM ?M=M`;MI A I)M@IIIyIIeyIe'5٢uy u?=9ub;Q }>yy G٣5Gy6; > Nusing accuracyPremultiplier from config49"ύ?4YM iB ?:੿@CQD;;-4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766566ZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 62.675564 m, bearing: 164.223211 deg, approach rate: 0.273219 m/s, LOS rate: -0.438535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.409545 deg. 2j{:jUљ@HeadingCmd: 4.806803 target range: 76.599998 and range: 75.00 m. jjjjihhhhBfffrfbf`@ɛY]< Y](u>Ia ep <ɚaiaIe=Imiͬ[iT:))Ea>E>*FA2FI:FIBFU`5JFQm Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:19:56:44.5280 u TRx dataTimestamp_ set to:1736366205.816674} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018582G} E I GA BQ O >@݇w,TzA6T@Y6#d@6<:96ٕ>y6H{?{?@d [xZ?ʑ`Z^?w?ɨ6T@6j;6\CyR,BRITVAIZIZ05٢b bV=9fʚ;Q f>dh jG٣hyj=< j> rNusing accuracyPremultiplier from configlr49n}Ӎ?v4YnXS inBtvyv@nPQDn:n:nټ4zB zA~׳EZj!-DNOT Ignoring new targets: 76.60 m.Bj-Jj-jH]<bH]<HeQ>Ia IaIaIa&Ia.Ia6Ie<:Ie FBI)JI)RI)ZI)bI)jI-3 ProNav: ac range: 76.599998 m, nav range: 62.781342 m, bearing: 164.055859 deg, approach rate: 0.278491 m/s, LOS rate: -0.439861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.473990 deg. 2j:jڙ@HeadingCmd: 4.807928 target range: 76.599998 and range: 75.00 m. jjj j i h h hhff9f9rf9bf= [ @ɛB< !-k>I) -m<ɚ)iIIMAB=IUiUZiU`f;)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270090*F?2F:FBFs4JFzKJK9KKKG}:G B O >w,/AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 74.9 m (Round-trip 99.9 ms) speed 0.0 m/s *DAT read: user:981> ,I,BDAT read: Tx time:19:56:45.6241 2$Ping request sent.2yHm?`\y?K?p듿 skM? ?ɨAl@;y$BIIMIM95٢ $=9^;Q > G٣y E;  > Nusing accuracyPremultiplier from config49]ٍ?4YZ iB!%%@bQD:7:Ŵ4I M[AI} addTargetRange:: Added new target pos. range: 74.900002 m, deltaT: 3.525227 s, deltaX: -0.099998 m, approachRate: -0.028367 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 62.923946 m, bearing: 163.833919 deg, approach rate: 0.278250 m/s, LOS rate: -0.432066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.310907 deg. 2jB:j;Ù@HeadingCmd: 4.805082 target range: 76.599998 and range: 74.90 m. jjjjihhhhfffrfR@bfE?ɛB.< 隕[>I <ɚiI=IiqYi;))*Fu?2Fq:FyBF} 5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:56:45.6233 G 1t;G ?G ?G B O >/w,A2A@Y2@29N;92>y2H ?v?`&&`?啿)t@?S?ɨ2A@2,;2[Cy>B>I Mb@Mb@Mb@    ) Y Q?i|?5?~jthy \? q= D 3 A ) I v@ y I%_I%5٢K h=9 ;Q ? G٣5Gy=; ? Nusing accuracyPremultiplier from config49܍?4Y|_ iB'?:@oQDD";'!;˴4 AZj DNOT Ignoring new targets: 76.60 m.Bj-Jj-% ProNav: ac range: 76.599998 m, nav range: 63.017010 m, bearing: 163.681083 deg, approach rate: 0.275479 m/s, LOS rate: -0.451744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.517367 deg. 2j%:j%@-HeadingCmd: 4.808685 target range: 76.599998 and range: 74.90 m. j)j)j)j1i1h1h1h1h=Bf9f9f9rf9bfE#?ɛmBm&< iu/>Iq u<ɚqiqIu=IiWXi3<))EWill construct direction to contact in vehicle frame from tetrahedron phase data. I{h*F=?2F9:F9BFE_0JFAG5~q;GBOL>HI IGIIBI&I.I6Iհ<:I FJJJJJ;J]:JJJEII MG٣IyU U> eNusing accuracyPremultiplier from configam49e፜?m4Ye$e iaiiu@e}QDe:e:eҴ4y }vAyB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 63.124237 m, bearing: 163.506441 deg, approach rate: 0.274813 m/s, LOS rate: -0.446828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.452167 deg. 2jS:jmי@HeadingCmd: 4.807547 target range: 76.599998 and range: 74.90 m. jjjjihhhhfffrfbfB?zKJKh9KKKɛ!-ϝ< )->I) -Ni<ɚ)i1I5=I5i=Vi=3;)9)9*F2F:FBF`0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GYGI BQ Om >/;w,+A:m@Y:f}@:;9:\ >y:H ${??@Y?`?@xTC??ɨ:m@: ;:\CyBBBIMb@Mb@Mb@ )Y`"?y&1?{Gzy?`e=# A @)QAII@yI-YI-5٢54=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253177 =K=9U3.;Q U>QQ UG٣Yy]ᄏ ]> mNusing accuracyPremultiplier from configam49eF卜?m4YeWk ieBu?u:uu@eQDeD;e ;eٴ4y AZjDNOT Ignoring new targets: 76.60 m.BjeJje ProNav: ac range: 76.599998 m, nav range: 63.239750 m, bearing: 163.314930 deg, approach rate: 0.286113 m/s, LOS rate: -0.473485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.401723 deg. 2jy:j7Й@HeadingCmd: 4.806667 target range: 76.599998 and range: 74.90 m. jjjjihhhhҀBfffrfbf?ɛB*އ< 8=I <ɚiIo=IiQUil;)!)!*F2F:FBFl0JF IG*;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504486G B O >=ew,aA2xr@Y2@2f;92 >y2H@9?`A?H |?@* |#K? ?ɨ2xr@2c;2XCy>ـB>{IIFIFp;5ZHTRHV@AHXIX IZIIZ[BIZ =&IX.IX6IZ <:IZ F٢N bU=9fg&;Q f>dd jG٣hyjI: j> rNusing accuracyPremultiplier from configlr49nY鍜?v4YnFq inBtvv@nQDnL:nL:n[4x ~A~ٳEZj%DNOT Ignoring new targets: 76.60 m.Bj-Jj-E ProNav: ac range: 76.599998 m, nav range: 63.351082 m, bearing: 163.132342 deg, approach rate: 0.287949 m/s, LOS rate: -0.471414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.428403 deg. 2jEá:jEԙ@MHeadingCmd: 4.807133 target range: 76.599998 and range: 74.90 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbfe_<  q=I  <ɚ i I Z=IiTiYq;))E)E)JJJJJ;JJJJXH<JXH<JJ*F2F:FMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756546BF0JFQzKu7KKus9KqKuKuG;Gi Bq O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010450Mw,> Ar@Yr@r<9rE >yrH??5}? @C`{?` L?@?ɨr@r[;r[Cy~ƀB~dIAI I >5٢° %B=9%8;Q %>)1 5G٣=5GyE; M> Nusing accuracyPremultiplier from configi 49m퍜?4Ymw imB!%%@mQDmrw w,&0 A6@Y6@6m9<96M >y6Hݾ?z?  0?@->@[?ʳ?ɨ6@6;6]CyZBZ[IEMb@Mb@Mb@AAA A)AYE'1Z?~jt?yy }G٣yy; > Nusing accuracyPremultiplier from config49?4Yy~ iB+#?:@QD;;4B AֳEZjDNOT Ignoring new targets: 76.60 m.Bj.Jj. ProNav: ac range: 76.599998 m, nav range: 63.594559 m, bearing: 162.726778 deg, approach rate: 0.356114 m/s, LOS rate: -0.610462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.354895 deg. 2jzѼ:jə@HeadingCmd: 4.805850 target range: 76.599998 and range: 74.90 m. jjjjihhhhBfffrf bf @ mp$?Iu|hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512914ɛ}B}< y}F;Iy }<ɚiIZ=Ii&Qi)<))*FE?2FA:FABFE`5JFAHI III.BI&I.I6I<:I FJJJ1JJ;J`:J3JJE<JE<JZ;JZ;Gm 1X<GA BQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764422O >^w,I A@Y6@4T<9 >yH&?@Dz? q@k?6❿l@:L?(?ɨ@;騕ZCzKuKKu 9KqKuKuyޅBޅ6III=5٢ *=9Z;Q > G٣5Gyh; > Nusing accuracyPremultiplier from config49?4Ye iBc@QD ;m ;>4 zAB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 76.60 m.Bj-GJj-G= ProNav: ac range: 76.599998 m, nav range: 63.738132 m, bearing: 162.483688 deg, approach rate: 0.298669 m/s, LOS rate: -0.504547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.247601 deg. 2j=":j=.@EHeadingCmd: 4.803977 target range: 76.599998 and range: 74.90 m. jAjAjIjIiIhIhIhQhQfQfYfYrfabfe @ iIiɛB6߹; 隍hhI c#<ɚiIw=Ii{Ni1,6<))EV>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:56:48.1280 TRx dataTimestamp_ set to:1736366209.346309checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019185*Fi2Fq:FqBFqJFyG 2<G B O >w,¤d A^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268382yB%I a=a=Mb@Mb@Mb@ )Yoʡ?Q?~jty-?< A )I@y@II3A5٢< g=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y iBK-?:U@QD;;m4 A ZjYDNOT Ignoring new targets: 76.60 m.Bj Jj  ProNav: ac range: 76.599998 m, nav range: 63.848110 m, bearing: 162.292620 deg, approach rate: 0.280338 m/s, LOS rate: -0.486201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.402990 deg. 2j֦:jeЙ@HeadingCmd: 4.806689 target range: 76.599998 and range: 74.90 m. jjjjihhhheBfffrfbf  @ɛMBMO; QU௽IY ]e <ɚYiYI}Ö=IiX0Mi4<))*F2F:FBF5JF I}hmWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed 0.0 m/s *DAT read: user:982> BDAT read: Tx time:19:56:49.2241 $Ping request sent.jH9 bH= 4=$w,Gu~ AHyIy I}II}BIy&Iy.Iy6I}<:I} FV@YV@Vcyu<9V >yVH`C?z?z .y?埿 ᮎ`3?Ĵ?ɨV@V;V[CybBbIIjIjp;5٢r8 r[=9v;Q v>tt vG٣xyzm: z> ~Nusing accuracyPremultiplier from config|49~?4Y~( i~B  G @~QD~*:~n:~4 1AسEu addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.528460 s, deltaX: -0.099998 m, approachRate: -0.028341 m/s, rangeRepo size: 4 Zjq}DNOT Ignoring new targets: 76.60 m.Bj}(Jj}( ProNav: ac range: 76.599998 m, nav range: 63.964687 m, bearing: 162.092338 deg, approach rate: 0.344282 m/s, LOS rate: -0.590405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.375459 deg. 2jʼ:jv̙@HeadingCmd: 4.806209 target range: 76.599998 and range: 74.80 m. jjjjihhhhfffrf@3R@bf i?J=J=J9J9J=;J=[:J9J9J=XH<J=XH<J=߮;J=;ɛB8: 隝TսI <ɚiIh=IiKiR/<<))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:56:49.2233 *F?2F:FBF_0JFzKKK59KKKG(<G B O > I } Will construct direction to contact in vehicle frame from tetrahedron phase data.m%w,I A:S@Y:ͭ@:S<9: >y:H?{?E@(?@FJ Q? ?ɨ:S@:Ȉ;:YCyRqBRIIbqIb#5٢j jL=9j:Q n>ll rG٣pyr7 r> vNusing accuracyPremultiplier from configtz49vr?z4Yv6 ivB|~k~@vRDv ;v;v 4 A ZjDNOT Ignoring new targets: 76.60 m.Bj%dJj%d ProNav: ac range: 76.599998 m, nav range: 64.090958 m, bearing: 161.877146 deg, approach rate: 0.300991 m/s, LOS rate: -0.511944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.330909 deg. 2j:jƙ@5HeadingCmd: 4.805431 target range: 76.599998 and range: 74.80 m. j1j9j9jAiAhAhAhIhIfYfYfarfabfe@t?ɛB7 q=I <ɚiIm=IiIi*<))E*F]?2FY:FYBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga GA BI Oe >}+w,$ Ay~lB~I  A IMb@Mb@Mb@ )YOn? G٣5Gy > Nusing accuracyPremultiplier from config 49l? 4Yx iB8?:@RDL$;D";4 %)A!=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjIDNOT Ignoring new targets: 76.60 m.Bjr,Jjr, ProNav: ac range: 76.599998 m, nav range: 64.233940 m, bearing: 161.624504 deg, approach rate: 0.342061 m/s, LOS rate: -0.603055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.218995 deg. 2jμ:j@HeadingCmd: 4.803478 target range: 76.599998 and range: 74.80 m. jjjjihhhh)Bf!f!f!rf!bf-?ɛ€B? 隝+I Ar<ɚiI:=IiGirf-<))*F?2F:FBF`0JFHR>I IlIÌBI =&I.I6Iİ<:I FBIJIRIZI =bI =jIi4Gm !<Gq Gu > Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >#2w, A6_@Y6co@6g+l<96+)>y6H@% ? Y{?@@ fBBIIJIJ%.5٢RQ Ra=9RaQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b49^?b4Y^E i^B`f䶿f@^%RD^ ;^X;^4h nYAlZj|DNOT Ignoring new targets: 76.60 m.BjC$Jj%C$ ProNav: ac range: 76.599998 m, nav range: 64.350731 m, bearing: 161.416777 deg, approach rate: 0.323552 m/s, LOS rate: -0.574433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.353163 deg. 2jż:jFə@HeadingCmd: 4.805820 target range: 76.599998 and range: 74.80 m. jjjjihhhhff frf!bf%ي?zK/KK9KKKɛAE[~ IM9II m<ɚqiqIuw=Iui}Fi}xb;)y)y I*F ?2F :FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G 9)<G B O >J3K3 K/.KK"KJe Je Ja Ja Je ];Je ^:Ja Ja au @au @au @au @89w, A6 M@Y6\@6v<96= >y6H+u?@ȁ? GJ۩?מ܎`?F?ɨ6 M@6y;6ZCy>cB>IRWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPMb@Mb@Mb@ )Y+??{Gzyv>?<# A )QAIy@I]I]?5٢1 .=9:Q > G٣y6 > Nusing accuracyPremultiplier from config49 ?4Y iB>?:N@=RDV;V;!4 oAڳEB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 76.60 m.Bj%f&Jj%f&U ProNav: ac range: 76.599998 m, nav range: 64.520851 m, bearing: 161.121502 deg, approach rate: 0.336155 m/s, LOS rate: -0.581916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.091773 deg. 2j]Ǽ:j]棙@eHeadingCmd: 4.801257 target range: 76.599998 and range: 74.80 m. jajajajaiahhhh+BfffrfbfxH?ɛÀBm r?I J <ɚ i I T=IiEiw;)) yI}~hUWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.E <E E *F 2F :F BF _0JF H I  I FII BI  =&I .I 6I <:I FG']?; Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265604GBO=?D`Bw,@ !A> M@Y>\@>]<9>?>y>H`t?a?`?f@`[?`X?ɨ> M@>韋;>XCyFgBFI N=N=IRIRI5٢Zr< Z#=9Z;Q Z>\\ ^G٣^5Gyb{ f> jNusing accuracyPremultiplier from configdj49fl?n4Yf ifBprOr@fSRDf;f+ ;f)4t vUAv׳EZjDNOT Ignoring new targets: 76.60 m.Bj$)Jj$)- ProNav: ac range: 76.599998 m, nav range: 64.681816 m, bearing: 160.846195 deg, approach rate: 0.346699 m/s, LOS rate: -0.591501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.151379 deg. 2j-ʼ:j-l@5HeadingCmd: 4.802298 target range: 76.599998 and range: 74.80 m. j1j1j1jihhhhfffrfbfC@ɛTA 隭8I 1b <ɚiI=Ii Ei'0;))zKKK9KKK+b/h9  E2= q$?I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518079G ;G B O >Hw,i#!AJJJ0JJ;JJـ3J>TI@Y>X@>+_<9>O>y>H %W?߈?8y?٠` @?-?ɨ>TI@>a;>YCyJfBJI%Mb@Mb@Mb@!!! !)!Y%~jt?Q?MbPy%D?%u<%% A %@)%AI!!y!I=I=jC5٢M M@=9UQ";Q U>QQ ]G٣Yy]# ]> eNusing accuracyPremultiplier from configam49e?m4Ye ieBuD?u:u\u@ehRDe;eF;eV14y }XAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768744ZjYeDNOT Ignoring new targets: 76.60 m.Bj#Jj# ProNav: ac range: 76.599998 m, nav range: 64.828468 m, bearing: 160.588859 deg, approach rate: 0.327338 m/s, LOS rate: -0.573089 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.204975 deg. 2jļ:j@HeadingCmd: 4.803233 target range: 76.599998 and range: 74.80 m. jjjjihhhh .Bf ffrfbf @ɛĀBJz r:I ɼ<ɚiIGg=IivGDiu;) ) EE*E"E qIq*FE ?2FA :FA BFI JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:56:51.7277  TRx dataTimestamp_ set to:1736366212.872783 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021366H Q>I  I :II BI &I .I 6I <:I FGe @;GABIOm>sPw,%#B!AN;@YNJ@N&F<9N+>yNH@? ?rF?\䠿xh?`?ɨN;@Nt;N\CyZoBZIIbIbH5٢jd= j3=9nK:Q n>ll nG٣r5Gyrx r> zNusing accuracyPremultiplier from configx~49z?~4Yz izB@z~RDz:z":zU94  AZj9=DNOT Ignoring new targets: 76.60 m.BjEj5JjEj5U ProNav: ac range: 76.599998 m, nav range: 64.987679 m, bearing: 160.312148 deg, approach rate: 0.365921 m/s, LOS rate: -0.634418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.147150 deg. 2jUټ:jUѫ@]HeadingCmd: 4.802224 target range: 76.599998 and range: 74.80 m. jYjYjajaiahahahihififqfyrfybf} [ @ɛ$d !-*I) -i<ɚ)i)I-̲=I5i5־Ci5WH:)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273391*F?2F:FBF0JFGe;GABYOu>zK}zMK}s9KyK}K} Q IY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528379mVw,L[!A0@Y0@@.<9H.>yHJ?? '\? ?7?ɨ0@z*;ZCyޝyBޥIAIIF5٢%;= -8=95:Q =>AI MG٣Qy]8 e> }Nusing accuracyPremultiplier from configy49}?4Y} i}B@}RD}z:}:}?A4B AٳEZj9=DNOT Ignoring new targets: 76.60 m.BjEU&JjEU&u ProNav: ac range: 76.599998 m, nav range: 65.146294 m, bearing: 160.039538 deg, approach rate: 0.339269 m/s, LOS rate: -0.581677 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.159405 deg. 2j}Ǽ:j}@HeadingCmd: 4.802438 target range: 76.599998 and range: 74.80 m. jjjjihhhhfffrfbf৪ @) JUJUJU1JQJU;JU[:JU3JQ~G %Y!y%Bɛ15 15&I9 =h<ɚ9i9I=K =IEiEgCCiEI)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 74.6 m (Round-trip 99.5 ms) speed 0.0 m/s  *DAT read: user:983> BDAT read: Tx time:19:56:52.8241 $Ping request sent. Y I] h\w,gu!A6$@Y6f4@6ȇ<96>y6H{5?.?@JW`Q?-p?Q?ɨ6$@6;4y>BBI5Will construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYeMbX9??{Gzt?yeA?e G٣yw > Nusing accuracyPremultiplier from config49?4YZ iBA?:Y@RD;;G4 AB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.780413 s, deltaX: -0.200005 m, approachRate: -0.052905 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.BjC.JjC. ProNav: ac range: 76.599998 m, nav range: 65.280510 m, bearing: 159.817760 deg, approach rate: 0.369563 m/s, LOS rate: -0.609407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.311250 deg. 2jѼ:jGÙ@HeadingCmd: 4.805088 target range: 76.599998 and range: 74.60 m. jjjjih!h!h)h-XBf)f)f)rf5`fR@bf5@*?ɛae amHIi m<ɚiiiIm8G=IuiuCiu<)q)yHR>I IFIIBI&I.I6I<:I F*F?2F:FBF`5JFG{5 Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G B Om >cw,ᖏ!A6@Y6 @6#<96>y6H ?}?LQE`(?@} ?@?ɨ6@6Z;6YCy>BV&II^I^0E5٢f= fX=9j|Q j>hh nG٣n5GynO n> vNusing accuracyPremultiplier from configpv49r#?v4Yr irBxzz@rRDr:r7:ruN4| AZj)5DNOT Ignoring new targets: 76.60 m.Bj='Jj='M ProNav: ac range: 76.599998 m, nav range: 65.414856 m, bearing: 159.595727 deg, approach rate: 0.355345 m/s, LOS rate: -0.586069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.310488 deg. 2jMɼ:jM,Ù@UHeadingCmd: 4.805075 target range: 76.599998 and range: 74.60 m. jQjQjQjYiYhYhYhahafafafarfibfm@#?ɛ: 隝,½I <ɚiIm~=IiUCi@))zK7KK9KKK I*Fm?2Fi:FqBFu0JFq]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753205G˴GB OE >Jm Jm Jm 0Ji Jm ;Jm Yk:Jm ـ3Ji  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001792iw,w!A~;ْ@Y~@~*<9~>y~H k۸??4D ?@W!7?@?ɨ~;ْ@~е;~ZCyB;I %=%a=Mb@Mb@Mb@ )Yx?~jt?Q?yK7?=u<3 A @)AIyAIuIH%5٢== =5=9=Q E>AA EG٣AyMZ! M> UNusing accuracyPremultiplier from configQ]49U'?]4YUD iUBe7?e:e:e@URDU;U;UWV4i mhAqZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 65.571503 m, bearing: 159.348070 deg, approach rate: 0.345281 m/s, LOS rate: -0.544580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.234035 deg. 2j޺:j=@HeadingCmd: 4.803740 target range: 76.599998 and range: 74.60 m. jjjjihhhhBfffrfbft?ɛ^v; {I A;ɚi!I%=I%i-v+Di-O)))1*F?2F:FBF_0JF IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253716G- %XG B O5 >H I  I fII ȀBI &I .I 6I <:I F(pw,K!A6Eǒ@Y6֙@6<96>y6HL?ܕ?` ?`"`??ɨ6Eǒ@6(;6[CyRBRDIIZIZ*5٢bL&= bf=9fLQ f>dh jG٣hyjɻ j> rNusing accuracyPremultiplier from configlv49n**?v4Yn inBxzz@nRDn/;n/;n\4 /A۳EZjDNOT Ignoring new targets: 76.60 m.Bj Jj  ProNav: ac range: 76.599998 m, nav range: 65.695427 m, bearing: 159.153304 deg, approach rate: 0.332451 m/s, LOS rate: -0.521511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.392011 deg. 2j:jΙ@HeadingCmd: 4.806497 target range: 76.599998 and range: 74.60 m. jjjjihhhhfffrfbf?ɛ)5_; 15(?I1 5;ɚ9i9I==I=iEEiE /)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505560*F?2F:FBFJF Ih'TFailed to parse incomplete device message.Ge ׹GA BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757741Ou >"vw,k*!AyB%\IIeIeMD5٢= ==9Q > G٣y > Nusing accuracyPremultiplier from config 49 .?4Y 4 i B@ RD k< < Md4 AZj!-DNOT Ignoring new targets: 76.60 m.Bj]Jj] ProNav: ac range: 76.599998 m, nav range: 65.850746 m, bearing: 158.911884 deg, approach rate: 0.345185 m/s, LOS rate: -0.535270 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.252676 deg. 2j:j躙@HeadingCmd: 4.804066 target range: 76.599998 and range: 74.60 m. jjjjihhhhfffrfbf N?BKQ:KUpAɛC; 隕I >;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010146ɚiI=IiQUFiQ*)) *F?2F:FBFJFG & I G B O >fQ}w,!A6yؒ@Y6@6H1<96׉ >y6HJո? ??Sۅ@B??ɨ6yؒ@6F;6\Cy>ʀB>iIZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261720Mb@Mb@Mb@ )Y/$?Mb?~jt?y,?@=< -@) AI@yII85٢zH= A=9ޓ;Q > G٣5Gy; > Nusing accuracyPremultiplier from config491?4Yj iB,?:A@SD?';"&;~k4 AAسEB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 76.60 m.Bj5Jj5E ProNav: ac range: 76.599998 m, nav range: 65.991562 m, bearing: 158.704142 deg, approach rate: 0.366018 m/s, LOS rate: -0.538822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.353318 deg. 2jE丼:jMKə@UHeadingCmd: 4.805822 target range: 76.599998 and range: 74.60 m. jQjQjQjQiQhYhYhYh]ʀBfafafarfabf@@ɛÀBd<  Z3w,"A6!@Y6@6 <96 >y6H"??@e48?~`P?@A?ɨ6!@6뉉;6ZCyRۀBR}II^I^Y45٢fY= f]=9j:Q j>hh jG٣lynP; n> vNusing accuracyPremultiplier from configpv49r=5?z4Yr  irBxzz@rSDr:r:rq4 AZj!-DNOT Ignoring new targets: 76.60 m.Bj5Jj5M ProNav: ac range: 76.599998 m, nav range: 66.119156 m, bearing: 158.518216 deg, approach rate: 0.345184 m/s, LOS rate: -0.502021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.418501 deg. 2jMD:jMҙ@UHeadingCmd: 4.806960 target range: 76.599998 and range: 74.60 m. jQjQjQjQiQhQhYhYhafafafarfabfmlj@ɛ  6< := r$?II1 =?;ɚ9i9I=v?=IEiEGiE)A)IzK}JK}h9KyK}K}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767082*F ?2F :F BF p0JF GUG1 BA Oe >J! J% BA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:56:55.3275  TRx dataTimestamp_ set to:1736366216.653550 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020051w,,"AZ@YZ @Z"=<9Z>yZH@^U? '?l 7f?#栿P@?5٢M= M1=9U99Q U>YY ]G٣]5Gy]: e> mNusing accuracyPremultiplier from configau49e9?u4Yea ieBu ?u:uF}@e'SDe;e;e z4B )AڳEZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 66.273262 m, bearing: 158.306691 deg, approach rate: 0.333345 m/s, LOS rate: -0.456481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.342116 deg. 2j:jǙ@HeadingCmd: 4.805626 target range: 76.599998 and range: 74.60 m. jjjjihhhhBfffrfabfe] @ɛUX< 隵=I  <ɚiIWX=Iif&Hi2))E I*Fe?2Fa:FaBFmq0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269732G= !eH I  I II BI &I .I 6I <:I FG B1 OM >Fw,YE"A2v@Y2@2d<92+G>y2H˹??`u;׸?A *l ?S?ɨ2v@2É;2YCy>B>IIFIF<5٢Rj= Rp=9V3:Q V?TT VG٣TyZ; Z? bNusing accuracyPremultiplier from config\b49^=?f4Y^ i^Bdf f@^5SD^.:^:^4h jAJrJrJpJpJr;Jr`:JpJpJrXH<JrXH<JrZ;JrZ;lZj!-DNOT Ignoring new targets: 76.60 m.Bj-Jj-E ProNav: ac range: 76.599998 m, nav range: 66.387695 m, bearing: 158.151654 deg, approach rate: 0.330991 m/s, LOS rate: -0.447661 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.510889 deg. 2jE:jEߙ@MHeadingCmd: 4.808572 target range: 76.599998 and range: 74.60 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbf]`n @=Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 74.4 m (Round-trip 99.3 ms) speed 0.0 m/s M*DAT read: user:984> UBDAT read: Tx time:19:56:56.4241 U$Ping request sent.UzKKK9KKKRK ?JK >G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:56:56.4233 tw,E_"AF@YFF@Fѣ<9FZ>yFH&? ?`+ /?6byw?;?ɨF@Fx9;FZCyrBrIIMIM995٢}p<= ==938Q > G٣y  Nusing accuracyPremultiplier from config49~A?4Y iBް@FSD<<ɇ4 AM addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.527191 s, deltaX: -0.199997 m, approachRate: -0.056701 m/s, rangeRepo size: 4 ZjIMDNOT Ignoring new targets: 76.60 m.Bj]`Jj]` ProNav: ac range: 76.599998 m, nav range: 66.538551 m, bearing: 157.949693 deg, approach rate: 0.321209 m/s, LOS rate: -0.429050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.370699 deg. 2j9:j˙@HeadingCmd: 4.806125 target range: 76.599998 and range: 74.40 m. jjjjihhhhfffrfR@bf]4?ɛq}~< =I K<ɚiIu=Ii@Hi4)EWill construct direction to contact in vehicle frame from tetrahedron phase data.EAiEA)Q*F?2F:FBFY1JF I hG ^xG B O >w,8y"AFWill construct direction to contact in vehicle frame from tetrahedron phase data.y  IMb@Mb@Mb@ )Y|?5^?V-? rh?y?C< Z@)7AII@yfAI~IE)5٢%Qq; -?=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM49EtE?M4YEE% iEBM?M:MU@EVSDE;EY;E4Y ]AYuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 66.670326 m, bearing: 157.778268 deg, approach rate: 0.341576 m/s, LOS rate: -0.443473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.461944 deg. 2j-:jؙ@HeadingCmd: 4.807718 target range: 76.599998 and range: 74.40 m. jjjjihhhh6Bfffrfbf?ɛĀB F< =I _<ɚiI}=IihHil)) EEsAHaIa IeIIe3BIa&Ia.Ia6Ie<:Ie F*FU?2FQ:FQBFU5JFQJJJJJ;J_:JJJE<JE<Jt;Ju;EWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Gu TG1 B9 O] >򁤈w,"A6-@Y6@6H <96 >y6Hs ?` ?@,#?pjg`R?í?ɨ6-@6;6YCy>B>IDFAINyIN'5٢V5< Vh=9V費Q Z>XX ZG٣Z5Gy^] ^> bNusing accuracyPremultiplier from config`f49bH?f4Yb* ibBhjʯj@bcSDb;b ;b.4l rdAp IhZjDNOT Ignoring new targets: 76.60 m.BjݻJjݻ ProNav: ac range: 76.599998 m, nav range: 66.782898 m, bearing: 157.632821 deg, approach rate: 0.300710 m/s, LOS rate: -0.387873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.539591 deg. 2j:j@HeadingCmd: 4.809073 target range: 76.599998 and range: 74.40 m. jjjji!h!h!h!h!f)f)f)rf)bf5^?ɛy}Ɏ< 隅,>I e<ɚiI=IiNIiQ/)zK~KKs9KKKBK:K)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257680*F2F:FBF_0JF- ~~GGM Ge sAGa vA A Y vAy 6BGA BY Ou >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509510vw,Ĭ"AyB IIkI 5٢- -B=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM49EL?M4YE0 iEBIIU@ErSDE:E:E4Y ]vA]ܳEZjDNOT Ignoring new targets: 76.60 m.Bj`Jj` ProNav: ac range: 76.599998 m, nav range: 66.917702 m, bearing: 157.460013 deg, approach rate: 0.338100 m/s, LOS rate: -0.432546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.457819 deg. 2jm:j<ؙ@HeadingCmd: 4.807646 target range: 76.599998 and range: 74.40 m. jjjjihhhhfffrfbf ՛?ɛ< =I <ɚiIڂ=Ii']Ii@)) *Fu?2Fq:FqBFqJFq qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760826GGqBO>Hy Iy  I} II} BBIy &Iy .Iy 6I} <:I} Fw,"AR9@YRH@R<9Rv>yRHջ??+h? gu?%?ɨR9@R0;RZCyZB^IJ`J`J`J`J`J`J`J`J`J`J`J`IzIzp;5٢@< M=9;Q >    G٣ y*< > Nusing accuracyPremultiplier from config%49P?%4Y6 iB!%㮿-@SDe:e:~41 5gA5ٳEZjYeDNOT Ignoring new targets: 76.60 m.BjeJje軝u ProNav: ac range: 76.599998 m, nav range: 67.047455 m, bearing: 157.297538 deg, approach rate: 0.325512 m/s, LOS rate: -0.406811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488719 deg. 2j}:j}ܙ@HeadingCmd: 4.808185 target range: 76.599998 and range: 74.40 m. jjjjihhhhfffrfbf K?Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012861ɛeŀBe]< aeJ>Ii mV <ɚiiiIm!=Iui}oHi}Ps:)y)yE]>E>*F 2F :F BF JF  YIYGMTG) B1 OM >zKe &~JKe 59Ka Ke Ke  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264706w,y"AZR@YZ!b@Z[r<9Zr>yZH?@E?} S?-C??ɨZR@Z;ZXCybBbI f=f=InIn<5٢ e] J=9%:Q ->19 EG٣E5GyUF; U> Nusing accuracyPremultiplier from configq49uT?=4Yu< iuBIU{m@uSDu(=u(=u4 A Zjq}DNOT Ignoring new targets: 76.60 m.Bj}˻Jj}˻ ProNav: ac range: 76.599998 m, nav range: 67.183723 m, bearing: 157.129431 deg, approach rate: 0.288463 m/s, LOS rate: -0.355139 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.471902 deg. 2js:j@ڙ@HeadingCmd: 4.807892 target range: 76.599998 and range: 74.40 m. jjjjihhh h f f frfbfV@ɛFy< =I  <ɚiI9=I i Gi j;))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517687*F5?2F1:F9BF=`0JF9 I II G :Gq B O >S w,"AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768787>`@Y>,p@>u<9>l>y>H?}?`w@eN?@<%`6c?,?ɨ>`@>< ; G٣y; > -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%TY?54Y%bC i%B5+:1=:=C=@%SD%^7;%m>%밵4A EAAeB*** querying acoustic contact ***jajaZjq}DNOT Ignoring new targets: 76.60 m.Bj}Jj} ProNav: ac range: 76.599998 m, nav range: 67.327919 m, bearing: 156.953701 deg, approach rate: 0.379260 m/s, LOS rate: -0.461210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.449143 deg. 2jC:j֙@HeadingCmd: 4.807495 target range: 76.599998 and range: 74.40 m. jjjjihhhhfZH?ARHHI IIIGBI&I.I6I<:I FffIrfIbfMT@ɛƀB,m< 隥=I  <ɚiI==IiFil;))*F?2F:FBFo0JFJ J J 1J J =;J ^:J 3J J KD<J LD<J ;J ;Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:56:58.9276 TRx dataTimestamp_ set to:1736366220.181373checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022526G !j;Gy B O >tĈw,#A6o@Y6W@6"<96E>y6H@&?@|?`c``?nÔc??ɨ6o@6ɉ;6YCyBBBIIJIJ<5 Rs$?IP٢VyZ Zd=9Z:Q ^>`` bG٣`yb; f> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn49f\?n4YfH ifBr :prq:rr@fSDfb:;fVL?f 4t vjAxZjDNOT Ignoring new targets: 76.60 m.BjJj廝- ProNav: ac range: 76.599998 m, nav range: 67.447662 m, bearing: 156.809488 deg, approach rate: 0.334102 m/s, LOS rate: -0.401661 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.543324 deg. 2j-ԉ:j5v@=HeadingCmd: 4.809138 target range: 76.599998 and range: 74.40 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU`ׯ @ɛ}ǀBlZ< 隅{=I  <ɚiI=Ii/Ei};))E!zKJK+9KKKUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273659*F?2F:FBFa5JFGCQ;G9 Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 74.5 m (Round-trip 99.4 ms) speed 0.0 m/s  *DAT read: user:985>  BDAT read: Tx time:19:57:00.0241  $Ping request sent. y5H"? |?@d \?̢@bU?p?ɨ5Kv@5;5[CyEրBMwI = = == ==  = = =Mb@Mb@Mb@999 9)9Y=B`"?X9v?~jthy=?=}==D=A =p@)9I=v@9y=3AIUIUp;5٢e e2=9m:Q m>ii mG٣u5GyuH: u> Nusing accuracyPremultiplier from configy49}a?4Y}XO i}BT:?: @}SD}r;};}4 Am addTargetRange:: Added new target pos. range: 74.500000 m, deltaT: 3.527933 s, deltaX: 0.099998 m, approachRate: 0.028345 m/s, rangeRepo size: 4 ZjquDNOT Ignoring new targets: 76.60 m.Bj}pٻJj}pٻ ProNav: ac range: 76.599998 m, nav range: 67.600014 m, bearing: 156.633312 deg, approach rate: 0.329525 m/s, LOS rate: -0.380198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447864 deg. Ih2jv:j֙@HeadingCmd: 4.807472 target range: 76.599998 and range: 74.50 m. jjjjihhhh"BfffrfR@bf;?ɛ=ȀB=X*< 9EeWill construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:19:57:00.0233 HS>I III8BI&I.I6I<:I FBIJIRIZIbIjI!4G% ;G B O >҈w,kH#A6g@Y69w@6<96 >y6HH??%P?b??ɨ6g@6;6YCyBʀBBiIIJIJ/5٢RX Rl=9Ro#Q V?TT VG٣TyZ Z? Nusing accuracyPremultiplier from config\49^e?4Y^VT i^BB%@^SD^;^;^õ4-B -HA-۳EZjQUDNOT Ignoring new targets: 76.60 m.Bj]UֻJj]Uֻm ProNav: ac range: 76.599998 m, nav range: 67.715141 m, bearing: 156.500708 deg, approach rate: 0.325931 m/s, LOS rate: -0.374767 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578060 deg. 2jm:jum@}HeadingCmd: 4.809744 target range: 76.599998 and range: 74.50 m. jyjyjyjyiyhhhhfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛb< ;I (<ɚiI =Ii{Cit;))*FU?2FQ:FQBF]^0JFY IGu;GIBYOu>m Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 59K K K u+؈w,5Db#AyEBEWIII\05٢ 9=9Q > G٣qy > Nusing accuracyPremultiplier from config49j?4Y&[ iB@SDw<<]˵4! -A)J}J}J}2JyJ}u;J}X:J}c3Jya@a@a@a@ZjDNOT Ignoring new targets: 76.60 m.Bj)׻Jj)׻ ProNav: ac range: 76.599998 m, nav range: 67.872887 m, bearing: 156.320421 deg, approach rate: 0.329944 m/s, LOS rate: -0.376217 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.435597 deg. 2j:jՙ@HeadingCmd: 4.807258 target range: 76.599998 and range: 74.50 m. jjjjihhh!h!fIfQfQrfQbf]?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛʀBv8; `ؼI H <ɚiIr? =Ii.Bi;) ) EErA*F2F:FBF5JF q Iq G @;GY Bi O >*Vވw,!|#AWill construct direction to contact in vehicle frame from tetrahedron phase data.:V@Y:f@:A<9:k>y:H@?~?@l׻?G?@}?ɨ:V@:);:XCyRBRGI TVp=Mb@Mb@Mb@ )Y&1?Zd;?~jtxy?y=ĻA Z@)AIQAy\AII)5٢⇽ L=9CQ > G٣5Gy > Nusing accuracyPremultiplier from config49en?4Y` iB?:۬@SD';&;ѵ4 (AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjEJjE滝- ProNav: ac range: 76.599998 m, nav range: 67.997734 m, bearing: 156.177482 deg, approach rate: 0.352323 m/s, LOS rate: -0.402636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.547167 deg. 2j-):j-@5HeadingCmd: 4.809206 target range: 76.599998 and range: 74.50 m. j9j9j9j9i9h9h9hAhEBfIfIfIrfQbfUM?HR>I IIIBI&I.I6Iǰ<:I Fɛl֓; P`I  <ɚiIf =I i ^Ai-_;)))1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G- ~q;G B O > Y IY Cw,#A2X@Y2Bh@2<92PH >y2HѼ?? j8m z? ɇ邓??ɨ2X@2Ɗ;0yBBB'II^I^dK5٢n6 nX=9nO;Q n>pt ~G٣ym.: u> Nusing accuracyPremultiplier from config49r?4Y]f iBҬ@SD =+ =ص4 AسE-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761779ZjDNOT Ignoring new targets: 76.60 m.BjzK/KK9KKKJj ProNav: ac range: 76.599998 m, nav range: 68.132118 m, bearing: 156.024825 deg, approach rate: 0.295435 m/s, LOS rate: -0.334944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.518130 deg. 2je:j@HeadingCmd: 4.808699 target range: 76.599998 and range: 74.50 m. jjjjihhhhfffrfbf3?ɛ̀B̀: 4ܽI1 5^ <ɚ1i1I5 =I=i=T9@i=%;)9)A*F?2F:FBFJFJkـ3Kc KkT.KcKc"KcJ J J 1J J ;J [:J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012875G e;G B O >w,:#A>1]@Y>l@> <9> >y>H?` ?@# C?/c”`Wp??ɨ>1]@>Ċ;>[CyJBJIMb@Mb@Mb@ )Y^I +?y&1?:vyX?`e=T A )7AI@yAI5I5F5٢Eﴽ E;=9E6;Q M>II MG٣QyU: U> eNusing accuracyPremultiplier from configYm49]v?m4Y]l i]Bu ?u:uYu@]TD] N;] /;]4}B }AyZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 68.280495 m, bearing: 155.853385 deg, approach rate: 0.411598 m/s, LOS rate: -0.474543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.461998 deg. 2j֢:jؙ@HeadingCmd: 4.807719 target range: 76.599998 and range: 74.50 m. jjjjihhhhBfffrfbfJ*@ IIQɛ̀BDA ~I  <ɚiI =Iiw?i;))*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265217H S>I  I II BI &I .I 6I <:I  FG9;GrAGrAG B O >Xw,#A:F\@Y:k@:<9: >y:H\?g?4?@u@M??ɨ:F\@:ى;:XCy^sB^IIjIj R5٢ro rQ=9v ;Q v>tt zG٣z5Gyz z>~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517103  Nusing accuracyPremultiplier from config 49 {?4Y r i B!%]%@ TD 2I; uI; 4) -A-ڳEZjY]DNOT Ignoring new targets: 76.60 m.BjeJje绝u ProNav: ac range: 76.599998 m, nav range: 68.419754 m, bearing: 155.693756 deg, approach rate: 0.354171 m/s, LOS rate: -0.405150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.497286 deg. 2ju:juݙ@}HeadingCmd: 4.808335 target range: 76.599998 and range: 74.50 m. jyjjjihhhhfffrfbf \O@ɛ΀Bd 5I <ɚiIQ> =Iir>iE;))*FI2FI:FIBFM0JFI IIMhG`;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775109zK5 JK1 K1 K5 K5 GA BY Ou >nw) ,#AFGV`wArZA =Y=`wAyEB @BJJJ0JJ;JZ:Jـ3J?P@Y_@:Э<9c >yH`?ޅ?@@?`1\`+??ɨ?P@;騉yޝ_BޝI @ @ @  @ IIM5٢[ "=9xn9Q > G٣y ? > Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:57:02.5279 TRx dataTimestamp_ set to:1736366223.708752checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022148 bBottom track data is 0.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%49N?-4Yz iB-+:)-:--@*TD6;? 49 EAAZjamDNOT Ignoring new targets: 76.60 m.BjmJjm滝} ProNav: ac range: 76.599998 m, nav range: 68.598206 m, bearing: 155.490387 deg, approach rate: 0.353983 m/s, LOS rate: -0.402360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.366692 deg. 2j:j5˙@HeadingCmd: 4.806056 target range: 76.599998 and range: 74.50 m. jjjjihhhhfffrfbf jW@ɛπB 隍_I (<ɚiIƳ =Ii=iB;))E*Fe?2Fa:FiBFmm0JFiGq GusA 5t$?I1G= @; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273828G1 B9 Oe >w,9#A2H@Y2*X@2O<92^ >y2H`Q?%?ɶW?@qa ??ɨ2H@2y-;0y>JB>IIJIJ#U5٢Re R=9R 7:Q V?T) -G٣)y5g@ 5? =bBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E49=?m4Y= i=Bm :img:mu@=6TD=;=R?=4y }WAyZH@ARHHR>I I_IIÀBI&I.I6I<:I FB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 76.60 m.BjܻJj%ܻ5 ProNav: ac range: 76.599998 m, nav range: 68.710365 m, bearing: 155.363361 deg, approach rate: 0.341607 m/s, LOS rate: -0.386253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594737 deg. 2j5:j=@=HeadingCmd: 4.810036 target range: 76.599998 and range: 74.50 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbfU`_ @ɛЀBZrR I +<ɚiI2 =Ii=i;))*F?2F:FBF`5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.6 ms) speed 0.1 m/s %*DAT read: user:986> -%X#Rx 1: Read range message, but no direction. y fB -T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.G.A;G ?G?Gy B O >  I w,$A28@Y2H@2<92j>y2H#һ?ଉ? ݺ?@T)@?t?ɨ28@2/P;2\Cy^>B^IIfIfX5٢nzf nG=9r!Q r>pt vG٣v5Gyv6 z> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|49~?4Y~ i~B%9)-;:-쮿5@~ETD~;~Û?~M49 =AAm addTargetRange:: Added new target pos. range: 74.699997 m, deltaT: 3.527862 s, deltaX: 0.199997 m, approachRate: 0.056691 m/s, rangeRepo size: 4 ZjiuDNOT Ignoring new targets: 76.60 m.Bj}lJj}l ProNav: ac range: 76.599998 m, nav range: 68.851196 m, bearing: 155.204330 deg, approach rate: 0.369937 m/s, LOS rate: -0.416891 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.499080 deg. 2j :j"ޙ@HeadingCmd: 4.808366 target range: 76.599998 and range: 74.70 m. jjjjihhhhfffrf̬R@bfx?ɛyT 5I Q;ɚiIx =IiƒII MG٣Iy] ]> mbBottom track data is 1.6 s old, using for 20.0 s. mNusing accuracyPremultiplier from configam49e苎?u4Ye/ ieBu9qu:qu@eUTDe;;e?ep4 AZjDNOT Ignoring new targets: 76.60 m.BjxJjx I ProNav: ac range: 76.599998 m, nav range: 69.000572 m, bearing: 155.037009 deg, approach rate: 0.362108 m/s, LOS rate: -0.404730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.474324 deg. 2jኼ:jڙ@HeadingCmd: 4.807934 target range: 76.599998 and range: 74.70 m. jjjjihhhhfffrfbfs?ɛрB)g !%埾I! %;ɚ!i!I% =I-i-w,>@L$A:4 @Y:@:<9: >y:Hx?b? 1?``2?`&?ɨ:4 @:2^;:XCyR'BRIIZIZ[W5٢b$J bS=9fQ f>dd jG٣hyje` j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.533059 zbBottom track data is 2.0 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz49v̏?~4Yv9 ivB~9|9@vdTDv:G;v1@v4  nA ܳEZj1EDNOT Ignoring new targets: 76.60 m.BjEJjE仝U ProNav: ac range: 76.599998 m, nav range: 69.139420 m, bearing: 154.881001 deg, approach rate: 0.357076 m/s, LOS rate: -0.400403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.508113 deg. 2jUe:j]mߙ@eHeadingCmd: 4.808524 target range: 76.599998 and range: 74.70 m. jajajajaiahihihihifqfqfqrfqbf}r?ɛ~׆ 隭DI e;ɚiI=h =Ii!$Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785043zK & LK +9K K K w,qf$A2@Y2@2:<92_>y2H?ǐ?@? ]``D??ɨ2@2 ;2ZCyNBRIIIV85٢%i %D=9-MQ ->)) 5G٣55Gy5W 5> UbBottom track data is 2.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configAu49EⓎ?4YE iEBo99 @EtTDEQt:jۙ@HeadingCmd: 4.807984 target range: 76.599998 and range: 74.70 m. jjjjihhhhfffrfbfF?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037052ɛmҀBur quCIq u9;ɚqiqI} =I}i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289167@w,$AV\@YV@VL<9V>yVH?f? 2`? qg??ɨV\@V(;VXCyBIjH]<bH]<HaIa IeIIerBIa&Ia.Ia6Ie<:Ie FBI!JI!RI!ZI!bI!jI%,4        Mb@Mb@Mb@ )YX9v?V-? G٣y- > Nusing accuracyPremultiplier from config49?4Y iBT:3?:Ӷ@TD ; ;4 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 69.462929 m, bearing: 154.496314 deg, approach rate: 0.438414 m/s, LOS rate: -0.544454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.321857 deg. 2jӺ:ję@%HeadingCmd: 4.805273 target range: 76.599998 and range: 74.70 m. j!j!j!j!i)h)h)h1h5MBf1f1f1rf9bf=`fJ?ɛae aeڽIi E;ɚiIm =Iiz=i>ӻ))*FE?2FA:FABFAJFAJJJ1JJ;JY:J3JJEEPExceeded connect timeout, disconnecting. I '&w,љ$A6@Y6@6-<96~>y6H ~Y?@o?ΒXః? Ғv??ɨ6@6;6WCyR BR{IIZIZ~N5٢b bn=9f?:Q f?dh jG٣hyn r? vNusing accuracyPremultiplier from configpv49r?z4YrD irBxz趿z@rTDre:rP:r 4 gAZj!-DNOT Ignoring new targets: 76.60 m.Bj- Jj- E ProNav: ac range: 76.599998 m, nav range: 69.597389 m, bearing: 154.330259 deg, approach rate: 0.390605 m/s, LOS rate: -0.481457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.477995 deg. 2jE5:jEۙ@MHeadingCmd: 4.807998 target range: 76.599998 and range: 74.70 m. jIjIjIjIiIhQhQhQhQfYfYfarfabfe@ɛӀB9 隕&ʾI e;ɚiI =Iiё=i)))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.793908*F12F1:F1BF50JF1zKJKh9KKKBK:KrAG}UG ?G ?GqBO] > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047423Q,w,$A 6w@Y6@6<96>y6H??̷: ??@`?`ߵ?ɨ6w@6;6XCyNBRrI !I%h=Mb@Mb@Mb@999 9)9Y=|?5^?:v?~jthy=2?=<=D9 =@)=AI=QA9y=AIUIUgG5٢e eA=9m:Q m>ii uG٣u5Gyui" u> Nusing accuracyPremultiplier from config-49?]4Y\ iB]3?]:]e@TD<<4 AZj)-DNOT Ignoring new targets: 76.60 m.Bj5Jj5M ProNav: ac range: 76.599998 m, nav range: 69.768677 m, bearing: 154.117823 deg, approach rate: 0.367186 m/s, LOS rate: -0.454276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.339471 deg. 2jM⛼:jMPǙ@UHeadingCmd: 4.805580 target range: 76.599998 and range: 74.70 m. jQjQjQjYiYhYhYhaheXBfafafarfibfm§@ɛP 隭ѾI v%;ɚiI=IiT>i% ))E*FE?2FI:FIBFM0JFI"GYG]=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299482HeS>Ia IeIIeXBIa&Ia.Ia6Iet<:Ies FGm 6GA BQ Ou >J J J 0J J =;J c:J ـ3J J KD<J LD<J $;J %;:3w,$AR(@YR@R4<9R9 >yRH@? Ր?@`I[|| ~G٣yʸ >  Nusing accuracyPremultiplier from config 49  ?4Y  i B%%@ TD 7; '8; 4-B -A-۳EZjIUDNOT Ignoring new targets: 76.60 m.Bj]Jj]m ProNav: ac range: 76.599998 m, nav range: 69.912254 m, bearing: 153.941448 deg, approach rate: 0.413722 m/s, LOS rate: -0.507183 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.447165 deg. 2jm :jm֙@uHeadingCmd: 4.807460 target range: 76.599998 and range: 74.70 m. jqjqjqjyiyhyhyhhfffrfbf@e@ɛ6:Ѽ ur;=uҾIq }ݶ;ɚyiyI}=Ii[>iѹ)) v$?I*FM?2FI:FIBFM`5JFQuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:19:57:06.1281 TRx dataTimestamp_ set to:1736366227.489373checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803065G>uGi Bq O >zKE KKE 9KA KE KE RKM ?JKM >6f9w,al$A:2ڒ@Y:@:<9: >y:H6? ?$ ?@GX`up?V?ɨ:2ڒ@:k;:XCy\\IdId٢n rK=9r?Q r>tt vG٣xy~ ~> -Nusing accuracyPremultiplier from config!=49%C?=4Y% i%}BAEηE@%TD%(;%;% 4Q ]AYZjDNOT Ignoring new targets: 76.60 m.BjJj- ProNav: ac range: 76.599998 m, nav range: 70.070885 m, bearing: 153.748048 deg, approach rate: 0.379790 m/s, LOS rate: -0.461985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.396322 deg. 2j-:jqϙ@HeadingCmd: 4.806572 target range: 76.599998 and range: 74.70 m. jjjjih)h1hAhAfafafrfbf 4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053190ɛp !%yӾI! -';ɚ)i)I-=I5i5V?i5 )1)9*F2F:FBFJF IG ;3G G tAG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed 0.0 m/s  *DAT read: user:987>  BDAT read: Tx time:19:57:07.2242  $Ping request sent. yHƟ?`7?T`ʷ? ڞ@u ?`Ͱ?ɨђ@|;yBrIEMb@Mb@Mb@AAA A)AYEn?I +?yE6?E9 G٣5Gy > Nusing accuracyPremultiplier from config49?4Y izB6?:θ@TD;;(4 A%B*** querying acoustic contact ***j!j!= addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.779980 s, deltaX: 0.100006 m, approachRate: 0.026457 m/s, rangeRepo size: 4 ZjimDNOT Ignoring new targets: 76.60 m.Bju Jju  ProNav: ac range: 76.599998 m, nav range: 70.264740 m, bearing: 153.510216 deg, approach rate: 0.398973 m/s, LOS rate: -0.488129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.263698 deg. 2j:j{@HeadingCmd: 4.804258 target range: 76.599998 and range: 74.80 m. jjjjihhhhYBfffrf@3R@bfM?JJJ1JJ];Jb:J3JJI<JI<J?;J?;ɛ ѾI S;ɚiIE1=I%i%Ĺ@i%W)!))EqEutAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:57:07.2234 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF_5JFG GtA I G G B O >;Fw,*%A6ƒ@Y6ՙ@6k݄<96 >y6HC?Y?m @s?䝿}B? ?ɨ6ƒ@6];6ZCyNBNwIIZIZL5٢^< bs=9b0Q b?dd fG٣dyjG j? nNusing accuracyPremultiplier from configlr49n~?r4Yn inyBprr@nTDn:n;n~.4x zA|Zj%DNOT Ignoring new targets: 76.60 m.Bj-U Jj-U = ProNav: ac range: 76.599998 m, nav range: 70.396248 m, bearing: 153.349964 deg, approach rate: 0.400614 m/s, LOS rate: -0.487264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.495341 deg. 2j=3:j=ݙ@EHeadingCmd: 4.808301 target range: 76.599998 and range: 74.80 m. jAjAjAjAiAhIhIhQhQfQfQfQrfYbf] V ?mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501237ɛ 隝;I ˕;ɚiI =Ii#kAiu.))zKJK9KKK }GvAA PYvAy BE 3=*F2F:FBFP5JFJJ@A- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756196G   I hG B O >jPMw,7%Ay5 B5~IMb@Mb@Mb@ )YV-?{Gz?Mb`?yh1?ף<; @)AIhAyII٢< 0=9 Q  > G٣y > %Nusing accuracyPremultiplier from config%49ԭ?-4YJ iwB-{1?-:-N5@ UD9;;649 =QA=ݳEZjaeDNOT Ignoring new targets: 76.60 m.BjmJjm} ProNav: ac range: 76.599998 m, nav range: 70.575546 m, bearing: 153.132340 deg, approach rate: 0.386143 m/s, LOS rate: -0.467490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.324003 deg. 2j}j:jř@HeadingCmd: 4.805310 target range: 76.599998 and range: 74.80 m. jjjjihhhhcBfffrfbf ?ɛ cǾI ;ɚiI.=Ii6BiI+))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004970E`9=*F}?2Fy:FyBF}_0JFyHI IIIDBI =&I.I6Iа<:I FG "G ?G ?JM JM JM 0JI JM ;JM e:JM ـ3JI JM E<JM E<JM ;JM ;Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2572293Tw,wQ%A f4@Yf@f&]<9fo >yfH@-?? Nw? آ`l?@?ɨf4@fX؈;dyn BnIIvIv05٢~>; ]=9Q >   G٣ 5Gy  =  > Nusing accuracyPremultiplier from config%49b?%4Y ivB)-ٹ-@UD4;4;=49 =LA=ڳEZjaeDNOT Ignoring new targets: 76.60 m.BjmJjm} ProNav: ac range: 76.599998 m, nav range: 70.717667 m, bearing: 152.959922 deg, approach rate: 0.384191 m/s, LOS rate: -0.465157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.458987 deg. 2j}:j}gؙ@HeadingCmd: 4.807666 target range: 76.599998 and range: 74.80 m. jjjjihhhhfffrfbf v_?ɛ,KǼ žI ;ɚiI=IiwCil))EE*E"E I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509110*F2F:FBFJF"G%=G%=zKM .KKM ]9KI KM KM G% (G B O- >%bZw,k%A%@Y%p@%?5S<9%>y%H`qs? h?@m``¶?Y)xf ?|?ɨ%@%g;%XCymBޅIII&Q5٢v< ;=9Q >)1 =G٣9Will construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.772177yE; > Nusing accuracyPremultiplier from config 49? 4Yw iuB@.UDA;A;= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021200H I  I II IBI &I .I 6I ɰ<:I F+Faw, X%A2!@Y2@2`<92>y2H?֍?O7?!%?J?ɨ2!@2br;0y>B>I Mb@Mb@Mb@    ) Y /$?~jt?{Gz?y &1? = #< /A ) AI  y zAI%I%0E5٢5< 5X=9} ;Q > G٣y; > Nusing accuracyPremultiplier from config49?4Y ivBo1?:@>UD ;7 ;K4 AZj DNOT Ignoring new targets: 76.60 m.Bj Jj% ProNav: ac range: 76.599998 m, nav range: 71.045097 m, bearing: 152.578000 deg, approach rate: 0.412946 m/s, LOS rate: -0.464071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.483190 deg. 2j%>:j%ۙ@-HeadingCmd: 4.808089 target range: 76.599998 and range: 74.80 m. j)j)j)j)i)h1h1h9h=Bf9f9fArfAbfER@ɛim Rμ iuIq }X;ɚyiyI}=IiFisJ))*FM?2FI:FIBFM0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274108 IGmJiGurAGusAGI BQ Ou >Ppgw,D3%A6@Y6Ǚ@6jHh<96\>y6H@>з?@?@b?J??ɨ6@6A;4yRBRIIZIZN5٢b; bR=9f~:Q f>dh jG٣hyns: n> rNusing accuracyPremultiplier from configpv49r⹎?v4Yr irxBxzqz@rOUDr:r:r!R4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525169 B A ܳE-B*** querying acoustic contact ***j)j)Zj1=DNOT Ignoring new targets: 76.60 m.Bj=JjEM ProNav: ac range: 76.599998 m, nav range: 71.197884 m, bearing: 152.407585 deg, approach rate: 0.405128 m/s, LOS rate: -0.450902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.465053 deg. 2jU:j]Eٙ@eHeadingCmd: 4.807772 target range: 76.599998 and range: 74.80 m. jajajajaiahihihihifqfqfqrfqbf}X@ɛd 隥纾I $F;ɚiI=Ii GiM7B))zK5 KK1K1K5K5*F=?2F9:F9BF=/3JFAGMrA GIJ%J%J%1J!J%;J%^:J%3J!a5@a5@a=@a=@GEKG1BiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779508O- > I hmw, %A6@Y69ʙ@6/[<96V>y6H+?6?s`0?@ e I&?`}?ɨ6@6t;4yNBRI]Mb@Mb@Mb@YYY Y)YY]Q? rh?Mb`?y](?]C =];]A ]@)]MAI]AYyYIuIu{R5٢*< ?=9Q > G٣5Gyi: > Nusing accuracyPremultiplier from config49M?4Y* iwB/)?:@aUD;;Y4 AZjDNOT Ignoring new targets: 76.60 m.Bj/Jj/ ProNav: ac range: 76.599998 m, nav range: 71.363747 m, bearing: 152.223671 deg, approach rate: 0.389119 m/s, LOS rate: -0.430463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.424745 deg. 2j:j%ә@-HeadingCmd: 4.807069 target range: 76.599998 and range: 74.80 m. j1j1j1j1i1h9h9hAhEBfAfAfIrfIbfM^@ɛuрBu y}Iy }2;ɚyiyI.=IiHiB>))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:57:09.7282 %TRx dataTimestamp_ set to:1736366231.025853-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031782*F2F :F BF 2JF HQIQ IUIIUSBIU =&IQ.IQ6IUݰ<:IU FBIJIRIZIbIjI4GhAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281066tw,G%Ay&B%II5I5)M5٢eC= eL=9mQ m>iq uG٣qyu u> I Nusing accuracyPremultiplier from config49?4Y i@rUD-;!.;`4 AZjyDNOT Ignoring new targets: 76.60 m.BjJj軝 ProNav: ac range: 76.599998 m, nav range: 71.520248 m, bearing: 152.051655 deg, approach rate: 0.370748 m/s, LOS rate: -0.406609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.460282 deg. 2j:jؙ@ HeadingCmd: 4.807689 target range: 76.599998 and range: 74.80 m. j j jjihhhh!f!f)f1rf1bf=E @ɛЀBӡ 隵"I ;ɚiIX=Ii0JiQ?))*F2F:FBFU4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 74.9 m (Round-trip 99.9 ms) speed 0.0 m/s E*DAT read: user:988> MBDAT read: Tx time:19:57:10.8242 M$Ping request sent.MGA Ba O >zw,%AFz@YFЙ@F;<9F*>yFH??A¿t?,b yT??ɨFz@F;Dy^1B^I bp=ba=J~J~J|J|J~=;J~X:J|J|IjIjP5٢-[= D=9rQ >   G٣1yEh: M>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:57:10.8234 Nusing accuracyPremultiplier from configi49mÎ?4Ym ii   @mUDmfX;mN;m/h41 5)A9 addTargetRange:: Added new target pos. range: 74.900002 m, deltaT: 3.536831 s, deltaX: 0.099998 m, approachRate: 0.028273 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.Bj6Jj6𻝊 ProNav: ac range: 76.599998 m, nav range: 71.689735 m, bearing: 151.867308 deg, approach rate: 0.387079 m/s, LOS rate: -0.420020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423473 deg. 2j :jSә@%HeadingCmd: 4.807046 target range: 76.599998 and range: 74.90 m. uw$?Iq j!jqjqjqiqhyhyhyhyfffrfR@bf $?ɛπBה ޝI \ ;ɚAiAIEru=IMiMWIKiM0A3)I)Q*F2F:FBFP5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.HI II  IM IIM bBIM  =&II .II 6IM 9<:IM FGy GQ Ba O} >w,$&Ayz0BzIMb@Mb@Mb@ )YQ?+?~jtx?y=;EA @)AI~AyGAII;5٢@ F=9Q > G٣5Gy > Nusing accuracyPremultiplier from config49Nǎ?4YS iB)?:@UD];;o4 2AZjAEDNOT Ignoring new targets: 76.60 m.BjMJjM] ProNav: ac range: 76.599998 m, nav range: 71.846054 m, bearing: 151.701065 deg, approach rate: 0.423876 m/s, LOS rate: -0.449807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.477554 deg. 2j]Y:j]ۙ@eHeadingCmd: 4.807991 target range: 76.599998 and range: 74.90 m. jajajajaiih h h h Bfffrfbf%?ɛYe%뫼 隍QI :ɚiI=Ii4Li 5))eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF 1I1G -,G B O >·w, &AjWill construct direction to contact in vehicle frame from tetrahedron phase data.@Y@z^;9>yH1??¿`C?`kw A(?`?ɨ@;VCy59B5IIEIEs75٢U2= UT=9](tQ ]>YY eG٣ayeͻ e> mNusing accuracyPremultiplier from configiu49mʎ?}4Ym imyBy}}@mUDm* ;m ;mu4 A޳EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjJj𻝊 ProNav: ac range: 76.599998 m, nav range: 71.999214 m, bearing: 151.538683 deg, approach rate: 0.396800 m/s, LOS rate: -0.419795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.489092 deg. 2j :jܙ@HeadingCmd: 4.808192 target range: 76.599998 and range: 74.90 m. jjjjihhhhfffrfbfɼ?ɛ΀BdP 䔾I E:ɚi!I%#=I5i5wMi5LCZ)1)9zKmLKiKiKmKm::;;:::8675420.+)*/87/&  BKy:K}sA*F2F:FBFJFJJJ0JJJd:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G qDG% sAG% oAG B ) I- hO5 >w,):&AyvBBvI}Mb@Mb@Mb@yyy y)yY}"~j?+?Mbp?y}S#?y};}A }@)yI} Ayy}pAII75٢-= E=9Q > G٣y > Nusing accuracyPremultiplier from config49͎?4Y izB#?:@UD;Y; }4 AZj DNOT Ignoring new targets: 76.60 m.Bj sJj s绝 ProNav: ac range: 76.599998 m, nav range: 72.159393 m, bearing: 151.371089 deg, approach rate: 0.387656 m/s, LOS rate: -0.404701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.473533 deg. 2j%ߊ:j%{ڙ@-HeadingCmd: 4.807920 target range: 76.599998 and range: 74.90 m. j)j)j)j)i)h)h)h1h5րBf9f9f9rf9bf=`[?ɛèBmʌ imIi m8:ɚiiqI s=IiϿNi5oU))E e>E >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507215*F?2F:FBF`0JFHT>I IIIwBI =&I.I6I<:I FG_G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758268ߔw,qT&AJ=ђ@YJ@J;9J>yJH@Ӝ?Ԇ?'¿S7?6pI??ɨJ=ђ@JK;JWCyVHBVI `IdIfIf-I5٢rf = rX=9rQ v>tt vG٣v5Gyz;< z> ~Nusing accuracyPremultiplier from config|49~ю?4Y~*" i~{B   @~UD~s;~:~4 vA۳EZjDNOT Ignoring new targets: 76.60 m.BjٻJjٻ ProNav: ac range: 76.599998 m, nav range: 72.307205 m, bearing: 151.219027 deg, approach rate: 0.370532 m/s, LOS rate: -0.380407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.519943 deg. 2j:j@HeadingCmd: 4.808730 target range: 76.599998 and range: 74.90 m. jjj j i h h hhfffrfbf?ɛÈBE` IMII Mgީ:ɚIiIIM\=IUi]Oi]E)Y)Y*F?2F:FBF~0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010613GU)1 9`wAGBO>- ZA ] PY] `wAy] YBzK MK 9K K K  RK ?JK >w,[an&A2w@Y2@2&o;92>y2H]?@?\ ¿ E?+`m`C?#?ɨ2w@2b;2YCJK(3 K(.KK"KJLJNJLJLJLJN^:JLJLynJBnIII[W5٢E; MC=9]9Q e>i G٣=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265620yuX; }> Nusing accuracyPremultiplier from config49Ԏ?4Y) i}B%@UDN< L<4a mkAi IZjDNOT Ignoring new targets: 76.60 m.Bj+Jj+ໝ  ProNav: ac range: 76.599998 m, nav range: 72.489105 m, bearing: 151.034571 deg, approach rate: 0.387507 m/s, LOS rate: -0.391964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.423227 deg. 2j :j Jә@HeadingCmd: 4.807042 target range: 76.599998 and range: 74.90 m. jjjjihhhAhAfIfIfIrfIbfMձ@ɛˀBcv 隭I Ή:ɚiID=Ii0Pi;v))*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514789jH bH p<H U>I  I II BI  =&I .I 9D6I <:I FG ZG ?G ?G B O >w,'&AB@YB+@B3";9B>yBH(?!?2¿ M? EcR??ɨB@B_j;BZCyJXBJI-Mb@Mb@Mb@))) )))Y-x&1?/$?Mb?y-A ?-,=-<-A )))I-A)y-AIEIEJH5٢Uj= UJ=9]KQ ]>Ya eG٣aye"H; e> uNusing accuracyPremultiplier from configiu49m؎?}4Ym/ imB} ?}:}}@mUDm;mh;m 4 AZjDNOT Ignoring new targets: 76.60 m.BjJjﻝ ProNav: ac range: 76.599998 m, nav range: 72.629761 m, bearing: 150.894848 deg, approach rate: 0.421599 m/s, LOS rate: -0.417994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.556836 deg. 2jn:jd@HeadingCmd: 4.809374 target range: 76.599998 and range: 74.90 m. jjjjihhhhBfffrfbfJ@ɛ@ eI 0j:ɚ i I 9=IicPiɻ))E!*F?2F:FBF~2JF"G=G=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767188 IG ٻG B O >w, &A2@Y2 @2:92+D>y2HI?@? ;¿?@9UIX? l?ɨ2@2PÇ;2YCy:YB>IIFIF~N5NWill construct direction to contact in vehicle frame from tetrahedron phase data.RBDAT read: Rx Time:19:57:13.3288 VTRx dataTimestamp_ set to:1736366234.552776Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019506٢Z"< ZU=9^6Q ^>`` bG٣b5Gybc; f> jNusing accuracyPremultiplier from configdn49ftێ?n4Yf5 ifBlnʳn@fUDf ;f ;f4t vAvݳEZjDNOT Ignoring new targets: 76.60 m.Bj%XܻJj%Xܻ5 ProNav: ac range: 76.599998 m, nav range: 72.780479 m, bearing: 150.746593 deg, approach rate: 0.392498 m/s, LOS rate: -0.385282 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.531352 deg. 2j55:j5@=HeadingCmd: 4.808929 target range: 76.599998 and range: 74.90 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM]@ɛ}ʀB}{\ 隅aI RA:ɚiI}l=Ii5Pi51)1)9zKKK9KKK*F?2F:FBF5JFJJBAGnʻ]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273565G1 Bi I O >Fw,H޻&A6@Y6 @6o996>y6H Q?,?+¿@޿?g-! KD?'?ɨ6@6E;6VCyR^BRIMb@Mb@Mb@ )YQ? ףp= ?y&1?y(?Q8=`e<EA )AI AyAIIQ5٢< 9=9S3Q > G٣yK9 > Nusing accuracyPremultiplier from config49Uߎ?4Y< iB?:@VDT;;u4  A-B*** querying acoustic contact ***j)j)Zj1=DNOT Ignoring new targets: 76.60 m.BjEԻJjEԻU ProNav: ac range: 76.599998 m, nav range: 72.950699 m, bearing: 150.582240 deg, approach rate: 0.386162 m/s, LOS rate: -0.371982 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.483292 deg. 2jUI:jUۙ@]HeadingCmd: 4.808091 target range: 76.599998 and range: 74.90 m. jYjYjYjYiYhahahihmBfiffrfbf @ɛ9EX AEXIA El:ɚAiAIMG=Iuiu Qiu,Ш)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 75.2 m (Round-trip 100.3 ms) speed -0.1 m/s *DAT read: user:989> BDAT read: Tx time:19:57:14.4243 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:57:14.4235 -w,E&A $I&hB@YBm@Bh9B4>yBH@?@e?l!¿lչ?rዿM?6? ?ɨB@B@;BYCyNfBNII I E5٢5= =W=9E.Q E>II MG٣IyU9 U> }Nusing accuracyPremultiplier from configy49}⎜?4Y}(C i}B@}VD}0;}s;}?4 A  addTargetRange:: Added new target pos. range: 75.199997 m, deltaT: 3.530011 s, deltaX: 0.299995 m, approachRate: 0.084984 m/s, rangeRepo size: 4 Zj  DNOT Ignoring new targets: 76.60 m.Bj5JϻJj5JϻE ProNav: ac range: 76.599998 m, nav range: 73.101265 m, bearing: 150.438032 deg, approach rate: 0.379218 m/s, LOS rate: -0.362455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.543463 deg. 2jMx:jM{@HeadingCmd: 4.809141 target range: 76.599998 and range: 75.20 m. jjjjihhhhfffrfR@bf "L?ɛzV FI :19ɚiI=Ii :WQi ) )EEsA*F?2F:FBF_0JFGtA GWill construct direction to contact in vehicle frame from tetrahedron phase data.G bzK% JK% +9K! K% K% G B O >Xw,&AB=@YB@Bw9B^>yBH`K?@'?`Q .?n??9?ɨB=@B=;BWCyJgBNIIVIV75٢bC; fP=9nxQ n>tt vG٣v5Gyz+ z> ~Nusing accuracyPremultiplier from config|49~掜?4Y~QI i~B  w @~&VD~:~~:~4 AMWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiIZjDNOT Ignoring new targets: 76.60 m. YI]hBjuݼJjuݼ ProNav: ac range: 76.599998 m, nav range: 73.251488 m, bearing: 150.294320 deg, approach rate: 0.345907 m/s, LOS rate: -0.330237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.544942 deg. 2jb:j@HeadingCmd: 4.809166 target range: 76.599998 and range: 75.20 m. jjjjihhhhfffrfbf ?ɛɀBXkQ DI i`g9ɚiIC=I%i%Qi%\)!)I*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G XHq Iu C Iu LIIu BIq &Iq .Iq 6Iu <:Iu FBI)JI)RI)ZI- =bI- =jI-4G B O >A‰w,:x 'A6Uޒ@Y6@6.;96>y6H??f`?+Qw???ɨ6Uޒ@6ic;6XCyNtBNI5Mb@Mb@Mb@111 1)1Y5-?kt?I +?y5??5 0=594<1 5@)1I5A1y1IM~IME)5٢]u= ]A=9eQ e>aa eG٣iym) m> uNusing accuracyPremultiplier from configq}49u鎜?}4YuO iuB?:@u6VDuth;u~;u\4 AZjDNOT Ignoring new targets: 76.60 m.BjJj滝] ProNav: ac range: 76.599998 m, nav range: 73.407181 m, bearing: 150.146304 deg, approach rate: 0.425015 m/s, LOS rate: -0.403199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.532092 deg. 2j][:j]@eHeadingCmd: 4.808942 target range: 76.599998 and range: 75.20 m. jajajajaiihihihh Bfffrfbf`?ɛ~(F *I 8ɚiI=IiRi%N )!)!JJJ1JJJ\:J3JJJJů;Jů;*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.GG ?G Mx$?IIGyBO^>Ijȉw,K#'A6@Y6@6ػ96">y6HV?? R? ~`{?*? ?ɨ6@6U;6VCRWill construct direction to contact in vehicle frame from tetrahedron phase data.yRwBVII^I^65٢p< O=9%Q %>!) -G٣)y-M; -> =Nusing accuracyPremultiplier from config1=495쎜?E4Y5U i5BAE`E@5EVD5 ;5 ;5E4MB UAU߳EZjDNOT Ignoring new targets: 76.60 m.BjRȻJjRȻ ProNav: ac range: 76.599998 m, nav range: 73.554642 m, bearing: 150.007462 deg, approach rate: 0.372764 m/s, LOS rate: -0.350272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.559504 deg. 2jcp:j@HeadingCmd: 4.809421 target range: 76.599998 and range: 75.20 m. jjjjihhhhfffrfbf {?ɛ > #I ֧ɚiI( =Ii Sil)) *Fu?2Fq:FyBF}0JFy"GG=zK JK 9K K K -9DOY_dgb___YWTOKD;71+& G;3eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I II dΉw,&='A6~@Y6@6296c>y6H8ݹ?ф?+ѹ?.1@Qx?b?`ݮ?ɨ6~@6Uۇ;6XCyRtBRI5Mb@Mb@Mb@111 1)1Y59v?J +?I +?y5?5H=15A 5@)5AI5 A1y5GAIMIMH5٢]`x ]F=9e(:Q e>ai mG٣m5Gym; m> }Nusing accuracyPremultiplier from configq}49u?4Yu[ iuB?:̱@uTVDu;u;uyö4  AܳEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjŻJjŻ ProNav: ac range: 76.599998 m, nav range: 73.710831 m, bearing: 149.865049 deg, approach rate: 0.379867 m/s, LOS rate: -0.345629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.548861 deg. 2j3m:jA@HeadingCmd: 4.809235 target range: 76.599998 and range: 75.20 m. jjjjihhhhBfffrfbf7c?ɛ: *I g*ɚiI !=Ii% cSi%4)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H9I9 I=YII=BI9&I9.I96I=<:I= F*F?2F:FBF0JFGJ J J 0J J ;J X:J ـ3J J E<J E<J /;J 0;G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266225 A IA |Չw,*W'AF@YF@F9Fc>yFH@_? σ? ?;?@w? ??ɨF@F;DyV{BVII^I^MD5٢fk= fT=9j9Q j>hh jG٣lynX; n> vNusing accuracyPremultiplier from configpv49r?v4Yra irBxzz@rbVDr:r :r6ʶ4 AZj!-DNOT Ignoring new targets: 76.60 m.Bj5ĻJj5ĻE ProNav: ac range: 76.599998 m, nav range: 73.857544 m, bearing: 149.732426 deg, approach rate: 0.381416 m/s, LOS rate: -0.344100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578115 deg. 2jM'l:jMo@MHeadingCmd: 4.809745 target range: 76.599998 and range: 75.20 m. jQjQjQjQiQhQhhhfffrfbf2@ɛ  6 5I1 54wɚ9i9I=m2=I=iESiES)A)A*F?2F:FBFb5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519046G-ҸG1G1GBO% >zK MK ]9K K K  ۉw,p'A^ @Y^@^+9^l>y^Hfm?གྷ?@`?@l%x??ࢯ?ɨ^ @^wy;^YCyjkBjI)l lprAItIt٢~O ~H=9eQ e>ii mG٣iyuiQ; u> }Nusing accuracyPremultiplier from configy49}?4Y}&h i}B@}rVD} :}:}Ѷ4 hA%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772978ZjaDNOT Ignoring new targets: 76.60 m. IBj5Jj= ProNav: ac range: 76.599998 m, nav range: 74.019058 m, bearing: 149.587838 deg, approach rate: 0.363487 m/s, LOS rate: -0.324685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.542376 deg. 2j^:jS@HeadingCmd: 4.809122 target range: 76.599998 and range: 75.20 m. jjjjihhhhfffrf bf ˱@ɛY]zH Y]w,U'Ab@Yb"@bƻ9bZ>ybH ߤ??[@a?^7x?L?യ?ɨb@be@;bWCyjgBjIeMb@Mb@Mb@aaa a)aYeX9v?&1?I +?ye?eP=ae\A e@)eAIeAaye=AII:5٢8 A=9+ҹQ > G٣5Gy; > Nusing accuracyPremultiplier from config49?4YNn iBP?:ి@VDQ;;ض4 AZjDNOT Ignoring new targets: 76.60 m.Bj1ʻJj1ʻ ProNav: ac range: 76.599998 m, nav range: 74.176079 m, bearing: 149.449669 deg, approach rate: 0.402632 m/s, LOS rate: -0.353542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.561566 deg. 2jr:j@HeadingCmd: 4.809457 target range: 76.599998 and range: 75.20 m. jjjjihhhhBfffrf)bf- @J}JyJ}1JyJ};JyJ}3JyJ}F<J}F<JyJyɛʀBj 隽DI $ɚiIf=Ii Si WM) ) -Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275805*F?2F:FBF05JF IhG g{G B O >w,'AJWill construct direction to contact in vehicle frame from tetrahedron phase data.VDAT read: Range 10 to 50 : 75.6 m (Round-trip 100.8 ms) speed -0.1 m/s V*DAT read: user:990> -ZX#Rx 1: Read range message, but no direction.HyJ3BHZT****** received valid address query ******^R****** received valid ping request ******^Querying Benthos address 50 with one ping in standard two-way mode.=~GQi YyBe>@Ye,@eŻ9e>yeH? ?>? Lx? ?C?ɨe>@eχ;eXCy޵^B޽III>5٢Q )=9x8Q > G٣y 0; -> 5Nusing accuracyPremultiplier from config1=495?=4Y5u i5BAEE@5VD5C:5e:5H4i mAu޳EzKrKKs9KKK addTargetRange:: Added new target pos. range: 75.599998 m, deltaT: 3.531155 s, deltaX: 0.400002 m, approachRate: 0.113278 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.BjﻻJjﻻ ProNav: ac range: 76.599998 m, nav range: 74.362854 m, bearing: 149.286986 deg, approach rate: 0.378231 m/s, LOS rate: -0.328614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.488377 deg. 2ja:jܙ@HeadingCmd: 4.808179 target range: 76.599998 and range: 75.60 m. jjjj!i!h!h)h)h)f)f1f1rf5`fR@bf5i?ɛy} o XI dQɚiI=IiSif))*Fe?2Fa:FaBFm@5JFi5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Tx time:19:57:18.0243 E$Ping request sent.Ew,A'AF/!@YF0@Fл9F9d>yFH?@x? =?\gz?@t?@?ɨF/!@F,;FWCyQBIMb@Mb@Mb@ )Y +?:v?Mbp?y?T=;A @)MAIAyIIB5٢ q=9/Q ? G٣y%: %? -Nusing accuracyPremultiplier from config)549-5?54Y-z i-B=_?=:=q=@-VD-a;-;-"4A M9AIeB*** querying acoustic contact ***jajaZjquDNOT Ignoring new targets: 76.60 m.Bj}ŻJj}Ż ProNav: ac range: 76.599998 m, nav range: 74.494759 m, bearing: 149.173372 deg, approach rate: 0.402445 m/s, LOS rate: -0.346027 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.634951 deg. 2jym:j@HeadingCmd: 4.810738 target range: 76.599998 and range: 75.60 m. jjjjihhhhBfffrfbf?ɛՠ rI yxɚiIɪ=IijSi z))EEtAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252206HW>I I_IIÀBI&I.I6IͰ<:I F*F?2F:FBF_0JFGpG B O >J J J J J ;J ]:J J J A<J A<J ;J ;U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502952  I mw, 'AyCBIII05٢5ӕ 5[=9=Q =>99 EG٣E5GyE E> MNusing accuracyPremultiplier from configIU49M?U4YMn iMBYY]@MVDMT&;M&;M4i mAiZjDNOT Ignoring new targets: 76.60 m.BjRJjR ProNav: ac range: 76.599998 m, nav range: 74.642509 m, bearing: 149.046883 deg, approach rate: 0.395634 m/s, LOS rate: -0.338031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.596476 deg. 2jg:j@HeadingCmd: 4.810066 target range: 76.599998 and range: 75.60 m. jjjjihhhhfffrfbf?ɛˀB ƇI IDɚiI=I i >Si jj) )*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755014G<GBO>zK JK +9K K K RK- ?JK- >w,'A6@Y6 $@6Q 96d>y6Hy??`\t}ú?@ht@u?An?`?ɨ6@6& ;4y>8B>IIJIJ:5٢b;j fR=9jQ j>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~49z{ ?4Yzo izB@zVDz-;z;z4  AZjQUDNOT Ignoring new targets: 76.60 m.Bj]Jj]m ProNav: ac range: 76.599998 m, nav range: 74.797684 m, bearing: 148.914555 deg, approach rate: 0.391679 m/s, LOS rate: -0.333317 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.579035 deg. 2jmd:jm@uHeadingCmd: 4.809762 target range: 76.599998 and range: 75.60 m. jqjjjihhhhfffrfbf ?-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010818 y$?Iɛ\X  ٓI ]븺ɚi!I%=IUi]s7Si]YT)Y)Y*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074ZH RH AAH I  I FII BI  =&I .I 6I <:I FG i"G G pAG B O >w, (A2m@Y2@292؊>y2H? ?|(?Cr???ɨ2m@26;2VCyB,BBIEMb@Mb@Mb@AAA A)AYE~jt?v/?y G٣y > Nusing accuracyPremultiplier from config49?4Y iBX?:@VDy;l;4 aAZjDNOT Ignoring new targets: 76.60 m.BjDƻJjDƻ ProNav: ac range: 76.599998 m, nav range: 74.972580 m, bearing: 148.768677 deg, approach rate: 0.416614 m/s, LOS rate: -0.346680 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.538583 deg. 2jm:j@HeadingCmd: 4.809055 target range: 76.599998 and range: 75.60 m. jjjjihhhhBfffrf bf ?ɛ=̀B=qʼ 9=矾IA E=ֺɚAiAIET2=IMiM@SiM27m)I)Q*F?2F:FBF0JFG GsA-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511368 IG4GBO >w,%(A6+$@Y63@6 96 >y6H`0?`? P\XBIIIL5٢-3 -O=9- :Q ->11 5G٣55Gy=; => ENusing accuracyPremultiplier from configAM49E?M4YEU iEBIUTU@EVDE;EQ;E4eB eAeݳEZjDNOT Ignoring new targets: 76.60 m.Bjs»Jjs» ProNav: ac range: 76.599998 m, nav range: 75.136230 m, bearing: 148.633844 deg, approach rate: 0.413569 m/s, LOS rate: -0.340002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.571574 deg. 2jWi:j@HeadingCmd: 4.809631 target range: 76.599998 and range: 75.60 m. jjjjihhhhfffrfbf vq@ɛ 1ؼ y}I ɚiIm=IidSi))*Fm?2Fi:FiBFm2JFizKEJKEh9KAKEKE7@. JyJ}@AJJJJJ;J[:JJa@a@a@a@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015733Gm]U IhGq B OE > w,ms?(A:,@Y:0<@:x9:! >y:Ht?@?p@g?y ?@U??ɨ:,@:\;:VCyBBBsIMb@Mb@Mb@ )Y{Gz?i|?5?Qy#?q=uEA )AIAyAI-I-W5٢E EH=9MQ M>II UG٣QyU'; U> eNusing accuracyPremultiplier from configYe49]A?m4Y] iYm$?m:m>m@]VD]D;];] 4q }AyZjDNOT Ignoring new targets: 76.60 m.Bj ͻJj ͻ ProNav: ac range: 76.599998 m, nav range: 75.314911 m, bearing: 148.487882 deg, approach rate: 0.439928 m/s, LOS rate: -0.358519 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.538349 deg. 2j v:j@HeadingCmd: 4.809052 target range: 76.599998 and range: 75.60 m. jjjjihhhhBfffQrfYbf] &@ɛ̀B 隥ʾI GɚiI|=IiЮRi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268064HV>I IIIBI&I.I6I<:I FBIeãCJIeãCRIaZIabIajIew5*FI2FI:FIBFMP5JFQGi"G?G>GBO >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519036 I k w,&VY(A6j=@Y6L@6 96 >y6Hm? ? @?3z௿? ll rG٣pyrN; r> vNusing accuracyPremultiplier from configtz49v?z4Yv it|~~@vVDv;v;v4 JA -B*** querying acoustic contact ***j)j)Zj1=DNOT Ignoring new targets: 76.60 m.Bj=^ʻJjE^ʻM ProNav: ac range: 76.599998 m, nav range: 75.486664 m, bearing: 148.349168 deg, approach rate: 0.439127 m/s, LOS rate: -0.353849 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.559998 deg. 2jUr:jU@]HeadingCmd: 4.809429 target range: 76.599998 and range: 75.60 m. jYjYjYjYiahahahahafififirfibfu[@ɛL 隥XݾI ^G(ɚiIC=Ii,RiVS:))*F5?2F1:F1BF5_0JF1"G==G==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774694G'HGBO>zK YmLK +9K K K 2w,)s(AJ&J&J$J$J&u;J&^:J$J$>f@@Y>O@>^9> >y>H?`?`Bd ?@lxy?@?C?ɨ>f@@>;>XCybBbEIIjIjJ5٢rU rI=9rкQ r>tt vG٣v5Gyzk: z> Nusing accuracyPremultiplier from config-49 ?-4YW iB15﮿5@WD;i;4I UAQWill construct direction to contact in vehicle frame from tetrahedron phase data.AiABDAT read: Rx Time:19:57:20.5298 TRx dataTimestamp_ set to:1736366241.865093 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024572 9I9ZjDNOT Ignoring new targets: 76.60 m.BjҵJjҵ ProNav: ac range: 76.599998 m, nav range: 75.667175 m, bearing: 148.204548 deg, approach rate: 0.397774 m/s, LOS rate: -0.317923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.542371 deg. 2j0Z:jS@HeadingCmd: 4.809122 target range: 76.599998 and range: 75.60 m. jjjj!i!hhhhfffrfabfe` @ɛ9Y 隝I 6JɚiIWj=IiXQiЫ:))*Fm?2Fq:FqBFu`5JFqH I  I II ]BI &I .I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2753146I <:I FGu 7:GQ BY O} >#w,n(A6E@Y6U@6< 96 >y6H:?~?@M?jv`?9? ?ɨ6E@6G;6WCy>B>/IEMb@Mb@Mb@AAA A)AYE/$?J +?{GzyE&1?EH=EףE/A A)E AIE7AAyEGAI]I]Q5٢m m2=9u~Q u>qy }G٣yy}U: }> Nusing accuracyPremultiplier from config49$?4Y iB1?:r@#WD;;4 mAZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 75.880936 m, bearing: 148.027865 deg, approach rate: 0.519203 m/s, LOS rate: -0.427934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.446649 deg. 2jג:j֙@HeadingCmd: 4.807451 target range: 76.599998 and range: 75.60 m. jjjjihhhh[Bff f rf bf ( @ɛA=3 I ^ɚiIg=IiPib:))Will construct direction to contact in vehicle frame from tetrahedron phase data. I DAT read: Range 10 to 50 : 76.0 m (Round-trip 101.4 ms) speed -0.1 m/s *DAT read: user:991> %BDAT read: Tx time:19:57:21.6243 -$Ping request sent.- Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:57:21.6235 )w,+(A]@@YO@O.9 >yH ?@?`'`V,?@NrɅ?@?C?ɨ]@@W;騍VCy޵B޵"III_5٢HQ B=9~Q >  G٣ y Ⱥ  > Nusing accuracyPremultiplier from config49h)?%4Y iB!%%@6WD::7'49 =A=߳Ee addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.778855 s, deltaX: 0.400002 m, approachRate: 0.105853 m/s, rangeRepo size: 4 ZjimDNOT Ignoring new targets: 76.60 m.Bju$ܻJju$ܻ ProNav: ac range: 76.599998 m, nav range: 76.078400 m, bearing: 147.865843 deg, approach rate: 0.470343 m/s, LOS rate: -0.384923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.490392 deg. 2j:jܙ@HeadingCmd: 4.808214 target range: 76.599998 and range: 76.00 m. jjjjihhhhfffrfS@bf b?ɛ" I {ɚiI (=Ii=Pi:))zKmJKm59KiKmKm*F?2F:FBFJFGsA GtAJUJUJU0JQJU;JUY:JUـ3JQ Ih Will construct direction to contact in vehicle frame from tetrahedron phase data.G?:G B O= >`0w,(A2,@Y2,<@2D92>y2H1t??``)}?Tc6?`? F?ɨ2,@2;2YCyNhBNI]Mb@Mb@Mb@YYY Y)YY]S?ˡE?Qy]:?]'=]u]A ]@)]AI] AYy]zAImImGL5٢}́ }R=9EhQ > G٣5Gyʻ > Nusing accuracyPremultiplier from config49]-?4Y} i:?:ճ@HWD;<;.4 +AZjDNOT Ignoring new targets: 76.60 m.BjJj껝 ProNav: ac range: 76.599998 m, nav range: 76.267677 m, bearing: 147.706142 deg, approach rate: 0.487604 m/s, LOS rate: -0.410389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.497285 deg. 2jҌ:jݙ@HeadingCmd: 4.808335 target range: 76.599998 and range: 76.00 m. jjjj i h h HU>I III5BI =&I.I6I<:I Fh1h5)Bf1f1f9rf9bf=?UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ0  I |ɚiIs=I%i%8Oi%w)!)!E5a>E5>*F?2F:FBFJFGG B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,;(A6I@Y6'@6M96 >y6HѺ?7?@`E`?rR???ɨ6I@6Ċ;6WCyBYBB IIHIH٢R RY=9VQ V>TT ZG٣XyZٻ Z> bNusing accuracyPremultiplier from config\b49^1?f4Y^ i\df(f@^YWD^X:^z:^44jB jkAnܳEUB*** querying acoustic contact ***jQjQZjyDNOT Ignoring new targets: 76.60 m.Bj]߻Jj]߻ ProNav: ac range: 76.599998 m, nav range: 76.449905 m, bearing: 147.552827 deg, approach rate: 0.465329 m/s, LOS rate: -0.390563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.516350 deg. 2j:j@HeadingCmd: 4.808668 target range: 76.599998 and range: 76.00 m. jjjjihhhhfffrfbf@Y?ɛAE}5 AEgII M˚ɚIiIIMv=Iuiu OiuB)y)y*F5?2F9:F9BFE~0JFQ) ~C%G=vA]AeWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. 6YvAyBG5GRG B O5 >zK BJK +9K K K J J J J J =;J Z:J J } =w,8(A Jz$?ILV@YV$ @VFp9V>yVH`??> :?]Q?b??@?ɨV@V;VVCbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502835yjHBjI z=z=I~I~~N5٢- -B=95[Q 5>11 MG٣Iy]5 e> Nusing accuracyPremultiplier from configy49}5?4Y}^ iy@}oWD}4T<}T<}<4! -AQZj%DNOT Ignoring new targets: 76.60 m.Bj%5ۻJj%5ۻ] ProNav: ac range: 76.599998 m, nav range: 76.674011 m, bearing: 147.364645 deg, approach rate: 0.457805 m/s, LOS rate: -0.383296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.412310 deg. 2j]:j]љ@HeadingCmd: 4.806851 target range: 76.599998 and range: 76.00 m. jjjjihhhhfffrfbf 1?ɛae* amWIi mPܭɚiiiImsi=Iuiu0Piuú)q)y*F?2F:FBFm0JFHV>I IIIBI&I.I6I<:I F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755878G 9IG B O >ECw,)A>D@Y>@>z9> >y>H?i?b^?{Y?@Y?F?`?ɨ>D@>;>WCyJNBJI%Mb@Mb@Mb@!!! !)!Y%y&1? ףp= ?~jty%`E?%Q8=%D%vA !)% AI%A!y%(AIE IENg5٢UK< UH=9]ȺQ ]>Ya eG٣e5GyeI e> uNusing accuracyPremultiplier from configiu49mx9?u4Ym imBE?:@mWDmA;mz@;mC4 A޳EZjDNOT Ignoring new targets: 76.60 m.Bj Jj  ProNav: ac range: 76.599998 m, nav range: 76.864418 m, bearing: 147.206259 deg, approach rate: 0.583968 m/s, LOS rate: -0.484558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.501217 deg. 2juF:juqޙ@}HeadingCmd: 4.808403 target range: 76.599998 and range: 76.00 m. jyjyjyjihhhhBfffrfbf 1?ɛ̀B&}L I OCɚiI6=I i%nPi%ѻ)!)1 IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008138*F?2F:FBF3JFGbGrAGrAG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258740M!Jw,}*)AJ@YJ0@J慼9J >yJHV?l? a?e?@?a? ?ɨJ@J;JVCyzOBzII  I g5٢; N=9%*Q %>!! -G٣)y-T -> =Nusing accuracyPremultiplier from config1E495=?E4Y5 i5BAEE@5WD5q:5":5J4I UAQZjq}DNOT Ignoring new targets: 76.60 m.Bj}Jj} ProNav: ac range: 76.599998 m, nav range: 77.069687 m, bearing: 147.036490 deg, approach rate: 0.518868 m/s, LOS rate: -0.427991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.467249 deg. 2jݒ:jٙ@HeadingCmd: 4.807810 target range: 76.599998 and range: 76.00 m. jjjjihhhhfffrfbf!@ɛyC RI } ȻɚiI_*=IiQiG))*F?2F:FBF4JFzKKK9KKKBK:K IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512920GGB! O >Qw,QD)A2@Y2h@2?ڋ92 >y2H8? ? `?(l?@{?e?˲?ɨ2@2l;2UCyNnBRI]Mb@Mb@Mb@YYY Y)YY]S㥛? rh?y]$F?]C =]]A ]p@)] AI] AYy]AIuIuhj5٢= D=9Q > G٣y7 > Nusing accuracyPremultiplier from config49lA?4Y/ iBUF?:ܶ@WD;<;OQ4HI IrIIBI =&I.I6I°<:I F AZjDNOT Ignoring new targets: 76.60 m.Bj Jj  ProNav: ac range: 76.599998 m, nav range: 77.282372 m, bearing: 146.856129 deg, approach rate: 0.504720 m/s, LOS rate: -0.426833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.435612 deg. 2jw:jՙ@%HeadingCmd: 4.807258 target range: 76.599998 and range: 76.00 m. j!j!j!j)i)h)h)h)h5B=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762958fAfAfArfAbfM\/@ɛEˀBE\- AEp IA M׻ɚIiIImv=Iui}"Qi}@6)y)EEsA*F2F:FBFw4JFG GsAJ3K3 K/.KK"KJ9J9J9J9J9J9J9J9J=KD4Ww,P6^)A64ג@Y6@696 >y6H`b˸?ߊ?+o0?@#r?0T?? ?ɨ64ג@6F;6WCy^B^*II Ih5٢ _= R=9N Q >! %G٣!y%y %> 5Nusing accuracyPremultiplier from config)549-D?=4Y- i-B9==@-WD-C ;- ;-!X4I MAQmB*** querying acoustic contact ***jijiZjyDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 77.481850 m, bearing: 146.687879 deg, approach rate: 0.514713 m/s, LOS rate: -0.433018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.471749 deg. 2j:j:ڙ@HeadingCmd: 4.807889 target range: 76.599998 and range: 76.00 m. jjjjihhhhfffrfbfE @ɛ75 I .ɚiI=IiZRi}T))*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266903GGiByO>zKu JKu 9Kq Ku Ku  )48895211.,)'&&  RK ?JK ?^h]w,dy:H 퇸?8?L? u?z/?,?`+?ɨ:Β@:m;:VCFWill construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: Range 10 to 50 : 76.6 m (Round-trip 102.2 ms) speed -0.2 m/s Z*DAT read: user:992> ^BDAT read: Tx time:19:57:25.2244 f$Ping request sent.f!! -G٣55GyE M> Nusing accuracyPremultiplier from config49I?4Y5 iĜB5@WDI)==`4 LAE addTargetRange:: Added new target pos. range: 76.599998 m, deltaT: 3.527308 s, deltaX: 0.599998 m, approachRate: 0.170101 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.Bj ػJj ػ ProNav: ac range: 76.599998 m, nav range: 77.713364 m, bearing: 146.493989 deg, approach rate: 0.453786 m/s, LOS rate: -0.378907 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.395271 deg. 2j:jKϙ@%HeadingCmd: 4.806554 target range: 76.599998 and range: 76.60 m. jjjjihhhhff f rf`f&S@bf7?ɛʀBe I vɚiIT,=IiSi#))jH<bH<HU>I I~II BI&I.I6I<:I FBIaJIaRIaZIe =bIajIe4EWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:19:57:25.2236 *Fe?2Fa:FaBFe4JFa"Gm=Gm=G} jGQ Bi O > dw,`)AJZJZJXJXJZ;JZU:JXJXJZ?@<JZ?@<JZ;JZ;y-B-YIMb@Mb@Mb@ ) IYRQ?)\(?Zd;O?yB?Ga=j<~A @)IAyAII-I5mWill construct direction to contact in vehicle frame from tetrahedron phase data.٢e= m-=9uQ u>qq }G٣yy} }> Nusing accuracyPremultiplier from config49M?4Y iΜB(C?:"@WD;;g4 eAZjDNOT Ignoring new targets: 76.60 m.Bj+Jj+ ProNav: ac range: 76.599998 m, nav range: 77.942413 m, bearing: 146.312926 deg, approach rate: 0.599742 m/s, LOS rate: -0.472700 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.433610 deg. 2j4:jԙ@HeadingCmd: 4.807223 target range: 76.599998 and range: 76.60 m. jjjjihhhhBf f f rf bf  ?ɛ5ɀB=' 9=.ܾI9 E3ɚAiAIEi=IMiMKTiM>!)I)Q*F?2F:FBF_0JFG 9"G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O > kw,L)A6@Y64@6C96+]>y6H??`8<$??h??@/?ɨ6@6ꚇ;6WCyRBRIInInJ5٢vW> vg=9vɻQ v>xx zG٣xy~$ ~> Nusing accuracyPremultiplier from config 49LQ? 4Y iלB@WDn::m4 8AݳEZjDNOT Ignoring new targets: 76.60 m.Bj0ݻJj0ݻ ProNav: ac range: 76.599998 m, nav range: 78.125015 m, bearing: 146.168743 deg, approach rate: 0.490958 m/s, LOS rate: -0.386754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.543659 deg. 2j:j@HeadingCmd: 4.809144 target range: 76.599998 and range: 76.60 m. jjjjih h h h fffrfbf8?ɛIM\ IM5II UɚQiQIUڑ=I]i]rUi]X)Y)aJJBAzKFMK 9KKK *F ?2F :F BF l0JF  IWill construct direction to contact in vehicle frame from tetrahedron phase data.G"GBOM >1qw,-)AHI III5BI =&I.I6I<:I Fb.@Yb@b9b^>ybHD??\, ???`?`?ɨb.@bPȍ;`yj'BjInWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm> ףp=?ai mG٣5Gy+ > Nusing accuracyPremultiplier from config49S?4YN iB2?:@XD;0;u4 AZjY]DNOT Ignoring new targets: 76.60 m.BjeJje㻝 ProNav: ac range: 76.599998 m, nav range: 78.328285 m, bearing: 145.987875 deg, approach rate: 0.448623 m/s, LOS rate: -0.398145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.434007 deg. 2j:jԙ@HeadingCmd: 4.807230 target range: 76.599998 and range: 76.60 m. jjjjihhhhBfffrfbf?ɛȀBb 隭렾I ɚiIm=Ii~Wiӈ))*F]?2FY:FYBF]_0JFYGa GepAJJJ1JJ;J[:J3JJ><J><J߮;J; {$?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.G KG B O >xw,)AJ @YJ@J9J(* >yJH@ ?^?@FJ? 3?༲??`?ɨJ @Jk2;JUCyV=BVII^I^ R5٢f%= fg=9j%2:Q j>hh nG٣lyn; n? vNusing accuracyPremultiplier from configpv49rU?z4Yr irBxzz@rXDr:r:r{4B A ߳EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjٻJjٻ ProNav: ac range: 76.599998 m, nav range: 78.480675 m, bearing: 145.853542 deg, approach rate: 0.433066 m/s, LOS rate: -0.381012 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.572976 deg. 2j:j@HeadingCmd: 4.809656 target range: 76.599998 and range: 76.60 m. jjjjihhhhfffrfbf@8?ɛ-ǀB5n 15≾I9 = ɚ9i9I==IEiEXiEE})A)I*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gek}G!B)OER> I zK :KK h9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ iՙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008435I~w,)AnM@Ynɫ@n x9nA >ynH?a?@@  =5=9u~:Q u> G٣5Gy: > %Nusing accuracyPremultiplier from config-49X?54Y- iB9==@3XDi <"<:4a mAiZjDNOT Ignoring new targets: 76.60 m.BjcJjcໝ- ProNav: ac range: 76.599998 m, nav range: 78.691216 m, bearing: 145.669703 deg, approach rate: 0.450542 m/s, LOS rate: -0.392347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.425165 deg. 2j-:j-ә@5HeadingCmd: 4.807076 target range: 76.599998 and range: 76.60 m. j1j1j1j1i1h9h9hYhafafafarfibfu{@ɛŀBę DJI ɚiI=I i cZir))ZH?ARHH!I! I%II%rBI!&I!.I!6I%<:I% FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261379*F2F:FBF0JFG G"GGGE ?GE >G B) OM >-w,R*A6#@Y6@6:96>y6H? ?`M k`Q?8?1???ɨ6#@6*Z;6WCyBxBBIJPJRJR0JPJPJRW:JRـ3JPJPJPJRJ;JRJ; AIIMb@Mb@Mb@ )YT㥛 ?:v?Q?y!?T<<A @)AIAyQAII>5٢= P=9Y#;Q > G٣y; > Nusing accuracyPremultiplier from config 49Z? 4YI$ iB=!?:z@BXD;h;4 A!ZjAMDNOT Ignoring new targets: 76.60 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512746BjeλJjeλ} ProNav: ac range: 76.599998 m, nav range: 78.842575 m, bearing: 145.540678 deg, approach rate: 0.424404 m/s, LOS rate: -0.361085 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.588860 deg. 2j}w:j}@HeadingCmd: 4.809933 target range: 76.599998 and range: 76.60 m. jjjjihhhhBfffrfbf9@ɛ%ĀB% @ !%I! -ɚ)i)I-=I]i][ie:pO)a)a*F!2F!:F)BF-P5JF)GB O%M>G`wAZA Y`wAy B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764964Hw,GT/*A6@Y6;̙@6醥96Ӝ>y6Ht?? ¿`T`u?6{?? ?`?ɨ6@69;6VCyRBR(IIZIZdK5٢v@"> v_=9v%:Q z>xx zG٣xy~g; ~> Nusing accuracyPremultiplier from config 49\? 4YU* iBI@PXD::"4 &A!ZjQUDNOT Ignoring new targets: 76.60 m.Bj]ĻJj]Ļm ProNav: ac range: 76.599998 m, nav range: 78.993042 m, bearing: 145.413616 deg, approach rate: 0.407855 m/s, LOS rate: -0.343757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.594732 deg. 2jmk:jm@uHeadingCmd: 4.810036 target range: 76.599998 and range: 76.60 m. jqjqjyjyiyhyhyhhfffrfbf%@ɛ~ 隽8I QɚiIQ=Ii.\iHP=))*FU?2FY:FYBF]_0JFY aIazKm/KKm+9KiKmKm "/N=hR>)ytqh_ZXURMKKHDAGBO )>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:57:27.7314 TRx dataTimestamp_ set to:1736366248.920694checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017331HE V>IA  IE LIIE BIA &IA .IA 6IE <:IE F0w,0I*A66Ӓ@Y6@6֞96c>y6Hm?`?C¿S` ?&bv?`oړ?`?@ ?ɨ66Ӓ@6w;6UCy^B^8IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268230Mb@Mb@Mb@ )YGz?Mb?Q?y?</A )IAyAII6=5٢ n= ;=9:Q > G٣y|; >  Nusing accuracyPremultiplier from config 49*_? 4Y0 i Bu?u:uu@`XD}i<-i<Ř4y }AEZjDNOT Ignoring new targets: 76.60 m.Bj"Jj" ProNav: ac range: 76.599998 m, nav range: 79.156029 m, bearing: 145.279477 deg, approach rate: 0.364341 m/s, LOS rate: -0.299236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.573607 deg. 2j\M:j@%HeadingCmd: 4.809667 target range: 76.599998 and range: 76.60 m. j!j!j!j)i)hIhhh#Bfffrfbf@ @ɛÀBS -R=-8~I) -$ɚ1i1I5A=I=iE`]iE')A)*F92F9:FABFAJFAGIGMtAGBA yI}hO>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 77.1 m (Round-trip 102.9 ms) speed -0.1 m/s *DAT read: user:993> BDAT read: Tx time:19:57:28.8244 $Ping request sent.y2HM?:?O¿@vI?@q? ? o)??ɨ2@2 ;0y^B^HIIfIf?5٢n= n]=9rU ;Q r>pt vG٣v5Gyv; v> ~Nusing accuracyPremultiplier from configx 49zDa? 4YzA6 izB  ¹@zmXDzHv;zw;z=4 ZA!=B*** querying acoustic contact ***j9j9M addTargetRange:: Added new target pos. range: 77.099998 m, deltaT: 3.527894 s, deltaX: 0.500000 m, approachRate: 0.141728 m/s, rangeRepo size: 4 ZjQUDNOT Ignoring new targets: 76.60 m.Bj]Jj]m ProNav: ac range: 76.599998 m, nav range: 79.294884 m, bearing: 145.166478 deg, approach rate: 0.385436 m/s, LOS rate: -0.313116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.636787 deg. 2jmV:jm@}HeadingCmd: 4.810770 target range: 76.599998 and range: 77.10 m. jyjyjyjyihhhhfffrf`fFS@bfǛ?ɛ€B@ 8I ɚiIA=Ii)^i)))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:57:28.8236 T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.G -,GBO >J J J J J :J V:J J a @a @a @a @ a Ia zK5 NK5 9K1 K5 K5 @?;:8740//./.-+)'&"! !.7AT} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501077w,6|*A2@Y2 @2I92ŭ>y2H@u?ࣁ?l¿ @+?@ s?ȓ?@D??ɨ2@2?<;0yǀBdII-rI-#5٢EN= EE=9EFQ E>II MG٣IyU3: U> Nusing accuracyPremultiplier from configy49}c?=4Y}s< i}BAMU@}}XD}=}^=}4 AZjDNOT Ignoring new targets: 76.60 m.Bj藻Jj藻 ProNav: ac range: 76.599998 m, nav range: 79.452751 m, bearing: 145.038924 deg, approach rate: 0.329394 m/s, LOS rate: -0.265615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.593292 deg. 2jJ6:j@=HeadingCmd: 4.810010 target range: 76.599998 and range: 77.10 m. j9jAjAjiiihihqhyhyfffrfbfM?ɛBa !% 1uG1 BA O] >pw,Wі*A:$@Y:@:p9:nM >y:Hy??Le@?@w?@?f;?۳?ɨ:$@:܌;:VCyB̀BBkI |I|-Mb@Mb@Mb@))) )))Y-MbX9?S㥛?/$?y-?-/<-<-A -@)-AI-7A)y-AIIs75٢(< A=9ʹQ > G٣y9 > Nusing accuracyPremultiplier from config49If?4YB i$B?:A@XD;8;쭷4  wA Zj15DNOT Ignoring new targets: 76.60 m.Bj=QJj=QUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005849e ProNav: ac range: 76.599998 m, nav range: 79.599274 m, bearing: 144.927427 deg, approach rate: 0.408196 m/s, LOS rate: -0.310048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.641315 deg. 2jeT:jey@mHeadingCmd: 4.810849 target range: 76.599998 and range: 77.10 m. jijijqjqiqhqhqhyh}kBfyfyfyrfbf@ ;?ɛe 隵2(w,~*A6@Y6D @6\96 >y6H H???a?qw??K?q?@?ɨ6@6,;6UCy>ЀBBoIIN{IN'5٢VN< VK=9Z,YQ Z>\\ ^G٣^5Gybr; b> fNusing accuracyPremultiplier from configd=49fh?E4YfQG if+BAE E@fXDf6=zKNK9KKKzumhb\YSME>>AW]@1+#%#j)J(EWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730*F2F:FBF0JFGtA GtAG UG B O% >H I  I II BI  =&I .I 6I <:I FBIJIRIZI =bIjIʄb4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761118> w,a*Ay]̀B]kI m=iMb@Mb@Mb@ )Yjt?S㥛?{Gzt?y?ף;/A )AIAyGAI I :5٢/ 5=9%Q %>!) -G٣)y- -> =Nusing accuracyPremultiplier from config1=495k?E4Y56M i5/BE?E:EpE@5XD5Q;5;5μ4I UyAQZjq}DNOT Ignoring new targets: 76.60 m.Bj0Jj0 ProNav: ac range: 76.599998 m, nav range: 79.897270 m, bearing: 144.704475 deg, approach rate: 0.361295 m/s, LOS rate: -0.267854 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.625365 deg. 2j7:j1@HeadingCmd: 4.810570 target range: 76.599998 and range: 77.10 m. jjjjihhhh[Bfffrfbf ?ɛ  ^w,x*A6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267224jC@YjFS@j9j~4>yjH|+? |? S/x?0?? w?@ ? ?ɨjC@jph;jSCyzǀBzeIII=5٢ 0=9  G٣yQ< > Nusing accuracyPremultiplier from config49n?4YHS i3BR@XD.::ķ4 AE B*** querying acoustic contact ***j1j1Zj9EDNOT Ignoring new targets: 76.60 m.BjEJjM} ProNav: ac range: 76.599998 m, nav range: 80.061348 m, bearing: 144.585438 deg, approach rate: 0.346832 m/s, LOS rate: -0.251110 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.618810 deg. 2j}U,:j}A@HeadingCmd: 4.810456 target range: 76.599998 and range: 77.10 m. jjjjihhhhfffrfbf@ɛB y^HH?`Qw?¿e?Xa ???ɨ^g@^ו;^VCyrBrQIMb@Mb@Mb@ )YPn?/$?{Gzy?,=#A ) AIypAIIB5٢Z G=9×;Q > G٣5Gyj.< > Nusing accuracyPremultiplier from configHI III)BI =&I.I6I<:I F49qr?4YX i4B?:@XD,<<̷4 &AEZj DNOT Ignoring new targets: 76.60 m.Bj Jj ProNav: ac range: 76.599998 m, nav range: 80.216469 m, bearing: 144.481283 deg, approach rate: 0.364180 m/s, LOS rate: -0.244053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663329 deg. 2j%}':j%@MHeadingCmd: 4.811233 target range: 76.599998 and range: 77.10 m. jIjIjIjIiIhIhQhQhUKBfYfYfYrfYbf]@)@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769148ɛ# I ɚiI-=Ii]i%Y;)!)!*F?2F:FBF1JFG:GBO> I IM h Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021555pNJw,32+A6P@Y6̗@6ǐN96F >y6H@gL?`;s?!¿`(s?@qщ? J?R?ɨ6P@6:;6UCyRBR<IIZIZGL5٢bk b^=9b;Q f>dd fG٣dyn0< n> 5Nusing accuracyPremultiplier from config)549-u?m4Y-] i)im<m@-XD-<-<-ҷ4y }AyZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 80.360435 m, bearing: 144.385901 deg, approach rate: 0.398183 m/s, LOS rate: -0.263333 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.689558 deg. 2j4:j^@HeadingCmd: 4.811690 target range: 76.599998 and range: 77.10 m. jjjjihhhhfffrfbf@ɛ  M  (GI YɚiI=Ii \i <)!)!*F2F:FBF\4JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:57:31.3324 TRx dataTimestamp_ set to:1736366252.700730checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274226G:G?G=?GBO> = |$?IA ș͊w, 9+AJJJJJ:JU:JJVA@YV@Vn;9V>yVH ?Eo?@,8¿ `4?$xm? C-?@p?ɨVA@V4;TybBf)IInInP5٢v vH=9v';;Q v>xx zG٣xy~A; ~> Nusing accuracyPremultiplier from config 49Ly? 4Y,c i5BԮ@XDC::ٷ4 (A!ZjYeDNOT Ignoring new targets: 76.60 m.BjeJjmu ProNav: ac range: 76.599998 m, nav range: 80.512306 m, bearing: 144.286444 deg, approach rate: 0.383979 m/s, LOS rate: -0.250986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.677381 deg. 2j}?,:j}@HeadingCmd: 4.811478 target range: 76.599998 and range: 77.10 m. jjjjihhhhfffrfbf & @ɛm ̠I ]ɚiII=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525185zKDMK9KKKI]ieZieDQ5<)a)a*F 2F:FBF_0JFG1X<G!BYO\>HI IIIBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 77.9 m (Round-trip 103.9 ms) speed -0.1 m/s  *DAT read: user:994>  BDAT read: Tx time:19:57:32.4244  $Ping request sent. y2H@ȿ?m?¿ / տ?Km~ >?I ?˭?ɨ2*@2z.;2VCyBBBIMMb@Mb@Mb@III I)IYMgfffff?J +?yy G٣5Gy; > Nusing accuracyPremultiplier from config49}?4Ypi i3B?:˭@XD*^;e\; 4 A addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 3.780020 s, deltaX: 0.800003 m, approachRate: 0.211640 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 80.693092 m, bearing: 144.170634 deg, approach rate: 0.431217 m/s, LOS rate: -0.275614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628541 deg. 2j&=:j@HeadingCmd: 4.810626 target range: 76.599998 and range: 77.90 m. jjjj i h h h hBf)f1f1rf5yS@bf= ? Iɛh# XI ɚiI6=Ii%gXi%W<)!))*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:57:32.4236 GGsAGsA) CG B ! A ] AOu > Y y qBڊw,l+A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6Q@Y6Ě@6)(96m>y6H@?Io?@@ݿ?@w}`%?@??ɨ6Q@6;6UCyFlBFIININC5٢V VX=9VQ Z>XX ZG٣Xy^p ^> bNusing accuracyPremultiplier from config`f49b?f4Ybo ib2Bhj׭j@bXDb7:b:b4l n~ApZj  DNOT Ignoring new targets: 76.60 m.BjLJjL% ProNav: ac range: 76.599998 m, nav range: 80.855751 m, bearing: 144.066987 deg, approach rate: 0.429761 m/s, LOS rate: -0.273296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.664874 deg. 2j%;:j%@-HeadingCmd: 4.811260 target range: 76.599998 and range: 77.90 m. j)j)j1j1i1h1hahahafififirfibfmj\?ɛ9=X 9=&I9 EɚAiAIEA=IMiMpViMM<)I)qE*F ?2F :F BF `0JF GP<GB IOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.iAzKMLKM9KIKMKMrw,+Ar䢓@Yr`@r)9r>yrH@??@<@4?@gu ?1?`?ɨr䢓@r;rVCy~XB~IjH<bH<HI IIIBI&I.I6I<:I F=Mb@Mb@Mb@999 9)9Y=S㥛?L7A`?X9vy=$&?=+===A =@)=~AI=7A9y=AI]I]65٢m_ m1=9uQ u>qq uG٣yy} }> Nusing accuracyPremultiplier from config49E?4Yv i/B0'?:ԫ@ YD6;V5;4B AE=B*** querying acoustic contact ***j9j9mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ZjDNOT Ignoring new targets: 76.60 m.BjͣJjͣ ProNav: ac range: 76.599998 m, nav range: 81.083542 m, bearing: 143.927296 deg, approach rate: 0.468359 m/s, LOS rate: -0.286412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.557298 deg. 2jD:ju@HeadingCmd: 4.809382 target range: 76.599998 and range: 77.90 m. jjjjihhhhӀBfffrfbf`t?ɛ3 隕LI IɚiI=I%i%%Ti% -<)!))*F?2F:FBF_0JF IJM JM JI JI JM :JM T:JI JI JM 9$w,y+A6@Y6/@6+96>y6H ־?ી?[D?|tW`?Q??ɨ6@6;6UCy>8BBIIJIJ95٢R; Rm=9VQ V?TT VG٣Z5GyZJU Z? bNusing accuracyPremultiplier from config`f49b?f4Yb| ib,Bhjj@bYDbz:b:b4a eAiZjDNOT Ignoring new targets: 76.60 m.BjJj ProNav: ac range: 76.599998 m, nav range: 81.254326 m, bearing: 143.823041 deg, approach rate: 0.496867 m/s, LOS rate: -0.302674 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.663082 deg. 2jO:j@HeadingCmd: 4.811228 target range: 76.599998 and range: 77.90 m. jjjjihhhhfffrfbfW?ɛ!- )-I) -qɚ)i1I5M=I=i=Ri=) <)A)A*F?2F:FBF0JF"G=G=G&<GaBiO9>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512763 I hw,S+A:Ð@Y:?@:9:V>y:Hŏ?? p``؟?"w ?@ i??ɨ:Ð@:;8yB&BBIHJAIRIR]5٢Z ZI=9Z;Q Z>\\ ^G٣\yb.0 b> fNusing accuracyPremultiplier from configdj49f?j4Yfb if)Bhnn@f,YDf:f :f4p rAr߳EZj DNOT Ignoring new targets: 76.60 m.BjJj- ProNav: ac range: 76.599998 m, nav range: 81.454384 m, bearing: 143.701418 deg, approach rate: 0.524008 m/s, LOS rate: -0.317780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.611222 deg. 2j-Z:j-+@5HeadingCmd: 4.810323 target range: 76.599998 and range: 77.90 m. j1j1j1j1i9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764865zK5؞KK5+9K1K5K5hahihihififqfrfbf?ɛ‰ 3I uH!ɚiI=IiQi0<))EErA*Fu?2Fq:FqBF}0JFyHI ILIIBI&I.I6I<:I FG(<Gi By  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016810O >Xw,0+A6@Y6$@6&96>y6H`??@)?ڒ U5D?^}`??`Ӻ?ɨ6@6Z;4y^B^IMb@Mb@Mb@ )Y$C?L7A`?:vy:?ԼA @)AIAyAIIQc5٢E 8=9 K;Q > G٣y.6 >  Nusing accuracyPremultiplier from config 49U?4Y i&B:?:ӭ@AYD;;4! %>A! 9I=hZjimDNOT Ignoring new targets: 76.60 m.BjuֿJjuֿ ProNav: ac range: 76.599998 m, nav range: 81.697838 m, bearing: 143.550487 deg, approach rate: 0.542674 m/s, LOS rate: -0.335433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.523751 deg. 2j4f:j@HeadingCmd: 4.808796 target range: 76.599998 and range: 77.90 m. jjjjihhhhkBfffrfJ=J9J=0J9J=:J9J=ـ3J9J=:<J=:<J9J9bfM`A@ɛB? 隽tI s&ɚiI}=Ii}OiX<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270439*F?2F:FBF1JFG 4<G B O >yFHn?˂?>@@-?~?͢?I?ɨFt@Fԍ;FVCybBbnIIjIjob5٢rR r\=9v ;Q v>tt vG٣z5Gyzû z> Nusing accuracyPremultiplier from config|49~?4Y~ i~$B   @~RYD~:~;:~ 4 AEZj9EDNOT Ignoring new targets: 76.60 m.BjEgûJjEgûU ProNav: ac range: 76.599998 m, nav range: 81.900467 m, bearing: 143.425256 deg, approach rate: 0.554213 m/s, LOS rate: -0.341671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.600430 deg. 2jU|j:j]@eHeadingCmd: 4.810135 target range: 76.599998 and range: 77.90 m. jijijijiiihihihqhqfqfqfrfbf@c@ɛ ==I Ҫ*ɚiIN=IiKNi~;))!*F2F:FBFC5JFGsA G 5}$?I1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772811zK>KK9KKKG1X<G B O >w,,AE^@Ym@d9j>yH?t?@` ??m`|?%?@^?ɨE^@;RCy-B-_I =a==p=H]U>IY I]II]|BIY&IY.IY6I]s<:I]0FBIJIRIZI =bI =jI.E45Mb@Mb@Mb@111 1)1Y5/$?v/?I +MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:19:57:34.9335 ]TRx dataTimestamp_ set to:1736366256.233226]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026418y51H?5xi=595vA 5p@)1I5A1y5AImImi5٢}C }'=9yn:Q > G٣yr > Nusing accuracyPremultiplier from config49/?4Y i"BH?:հ@kYDN;;4 OAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjyһJjyһ ProNav: ac range: 76.599998 m, nav range: 82.183815 m, bearing: 143.243994 deg, approach rate: 0.577279 m/s, LOS rate: -0.368020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.433293 deg. 2j|:jԙ@HeadingCmd: 4.807218 target range: 76.599998 and range: 77.90 m. jjjjih h h h 0Bfffrfbf n@ɛAE IM;II M0ɚIiQIUe=IUi]7Mi];)Y)a*F2F:FBF 5JF IJK KKK"KJq Ju Ju 1Jq Jq Ju S:Ju 3Jq Jq Jq Ju ;Ju ;G ;G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276962O >> w,H!,A:T?@Y:N@:9:)>y:H@? ?y?}`|?Ō? ?ɨ:T?@:ʋ;:VCyFBFMIIRIRj5٢Z Z=9Z Q ^?`` bG٣`ybEF f? jNusing accuracyPremultiplier from configdj49f?n4Yf if BlnQn@f{YDfh;f;f4t vAtZj DNOT Ignoring new targets: 76.60 m.BjӻJjӻ- ProNav: ac range: 76.599998 m, nav range: 82.364143 m, bearing: 143.128684 deg, approach rate: 0.579823 m/s, LOS rate: -0.369953 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630018 deg. 2j5}:j5@=HeadingCmd: 4.810651 target range: 76.599998 and range: 77.90 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfMz @ɛy8 隅ܾI 04ɚiI%=IiLi^h$:))*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 78.6 m (Round-trip 104.9 ms) speed -0.2 m/s u*DAT read: user:995> uBDAT read: Tx time:19:57:36.0245 }$Ping request sent.}  I <w, ;,A2.&@Y25@2߻92>y2H`@? `? wk@Al@?U|{?`k??ɨ2.&@2;2WCy>B>NIIHIH٢R~}; RK=9R :Q R>TT VG٣V5GyZL Z> bNusing accuracyPremultiplier from config\b49^ԩ?b4Y^1 i^Bdff@^YD^3:^>h<^& 41 5A9Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAJDAT read: TxSync time:19:57:36.0237  addTargetRange:: Added new target pos. range: 78.599998 m, deltaT: 3.532025 s, deltaX: 0.699997 m, approachRate: 0.198186 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 76.60 m.Bj!ƻJj!ƻ ProNav: ac range: 76.599998 m, nav range: 82.597099 m, bearing: 142.979859 deg, approach rate: 0.543816 m/s, LOS rate: -0.346438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.529981 deg. 2jm:j@HeadingCmd: 4.808905 target range: 76.599998 and range: 78.60 m. jjjjihhhhf f f rf `fS@bf?ɛ9=% 9=-۾I9 =;ɚAiAIE؝=zKXKK59KKK0<4-% IeiszLi;Ѻ))HqIuC IuIIuNBIu =&Iq.Iu8D6Iu<:Iu FE3=*F] ?2FY :FY BF] 5JFY "Gm =Gm = Will construct direction to contact in vehicle frame from tetrahedron phase data.- PExceeded connect timeout, disconnecting.GE 9 I GBAO><w,N(Z,AFђ@YFR@Fs9Fp>yFH@z?,?b?!r9?-? g?ɨFђ@F.G;FTCyRBRFIJnJnJn0JlJn:JndP:Jnـ3JlJn9<Jn9<Jn;Jn;)-A @ @ @  @ II\5٢Լ  =9ߺQ > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49?4Y iB+:[: @YD';?c'4 AEZjDNOT Ignoring new targets: 76.60 m.Bj%ݻJj%ݻ= ProNav: ac range: 76.599998 m, nav range: 82.890274 m, bearing: 142.790367 deg, approach rate: 0.601595 m/s, LOS rate: -0.387463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.408739 deg. 2j=:j=8љ@EHeadingCmd: 4.806789 target range: 76.599998 and range: 78.60 m. jAjAjAWill construct direction to contact in vehicle frame from tetrahedron phase data.jihhhhfffrfbf ?ɛ, 隭I hw, t,AyzBzYIIIW5٢== =S=9=Q E>AA EG٣AyM M> ]bBottom track data is 0.9 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe49U?e4YU iUBe :ae1:am@UYDUi);Uf?U+4uB u|AuEZj15DNOT Ignoring new targets: 76.60 m.Bj=ȻJj=Ȼ QIUh] ProNav: ac range: 76.599998 m, nav range: 83.113312 m, bearing: 142.647491 deg, approach rate: 0.547555 m/s, LOS rate: -0.349817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.547717 deg. 2j]p:j]@eHeadingCmd: 4.809215 target range: 76.599998 and range: 78.60 m. jajajajiiihihihqhqfqfqfqrfybf}#?ɛB~* 隭ҾI (GɚiIh =IiUNi^f))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-MK-+9K)K-K- *F?2F:FBF JF GZG B O- >HE T>IA  IE IIE :BIA &IA .IA 6IE <:IE FdL#w,Ս,AV5@YV@V/9VX>yVH`n?u?np?:D ?X_? G٣5Gy > Nusing accuracyPremultiplier from config49_?4Y\ iBT:*S?:~@YD;; 34 4AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.60 m.BjHJjH뻝 ProNav: ac range: 76.599998 m, nav range: 83.358879 m, bearing: 142.485341 deg, approach rate: 0.624890 m/s, LOS rate: -0.411403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.490183 deg. 2j+:jܙ@HeadingCmd: 4.808211 target range: 76.599998 and range: 78.60 m. jjjjihhhh$Bfffrfbf*?ɛ!%! !%ȾI! MzLɚIiIIM =IUiU *PiU)Q)YEerAEa nManaging dock network, ignoring radio surface power off*F?2F!:F!BF%f0JF! QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ge {#G9 B O >t)w,.,A:~GDRZA jYhyjBN@Yʖ@-9#>yHO?@?;_#y? XL`?@??f?ɨN@~P;VCyލBލI ==IIkf5٢= F=9R9Q > G٣yՖ > Nusing accuracyPremultiplier from config49?4Y@ i$B@YDe::G:4  qA Zj15DNOT Ignoring new targets: 76.60 m.Bj=޻Jj=޻M ProNav: ac range: 76.599998 m, nav range: 83.605820 m, bearing: 142.323519 deg, approach rate: 0.596567 m/s, LOS rate: -0.389780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.491167 deg. 2jM:jMݙ@UHeadingCmd: 4.808228 target range: 76.599998 and range: 78.60 m. jQjYjYjYiYhYhahahifififirfqbfu` l?ɛBnl 隥ޯI :NQɚiIgL!=I-i5Qi5y?)1)15Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018263*F?2F:FBF0JFGGYBiOZ> 1I1J J AAJ J J J J :J wR:J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268874[0w,=,Al|@Y苙@99ub>yH?|?`] >`)?`98?`k? ?ɨl|@ ;UCzK"KKKKKBK!:K!y%BII-I-_5٢}= ?=9Q > G٣yL > Nusing accuracyPremultiplier from config498?4Yv i)B@YD<<A41 =A=EHI IIIDBI&I.I6I<:I FZjDNOT Ignoring new targets: 76.60 m.BjJj  ProNav: ac range: 76.599998 m, nav range: 83.862000 m, bearing: 142.156650 deg, approach rate: 0.497244 m/s, LOS rate: -0.322902 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.476123 deg. 2j]:jڙ@HeadingCmd: 4.807965 target range: 76.599998 and range: 78.60 m. jjj)j)i)h1h1hhfffrfbf @ɛ)- 15I1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521099 UVɚQiQIU!=IeieTie)i)i*F?2F:FBF`0JF % ~$?I% hG (G B O>%h7w,,AjWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773042y CB IMb@Mb@Mb@ )YS㥛?+?{Gz?y$F?=ף<` A p@) AIhAyAII Y5٢= -=9Q > G٣5Gy > Nusing accuracyPremultiplier from config49Aŏ?4Y i1BvF?:@ZD;v;I4 -A)Zj!%DNOT Ignoring new targets: 76.60 m.Bj-Jj-] ProNav: ac range: 76.599998 m, nav range: 84.120659 m, bearing: 141.983377 deg, approach rate: 0.625088 m/s, LOS rate: -0.417452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.456979 deg. 2j]?:jeؙ@eHeadingCmd: 4.807631 target range: 76.599998 and range: 78.60 m. jajijijiiihihihqh}{Bfyffrfbf-@ɛB% 15tI1 5EYɚ1i1I5&!=I=i=Vi=<)A)A*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:57:38.5344 TRx dataTimestamp_ set to:1736366259.765580checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027424G 3} Q IQ G B O >=w,N,A6v@Y6@6S96K>y6H@ɵ?W? @ 8 ?DO?2s?`z?[?ɨ6v@6z;6VCyB`BBIIJIJ^S5٢Vo'> Vf=9Z5Q Z>XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`f49bMȏ?j4Yb! ib8Bhj9j@b'ZDbX:b:b-P4l rApZj DNOT Ignoring new targets: 76.60 m.Bj 9Jj 9绝% ProNav: ac range: 76.599998 m, nav range: 84.317688 m, bearing: 141.852195 deg, approach rate: 0.608669 m/s, LOS rate: -0.404305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.582566 deg. 2j%:j-@-HeadingCmd: 4.809823 target range: 76.599998 and range: 78.60 m. j)j)j1j1i1h1h1h9h9fAfAfArfAbfM@ @JeJe+Je1JaJe;JeȆ:Je3JaɛbO  :8I  [ɚ i I  "=Ii= Xi=ʘ)9)9=Will construct direction to contact in vehicle frame from tetrahedron phase data.=Ai=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278287*F?2F:FBFR5JFzK KK 9KKKGZHe@ARHaHU>I IIImBI&IG B .I9D6I <:I FO5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:57:38.5344 LVL= 19760, 16241, 13874, 23475, AGC= 55, IDX= 440, 0.11, 1.791,-2.764,-1.847,-2.927, PHS=-1.478, 0.210, 1.077, RAW= 250.5, 1.7, CAL= 254.6, 2.7, ROT= 255.4, -2.7 % Ygot valid direction response: 19:57:38.5344 LVL= 19760, 16241, 13874, 23475, AGC= 55, IDX= 440, 0.11, 1.791,-2.764,-1.847,-2.927, PHS=-1.478, 0.210, 1.077, RAW= 250.5, 1.7, CAL= 254.6, 2.7, ROT= 255.4, -2.7 - PDAT read: Bearing 255.4, -2.7 (Local) - ~Local bearing/azimuth received: Bearing 255.4, -2.7 (Local) = DAT read: Range 10 to 50 : 79.3 m (Round-trip 105.8 ms) speed -0.2 m/s = *DAT read: user:996> E BDAT read: Tx time:19:57:39.6245 E $Ping request sent.E #ۉ? @ < 2@) A=I l@i A I‚Q?\Hd?) @I ҽi ÿ ? u :publishing transmit ping timeA u Fpublishing direction and range info 9 ?}T?΋WB&ۿ|~y  ) I i ) I i I‚Q?\Hd?) I i Dw,.-A2@Y2%@26zX92O/>y2Hz? 0?*¿`\?d+K? ???ɨ2@2;2TCyޝvBޥI 9IAMb@Mb@Mb@ )Yn?Mb? G٣y!; > Nusing accuracyPremultiplier from config49̏?4Yr iDBn6?:4@>ZD;=;X4 ;AEk_0R?ke k k&-A:kBBkBZkJCU@" cl?I@Q?}T?΋WB&ۿ|~JkÿRk?*X>Kw,*/-AZ@YZ.@ZJe9Zr>yZH`:?O?HT¿??W?`?=??ɨZ@Z⩇;XyfBj&IIrIr95٢z(1> ~q=9~Q ~? G٣5GyS:  ?Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config%49Ώ?%4Y iMB!-&-@MZD::^41 5KA9UB*** querying acoustic contact ***jQjQZjamDNOT Ignoring new targets: 79.30 m.Bjud׻Jjud׻ ProNav: ac range: 79.300003 m, nav range: 81.705467 m, bearing: 142.145507 deg, approach rate: 0.536084 m/s, LOS rate: -0.376623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.620306 deg. 2j<:jx@HeadingCmd: 4.810482 target range: 79.300003 and range: 79.30 m. jjjjihhhhfffrfbf`??ɛB6 隍I ^ɚiIA"=Ii[i ))*F%?2F!:F!BF%_0JF! IhJJJ0JJ:JwR:Jـ3JGWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G B O >zK >BKK h9K K K  Rw,-H-Arw@Yr@rT9r'>yrH@ѵ?Z? Ϩ¿* -?3Aj?`g*??@r?ɨrw@r;rVCyBHIIIV85٢E> MF=9U튻Q e>iq uGHV>IC IFIIBI&I.I6Iְ<:I FBI]CJIYRIYZI] =bI] =jI]&3٣Iy]Pk e> Nusing accuracyPremultiplier from configy49}я?4Y} i}YB_@}bZD}W<}8Y<}f4%B -oAMEZjDNOT Ignoring new targets: 79.30 m.BjӽJjӽ  ProNav: ac range: 79.300003 m, nav range: 81.930252 m, bearing: 141.987844 deg, approach rate: 0.474528 m/s, LOS rate: -0.331918 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.503506 deg. 2j c:j ޙ@HeadingCmd: 4.808443 target range: 79.300003 and range: 79.30 m. jjjjihhhhf!f!f!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996240rf!bfM .?ɛu 隝pI h._ɚiIZ>"=Ii#E^i]))*Fe?2Fa:FaBFe^0JFa IG IG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248101JXw,b-Ay-ǀB-eIMb@Mb@Mb@ )Y}?5^I?~jt? G٣y > Nusing accuracyPremultiplier from config 49ӏ? 4Yq ibB "? : d @qZDD;;fm4 AZjIMDNOT Ignoring new targets: 79.30 m.Bj»Jj» ProNav: ac range: 79.300003 m, nav range: 82.101669 m, bearing: 141.864668 deg, approach rate: 0.473107 m/s, LOS rate: -0.339251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.606437 deg. 2jh:j|@ HeadingCmd: 4.810240 target range: 79.300003 and range: 79.30 m. jjjjihhhh(Bff!f!rf!bf-?ɛA P`i}S$)y)y*FM?2FI:FIBFM_0JFI"GU=GU==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500474GE ՒGI GI I G B) OE >w^w,|-A2@Y2;@292LP>y2H`mr?`)? s¿@*ݶ?rs? ?@x??ɨ2@2A;2TCyB݀BFIININF5٢R= Va=9VQ V>XX ZG٣Z5GJbJbJ`J`Jb;JbV:J`J`yf; f> nNusing accuracyPremultiplier from configlr49n ֏?r4Yn  inlBprr@nZDn~:n:ns4x zAxZj%DNOT Ignoring new targets: 79.30 m.Bj%<Jj-<= ProNav: ac range: 79.300003 m, nav range: 82.264412 m, bearing: 141.749029 deg, approach rate: 0.444396 m/s, LOS rate: -0.315146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628961 deg. 2j=HX:j=@EHeadingCmd: 4.810633 target range: 79.300003 and range: 79.30 m. jAjAjIjIiIhIhIhQhQfffrfbf?ɛ%B%ʷ %=%@=I! -^ɚ)i)I-"=I5i5ai5Vk)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752435*F?2F:FBFd0JFzKJK9KKKHI IIIBI =&I.I6I<:I FGIG B1 OM >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006240*]ew,x-A2@Y2l™@2[92Sg>y2H?h?u¿ ?4h?< ?O?֧?ɨ2@2y;0yBBBIHJA !I!eMb@Mb@Mb@aaa a)aYeq= ףp?Q?X9v?ye ?eu G٣y4< > Nusing accuracyPremultiplier from config49R؏?4Y iuB ?:Ǻ@ZD;y;R{4 mAEZjDNOT Ignoring new targets: 79.30 m.BjJj ProNav: ac range: 79.300003 m, nav range: 82.429039 m, bearing: 141.633279 deg, approach rate: 0.383775 m/s, LOS rate: -0.269295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628634 deg. 2j 8:j @HeadingCmd: 4.810627 target range: 79.300003 and range: 79.30 m. jjjjihhhhfBf!f!f!rf!bf%{:@ɛIU$hʻ QU=IQ ]\ɚYiYI]!=IeiebieH)a)i*F ?2F :F BF x0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260001GGBO>kw,[-A:ϒ@Y:Dߙ@:9:>y:H ?h?:¿1?#V?@@???ɨ:ϒ@:;:UCy^B^IIjIj>5٢r= rV=9v0/;Q v>tx zG٣xyz< z>~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508227  Nusing accuracyPremultiplier from config 49 Xڏ?4Y ! i }BU@ ZD ; {;  4) -A)EB*** querying acoustic contact ***jAjAZjQ]DNOT Ignoring new targets: 79.30 m.Bj],Jje,u ProNav: ac range: 79.300003 m, nav range: 82.577034 m, bearing: 141.530543 deg, approach rate: 0.383986 m/s, LOS rate: -0.266080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.667533 deg. 2ju6:ju8@}HeadingCmd: 4.811306 target range: 79.300003 and range: 79.30 m. jyjyjyjihhhhfffrfbfN@ɛ9 >I ZɚiI!=Ii0cia))*Fu?2Fq:FqBFuo1JFqGy G}tA IhJJJJJ:JJJGyJG ?G:?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760157GBO>zK] 2KK] 9KY K] K] nrw,3-A28@Y2@2m92n>y2H c?A?¿觹?P'?g?@?ɨ28@2Ag;0yR BRIIbIbs75HUU>IQ IUIIU3BIQ&IQ.IQ6IUư<:IU F٢z< I=90;Q > G٣5Gyk; > UNusing accuracyPremultiplier from config)m49-܏?4Y-f i-B깿@-ZD-<-<-4 AZjDNOT Ignoring new targets: 79.30 m.BjIJjI ProNav: ac range: 79.300003 m, nav range: 82.747406 m, bearing: 141.413712 deg, approach rate: 0.353334 m/s, LOS rate: -0.241796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.625420 deg. 2j%:j3@HeadingCmd: 4.810571 target range: 79.300003 and range: 79.30 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:19:57:42.1356 5TRx dataTimestamp_ set to:1736366263.296015=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017415hihihifqfqfqrfqbf} L@ɛX 4">I N7XɚiI!=IihdiF)1)A IE C;=*F ?2F! :F! BF% _0JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264996) ~C}G YyBGEGABIOe ?ӡzw,)-A :=@Y:@:y]9:&>y:Hz? w}? ¿`PL?89X???ɨ:=@:LP;:TCyNBNI XZp=Mb@Mb@Mb@ )Yx?:v?~jt?yK>T<<A @)I AyAIIV85٢< =9W:Q > G٣yƤ; > Nusing accuracyPremultiplier from config49\ߏ?4Y& iB>:R@ZD;;4 hAZj!%DNOT Ignoring new targets: 79.30 m.Bj-Jj-= ProNav: ac range: 79.300003 m, nav range: 82.929474 m, bearing: 141.290787 deg, approach rate: 0.375391 m/s, LOS rate: -0.252892 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.607228 deg. 2j=-:j=@EHeadingCmd: 4.810254 target range: 79.300003 and range: 79.30 m. jAjAjAjAiIhIhIhQhUBfQfQfYrfYbf] @ɛWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 80.2 m (Round-trip 107.0 ms) speed -0.3 m/s =*DAT read: user:997> -EX#Rx 1: Read range message, but no direction.yfBMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.]T 隅4->I UɚiIm!=Iidi>))E}= I*F?2F:FBFo0JFG >u Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:19:57:43.2245  $Ping request sent. Yw,ni.AzK~KK~ 9K|K~K~.@Y>@E9I>yH?@z? p¿ ?B(m@?}a?`~?ɨ.@c;騡yBIII<5٢< H=98h;Q > EG٣AyU\< U> ]Nusing accuracyPremultiplier from configYe49]Ꮬ?e4Y]Z+ i]Baee@]ZD]:]L:]F4 ;A addTargetRange:: Added new target pos. range: 80.199997 m, deltaT: 3.530571 s, deltaX: 0.899994 m, approachRate: 0.254915 m/s, rangeRepo size: 4 Zj!ZH1RH1HQIQ IU!IIU`BIU =&IQ.IQ6IU<:IU FDNOT Ignoring new targets: 79.30 m.Bj.Jj.m ProNav: ac range: 79.300003 m, nav range: 83.075668 m, bearing: 141.193780 deg, approach rate: 0.341009 m/s, LOS rate: -0.225878 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.684680 deg. 2ju:ju@ HeadingCmd: 4.811605 target range: 79.300003 and range: 80.20 m. j jjji!h)h1hyhyfyfyfrf T@bf w?ɛc 7>I RɚiI~A!=I i Cdiѯ)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250477)E9E9*E9"E9 $?Ih*Fq 2Fq :Fy BF} _0JFy "G =G =J J J J J J [O:J J J :$@Y>$4@>zu`9>o>y>H*4??¿ 'm?-Wu?@8??ɨ>$@>T;>VCy%B%IMb@Mb@Mb@ )Y/$?~jt?{Gzt?y>D<ף;/A @)AIAyAII+5٢u =9EQ > G٣ 5Gy   > Nusing accuracyPremultiplier from config49:䏜?4Y1 iB% >%:%T@ZD<ȕ<4 AEZjDNOT Ignoring new targets: 79.30 m.BjAuJj%Au5 ProNav: ac range: 79.300003 m, nav range: 83.251945 m, bearing: 141.077941 deg, approach rate: 0.326979 m/s, LOS rate: -0.214417 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.628409 deg. 2j5':j5@eHeadingCmd: 4.810623 target range: 79.300003 and range: 80.20 m. jajajajaiahihihihmBfqfqfqrfqbf}w?ɛMBMtc_ IM>II UJPɚQiQIU!=Iiqci|))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754544*Fi2Fi:FqBFu`0JFqGE'H IG)BAOe>J J w,˅B.ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006465><@Y>1L@>NX9>]>y>H{?|?¿O%?.cv?@O?J?ɨ><@>z|;>TCy=B=IIUxIU&5٢e" eU=9mW:Q m>ii mG٣qyu; u> Nusing accuracyPremultiplier from configy49}6揜?4Y}S6 i}B󷿑@}ZD}:}2:}34 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 79.30 m.BjJju ProNav: ac range: 79.300003 m, nav range: 83.380249 m, bearing: 140.994565 deg, approach rate: 0.353271 m/s, LOS rate: -0.229213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.725447 deg. 2jN:j@HeadingCmd: 4.812317 target range: 79.300003 and range: 80.20 m. jjjjihhhhfffrfbfJ?ɛquH qu>Iq }NɚyiyI}t =Ii~ci:))zK KK]9KKKBK:KoAH)I) I-.II-kBI)&I).I)6I-<:I- F*FA2FA:FABFE0JFI5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258448Gi I G B O > ݖw,\.Aɮ-@C-xwA-ti5yF1i5LC5wA)5` 5uFI1 =sC)=wAɯ=ף99E3CɰE7wAiEZIE}FAIMCiM`wA M@M }F)IMC M|wAUnU@FɱQUfCUpwAIU$)UFiY)]LCI]bAYɲY YJJJJJ;JQN:JJJ><J><J:;J;;Yy޵B޽I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510559UMb@Mb@Mb@QQQ Q)QYUe;O?{Gz?:vyU>Uף G٣5Gy > Nusing accuracyPremultiplier from config498鏜?4Y\< iB >:E@ZD;8;4 AZj  DNOT Ignoring new targets: 79.30 m.BjA{JjA{% ProNav: ac range: 79.300003 m, nav range: 83.552376 m, bearing: 140.887868 deg, approach rate: 0.355098 m/s, LOS rate: -0.219664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655757 deg. 2j%:j%@-HeadingCmd: 4.811100 target range: 79.300003 and range: 80.20 m. j)j)j1j1i1h1h9h9h=ZBf9fAfArfAbfE?ɛiuC qu=Iq }MɚyiyI} =Iibi ':))*F?2F:FBF0JFGM 9GU ?GU ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762791GA BQ Om >"w,~v.A @6`@Y6ݎ@6/96>y6H@? u? ¿b?x?@w? ?ɨ6`@6K;6VC)n3CIr xApraF pvCv9xAtitxizYCzwA)x xIx ~fC)xȀCi I  I  Ci  xA  )C KwA({F !I!-C)I-D))i))y]ˀB]jIIuIuV85٢H v=9.;Q ? G٣y< ? Nusing accuracyPremultiplier from config49d돜?4Y~@ iB:@ZDq::x4 AZjDNOT Ignoring new targets: 79.30 m.BjxJjx ProNav: ac range: 79.300003 m, nav range: 83.671303 m, bearing: 140.815698 deg, approach rate: 0.359186 m/s, LOS rate: -0.217659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.758986 deg. 2j`:jL@ HeadingCmd: 4.812902 target range: 79.300003 and range: 80.20 m. j j j j ihhhhfffrfbf@c@ɛBb) zK JK 9K K K jH <bH <H I  I II VBI  =&I .I 6I <:I FBIʣCJIRIZI =bI =jI4裋w,,f.AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267313{@Y@y69 >yH@?r?@?6Ƃ?s??ɨ{@vR;TCy B IIMb@Mb@Mb@ I  )YHzG?L7A`?Qy= ?+=/A )IAyAI%I%F5٢5cֽ 5&=95OI;Q =>99 =G٣9yEU; E> UNusing accuracyPremultiplier from configI]49M?]4YMcG iMB ?:Ұ@M[DMhVw,.A:@Y:Ț@:|9:->y:H)̿?Ro?^MEĿ?n`5???ɨ:@:pه;:UCy=B=IIMIMI5٢; c=9od;Q > G٣y< > Nusing accuracyPremultiplier from config49?4YlL iBe@::ZǸ4 }AEZjDNOT Ignoring new targets: 79.30 m.BjrJjr ProNav: ac range: 79.300003 m, nav range: 84.025703 m, bearing: 140.614042 deg, approach rate: 0.441684 m/s, LOS rate: -0.249072 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.721411 deg. 2j*:j@%HeadingCmd: 4.812246 target range: 79.300003 and range: 80.20 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf=@ɛaee amIi mNɚiiiIu!=I}i}]i}7Y<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771310*F=?2F9:F9BF=_0JF9 IGe(<G9 BI Oe >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:19:57:45.7371 ] TRx dataTimestamp_ set to:1736366267.072664] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023493ww,A.A:@Y:Ϛ@:w;9: >y:H?p?n`.? q`g|?`?/?ɨ:@: ;:VCyErBEIIIIUIU N5٢mY mN=9m";Q u>qq uG٣u5Gy} ; }> Nusing accuracyPremultiplier from config49w,.AJ{ـ3K{3 K{.KsKs"KsJ J"J J J J"U:J J J J J";J";NÓ@YN Ӛ@N»9N >yNH? jq?` Q? SZx? ?N?ɨNÓ@Nۇ;NSCy^KB^IMb@Mb@Mb@ )YS? ףp= ? G٣y: > Nusing accuracyPremultiplier from config49?4YX iB?:@9[Dr;;ո4Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed -0.2 m/s %*DAT read: user:998> -BDAT read: Tx time:19:57:46.8246 5$Ping request sent.5G B! OE > I w,k.A6 @Y6Ϛ@6A96 >y6H`? s?c?`Vu?`q?v?ɨ6 @6;6UCyZ7BZIIbIb95٢j"ӽ n\=9nF:Q n>pp rG٣pyr v> zNusing accuracyPremultiplier from configt~49v?~4Yv^ ivB|~~@vH[Dv:vX:vܸ4  9A Zj1=DNOT Ignoring new targets: 79.30 m.Bj=Jj=M ProNav: ac range: 79.300003 m, nav range: 84.571831 m, bearing: 140.314766 deg, approach rate: 0.513577 m/s, LOS rate: -0.277160 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.685770 deg. 2jM6>:jU@UHeadingCmd: 4.811625 target range: 79.300003 and range: 81.20 m. jYjYjYjYiYhYhYhahafafafirfibfm?ɛ15f 5>=5I9 =Vɚ9i9I=z!=IEiEViE^<)A)*F=?2FA:FABFEo0JFA%Will construct direction to contact in vehicle frame from tetrahedron phase data.GezQ<zKyuMK9KKKG9 BI Ha Ia  Ie IIe ܀BIa &Ia .Ia 6Ie "<:Ie FO >ċw,C/ABWill construct direction to contact in vehicle frame from tetrahedron phase data.棓@Yc@]ϻ9>>yH'?@}?ణ`@?Ʋ`y?@L??ɨ棓@37;SCyBI %=%==Mb@Mb@Mb@999 9)9Y=`"?Mb? rhy=7?=@==C 9 =p@ QIQ)=AI99y=3AI]I]@T5٢m, u3=9uQ u>y G٣5Gy} > Nusing accuracyPremultiplier from config49?4Y g izBh8?:]@][D;;4 AZjiuDNOT Ignoring new targets: 79.30 m.Bju`Jj}` ProNav: ac range: 79.300003 m, nav range: 84.827171 m, bearing: 140.173943 deg, approach rate: 0.535439 m/s, LOS rate: -0.294411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.553998 deg. 2j J:j@HeadingCmd: 4.809325 target range: 79.300003 and range: 81.20 m. jjjjihhhhhBfffrfbfn?ɛB| I [ɚ!i!I%]"=I%i-Ti-j,<))))*F?2F:FBF`0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data. ~G vA A M YM vAyM lBG P<Gq B O >ˋw,%./A:ڇ@Y:W@:9:W5>y:H1I?`? C]C?@T$ }?@F?`?ɨ:ڇ@:;:UCyJBJkIIRIRJ5٢Z0 ^k=9^QQ ^?`` bG٣`yb! b? jNusing accuracyPremultiplier from confighn49j?n4Yjm ijvBprͰr@jm[Djq:jP:j'4t zAxZjDNOT Ignoring new targets: 79.30 m.Bj Jj 5 ProNav: ac range: 79.300003 m, nav range: 85.020805 m, bearing: 140.067163 deg, approach rate: 0.591226 m/s, LOS rate: -0.325292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.655578 deg. 2j5>_:j5@=HeadingCmd: 4.811098 target range: 79.300003 and range: 81.20 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfUj?ɛ2 隅)ľI P_ɚiI ڿ"=I i~Si+;))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF 3JF"G=G=G}<GsAGsA E$?IAGABQOu6>Je Je Ja Ja Je :Je dP:Ja Ja am @am @am @am @5 Will construct direction to contact in vehicle frame from tetrahedron phase data.zыw,G/Abe@Yb8u@b9b>ybH :?%? d.q uG٣qy} }> Nusing accuracyPremultiplier from config49 ?4Y v iqBU@[DV;;'4 AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 79.30 m.Bj,Jj,HT>IC I!IIBI&I.I8D6Iư<:I FzKMKKM9KIKMKM ProNav: ac range: 79.300003 m, nav range: 85.275627 m, bearing: 139.926444 deg, approach rate: 0.553146 m/s, LOS rate: -0.304548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.554300 deg. 2jQ:j@HeadingCmd: 4.809330 target range: 79.300003 and range: 81.20 m. jjjjihhhhff!f)rf)bf-x?ɛuBuZ$ quhԾIy }fɚyiyI}F#=IiFRi;))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IIUhEt=*F% ?2F! :F! BF% `0JF! G 2<mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016866GBO >iًw,{g/A ?@Y O@ k9 T>y H ??9l ?_} |?`l??ɨ ?@ o; UCyeBe@I}A}A]Mb@Mb@Mb@YYY Y)YY]n?v/?y&1y]VN?]xi=]`]vA ]C@)YI]~AYy]AI}I}i5٢̖ =9:Q > G٣5GyQ > Nusing accuracyPremultiplier from config49A?4Yx imBN?:{@[D;I;4 1AEZjDNOT Ignoring new targets: 79.30 m.BjĻJjĻ ProNav: ac range: 79.300003 m, nav range: 85.586945 m, bearing: 139.755629 deg, approach rate: 0.629434 m/s, LOS rate: -0.344104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.464619 deg. 2j'l:j 5ٙ@ HeadingCmd: 4.807765 target range: 79.300003 and range: 81.20 m. j jjjihhhhBfff!rf!bf%@%@ɛIU15 QUIQ U)dmɚQiQI] #=I]ieQie7;:)a)aEe==*F?2F:FBF0JFGo;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269575GBO> IKw,!>/AJNJNJN0JLJN:JNmQ:JNـ3JLy%B%-II5I5k5٢EǪ Mc=9MQ M>IQ UG٣QyU U> mNusing accuracyPremultiplier from configam49e?u4Ye  iekBqqu@e[De":e:e*4 AZjDNOT Ignoring new targets: 79.30 m.Bj»Jj» ProNav: ac range: 79.300003 m, nav range: 85.813629 m, bearing: 139.632288 deg, approach rate: 0.626874 m/s, LOS rate: -0.340186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.606147 deg. 2jwi:jq@HeadingCmd: 4.810235 target range: 79.300003 and range: 81.20 m. jjjjihhhhfffrfbf @ɛN I ` sɚiIX$=I%i%Qi%o:)!))E1E1*E1"E1}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521066jHabHep<HqIq IuIIuNBIq&Iq.Iq6Iu<:Iu FzKrKK9KKK*F}?2Fy:FyBF}0JFyG GsA= Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776993 I G @;G ?G ?GY Bi O >iw,Ǜ/A:i@Y:@:n9:i>y:Hܹ?ݒ?R@0?`0bu?lN??ɨ:i@:;:SCyFBF3IuMb@Mb@Mb@qqq q)qYux&1?x&? G٣y⤼ > Nusing accuracyPremultiplier from config49V?4Y ilB`?q:@@[D;;4 AEZjDNOT Ignoring new targets: 79.30 m.Bj;ӻJj;ӻ ProNav: ac range: 79.300003 m, nav range: 86.102028 m, bearing: 139.474704 deg, approach rate: 0.678220 m/s, LOS rate: -0.369344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.504030 deg. 2jz}:jޙ@HeadingCmd: 4.808453 target range: 79.300003 and range: 81.20 m. j!j!j!j!i!h!h!h)h-Bf)f)f1rf1bf5@7p@ɛYe2B aeIa eyɚaiiImj$=ImiuqQiuڻ)y)y*F5?2F1:F9BF=*3JF9G;EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEAMBDAT read: Rx Time:19:57:49.3383 UTRx dataTimestamp_ set to:1736366270.607407Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028736GBOF>w,y/A28Ւ@Y2@2#W 92{>y2Hf?`?M^`Fи?Y`o`֊?YF?5?ɨ28Ւ@2E;0yRBR1I V=Va=^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280887IZIZe5٢r vX=9z Q z>  G٣ 5Gyn= > -Nusing accuracyPremultiplier from config!=49%?"?=4Y%s i%mBAEвE@%[D%;%Ú;%H4Y eAaZjDNOT Ignoring new targets: 79.30 m.BjλJjλ Ih ProNav: ac range: 79.300003 m, nav range: 86.362160 m, bearing: 139.332499 deg, approach rate: 0.662613 m/s, LOS rate: -0.361135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.549866 deg. 2jw:je@HeadingCmd: 4.809252 target range: 79.300003 and range: 81.20 m. jjjjihhh h f f frfbfq @ɛ*E eI C!ɚiIq%=Ii_DRizo ))*Fm?2Fi:FiBFm_0JFiJYJYJeJeJaJaJe:JeU:JaJauWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 82.2 m (Round-trip 109.6 ms) speed 0.0 m/s *DAT read: user:999> BDAT read: Tx time:19:57:50.4246 $Ping request sent.H! I!  I% II% %BI! &I! .I! 6I% <:I% FBIˢCJIˢCRIZI =bI =jI+ 4Dw,V/A6u@Y6@696>y6H@? ?dA@?`? 5??ɨ6u@6`;6UCzK^JK^+9K\K^K^BKd:KfsAyBGII5I5Qc5٢]= ]C=9e;;Q e>ai mG٣iym5 m> }Nusing accuracyPremultiplier from configq}49uj'?4Yu iuoBg@u[Du:u:u4B AB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.536502 s, deltaX: 1.000000 m, approachRate: 0.282765 m/s, rangeRepo size: 4 Zj DNOT Ignoring new targets: 79.30 m.Bj ӻJj ӻ} ProNav: ac range: 79.300003 m, nav range: 86.642914 m, bearing: 139.178865 deg, approach rate: 0.679299 m/s, LOS rate: -0.370522 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.515787 deg. 2jI~:j@HeadingCmd: 4.808658 target range: 79.300003 and range: 82.20 m. jjj jihhhQhQfYfafirf̌T@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:57:50.4238  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Iɛ6 I @ɚiI|%=IEiE SiE\)A)I*F?2F:FBFJF"G=G=GGQBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501575w,//AJ@YJ;@JIr39J>yJHk?ƛ?@D@ ?0<+n?u?@?ɨJ@J};JSCy]B]bI Mb@Mb@Mb@    ) Y Zd;?T㥛 ? G٣y& > Nusing accuracyPremultiplier from config49,?4Y iuB_?s:ִ@ \D;;54 [AZjDNOT Ignoring new targets: 79.30 m.Bj׻Jj׻ ProNav: ac range: 79.300003 m, nav range: 86.936790 m, bearing: 139.015812 deg, approach rate: 0.679895 m/s, LOS rate: -0.375954 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.487694 deg. 2j:jܙ@HeadingCmd: 4.808167 target range: 79.300003 and range: 82.20 m. jjjjihhh h Bf ffrfbf.5?ɛAE> AE̾IA M}؅ɚIiIIMJc&=IUiUFUiUԜ)Q)Y*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751461 $?IhG(G B O >mw,Q0AJJJ1JJ;JS:J3J>h@Y>Yx@>U9>.>y>H\?Q?T `?a? L? e??ɨ>h@>ᕈ;>QCy^B^IfAfAIjIjF5٢r> rh=9rLûQ v>tt vG٣v5Gyz@ z> ~Nusing accuracyPremultiplier from config| 49~{0? 4Y~ i~zB ^@~\D~:;~[;~`$4 A%EZjAEDNOT Ignoring new targets: 79.30 m.BjMZӻJjMZӻ] ProNav: ac range: 79.300003 m, nav range: 87.172348 m, bearing: 138.885093 deg, approach rate: 0.667756 m/s, LOS rate: -0.369559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.584096 deg. 2j]}:jeJ@eHeadingCmd: 4.809850 target range: 79.300003 and range: 82.20 m. jajijijiiihihihhfffrfbf?5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003897ɛae+ aeVIa m ɚiiIB&=IiJXWi\))*F2F:FBFm0JFG}mHI III+BI&I.I6IȰ<:I FGQBaO}Y>zKKKH9KKKH RK>JK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259115 I w,d0A>H@Y>KX@>Ìx9>M>y>H]? ?  ?r?@J? ? (?ɨ>H@>q؈;>SCyj%BjIMb@Mb@Mb@ )Y$C?Mb?S㥛?yZ?=/<I A p@)IAyAIIF5٢= ==9WQ > G٣yJ > Nusing accuracyPremultiplier from config49 5?4Y iBZ?x:ൿ@7\DL;K;+4 AZjDNOT Ignoring new targets: 79.30 m.BjIλJjIλ- ProNav: ac range: 79.300003 m, nav range: 87.454102 m, bearing: 138.728737 deg, approach rate: 0.652086 m/s, LOS rate: -0.360701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.507642 deg. 2j5w:j5\ߙ@5HeadingCmd: 4.808516 target range: 79.300003 and range: 82.20 m. j9j9j9j9i9h9h9hAhEDBfIfIfIrfIbfM`?ɛy}R ћI  ɚiI K '=I i NZi~))*F2F:FBF0JFG GpA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508444GňG B O% >D w,z60A>?@Y>WO@>9>O >y>H??_@r?t?7?@D?@?ɨ>?@>;>QCyJOBJIRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759610IZIZZ5٢f`> j\=9jQ n>ll rG٣pyr? r> vNusing accuracyPremultiplier from configtz49v9?z4Yv ivB|~ @vK\Dv-/;v_/;vs24  A Zj15DNOT Ignoring new targets: 79.30 m. AIABjMoͻJjMoͻe ProNav: ac range: 79.300003 m, nav range: 87.697495 m, bearing: 138.594429 deg, approach rate: 0.652770 m/s, LOS rate: -0.359208 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.573389 deg. 2jev:jm@mHeadingCmd: 4.809663 target range: 79.300003 and range: 82.20 m. jijijqjqiqhqhyhyhyfffrfbfv?ɛBb 隵HcI hɚiIB'=Ii|\isż))*FQ2FQ:FQBFU`5JFYG-GBO )>UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012338H I  I II SBI &I .I 6I <:I Fw,P0A69@Y6DI@6S96 >y6H'?Y?E>J?cFw?? z?;?ɨ69@6,;6TCybqBbI fa=dIjIjX5zK)aMKh9KKKI  ??!SuaP4ZuO:,  ٢EF#> EC=9E;Q M>II MG٣M5GyU U> }Nusing accuracyPremultiplier from configy49}=?4Y}7 i}B$@}b\D}X:}7:}94 |AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 79.30 m.BjȻJjȻ5 ProNav: ac range: 79.300003 m, nav range: 87.973305 m, bearing: 138.443191 deg, approach rate: 0.641477 m/s, LOS rate: -0.350645 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.522905 deg. 2j5p:j=@=HeadingCmd: 4.808782 target range: 79.300003 and range: 82.20 m. jAjAjAjAiAhAhAhIhIfIfIfQrfybf}@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266036 IIUhɛ?ݼ I ɚiIel'=Imim `imuKʼ)q)q*F=?2F9:F9BF=0JF9JU JU JU 0JQ JU k:JU mQ:JU ـ3JQ JU %8?Jw,(k0A 2.YR`wAyVB8@Y6H@9>yHܳ?@a?@#¿ `I?(y? ?@O?+?ɨ8@C;RCy-B-&IMb@Mb@Mb@ )YNbX9??I +?yE?L=94= Z@)~AIhAyAIIP5٢ >  9=9 &غQ > G٣y@ > %Nusing accuracyPremultiplier from config!-49%\A?-4Y% i%B5]F?5:5﷿5@%x\D%;%;%uA4A EdAAZjimDNOT Ignoring new targets: 79.30 m.Bju3Jju3 ProNav: ac range: 79.300003 m, nav range: 88.228867 m, bearing: 138.300201 deg, approach rate: 0.596125 m/s, LOS rate: -0.332574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.547466 deg. 2j>d:j @HeadingCmd: 4.809210 target range: 79.300003 and range: 82.20 m. jjjjihhhhBfffrfbf@/@ɛB( quHIq }$ɚyiyI}'=Iimbiʼ))*FU?2FQ:FQBFUP5JFQmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767638 IG5 vżG B O5 >&!w,Ԅ0A6D@Y6`T@6l96C>y6H=? ?I¿%?ȵx?V ?b?ɩ?ɨ6D@6";4yfBfXIInIn^S5٢v?a> v`=9vrQ v>xx zG٣xy~; ~> Nusing accuracyPremultiplier from config 49D? 4Y\ iBŷ@\D: :G4! %A!ZjQUDNOT Ignoring new targets: 79.30 m.Bj]Jj]m ProNav: ac range: 79.300003 m, nav range: 88.442749 m, bearing: 138.181711 deg, approach rate: 0.585192 m/s, LOS rate: -0.323410 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.620581 deg. 2ju]:ju@}HeadingCmd: 4.810487 target range: 79.300003 and range: 82.20 m. jyjyjyjyiyhyhhhfffrfbfN@ɛ/ ]I G)ɚiI,'=IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:57:52.9397 TRx dataTimestamp_ set to:1736366274.136937checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020880idi-)))1*F?2F:FBF_0JFjH%<bH!H)I) I-:II-BI)&I).I)6I-<:I- FG S&ż Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274784 I G) BQ O >tR'w,0Ay=B=IMb@Mb@Mb@ )Yw/?Zd;O?&1?y&?j<=P=A p@) AI~AyAII٢u > :=9Q > G٣5Gy > Nusing accuracyPremultiplier from config 49 G?4Y  i ÝB%'?%:%m%@ \D 3; ; {O4) -A)JJJJJJwR:JJJJJЦ;JЦ;ZjDNOT Ignoring new targets: 79.30 m.BjJj  ProNav: ac range: 79.300003 m, nav range: 88.660942 m, bearing: 138.062287 deg, approach rate: 0.477088 m/s, LOS rate: -0.260482 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.617803 deg. 2j 2:j-@5HeadingCmd: 4.810438 target range: 79.300003 and range: 82.20 m. j1j1j1j1i1h9h9hAhE7Bfifqfyrfbf @ɛ=B=jS 9==I9 E*ɚAiIl'=Iihi))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed -0.3 m/s ,DAT read: user:1000> BDAT read: Tx time:19:57:54.0246 $Ping request sent.{-w,i0A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:19:57:54.0238 PIP]@Yam@w98*>yH???¿@`z?Zy?Β?? ߧ?ɨ]@{;SCyEBEII]I]jC5٢m$> mT=9mQ u>yy }G٣yyB< > Nusing accuracyPremultiplier from config49J?4Ye iНB @\D;;=V4 A addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 3.527900 s, deltaX: 1.000000 m, approachRate: 0.283455 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 79.30 m.Bj좻Jj좻 ProNav: ac range: 79.300003 m, nav range: 88.854309 m, bearing: 137.957737 deg, approach rate: 0.528029 m/s, LOS rate: -0.284874 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.662223 deg. 2jC:jv@}HeadingCmd: 4.811213 target range: 79.300003 and range: 83.20 m. jyjyjjihhhhfffrfT@bf@7?ɛBVz  >I  ۋɚ)i)I- K'=I5i522ji=\)9)9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAGG B O >H) I)  I- II- BI) &I) .I- 9D6I- <:I- Fvc4w,#h0A6_@Y6o@6s96X>y6H<? w?ÿݙ?p/? ??@V?ɨ6_@6 ;6QCyB$BBIIJIJs75٢R => RX=9VQ V>TX ZG٣XyZH: Z> bNusing accuracyPremultiplier from config`f49bM?f4Yb ibޝBdfj@b\Db4;b[;b\4p rArEB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 79.30 m.BjJjzK~KK9KKK  BK%sA:K%rA ProNav: ac range: 79.300003 m, nav range: 89.043587 m, bearing: 137.855986 deg, approach rate: 0.498627 m/s, LOS rate: -0.267479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.670586 deg. 2j7:j@HeadingCmd: 4.811359 target range: 79.300003 and range: 83.20 m. jjjjihhhhfffrfbfC?ɛim, uiJ=uM>Iy ᗊɚiI'=Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005116b:w,lB0A:t@Y:@:?9:C >y:H`˵??`t?  G٣5Gy; > Nusing accuracyPremultiplier from config49P?4YB iB?:@\DQ;;d4B AEZj%DNOT Ignoring new targets: 79.30 m.Bj%Jj%= ProNav: ac range: 79.300003 m, nav range: 89.234543 m, bearing: 137.755475 deg, approach rate: 0.435113 m/s, LOS rate: -0.228535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.674301 deg. 2j=:jE0@EHeadingCmd: 4.811424 target range: 79.300003 and range: 83.20 m. jAjIjIjIiIhIhIhQhUBfYfYfYrfYbf] ?ɛe: 隍ہ>I Q戼ɚiI&=IirnijZ))*Fm?2Fi:FiBFm0JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256326 IGU GYG]tAG) B1 OM >wuAw,m1A6@Y6@6196h >y6HÀ?"? ] ?@ 1?%?@9m?ɱ?ɨ6@6k;6SCyBQBBIINpIN#5٢V= V^=9Z.ɺQ Z>XX ZG٣\y~(< ~> Nusing accuracyPremultiplier from config%49S?%4Y iB)--@\D::,k41 5A9ZjYeDNOT Ignoring new targets: 79.30 m.BjeuJjeuu ProNav: ac range: 79.300003 m, nav range: 89.399940 m, bearing: 137.669385 deg, approach rate: 0.435697 m/s, LOS rate: -0.226361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.717398 deg. 2j}Y:j}Y@HeadingCmd: 4.812176 target range: 79.300003 and range: 83.20 m. jjjjihhhhfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508615ɛH3; F>I sɚiIt&=Iipi3 ))*F?2F:FBFx3JFZHRH@AHI III[BI&I.I6I<:I FBIJIRIZIbIjIđA4zKu&KKu9KqKuKuRK?JK?G`6GBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774371ߞGw,1Ayޝ]BޝI=Mb@Mb@Mb@999 9)9Y=x? ףp= ? rh?y=K>=Q8==C =9 =@)= AI= A9y=AIMIMS<5٢eP= e2=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configy49}V?4Y}p i}B>:5@}\D}U=;}NN;}s4 !AJJJJJk:JQN:JJJ%8<J&8<J:;J;;ZjDNOT Ignoring new targets: 79.30 m.BjVJjV ProNav: ac range: 79.300003 m, nav range: 89.571220 m, bearing: 137.584182 deg, approach rate: 0.378209 m/s, LOS rate: -0.187780 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.720068 deg. 2j:j@HeadingCmd: 4.812223 target range: 79.300003 and range: 83.20 m. jjjj i h h hh݁Bfffrfbf]?ɛEBE͑; IMm>II MƄɚIiQIU-&=IUi]qi])Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013716E<=*FU ?2FQ :FQ BFU n0JFQ } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264296 I Gu G} ?G} ;?GIBYOu>;Nw,G>1A6@Y6j@696+>y6H'?6?@;¿ ?0q? ? ?f?ɨ6@6 ;4yBhBB+I)D DININ75٢VR= VD=9Z;Q Z>XX ^G٣^5Gy^< b> fNusing accuracyPremultiplier from configdj49fY?j4Yf  ifBhnn@f\Df;f;fRz4p rApZj  DNOT Ignoring new targets: 79.30 m.BjJWJjJW% ProNav: ac range: 79.300003 m, nav range: 89.732628 m, bearing: 137.506142 deg, approach rate: 0.389991 m/s, LOS rate: -0.188220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.741489 deg. 2j%,:j%@HeadingCmd: 4.812597 target range: 79.300003 and range: 83.20 m. jjjjihhhhfffrfbf'@ɛqu; q}y>Iy }4SɚyiyI}%=Iie׀rie9)a)iE==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516445*F?2F:FBF1JFHI IrIIBI&I.I6It<:Iq FGU `6G1 B9 OU >zK uJK 9K K K  ">XoBK rA:K Uw,X1AJ#@YJQ3@J9J>yJH`9-?|?h¿z ?5^?w?QF?ת?ɨJ#@Jb;JUCyVbBZ$IIrIr;5٢z[ zG=9~:^;Q ~>| G٣y< > Nusing accuracyPremultiplier from config 49 \?4Y  i B !I!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770176EﰿM@ ]D L<  < 4q }AEB*** querying acoustic contact ***jjZj)]DNOT Ignoring new targets: 79.30 m.Bje7Jje7 ProNav: ac range: 79.300003 m, nav range: 89.892151 m, bearing: 137.430371 deg, approach rate: 0.338362 m/s, LOS rate: -0.160433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.748277 deg. 2j4ܻ:j@HeadingCmd: 4.812716 target range: 79.300003 and range: 83.20 m. jjjjihhhhf ffrfbfX@ɛy}\ǭ; 隅>I ɚiI[%=Ii4>ri)))EAEA*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022137*F ?2F :F BF i0JF GGrAGGBO? ]w,,ey1A6X@Y6 h@696V>y6Hм?2u?¿;?O:`p?jg?Щ?ɨ6X@6c;6SCNWill construct direction to contact in vehicle frame from tetrahedron phase data.RBDAT read: Rx Time:19:57:56.5412 RTRx dataTimestamp_ set to:1736366277.917258Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274055yޕaBޕ#IuMb@Mb@Mb@qqq q)qYuCl?S㥛?y&1|?yu;>u/ G٣y6< > Nusing accuracyPremultiplier from config49}`?4Y_ iB>:@]D;;4 AZj!-DNOT Ignoring new targets: 79.30 m.Bj-VJj-V= ProNav: ac range: 79.300003 m, nav range: 90.092049 m, bearing: 137.332568 deg, approach rate: 0.383380 m/s, LOS rate: -0.187157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.682434 deg. 2jEq:jEZ@MHeadingCmd: 4.811566 target range: 79.300003 and range: 83.20 m. jIjIjIjIiIhIhQhQhUBfQfYfYrfYbf] @ɛB=; 隍>I zɚiI%=Ii(qiXr;))*FY2FY:FYBF]1JFYJ=J=J=1J9J=:J=HM:J=3J9aE@aE@aE@aE@GMOPG BO=r>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524438jH <bH <H S>I  I II BI &I .I 6I <:I Fdw,{.1A2@Y2@2U|u92w>y2H"?p?,w¿@`_?a`?? &^?I?ɨ2@2;2TCyrKBrIII35٢% %h=9%^G;Q %>)) -G٣-5Gy5q< 5> =Nusing accuracyPremultiplier from config9E49=b?E4Y=^ i=!BIMiM@=]D=:= :=‘4Q UAYZjDNOT Ignoring new targets: 79.30 m.BjtAJjtA ProNav: ac range: 79.300003 m, nav range: 90.214821 m, bearing: 137.273418 deg, approach rate: 0.351524 m/s, LOS rate: -0.169130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.797977 deg. 2j%:j@HeadingCmd: 4.813583 target range: 79.300003 and range: 83.20 m. jjjjihhhhfffrfbf @ɛ; m>I SwɚiIQ$=Iioi <) ) zKUGNKUh9KQKUKU}{zxvphdcb`a^][[`v}tjb]VRK]?JK]!? yI}h*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:57:56.5412 LVL= 19344, 16769, 11554, 22643, AGC= 55, IDX= 443, 0.38,-1.044, 1.195, 1.281, 0.678, PHS=-1.634, 0.563, 0.600, RAW= 269.2, 4.3, CAL= 272.8, 5.7, ROT= 237.2, -5.7 Ygot valid direction response: 19:57:56.5412 LVL= 19344, 16769, 11554, 22643, AGC= 55, IDX= 443, 0.38,-1.044, 1.195, 1.281, 0.678, PHS=-1.634, 0.563, 0.600, RAW= 269.2, 4.3, CAL= 272.8, 5.7, ROT= 237.2, -5.7 PDAT read: Bearing 237.2, -5.7 (Local) ~Local bearing/azimuth received: Bearing 237.2, -5.7 (Local) mDAT read: Range 10 to 50 : 84.3 m (Round-trip 112.5 ms) speed -0.3 m/s ,DAT read: user:1001> BDAT read: Tx time:19:57:57.6246 $Ping request sent.u ~G vA aY vAy uBe Will construct direction to contact in vehicle frame from tetrahedron phase data.jw,J1AN@YN@NLa9ND>yNHv?`l? [¿`?@p V)?`FH?9?ɨN@N ;NUCWill construct direction to contact in vehicle frame from tetrahedron phase data.y8BIMb@Mb@Mb@ )Y{Gz?~jt?y&1y><`eA )AI AyzAI}I(5٢| =9;Q > G٣yS< > Nusing accuracyPremultiplier from config49f?4Y# i BH>:ձ@-]D<;;4 LAk#(?kN> k k 1A:kBBksBZk@"('?'LNL#Q T][?*WS ǥlJk9ǿRk?*\oV@z]𿳷SUxcZ?$و 6N"k*k"@k *?kr}> 2k8k':/{?kI4 k+AkBk\@U addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.782297 s, deltaX: 1.100006 m, approachRate: 0.290830 m/s, rangeRepo size: 4 e Added new target pos. range: 84.300003 m, bearing: 336.157986 deg, lat: 36.904309 deg, lon: -122.118778 deg, deltaT: 18.154695 s, deltaX: 5.000000 m, approachRate: 0.275411 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 84.30 m.BjuJjq ProNav: ac range: 84.300003 m, nav range: 86.476547 m, bearing: 138.191884 deg, approach rate: 0.000000 m/s, LOS rate: -0.169130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.657514 deg. 2j:j@HeadingCmd: 4.811131 target range: 84.300003 and range: 84.30 m. jjjjihhhhBfffrf@3U@bf`+?ɛطº t>I crɚiIc$=Ii>li \J<) ) *F% ?2F! :F! BF% }0JF! JK KKK"KJ] J] J] 0JY J] k:J] [O:J] ـ3JY }Will construct direction to contact in vehicle frame from tetrahedron phase data.G1X<G ?G >GBO?|sw,1AJVɓ@YJؚ@JY9Jv>yJHM(? i?O¿`;?Et5?q>?࡫?ɨJVɓ@J;JRCɮTVXwAVCiVyFTiXZwA)X XIX \)^wAɯ\\\`ɰ`ibA`Ibv}F`Idif;wA fld)dd fKwAjA`hɱhhnXwAIn%)nFil)lIllɲp p)pIppp ttttittixx)x xI| |)~xA|||5xAiII i   )  H!I! I%II%BI!&I!.I!6I%<:I% F 999AAIE)AiAAyUBUIIeIe +5٢u+ u=9}:Q } ?y G٣5Gy<  ? Nusing accuracyPremultiplier from config49-i?4Y7' iBv@6]D-J;>J;+4  AZjYeDNOT Ignoring new targets: 84.30 m.BjeEJjE ProNav: ac range: 84.300003 m, nav range: 86.588959 m, bearing: 138.134564 deg, approach rate: 0.339630 m/s, LOS rate: -0.172957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.803451 deg. 2je:j @HeadingCmd: 4.813678 target range: 84.300003 and range: 84.30 m. jjjjihhhhfffrfbf@6?ɛMBM QU>IQ UEpɚQiQI]nn$=I]i] jieq<)a)zKOK]9KKKUQMKE@9653-++(%$$ 19   BKsA:K*F2F:FBFW5JF! I%Will construct direction to contact in vehicle frame from tetrahedron phase data.G=I3<G)BYO>yw,m1A}Will construct direction to contact in vehicle frame from tetrahedron phase data.y޵B޽IuMb@Mb@Mb@qqq q)qYuMb?{Gz? rhyu?uף G٣y > Nusing accuracyPremultiplier from config49~l?4Y- iBu?:@D]D;;㩹4 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.30 m.BjyJjy ProNav: ac range: 84.300003 m, nav range: 86.767258 m, bearing: 138.042211 deg, approach rate: 0.421346 m/s, LOS rate: -0.217796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.698698 deg. 2jx:j%@%HeadingCmd: 4.811850 target range: 84.300003 and range: 84.30 m. j!j)j)j)i)h)h1h1h5lBf1f9f9rf9bf=  ?ɛaepc imT=Ii m޳oɚqiqIu]$=Iui}Phi}Aj<)y)y*F%?2F!:F!BF%4JF! I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 T****** received valid address query ******5 R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.Ge ܸ<<Gi Gm rAGA B O >^w,H2A2@Y2#@2 O192 >y2H`m?@,k? 0_?})?^??ɨ2@2Mc;2SCy}ÀB}`IIIN5٢ [ ]=9;Q > G٣yuI< > Nusing accuracyPremultiplier from config49Xo?4Y2 iB*@P]DC:X:[4 AEZjDNOT Ignoring new targets: 84.30 m.BjlJjl ProNav: ac range: 84.300003 m, nav range: 86.917450 m, bearing: 137.965471 deg, approach rate: 0.404702 m/s, LOS rate: -0.206423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.745366 deg. 2j :jY@HeadingCmd: 4.812665 target range: 84.300003 and range: 84.30 m. jj!j!j!i!h!h!h)h)f)f)f)rf1bf5?ɛ]BefFe ae L:JyJyImg$=Iiůei6E<))*FM?2FI:FIBFM_0JFI"GU=GU=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.667368ZHRHH!I! I%MII%BI!&I!.I!6I%<:I% FGQd<GI BQ Ou > I zK MK +9K K K = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.919186]w,W'2AE@YE# @E9EC >yEH? gk?`Y^B? 悿 G٣5Gy~; > Nusing accuracyPremultiplier from config 49s? 4Y9 i B ? : Ұ @c]D'<~'<4%B %&AMEZjDNOT Ignoring new targets: 84.30 m.BjyJjy ProNav: ac range: 84.300003 m, nav range: 87.148895 m, bearing: 137.850412 deg, approach rate: 0.467194 m/s, LOS rate: -0.231639 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.630933 deg. 2j:j@ HeadingCmd: 4.810668 target range: 84.300003 and range: 84.30 m. j j j j ihhhhBfffYrfabfes@ɛB I pɚiI$=I%i%Kai%O<)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.171893*F?2F:FBF^0JFG ~<G ?G ?G B O >D6w,@j72AB@YB4@BS9B >yBH1?`l?\+ $?@䭅 W~?V2?`?ɨB@B{C;BUCyRqBRIIZIZ{R5٢b bw=9b3;Q f?dd jG٣hyj: j? nNusing accuracyPremultiplier from configlr49n/w?r4Yn> inBtvȰv@np]Dn;n;nb4| ~A|Zj)-DNOT Ignoring new targets: 84.30 m.Bj5dJj5dE ProNav: ac range: 84.300003 m, nav range: 87.311836 m, bearing: 137.769934 deg, approach rate: 0.529860 m/s, LOS rate: -0.261216 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.734203 deg. 2jEE3:jE@MHeadingCmd: 4.812469 target range: 84.300003 and range: 84.30 m. jIjIjIjQiQhQhQhQhYfYfYfYrfYbfe,@ m$?Iuhɛ O:=隥I 6rɚiI$=Iie_ik<))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.423458*F%?2F!:F)BF-`0JF)GE<JJJJJ:JF:JJGB)OE> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.675154w,Q2AHR>I III.BI =&I.I8D6I<:I FBIyJIyRIyZIybIyjI}4VN@YV@Vzcڻ9V>yVH/?| G٣y > Nusing accuracyPremultiplier from config 49  {?4Y KE i B@ ]D  ; K ; Ź4! -A)ZjIUDNOT Ignoring new targets: 84.30 m.BjUՊJj]Պm ProNav: ac range: 84.300003 m, nav range: 87.512337 m, bearing: 137.670963 deg, approach rate: 0.492918 m/s, LOS rate: -0.242757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.678957 deg. 2jm&:jm@HeadingCmd: 4.811505 target range: 84.300003 and range: 84.30 m. jjjjihhhhff f rf bf  J@ɛ]B]~ Y]fIY eVRuɚaiaIeq%=ImimV\im<)i)E*FM?2FI:FIBFMl0JFI IzKiKK9KKKeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:19:58:00.1428 mTRx dataTimestamp_ set to:1736366281.444696uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.928270G*f<GI BQ Om >"Aw,k2A^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.179121y5+B=IMb@Mb@Mb@ )YK?S㥛? ףp= y^:?/<Q8 A p@)AI~Ay=AIId5٢ ;=9Q > G٣y  > Nusing accuracyPremultiplier from config49 ?4YM iB:?:@]D;;~͹4 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.30 m.Bj餻Jj餻  ProNav: ac range: 84.300003 m, nav range: 87.776360 m, bearing: 137.538452 deg, approach rate: 0.576274 m/s, LOS rate: -0.288357 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.578857 deg. 2j E:j @HeadingCmd: 4.809758 target range: 84.300003 and range: 84.30 m. jjjjihhhh%YBf!f!f!rf!bf- $ @ɛ]€B][ Y]IY eyɚaiaIe%=ImimuYimG<)i)q*F%?2F!:F!BF%p0JF! qI}huWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 85.5 m (Round-trip 114.1 ms) speed -0.3 m/s ,DAT read: user:1002> BDAT read: Tx time:19:58:01.2247 $Ping request sent.'w,#ل2A:ŷ@Y:Bǚ@:N9:r>y:Hſ?|?u\?`ߺ v?@*g?`V?ɨ:ŷ@:;8y^ B^IIfIfi5٢nx& n^=9rd;Q r>pt vG٣v5Gyv v> ~Nusing accuracyPremultiplier from configx~49z?4YzT izBj@z]Dz ;zu ;zӹ4  AEE addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 3.525922 s, deltaX: 1.199997 m, approachRate: 0.340336 m/s, rangeRepo size: 4 ZjIMDNOT Ignoring new targets: 84.30 m.BjUiJjUie ProNav: ac range: 84.300003 m, nav range: 87.977097 m, bearing: 137.436931 deg, approach rate: 0.576668 m/s, LOS rate: -0.290979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.671322 deg. 2jeG:je@mHeadingCmd: 4.811372 target range: 84.300003 and range: 85.50 m. jijijijiiqhqhqhyhyfyfyfyrf`U@bf@?ɛÀBh, 隽赾I -}ɚiIN%=IiWi!C<))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:58:01.2239 E+=jH<bH<H!I! I%lII%̀BI% =&I!.I!6I%<:I% F*FU?2FQ:FQBFUo0JFQ i Iq G= <zK= FJK= 9K9 K= K= 7BC} Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BI O >󀧌w, y2AL@Yɜ@9=>yHt?`y? @b?@ϰu???ɨL@;騵RCyBcIMb@Mb@Mb@ )YtV?L7A`?QyR?+=I A Z@)hAIhAyAIIS5٢ )=989Q > G٣y/ > Nusing accuracyPremultiplier from config 49?4Y^ iBR?:@]D;};ܹ4 %fA!ZjAEDNOT Ignoring new targets: 84.30 m.BjM]JjM]] ProNav: ac range: 84.300003 m, nav range: 88.291069 m, bearing: 137.277545 deg, approach rate: 0.651128 m/s, LOS rate: -0.329365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.498740 deg. 2j] b:jeޙ@eHeadingCmd: 4.808360 target range: 84.300003 and range: 85.50 m. jajijijiiihihqhqhuBfqfyfyrfybf}?JyJ}J}1JyJyJ}5K:J}3JyJ}4`d fG٣f5GyfH j> nNusing accuracyPremultiplier from confighn49j?r4Yjh rtIijBprٴr@j]DjH;j;j4| ~A|Zj%DNOT Ignoring new targets: 84.30 m.Bj%~Jj-~= ProNav: ac range: 84.300003 m, nav range: 88.585243 m, bearing: 137.127814 deg, approach rate: 0.646243 m/s, LOS rate: -0.327837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.527495 deg. 2j=`:j=3@EHeadingCmd: 4.808862 target range: 84.300003 and range: 85.50 m. jIjQjYjYiahihqhyhyfffrfbf@E?ɛĀB): 隵(I HɚiI'=IiTizp;))EE*E"EJJBAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFGO <H!I! I%II%wBI!&I!.I!6I%<:I% FG B) OE > 1 I1 fw,k2A6!-@Y6<@696[=y6H x?@?`^u@р?cv?W?"?ɨ6!-@6e{;6RCyRBR9IIZIZ N5٢bힽ bK=9b!Q b>dd fG٣dyj9{ j>zK%NK%9EWill construct direction to contact in vehicle frame from tetrahedron phase data.K!K%K%e9eAN2tmg\OIB?<7630-+))#  BKMrA:KMpA }Nusing accuracyPremultiplier from configl}49nJ?4Yn@q inB@n]Dn$nw,2A6^@Y6@6E96є=y6H@0Թ?Y?@cO? l@?? j?ɨ6^@6ň;4yBB@DFAMb@Mb@Mb@ )Y r?Q?Mbyc?<3 A -@)AIQAyAII.l5٢1 ==9C&Q > G٣yBs > Nusing accuracyPremultiplier from config49?4YS{ iBc?n:@^Dx1;;4 AB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 84.30 m.Bj׻Jj׻- ProNav: ac range: 84.300003 m, nav range: 89.144890 m, bearing: 136.838194 deg, approach rate: 0.721580 m/s, LOS rate: -0.376034 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.506775 deg. 2j-:j-<ߙ@5HeadingCmd: 4.808500 target range: 84.300003 and range: 85.50 m. j1jjjihhhhBfffrf $?Ihbf@v?ɛ9=I AEIA E勼ɚAiAIE6(=Ii֓Tiֻ))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FI:FIBFMP5JFIG%;GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264158wÌw,ʋ3A6Β@Y6Cޙ@696Q=y6H?K?ھ`P?![`?y¾?`D?ɨ6Β@65;4yVBVHIIbIbm5٢f$= fY=9j_Q j>hl nG٣ly-W -> 5Nusing accuracyPremultiplier from config1]495?]4Y5I i5Bae6e@5^D52;5[;5Q4i mAiHI III?BI&I.I6Iװ<:I FZjDNOT Ignoring new targets: 84.30 m.BjɻJjɻ ProNav: ac range: 84.300003 m, nav range: 89.410629 m, bearing: 136.698970 deg, approach rate: 0.676063 m/s, LOS rate: -0.353146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.558762 deg. 2j\r:j@ HeadingCmd: 4.809408 target range: 84.300003 and range: 85.50 m. j jjjihQhQhYhYfYfYfarfabfe@ɛŀB8I I [ɚiI(=Ii[fUi,))*FI2FI:FIBFU3JFQ I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516349zKuOTOKu+9KqKuKu  RK>JK?G !G B O >Ɍw,nk(3AJ^J\J\J\J^+:J\J\J\J^2<J^2<J\J\5K@Y5Ȏ@5cw?95z=y5H? ? D`@B?zQ??~ ??ɨ5K@5.C;5SCyލBލ_IEMb@Mb@Mb@AAA A)AYE{Gz?ˡE?y&1|?yEc?E'=E`;E A EZ@)EQAIAAyAI]I]hj5٢ep= m3=9m?Q m>qq uG٣u5Gy}˱ }> Nusing accuracyPremultiplier from config49析?4Y iBd?n:I@4^DI;6H; 4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768299ZjDNOT Ignoring new targets: 84.30 m.BjϻJjϻ ProNav: ac range: 84.300003 m, nav range: 89.719498 m, bearing: 136.538330 deg, approach rate: 0.700663 m/s, LOS rate: -0.363154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.494938 deg. 2j:y:jݙ@HeadingCmd: 4.808294 target range: 84.300003 and range: 85.50 m. jjjjihhh hBfffrfbfE@ɛAE; AEҾIA MדɚIiI60)=IiBsWi™))*F?2F:FBF_0JFG]GB)OEs> Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:19:58:03.7446 m TRx dataTimestamp_ set to:1736366284.972608u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021273Ќw,gB3Ayz Bz}I ~=~=IIa5٢c> a=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495v?=4Y5! i5B99E@5I^D5:5:5x4I MAMEZjDNOT Ignoring new targets: 84.30 m.BjûJjû ProNav: ac range: 84.300003 m, nav range: 89.971008 m, bearing: 136.408604 deg, approach rate: 0.665689 m/s, LOS rate: -0.342392 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.587105 deg. 2jj:j@HeadingCmd: 4.809902 target range: 84.300003 and range: 85.50 m. jjjji!h!h!h)h)f)f)f1rf1bf5H @ɛaeܔ5 imIi mӓɚiiiImO)=Iuiu&Yiun)q)y*F2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272355HI III5BI&I.I6I<:I FG"Gy B O > I h֌w,*\3Af?@Yf3O@fzl9f>yfH`?7?` kc?@q?K?`1H??ɨf?@fi;fQCyr#BrIWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 19:58:03.7446 LVL= 24640, 18065, 15042, 28147, AGC= 64, IDX= 445, 0.44,-1.932, 0.270, 0.333,-0.267, PHS=-1.577, 0.585, 0.597, RAW= 269.7, 3.7, CAL= 273.0, 4.8, ROT= 237.0, -4.8 eYgot valid direction response: 19:58:03.7446 LVL= 24640, 18065, 15042, 28147, AGC= 64, IDX= 445, 0.44,-1.932, 0.270, 0.333,-0.267, PHS=-1.577, 0.585, 0.597, RAW= 269.7, 3.7, CAL= 273.0, 4.8, ROT= 237.0, -4.8 mPDAT read: Bearing 237.0, -4.8 (Local) m~Local bearing/azimuth received: Bearing 237.0, -4.8 (Local) DAT read: Range 10 to 50 : 86.8 m (Round-trip 115.8 ms) speed -0.3 m/s ,DAT read: user:1003> BDAT read: Tx time:19:58:04.8747 $Ping request sent.'@I{iFSR?:publishing transmit ping time؉Fpublishing direction and range info9m Yw7? %wŻ#ey )Ii )IiM!k?#Gt?)IizK8LK9KKK $*)(($!BKsA:KsAI Ih5٢;= 4=9ŻQ > G٣5Gy > Nusing accuracyPremultiplier from config!=49%æ?e4Y% i%BquJ}@%d^D%<%<%4 Ak8I??k| k kt^3A:kBBkjBZkZ@"`?5" eؑUm Yw7? %wŻ#eJkFSRkR?*ȚV2\:?4c>4:UU,FL?l țI+"k*k?kJ@?kF 2kokcE?kjf k09k Ak,@ addTargetRange:: Added new target pos. range: 86.800003 m, deltaT: 3.527289 s, deltaX: 1.300003 m, approachRate: 0.368556 m/s, rangeRepo size: 4  Added new target pos. range: 86.800003 m, bearing: 307.799403 deg, lat: 36.904667 deg, lon: -122.119346 deg, deltaT: 7.053211 s, deltaX: 2.500000 m, approachRate: 0.354448 m/s, posRepo size: 4 ZjQ]DNOT Ignoring new targets: 86.80 m.BjeJjaJJJ1JJ{:J5K:J3JJ.<J.<J;J; ProNav: ac range: 86.800003 m, nav range: 28.130066 m, bearing: 154.820614 deg, approach rate: 0.000000 m/s, LOS rate: -0.342392 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.426871 deg. 2j:jә@HeadingCmd: 4.807106 target range: 86.800003 and range: 86.80 m. jjjjihhhhfff)rf-@3U@bf-@ɫ?ɛq}O y}աIy }ɚyiyI*=Ii6]ic˼))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:58:04.8739 *FE ?2FA :FA BFE 1JFA Gef IG!B1OM?C]ތw,?|3AR+@YR;@RL9R>yRH@7t??E`ҳ?w?@SI?@?@B?ɨR+@Rk`;RRCynEBnI5Will construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUS?~jt?y&1?yUZ?U=U` $=9Y?Q > G٣y > Nusing accuracyPremultiplier from config49۪?4Y iBZ? x: : @^D ;l;64 AUB*** querying acoustic contact ***jQjQZjDNOT Ignoring new targets: 86.80 m.BjJj󼝊 ProNav: ac range: 86.800003 m, nav range: 28.353817 m, bearing: 154.099240 deg, approach rate: 0.532468 m/s, LOS rate: -1.703087 deg/s, cmd heading: 275.975187 deg, new cmd heading: 273.829202 deg. 2j:ja@HeadingCmd: 4.779221 target range: 86.800003 and range: 86.80 m. jjjjihhhhEBfffrfbf ?ɛ   ~I  4ɚ i IH*=I]i]-'`i]ּ)Y)a*F ?2F :F BF ^0JF GnGBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O >H I  I II XBI  =&I .I 6I ǰ<:I FBIyJIyRIyZIybIyjI}U4=w,3A:%@Y:4@: 9:_n>y:HkC? ? ?BZ~?@a??@E?ɨ:%@:;:VCybxBbIddIjIjD5٢rK> rm=9vQ v?tt vG٣xyz? z? Nusing accuracyPremultiplier from config 49? 4Y iB  R @^D::.4 \AEZjAMDNOT Ignoring new targets: 86.80 m.BjMռJjUռe ProNav: ac range: 86.800003 m, nav range: 28.511536 m, bearing: 153.605056 deg, approach rate: 0.479269 m/s, LOS rate: -1.493378 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.501181 deg. 2je:jeuO@mHeadingCmd: 4.790949 target range: 86.800003 and range: 86.80 m. jijijijiiihqhqhqhqfyfyfyrfbfS?ɛ 隵I1 =:?ɚ9i9I=0j*=IEiEobiEڼ)A)I YI]h*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.993875zKa MKKKKRK?JK?GS&żGBO >J J J J J k:J "I:J J J %8<J &8<J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245651 jw,߯3A2 @Y2S@2>92qw >y2Hhv?@.??7?? ?Q?ɨ2 @2H;2RCy>BB,IMb@Mb@Mb@ )Y#~j?{Gz? ףp= ?yE?#=Q8=I A )AIyAI]I]<55٢m> mB=9mȻQ u>qq uG٣}5Gy}I }> Nusing accuracyPremultiplier from config49ذ?4Y& iB|F?:H@^D ;;%4B XAEZjDNOT Ignoring new targets: 86.80 m.Bj8Jj8 ProNav: ac range: 86.800003 m, nav range: 28.690548 m, bearing: 153.058796 deg, approach rate: 0.424892 m/s, LOS rate: -1.288461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.347093 deg. 2j]:jm9@HeadingCmd: 4.788260 target range: 86.800003 and range: 86.80 m. jjjjihhhhBfffrfbf i?ɛ5ĀB5dɼ 9=I9 =֙ɚ9i9I=@z*=IEiEveiM)I)I*F?2F:FBF0JF AIAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498226GԼGBO>Ow,3A6@Y64*@696>y6H`??@R¿){?k?ݔ?`d?E?ɨ6@6ʉ;4yFĀBFaIININ75٢Vc> VW=9Z?cQ Z>X\ ^G٣\y^; b> fNusing accuracyPremultiplier from config`j49b?j4Yb ibBhjj@b^Db :b:b,,4A EAAZjDNOT Ignoring new targets: 86.80 m.Bj魼Jj魼 ProNav: ac range: 86.800003 m, nav range: 28.853592 m, bearing: 152.575269 deg, approach rate: 0.412492 m/s, LOS rate: -1.216369 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.533123 deg. 2jP:jT@HeadingCmd: 4.791507 target range: 86.800003 and range: 86.80 m. jjjjihhhhfffrf!bf%-?ɛiml♼ 隕I B֙ɚiIt*=Ii6#iiM))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749715HuS>Iq Iu4IIuBIu =&Iq.Iq6Iu<:Iu F*F2F:FBF)2JF 9I9GGG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001653zK KK 9K K K BK rA:K pAyw,\3AJ<@YJK@J⢼9J}>yJH??ÿd`7? ?[?M?ޤ?ɨJ<@J<;JQCyޥBޭIIIJ5٢=D> E4=9M=:Q U>ai mG٣y_< > Nusing accuracyPremultiplier from config49d?4YC i.B@^DL^;^;Z44 AZj1=DNOT Ignoring new targets: 86.80 m.BjEuJjEue ProNav: ac range: 86.800003 m, nav range: 29.059195 m, bearing: 151.986404 deg, approach rate: 0.448748 m/s, LOS rate: -1.276140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.221670 deg. 2jeZ:jm~'@uHeadingCmd: 4.786071 target range: 86.800003 and range: 86.80 m. jqjyjyjyiyhhhhfffrfbf@ɛÀBl (=I ZɚiI`*=Ii%6liIż))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254868*F92F9:F9BFE1JFAG + - $?I) GY Bi O >ţw,Ig3A6X@Y6g@6ڜ96>y6Hִ?`?Pÿ6n]?}?`E3?`a?@?ɨ6X@6ƈ;6SCyrBrIWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505735Mb@Mb@Mb@ )Y(\? S=9 9Q > G٣y< > Nusing accuracyPremultiplier from config49𹐜?4Y i;Bp(?:-@^D;;:4 AEZj DNOT Ignoring new targets: 86.80 m.Bj Jj  ProNav: ac range: 86.800003 m, nav range: 29.200335 m, bearing: 151.594606 deg, approach rate: 0.384955 m/s, LOS rate: -1.063444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.805646 deg. 2ju6:jz@HeadingCmd: 4.796263 target range: 86.800003 and range: 86.80 m. jjjjihhhh_Bfffrfbf A@ɛQUR; QU>IQ UeɚYiYI];9*=Ieienied)a)a*FE?2FI:FIBFM25JFIJJJ0JJK:JQN:Jـ3Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758732GM ~ʼG! B1 OM >ZH RH H I  I II BI &I .I 9D6I X<:I _ Fw,B4A6}@Y6s@65h96>y6H@l??Mÿ i?Ǣx?@?`?G?ɨ6}@6q;4yB1BBIININp;5٢VZ(> V\=9Z>:Q Z>X\ ^G٣^5Gy^>L< b> fNusing accuracyPremultiplier from config`f49b?j4Yb ibHBhjj@b^Db*:b:bYA4p rAp~B*** querying acoustic contact ***j|j|ZjDNOT Ignoring new targets: 86.80 m.BjJJjJ- ProNav: ac range: 86.800003 m, nav range: 29.342758 m, bearing: 151.210416 deg, approach rate: 0.383765 m/s, LOS rate: -1.030180 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.828373 deg. 2j-0:j-=~@5HeadingCmd: 4.796660 target range: 86.800003 and range: 86.80 m. j1j1j1j1 Ihi9hhhhfffrfbfJ@ɛQ]8^7 Y]\>IY ]ɚYiYIe=*=IeimCFpim)i)i PExceeded connect timeout, disconnecting.*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015656zKKK 9KKKRK ?JK ?GU  G) 1 I Ba Y y BO > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:58:07.3960  TRx dataTimestamp_ set to:1736366288.756638 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266739" w,14Ay]DB]IMb@Mb@Mb@ )YV-?Q?/$?yh?\=,=/A p@) AIAy(AII75٢%G= %5=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=|?E4Y= i=VBE?M:MM@=_D=;=o;==I4Q UAQZjyDNOT Ignoring new targets: 86.80 m.Bj|Jj| ProNav: ac range: 86.800003 m, nav range: 29.496244 m, bearing: 150.810389 deg, approach rate: 0.340027 m/s, LOS rate: -0.881586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.781532 deg. 2jA:jw@HeadingCmd: 4.795843 target range: 86.800003 and range: 86.80 m. jjjjihhhhBfffrfbf @ɛ€BPS >I SPɚiIw)=Iuiu:\riuM)q)y I*FE?2FI:FIBFIJFQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517714G ͍G G sAG B O >w,ZJ4AJFJDJF1JDJF:JDJF3JD%В@Y%.@%9%>y%H`x?@Ky?_ÿ ? o? =? o??ɨ%В@% ;%QCy=gBE)IIUIUV85٢m7> mW=9mA:Q m>qq uG٣qy}< }> Nusing accuracyPremultiplier from config49!?4YL iaBa@ _D+;^;O4 AZjq}DNOT Ignoring new targets: 86.80 m.Bj}.jJj}.j ProNav: ac range: 86.800003 m, nav range: 29.628279 m, bearing: 150.479496 deg, approach rate: 0.328244 m/s, LOS rate: -0.818947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.987036 deg. 2j :j씙@HeadingCmd: 4.799429 target range: 86.800003 and range: 86.80 m. jjjjihhhhfffrfbf@ C@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 87.9 m (Round-trip 117.2 ms) speed -0.3 m/s ,DAT read: user:1004> BDAT read: Tx time:19:58:08.4747 $Ping request sent.I9 =$ɚ9i9I=s)=IEiE{3siE/)A)IHUT>IQ IUIIU[BIQ&IQ.IQ6IUΰ<:IU F*F%?2F!:F!BF!JF! I  nManaging dock network, ignoring radio surface power offGE D&u Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:19:58:08.4739 G B) O >zK K h9K K K BK sA:K rAw,|d4AV#@YV@VM89V>yVHɹ?v?kÿ 4?ah?@?G??ɨV#@V;VPCy mB 1IIUnIU."5٢<< D=9`O:Q >   G٣ 5Gy,< > Nusing accuracyPremultiplier from config 49aŐ? 4Y inB15ĵ5@_D;;W4A EAI addTargetRange:: Added new target pos. range: 87.900002 m, deltaT: 3.784075 s, deltaX: 1.099998 m, approachRate: 0.290691 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 86.80 m.BjuJju ProNav: ac range: 86.800003 m, nav range: 29.787678 m, bearing: 150.090951 deg, approach rate: 0.354706 m/s, LOS rate: -0.859984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.815956 deg. 2j:jw|@%HeadingCmd: 4.796443 target range: 86.800003 and range: 87.90 m. j!j!j!j!i!h!hhhff!f!rf%U@bf-`H?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ9=p]; AEɪ>IA EqɚIiIIM)=IUiUpsiU)Q)Y*F5?2F1:F1BF1JF1G {#G B O > I hw,~4A6/@Y6@6UQ96m>y6HA?|?@¿@&̸?@,t?`Љ?`.|?u?ɨ6/@6߻;6QCyB|BBDIWill construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYuV-?ˡE?S㥛?yu>u'=u/ G٣yʢ; > Nusing accuracyPremultiplier from config49 Ȑ?4Y ivB,>:i@)_DE;;"^4 ;AEZjaeDNOT Ignoring new targets: 86.80 m.BjuRJj}R5 ProNav: ac range: 86.800003 m, nav range: 29.903521 m, bearing: 149.827605 deg, approach rate: 0.324478 m/s, LOS rate: -0.734776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.188262 deg. 2j5":j5@=HeadingCmd: 4.802941 target range: 86.800003 and range: 87.90 m. j9j9j9j9i9h9hAhAhEBfAfIfirfibfm@?ɛH+< 隽)>I uɚiI(=Iicsiؙ))*F?2F:FBFo0JF"G=G=JK(3 K(.KK"KJJJ0JJ+:J"I:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.G "G ?G >jHE <bHE <HM U>II  IM yIIM BII &II .II 6IM ˰<:IM FG B O >J%w,4A2%@Y265@2192>y2H@;? w?¿ਭ?Ko? "?X?˦?ɨ2%@2Is;2SCyFBFHIIN_IN5٢V̀< V[=9Zc:Q Z>XX ^G٣\y ?)<  > Nusing accuracyPremultiplier from config49ʐ?4Y i~B!%%@5_D ;? ;d4) -#A1 AIAUB*** querying acoustic contact ***jQjQZjamDNOT Ignoring new targets: 86.80 m.BjmqRJjmqR ProNav: ac range: 86.800003 m, nav range: 30.026760 m, bearing: 149.553293 deg, approach rate: 0.331995 m/s, LOS rate: -0.735932 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.155688 deg. 2j:j @HeadingCmd: 4.802373 target range: 86.800003 and range: 87.90 m. jjjjihhhhfffrfbfe?ɛ޸1< >I `dɚiIl(=Ii6si+))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.zK KK9KK KE9*F2F:FBF n0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508874G} XG1 BA O] >^,w,{4A6N@Y67^@696q>y6H-?@s? R¿`?^? ג?`?@b?ɨ6N@6;6QCyVBVOI=Mb@Mb@Mb@999 9)9Y=ʡE?Mb?~jtx?y=>===;=A =p@)9I=A9y=AI]I]05٢eA< e1=9mT3;Q m>qq uG٣u5Gy}1< }> Nusing accuracyPremultiplier from configy49} ΐ?4Y} i}B1>:\@}C_D}p;};}l4 AZjDNOT Ignoring new targets: 86.80 m.BjJAJjJA ProNav: ac range: 86.800003 m, nav range: 30.164881 m, bearing: 149.248226 deg, approach rate: 0.307451 m/s, LOS rate: -0.675955 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.064257 deg. 2j:j@HeadingCmd: 4.800777 target range: 86.800003 and range: 87.90 m. jjjjihhhhBfffrfbf@?ɛÀBHW< >I ~ɚiI(=Iiri\0;)) 1I1ES=*FY2FY:FYBF]:1JFYG5ïUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765676GBOm>J J J J J :J J J i3w,P4AJ@YJ@J{9J5>yJH@?@5o?[¿ZP?$L`Cϐ?`?Z?ɨJ@JZ;HyVwBV>I)X X``IfIf3A5٢n nT=9n;Q r>pp rG٣pyv}< v> zNusing accuracyPremultiplier from configx~49zА?~4Yz izB@zO_Dz` ;z ;zls4 B hA EZj15DNOT Ignoring new targets: 86.80 m.BjE=JjE=U ProNav: ac range: 86.800003 m, nav range: 30.284090 m, bearing: 148.991741 deg, approach rate: 0.309968 m/s, LOS rate: -0.664284 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.208809 deg. 2jU:jU@]HeadingCmd: 4.803300 target range: 86.800003 and range: 87.90 m. jYjajajaiahahahihifififirfqbfu@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013010ɛą< 隵>I UZɚiI'=Iircqi;))E1E1*E9"E9HIC IIIЁBI =&I.I6I<:I FBIJIRIZIbIjI¡4 !I!*FU?2FQ:FQBF]1JFYM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264773zK QJK ]9K K K G% pG B O% >a9w,:4AT@Yҵ@s9>L>yH:?k?¿s? qh,~?`ox?X?ɨT@;PCy-lB-0IMb@Mb@Mb@ )Y-?X9v?y&1y?><`eA Z@)AIyAI=I=>5٢M8 M(=9M}N;Q M>QQ UG٣Qy]< < ]> Nusing accuracyPremultiplier from configa49eԐ?4Ye ia>:@e]_DeG(Ia m%ɚiiiImc'=Iuiuniuw8<)q)y*F?2F:FBF`5JFG;GBO> I U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769123߂@w,$5A2ȓ@Y2 ؚ@2O^92W>y2H%?h?l¿ͽ@j:?@s`ɋ?DZ??ɨ2ȓ@2;2QCyYBIII>5٢t M=9%X;Q %>19 EG٣E5GyU)< U> uNusing accuracyPremultiplier from configiu49mא?u4Ym  imB&@mj_Dm2;m 3;m4 XAZjDNOT Ignoring new targets: 86.80 m.Bj}@Jj}@ ProNav: ac range: 86.800003 m, nav range: 30.572254 m, bearing: 148.395988 deg, approach rate: 0.331232 m/s, LOS rate: -0.673150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.169091 deg. 2j:j@HeadingCmd: 4.802607 target range: 86.800003 and range: 87.90 m. jjjjihhhhfffrfbf@7@ɛ%ĀB%; !%>I! -Ăɚ)i)I-J)'=I5i5qli5[p<)1)9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:58:10.9978 TRx dataTimestamp_ set to:1736366292.284564checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021845ZHRH?AHI IIIځBI&I.I6I<:I FG *;G B O > I Fw,5A2k@Y2@2N92>y2H?f?@P5¿ >?xډ?`'??ɨ2k@2 ;2PCɮ<>CwA>oi>yFBޭI =p=IIF5٢= =:=9E ;Q E>AI MG٣IyM9 < M> ]Nusing accuracyPremultiplier from configQ]49U(ې?e4YU  iUBaee@Uw_DU ;U;U4q }3A}EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 86.80 m.Bj9Jj9 ProNav: ac range: 86.800003 m, nav range: 30.713930 m, bearing: 148.112935 deg, approach rate: 0.326976 m/s, LOS rate: -0.650245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.130010 deg. 2j ߼:j^@HeadingCmd: 4.801925 target range: 86.800003 and range: 87.90 m. jjjjihhhhfffrfbf @ɛҁ9 s>I %ɚ!i!I%v&=I-i-ii-H<)))1zKEFJKE9KAKE KE  ARKJK>*F}?2F:FBFJFJJJJJ:J[O:JJJ4  BDAT read: Tx time:19:58:12.0747  $Ping request sent. Mw,w65A@Y @?<9C>yH`?_d? \!¿`* ?~F??,?ɨ@;QC)‰I‘ ‘‘‘Ļi™™iÙÙ)Ù ÙIÙ ġ)ġááá9xAiIIi ) I $?Ih)iyU"BUIMb@Mb@Mb@ )Y!rh?X9v?S㥛yl?/ݼA )~AI Ay\AIIM5٢L  G=96;Q > G٣y; >  Nusing accuracyPremultiplier from config 49ސ?4Y iB?:@_D;;4a mAi addTargetRange:: Added new target pos. range: 89.199997 m, deltaT: 3.529411 s, deltaX: 1.299995 m, approachRate: 0.368332 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 86.80 m.BjI ZɚiIl&=IiNfi<))*Fe?2Fi:FiBFiJFiG <M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM AGa Bq O >QTw,ZS5AHI IIIBI =&I.I6I<:I Fy%B%II5I5MD5٢E @ EQ=9MQ M>II UG٣U5GyU U> Nusing accuracyPremultiplier from config49P␜?4YF i~B@_De ;e ;˜4 AAZjDNOT Ignoring new targets: 86.80 m.Bj QJj Q% ProNav: ac range: 86.800003 m, nav range: 31.011101 m, bearing: 147.532098 deg, approach rate: 0.380055 m/s, LOS rate: -0.733724 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.121881 deg. 2j%:j%4@-HeadingCmd: 4.801783 target range: 86.800003 and range: 89.20 m. j)j)j)j)i)h1h1h9h9fAfAfArfAbfE?ɛ}ƀBp 隅=I '~ɚiI&=Iicil<)) I*F-?2F):F1BF1JF1eWill construct direction to contact in vehicle frame from tetrahedron phase data.GU %<zK LK ]9K K K pO k$23+jZ 3:jHTMteXI7'~}|xxumBK rA:K G) B9 )q q G vAE A Y vAy BO >Zw,/m5AJXJZJXJXJXJZwR:JXJXJXJXJZЦ;JZЦ;yuBuIy}A-only read 0 of 1 data item for BIT error. Device response is::TS,5.0, +10.9, 0.0,1493.3, 0  @ @ @  @ Will construct direction to contact in vehicle frame from tetrahedron phase data.IIY45٢   ?=9Q >!! -G٣)y1 5> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]49M搜?e4YM # iMzBm+:im:im@M_DM;M>M4q uAyZjDNOT Ignoring new targets: 86.80 m.BjHJjH ProNav: ac range: 86.800003 m, nav range: 31.166275 m, bearing: 147.235585 deg, approach rate: 0.367902 m/s, LOS rate: -0.699497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.090152 deg. 2j:j@HeadingCmd: 4.801229 target range: 86.800003 and range: 89.20 m. jjjjihhhhfffrfbf?ɛǀB @ 隭`=I 1f}ɚiI&=Iil`i ՟<))*F?2F:FBFJF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G *f<G B O >aw,5ARmǓ@YR֚@R9R>yRH ?x?`Q 5'?@ں{???ɨRmǓ@R(;RRCyfÀBf`IInIn>5٢v: vt=9z;Q z?x| ~G٣|y~i ?  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config49萜?4Y' iwB ::@_D'<;@?}4! % A)ZjQUDNOT Ignoring new targets: 86.80 m.Bj]HJj]Hm ProNav: ac range: 86.800003 m, nav range: 31.286936 m, bearing: 147.004883 deg, approach rate: 0.368265 m/s, LOS rate: -0.701403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.285783 deg. 2jm:jm@uHeadingCmd: 4.804643 target range: 86.800003 and range: 89.20 m. jqjqjyjyiyhyhyhhfffrfbf ?ɛ]| @I z}ɚiI &=Ii3^i$Y<))*FY2FY:FYBF]1JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G)ş<jH%<bH%<H)I) I-GII-BI)&I).I)6I-԰<:I- FG)B9OU> I gw, 5A:T“@Y:њ@:Ό9:|>y:H ?{?|V @ ?@qr1?`[X?౼?ɨ:T“@:;;:QCyFBFHIIRIRV5٢Z˽ ZN=9^;Q b>`` bG٣b5Gyf)ͺ f> nbBottom track data is 1.1 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr49j*쐜?r4Yj- ijsBr9prT:rv@j_Dj7;jB?j.4x zAxZj!-DNOT Ignoring new targets: 86.80 m.EWill construct direction to contact in vehicle frame from tetrahedron phase data.BjMEJjUE ProNav: ac range: 86.800003 m, nav range: 31.433460 m, bearing: 146.727997 deg, approach rate: 0.367552 m/s, LOS rate: -0.691320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 275.148462 deg. 2j9:j@HeadingCmd: 4.802247 target range: 86.800003 and range: 89.20 m. j1j1j1j1i1h9h9h9h9f9fAfArfAbfEw?ɛȀBK 隵HI 1,~ɚiI '=Iio2\i֦`<))zKPK9KKKhgb`_ZSPOOJEHHC?=;<90$)N.&3T=A?8+U=Fz]9" RKJK?*F?2F:FBF;4JFJJJJJK:JdP:JJJr5<Js5<J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.G- Ga<G B O% >~mw,I5A 0I0B@YB @B2ѻ9BO>yBH\??Q?{@R&z?M?@?ɨB@B;BRCyRBR%I 5 = == ==  = = =Mb@Mb@Mb@999 9)9Y=> ףp=?y&1?Mby=1?=`<== A =C@)=hAI=hA9y=AIUIU Y5٢en e@=9e=;Q e>ii mG٣iyu߻ }> Nusing accuracyPremultiplier from config49_?4Y4 inBT:@2?:~@_DZ; ;4 AEMB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 86.80 m.Bje|Jje| ProNav: ac range: 86.800003 m, nav range: 31.636938 m, bearing: 146.333262 deg, approach rate: 0.458353 m/s, LOS rate: -0.883451 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.798773 deg. 2j:jz@HeadingCmd: 4.796144 target range: 86.800003 and range: 89.20 m. jjjjihhhhBfffrfbf`@ɛ%ɀB% %8=%׽II M}ɚQiQIUE'=IUi]u#Zi]/6<)Y)YMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*F%?2F!:F!BF%`5JF!"G-=G-=Ge [z<G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510168tw,r5A:\@Y:ڠ@:&29:I=y:H@Ԕ? ,? 7P?\=&v?s??ɨ:\@:B;:PCyRwBRIIZIZZ5H`I` IbIIb3BI`&I`.I`6Ib<:Ib F٢]  eK=9mr;Q m>qq uG٣qy > Nusing accuracyPremultiplier from config49Z?4Y2< iiB䳿@_D;;ܴ4  qA ZjQuDNOT Ignoring new targets: 86.80 m.Bj}-Jj}- ProNav: ac range: 86.800003 m, nav range: 31.833834 m, bearing: 145.956441 deg, approach rate: 0.489741 m/s, LOS rate: -0.931469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.851867 deg. 2j:j@HeadingCmd: 4.797070 target range: 86.800003 and range: 89.20 m. jjjjihhhhfffrfbf@ QI]hɛʀB1ۼ  %I  y뀼ɚ i I '=I=iEEbXiEBv<)A)I*F2F:FBFJ5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762198G% 3<zK PK ]9K K K  #Dg2Mdwi\furK BK :K sAG B O} >{w,`5AJJJJJHJHJJk:JJ[O:JHJHJJ%8<JJ&8<JJ ;JJ ;yhBIMb@Mb@Mb@ Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:58:14.6000 TRx dataTimestamp_ set to:1736366295.812745checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015373)YS㥛?S㥛?y&1yD?/<`3 A -@)QAIAyAII:\5٢T 4=9Q > G٣5Gy > Nusing accuracyPremultiplier from config49?4YE idBE?:%%@_D&==4) -A)ZjquDNOT Ignoring new targets: 86.80 m.Bj}ɄJj}Ʉ ProNav: ac range: 86.800003 m, nav range: 32.067924 m, bearing: 145.512213 deg, approach rate: 0.493009 m/s, LOS rate: -0.928730 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.652481 deg. 2jX:je@HeadingCmd: 4.793590 target range: 86.800003 and range: 89.20 m. jjjjihh h h hBf ffrfbf@ɛˀB 隕hFI jɚiI'=Ii,Vi<)) 9I9*Fm?2Fi:FiBFu/5JFqe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267761G O <Gq By O >w,;6A6P@Y6l`@6Q96 b=y6Hᔼ??f`p?ǂ1r? w??ɨ6P@6佈;6QCyBUBBI)D DININa5٢VC߽ Vp=9V ;Q Z?XX ZG٣Xy^F ^? bNusing accuracyPremultiplier from config`f49b:?f4YbK ibaBhjj@b`DbI;b];bº4p rAtZjDNOT Ignoring new targets: 86.80 m.BjɟJjɟ- ProNav: ac range: 86.800003 m, nav range: 32.247673 m, bearing: 145.172592 deg, approach rate: 0.594800 m/s, LOS rate: -1.117558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.962114 deg. 2j?:j\@HeadingCmd: 4.798994 target range: 86.800003 and range: 89.20 m. jjjjihhhhfffrfbf}> @ɛյ VmI ÌɚiIE7(=Ii%BUi%:)!))}Will construct direction to contact in vehicle frame from tetrahedron phase data.}Ai}ADAT read: 19:58:14.6000 LVL= 23152, 20721, 14546, 29811, AGC= 57, IDX= 452, 0.18,-0.288, 2.043, 1.961, 1.439, PHS=-1.639, 0.651, 0.518, RAW= 273.0, 4.3, CAL= 276.5, 5.5, ROT= 233.5, -5.5 Ygot valid direction response: 19:58:14.6000 LVL= 23152, 20721, 14546, 29811, AGC= 57, IDX= 452, 0.18,-0.288, 2.043, 1.961, 1.439, PHS=-1.639, 0.651, 0.518, RAW= 273.0, 4.3, CAL= 276.5, 5.5, ROT= 233.5, -5.5 E3=E%PDAT read: Bearing 233.5, -5.5 (Local) %~Local bearing/azimuth received: Bearing 233.5, -5.5 (Local) UDAT read: Range 10 to 50 : 90.7 m (Round-trip 121.0 ms) speed -0.4 m/s ],DAT read: user:1006> ]BDAT read: Tx time:19:58:15.7248 e$Ping request sent.eI IIIBI =&I.I6IӰ<:I FBIEƣCJIEƣCRIAZIAbIAjIE'4m`direction in FSK: [0.007962,-0.051685,-0.998632]:publishing transmit ping timeYFpublishing direction and range info؁9؅|JzPN?jVrvxy؅fB؁؅pZ؅P م8)مstIم9iمѿم&?م?مx@م`= څ>m@)څ =Iڅ7i@iڅ Ľځځۅ|sɆl &X?Fp@ ?)ۅ-*@Iۅ iۅpۅ|]?ہہ%:publishing transmit ping timeYEFpublishing direction and range info؁9؅|JzPN?jVrvxy؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ|sɆl &X?Fp@ ?)ہIہ*Fm?2F:FBF0JFG GtAiہہہہ IG l<G B O >%w,8#6A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2JDAT read: TxSync time:19:58:15.7240 F)1@YF@@F9F=yFH@D?$?E``/`?`4r?ko??ɨF)1@F"Ɉ;FSCyfFBfII I Qc5٢E E:=9M9s9Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49t?4YT i\B5@`Dh;;Nʺ4 AEk=C$?k=D7_ k9 k= k=8k=2)Ak=N? addTargetRange:: Added new target pos. range: 90.699997 m, deltaT: 3.527906 s, deltaX: 1.500000 m, approachRate: 0.425181 m/s, rangeRepo size: 4  Added new target pos. range: 90.699997 m, bearing: 356.275397 deg, lat: 36.904910 deg, lon: -122.119438 deg, deltaT: 10.841392 s, deltaX: 3.899994 m, approachRate: 0.359732 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 90.70 m.BjJj% ProNav: ac range: 90.699997 m, nav range: 10.574940 m, bearing: 87.325542 deg, approach rate: 0.000000 m/s, LOS rate: -1.117558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 274.404360 deg. 2jI:jMA@]HeadingCmd: 4.789259 target range: 90.699997 and range: 90.70 m. jYjYjYjYzKeӆOKe9KaKeKei_d~|ulhaYVI9-*'&$!  RK ?JK?iahhhhfffrf̬V@bf ?ɛ}̀B 隕I רɚiI"(=I%i-ouUi-f<)))9Will construct direction to contact in vehicle frame from tetrahedron phase data.E G8=*F ?2F :F BF P5JF ] $?I] hG=;Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BYOu ?ww,N'F6AF @YFo@Fy9Fh=yFH`,p?֕? &qec?L .s?{?`?ɨF @F(;FQCyRABVI=Mb@Mb@Mb@999 9)9Y=> ףp=?/$?:vy=Q?=<=T9 9)=@I=QA9y=AIMIMP5٢ =9 Q > G٣5GyZ > Nusing accuracyPremultiplier from config49j?4Y` iZBR?:Q@9`D<;;Ӻ4 &AB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 90.70 m.Bj-X<Jj-X<= ProNav: ac range: 90.699997 m, nav range: 11.019620 m, bearing: 87.740021 deg, approach rate: 0.846737 m/s, LOS rate: 0.757375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.168264 deg. 2j==:j=̚@EHeadingCmd: 4.837499 target range: 90.699997 and range: 90.70 m. jAjAjIjIiIhIhQhQhU;BfYfYfYrfYbf]`c?ɛz2 隍ҋI чɚiI>")=IiUi))EE*E"EJJJJJ:JHM:JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HI ILIIBI&I.I6I<:I F*F?2F:FBF*5JF ! I) G 9G B O >w,Ra6A:@Y:@:뺻9: [=y:H@^?@š?E@@*\?9zu]w?@?8?ɨ:@:0;:SCyJ4BNIITIT٢^} ^Q=9^yQ ^>`` bG٣`yff/ f> nNusing accuracyPremultiplier from confighn49j?r4Yjh ijYBpr۸r@jM`Dj.:j:jں4t vAxZjDNOT Ignoring new targets: 90.70 m.BjE7<JjE7<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230741 ProNav: ac range: 90.699997 m, nav range: 11.336020 m, bearing: 88.007930 deg, approach rate: 0.778644 m/s, LOS rate: 0.640905 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.756429 deg. 2j<:j葚@HeadingCmd: 4.830311 target range: 90.699997 and range: 90.70 m. jjjjihhhhf)f)f1rf1bf5 `f?ɛ}̀B} 隅I ≼ɚiIđ)=IiVi ))*FE?2FI:FIBFM_0JFIzKcNKh9KKK  BK :K rAGOPGBO}Y>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484181w,{6A I @y}BB}IMb@Mb@Mb@ )YzG?y&1?{Gzty W?`<ף A )QAIyzAI-I-GL5٢=w= =5=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49] ?e4Y]r i]ZBm)W?m|:mm@]e`D]@;];]4}B }A}EZjDNOT Ignoring new targets: 90.70 m.BjIE<JjIE< ProNav: ac range: 90.699997 m, nav range: 11.711901 m, bearing: 88.319338 deg, approach rate: 0.860372 m/s, LOS rate: 0.689919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.879349 deg. 2j<:j{@HeadingCmd: 4.832456 target range: 90.699997 and range: 90.70 m. jjjjihhhh8Bfffrfbf=2?ɛ ֵ  ׊I  ɚiI)=IiVi))!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735124*F?2F:FBF`0JFG- xG B O- >JI JM JI JI JI JM X:JI JI w,6AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986826:\@Y:ڰ@: 9:39>y:He?כ?C9V5?i)4?;?`?ɨ:\@:B;:QCyFPBJIIRIRb5٢Z= Zg=9^Q ^>jHr<bHr<HvU>It Iv'IIvBIt&It.It6Iv<:Iv Faa eG٣e5GyeV m> uNusing accuracyPremultiplier from configi}49m^?}4Ym!{ im[By}(}@mz`Dm;m&;m44 AEZj  DNOT Ignoring new targets: 90.70 m.Bj%<Jj5%m ~G `wA ZA Y `wAy BzK LK 9K K K  RK ?JK ?>w,)6A@Y$@9>yHcj?@1?`Q-+?\Ia*?? ?ɨ@;騵RCy\BI]Mb@Mb@Mb@YYY Y)YY]i|?5? G٣yȻ > Nusing accuracyPremultiplier from config49c?4Yτ iaBQ?:@`D;;4 TAZjDNOT Ignoring new targets: 90.70 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.500123Bj&<Jj&< ProNav: ac range: 90.699997 m, nav range: 12.388631 m, bearing: 88.811828 deg, approach rate: 0.831555 m/s, LOS rate: 0.580566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.742295 deg. 2j8<:j㏚@HeadingCmd: 4.830064 target range: 90.699997 and range: 90.70 m. jjjjihhhh\Bfffrfbf@*Z@ɛ2 9E`cIA EɚIiIIM*=I}iKZi))) I *F5?2F1:F1BF1JF1G iGsAGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750628C w,6AFs@YFM@F&9F}>yFHO?@F?۵?LQڄ?`%? ?ɨFs@F;FPCyVBV IIfIfP5٢mbD> ma=9urQ u>11 5G٣9y= => MNusing accuracyPremultiplier from configA49E?4YE iEfB踿@E`DEU=ET=E4JJJJJ:JmQ:JJ 7AB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 90.70 m.Bj5<Jj5IC I-IIBI&I.I6I<:I F*F2F:FBFJF IhG ZsGy B O >zqw,i6A6 g@Y6v@6S796>y6H`N?ə?`?@Z?`) ? x?ɨ6 g@6&;6SCyBBBI J=J=ININ\5٢V= VR=9V)Q Z>XX ZG٣Z5Gy^ ^> bNusing accuracyPremultiplier from config`f49b?f4Yb ibkBhjj@b`Db? ;b ;b=4p rArEZj  DNOT Ignoring new targets: 90.70 m.Bj&<Jj&<% ProNav: ac range: 90.699997 m, nav range: 12.998240 m, bearing: 89.207237 deg, approach rate: 0.947909 m/s, LOS rate: 0.582320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.519929 deg. 2j%<:j%p@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:19:58:18.2518 uTRx dataTimestamp_ set to:1736366299.600623}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255660HeadingCmd: 4.826183 target range: 90.699997 and range: 90.70 m. jjjjihhhhfffrfbfW @ɛn I EɚiI+=I%iE@^iMԦ)I)I*F?2F:FBFP5JFG5zKWLKh9KKKGBO?> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506560 I Tw,*6A2\@Y2l@2AI92 >y2H?@?ot6?xP?`^7?Pb?`x?ɨ2\@2o[;2OCyrBr6IuMb@Mb@Mb@qqq q)qYuPn?+?V-?yuD?u=u G٣yA > Nusing accuracyPremultiplier from config49n?4Y iuB}D?:¸@`D;;4B ,AZjDNOT Ignoring new targets: 90.70 m.BjH<JjH<  ProNav: ac range: 90.699997 m, nav range: 13.326618 m, bearing: 89.407847 deg, approach rate: 0.758750 m/s, LOS rate: 0.452105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.562164 deg. 2j#<:j"v@HeadingCmd: 4.826921 target range: 90.699997 and range: 90.70 m. jjjjihhhhBfffrfbf @ɛג I %|Yɚ!i!I%=+=I-iM`iM#)I)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF05JFDAT read: 19:58:18.2518 LVL= 22768, 20641, 16114, 26307, AGC= 62, IDX= 439, 0.06,-2.358,-0.056,-0.193,-0.685, PHS=-1.585, 0.676, 0.489, RAW= 274.3, 3.9, CAL= 277.6, 5.0, ROT= 232.4, -5.0 =Ygot valid direction response: 19:58:18.2518 LVL= 22768, 20641, 16114, 26307, AGC= 62, IDX= 439, 0.06,-2.358,-0.056,-0.193,-0.685, PHS=-1.585, 0.676, 0.489, RAW= 274.3, 3.9, CAL= 277.6, 5.0, ROT= 232.4, -5.0 MPDAT read: Bearing 232.4, -5.0 (Local) M~Local bearing/azimuth received: Bearing 232.4, -5.0 (Local) DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed -0.4 m/s ,DAT read: user:1007> BDAT read: Tx time:19:58:19.3748 $Ping request sent.)ٍfIٍ>iٍHʿٍV-?ٍ5^>ٍ2@ٍ'g= ڍ @)ڍ¸=Iڍˁ@iڍ¸ډډۍ̑h~?2}r?)ۍS,@IۍֲiۍZdۍ?ۉۉ:publishing transmit ping timeعFpublishing direction and range info؉9؍*lE.?B󝿕HWy؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ̑h~?2}r?)ۉIۉiۉۉۉۉGS.Gi By O >J J J J J :J G:J J = Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:19:58:19.3740 }ōw,67AZHRH@AHS>I IYIIBI =&I.I8D6I<:I FF\@YFIl@FĕV9F- >yFH??l``??rZ?@Ҋ?h??ɨF\@Fٶ;FPCyޅ€Bޅ_III-I5٢#> I=9Q > G٣y8 > Nusing accuracyPremultiplier from config49!?4Y i~BŸ@`D;; 4 #Aky?kgX k k7A:k3BBkBZk@%@"MA]?%W5F- W*lE.?B󝿕HWJkZdRk?*LCs$@Pu V "k?C>f"k*k#Akk?k; 2k kJ@?kF kokh@k9? YIYm addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.787222 s, deltaX: 1.400002 m, approachRate: 0.369664 m/s, rangeRepo size: 4  Added new target pos. range: 92.099998 m, bearing: 349.406691 deg, lat: 36.904912 deg, lon: -122.119507 deg, deltaT: 3.787222 s, deltaX: 1.400002 m, approachRate: 0.369664 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 92.10 m.BjJj ProNav: ac range: 92.099998 m, nav range: 7.512769 m, bearing: 87.199500 deg, approach rate: 0.000000 m/s, LOS rate: 0.452105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.542108 deg. 2j!:j%Ds@%HeadingCmd: 4.826571 target range: 92.099998 and range: 92.10 m. j)j)j)jIiIhIhQhQhQfQfYfYrf]`fW@bf][?ɛ[ 隵ШI }ɚiI}R+=Iicix㭼))*F?2F:FBF!2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >zK 2KK ػ9K K K <ˍw,07AW@Y,g@eK9V>yHӴ??@¿@@_0?@p?@)?`?c?ɨW@Չ;SCy ݀B IAMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.iYGz?/$?V-?y0?,=I A @)AIyII85٢r= 5=9AûQ >! %G٣%5Gy% -> 5Nusing accuracyPremultiplier from config1=495Q%?=4Y5٭ i5B=1?=:=E@5`D5w;58;54I MLAIZjDNOT Ignoring new targets: 92.10 m.Bjށ<Jjށ< ProNav: ac range: 92.099998 m, nav range: 7.818776 m, bearing: 87.618107 deg, approach rate: 0.691036 m/s, LOS rate: 0.908307 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.181667 deg. 2j=:jΚ@HeadingCmd: 4.837733 target range: 92.099998 and range: 92.10 m. jjjjihhhhBfffrfbf?ɛn~ p=I  FɚiIQ+=Iiei岼)) E$?IA*Fu?2Fy:FyBF}_0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data.G Gq B O >_ҍw,J7Ay~B~III:5٢%(?> %q=9%Q %?)) -G٣)y5 5? }Nusing accuracyPremultiplier from config1495'?4Y5 i5B@5aD5;5l;54 JAEZjDNOT Ignoring new targets: 92.10 m.BjLj<JjLj< ProNav: ac range: 92.099998 m, nav range: 8.049024 m, bearing: 87.911764 deg, approach rate: 0.661355 m/s, LOS rate: 0.819359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.830892 deg. 2j =:j@ HeadingCmd: 4.831611 target range: 92.099998 and range: 92.10 m. j j j j i hhhhfffrfbf%?ɛIM?+ IM=IQ UɚQiQIU,B+=I]i]gi]’)a)aJJAA*F ?2F :F BF `0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H)I) I-II-BI)&I).I)6I-߰<:I- FBIŢCJIŢCRIZI =bIjI!4 1I=hG=GI BY Ou >؍w,d7AyrBvIIz~IzE)5٢ d=  L=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%%+?54Y%. i%BAIM@%aDeWill construct direction to contact in vehicle frame from tetrahedron phase data.%s;%<%!4i mAqB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 92.10 m.Bjd<Jjd< ProNav: ac range: 92.099998 m, nav range: 8.322110 m, bearing: 88.238685 deg, approach rate: 0.690648 m/s, LOS rate: 0.799663 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.923675 deg. 2j3 =:jҩ@HeadingCmd: 4.833230 target range: 92.099998 and range: 92.10 m. jjjjihhhhfffrfbfq?ɛ ̀B   >I 8ӏɚiI'+=IiYii%޲)!)!*F?2F:FBFo0JFzKiJKKKK   JKـ3 KKK"KJJJJJ+:J,J:JJJ2 1 I1 /ލw,Cq~7A2*n@Y2}@292~%>y2HÆ?r?¿W?s?@?h? ?ɨ2*n@2rƈ;2PCyN*BNI TV=Mb@Mb@Mb@ )Y\(\? G٣5Gy; > Nusing accuracyPremultiplier from config49.?4Y iBi?:ַ@'aDA;;*)4 AZj DNOT Ignoring new targets: 92.10 m.Bj;<Jj;<- ProNav: ac range: 92.099998 m, nav range: 8.576500 m, bearing: 88.522098 deg, approach rate: 0.607759 m/s, LOS rate: 0.657011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.800145 deg. 2j-s<:j-(@5HeadingCmd: 4.831074 target range: 92.099998 and range: 92.10 m. j1j9j9j9i9h9h9hAhEXBfAfAfIrfIbfM`"?ɛ}̀B}ޠ y}:>Iy 䒎ɚiIw*=Ii#liI))*FM?2FI:FIBFM0JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978305G-NGB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228551HA IA  IE IIE =BIE  =_w,I7A&Iq.Iu9D6Iu<:Iu Fzh@Yz涙@z 9z E>yzH@O?`.?eÿ?_a?C???ɨzh@zEЈ;xyBBII5I5B5٢E= ER=9E;Q M>II MG٣IyU6< U> Nusing accuracyPremultiplier from config I490?4Y8 iB󶿑@6aDr;r;&04 -AEZjDNOT Ignoring new targets: 92.10 m.Bj G5<Jj G5<= ProNav: ac range: 92.099998 m, nav range: 8.815006 m, bearing: 88.783760 deg, approach rate: 0.593920 m/s, LOS rate: 0.633948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.738884 deg. 2j=<:jEf@UHeadingCmd: 4.830005 target range: 92.099998 and range: 92.10 m. jQjQjQjQiYhYhahihifififqrfybf}@ɛuź i>I -Jɚ)i)I-*=I5i5mi5eX)1)9*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480737G% `6G B O% >zK dLK 9K K K   RK ?JK ?w,D67AJ>J>J<J<J>:J>H:J<J<J>e1<J>f1<J>ڝ;J>۝;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732638yRBI%Mb@Mb@Mb@!!! !)!Y%?S㥛?~jt?y% ?%/<%<%vA %C@)!I%A!y%fAI=I=>5٢M= M"=9MQ U>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam49e3?m4YeP ieBu ?u:uu@eHaDe/;e;e84y }A IZjDNOT Ignoring new targets: 92.10 m.BjD<JjD< ProNav: ac range: 92.099998 m, nav range: 9.083577 m, bearing: 89.047520 deg, approach rate: 0.544049 m/s, LOS rate: 0.518504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.743023 deg. 2j<:j@HeadingCmd: 4.830077 target range: 92.099998 and range: 92.10 m. jjjjihh hhBfffrfbf@@ɛ /L .>I ݊ɚiIC*=I=i=!Uoi=_g)9)A*F?2F:FBF0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:58:21.9037  TRx dataTimestamp_ set to:1736366303.128633 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985657G- TG B O5 >Ow,7A2%ߒ@Y2@2_v92/8>y2H ?^?¿@.V?r}@?ˎ? B??ɨ2%ߒ@2;2OCyB]BBIININB5٢R= V=9Ve1;Q V?XX ZG٣Z5Gy^< ^? bNusing accuracyPremultiplier from config`f49b6?f4Yb ibBIUU@bSaDbc4Y ]SA]EZjDNOT Ignoring new targets: 92.10 m.Bj<<Jj<< ProNav: ac range: 92.099998 m, nav range: 9.253827 m, bearing: 89.214147 deg, approach rate: 0.517754 m/s, LOS rate: 0.497413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.465859 deg. 2j<:j]h@ HeadingCmd: 4.825240 target range: 92.099998 and range: 92.10 m. j j j j i hhhhfffrfbf@s @ɛ ;  >I  7TɚiIQ*=IiNoih))*F?2F:FBF[5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237002HT>I IGIIBI =&I.I6IѰ<:I F IhG'G B O >uw,7A2Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: 19:58:21.9037 LVL= 20880, 23489, 14418, 30787, AGC= 56, IDX= 458, 0.00, 0.242, 2.575, 2.461, 1.971, PHS=-1.641, 0.652, 0.487, RAW= 273.7, 4.6, CAL= 277.4, 6.0, ROT= 232.6, -6.0 RYgot valid direction response: 19:58:21.9037 LVL= 20880, 23489, 14418, 30787, AGC= 56, IDX= 458, 0.00, 0.242, 2.575, 2.461, 1.971, PHS=-1.641, 0.652, 0.487, RAW= 273.7, 4.6, CAL= 277.4, 6.0, ROT= 232.6, -6.0 VPDAT read: Bearing 232.6, -6.0 (Local) V~Local bearing/azimuth received: Bearing 232.6, -6.0 (Local) ZDAT read: Range 10 to 50 : 93.6 m (Round-trip 124.8 ms) speed -0.4 m/s ^,DAT read: user:1008> bBDAT read: Tx time:19:58:23.0248 b$Ping request sent.b2ܘ@2l= 2@)2Pw=I2@i2Pwֽ002d+sx쿧oD?ی;r?)2ۮ+@I2i2e21?00:publishing transmit ping time`Fpublishing direction and range info0924h?{y0000 0)0I0i00000 0)0I0i0002d+sx쿧oD?ی;r?)0I0i0000y]jB].II}I}C5٢1P= !=9Q > G٣y > Nusing accuracyPremultiplier from config49J9?4Y iȞB@eaD:'< G4I MAIk2h?k2i k0 k2!w7A:k23BBk2BZk2@"2+9?nu S?aW24h?{Jk2eRk21?*2˖1o$@֭>s|=qBW254?̅6}o"k29/*k2y#Ak2(E?k2Z  2k2k2](?k2` k2k2K@k2A+?zKEJLKE 9KAKEKEBKUsA:KQe addTargetRange:: Added new target pos. range: 93.599998 m, deltaT: 3.527774 s, deltaX: 1.500000 m, approachRate: 0.425197 m/s, rangeRepo size: 4 u Added new target pos. range: 93.599998 m, bearing: 356.167319 deg, lat: 36.904964 deg, lon: -122.119561 deg, deltaT: 3.527774 s, deltaX: 1.500000 m, approachRate: 0.425197 m/s, posRepo size: 4 ZjquDNOT Ignoring new targets: 93.60 m.JJJ1JJ :J"I:J3JJ 0<J 0<J;J;Bj}JjU ProNav: ac range: 93.599998 m, nav range: 7.509163 m, bearing: 38.464352 deg, approach rate: 0.000000 m/s, LOS rate: 0.497413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.750109 deg. 2j:j@HeadingCmd: 4.830201 target range: 93.599998 and range: 93.60 m. j!j)j)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:58:23.0240 jih!h!h!h!f)f)fIrfM`ffW@bfU`I?ɛ΀B: ?>I "_ɚiI}*=Iipi)) I *F ?2F :F BF 0JF G;3Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO?'+w,z 8A6@Y6@6Rn96<>y6H@y?I{?¿ º?R Iʍ?` G٣yO< > Nusing accuracyPremultiplier from config49:j-@=HeadingCmd: 4.895325 target range: 93.599998 and range: 93.60 m. j9jjjihhhhBfffrfbf-A?ɛ!%l< %f=%>I! -ɚ)i)I-)=I5i5Zpi5Ie)1)*F?2F:FBFa5JFZHQRHUAAH]S>IY I]II]BIY&IY.IY6I]<:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IG ZG B O >Jw,"8A>@Y>9%@>q{~9>C>y>HP?Aq?ͭÿ@2k?ZqG@Ϗ???ɨ>@>S;>QCyNrBN7IIZIZS<5٢b< bZ=9f,Q f>dh jG٣j5GyjU%; j> rNusing accuracyPremultiplier from configlr49nB??v4Yn inҞBtvvv@naDn:n:nU4x ~A|Zj%DNOT Ignoring new targets: 93.60 m.Bj-~h=Jj-~h== ProNav: ac range: 93.599998 m, nav range: 7.721769 m, bearing: 41.213000 deg, approach rate: 0.264390 m/s, LOS rate: 3.252186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.584546 deg. 2jE >:jED&@MHeadingCmd: 4.879671 target range: 93.599998 and range: 93.60 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbfe`ʕ?ɛπBb; 隍>I BɂɚiI})=IipiKU))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996726*F]?2FY:FYBF]_0JFaGETG B!OU2>zKJK9KKKJMJMJM0JIJM+:JMH:JMـ3JIJM2<JM2<JM۝;JM۝; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247399  I Euw,@<8A>$@Y>b4@>_}9>}>y>H5?!t?9ÿ?DF ?r??ɨ>$@>/; G٣y5; > Nusing accuracyPremultiplier from config49B?4Y i՞Bn?:@aD;;)]4 A ZjDNOT Ignoring new targets: 93.60 m.BjU=JjU=  ProNav: ac range: 93.599998 m, nav range: 7.838378 m, bearing: 42.615943 deg, approach rate: 0.251485 m/s, LOS rate: 2.980363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.113778 deg. 2j =:j q@UHeadingCmd: 4.888908 target range: 93.599998 and range: 93.60 m. jQjQjQjQiQhYhYhYh]Bfafafarfabfe?ɛ ЀB\j; >I eɚiI 0)=I%i%"pieܺ)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499301*F-?2F):F)BF-]0JF)G xG ?G >GY Bi O >dw,V8A6D@Y6T@6964>y6H`42?t? X¿#h{?:~D??`?ɨ6D@6};6TCHzT>Ix IzIIzˁBIx&Ix.Ix6Iz<:Iz FMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751449 IyEbBE$IQU@AIUIUJH5٢m m2=9uQ u>qq }G٣yy}f < > Nusing accuracyPremultiplier from config49PF?4Y i؞B:@aD::,e4B *AEZjDNOT Ignoring new targets: 93.60 m.Bjqg=Jjqg= ProNav: ac range: 93.599998 m, nav range: 7.964426 m, bearing: 44.041774 deg, approach rate: 0.290839 m/s, LOS rate: 3.237509 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.176999 deg. 2j  >:j z@ HeadingCmd: 4.890011 target range: 93.599998 and range: 93.60 m. jjjjihhhhff!f!rf!bf%״?ɛMрBMW; QU>IQ ]|ɚYiYI](=IeieoieF:)a)iEп8= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004337*FU ?2FQ :FQ BFU _5JFY GïzK KKs9KKKG BYO?i=w,7w8AWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260368j@Yz@ck9>yH`_?@s?@y¿ @?#c y?b?2?ɨj@Sx;QCɮpwAziiwA I)` 1I1 1)=wAɯ9999ɰ=GwAiE@IEh}FAIAiE\wA EK7E}F)II MxwAM\M1FɱIusCulwAIu)uFiq)yI}bAyɲy yyyUBIMb@Mb@Mb@ )YL7A`?kt?:vy+? 0=TA C@)I AyAI I F5٢E =9$;Q >!! %G٣%5Gy-d < -> 5Nusing accuracyPremultiplier from config1=495 K?=4Y5= i1=?E:EE@5aD5z;5c2;5n4Y ]AYZjDNOT Ignoring new targets: 93.60 m.BjX=JjX= ProNav: ac range: 93.599998 m, nav range: 8.121197 m, bearing: 45.729755 deg, approach rate: 0.287208 m/s, LOS rate: 3.032295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.928282 deg. 2j>:jc@HeadingCmd: 4.903123 target range: 93.599998 and range: 93.60 m. jjjjihhhhBfffrfbfd.@ɛ%ҀB%9 )-@>I) -Xxɚ)i)I5(=I5i5zgni=&;)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507403E +=*F= ?2F9 :F9 BF= 0JF9 J J J 1J J :J ,J:J 3J a @a @a @a @G7:GrAGjHbH<HI III&I.I6I<:I FBIJIRIZI =bIjI94GABIeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759676Ou ?7&w,8A r$?Irh-@Y-p@-X9-4>y-H?q?`2 ¿GB?Qp??3?ɨ-@-}֍;-OCyޭ G٣yP< > Nusing accuracyPremultiplier from config49O?4Y i@aD*::w4  YA -B*** querying acoustic contact ***j)j)Zj1=DNOT Ignoring new targets: 93.60 m.Bj=Y=Jj=Y=U ProNav: ac range: 93.599998 m, nav range: 8.281812 m, bearing: 47.346778 deg, approach rate: 0.307518 m/s, LOS rate: 3.035555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.720662 deg. 2jU4>:jUȜ@]HeadingCmd: 4.899500 target range: 93.599998 and range: 93.60 m. jYjYjYjYiahahahihifififqrfqbfuM]@ɛӀBe 隥R>I  tɚiIx(=IiQli4<))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012064*F 2F :F BF 0JF zK JK 9K K K G{/;G B1MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIUBDAT read: Rx Time:19:58:25.5558 UTRx dataTimestamp_ set to:1736366306.909141]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264927Om? -w,d8AN@YNŚ@N P9Ny>yNHZ?ho?8@7<ܿ?es???ɨN@ `I`N ;NRC)I ףii99)9 AIA I)iiiiqqiqIqqIyiy yy)yy ƁŁŁŁƅCƁIƁ)ƉiƩy޵%B޵IMb@Mb@Mb@ )Yd;O?l?{Gzy?=ף` A )AIAyAIIT5٢ "=9c:Q >!) -G٣-5Gy=; => mNusing accuracyPremultiplier from configam49eT?u4YeU ie֞Bu ?u:u}u@eaDe+;eU;eꀻ4 AEZjDNOT Ignoring new targets: 93.60 m.BjZ=JjZ=% ProNav: ac range: 93.599998 m, nav range: 8.464729 m, bearing: 48.997260 deg, approach rate: 0.346311 m/s, LOS rate: 3.056847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.807475 deg. 2j%>:j-՜@5HeadingCmd: 4.901015 target range: 93.599998 and range: 93.60 m. j1j1j1j9iYhYhYhaheHBfafafirfibfm/ @ɛՀB  >I =rɚiIV(=I]i]ii]UN<)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516434*F?2F:FBF0JFG 2<G J J J 0J J :J G:J ـ3J B O >05w,8A6“@Y6AҚ@6V>96b>y6HQ?@m? U@`?4yʇ?`? ?ɨ6“@6;6PCy- B-I ====IMIM{R5٢]f ]l=9]V;Q e?aa eG٣aym; m? uNusing accuracyPremultiplier from configq}49uW?}4YuQ  iu՞ByJ@uaDuz:u7:u4 AHI IIIBI&I.I6I<:IZjDNOT Ignoring new targets: 93.60 m.Bj{Z=Jj{Z= ProNav: ac range: 93.599998 m, nav range: 8.584493 m, bearing: 50.012250 deg, approach rate: 0.365732 m/s, LOS rate: 3.056163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.974775 deg. 2j>:jϛ@HeadingCmd: 4.869029 target range: 93.599998 and range: 93.60 m. jjjjihh h h fffrfbfI5@5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:58:25.5558 LVL= 24976, 20817, 15554, 28147, AGC= 62, IDX= 463,-0.03,-1.817, 0.552, 0.300,-0.074, PHS=-1.655, 0.673, 0.371, RAW= 276.8, 5.6, CAL= 280.9, 7.6, ROT= 229.1, -7.6 Ygot valid direction response: 19:58:25.5558 LVL= 24976, 20817, 15554, 28147, AGC= 62, IDX= 463,-0.03,-1.817, 0.552, 0.300,-0.074, PHS=-1.655, 0.673, 0.371, RAW= 276.8, 5.6, CAL= 280.9, 7.6, ROT= 229.1, -7.6 PDAT read: Bearing 229.1, -7.6 (Local) ~Local bearing/azimuth received: Bearing 229.1, -7.6 (Local) Ih DAT read: Range 10 to 50 : 95.1 m (Round-trip 126.8 ms) speed -0.4 m/s ,DAT read: user:1009> BDAT read: Tx time:19:58:26.6749 $Ping request sent.i5 ӿ5I,?5>5#@5+= 5X@)qE)5>I5<@i5115H ?SC?)5)4/@I5ɽi5S @5C?11-:publishing transmit ping time5Fpublishing direction and range info195PvV1'?  y1111 1)1I1i11111 1)1I1i1115H ?SC?)1I1i1111*F%?2F!:F!BF%@5JF!GE F< Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:58:26.6741 G B OE >Y;w,Û8A6@Y6̚@60196M>y6H?n?|`-?{` II UG٣QyUO ]> eNusing accuracyPremultiplier from configam49e[?m4Ye^ ieӞBim`u@eaDe:e:e4y }wA}Eke=7?ke]E ka ke:]8A:ke3BBkeBZkeԄ >"eBWHv󿶂??WePvV1'?  JkeS @RkeC?*el7n-@6n@uU,#zWe|?NB? ԥi["keP@*kemAke;@?ke 2ke\kek?ke; ke keAke%m> addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 3.779669 s, deltaX: 1.500000 m, approachRate: 0.396860 m/s, rangeRepo size: 4  Added new target pos. range: 95.099998 m, bearing: 7.918392 deg, lat: 36.905001 deg, lon: -122.119613 deg, deltaT: 3.779669 s, deltaX: 1.500000 m, approachRate: 0.396860 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 95.10 m.BjJj ProNav: ac range: 95.099998 m, nav range: 9.799709 m, bearing: 13.269091 deg, approach rate: 0.000000 m/s, LOS rate: 3.056163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.866543 deg. 2j:jN@HeadingCmd: 4.884593 target range: 95.099998 and range: 95.10 m. jjjj i hhhhfffrf`fW@bf`x?zKK 9KKKUWill construct direction to contact in vehicle frame from tetrahedron phase data. Iɛu׀BD+ 隽=I oɚiI}F(=IiidiV<))*F2F:FBF`5JFGu 3Z< Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi By O >Bw, 9Ay%B%IMb@Mb@Mb@ )Y!rh?~jt?~jtyl'?< -@)IhAyAIIaO5٢nj 0=9Q > G٣5Gy > Nusing accuracyPremultiplier from config49_?4YA iўB'?:᳿@bD/;;ѕ4  AZj1=DNOT Ignoring new targets: 95.10 m.Bj=ݐ=Jj=ݐ=U ProNav: ac range: 95.099998 m, nav range: 9.824437 m, bearing: 15.035771 deg, approach rate: 0.056879 m/s, LOS rate: 4.052836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.246129 deg. 2jU->:jU@]HeadingCmd: 4.908671 target range: 95.099998 and range: 95.10 m. jYjajajaiahahahihm Bfifqfqrfqbfu$j?ɛ؀Bu> 隥P=I YNoɚi!I%H(=I-i-kbi5xW<)1)1JJJJJ:JF:JJ*F?2F:FBF_0JFZHQRHU?AH]U>I]C I]GII]BI] =&IY.IY6I]Ͱ<:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data. IGGY Bi O >AIw,%9A6@Y6@6196[>y6H ?@I}? | ?t#?%?_?ɨ6@6;4yRŀBRbITVAI^I^B5٢jS j^=9j9Q j>lp rG٣pyrl v> zNusing accuracyPremultiplier from configtz49vc?~4Yv! ivОB@vbDvj<;v<;vE4  A-B*** querying acoustic contact ***j)j)Zj9EDNOT Ignoring new targets: 95.10 m.BjM2=JjM2=] ProNav: ac range: 95.099998 m, nav range: 9.852101 m, bearing: 16.434234 deg, approach rate: 0.074486 m/s, LOS rate: 3.754405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.150970 deg. }Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GvAA2j !>:j@w@ YvAyB HeadingCmd: 4.889557 target range: 95.099998 and range: 95.10 m. j j j j i)h1h1h1h1f9f9f9rfAbfE?ɛڀBw H(I :oɚiI`(=I5i5e`i5<)1)9EiEmtA*F?2F:FBFJFzK &~JK 9K K K ${~H!5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486036 I G GY Bq O >70Ow,[?9A2y2H@̽?@?w?@p K??B>VI]Mb@Mb@Mb@YYY Y)YY]x?Mb?~jty]K7?]=Y]I A Y)]@IYYy]AII=X5٢5 ==9Q > G٣y > Nusing accuracyPremultiplier from config49bg?4Y) iΞB7?:@'bD;;ͣ4 jAZjDNOT Ignoring new targets: 95.10 m.Bj a=Jj a= ProNav: ac range: 95.099998 m, nav range: 9.894584 m, bearing: 18.210452 deg, approach rate: 0.099057 m/s, LOS rate: 4.123181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.265031 deg. 2j0>:j@%HeadingCmd: 4.909001 target range: 95.099998 and range: 95.10 m. j!j!j!j)i)h)h)h1h5ŀBf1f1f9rf9bf= V?ɛeۀBm iDI 1pɚiIx(=IiM_iL;))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735174Gjx<GaBiOZ>J J J J J :J G:J J He T>Ia  Ie IIe LBIa &Ia .Ia 6Ie ذ<:Ie F&Vw,FY9AbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.987152 Iy B =II%I%uZ5٢5ӽ 5P=95Q 5>99 =G٣=5GyE E> MNusing accuracyPremultiplier from configIU49MCk?U4YM0 iM͞BQQ]@M9bDM:M_h:j-̜@5HeadingCmd: 4.899978 target range: 95.099998 and range: 95.10 m. jqjqjjihhhhfffrfbf̥@ɛ܀B² 隅ٽI D.rɚiIɟ(=Ii4G^i߽;))*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240145G K <G B O >A\w,is9A68a@Y6p@6 96(>y6H*?ऄ?@@  ?@y?@??ɨ68a@6;4yBBB2I J=J=ININr^5٢V/ VV=9V;Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49bn?f4Yb8 ib˞Bdf`j@bJbDb:bn:bX4p rUApZj  DNOT Ignoring new targets: 95.10 m.Bj=Jj=% ProNav: ac range: 95.099998 m, nav range: 9.995340 m, bearing: 21.358955 deg, approach rate: 0.146591 m/s, LOS rate: 4.182777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.577976 deg. 2j%i3>:j%M@-HeadingCmd: 4.897009 target range: 95.099998 and range: 95.10 m. j)j)j)j)i1h1h1h1h1f9ffrfbf@ɛހBD<Ƽ }=:=I MsɚiI`(=I%i%g]i%y;))))zKLK 9KKWill construct direction to contact in vehicle frame from tetrahedron phase data. %$?I5h=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500027K*Fe?2Fa:FiBFm0JFiGo;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743048*cw,E9AfO@Yf>_@fC9fs>yfHY??@" S?zgH?@?N?ɨfO@f;fOCyvBv&IMb@Mb@Mb@ )YE?Q?~jtyF?<D A @)I@yQAIIKk5٢8 9=9r:Q > G٣y > Nusing accuracyPremultiplier from config49]s?4Y@ iF?:@`bD ;;4B AEZj)-DNOT Ignoring new targets: 95.10 m.Bj5#=Jj5#=M ProNav: ac range: 95.099998 m, nav range: 10.076078 m, bearing: 23.264102 deg, approach rate: 0.183063 m/s, LOS rate: 4.284275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.625396 deg. 2jM7>:jUJ@]HeadingCmd: 4.915290 target range: 95.099998 and range: 95.10 m. jYjYjYjYiYhYhahaheBfafifirfibfm @ɛ߀BP̼ 隥0I uɚiI )=Ii\iC;))*F?2F:FBF1JFJEJEJE1JAJE :JE,J:JE3JAjH<bH<H I  I II BI &I .I 6I ް<:I  FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:58:29.2079 TRx dataTimestamp_ set to:1736366310.436809 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996244 !I!Gm!j;GI BQ Ou >LTiw,>!9AB4@YBC@B"F9B>yBH׮??gg?y`H?Ge?G?ɨB4@BPg;@yNBbIIjIj_5٢rQ r[=9vV[:Q v>tx zG٣z5Gyzl z> Nusing accuracyPremultiplier from config 49v? 4YH iʞB@sbD;;kn;4) -A)]B*** querying acoustic contact ***jYjYZjq}DNOT Ignoring new targets: 95.10 m.Bj=Jj= ProNav: ac range: 95.099998 m, nav range: 10.153949 m, bearing: 24.850207 deg, approach rate: 0.204497 m/s, LOS rate: 4.132842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.685767 deg. 2jE1>:jÜ@HeadingCmd: 4.898891 target range: 95.099998 and range: 95.10 m. jjjjihhhhfffrfbf @UWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.248729ɛBX8ݼ +I wɚiII)=Ii"\ie))1*F?2F:FBF`5JFG;G sAG ! I) zK5 J] Will construct direction to contact in vehicle frame from tetrahedron phase data.GI B O >K1 K1 K5 K5  !!  "%%%#     e DAT read: 19:58:29.2079 LVL= 30000, 26865, 17954, 32755, AGC= 63, IDX= 452, 0.07, 2.529,-1.395,-1.698,-2.103, PHS=-1.563, 0.756, 0.402, RAW= 278.1, 3.8, CAL= 281.3, 4.8, ROT= 228.7, -4.8 m Ygot valid direction response: 19:58:29.2079 LVL= 30000, 26865, 17954, 32755, AGC= 63, IDX= 452, 0.07, 2.529,-1.395,-1.698,-2.103, PHS=-1.563, 0.756, 0.402, RAW= 278.1, 3.8, CAL= 281.3, 4.8, ROT= 228.7, -4.8 u PDAT read: Bearing 228.7, -4.8 (Local) u ~Local bearing/azimuth received: Bearing 228.7, -4.8 (Local)  DAT read: Range 10 to 50 : 96.6 m (Round-trip 128.9 ms) speed -0.5 m/s  ,DAT read: user:1010>  BDAT read: Tx time:19:58:30.3249  $Ping request sent. e R@e ԇ= e @)e =Ie u@ie a a e O|?SvP?)e Y0@Ie Sie w?e 3?a a  :publishing transmit ping timeؑ  Fpublishing direction and range infoa 9e ~6d?tǙȣ? gkya a a a a )a Ia ia a a a a a )a Ia ia a a e O|?SvP?)a Ia ia a a a Dpw,9Anv@Yn+@n9ntq>ynH?? cCz?`\z`=}?b?`e?ɨnv@n;lyލBލI) Mb@Mb@Mb@ )Y?ˡE?~jthyL?'=D A )IQAyAI I ob5٢;  =9:Q %>!! %G٣!y-] -> 5Nusing accuracyPremultiplier from config1495_|?4Y5,S i5̞BM?:@5bD5Bk<5j<5Ȼ4 AEkqϖ?k>>v k k9A:k3BBkBZkEo@"e@Ea @X~6d?tǙȣ? gkJkw?Rk3?*MI0@D#OqCLWx?NiU"k*kJAk^ؖ?kk{v 2k{k(E?k kk&AkK> addTargetRange:: Added new target pos. range: 96.599998 m, deltaT: 3.539483 s, deltaX: 1.500000 m, approachRate: 0.423791 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:58:30.3241  Added new target pos. range: 96.599998 m, bearing: 355.295867 deg, lat: 36.905003 deg, lon: -122.119615 deg, deltaT: 3.539483 s, deltaX: 1.500000 m, approachRate: 0.423791 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 96.60 m.BjJj ProNav: ac range: 96.599998 m, nav range: 10.436081 m, bearing: 25.478374 deg, approach rate: 0.000000 m/s, LOS rate: 4.132842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 282.607786 deg. 2j:j֝@HeadingCmd: 4.932436 target range: 96.599998 and range: 96.60 m. jjjjihh h1h5qBf1f1f1rf=`f&X@bf=??ɛBϼ 隵+I zɚiIB)=Ii~[if0))E E H U>I  I II BI &I .I 6I ð<:I FBIˣCJIˣCRIZI =bI =jID4*FI 2FI :FI BFM `0JFI GQ  GU sA  I hE Will construct direction to contact in vehicle frame from tetrahedron phase data.GM{5 G)B9OU?xw,x9A>@Y>|@>Ө9>>y>HB??i F?w U|?`g?@@>;>PCyLLIVIVJ5٢^;c ^2=9bL9Q b>`` bG٣dyfn f> jNusing accuracyPremultiplier from confighn49j?n4Yj\ ijΞBtvٵv@jbDjL;jM;jл4x zA|Zj!%DNOT Ignoring new targets: 96.60 m.Bj6=Jj6= ProNav: ac range: 96.599998 m, nav range: 10.548402 m, bearing: 27.384933 deg, approach rate: 0.263615 m/s, LOS rate: 4.426199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.614636 deg. 2j=>:jH@HeadingCmd: 4.915102 target range: 96.599998 and range: 96.60 m. jjjjihhhhfff)rf)bf5`?ɛ5B5ټ 9=4.I9Will construct direction to contact in vehicle frame from tetrahedron phase data. R_}ɚiI)=Ii>\i~ ))El;=*F ?2F :FBF0JFJJJ0JJ+:JV:Jـ3JJaJaJe;aJe;aGM b(G 9 I9 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.B zK MK 9K K K OE >w,rN9Aɒ@YRٙ@q9S=yHa?ො?`n?Xq~?@V?*?ɨɒ@ى;y=B=)IMb@Mb@Mb@ )YʡE?S㥫?Mbp?yO?/]=; A @)Iv@yIIR5٢ L=  7=9BQ > G٣5Gy6 > %Nusing accuracyPremultiplier from config!-49%⅑?-4Y%)f i%ҞB5P?5:5{5@%bD%;%`;%Tػ49 =A9ZjyDNOT Ignoring new targets: 96.60 m.Bj?=Jj?= ProNav: ac range: 96.599998 m, nav range: 10.667109 m, bearing: 29.236516 deg, approach rate: 0.265310 m/s, LOS rate: 4.091534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.450435 deg. 2j%/>:j% 1@=HeadingCmd: 4.912237 target range: 96.599998 and range: 96.60 m. j9jajajaiahahihihm}Bfifqfqrfqbfu@h?ɛB0Ӽ I nɚiI)*=Ii]iTR2))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2F9 :F9 BF= o0JF9 "GM =GM =ZH RH @AH I  I II BI &I .I 6I :I Ge Gm ?Gi )I)GYBiO>zw, :A Will construct direction to contact in vehicle frame from tetrahedron phase data.:u@Y:@:G 9:>y:H??9L? jڝ?1?@߽?ɨ:u@:7;:OCyJBJ6IIRIRgG5٢Z"@= Z==9^-Q ^>\` bG٣`ybe b> 5Nusing accuracyPremultiplier from config1=495?=4Y5o i5֞B9=޴E@5bD5u:5u:54I mDAiZjDNOT Ignoring new targets: 96.60 m.Bjٌ=Jjٌ= ProNav: ac range: 96.599998 m, nav range: 10.797348 m, bearing: 31.038423 deg, approach rate: 0.288340 m/s, LOS rate: 3.940514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 281.299445 deg. 2j)>:ju@HeadingCmd: 4.909602 target range: 96.599998 and range: 96.60 m. jjjjihh hhfffrfbf@P?ɛ!%_Ǽ !-I) -ɚ)i)I-d*=I5i5O_i5X)1)9*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G= #)G B! OE >yjHl$?@Z?@&#ii mG٣qyu }> Nusing accuracyPremultiplier from config49?4YMx iڞB@bD::Q4 AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 96.60 m.Bju=Jju= $?Ih ProNav: ac range: 96.599998 m, nav range: 10.927959 m, bearing: 32.667288 deg, approach rate: 0.323489 m/s, LOS rate: 3.985507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.791353 deg. 2j*>:jҜ@HeadingCmd: 4.900733 target range: 96.599998 and range: 96.60 m. jzKKKh9K=Will construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.K KRK} ?JK}>jjjihhhhff f rf bf c@ɛUB]3ض Y]tʽIY ]$gɚYiYIeb*=Ii`i$p))*F2F:FBF_5JFG% K Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234384G B O- >>$w,^Q:A6Ĝ@Y6C@6!96>y6H?w? :?,ht0?@>?˸?ɨ6Ĝ@6;6PCyRBRYI5Mb@Mb@Mb@111 1)1Y5#~j?{Gz? rh?y5E?5#=5C<1 5@)5QAI5@1y5(AIMIM Y5٢ec= eH=9eQ m>ii mG٣m5Gyu/Ϻ u> Nusing accuracyPremultiplier from configy49}?4Y}r i}B3F?:\@}bD}/;};}^4B gAEZjDNOT Ignoring new targets: 96.60 m.Bj=Jj= ProNav: ac range: 96.599998 m, nav range: 11.062251 m, bearing: 34.135754 deg, approach rate: 0.333097 m/s, LOS rate: 3.597768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.318289 deg. 2jQ>:j,@HeadingCmd: 4.892477 target range: 96.599998 and range: 96.60 m. jjjjihhhhBfffrfbfK@ɛ) 隭I ׁɚiI*=Iiai|v))HyIy I}II}BIy&Iy.Iy6I}<:I} F*F?2F:FBF_0JFGrA G IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.486627GdGGG B O >) E ~Ge `wA[w,rk:AZA .Y2`wAy2BZ@YZ@ZP`9Z\ >yZH??o:@?h˂?C1?k?ɨZ@Zn;ZOCyf΀BfnIInInZ5٢vZ= vP=9z'FQ z>xx ~G٣|y~ ~>  Nusing accuracyPremultiplier from config 495?4Y] iB`@cDp3;E;84! -A)ZjIUDNOT Ignoring new targets: 96.60 m.BjU8z=JjU8z=u ProNav: ac range: 96.599998 m, nav range: 11.199596 m, bearing: 35.528238 deg, approach rate: 0.349549 m/s, LOS rate: 3.500124 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.093894 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7398902j}!>:jo@HeadingCmd: 4.888561 target range: 96.599998 and range: 96.60 m. jjjYjYiahahihihqfqfqfrfbf`@ɛB9  5I $ɚiI*=I%i%2ci%yv))))*F2F:FBFJFJMJMJIJIJM :JM,J:JIJIJM 0<JM 0<JM;JM; I= Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:19:58:32.8600 e TRx dataTimestamp_ set to:1736366313.984845u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996771G JizK KK K K !K BKM qA:KI G B O >;6w,3:A2@Y2@2P92] >y2H?`??گf ֳ??,?ɨ2@2;0yVBVIMMb@Mb@Mb@III I)IYMS?{Gz?I +?yM:?IM9 G٣y,a > Nusing accuracyPremultiplier from config49љ?4Ye iB:?:.@#cDR;;4 7AEZjDNOT Ignoring new targets: 96.60 m.BjVf=JjVf= ProNav: ac range: 96.599998 m, nav range: 11.345201 m, bearing: 36.907583 deg, approach rate: 0.344574 m/s, LOS rate: 3.222009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.052823 deg. 2j3 >:j7i@HeadingCmd: 4.887844 target range: 96.599998 and range: 96.60 m. jjjjihhhhـBfffrfbfd @ɛY]{R Y]zIY e+ɚaiaIe`*=Imim=eim{)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243242*FA2FA:FABFIJFIG} iGY jHe <bHa Hm T>Ii  Im IIm BIi &Ii .Ii 6Im ư<:Im FB O > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494154gw, :A6@Y6v@62W!969>y6H`,$?Y?@MD?aOg*?`?/?ɨ6@6U;4y}B}II=I=&Q5٢= 7=9VQ > G٣5Gy; > Nusing accuracyPremultiplier from config49?4Yޘ iB@8cD%;%;_4 AZj)-DNOT Ignoring new targets: 96.60 m.Bj5`=Jj5`=E ProNav: ac range: 96.599998 m, nav range: 11.505434 m, bearing: 38.324433 deg, approach rate: 0.360314 m/s, LOS rate: 3.141374 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.158663 deg. 2jE>:jEYx@MHeadingCmd: 4.889691 target range: 96.599998 and range: 96.60 m. jIjIjIjIiQhQhQhQhQfYfYfYrfabfe ' @ɛFY 隝H=I 遼ɚiI0+=Iiݖfi$l))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:58:32.8600 LVL= 19488, 22977, 14226, 27763, AGC= 59, IDX= 441, 0.29, 1.087,-2.801, 3.102, 2.742, PHS=-1.566, 0.787, 0.357, RAW= 279.9, 3.9, CAL= 283.1, 5.1, ROT= 226.9, -5.1 Ygot valid direction response: 19:58:32.8600 LVL= 19488, 22977, 14226, 27763, AGC= 59, IDX= 441, 0.29, 1.087,-2.801, 3.102, 2.742, PHS=-1.566, 0.787, 0.357, RAW= 279.9, 3.9, CAL= 283.1, 5.1, ROT= 226.9, -5.1 PDAT read: Bearing 226.9, -5.1 (Local) ~Local bearing/azimuth received: Bearing 226.9, -5.1 (Local) DAT read: Range 10 to 50 : 98.2 m (Round-trip 131.0 ms) speed -0.4 m/s ,DAT read: user:1011> BDAT read: Tx time:19:58:33.9749 $Ping request sent.٭^S@٭'g= ڭ@)ڭK=Iڭ!s}@iڭKککۭ}(O8|?sb?)ۭ2@Iۭ򓌽iۭ?ۭߧ?۩۩=:publishing transmit ping timeEFpublishing direction and range infoة9حN?SRı?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ}(O8|?sb?)۩I۩i۩۩۩۩G JiG% ?G% ?G B O% >hw,[ϸ:AJJJ1JJ+:JB:J3JJ2<J2<J`;J`;R)@YR@R(9R>yRH=? Nj?'¿ `a?#ze ???ɨR)@R;RPCynBnIIzIzQ5٢[> `=9Q > G٣y]: >  Nusing accuracyPremultiplier from config  QI]he49 堑?m4Y  i B@ JcD < x<  4%Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:19:58:33.9741 a mAzK&(KKKK"KkaHj?kC k k:A:kfBBkBZk@"9܅F@!n=C@{XN?SRı?Jk?Rkߧ?*c?4@xd{WRKb?rER^~KE"k'*kAk 1v?k3 2k|k;@?kZ  k\kyAki> addTargetRange:: Added new target pos. range: 98.199997 m, deltaT: 3.784482 s, deltaX: 1.599998 m, approachRate: 0.422779 m/s, rangeRepo size: 4 E Added new target pos. range: 98.199997 m, bearing: 355.971024 deg, lat: 36.905049 deg, lon: -122.119622 deg, deltaT: 3.784482 s, deltaX: 1.599998 m, approachRate: 0.422779 m/s, posRepo size: 4 ZjAMDNOT Ignoring new targets: 98.20 m.BjMJjI ProNav: ac range: 98.199997 m, nav range: 15.597814 m, bearing: 25.803650 deg, approach rate: 0.000000 m/s, LOS rate: 3.141374 deg/s, cmd heading: 275.975187 deg, new cmd heading: 280.340784 deg. 2j:jc@HeadingCmd: 4.892869 target range: 98.199997 and range: 98.20 m. jjjjihhhhfffrf̌X@bf 1?ɛUBU+ QU=Iy }k;ɚyiyI}+=IiShi>h))*F5?2F1:F1BF1JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.GU iG1 B9 OU >w,:A6@Y6v@6>1965>y6H`?@?:¿ L?c '?-?x?ɨ6@6f;4yB&BBIMb@Mb@Mb@ )YˡE?/$?S㥛?y'?,=/< @)AIQAyAI%I%:5٢= :=9ȚQ > G٣y"; >  Nusing accuracyPremultiplier from config49z?4Yr iBk(?:@\cDo;;4! %A!J)J-@AMB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 98.20 m.Bje1K=Jje1K=u ProNav: ac range: 98.199997 m, nav range: 15.684852 m, bearing: 26.800423 deg, approach rate: 0.249589 m/s, LOS rate: 2.842331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.946097 deg. 2ju=:juʛ@}HeadingCmd: 4.868528 target range: 98.199997 and range: 98.20 m. jyjyjyjihhhh,Bfffrfbf?ɛHU>I III.BI&I.I6I<:I F aeh>Ia mɚiiiImH*=IuiuXiiiuY)q)y IIQWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*F=?2F9:FABFE0JFAGe JiG9 BI O >:w,*:A6@Y6@6CK96 >y6HL?@?``] ?($ Nh?2n? ?ɨ6@6;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994965y^;BbIIfIf45٢n = rY=9rQ r>tt vG٣v5Gyv z> ~Nusing accuracyPremultiplier from configx49z?4Yzĭ iz B@zkcDz;z;z4 {AZj9EDNOT Ignoring new targets: 98.20 m.BjEj"=JjMj"= ProNav: ac range: 98.199997 m, nav range: 15.762606 m, bearing: 27.638178 deg, approach rate: 0.211912 m/s, LOS rate: 2.271891 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.474380 deg. 2j=:j@HeadingCmd: 4.860295 target range: 98.199997 and range: 98.20 m. jjjjihh h h f ff1rf1bf5?ɛy}Ll 隅F)>I kɚiI)*=Iijih))*FM?2FI:FIBFMI5JFI AIEhEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259150GKGrAGpAzK JK 9K K #K G B O= >KŽw,h;AFD@YFü@Fa9F2>yFH}?`?¿ ?gG?`0?`?t?ɨFD@F+;FNCyRJBRIUMb@Mb@Mb@QQQ Q)QYU$C?V-??yU?U G٣y: > Nusing accuracyPremultiplier from config49a?4Yl iBl?:﷿@|cD;O;a 4 AEZjQuDNOT Ignoring new targets: 98.20 m.Bj} =Jj} = ProNav: ac range: 98.199997 m, nav range: 15.851498 m, bearing: 28.504288 deg, approach rate: 0.202260 m/s, LOS rate: 1.959575 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.557096 deg. 2j=:j]@HeadingCmd: 4.861739 target range: 98.199997 and range: 98.20 m. jjjjihhhhdBfffrfbf ?ɛY]܇ YeH>Ia e;|ɚaiaIe]*=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499612Iili[))*FE?2FA:FABFE`5JFIJeJaJaJaJe :JaJaJaau@au@au@au@H I  I 'II fBI &I .I 6I ʰ<:I FBIJIRIZIbIjIȬ@4G i 1 I1 G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750974+Ȏw,D";A2Ò@Y2&ә@2AT92xk>y2H`I0?Ӈ?0¿j?C@?@k?`ڬ?ɨ2Ò@2B;2PCyB^BBIIJIJgG5٢jC= jU=9n] ;Q n>tt vG٣tyv; z> ~Nusing accuracyPremultiplier from configx49z?4Yzw izB@zcDz;zd;z'4 eAZj1=DNOT Ignoring new targets: 98.20 m.BjE=JjE=U ProNav: ac range: 98.199997 m, nav range: 15.934730 m, bearing: 29.282884 deg, approach rate: 0.226710 m/s, LOS rate: 2.109629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.297432 deg. 2jU=:jUI yɚiI**=IiHli3))*FU?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003095GuJiGQBYO}>ZVΎw,"<;A:@Y:I@:|B9:>>y:H>0??6O¿ i]?:b[???`?ɨ:@:3;:QCyJhBJ+IIRIRMD5٢Z#L= ZL=9Z.;Q ^> dIdhh jG٣j5Gyj9 < n> zNusing accuracyPremultiplier from configt 49v㯑? 4Yv iv#B@vcDvh;v/;v .4B %A!ZjIMDNOT Ignoring new targets: 98.20 m.BjU =JjU =e ProNav: ac range: 98.199997 m, nav range: 16.024076 m, bearing: 30.090084 deg, approach rate: 0.219683 m/s, LOS rate: 1.973583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.381787 deg. 2jeN=:jmLz@uHeadingCmd: 4.858679 target range: 98.199997 and range: 98.20 m. jqjyjyjyihhhhfffrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260999zKKK+9KK$KɛV: 隭t>I +uɚiIO*=Ii*mi))*FE?2FI:FIBFIJFQ"Gm=Gm=G I6G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510878Ga Bq O >=Վw,U;AynB2IMb@Mb@Mb@ )Y(\?S㥛?{Gz?y?/<ף<vA )QAIQAypAIIC5٢E< 6=JJJ0JJ{:JF:Jـ3J95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49Mڲ?U4YMJ iM*B]W?]:]𶿑]@McDM;M9;M54a eAeEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 98.20 m.Bj4=Jj4= ProNav: ac range: 98.199997 m, nav range: 16.119083 m, bearing: 30.912255 deg, approach rate: 0.213351 m/s, LOS rate: 1.835353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.425584 deg. 2jr=:j@HI IfIIBI =&I.I6I<:I FHeadingCmd: 4.859443 target range: 98.199997 and range: 98.20 m. jjjjihhhhBfffrfbf@ɛB~; >I jjrɚ!i!I%*=I-i-2Dni-\)))I $?I*F2F:FBFJF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764854Gm >uGA BY Ou >ljێw,o;A2 @Y2@2<92>y2H@Ya?~?`m¿ ??lN?_??ɨ2 @29V;2PCBWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Rx Time:19:58:36.5122 FTRx dataTimestamp_ set to:1736366317.765558Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016913y]wB]=III0E5٢w/= P=9Jv:Q > G٣y_D< > Nusing accuracyPremultiplier from config49?4Y i0BX@cD;;<4 AZj!-DNOT Ignoring new targets: 98.20 m.Bj=Jj= ProNav: ac range: 98.199997 m, nav range: 16.203409 m, bearing: 31.620343 deg, approach rate: 0.215468 m/s, LOS rate: 1.799834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.087384 deg. 2jf=:j4P@HeadingCmd: 4.853540 target range: 98.199997 and range: 98.20 m. jjjjihhhhfffrfbfE@ɛMBUǘ; QU>IQ UĶnɚQiYI]3)=I]ie*anie~)a)*Fy2Fy:FyBFyJFy Ih5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269025zK 2KK 9K K %K G] G B! O] >Uw,Gˉ;Ab!@Yb71@b079b>ybH?`|?`o¿g>?[q`&?c??ɨb!@bҫ;bQCyn|BnCIMb@Mb@Mb@ )YMbX? ףp= ?{Gz?y ?Q8=#< A -@)hAIAyAIIB5٢@< E=9B:Q > G٣6Gy; > Nusing accuracyPremultiplier from config %49 ?-4Y  i 5B=@ ?=:=QE@ cD ; ; C4UB ]A]EZjDNOT Ignoring new targets: 98.20 m.Bjt<Jjt< ProNav: ac range: 98.199997 m, nav range: 16.284878 m, bearing: 32.355095 deg, approach rate: 0.191312 m/s, LOS rate: 1.716731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.167285 deg. 2jE=:j[@HeadingCmd: 4.854935 target range: 98.199997 and range: 98.20 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 99.8 m (Round-trip 133.1 ms) speed -0.4 m/s ,DAT read: user:1012> BDAT read: Tx time:19:58:37.6265 $Ping request sent.IY ]jɚYiaIe3)=Ii*niN))*Fq2Fq:FqBFu`0JFqGsA GtAJ-J-J)J)J-:J-C:J)J)jHbHHI IIIBI =&I.I6I<:I F I G sG G tA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:19:58:37.6257 G B O >yw,;A65@Y6 E@6V896UX>y6HǺ?X{?.G¿@G @ۻ?q ? :? ?ɨ65@6;6OCyBBBHIIJIJ>5٢ < \=9 Q  >   G٣yU; > %Nusing accuracyPremultiplier from config%49+?-4Y i9B)--@cD::{J41 5bA9m addTargetRange:: Added new target pos. range: 99.800003 m, deltaT: 3.533564 s, deltaX: 1.600006 m, approachRate: 0.452802 m/s, rangeRepo size: 4 ZjquDNOT Ignoring new targets: 98.20 m.Bj}=Jj}= ProNav: ac range: 98.199997 m, nav range: 16.360231 m, bearing: 33.012577 deg, approach rate: 0.211099 m/s, LOS rate: 1.833379 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.937737 deg. 2jG=:j:@HeadingCmd: 4.850929 target range: 98.199997 and range: 99.80 m. jjjjihhhhfffrfbf@?ɛΥ <  =>I gɚiIt)=Ii mi8))*F}?2F:FBF1JFGA 5Y1y5yBWill construct direction to contact in vehicle frame from tetrahedron phase data.GpG) B1 OU >w,0g;A IBF<@YBK@B0E@9B>yBH@B?0|?S¿`?[~o?` ??ɨBF<@B';@ Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU^KKU9KQKU&KURK>JK>yBIIMb@Mb@Mb@ )YK7A`?l?Mbp?y ?=;` A C@)IyIIy/5٢ܝ; =9_Q >   G٣ y :  > Nusing accuracyPremultiplier from config49?%4Y i=B%U ?%:%%@cD;;bT4) 5WA1ZjQ]DNOT Ignoring new targets: 98.20 m.Bj]<Jj]I  #bɚiIH-)=Iifmi:))*F?2F:FBFc0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 `%G= ?G= ?G BO5> {w,.;AJJJ1JJJA:J3JH<I< I>II>ՁBI<&I<.I<6I>_<:I>c FV/7@YVF@Vv`9V+v>yVH`ǻ? y? r¿ ?C,a? ^?q?ɨV/7@V];VPCɮ`blwA`ibyF`i`fwA)d dId d)dɯdhhhɰj7wAin;_IllIlin;wA nvl)pp prhpɱpttIv )vFit)xIzdAxɲx xxywB>II}I(5٢%u -=9-ѻQ -? AIAAA EG٣M6GyM M? Nusing accuracyPremultiplier from config49PÑ?4Y i@B@cD::Z4 B AMB*** querying acoustic contact ***jIjIZjQ]DNOT Ignoring new targets: 98.20 m.Bj]<Jj]< ProNav: ac range: 98.199997 m, nav range: 16.555670 m, bearing: 34.560013 deg, approach rate: 0.217660 m/s, LOS rate: 1.668449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.648559 deg. 2j!=:jv@HeadingCmd: 4.845881 target range: 98.199997 and range: 99.80 m. jjjjihhhhfffrfbf@.?ɛ ; !-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.%Ɗ>IA MA _ɚIiIIM(=IUiUMliU")Q)Y*F?2F:FBF\1JFPExceeded connect timeout, disconnecting.G b8G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507529۠w,;A:bH@Y:W@:h9:G>y:H PP? z?@/¿@ ?[ ???ɨ:bH@:;8y=IIIV85٢7_ /=9ցQ > G٣!y%; %> =Nusing accuracyPremultiplier from config9E49=Ƒ?E4Y= i=DBAEbM@=dD=e:=G;=a4Q UAQZjDNOT Ignoring new targets: 98.20 m.Bj<Jj<  ProNav: ac range: 98.199997 m, nav range: 16.658054 m, bearing: 35.324794 deg, approach rate: 0.224938 m/s, LOS rate: 1.669844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.254158 deg. 2j ?=:j  h@HeadingCmd: 4.856451 target range: 98.199997 and range: 99.80 m. jjjjihhhhff!f! 1I9rf!bf=&?ɛmBmҐ; imR>Ii u#[ɚqiqIuM(=I}i}|ki}:)y)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761551zKJKKK'KEq*F ?2F :F BF l0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011650G-zQGBO->w,~yFHV-?`#y? `^?zfk?? ?ɨF.d@Fy;FMC)xIxxx ||||i||i) I )     iiiIqqIqiuxA qq)qy yyyyƁƅKAIƅD)ƁiƁy޵kB޵/IEMb@Mb@Mb@AAA A)AYE@5^I ?/$?~jthyEb?E,=EDA E-@)AIAAyEAI]I]N5٢muF m,=9u:Q u>qq uG٣qy}; }> Nusing accuracyPremultiplier from config49+ˑ?4Y iGB?:찿@dD;1;2j4 AEZjimDNOT Ignoring new targets: 98.20 m.BjuI<JjuI<HT>IC IIIځBI&I.I6Iڰ<:I F ProNav: ac range: 98.199997 m, nav range: 16.771000 m, bearing: 36.157490 deg, approach rate: 0.235236 m/s, LOS rate: 1.722548 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.454814 deg. 2jœ=:j@HeadingCmd: 4.859953 target range: 98.199997 and range: 99.80 m. jjj j i h h hhBfffrfbf@ IIMhɛeBe ; imx>Ii m;WɚiiiIm#l(=Iuiujiu.;)y)yEu(=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264024*F?2F:FBF%0JF!  nManaging dock network, ignoring radio surface power offGu :GI BQ O} >1 w,.y2Hல? w?`3`?Ĕj Պ???`?ɨ2t@2`;2PCy%YB%II5I5L5٢}Ľ }X=9}F:Q }> G٣6GyT; > Nusing accuracyPremultiplier from config49Α?4YZ iIBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515325@!dDP|;|;p4 AZjDNOT Ignoring new targets: 98.20 m.Bjh=Jjh=  ProNav: ac range: 98.199997 m, nav range: 16.863354 m, bearing: 36.815273 deg, approach rate: 0.257533 m/s, LOS rate: 1.824178 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.936920 deg. 2j }=:j :@HeadingCmd: 4.850914 target range: 98.199997 and range: 99.80 m. jjjjihhhhff!f!rf!bf-@dF@ɛUBU,; QUP>IQ ]%TɚYiYI]a?(=Ieieiie~;)a)iEqEq*Eq"EqJUJUJU0JQJU :JU?:JUـ3JQJU 0ew,g JyNH\?x?>)?]&l?˧?@?ɨN{~@N?;NOCyMTBUIYYMb@Mb@Mb@ )Y^I +?Zd;O?)) 5G٣1y5S+; 5> =Nusing accuracyPremultiplier from config9E49=ґ?M4Y=B i=JBM?M:M M@=2dD=g;=;=x4UB ]A]EZjyDNOT Ignoring new targets: 98.20 m.Bj%=Jj%=u ProNav: ac range: 98.199997 m, nav range: 16.980574 m, bearing: 37.628109 deg, approach rate: 0.264372 m/s, LOS rate: 1.820513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.395339 deg. 2ju,=:j}<|@HeadingCmd: 4.858915 target range: 98.199997 and range: 99.80 m. jjjjihhhhsBfffrfbf C@%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:19:58:40.1660 -TRx dataTimestamp_ set to:1736366321.292755-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020357ɛEBE` AElD>II M)QɚQiQIUd (=I}i}gi}0:;)y)*F2F:FBFP5JFJJAAHI IIIˁBI =&I.I6I<:I FBIJIRIZIbIjIg4 i Ii GU O;G1 B9 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271355w,c G٣y > Nusing accuracyPremultiplier from config49֑?4Y- iKB@@dD; ;>4 AB*** querying acoustic contact ***jjZjq}DNOT Ignoring new targets: 98.20 m.Bj}t<Jj}t< ProNav: ac range: 98.199997 m, nav range: 17.083738 m, bearing: 38.315862 deg, approach rate: 0.256974 m/s, LOS rate: 1.702744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.025062 deg. 2j=:jKG@HeadingCmd: 4.852453 target range: 98.199997 and range: 99.80 m. jjjji9h9h9hAhAfIfifqrfqbfu9 @ɛBp^ >I (2PɚiI'=IifiL;)))*F?2F:FBFY0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523145G o;G B O >J J J 1J J ;:J F:J 3J J L)<J M)<J ;J ; e $?Ia w,N}y2H?uz?y ?|m?`4h?@??ɨ2}@2;2QCyv/BvIII-I5٢ P=9.:Q > %G٣%6Gy% -> 5Nusing accuracyPremultiplier from config)549-ڑ?=4Y-I  i-LB9==@-PdD-:-:-4I MAIZjiuDNOT Ignoring new targets: 98.20 m.Bju=Jju= ProNav: ac range: 98.199997 m, nav range: 17.192827 m, bearing: 39.017122 deg, approach rate: 0.292620 m/s, LOS rate: 1.869080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.064639 deg. 2jW=:jL@HeadingCmd: 4.853144 target range: 98.199997 and range: 99.80 m. jjjjihhhhfffrfbf@@ɛmBm, imx=Iq uNɚqiqIu'=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:58:40.1660 LVL= 23744, 22305, 13506, 26899, AGC= 63, IDX= 454,-0.26, 2.799,-1.016,-1.563,-1.791, PHS=-1.605, 0.822, 0.225, RAW= 283.7, 5.1, CAL= 287.1, 7.3, ROT= 222.9, -7.3 Ygot valid direction response: 19:58:40.1660 LVL= 23744, 22305, 13506, 26899, AGC= 63, IDX= 454,-0.26, 2.799,-1.016,-1.563,-1.791, PHS=-1.605, 0.822, 0.225, RAW= 283.7, 5.1, CAL= 287.1, 7.3, ROT= 222.9, -7.3 PDAT read: Bearing 222.9, -7.3 (Local) ~Local bearing/azimuth received: Bearing 222.9, -7.3 (Local) -DAT read: Range 10 to 50 : 101.4 m (Round-trip 135.3 ms) speed 0.0 m/s 5,DAT read: user:1013> =BDAT read: Tx time:19:58:41.2750 =$Ping request sent.=ٍr@ٍK= ڍX@)ڍw>IڍPx@iڍwډډۍuG# w?eǞ?)ۍO6@Iۍ&iۍi?ۍRp?ۉۉI:publishing transmit ping time9Fpublishing direction and range info؉i&ei;))9؍K2it?zG!T?lOx|zy؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډzKKKs9KK)KۍuG# w?eǞ?)ۉIۉiۉۉۉۉ*F?2F:FBF_0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G Gi Bq O >%w,ˆ G٣y > Nusing accuracyPremultiplier from config49ޑ?4YH iMB-%?:(@adDB;;l4 gAEk6ؚ?kָ" k k% addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.779272 s, deltaX: 1.599998 m, approachRate: 0.423362 m/s, rangeRepo size: 4 5 Added new target pos. range: 101.400002 m, bearing: 3.119425 deg, lat: 36.905065 deg, lon: -122.119680 deg, deltaT: 7.312836 s, deltaX: 3.200005 m, approachRate: 0.437587 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 101.40 m.Bj=JjAM ProNav: ac range: 101.400002 m, nav range: 16.221937 m, bearing: 21.235759 deg, approach rate: 0.000000 m/s, LOS rate: 1.869080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.350084 deg. 2jQ:jUu@]HeadingCmd: 4.858125 target range: 101.400002 and range: 101.40 m. jYjYjYjYiYhahahahe3BfififirfmYY@bfm y?HI IIIBI&I.I6I<:I F Iɛ-B5V 15=I1 5yMɚ1i9I='=I=iEѵciE;)A)AEQEQWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG ;G B O >+w,dyFHͫ?$?`G ڼ?]hl nG٣lyr[ r> vNusing accuracyPremultiplier from configtz49v.⑜?z4Yv ivNBx~Will construct direction to contact in vehicle frame from tetrahedron phase data.zв@vpdDvi;vj;v 4  AZj1=FNOT Ignoring new targets: 101.40 m.Bj= =Jj= =U ProNav: ac range: 101.400002 m, nav range: 16.271469 m, bearing: 22.079351 deg, approach rate: 0.132267 m/s, LOS rate: 2.245733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.496539 deg. 2jU=:j]@eHeadingCmd: 4.860682 target range: 101.400002 and range: 101.40 m. jajajajaiahahihihififqfqrfqbf+?ɛ=B=V AE=IA ELɚAiAIE'=IMiM#ciu;)q)q*F ?2F :F BF o0JF JJJ0JJ:JD:Jـ3JJY-<JY-<J+;J+; IhG-o;Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 Oe >zK= KK= h9K9 K= *K= 72w,:y2H`d?S?`&^8?[ 5? ??ɨ2R?@2;2NCyRBRIMb@Mb@Mb@ )YFx?S㥛?{Gzy+?/<# A )QAIAyAIIp;5٢Ž ;=9T7Q > G٣6Gye > Nusing accuracyPremultiplier from config49呜?4YA i+?:@dDt;F;4 BAZj)-FNOT Ignoring new targets: 101.40 m.Bj5#=Jj5#=E ProNav: ac range: 101.400002 m, nav range: 16.341860 m, bearing: 23.079025 deg, approach rate: 0.161802 m/s, LOS rate: 2.287864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.958439 deg. 2jED=:jM̛@]HeadingCmd: 4.868743 target range: 101.400002 and range: 101.40 m. jYjajajaiahihqhyh}Bfyfyfyrfbf@U?ɛB49 隭 Will construct direction to contact in vehicle frame from tetrahedron phase data.g8w,f@6FT96|>y6H]??`@?pW?a? ?ɨ6.@6l;4yRBRITVAIZIZV5٢b̎ b]=9fOQ f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr49n鑜?v4Yn% inOBtv쵿v@ndDn:n:n!4x ~A|B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.40 m.Bj=Jj= ProNav: ac range: 101.400002 m, nav range: 16.405888 m, bearing: 23.919121 deg, approach rate: 0.163565 m/s, LOS rate: 2.137652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.483947 deg. 2ja=:j爛@HeadingCmd: 4.860462 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrfbf ?ɛMBMZ IU9IY ]LɚYiYIe'=Imim bime)q)y) ]}Gy YyB*FM?2FI:FQBFU%3JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.G}:Gi B O > I JK(3 K(.KK"KJ J J J J :J B:J J a @a @a @a @.?w,P.@Y>=@>;<9>!>y>H`A?@^? ^` Φ?g^? "? .?ɨ>P.@>';>OCyJBNIIVIV^5٢^> ^K=9^n;Q b>`` bG٣`yfϲ f> jNusing accuracyPremultiplier from confighn49jk쑜?r4Yj, ihprr@jdDj#;jP#;j)4t vAxZj%FNOT Ignoring new targets: 101.40 m.Bj%(=Jj-(=5 ProNav: ac range: 101.400002 m, nav range: 16.479483 m, bearing: 24.824949 deg, approach rate: 0.192414 m/s, LOS rate: 2.357606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.678412 deg. 2j=@=:j=@EHeadingCmd: 4.863856 target range: 101.400002 and range: 101.40 m. jAjAjAjAiIhIhIhIhIfQfQfQrfQbf]}?ɛ B ZCs  I RMɚiI5'=I=i=ai=BdE)9)A}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993204*F2F:FQBFU45JFYzK&~JKs9KK+K  ,.# Gm ˴- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245398GA BQ Ou >Ew,=Ay~ހB~IMb@Mb@Mb@ )YI +? G٣6Gy > Nusing accuracyPremultiplier from config49?4Y4 iPBz4?:@dD;;ڰ4B qA EZj)-FNOT Ignoring new targets: 101.40 m.ZH9RH=?AHAIEC IE.IIEkBIE = aIi&IA.IA6IE6<:IEF FBj}'=Jj}'= ProNav: ac range: 101.400002 m, nav range: 16.565884 m, bearing: 25.858595 deg, approach rate: 0.197042 m/s, LOS rate: 2.344858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.056810 deg. 2j(=:jڛ@HeadingCmd: 4.870460 target range: 101.400002 and range: 101.40 m. jjjjihhhhBfffrfbff@ɛBBB $I 8NɚiI'=IiSai))*F?2F:FBFX4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496696G'HG B O >:Lw,2=A:=$@Y:3@:e9:W6 >y:H`I1?? @L)D?wt ?y? 7?ɨ:=$@:;:MCy^׀BbyI f=dIjIjY5rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748397٢vu zY=9zj;Q z>|| ~G٣|yeV >  Nusing accuracyPremultiplier from config 49 ?4Y ; i @ dD ; ,; h4! %A!ZjQUFNOT Ignoring new targets: 101.40 m.Bj]$=Jj]$=m ProNav: ac range: 101.400002 m, nav range: 16.644035 m, bearing: 26.730406 deg, approach rate: 0.207775 m/s, LOS rate: 2.306832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.576453 deg. 2jm=:jm!@uHeadingCmd: 4.862076 target range: 101.400002 and range: 101.40 m. jqjyjyjyiyhyhyhhfffrfbfX@ɛBM  I K,OɚiI'=IiQaiO))*F?2F:FBF_0JFG G"GG IIMhGiByWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:58:43.8166 TRx dataTimestamp_ set to:1736366325.072712checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001470O>zK LK 9K K ,K 6sXH{_K<0% Rw,EL=A2@Y22'@2p92~ >y2H`ͺ??( ۺ?Pv ΁?q"?@?ɨ2@2r;2KCyB΀BBmI Mb@Mb@Mb@    ) Y  ףp= ? rh?~jtxy Q8? C< Ļ  A ) I QA y I%I%[5٢M/1 ME=9U9:Q > G٣yg > Nusing accuracyPremultiplier from config49?4YC iQB`8?:@dD;F;4! %A!ZjimFNOT Ignoring new targets: 101.40 m.Bj{"=Jj{"= ProNav: ac range: 101.400002 m, nav range: 16.749662 m, bearing: 27.736117 deg, approach rate: 0.240239 m/s, LOS rate: 2.272853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.970405 deg. 2j=:juΛ@HeadingCmd: 4.868952 target range: 101.400002 and range: 101.40 m. jjjjihhh!h%Bf)f)fIrfQbfU`' @ɛB^ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252523隥̽I) -Pɚ)i)I5(=I5i= ai=IL)9)9*F?2F:FBFJFGBOc> IIaJJJ1JJJD:J3JHIC IIILBI&I.I6I^<:Ic F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 19:58:43.8166 LVL= 28864, 25201, 14962, 25395, AGC= 64, IDX= 461, 0.09, 1.160,-2.652, 3.060, 2.793, PHS=-1.545, 0.885, 0.264, RAW= 284.2, 3.7, CAL= 287.3, 4.9, ROT= 222.7, -4.9  Ygot valid direction response: 19:58:43.8166 LVL= 28864, 25201, 14962, 25395, AGC= 64, IDX= 461, 0.09, 1.160,-2.652, 3.060, 2.793, PHS=-1.545, 0.885, 0.264, RAW= 284.2, 3.7, CAL= 287.3, 4.9, ROT= 222.7, -4.9  8DAT read: $Error in header  *Received a bad headerU X#Rx 1: Read direction message, but no range.] ^direction in FSK: [0.034508,0.146143,-0.988661]ؙ 9؝ ?Ӵ?偢2ؙ ؝ p؝ qb ٝ r:)ٝ 3cIٝ @iٝ ſٝ \b?ٝ +>ٝ ,@ٝ A= ڝ fu@)ڝ %=Iڝ x@iڝ %ڙ ۝ R 4ػlY?< [?)۝ t7@I۝ ,i۝ a?۝ ĵ?5Yw,ff=A6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapseyЀBpIIIR5٢ 91< ==9]Q ]>aa mG٣m6Gym m> }Nusing accuracyPremultiplier from configy49}?4Y}K iy@}dD}:}:}kƼ4 AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 101.40 m.Bj3"=Jj3"=% ProNav: ac range: 101.400002 m, nav range: 16.858805 m, bearing: 28.715154 deg, approach rate: 0.254598 m/s, LOS rate: 2.268920 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.890624 deg. 2j%=:j% Û@uHeadingCmd: 4.867559 target range: 101.400002 and range: 101.40 m. jqjqjqjqiyhyhyhyhfffrfbf]\ @ɛBߟ ǽI 0RɚiI8(=I i `i U A) )*F2F:FBFJFGBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseOg> % $?I% h!`w,_~=A24@Y2@292 >y2H 2?`??@4y9?)yƙ?2?~?ɨ24@2;2NCyBŀBBcI)D DDFAIJIJM5٢fm ja=9j5;Q j>hl nG٣lyrܻ r> vNusing accuracyPremultiplier from configtz49v?z4YvR ivRBxz͸~@veDv ;v~ ;v̼4 5AEZjFNOT Ignoring new targets: 101.40 m.Bj,=Jj,= ProNav: ac range: 101.400002 m, nav range: 16.953360 m, bearing: 29.514829 deg, approach rate: 0.258101 m/s, LOS rate: 2.170585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.359378 deg. 2j4=:jw@%HeadingCmd: 4.858288 target range: 101.400002 and range: 101.40 m. j!j!j!j)i)h)h)h)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsehYfafifyrfybf}(@ɛB I ŃSɚ i Ikd(=Ii(aiv))*Fu?2Fq:FyzKNK9KK-K "  BF}`0JFGBOc> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseFfw,S=A:@Y:o @:9: >y:H?x?&` ?z $p}?%?@?ɨ:@:ވ;:PCyMBM[I IMb@Mb@Mb@J=J=J9J9J=;:J=>:J9J9HYIY I]II]3BI] =&IY.IY6I]m<:I]m FBICJICRIZI =bI =jI]4 )Y~jt?:v?y&1|y;?T<` A @)QAI@yAII\5٢ ,=9:Q > G٣y} > -Nusing accuracyPremultiplier from config 549 ?54Y [ i =;?=:==@ eD ; ; Լ4A ElAIZjiFNOT Ignoring new targets: 101.40 m.Bj'=Jj'= ProNav: ac range: 101.400002 m, nav range: 17.089844 m, bearing: 30.589334 deg, approach rate: 0.300745 m/s, LOS rate: 2.348643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 279.169456 deg. 2j{=:j@HeadingCmd: 4.872426 target range: 101.400002 and range: 101.40 m. jjjjih h hhBfffrfbf@V@ɛeBG 隭" I ȃUɚiIC(=Iivaix))!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse*F?2F:FBFJFG /:G B O >qlw,2=A2e@Y2@292 >y2H? ?20e |?{`|?@/? ?ɨ2e@2 ׈;2NCyB̀BBkIIJIJ]5RWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapse٢V= Zx=9ZJ :Q Z?\\ ^G٣b6GybN b? fNusing accuracyPremultiplier from configdj49f?j4Yfa idlnƹn@f'eDf ;fX;fڼ4p rApZj FNOT Ignoring new targets: 101.40 m.Bj =Jj =- ProNav: ac range: 101.400002 m, nav range: 17.188850 m, bearing: 31.328686 deg, approach rate: 0.302859 m/s, LOS rate: 2.248570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.179319 deg. 2j-=:j-Y]@5HeadingCmd: 4.855145 target range: 101.400002 and range: 101.40 m. j1j1j1j1i9h9h9hAhAfAfAfArfIbfM`;@ɛuBu1 qu0Iq u(VɚqiqI}(=Iiai׻))*FM?2FI:FIBFMV2JFI IG%pGBOI>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapsezK LK +9K K .K sYsw,g =AyˀBjI %=%=]Mb@Mb@Mb@YYY Y)YY]S?~jtx?Mb`?y]:?];];]3 A ]@)]@IYYy](AIuIuT5٢ 0=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Yj iTB:?:0@Iq IuIIuBIq&Iq.Iq6Iud<:Iug FG G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse҅yw,=A6@Y6J@6_һ96Ƿ >y6H>x??`0H/.u?]}Kz?QI?Ǵ?ɨ6@6a;6OCyBʀBBiIININ~N5٢V_ Vn=9Z%:Q Z? %G٣)yE( M> }Nusing accuracyPremultiplier from configy49} ?4Y}q i}UBO@}NeD}э;};}'4 AEZj)5FNOT Ignoring new targets: 101.40 m.Bj5=Jj== ProNav: ac range: 101.400002 m, nav range: 17.454807 m, bearing: 33.128780 deg, approach rate: 0.316771 m/s, LOS rate: 2.071167 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.324821 deg. 2j=:j'r@HeadingCmd: 4.857685 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrfbf@ɛw I9=I YɚiI9*)=Iibit))*F2F:FBF4JF"GC=Gp=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGGa Bq O > I h,kw,>A6@Y6"@6چһ96 >y6He'?@?@Q0$?`?|`Pz? R?t?ɨ6@6v;6PCyFӀBFtIININL5٢Z6= ZJ=9ZAQ Z>\\ ^G٣^6GybQ b> fNusing accuracyPremultiplier from configdj49f| ?j4Yfy ifVBhjwn@f_eDf*:fW;f4  A B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.40 m.Bj0=Jj0= ProNav: ac range: 101.400002 m, nav range: 17.582766 m, bearing: 33.934501 deg, approach rate: 0.322677 m/s, LOS rate: 2.016965 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.373280 deg. 2j=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse:jy@-HeadingCmd: 4.858531 target range: 101.400002 and range: 101.40 m. j1j1j1jQiQhQhYhYhYfYfafarfabfe :@ɛmBuܦ quνIq u@[ɚqiqI}!Z)=I}iScic^))*F2F:FBFU3JFzK%JK% 9K!K%/K% Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGE G B1 Om > w,\>A6@Y6T@6do»96 >y6H!??rK?` ~ Mx?Mu?L?ɨ6@6B܈;6NCyFހBFI\\ IUMb@Mb@Mb@QQQ Q)QYU㥛 ?Mbp?{Gzt?yU5?U;Uף;U A Q)QIU`@QyU@ImIm#U5٢}D= }>=9M:Q > G٣yo >HI III&I.I6I<JJJ0JJ;:J,J:Jـ3JJL)w,x5>ABWill construct direction to contact in vehicle frame from tetrahedron phase data.BT****** received valid address query ******BR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseVؒ@YVi@Vf쯻9V1>yVHڸ?7?0@̸?ۀu???ɨVؒ@V8n;VMCybBbIInInT5٢^f= G=9:Q > G٣y1. > Nusing accuracyPremultiplier from config49?4Y iZB@eD{;;~4B AEZj FNOT Ignoring new targets: 101.40 m.Bj=Jj=% ProNav: ac range: 101.400002 m, nav range: 17.870829 m, bearing: 35.620447 deg, approach rate: 0.352023 m/s, LOS rate: 1.994859 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.230864 deg. 2j-!=:j-d@5HeadingCmd: 4.856045 target range: 101.400002 and range: 101.40 m. j1j1j1j1i9h9h9h9hAfAfAfArfAbfMq@ɛ) rI ]ɚiI)=Ii}di)) IEd=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*Fi2Fq:FqBFqJFqG}tA G}tAzK} N KKy Ky K} 0K} G JG B O >Ww,H6R>Abؒ@Yb]@bi:9b;>ybH`ٸ? ?. Kϸ??DGw?{?ܯ?ɨbؒ@bɈ;bOCynBrI}Mb@Mb@Mb@yyy y)yY}zG? G٣ 6GydV > Nusing accuracyPremultiplier from config49?4Y i^B7?:5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse8M@eD<r<Q4Q UA]EZjFNOT Ignoring new targets: 101.40 m.Bj_=Jj_=  ProNav: ac range: 101.400002 m, nav range: 18.030264 m, bearing: 36.506571 deg, approach rate: 0.341229 m/s, LOS rate: 1.879664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.608089 deg. 2j?=:j@HeadingCmd: 4.862628 target range: 101.400002 and range: 101.40 m. jjjjihhh!hEۀBfIfIfIrfIbfM@_@ɛ Bf\| 隝I Ϗ]ɚiIN)=IiCei)) EQ9= Ih*F?2F:FBFJFHT>I III)BI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG G B O > ~w,l>ANג@YN=@NMŻ9N>yNHи?`?ME ɸ?`0z_x??@`?ɨNג@N;NNCy^B^I ba=ba=IfIf)M5٢vE< vX=9v[wQ v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 49? 4Y. i`B  =@eD :: 4 sAZjAEFNOT Ignoring new targets: 101.40 m.BjM=JjM=e ProNav: ac range: 101.400002 m, nav range: 18.168617 m, bearing: 37.244518 deg, approach rate: 0.385271 m/s, LOS rate: 2.039245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.171033 deg. 2je=:je*\@mHeadingCmd: 4.855000 target range: 101.400002 and range: 101.40 m. jijijqjqiqhqhqhyhyfyffrfbf@ɛҔv 隵pI ]ɚiI )=Ii/fi1))EE*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse*F?2F:FBFJF IJ J J J J :J ?:J J J *<J *<J ;J ;G] ׹G1 BA O] >>iw,)>ANWill construct direction to contact in vehicle frame from tetrahedron phase data.NT****** received valid address query ******NR****** received valid ping request ******Nreceived new query, but waiting for acoustic response period to elapseyBIIIU5٢%;= -F=9-Q ->QQ UG٣Yy] ]> eNusing accuracyPremultiplier from configam49e?m4Ye iecB@eeDeI;e;e<4 AB*** querying acoustic contact ***jjZj -FNOT Ignoring new targets: 101.40 m.Bj5=Jj==M ProNav: ac range: 101.400002 m, nav range: 18.324362 m, bearing: 38.043890 deg, approach rate: 0.362078 m/s, LOS rate: 1.842540 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.351480 deg. 2jm=:juu@uHeadingCmd: 4.858150 target range: 101.400002 and range: 101.40 m. jyjyjyjyiyhyhyhhfffrf!bf-)K @zKKKh9KK1K ?HFB><93/+*((#  BK sA:K sAɛ G 隭7w,O>A:d@Y:@:yջ9:8)>y:H`v%?@݅?¿`5 !?~ 2z? ??ɨ:d@:;:MCyF&BFIMb@Mb@Mb@ )YCl?Q?y&1?y/?u<`e<I A @)QAI@yAIIT5٢= 7=9Q > G٣ 6Gy@; > Nusing accuracyPremultiplier from config49?4Y ihB/?:@eDg;<4Q U8AQZjFNOT Ignoring new targets: 101.40 m.BjK=JjK= ProNav: ac range: 101.400002 m, nav range: 18.483967 m, bearing: 38.847301 deg, approach rate: 0.359630 m/s, LOS rate: 1.794594 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.363147 deg. 2j=:jw@HeadingCmd: 4.858354 target range: 101.400002 and range: 101.40 m. jjjjihhhh!Bfffrfbf M!@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛl0 e=I [\ɚiI *=Ii =gi ) ) *F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG G B O= > w,>A63@Y6@6ֻ96M>y6H@k??VKg?B~`Uz?Z?@?ɨ63@6K;6NCyF5BFIIRIR[W5٢z= z_=9~Q ~>|| ~G٣|y;; >  Nusing accuracyPremultiplier from config 49 A?4Y  i lB@ eD C ; e ; "4! %A!ZjIUFNOT Ignoring new targets: 101.40 m.Bj]w=Jj]w= u$?Iq} ProNav: ac range: 101.400002 m, nav range: 18.622196 m, bearing: 39.519688 deg, approach rate: 0.383790 m/s, LOS rate: 1.852966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.976515 deg. 2j=:jZ@@HeadingCmd: 4.851605 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrfbf!@ɛ B =I [ɚiI<*=Ii2hi))EN>E>JJJ1JJ;:J@:J3Ja-@a-@a-@a-@*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGGB O >zK ȚMK K K 2K  "%1{xusqonmmqqqqkijigecgdcbba\YYXW[oRK ?JK >;ﴏw,_>Ay==B=I}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Yw/?L7A`?)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49= "?E4Y= i=rBE0'?M:MjM@=eD=?;=5;=*4Q UA]EZjy}FNOT Ignoring new targets: 101.40 m.BjN<JjN< ProNav: ac range: 101.400002 m, nav range: 18.784201 m, bearing: 40.327113 deg, approach rate: 0.341586 m/s, LOS rate: 1.687716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.375086 deg. 2jȐ=:jWy@HeadingCmd: 4.858562 target range: 101.400002 and range: 101.40 m. jjjjihhh1h5GBf9fA qIuhfqrfqbfuK"@ɛ^ =I  )ZɚiI*=Iihi.))HI I!II`BI =&I.I6Ip<:Io FBIJIRIZIbIjI4*F?2F:FBF`5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapseG UG B O >zw,>A6@Y6l@65}96d>y6H? ?n汹?@|@O}???ɨ6@6Ag;4yRVBRIIZIZQ5٢b> bz=9fZQ f?dd fG٣hyjU; j? =Nusing accuracyPremultiplier from config9E49=$?E4Y= i=wBIMFM@=fD=u:=:=04Q UAQZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 18.901955 m, bearing: 40.895647 deg, approach rate: 0.340699 m/s, LOS rate: 1.634670 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.669642 deg. 2j;=:jz@HeadingCmd: 4.846250 target range: 101.400002 and range: 101.40 m. jjjjih!h)h)h)f1f9f9rfAbfM{#@ɛ BU >I XɚiI *=I i5V+ii5ѻ)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF_0JF YIYG6J1 J5 J5 0J1 J1 J5 =:J5 ـ3J1 G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= @Y>{@>9>v>y>H@?`?@@ Ŧ? z)3??`?ɨ>@>2;>MCy~`B~!IIIL5٢EA= EB=9EQ E>II MG٣M 6GyU U> ]Nusing accuracyPremultiplier from configYe49] (?e4Y]t i]|BimNm@]fD]:]u:]74q uhAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.40 m.BjD<JjD< ProNav: ac range: 101.400002 m, nav range: 19.046532 m, bearing: 41.572074 deg, approach rate: 0.358919 m/s, LOS rate: 1.666478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.988190 deg. 2j=:j%B@%HeadingCmd: 4.851809 target range: 101.400002 and range: 101.40 m. j)j)j)j)i)h)h)h1h1f9f9f9rf9bf=P$@ɛ *>I) 5TVɚ1i9I=q)=Iui}ii+u޻))EzKNK+9KK3K~~{n6 *F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H S>I  I MII BI  =&I .I 6I ߰<:I F+ȏw,D"?AF@YFU@F9F}z>yFH ع?b?2`ݹ?`3z`)?*?y?ɨF@F͇;DydB'IWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣y: > Nusing accuracyPremultiplier from config49,?4Y iB&"?:2@*fDz;;@4 FAZjIMFNOT Ignoring new targets: 101.40 m.BjU;<JjU;< ProNav: ac range: 101.400002 m, nav range: 19.218319 m, bearing: 42.403284 deg, approach rate: 0.328519 m/s, LOS rate: 1.575306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.444909 deg. 2j#=:jR@HeadingCmd: 4.859780 target range: 101.400002 and range: 101.40 m. jjjjihhhhtBfffrfbf@Y%@ɛ BO 0>I =pSɚ9i9I=)=IEiE.jiM Ż)I)I*F?2F:FBF_0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1015>  BDAT read: Tx time:19:58:52.2250  $Ping request sent. Ώw,>?AJ@YJF@JmA9J>yJH Q?1?^J 6?,z"(???ɨJ@J;JOCɮ`btwAb\ibyF`idd)d ftFId h)hɯhlllɰnlwAir7 IrY}FpIpirtwA rv|F)tt vtwAvv*FɱtxzpwAIz)xix)|I~fA|ɲ| ||y%qB%6IIEIE@T5٢M= Ur=9]Q ]?YY ]G٣e 6Gyeb ; e? mNusing accuracyPremultiplier from configi49m0?4Ymh imB@m8fDm/<JJJJJJD:JJmDI BQɚiIN)=Ii :ji c) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:58:52.2243 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251200*F?2F:FBFJFG ̻zK UMK s9K K 4K  G B O% >yՏw,X?AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502148>@Y>@>A9>3>y>H ?? 3@`o'?x@{?`??ɨ>@>K;>NCyAuMb@Mb@Mb@qqq q)qYu ףp= ?v/?Q?yuQ?uxi=uu G٣yD: > I Nusing accuracyPremultiplier from configM49o4?M4YN iBM?M:UQU@IfDI<ؙ<N4Y YYZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 19.473883 m, bearing: 43.601434 deg, approach rate: 0.309051 m/s, LOS rate: 1.439042 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.960283 deg. 2jv=:j>@HeadingCmd: 4.851322 target range: 101.400002 and range: 101.40 m. jjjjihhhhvBH I  I yII BI  =&I .I 6I ]<:I a FfAfAfArfAbfM f&@ɛBӱ8 隕G>I .SNɚiIߟ)=Ii||ji))*Fu?2Fq:FqBFqJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754095) oC ~G vA A = $Y= vAy= AG] G B) OE > ܏w,r?A6@Y6+@6%96 >y6HL? z?i@c,?s`1~?=? r?ɨ6@6e;4y |B DI5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007684I=I=)M5٢M< M<9M9Q U>YY ]G٣Yye3x e> mNusing accuracyPremultiplier from configiu49m8?u4Ym imBquR}@mYfDm":m:mU4B AZjFNOT Ignoring new targets: 101.40 m.Bj@<Jj@< ProNav: ac range: 101.400002 m, nav range: 19.612289 m, bearing: 44.230054 deg, approach rate: 0.341588 m/s, LOS rate: 1.540456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.847035 deg. 2j&=:j-@HeadingCmd: 4.849346 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrfbf@'@ɛB7; [>I ЗKɚiI%w)=I%i-2ji-y)))) Ih*F?2F:FBFo0JFJJJJJ:JC:JJG [6G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257990w,F@?A6>@Y6@6496]3>y6Hx?.?G@ڷ?)^i? 9??ɨ6>@6(I;6MC)I HɚiI F)=IiF,ki))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511148*F?2F:FBF0JF IjH bH p<H! I!  I% II% ƁBI! &I! .I! 6I% z<:I% v FG |Gy B O >w,?A>K@Y> @>f89>>y>HF?`փ?` )?iL?H?@?ɨ>K@>;>OCyvBvQI z=x}Mb@Mb@Mb@yyy y)yY}tV?Q?{Gz?y}?}u=}#<}I A }-@)}AI}Ayy}GAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762921IIJ5٢M< M8=9u)Q }>y G٣ 6GyZz; > Nusing accuracyPremultiplier from config491@?4Y iB?:@wfD;;c4 JAZjyFNOT Ignoring new targets: 101.40 m.Bj0<Jj0< ProNav: ac range: 101.400002 m, nav range: 19.866291 m, bearing: 45.345861 deg, approach rate: 0.337497 m/s, LOS rate: 1.470076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.875236 deg. 2j9|=:j1@HeadingCmd: 4.849838 target range: 101.400002 and range: 101.40 m. jjjjihh h h BfffrfbfC\)@ɛBl; 隭k>I ~EɚiI)=Iiokiǰ))E a>E >*F?2F:FBF1JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014103G >u I hG B O >!w,?A2 @Y2z@25.92t>y2H*x??@ ¿?@p@ƅ?@?)?ɨ2 @2h;2NCyrBrLII~I~&Q5٢ }  a=99:Q >QQ UG٣Qy]f; ]> eNusing accuracyPremultiplier from configam49eC?m4Ye ieBiu⮿u@efDe2IQ ]CɚYiYI](=Ieiekie)a)i*F ?2F :F BF 3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267G-XG BA O} >zK] JKY KY K] 6K] ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519974#=w,*?An@Ynf-@n4&9n>ynH`?`?@8¿@[?s`Ƅ?` ??ɨn@n;nMCyz}BzEIMb@Mb@Mb@ )Y㥛 ?:v?Mb`?y?T=; A @)hAIQAypA $?III#U5٢u.ڼ u4=9}:Q }>yy }G٣y}; > Nusing accuracyPremultiplier from config49G?4Y iB?:W@fDa;;q4 AZj9]FNOT Ignoring new targets: 101.40 m.HI IIIՁBI&I.I6Iu<:Iq FBj<Jj< ProNav: ac range: 101.400002 m, nav range: 20.132572 m, bearing: 46.453723 deg, approach rate: 0.335527 m/s, LOS rate: 1.354477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.814586 deg. 2jdh=:j3)@%HeadingCmd: 4.848779 target range: 101.400002 and range: 101.40 m. j!j!j!j!i!h!h)h)h-Bf)f1f1rf1bf5*@JcKc KcKcKc"KcJJJJJ:J;:JJJ'I! %?ɚ!i!I%V(=I-i-4Qki-)))1Ea*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771329G V'SG B O >aw,|?A69"@Y61@6*96Y>y6H 5!? ? ¿k@I  {=ɚiI5r(=I=i=I*ki=)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023243*F?2F:FBF_0JF IG%GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:58:54.7737  TRx dataTimestamp_ set to:1736366336.160591 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275067CJw, @AZ)@YZ/9@Zg,9Z>yZH \?~?@`¿w?PNs? ?k?ɨZ)@ZX;XyjqBj6IIrIrdK5٢zkf zG=9윹Q >   G٣ y B;  > Nusing accuracyPremultiplier from config%49+O?%4Y^ iB!%(%@fDx;;41 5A1B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 101.40 m.Bj 4<Jj 4<] ProNav: ac range: 101.400002 m, nav range: 20.391550 m, bearing: 47.467688 deg, approach rate: 0.327608 m/s, LOS rate: 1.260365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.609371 deg. 2je>X=:jm @HeadingCmd: 4.845198 target range: 101.400002 and range: 101.40 m. jjjjihhh!h!fQfYfarfbf`(,@zKe KKe9KaKe7KeBKurA:KqɛBX 隍n5>I x:ɚiIf(=IiDji*)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528140*FE?2FI:FIBFU`0JFQ IZH RH @AH I  I II ځBI &I .I 6I °<:I FBIiJIiRIiZIibIijImK4J J J J J [:J =:J J J +<J ,<J ;J ;G i"G B O >u w,'@AybeBf'IeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 19:58:54.7737 LVL= 25168, 23953, 14482, 29171, AGC= 61, IDX= 499,-0.00,-2.833,-0.231,-1.158,-1.298, PHS=-1.448, 1.114, 0.137, RAW= 292.2, 1.8, CAL= 294.9, 2.0, ROT= 215.1, -2.0 Ygot valid direction response: 19:58:54.7737 LVL= 25168, 23953, 14482, 29171, AGC= 61, IDX= 499,-0.00,-2.833,-0.231,-1.158,-1.298, PHS=-1.448, 1.114, 0.137, RAW= 292.2, 1.8, CAL= 294.9, 2.0, ROT= 215.1, -2.0 8DAT read: $Error in header *Received a bad headerMb@Mb@Mb@ )YQ?Zd;O?{Gzty?j<=ף @)AIhAyAuX#Rx 1: Read direction message, but no range.u^direction in FSK: [0.079529,0.283980,-0.955526]a9es[?=Ѻ,?E۫aePbe] e8)eqIe=ieXe?eI >e1@e= e@)e5=IeDp@ie5aeG@ ̄t^]?{Yԟ?)eX@@IeGie^?e?T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI-I-U5٢R 0=9Q > G٣y > Nusing accuracyPremultiplier from config49oS?4Yt  iB:? : AM@fD)<*)<44UB UaAUEZjFNOT Ignoring new targets: 101.40 m.Bjc<Jj%cI) -G8ɚ)i)I-|D(=I5i5ji5ᮺ)1)9EIEI*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse I G %úG B O >d[w,RA@A66@Y6%F@6a496#R>y6Hû?`k|?$&¿-4?@^r N? d?&?ɨ66@6b·;6MCyF\BFIININE5٢VV Vt=9V?Q Z?XX ZG٣Z6Gy^œ; ^? fNusing accuracyPremultiplier from config`f49b}V?j4Yb| ibBhj j@bfDb:bC:b4p rApZj FNOT Ignoring new targets: 101.40 m.Bj<Jj<% ProNav: ac range: 101.400002 m, nav range: 20.675161 m, bearing: 48.506743 deg, approach rate: 0.390652 m/s, LOS rate: 1.404452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.252759 deg. 2j%p=:j%ؚ@-HeadingCmd: 4.838974 target range: 101.400002 and range: 101.40 m. j)j)j)j)i)h1h1h1h1fffrfbf7.@ɛ%B-,\ )-\>I) -x7ɚ)i)I5)(=I=i=%jiE8/89)A)I*F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuA}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseGU ԹG1 Ba O >zK 2KK +9K K 8K RK >JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapsew,e[@Am<@YmK@m*99mͤ>ymH?@|?¿?@eq 0%???ɨm<@m$; yI}hmLCyWBIeMb@Mb@Mb@aaa a)aYezG?V-?Mbpye ?e G٣y: > Nusing accuracyPremultiplier from config492Z?4Y iB9?:@fDg;;64 AEHAIA IEIIEˁBIA&IA.IA6IEİ<:IE FZj FNOT Ignoring new targets: 101.40 m.Bjܱ<Jjܱ<  ProNav: ac range: 101.400002 m, nav range: 20.852627 m, bearing: 49.096715 deg, approach rate: 0.377413 m/s, LOS rate: 1.243984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.729461 deg. 2j oU=:j @HeadingCmd: 4.847293 target range: 101.400002 and range: 101.40 m. jjjjihhh!hEzBfAfAfIrfIbfM` /@JJJJJ:J9:JJJ'<J'<JP;JQ;ɛBt l=I f5ɚiI (=Ii|ii;:)) *F?2F:FBFp0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseG 99G B O >Bw,`y:H`?#|?¿ 5?p@}???ɨ:@@:Sч;:MCyNCBNIIVIVDP5٢^ ^p=9b Q b?`` bG٣`yf,: f? jNusing accuracyPremultiplier from confighn49j\?r4Yj ijBprr@jfDj;j ;j%4t vsAxZjFNOT Ignoring new targets: 101.40 m.Bj% <Jj% <5 ProNav: ac range: 101.400002 m, nav range: 20.981989 m, bearing: 49.516487 deg, approach rate: 0.379647 m/s, LOS rate: 1.224326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.226529 deg. 2j5R=:j=՚@EHeadingCmd: 4.838516 target range: 101.400002 and range: 101.40 m. jAjAjAjAiAhAhIhIhIfIfIfQrfQbfU/@ɛ}B}ɡ 隍@=I e4ɚiI'=Iiii܄:))EJ>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*Fm?2Fi:FiBFu@5JFq iIiG5}:G BO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseٗ#w,@A6C@Y6%S@6R@96y>y6H*?|?Q`O??o@1 ??`)?ɨ6C@6찇;6KCyF8BFIININ)M5٢VK VK=9Z/Q Z>XX ^G٣^6Gy^h: ^> fNusing accuracyPremultiplier from config`f49b`?j4Yb! ibBhjj@bfDb":b":b,4l rAtEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 101.40 m.BjUթ<JjUթo)w,b@A=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse]~~G}`wAZA Y`wAyAy/BI}Mb@Mb@Mb@yyy y)yY}Zd;? rh?:vy}?}C<}T}I A y)}@I}@yy}AIIP5٢ =9Q > =G٣9yE E> MNusing accuracyPremultiplier from configIU49Md?]4YM* iMB?:@MgDM;M;Mӫ4 AZjFNOT Ignoring new targets: 101.40 m.Bj@<Jj@<  ProNav: ac range: 101.400002 m, nav range: 21.367645 m, bearing: 50.691450 deg, approach rate: 0.418411 m/s, LOS rate: 1.225731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.005138 deg. 2j MR=:jrD@HeadingCmd: 4.852105 target range: 101.400002 and range: 101.40 m. j9j9j9j9iAhAhAhAhM*BfIfIfIrfIbfU(0@ɛ!Bth  2w,@A:ZB@Y:Q@:nO9:D >y:H ?@? @ N?$e?^?@'?ɨ:ZB@:s;:PCyR BRIIZIZ Y5٢bn fd=9fL(Q j>hh jG٣hyn0 n> rNusing accuracyPremultiplier from configpv49rf?v4Yr/ ipxz!z@r!gDr:r:r4| AZj!-FNOT Ignoring new targets: 101.40 m.Bj-!<Jj-!<]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse ProNav: ac range: 101.400002 m, nav range: 21.517782 m, bearing: 51.123447 deg, approach rate: 0.433588 m/s, LOS rate: 1.238868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.261904 deg. 2jT=:j.ښ@HeadingCmd: 4.839133 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrfbf (1@ɛ"B9 隍I 3ɚiId'=IiIfi:))*FM?2FI:FIBFM4JFQzKUePLKUs9KQKU:KU GO: Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O > U $?IQ :8w,܄@AH*T>I( I*lII*BI(&I(.I(6I*<:I* FfE@Yf:U@f-P9fy >yfH^;? ~?^@i?e?@p? I?ɨfE@f54;fMCyrBrI v=v=Mb@Mb@Mb@ )YL7A`? G٣6Gyun: }> Nusing accuracyPremultiplier from configy49}i?4Y}7 i}B7'?:Ѹ@}4gD}Q;}5;}4 AEZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 21.723749 m, bearing: 51.686023 deg, approach rate: 0.454952 m/s, LOS rate: 1.230852 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.646414 deg. 2j.S=:j(@HeadingCmd: 4.845844 target range: 101.400002 and range: 101.40 m. jjjjihhhhBfffrfbf1@ɛ%$B%ZA )-EI) -53ɚ)i1I53'=I5i=]Hfi=)x:)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF_0JFG G:G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= T****** received valid address query ******= R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse w>w,@A pIrhrGC@YrR@rRV9r\ >yrH'? ?@ Y?6b`ؿ?Ռ??ɨrGC@rU';rKCy~ BIIIxV5٢%lԽ -U=9-prQ ->11 5G٣1y=|T => ENusing accuracyPremultiplier from configAM49Ekl?M4YE= iAIU۸U@ECgDE:E ;E`4Y ]@AYZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 21.892756 m, bearing: 52.135380 deg, approach rate: 0.444682 m/s, LOS rate: 1.173189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.312594 deg. 2j5II=:j5m@=HeadingCmd: 4.840018 target range: 101.400002 and range: 101.40 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM a1@ɛ%Bt 隥H`I ̐4ɚiI9'=Iieiy :))JJJ0JJ:J@:Jـ3Ja@a@a@a@*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseG:G B O >aEw,AAzK-KK-9K)K-;K-y99Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Ysh|??7A`?Q?y)?>\=/@ )v@IQAy@II N59Q > I G٣y > Nusing accuracyPremultiplier from config 495u?4Y#F ißBT.?:E-E@XgDe<<Ƚ4UB UEAUEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 22.079414 m, bearing: 52.851354 deg, approach rate: 0.372843 m/s, LOS rate: 1.418001 deg/s, cmd heading: 275.975187 deg, new cmd heading: 278.103914 deg. 2j Js=:j R@ HeadingCmd: 4.853829 target range: 101.400002 and range: 101.40 m. jjjjihhhYh]BfYfafarfabfez2@ɛ'BƬp ZHRH?AH%U>I%C I%MII%BI% =&I!.I!6I%԰<:I% FXnIQ ]r5ɚYiYI].'=Imidi:))*Fe?2Fa:FiBFiJFi} Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG ?:Ga Bq O >DLw,`r3AAV@@YVTP@V^9Vԋ >yVHV?Q? nJ?Z`Ћ? ?@6?ɨV@@Vه;VLCyvBvIxxII~N5٢ Ƽ <9Q > G٣6Gy%$X %> -Nusing accuracyPremultiplier from config)549-{?54Y-JL i-ϟB1=5=@-hgD-s;-;-EϽ4A EAAZjFNOT Ignoring new targets: 101.40 m.Bj<Jj<- ProNav: ac range: 101.400002 m, nav range: 22.219801 m, bearing: 53.373346 deg, approach rate: 0.393328 m/s, LOS rate: 1.453231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.530866 deg. 2j-Uy=:j-@UHeadingCmd: 4.843827 target range: 101.400002 and range: 101.40 m. jQjQjQjQiQhYhYhahafafifirfibfm2@ɛ(Bq DI Y}6ɚiI'=Ii Zdi wC:))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse III*Fa2Fa:FaBFaJFiJ5 J5 J1 J1 J5 :J5 C:J1 J1 G GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseL*Sw,FMAA67@Y6PG@6$4g96 >y6H ̻?ہ?`0?VME?;q? ò?ɨ67@6;6KCyBB@IJIJ:\5٢V VQ=9V%Q V>XX ZG٣Xy%8 %> -Nusing accuracyPremultiplier from config)549-삒?54Y-$S i-ݟB1=X= @-zgD-S.;-.;-Tֽ4I MAMEZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 22.378550 m, bearing: 53.946583 deg, approach rate: 0.405446 m/s, LOS rate: 1.453643 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.682165 deg. 2jgy=:jD@HeadingCmd: 4.846468 target range: 101.400002 and range: 101.40 m. jjjjihhhhff f rf bf @93@ɛ})B0׌ 隅I 7ɚiI'=Iici6))Ea>E>*F?2F:FBFo0JFzKU~KKUs9KQKU<KU}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse YIYG) G B O- >H T>I  I .II kBI &I .I 6I <:I FBIqJIqRIqZIqbIu =jIuE4WYw,/gAAJ2@YJA@Ji9JH6 >yJH3?`7? Vܻ?%F@a9?Rx??ɨJ2@J;JNCy^B^I]Mb@Mb@Mb@YYY Y)YY]V-?MbMb`y]-?]]] A Y)]@I]v@Yy]@IIT5٢گ ;=9cQ > G٣yк > Nusing accuracyPremultiplier from config49E?4YZ iޟB-?: @gD~};P|;ݽ4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 22.594778 m, bearing: 54.431608 deg, approach rate: 0.483304 m/s, LOS rate: 1.073718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.416014 deg. 2j88=:j6@%HeadingCmd: 4.841823 target range: 101.400002 and range: 101.40 m. j!jajijiiihihihqhuۀBfqfqfqrfybf}O3@ɛ+BB ĽI 8ɚiI(=IiUpci)))*F?2F:FBFJFG ! Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O > 9 I= h=`w,AAV$@YV84@Vxu9VqN >yVH4?@y? `y? 0??`D{?O?ɨV$@Vw;VLCybBbI hjp=InIn\5٢vx; vW=9vQ z>xx zG٣z6Gy~F >  Nusing accuracyPremultiplier from config 49T?4Yna iߟB༿ @gD:a:^4! %A!ZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 22.789118 m, bearing: 54.855326 deg, approach rate: 0.539394 m/s, LOS rate: 1.165997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.235286 deg. 2j H=:j_֚@HeadingCmd: 4.838668 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrf bf 4@ɛu,Bu y}ýIy }u:ɚyiyI}(=Ii;ciS()JJJJJ:JA:JJ)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGϳGa Bq O >lfw,0AA "@zK JK K K =K Y }2@ *w9 I >y H&?? l?o8?@?z?`Q?ɨ "@ 9; 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseyEBEI IMb@Mb@Mb@ )Y|?5^?Mb`?~jtx?y2?;;3 A )3@Iy @IIQ5٢`. 9=9gQ >    G٣ y- > Nusing accuracyPremultiplier from config%49?%4Y}i iB%2?%:->- @gDR;F;41 5A1ZjY]FNOT Ignoring new targets: 101.40 m.Bjeݥ<Jjeݥrlw,AA6#@Y6+@6|96% >y6HZ??Jge9?N? ?J? ?ɨ6#@6mc;6MCyvBvII~I~^S5٢ x<  \=96SQ > G٣1y5g 5> MNusing accuracyPremultiplier from configAU49E{?U4YEZp iEBQUYU @EgDE/;E*(;E4a eAeE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 101.40 m.Bj"<Jj"< ProNav: ac range: 101.400002 m, nav range: 23.220154 m, bearing: 55.783376 deg, approach rate: 0.529207 m/s, LOS rate: 1.113003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.230674 deg. 2j>=:j՚@HeadingCmd: 4.838588 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrfbf Z4@ɛ:M ,ĽI <ɚiIK'(=I i bi P-) )*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]J J J 1J J J B:J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. yFH?Y?`m];?\R?Џ?W@?`B?ɨF.@Fn;FNCyZBZI)` `IfIfO5٢~< K=9ùQ >    G٣ 6Gy \7  > Nusing accuracyPremultiplier from config]49?e4Yw iBaae @gD&<&<4i mAqZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 23.433041 m, bearing: 56.224226 deg, approach rate: 0.513169 m/s, LOS rate: 1.053016 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.285480 deg. 2j4=:jݚ@%HeadingCmd: 4.839545 target range: 101.400002 and range: 101.40 m. j!j!j)j)i)h1hQhYhYfYfYfYrfabfeA5@ɛ.BU I B=ɚiI.(=Iibi&)) *F-?2F1:F1BF=^0JF9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Ku! "&-:?CFCDBB@>:9433.+(#!+.,#  IGm <HM S>II  IM IIM VBIM  =&II .II 6IM b<:IM e FGa Bi O >yw,iAAF@YF$@F9Fg= >yFH?k?8D ?9L]?@V?`??ɨF@F<@;FOCyfBfI) jCG ! MYQyUAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received- G٣y- 5> =Nusing accuracyPremultiplier from config1E495Ғ?E4Y5' i5BE7?m:mm @5gD5;5?;5n4uB ukA}EZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 23.708946 m, bearing: 56.800393 deg, approach rate: 0.554254 m/s, LOS rate: 1.143949 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.683040 deg. 2jED=:jd@HeadingCmd: 4.846483 target range: 101.400002 and range: 101.40 m. jjjjihh h h Bf ffrfbf5@ɛ/Brȉ 隭0I @?ɚiIG2(=Iiɻbi'S]))*F?2F:FBFX0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m &DAT read: user:01> u BDAT read: Tx time:19:59:03.1751 u $Ping request sent.u ?w,mBA6v@Y6@6ჼ96_\ >y6Hd??<{?;`?`|??[?ɨ6v@6yφ;6MCyFBFIInInuZ5٢v;  =9Q  ? G٣y%>ͺ % ? UNusing accuracyPremultiplier from configI]49M8?]4YM" iMBY]] @MgDM;M;M4 cAZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 23.883764 m, bearing: 57.155747 deg, approach rate: 0.547698 m/s, LOS rate: 1.105153 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.033318 deg. 2j==:j@HeadingCmd: 4.835144 target range: 101.400002 and range: 101.40 m. jj!j!j)i)h)h)h1h1f1f1f1rf9bf=6@ɛ%0B%µ !%I! -}6@ɚ)i)I-7(=I5i=bi=Av)9)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251108*F?2F:FBF_0JFG g{G sAG G B OM >#܆w,BAjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503994 xIx'MTFailed to parse incomplete device message.@Y@%9:m >yH! ?R?:BQdc?j?`y?? &?ɨ@';騍JCy BI}Mb@Mb@Mb@yyy y)yY}㥛 ? rh?Mb?y}5?}C =}<} A }@)yI}v@yy} @IIF5٢|< 1=9Q > G٣6Gy\ > Nusing accuracyPremultiplier from config492?4Yz iB5?:! @ hD;;4 ;AZj FNOT Ignoring new targets: 101.40 m.Bjڠ<Jjڠ8w,,6BA6ޒ@Y6@6j96h>y6H V? ?6 vg?s?ꑒ?`&?`~?ɨ6ޒ@6;6OCyFBFIININP@5٢V7= Vs=9VHQ Z?XX ZG٣Xy^C ^? bNusing accuracyPremultiplier from config`f49b?f4Yb ibBhjj @bhDb:b:b4l r ArEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 24.307186 m, bearing: 58.024356 deg, approach rate: 0.537567 m/s, LOS rate: 1.074436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.066490 deg. 2jX8=:j=@HeadingCmd: 4.835722 target range: 101.400002 and range: 101.40 m. jjjjihhhhfffrfbfH6@ɛ 1B@x qu0yIq }3AɚyiyI}i1(=Ii.ci{)) IhWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010358*F-?2F):F)BF-0JF)GMG) B1 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262772擐w,-\PBA6Ғ@Y6m@696}>y6HO?? P*d@N?@x?(? ?ڵ?ɨ6Ғ@6Gv;6NCyBBBIIJIJB5٢R&= RK=9V!Q V>TT ZG٣XyZz] Z> bNusing accuracyPremultiplier from config\f49^?f4Y^- i^BhjѶj @^/hD^0;^51;^49 =A9ZjFNOT Ignoring new targets: 101.40 m.Bjv<Jjv< ProNav: ac range: 101.400002 m, nav range: 24.526693 m, bearing: 58.455427 deg, approach rate: 0.522747 m/s, LOS rate: 1.017380 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.256601 deg. 2j.=:jlٚ@5HeadingCmd: 4.839041 target range: 101.400002 and range: 101.40 m. j1j9j9j9iAhAhIhIhIfiffrfbf`J7@ɛHt h9I Q~Bɚ i I "(=Iimdi!))*F?2F:FBF/1JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514938zK:KKh9KK@KGZGG?H I  I !II `BI  =&I .I 6I b<:I e FG B O >J J J J J :J ::J J J #<J #<J 6;J 6;w,?jBAy}B}IMb@Mb@Mb@ )YM?{Gz?Mb?yn2?#= A @)IQAy(AII Y5٢5; 53=9=Q =>99 EG٣E6GyE E> UNusing accuracyPremultiplier from configIU49M?]4YMt iMB]2?]:]] @MChDM;M;M$4a mAiuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766997ZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 24.770182 m, bearing: 58.930452 deg, approach rate: 0.554015 m/s, LOS rate: 1.070199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.385952 deg. 2j7=:j@HeadingCmd: 4.841298 target range: 101.400002 and range: 101.40 m. jjjjihhhhBfffrfbf7@ɛ2Bs  /I CɚiI(=Ii"Oei%_)!))*F?2F:FBF{2JFG I % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019222G B O >Aw, BA6ޒ@Y6Q@6f96 >y6H?ތ? Vc n?{s?੔?1? f?ɨ6ޒ@6~;6MCyޝ(BޥIII R5٢f= A=9;Q > G٣y`; > Nusing accuracyPremultiplier from config49\?4Y# iBr @VhDS;;-,4 ZAZj15FNOT Ignoring new targets: 101.40 m.Bj=[<Jj=[u&w,~BA yuH?ދ? vw`g?@os?@u?`(Q?@M?ɨuݒ@uJU;qɮ鮅pwAbiiwA) I )ɯ鯑ɰtwAiIK}FIi|wA V鰡)鱡 xwAɱfC`wAI')Fi)IdA鲱ɲ y+BIzK-.JK-9K)K-AK-Mb@Mb@Mb@ )YM?{Gz?{Gzt?yף;3 A @)I@I@y\@I-I-T5٢5< =C=9=Q =>AjHM<bHM<HUR>IQ IU4IIUpBIU =&IQ.IQ6IUP<:IUV FBIJIRIZIbI =jIÎ4A G٣y] > Nusing accuracyPremultiplier from config493?4Y iB2?:c @ihD0;;34 ?AEZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 25.228106 m, bearing: 59.793476 deg, approach rate: 0.513870 m/s, LOS rate: 0.948343 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.251848 deg. 2j"=:jؚ@HeadingCmd: 4.838958 target range: 101.400002 and range: 101.40 m. jjjjihhhhBfffrfbf ˔8@JSK[3 K[.-KSKS"KSJJJJJ:J>:JJJ*<J*<J˕;J˕;ɛQ OI CɚiI'=I i fi)1)9*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775747G5 ZG= rAG= sAG B O5 >~w,5BA2@Y2G@2ڔ92 >y2H?`? G`?r??)g??ɨ2@2U ;0y 1B I ==IIK5٢59< 5_=95H9Q 5>99 =G٣=6Gy=: E> Nusing accuracyPremultiplier from configA49En?4YEd iEBT @EyhDE ;E ;E94 AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 101.40 m.Bj<Jj<- ProNav: ac range: 101.400002 m, nav range: 25.422615 m, bearing: 60.148069 deg, approach rate: 0.552454 m/s, LOS rate: 0.999417 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.030701 deg. 2j-y+=:j-@5HeadingCmd: 4.835098 target range: 101.400002 and range: 101.40 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfMV8@ɛq}F y}+Iy }C $?IhɚiI'=IiIgi))Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:59:05.7305  TRx dataTimestamp_ set to:1736366347.000789%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029013*F92F9:F9BF=_0JF9GyGY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278959Mw,kBA 6!ޒ@Y6@6G96 >y6H??`c7m?uwt?? 2u??ɨ6!ޒ@6‡;4y6BIIIV5٢< %=9M^Q > G٣yjc > Nusing accuracyPremultiplier from config49?4Y iB  c  @hD; <<B4=B =AEE I5Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 113.4 m (Round-trip 151.2 ms) speed -0.6 m/s M,DAT read: user:1018> UBDAT read: Tx time:19:59:06.8251 U$Ping request sent.UI IGIIBI&I.I8D6I<:I FE E *F 2F :F BF `5JF "G =G =J J J 1J J k:J "I:J 3J J "<J "<J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:59:06.8244 GGBO?xw,NBA>ג@Y>N@>񉝼9> >y>H $и?`ג@>\;>KC)DIDDD DHHNĻiLLiLNwA)L LIP RfC)RxARDRFPVCVjxAiTITTIZCiZMxA XZ|F)X^َC ^ xA\\\^̎CbҁAIb`)`i``y-?B-IMb@Mb@Mb@ )YʡE?L7A`?{Gzt?y-2?+= A )@Iv@y@I-I-C5٢5~!= =3=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49U?]4YU iU"B]a2?]:]] @UhDU;U;U{J4 AZjFNOT Ignoring new targets: 101.40 m.Bjɑ<Jjɑ<- ProNav: ac range: 101.400002 m, nav range: 25.944885 m, bearing: 61.055943 deg, approach rate: 0.607993 m/s, LOS rate: 1.019662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.178373 deg. 2j-.=:j5<Κ@5HeadingCmd: 4.837675 target range: 101.400002 and range: 113.40 m. j1j9j9j9i9h9hYhahe Bfafafirfibfm@R ?ɛ6% @YÐw, CA6@Y6*̙@6Q96f>y6H@?ݔ?P|q?@/? ,є???ɨ6@6h;4yBBI  A=Will construct direction to contact in vehicle frame from tetrahedron phase data.IIN5٢ʕ< U=9;Q > G٣6Gy< > Nusing accuracyPremultiplier from config49ڹ?4Y i'B) @hD;;3Q4 AEZj FNOT Ignoring new targets: 101.40 m.Bj<Jj<% ProNav: ac range: 101.400002 m, nav range: 26.159250 m, bearing: 61.408381 deg, approach rate: 0.574440 m/s, LOS rate: 0.936696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.023715 deg. 2j- =:j-@-HeadingCmd: 4.834976 target range: 101.400002 and range: 113.40 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfE@/?ɛq}:v y}=Iy }UBɚiI>{'=Iiii7K))*F?2F:FBF_0JFG 9I=h Will construct direction to contact in vehicle frame from tetrahedron phase data.G) BY O >zK JK 9K K CK RK ?JK >H9 I9  I= SII= BI9 &I9 .I9 6I= ð<:I= Fɐw, 'CAV@YVqΙ@Vc9V>yVH` ?ɑ?! 트?p ? ? ??ɨV@V[;VMCyAA @ @ @  @ GvA-AII05 U6YUvAyU B9]˺Q ]>aa eG٣aym: m> ubBottom track data is 0.5 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq}49u?4Yu iu-B+:v:! @uhDu(;u]>uW4 MWill construct direction to contact in vehicle frame from tetrahedron phase data.Zjq}FNOT Ignoring new targets: 101.40 m.Bj}vr<Jj}vr< ProNav: ac range: 101.400002 m, nav range: 26.416533 m, bearing: 61.821981 deg, approach rate: 0.532640 m/s, LOS rate: 0.847911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.203703 deg. 2jz=:jњ@HeadingCmd: 4.838117 target range: 101.400002 and range: 113.40 m. jjjjihhhhfffrfbfNs?ɛe1Bex im =Ii m9(BɚiiiIm0L'=Iuiu%Kkiu6[@)y)y*F?2F:FBFJF ) I) G] f AGe sAGe tA Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA O] >NqАw,yBH@v?@?L`(??E?S?@?ɨB@BD;BKCyRKBRIIZIZ75٢bS< b<9fݺQ f ?hh jG٣hyjҤ n ? rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv49n6?v4Yn in1Bz :xzG:zWz @nhDnI;n~H?n`[4| KA%B*** querying acoustic contact ***j!j!ZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 26.597462 m, bearing: 62.105789 deg, approach rate: 0.574185 m/s, LOS rate: 0.894543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.820753 deg. 2jz=:j@HeadingCmd: 4.831434 target range: 101.400002 and range: 113.40 m. jjjjihhhhff f rf bf un?ɛY]Sf aexO=Ia eSAɚiIF('=IiEli!dZ))JMJMJM0JIJM:JM>:JMـ3JIa]@a]@a]@a]@*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUAUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G c?G B O >ݖ֐w,8[CA2?@Y2͙@2J92f >y2H`w?@׋?`?|?@h?&??ɨ2?@2;2MCyBQBFI V=V=IZIZV5٢~5< ~G=9>:Q >   G٣6Gy%s; %> ]bBottom track data is 1.2 s old, using for 20.0 s. eNusing accuracyPremultiplier from configAu49EÒ?}4YEY iE6B9!:& @EhDEn>I IfIIBI =&I.I9D6I"<:I5 F*F=?2F9:F9BF9JFAJQJU@Ae Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262119G} UGY B O >ܐw,|uCAZ@YZ>Й@Zr9Z8>yZHK? P?@[ ?q? ?A?̮?ɨZ@Z;ZKCyf]BfI ] ] ]] ]]  e e eMb@Mb@Mb@aaa a)aYeq= ףp?l?Mbp?ye+?e=e;eI A e@)eI@Ie@ayaI}I}N5٢_= A=9HQ > G٣y=: > Nusing accuracyPremultiplier from config49ǒ?4Y i;BT:+?: @hD;;f4 AEZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 27.058891 m, bearing: 62.816172 deg, approach rate: 0.629222 m/s, LOS rate: 0.958424 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.010183 deg. 2j p$=:j 0@ HeadingCmd: 4.834740 target range: 101.400002 and range: 113.40 m. jjjjihhhh>Bfffrfbf@Z@ɛ)5 15=I1 5??ɚ1i9I=C&=I=iEcxniE*>)A)A I*F?2F:FBF 2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514677GKG B O >Jm Jm Ji Ji Jm k:Jm 8:Ji Ji w,UCA:Ò@Y:Eә@:9:B>y:H_0? ?@¿ ~Ͷ??̿?`{?k?ɨ:Ò@:;8y^_B^ IIjIjL5٢r7< rV=9viQ v>tx zG٣xyzs}: z> Nusing accuracyPremultiplier from config 49Jʒ? 4YR i?B  @ iDQ;Q;5m4Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766132) -A)ZjY]FNOT Ignoring new targets: 101.40 m.Bjeg<JjegɚiI&=IiUi_oiU[9)Q)Y*F?2F:FBF5JF IhG5]=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:59:09.3833  TRx dataTimestamp_ set to:1736366350.533184 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025234G! B O >H R>I  I yII BI  =&I .I 6I <:I FzK FJK K K EK w,T7CAy޽iB޽-IAMMb@Mb@Mb@III I)IYMsh|??Q?y&1|?yM)?M G٣6Gy > Nusing accuracyPremultiplier from config49͒?4Y@ iEB**?:h @ iD;t;3u4 XAZjFNOT Ignoring new targets: 101.40 m.Bja<Jja<  ProNav: ac range: 101.400002 m, nav range: 27.518017 m, bearing: 63.491776 deg, approach rate: 0.550679 m/s, LOS rate: 0.787057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.047685 deg. 2j  =:j@HeadingCmd: 4.835394 target range: 101.400002 and range: 113.40 m. j!j!j!j!i!h!h!h9h=@Bf9f9fArfAbfE @ɛ/B-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271875mPExceeded connect timeout, disconnecting. u=}=Iy <ɚiIN&=Ii\pimt:))*F?2F:FBFO5JF I G K7G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525526 w,qCA~xȒ@Y~י@~9~ >y~HU?`?t8¿?`cW?`6?_ ?P?ɨ~xȒ@~);|y%vB%=II=I={R5٢E= Ma=9M䣺Q M>QQ UG٣Qy]: ]> eNusing accuracyPremultiplier from configam49eВ?m4Ye ieJBquVu @e/iDe ;e~ ;e{4}B }A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.40 m.BjZ<JjZ< ProNav: ac range: 101.400002 m, nav range: 27.717688 m, bearing: 63.774354 deg, approach rate: 0.545084 m/s, LOS rate: 0.765853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.816750 deg. 2jf=:j@HeadingCmd: 4.831364 target range: 101.400002 and range: 113.40 m. jjjjihhhhfffrfbf @ɛPM 隽0>I ;ɚiI,&=Iirqi1))J1J5J1J1J1J5::J1J1*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.58DAT read: $Error in header =*Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.785161G I6G B O- >w,*CA E$?IAyEBMQII]I]Q5٢ = F=9Q > G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.02981949Ԓ?4Y,  iPB  5 @BiD<<=4y }sAZjFNOT Ignoring new targets: 101.40 m.BjG<JjG=:541-+45+ɛ@v  .>I  {S8ɚiIԷ%=I%i%Fri%4p3)!))*F?2F:FBFJFE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277984 u nManaging dock network, ignoring radio surface power offG -,G B O >`w,PCA6˒@Y6ۙ@6ck96R.>y6H@q?k?'&¿ ?.???n??ɨ6˒@6;4yFBFZI J=Jp=mMb@Mb@Mb@iii i)iYm!rh?I +?y&1|?yml'?m9 G٣6Gy: > Nusing accuracyPremultiplier from config49֒?4Y iUB'?: @RiD9;7;/4 5AEZjFNOT Ignoring new targets: 101.40 m.Bj d<Jj d<  ProNav: ac range: 101.400002 m, nav range: 28.177586 m, bearing: 64.399575 deg, approach rate: 0.605163 m/s, LOS rate: 0.797477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.836452 deg. 2j=:jY@HeadingCmd: 4.831707 target range: 101.400002 and range: 113.40 m. jjjjihh!h!h%pBf!f)f)rf1bf=`@ɛaeb; >>I 2a6ɚiIKs%=Ii[csiJ%-)) IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530019EMп8=*F?2F:FBF^0JFJ J J 1J J J =:J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782079G GY6GBO->a4w,gDA6Ғ@Y6@6M96a>y6Hv??<¿ 4?׀?;?5 ?"?ɨ6Ғ@6\;6OCyBBBgIININaO5٢R4= V<=9V8Q V>XX ^G٣\yb: b> fNusing accuracyPremultiplier from configdj49fْ?j4Yfj ifZBlnn @feiDf;fF;f͑4p rApZj  FNOT Ignoring new targets: 101.40 m.BjL<JjL<% ProNav: ac range: 101.400002 m, nav range: 28.417191 m, bearing: 64.712145 deg, approach rate: 0.551808 m/s, LOS rate: 0.713773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.904905 deg. 2j%<:j%#@HeadingCmd: 4.832902 target range: 101.400002 and range: 113.40 m. jjjjihhhhfffrfbfད@ɛd/%; Q>I 5S3ɚi!I%J%=Ieim^Itim")i)iEM= I*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038085ZH RH HI IIIЁBI =&I.I6I<:I FG.-G?G>zK EQOK h9K K GK .VeD3#   G B O >W w,͓/DAyBlIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286166Mb@Mb@Mb@ )Y/$?{Gzt?{Gz?y?ף;#< A @)I@Iy@II3A5٢Y< 8=9Q > G٣y > -Nusing accuracyPremultiplier from config!=49%:ܒ?E4Y%" i%`BM?M:UU @%viD%;%O;%4a eAiZjamFNOT Ignoring new targets: 101.40 m.Bj.'<Jj.'< ProNav: ac range: 101.400002 m, nav range: 28.651642 m, bearing: 64.995062 deg, approach rate: 0.488487 m/s, LOS rate: 0.584642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.816930 deg. 2j<:j@HeadingCmd: 4.831367 target range: 101.400002 and range: 113.40 m. jjjjihhhhoBfffrfbf`t@ɛM0BMLC; QUY>IQ US 0ɚQiQIU#$=I]i]Buie^#)a)aEE*E"E IU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538832*F ?2F :F BF JF G5$G!B1O]?w,TODA6ג@Y6f@6Q296>y6H@pи?`?MZ¿`Rb?Np?%?'??ɨ6ג@6yψ;6LCy>BBIHJAININ>5٢V#= V1=9ZQ Z>XX ^G٣^6Gy^: ^> fNusing accuracyPremultiplier from config`f49bޒ?f4Yb) ibeBhj仿j @biDb:b:b4l n=Al~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 101.40 m.Bj=<Jj=<- ProNav: ac range: 101.400002 m, nav range: 28.892303 m, bearing: 65.280261 deg, approach rate: 0.565285 m/s, LOS rate: 0.664315 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.823591 deg. 2j-<:j-@5HeadingCmd: 4.831483 target range: 101.400002 and range: 113.40 m. j1j1j1j1i1h9h9h9h9fAfAfArfIbfM` @ɛqu; quF{>Iy },ɚyiyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790165I}M$=I%i%vi-v)))A*F5?2F1:F1BF1JF1G= G="G=G= IGB! e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045054O >H Q>I  I II BI  =&I .I 6I q<:I m Fw,siDAzKN}KNKN9KLKNHKNBKVsA:KVrAN-@YN@NE9Nk>yNHD*? ?N¿C@? ?6?@??ɨN-@NbU;NJCyll)MF= IJJBAJJJ0JJ:Jo5:Jـ3JJ@%qq uG٣qyu7; }> Nusing accuracyPremultiplier from configy49};ᒜ?4Y}{1 i}kB?:p @}iD}3;}c2;}/4B ?AEZjFNOT Ignoring new targets: 101.40 m.Bj&<Jj&< ProNav: ac range: 101.400002 m, nav range: 29.140537 m, bearing: 65.570963 deg, approach rate: 0.501796 m/s, LOS rate: 0.582635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.839795 deg. 2j<:jԝ@ HeadingCmd: 4.831766 target range: 101.400002 and range: 113.40 m. j j j j i hhhhBfffrfbf]@ɛM1BMF; IMHz>II U(ɚQiQIU#=I]i]Cvi]p)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294118*F?2F:FBFJFGqByO~> I h1 w,KDAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546093:@Y:l@:#9:5>y:HƇ?@K?@T¿+?~? ?#?S?ɨ:@:{;:KCyrBrII~I~B5٢ez< e<9u:Q u?q G٣y; ? Nusing accuracyPremultiplier from config49㒜?4Y6 ioBB @iD;N;-4 AZj FNOT Ignoring new targets: 101.40 m.Bj%&<Jj%&<- ProNav: ac range: 101.400002 m, nav range: 29.314463 m, bearing: 65.771859 deg, approach rate: 0.506022 m/s, LOS rate: 0.581020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.574274 deg. 2j-_<:j-w@5HeadingCmd: 4.827132 target range: 101.400002 and range: 113.40 m. j1j1j1j9i9h9h9hAhAfAfAfArfIbfMYz@ɛ< 隕>I %ɚiI(|#=Ii9wi-E))*FE?2FA:FABFE0JFAGB)OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797958&w,#DAby@Yb@b|9b>ybH ?v? R¿`pe?Bz?峕?$?s?ɨby@b;bNCyrBrI tv=Iz !I!Iz:5٢5B 5N=9=';Q => G٣6Gy{; > Nusing accuracyPremultiplier from config49K咜?4Y= itB @iD1<1<R4) -A)ZjFNOT Ignoring new targets: 101.40 m.Bj<Jj<=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.052681 ProNav: ac range: 101.400002 m, nav range: 29.522064 m, bearing: 66.009247 deg, approach rate: 0.483123 m/s, LOS rate: 0.548555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.682305 deg. 2j<<:jO@%HeadingCmd: 4.829017 target range: 101.400002 and range: 113.40 m. j!jyjyjyijH<bH4=HI IIIBI&I.I6Id<:Ic FhAhIhIhIfIfQfQrfQbfU ~@ɛ-2B-$; 15>I1 5q!ɚ9i9zKKKh9KKIKI=& #=Iiwiϩ))JJJJJJ8:JJJJJk;Jk;*F?2F:FBFm0JFG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303146W-w,DA6X@Y6@696>y6H@?4?M¿"?`v??!??ɨ6X@6׈;6KCynBnIMb@Mb@Mb@ )YʡE?:v?Mb?y-?T<< @)I@I@y@II>5٢< @=9:Q > G٣yՇ; > Nusing accuracyPremultiplier from config49璜?4Y+C ixB:?:" @iD;;u4 A Zj)5FNOT Ignoring new targets: 101.40 m.Bj=,<Jj=,I TɚiI"=IiowiLq)) I*F)2F):F)BF-J5JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.554717GJGBO >%4w,DA6$@Y6-4@696>y6H 3?|?T¿??p?ӓ?+?@|?ɨ6$@6R;6LCyRBRIIZIZ75٢bP; b^=9bD;Q b>dd fG٣dyjg; j> ]Nusing accuracyPremultiplier from configYe49]꒜?e4Y]H i]|Bim͸m @]iD]X:]:]1ž4q uAqWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.806510B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 29.910625 m, bearing: 66.458826 deg, approach rate: 0.485536 m/s, LOS rate: 0.555495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.622931 deg. 2j<:j~@HeadingCmd: 4.827981 target range: 101.400002 and range: 113.40 m. jjjjihhhhfffrfbfG@ɛ%3B%< !-8>I) -}wɚ)i)I-["=I5i=Owi=+_ں)9)9*F?2F:FBF_0JF IG5xG B9 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060709O >H P>I  I II BI &I .I 8D6I Ȱ<:I F 1:w,'DAzK^iKK^9K\K^JK^n H@YnW@ne9n>ynHJM?@x?@{Q¿@?T?v?@p/?`?ɨn H@nM;nKCyzBzI}Mb@Mb@Mb@yyy y)yY}V-? rh?y&1|?y}h?}C =}`;} A }@)}@Iyyy}@JJJJJ:Jy6:JJJ&<J&<J;J;II95٢ ;=9;Q > G٣6Gy!< > Nusing accuracyPremultiplier from config49t풜?4Y!O iB?: @iD;;̾4 AZjFNOT Ignoring new targets: 101.40 m.Bj]"<Jj]"< ProNav: ac range: 101.400002 m, nav range: 30.111080 m, bearing: 66.707899 deg, approach rate: 0.460028 m/s, LOS rate: 0.567796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.717389 deg. 2j<:j S@HeadingCmd: 4.829629 target range: 101.400002 and range: 113.40 m. j!j!j!j!i!h!h)hIhMBfQfQfQrfQbfU r @ɛ4B…; 隥>I CɚiI?!=Ii9vik:))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311291*F?2F:FBFJFG ï I Gy B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562144Aw,EAVi^@YVm@VYK9VG>yVHI?w?*¿ @`F?= ?)? ?@?ɨVi^@V3;VLCy]B]IIuIu>5٢}= N=9s;Q > G٣y0; > Nusing accuracyPremultiplier from config49?4YT iB, @iD;g;{Ӿ4 HAEZjFNOT Ignoring new targets: 101.40 m.Bj.<Jj.< ProNav: ac range: 101.400002 m, nav range: 30.300478 m, bearing: 66.940969 deg, approach rate: 0.499591 m/s, LOS rate: 0.610944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.669990 deg. 2j<:j@HeadingCmd: 4.828802 target range: 101.400002 and range: 113.40 m. jjjjiahihihihifqfqfqrfqbfu4K!@ɛ5B< q>I ɚiI5!=Ii\ui緂;))*F?2F:FBFJF"GC=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814027G7:G B O% >IGw,EA 8I>hBm@YBY}@BXs9B>yBH z?tv?¿`ӷ?ZZj?`q?`}?ɨBm@B3s;@yRBRrII^I^>5٢fns fV=9f;Q j>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv49r?v4YrZ irBxzz @rjDr ;r;r#ھ4| ~A|Zj)-FNOT Ignoring new targets: 101.40 m.Bj5%<Jj5%IQ UɚQiQIUSn!=I]i]!~ti];)Y)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066273ZHyRHy*FE?2F:FBF`0JFHI IIIBI&I.I6I{<:Is FBIAJIARIAZIAbIAjIEij4zKJK 9KKKKJJJ1JJK:Jo5:J3JJ<J<J;J;G= !j;G B O  Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iձ  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318184zqMw,b8EAF=@YF@F^9FB>yFH,?@vt? ¿`%\?rjE???ɨF=@F>;DyVBVcI Z=Z==Mb@Mb@Mb@999 9)9Y=-?Mb?Mb`y=??====3 A 9)=`@I=v@9y= @IUIUC5٢]#c eA=9eI;Q e>ii mG٣m6Gyu; u> }Nusing accuracyPremultiplier from configy49}j?4Y}a i}By? : @}jD}:<}<}4 AZjaeFNOT Ignoring new targets: 101.40 m.Bj<Jj< ProNav: ac range: 101.400002 m, nav range: 30.690405 m, bearing: 67.411846 deg, approach rate: 0.469328 m/s, LOS rate: 0.558879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.717760 deg. 2jƿ<:ja@HeadingCmd: 4.829636 target range: 101.400002 and range: 113.40 m. jjjjihhhhmBfffrfbf@"@ m$?Iiɛ7B|_; <>>I KɚiI2-!=I%i%ri%;)!))E1*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570040G ~q;G B O >STw,g&REA2@Y2o@2~M92aJ>y2H`?jt?P`Q?q㴉??I?ɨ2@2;2KCyBBFXIILIL٢VX9 VW=9Z=,;Q Z>X\ ^G٣\y^Da; b> fNusing accuracyPremultiplier from config`f49b?j4Ybf ibBhj²j @bjDb:bn:b)4p rKApZj FNOT Ignoring new targets: 101.40 m.Bj,/<Jj,/<- ProNav: ac range: 101.400002 m, nav range: 30.877436 m, bearing: 67.633271 deg, approach rate: 0.520591 m/s, LOS rate: 0.612593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.635409 deg. 2j-5<:j-@5HeadingCmd: 4.828199 target range: 101.400002 and range: 113.40 m. j1j1j1j1i1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822324h1hhhfffrfbf@W#@ɛM8BM̮x; IM*>IQ u^ ɚyiyI} =Iilqi9 <))*F-?2F):F)BF-0JF)G5sA G5tA aIaGm&;- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 H I  I II BI &I .I 6I V<:I X F}Zw,kEA6D@Y6Ů@6?996+>y6H?r?#?iw@G;? ??ɨ6D@6p;6JCyFBFNIzK=QJK=+9K9K=LK=JK3 K.KK"KJJJ0JJk:J::Jـ3JJ"<J"<J6;J6;Mb@Mb@Mb@ )Y/$?Zd;O?AA EG٣AyM׏; M> uNusing accuracyPremultiplier from configQ49UD?4YUm iUB!?: @U/jDUn;U;U4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.40 m.Bj;/<Jj ;/I1 5J# ɚ1i1I5 =I=i=2[oi=(<)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data.] QQ UG٣U 6GyU ]> eNusing accuracyPremultiplier from configam49em?m4Yewt ieBiim @e?jDeM;e;e@4}B }PA}EZjFNOT Ignoring new targets: 101.40 m.Bj3<Jj3< ProNav: ac range: 101.400002 m, nav range: 31.319818 m, bearing: 68.171288 deg, approach rate: 0.523165 m/s, LOS rate: 0.626244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.729392 deg. 2j<:j @HeadingCmd: 4.829839 target range: 101.400002 and range: 113.40 m. jjjjihhhhfffrfbfs]%@ɛ :B @@ =I + ɚiI =Ii>mi%z%<)!))*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1020> - ! I% hgw,EA6@Y6@6F96l >y6H?@w?-d R?,} H?`_?ҳ?ɨ6@6-;6KCy^VBbIIjIjB5٢rg rf=9rݱ;Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~?4Y~z i~B  ί  @~MjD~*:~ :~t4 AZjFNOT Ignoring new targets: 101.40 m.Bj#<Jj#< ProNav: ac range: 101.400002 m, nav range: 31.502552 m, bearing: 68.387955 deg, approach rate: 0.485978 m/s, LOS rate: 0.572881 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.621390 deg. 2j<:j~@HeadingCmd: 4.827954 target range: 101.400002 and range: 113.40 m. jjjjih h h h fffrfbf@u&@ɛe Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251681mw,EAJ@YJ@J 9J\ >yJH??2{?D`:@N?y ?=??ɨJ@J ;JJCyfIBfIUMb@Mb@Mb@QQQ Q)QYUFx?v/?MbyU+?Uxi=UQ U@)QIUv@QyU@ImIm\05٢Zq A=9ZQ > G٣y(ƻ > Nusing accuracyPremultiplier from config49 ?4Yx iBq,?: @`jD;;4 jAZjFNOT Ignoring new targets: 101.40 m.BjG<JjG< ProNav: ac range: 101.400002 m, nav range: 31.741682 m, bearing: 68.672016 deg, approach rate: 0.592820 m/s, LOS rate: 0.698899 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.820885 deg. 2j<:j@HeadingCmd: 4.831436 target range: 101.400002 and range: 113.40 m. jjj j i h h hhBfffrfbf%`&@ɛ=Bdۻ J J J 1J J J y6:J 3J a @a @a @a @Ftw,fkEA6n@Y6v~@6"96/>y6H Y?ڃ?̕ ї?@u _R?@?`պ?ɨ6n@6B;6ICyV3BVI Z=ZR=I^I^-I5٢f} fW=9jѹQ j>hh nG٣n!6Gyr r> vNusing accuracyPremultiplier from configtz49vM?z4Yv itxzz @vpjDv:v:v 4 %AEZj)-FNOT Ignoring new targets: 101.40 m.Bj5u:<Jj5u:B#'$ 隥 I m9 ɚiId =IieiiN!;))Ee>E*F5?2F1:F1BF1JF1 IG*;GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003994H5 O>I1  I5 II5 ˁBI1 &I1 .I1 6I5 e<:I5 c Fzw,GEAyn#BrIJYJ]@AMb@Mb@Mb@zKuJK9KKNKBKrA:KsA )Yv?v/?:vy8?T A @)3@I3@yz@II995٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config49|?4YC io9?: @jD;F;(4B AEZj!-FNOT Ignoring new targets: 101.40 m.Bj-AC<Jj-AC<= ProNav: ac range: 101.400002 m, nav range: 32.224987 m, bearing: 69.222580 deg, approach rate: 0.613436 m/s, LOS rate: 0.682820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.868726 deg. 2jEN<:jE@MHeadingCmd: 4.832271 target range: 101.400002 and range: 113.40 m. jIjIjIjIiIhIhIhQhUрBfYfYfYrfYbf]`p(@ɛ?BG 隍eI g ɚiI =Ii&hiV(;))*F ?2F :FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256696GUt; IG) B9 OU >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507720Dw,*FA6L@Y6)\@6D96>y6H`r?? ; >?@ tT?`??ɨ6L@6 ;6HCyBIIIT5٢ 8=9I:Q >    G٣ y > Nusing accuracyPremultiplier from config%49?54Y iB155 @jDMq;懑w,$!FA6=I@Y6X@6 96>y6HW?` ?W`YIa?@Ay`o5?@?`?ɨ6=I@6[;6KCɳBCBxwAB\iBdF@iBYCFwA)Fh FYtFID J C)JhwAɴJJd|FHN CɵNxwAiNINGFLINCiN(xA RRuF)PR C RxARRځFɶTVCVwAIT)V.tFiX)ZCIZAZɷX XWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011635ZHRH?AHP>I IrIIBI =&I.I6I><:IG F\y-B5III R5٢]ě e)=9l;Q > G٣"6Gy[ > Nusing accuracyPremultiplier from config%49 ?%4Y %tIiIMM @jDl;;#4Q UAQZjFNOT Ignoring new targets: 101.40 m.Bji8<Jji8< ProNav: ac range: 101.400002 m, nav range: 32.810978 m, bearing: 69.853772 deg, approach rate: 0.610852 m/s, LOS rate: 0.644901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.963928 deg. 2jK<:j@HeadingCmd: 4.833932 target range: 101.400002 and range: 113.40 m. jjjjih h h hfffrfbf|*@zKKK9KKOK ɛ=BBEl AEIA E ɚAiIIMV =IMiURfiU:)Q)QEa*F ?2F :F BF ^0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264423GO: IGBO=>OCw,PAFA2 :@Y2I@292A>y2H ޻?? ` ?=y@^?? ?ɨ2 :@2p;2LC)jCIj^xAjĻjK}F hnfCnxAlillin Cr(xA)p r FIp r&C)r-xApvII MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]%?e4Y] iYm~F?m:m!m @]jD];];]M*4q }AyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516640ZjFNOT Ignoring new targets: 101.40 m.Bj;8<Jj;8< ProNav: ac range: 101.400002 m, nav range: 33.061920 m, bearing: 70.113261 deg, approach rate: 0.627823 m/s, LOS rate: 0.644277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.747696 deg. 2j<:j@HeadingCmd: 4.830159 target range: 101.400002 and range: 113.40 m. jjjjihhh h Bf f frfbf@I+@ɛCB0 隍I (ɚiI =Ii.eil8))*F%?2F!:F!BF%`0JF)JJJJJJ7:JJGu : Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767595GI BY O} >pfw,ZFA6,@Y6;@6,96F>y6HUo?? t?GYz0?@? )?ɨ6,@6_;6JCy}B}III#U5٢F T=9e;:Q > G٣y@ > Nusing accuracyPremultiplier from config49)?4YX iY @jDE;uE;14 AEZj!-FNOT Ignoring new targets: 101.40 m.Bj-P<Jj5P< 9I=hU ProNav: ac range: 101.400002 m, nav range: 33.320477 m, bearing: 70.374811 deg, approach rate: 0.726794 m/s, LOS rate: 0.729501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.753696 deg. 2jUS<:jU@]HeadingCmd: 4.830263 target range: 101.400002 and range: 113.40 m. jYjYjYjYiahahahihifqffrfbf ,@ɛy}XP 隅2 I cɚiI !=Ii׌ei))*FA2FA:FABFE0JFA-Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:19:59:20.4210 5TRx dataTimestamp_ set to:1736366361.6217585checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021826HQ>I I@IIzBI =&I.I6Ip<:Il FBIJIRIZIbIjI4G #9G ?G >Ga Bi O >zK} LK} h9Ky K} PK} vw,ѲtFAB@YB?&@BE9B`>yBH ƺ?@ߋ?)Ѻ?e wȀ??`?ɨB@B+;@y=B=I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271691UMb@Mb@Mb@QQQ Q)QYU|?5^?l?MbpyUM?U=UU A U@)U3@IU@QyUz@IIZ5٢\ ==9Q > G٣#6GyŻ > Nusing accuracyPremultiplier from config49#.?4Yd iB N?: @jD3;;84 AZjFNOT Ignoring new targets: 101.40 m.Bj8<Jj8< ProNav: ac range: 101.400002 m, nav range: 33.626835 m, bearing: 70.655249 deg, approach rate: 0.711419 m/s, LOS rate: 0.645293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.808776 deg. 2jm<:jd@-HeadingCmd: 4.831224 target range: 101.400002 and range: 113.40 m. j)j1j1j1i1h9h9hAhEBfAfAfArfIbfMC,@ɛDB 5 I KOɚiID0!=I i ~ei __))E)E-sA 1I1*F?2F:FBF1JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 19:59:20.4210 LVL= 24816, 15921, 13810, 25651, AGC= 62, IDX= 299,-0.07,-0.339, 1.306, 0.365,-0.398, PHS= 0.147, 1.750, 0.760, RAW= 307.7, -33.8, CAL= 302.8, -46.9, ROT= 207.2, 46.9 e Ygot valid direction response: 19:59:20.4210 LVL= 24816, 15921, 13810, 25651, AGC= 62, IDX= 299,-0.07,-0.339, 1.306, 0.365,-0.398, PHS= 0.147, 1.750, 0.760, RAW= 307.7, -33.8, CAL= 302.8, -46.9, ROT= 207.2, 46.9 u DAT read: Range 10 to 50 : 181.2 m (Round-trip 241.6 ms) speed -0.1 m/s } ,DAT read: user:1021>  BDAT read: Tx time:19:59:21.5253  $Ping request sent. - 5)- 3dI- >i- +>- ?- \B?- $ګ@-  - @)- QI- qg@i- Q?) ) - Cɮ %VvډǛC)- l@I- 6?i- ?- (?) )  :publishing transmit ping time؁  Fpublishing direction and range info) 9- Sc?‰?[Ny) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - Cɮ %VvډǛC)) I) i) ) ) ) G ˴G B O >}w,ʤFA%@Y%@%r 9%>y%H,??@  G٣y)ʻ > Nusing accuracyPremultiplier from config491?4Y` iB @kD::@?45B 5A5EkUL?kUR% kQ kUFA:kU35CBkU3CZkUS@"Uj#_@xQ@_$t<[USc?‰?[NJkU?RkU(?*U]ODX@T]%p.!XU4b$?TLJ) "kU4*kU"BkUv%?kU+% 2kU kU 1v?kU3 kU|kUuBkU?e addTargetRange:: Added new target pos. range: 181.199997 m, deltaT: 14.617482 s, deltaX: 67.799995 m, approachRate: 4.638281 m/s, rangeRepo size: 4 u Added new target pos. range: 181.199997 m, bearing: 309.897457 deg, lat: 36.905109 deg, lon: -122.119714 deg, deltaT: 40.075157 s, deltaX: 79.799995 m, approachRate: 1.991259 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 181.20 m.Bj}Jjy ProNav: ac range: 181.199997 m, nav range: 33.114777 m, bearing: 61.108657 deg, approach rate: 0.000000 m/s, LOS rate: 0.645293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.776078 deg. 2j:j@HeadingCmd: 4.830654 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrf`ff@bf@?ɛeEBeJ im Ii mt)ɚiiiImMR!=Iuiueiu])qWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:59:21.5246 )*F=?2F9:F9BF=O5JF9 IG ?Gq By O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,/nFAjH2<bH2<H4I4 I6II6[BI4&I4.I46I6g<:I6g FJ@YJ@J9Jb$>yJH?܍?ur ?Yq??^?ɨJ@JR;JICy^B^IIrIrE5٢d!= D=9юQ %>QY eG٣ay% > Nusing accuracyPremultiplier from config549E6?=4Y iBAMLu @kD*<<F4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 181.20 m.BjTs<JjTs< ProNav: ac range: 181.199997 m, nav range: 33.393879 m, bearing: 61.472458 deg, approach rate: 0.658329 m/s, LOS rate: 0.850933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.057333 deg. 2j=:j@EHeadingCmd: 4.835563 target range: 181.199997 and range: 181.20 m. jIjIjIjIiIhIhIhQhQfQfQfYrfYbf]?ɛ莼 隵I ɚiIo!=Iifi87)zKEcKKEs9KAKEQKE)Q*F]?2FY:FYBFe_5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ! I! G QpG sAG sAG B O >w,J(FA2)ʒ@Y2ٙ@2/92>y2HVd??(¿B`?nk??>?ɨ2)ʒ@2A;2JCy>B>I Mb@Mb@Mb@    ) Y K7?l?~jth?y IL?  D; ` A ) I  y f@I%I%L5٢5F= 5O=95qQ =>99 =G٣=$6GyET E> Nusing accuracyPremultiplier from config499?4Yo iBL?:  @*kD;;M4 >AEZjFNOT Ignoring new targets: 181.20 m.Bjs<Jj%s<5 ProNav: ac range: 181.199997 m, nav range: 33.638721 m, bearing: 61.781454 deg, approach rate: 0.680835 m/s, LOS rate: 0.852970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.895346 deg. 2j5X=:j5ť@=HeadingCmd: 4.832736 target range: 181.199997 and range: 181.20 m. j9j9j9j9i9h9hAhIhMހBfIfIfIrfQbfU?ɛ}FB}.݊ y}DҽIyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997784 %ɚiI!=Iifixo8))E]>E >*F]?2FY:FYBF]_0JFY"Ge=Ge=GG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250023㶑w,KFAy(BII5I5jC5٢E= EJ=9EQ E>II MG٣IyU U> aIeh mNusing accuracyPremultiplier from configau49e=?u4Ye ieByy} @e>kDeU;e V;eKT4 AZjFNOT Ignoring new targets: 181.20 m.Bjb<Jjb< ProNav: ac range: 181.199997 m, nav range: 33.889217 m, bearing: 62.091730 deg, approach rate: 0.644694 m/s, LOS rate: 0.792641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.899049 deg. 2j=:jL@HeadingCmd: 4.832800 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrfbf@6?ɛW 隵nI ɚiI!=Iigi.))*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502581G-,HMR>II IM'IIMfBII)ſ= =~GmvAAG ] .Y] vAy] BBa &II.IM9D6IMn<:IMm FO >J! J% AAJ- J- J) J) J- :J- o5:J) J) J- &y2H Q?ӊ?b&¿PA?hQD`Nq??9?ɨ2@2 @;0yN8BRIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755252--only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3  -@5 5@5 5@5  5@5 I=I==X5٢M= MJ=9MQ M>YY ]G٣aym) m> ]bBottom track data is 0.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQm49UA?u4YU iUB+:W: @UTkDUZUrZ4 AZjFNOT Ignoring new targets: 181.20 m.BjZ<JjZ<  ProNav: ac range: 181.199997 m, nav range: 34.171654 m, bearing: 62.431705 deg, approach rate: 0.640373 m/s, LOS rate: 0.764454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.986569 deg. 2j (=:j в@=HeadingCmd: 4.834328 target range: 181.199997 and range: 181.20 m. j9jAjAjIiIhIhihqhqfqfqfqrfybf}F?ɛ6 ݼI e$?Ia r.ɚiI4!=Iipiih-n))*F=?2F9:F9BF=`0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005469G GA BI Oe >RÑw,,GA 6@Y6 @6=96>y6H`0??| Ϸ?V3?`*? ?ɨ6@68;6ICyFMBF IININaO5٢V= VU=9Z8 ;Q Z>\\ ^G٣^%6GyI; > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49D?54Y- iB5 :15.:=l= @gkDEs;uM?^4A E_AAZjimFNOT Ignoring new targets: 181.20 m.Bju^<Jju^< ProNav: ac range: 181.199997 m, nav range: 34.408901 m, bearing: 62.712619 deg, approach rate: 0.662223 m/s, LOS rate: 0.778701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.812058 deg. 2j=:jܙ@HeadingCmd: 4.831282 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrfbfȂ@ɛX L iIi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509496ZH RH AAE1ʑw,*GAFN@YFϿ@Fd79F >yFHb??\·?-[?@è?$?ɨFN@Fl;FJCHbS>I` IbYIIbBIb =&I`.I`6Ibǰ<:Ib FyޝiBޝ,II%I%R5٢)= -=9Q:Q > G٣ yB %> ]bBottom track data is 1.3 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe49]TI?4Y]6 i]B9 :q @]kD]-;]Ϥ?]c4 AEJJJ1JJ:J8:J3JJ#<J#<Jk;Jk;B*** querying acoustic contact ***jjZj!MFNOT Ignoring new targets: 181.20 m.BjM-P<JjM-P<] ProNav: ac range: 181.199997 m, nav range: 34.724018 m, bearing: 63.078238 deg, approach rate: 0.633206 m/s, LOS rate: 0.728014 deg/s, cmd heading: 275.975187 deg, new cmd heading: 277.061951 deg. 2j]<:j]@HeadingCmd: 4.835643 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrfbf@@ɛ%GB% )-܉=I) -5ɚ)i)I-b!=I5i5` li5X)9zKeJKe9KaKeSKeRKu?JKu%?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761723*F2F:F!BF%`0JF! ) I- hG= שhG B! O= >bёw,nDGAy-B-PI        Mb@Mb@Mb@ )YZd;?{Gzt?~jt?y9?ף;< A @)`@I3@y@IIC5٢> W=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 jK?4Y  i BT:9?:ּ @ kD ; -; Yi4! %A!ZjIMFNOT Ignoring new targets: 181.20 m.BjUG><JjUG><mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014285e ProNav: ac range: 181.199997 m, nav range: 34.943741 m, bearing: 63.306518 deg, approach rate: 0.644526 m/s, LOS rate: 0.665415 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.655686 deg. 2jU<:j@HeadingCmd: 4.828553 target range: 181.199997 and range: 181.20 m. jjjjih!h!h!h%IBf)f)f)rf)bf-d@ɛu8 隥@=I z{ɚiI A!=Ii%mi))*F?2F:FBF0JFG _ Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:19:59:24.1313 - TRx dataTimestamp_ set to:1736366365.401235- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267501G B O >1בw,+^GA6@Y6.@6-96 >y6Hi?ǎ?@5?a?X?@l?ɨ6@6qe;6KCyRBRqI)T TIZIZF5٢bp> ba=9f&:Q f>dh jG٣hyn pIp v> zNusing accuracyPremultiplier from configt~49vM?~4Yv ivB @vkDvo;v;vo4  A Zj15FNOT Ignoring new targets: 181.20 m.Bj=2<Jj=2IA EYmɚAiAIE@!=IMiMqUniMRc)I)QEEtA*FM?2FI:FQBFUP5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518439HI IIIˁBI&I.I6I<:I FGuUGi B J J J 0J J K:J 9:J ـ3J J <J <J P;J Q;OM >zK V$KK 9K K TK [ݑw,xGA2 @Y2@2u)92,>y2HZ?c?$?e`.? i??ɨ2 @28c;0y>B>IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rAipzDAT read: Range 10 to 50 : 151.3 m (Round-trip 201.8 ms) speed -0.6 m/s z,DAT read: user:1022> ~BDAT read: Tx time:19:59:25.2253 ~$Ping request sent. G٣&6Gy: > Nusing accuracyPremultiplier from config 49\O? 4Y,  iB5(?5:5$5 @kD";Y;w4A EAAaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 151.300003 m, deltaT: 3.780276 s, deltaX: -29.899994 m, approachRate: -7.909474 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 181.20 m.Bj<Jj< I ProNav: ac range: 181.199997 m, nav range: 35.437576 m, bearing: 63.791664 deg, approach rate: 0.558717 m/s, LOS rate: 0.526440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.733875 deg. 2j<:j@HeadingCmd: 4.829917 target range: 181.199997 and range: 181.20 m. jj j j i h h hh}Bfffrfb@bf?ɛ; 隕f>I 2ɚiIb =IioiV))*Fu?2Fy:FyBF}`5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:19:59:25.2246 G |`Gq B O >hw,|{GA6`@Y6Ι@6B!96)O>y6H?`Ӊ?O¿Y@,?l0?f?`d?ɨ6`@6x;6JCyVӁBVIIbIb|+5٢j > ni=9nŴ:Q n>pp rG٣pyrc; r> zNusing accuracyPremultiplier from configt~49vP?~4Yv& ivB|~쿿~ @vkDv* ;vP:v~4B 9A EZj)5FNOT Ignoring new targets: 181.20 m.Bj5<Jj=I  ɚiI =Ii6pi^i=))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. yIyG_GBO>jH] <bH] <} Will construct direction to contact in vehicle frame from tetrahedron phase data.H- T>I)  I- II- BI) &I) .I) 6I- E<:I- N FBIYJIYRIYZI] =bIYjI] 4pw,u>GAr(@YrǙ@rt19r>yrHԷ??5¿+?łd>?(?@?ɨr(@rt;rKCy ށBII%I%15٢53\= 5E=95Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49UZR?e4YUW iU Bim u @UkDUU;UZ;UH4  A9ZjJJJ1JJk:J<:J3JJ"<J"<J;J;FNOT Ignoring new targets: 181.20 m.Bj<Jj< ProNav: ac range: 181.199997 m, nav range: 35.871189 m, bearing: 64.195067 deg, approach rate: 0.493966 m/s, LOS rate: 0.453126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.627500 deg. 2j}<:jy@HeadingCmd: 4.828061 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrfbf%e?ɛqu%< q}>Iy }TɚyiyI}~B =Iil!ri#O))ER>E>zKKKh9KKUK*FE?2FA:FABFAJFAGI GMrAWill construct direction to contact in vehicle frame from tetrahedron phase data. q Iu hGe KGA BQ O >tw,GAy~B~IMb@Mb@Mb@ )Yn?y&1|~jt?y?`廹<3 A )Iyf@IlIK!5٢= @=9Q > G٣'6Gy > Nusing accuracyPremultiplier from config49S?4Y iɠB'?:b @kD;j;4  A=Will construct direction to contact in vehicle frame from tetrahedron phase data.EB*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 181.20 m.Bj<<Jj<< ProNav: ac range: 181.199997 m, nav range: 36.086681 m, bearing: 64.393489 deg, approach rate: 0.593112 m/s, LOS rate: 0.542864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.566874 deg. 2jH<:jv@HeadingCmd: 4.827003 target range: 181.199997 and range: 181.20 m. jjjjihhhhāBfff!rf!bf-C?ɛIB‡< 隽>I &#ɚiI=IiO;siyM))*F2F:FBFJFG hAG G pA Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G B O > Y Ia Xw,GA2ʒ@Y2ٙ@2@92>y2H-c?`τ?r¿-@?a,?c?@q?ɨ2ʒ@26;2ICyZBZIIbIb*5٢~= ~Y=9~Q ~> G٣y ;  > Nusing accuracyPremultiplier from config49aU?4Y% iΠB!%% @kD::L4) - A1ZjQUFNOT Ignoring new targets: 181.20 m.Bj]<Jj]<  ProNav: ac range: 181.199997 m, nav range: 36.278038 m, bearing: 64.568231 deg, approach rate: 0.511880 m/s, LOS rate: 0.464970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.496633 deg. 2j <:j l@HeadingCmd: 4.825777 target range: 181.199997 and range: 181.20 m. jjjjihhhhf!f!f!rfabfm ?ɛJBG=< W>I -ɚiI =IitiƑ,))*F?2F:FBF`0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766927HIC I: IIEBI&I.I6I_<:Ia FG kBGq B O >zK JK K K VK &ak[L>7/% >w,GA2@Y2X@2v? 92Y>y2Hp??=c¿?@r?Z??ɨ2@2v;0y>B> IZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019612Mb@Mb@Mb@ )Y/$?{Gzt:v?y1?ףT< @)@Iy\@I%I%6=5٢-ڙ= -9=95;Q 5>99 =G٣9y=< E> MNusing accuracyPremultiplier from configA49EW?4YE+ iEҠB=?: @ElDEVmI YɚiI =Imiu۫tiuf)q)q*F]?2FY:FYBF]i0JFYUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268588Ge .-G9 BI Oe >ұw,ͰHAJ8J:J8J8J8J:8:J8J8a>@aB@aB@aB@V%/@YV>@V#9V]>yVHP?`|?`4¿Y u?݃Xdw?;?@T?ɨV%/@VS;VKCyfBf IIrIr45٢z< za=9zq7|| ~G٣~(6Gy< >  Nusing accuracyPremultiplier from config 49 X?4Y 0 i ՠB缿 @ lD : ;  ; _4! % A%EZjFNOT Ignoring new targets: 181.20 m.Bj;Jj; ProNav: ac range: 181.199997 m, nav range: 36.647377 m, bearing: 64.909320 deg, approach rate: 0.465965 m/s, LOS rate: 0.430008 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.436121 deg. 2j<:jd@ HeadingCmd: 4.824720 target range: 181.199997 and range: 181.20 m. j j j jih1h1h9h9f9f9fArfAbfM@ɛKB < >I "ɚiIB=IizXtiX;9) ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521716*F?2F:FBF?1JF IG% UG- ?G- >G B O- >ZH RH @Ae Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773789H I  I f II iBI &I .I 6I <:I F> w,-HARGj`wAvZA EYYE`wAyEQBRM@YR-]@R9RH>yRH`{? z? ¿@X?8@OSq? y?`?ɨRM@RG;RJCy޵"B޽ III65٢=+= E7=9X;Q > G٣ye< > -Nusing accuracyPremultiplier from config=49Z?u4Yx7 i٠By}l @lD<ߑ<4  AZj)5FNOT Ignoring new targets: 181.20 m.Bj5@;Jj5@;m ProNav: ac range: 181.199997 m, nav range: 36.862194 m, bearing: 65.107740 deg, approach rate: 0.447946 m/s, LOS rate: 0.411342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.566955 deg. 2jm&<:juv@uHeadingCmd: 4.827004 target range: 181.199997 and range: 181.20 m. jqjyjyjihhhhfffrfbf`^@ɛ]LB]< ae>Ia eܻɚaiaIeUh=Imimnsim9u ;)q)qzKMK9KKWKWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:59:27.7955 TRx dataTimestamp_ set to:1736366368.933845checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027303*F-?2F):F)BF50JF1 IGU >G) B9 OU > w,|GHA6^@Y60n@6N<96>y6H[?x?Q¿@3Ѽ?Tg?!?\?ɨ6^@6H;6KCyTT=Mb@Mb@Mb@999 9)9Y= r?Q?I +?y=?=u<=94<=I A 9)=AI=`@9y=QAIUIU<55٢e[: eY=9em;Q e>ii mG٣qy}l; }> Nusing accuracyPremultiplier from config49\?4Y<< i۠B?:7 @*lD7;5;ǯ4  AB*** querying acoustic contact ***jj Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276674ZjMFNOT Ignoring new targets: 181.20 m.BjM2<JjU2<] ProNav: ac range: 181.199997 m, nav range: 37.015697 m, bearing: 65.261205 deg, approach rate: 0.471365 m/s, LOS rate: 0.469292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.433662 deg. 2je <:jec@HeadingCmd: 4.824677 target range: 181.199997 and range: 181.20 m. jjjjihhhhBfffrfbf`b @ɛ MB x<  g>I  ӻɚiI=Iiri1;))EIEI*F?2F:FBF5JFGrA GtAJ;3K;3 K;/.K3K3"K3JuJuJqJqJu:Ju::JqJqG: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528665G B Oe > I h0w,?aHA6%v@Y6@6V˺96>y6Hۼ?(w? @+?&d JvY? ?`C?ɨ6%v@6l̇;4ybBb IIjIj>5٢vH% vS=9v^;Q z>xx zG٣z)6GyM; M> UNusing accuracyPremultiplier from configQ]49UJ_?]4YUA iUޠBamٶm @U7lDUA;UPB;U4q u AqZjFNOT Ignoring new targets: 181.20 m.Bj;Jj; ProNav: ac range: 181.199997 m, nav range: 37.187004 m, bearing: 65.431736 deg, approach rate: 0.431780 m/s, LOS rate: 0.427845 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.484409 deg. 2jВ<:jk@HeadingCmd: 4.825563 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrfbfPe @ɛ NB 9<  f>I  ɻɚiI=Iiuqi;))!*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 124.5 m (Round-trip 166.0 ms) speed -0.7 m/s =,DAT read: user:1023> EBDAT read: Tx time:19:59:28.8753 E$Ping request sent.EI]C I]s II]sBIY&IY.IY6I]<:I]} FG!j;GGtAG1 J J @AB O >.w,{HAzK.KK.]9K,K.XK.BK6sA:K6rABWill construct direction to contact in vehicle frame from tetrahedron phase data.y]BeIMb@Mb@Mb@ )Y?Zd;O?Mb`y?j<= A )QAIyI5I595٢Ek E6=9MQ M>YY eG٣aym }$?I u> Nusing accuracyPremultiplier from config49)c?4YJG iߠB?:v @ElD<;:;u4 1 AaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 124.500000 m, deltaT: 7.563991 s, deltaX: -56.699997 m, approachRate: -7.496042 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 181.20 m.Bj;Jj; ProNav: ac range: 181.199997 m, nav range: 37.366348 m, bearing: 65.634770 deg, approach rate: 0.390703 m/s, LOS rate: 0.440190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.581344 deg. 2j <:jx@HeadingCmd: 4.827255 target range: 181.199997 and range: 181.20 m. jjjjihhhhBfffrf _@bf[u?ɛOB< >I ɚiI\{=Iioi$F;))*F2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~q;G B O >$w,HAJ&J&J&0J$J&k:J&o5:J&ـ3J$Jh@YJx@J6K9J>yJHQ?v? w+?`wGfi?`?=?ɨJh@JQ>;JJCyz BzIII55٢M `=9ĊQ >!! -G٣)y-O 5> =Nusing accuracyPremultiplier from config1E495Jf?E4Y5K i5BIMM @5QlD5T:5:5Ŀ4Q U} AQZjy}FNOT Ignoring new targets: 181.20 m.Bj<Jj< ProNav: ac range: 181.199997 m, nav range: 37.512737 m, bearing: 65.798142 deg, approach rate: 0.424730 m/s, LOS rate: 0.472151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.463376 deg. 2j<:jh@HeadingCmd: 4.825196 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrfbf)H?ɛPB,< />I ɚiI36=Iioi ֓;))*Fu?2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data. iImhG1GBO=>jH bH H R>I  I f II iBI &I .I 6I <:I Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.*+w,֮HA^Vn@Y^}@^@c9^M>y^H ~?? \`eZ?`Jhl?@??ɨ^Vn@^a;^LCyjBjIIvvIv%5٢z׽ ~L=9~oQ >    G٣ *6Gy 7:  > Nusing accuracyPremultiplier from config%49i?%4Y&Q iB!%- @^lD:;˿45B 5,A5EZjY]FNOT Ignoring new targets: 181.20 m.Bje<Jje< ProNav: ac range: 181.199997 m, nav range: 37.675526 m, bearing: 65.978189 deg, approach rate: 0.406755 m/s, LOS rate: 0.447935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.512978 deg. 2j<:jo@HeadingCmd: 4.826062 target range: 181.199997 and range: 181.20 m. jjjjihhhhfffrfbfњ?ɛRBCf< *>I  L,ɚi!I%N=IiRmiYC;))*F?2F:FBF_0JFzK=QJK=9K9K=YK=     RKE?JKE!?Will construct direction to contact in vehicle frame from tetrahedron phase data. aIiG% ,;G% ?G% >G B O5 >"2w,XHA:z@Y:I@:&9:|V>y:H?? ?`%࿤b?? z?ɨ:z@:xˉ;:JCyFBJI%Mb@Mb@Mb@!!! !)!Y%v/?Q?{Gzy%x ?%\=%#%3 A %@)%@I!!y%@I=I=(*5٢M ME=9M<;Q U>QQ UG٣Qy]p; ]> uNusing accuracyPremultiplier from configau49efn?}4YeV ieB} ?}:T @ellDe8S;e8;eҿ4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 181.20 m.Bj<Jj< ProNav: ac range: 181.199997 m, nav range: 37.851593 m, bearing: 66.187807 deg, approach rate: 0.424223 m/s, LOS rate: 0.502709 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.601088 deg. 2j<:j{@HeadingCmd: 4.827600 target range: 181.199997 and range: 181.20 m. jjjjihhhhāBfffWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.rfbf@I?ɛSBi< O>I ɚiI7=I iakli;))*F?2F:FBF0JFJeJeJaJaJe:JeS2:JaJaG~q;G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764836O > a Ia <8w,HA6@Y6B@696D >y6H`H?@(|?F?`/B?,%? -?ɨ6@6ȉ;6ICy^сB^IIjIjF5٢v vQ=9v;Q v>xx zG٣xy~[; ~>  Nusing accuracyPremultiplier from config 49r?4YI\ iB @zlD:G:ٿ4! %PA%EZjFNOT Ignoring new targets: 181.20 m.Bj4 <Jj4 < ProNav: ac range: 181.199997 m, nav range: 38.018799 m, bearing: 66.385566 deg, approach rate: 0.407472 m/s, LOS rate: 0.479810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.565834 deg. 2j<:jv@HeadingCmd: 4.826984 target range: 181.199997 and range: 181.20 m. j j j j i h h hYhYfYfYfYrfabfee?ɛUBG< x>I XJɚiI=Iijip<))!EHS>I I4 II@BI =&I.I6IZ<:I] FBIJIRIZIbI =jI64%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016757*FE?2FA:FABFE0JFAGI GMpAG O;G B O >Ee>w,$aHA6㖓@Y6e@6996y >y6H? yz?`L @u?`7@A?5?ɨ6㖓@6N;6KCBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268732yJBJIzKjLKj9KhKjZKj     BKrA:KMb@Mb@Mb@ )YQ?/$?:vy?=TI A @)`@I3@y@II#U5٢ý <=9 ;Q > G٣+6Gy; > Nusing accuracyPremultiplier from config I49{x?4Yb iU? : .  @lDy;x;g4 AZjFNOT Ignoring new targets: 181.20 m.Bj<Jj<  ProNav: ac range: 181.199997 m, nav range: 38.218773 m, bearing: 66.626028 deg, approach rate: 0.460693 m/s, LOS rate: 0.551068 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.692758 deg. 2j <:j Έ@5HeadingCmd: 4.829200 target range: 181.199997 and range: 181.20 m. j1j1j1j1i9h9h9h9hEBfAfAfArfAbfM@ɛWB9 < 隵K>I $ɚiIm=Iihi<))*F?2F:FBF4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520652G% Mh <G B O- >'OEw,DIA6@Y6r@62:96 >y6H^?@z? 1q?@_FP5??ɨ6@6;6JCyBBBoIIJIJaO5٢Rp R_=9V:Q V>TX ZG٣XyZ*7 Z> bNusing accuracyPremultiplier from config\f49^@}?f4Y^Mh i\ddf @^lD^:^7:^4l nAlZjIFNOT Ignoring new targets: 181.20 m.Bjr!<Jjr!<5 ProNav: ac range: 181.199997 m, nav range: 38.388264 m, bearing: 66.827254 deg, approach rate: 0.477657 m/s, LOS rate: 0.564586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.576175 deg. 2j5<:j5"x@=HeadingCmd: 4.827165 target range: 181.199997 and range: 181.20 m. j9j9j9j9iAhAhAhAhIfIfIfirfqbfu@ɛXB!а;  >I +;ɚiI_=Iiagin<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774044*F?2F:FBF4JF IG(<G B O >ZHA RHA HI II  IM IIM BII &II .II 6IM <:IM & F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:19:59:31.4871 M TRx dataTimestamp_ set to:1736366372.716963M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026079wKw,0IA:@Y:<@:(3}:9:Vx >y:H@?v|?@o?`lIdO`A?@6?ɨ:@:;/;:ICy^B^]IIfIf#U5٢r, rG=9r Q v>xx zG٣xyz` ~> Nusing accuracyPremultiplier from config 49? 4Yn iB  o @lD.:P:4 SAZjAEFNOT Ignoring new targets: 181.20 m.BjM@<JjM@<] ProNav: ac range: 181.199997 m, nav range: 38.579914 m, bearing: 67.051088 deg, approach rate: 0.476206 m/s, LOS rate: 0.553411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.643323 deg. 2j]<:j]@eHeadingCmd: 4.828337 target range: 181.199997 and range: 181.20 m. jajajijiiihqhqhyhyfyfyfyrfbf@ɛZBk[; 隵=I SɚiI0X=Iifi/i;))EEJMJMJIJIJMk:JMy6:JIJIJIaJIaJM;aJM;a*F]?2FY:FaBFe_0JFi"Gu=Gu=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276803zKI1MK9KK[K   $?IhGO <G B O >JaRw,IIA%P|@Y%ҋ@%f:9%˨ >y%H?~??AT`lT'??ɨ%P|@%ݩ;%JCymtBm9IWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 19:59:31.4871 LVL= 26304, 23457, 17330, 28339, AGC= 58, IDX= 344, 0.31,-1.973,-0.133,-0.931,-1.927, PHS= 0.042, 1.841, 0.993, RAW= 298.1, -33.1, CAL= 291.3, -45.3, ROT= 218.7, 45.3 5Ygot valid direction response: 19:59:31.4871 LVL= 26304, 23457, 17330, 28339, AGC= 58, IDX= 344, 0.31,-1.973,-0.133,-0.931,-1.927, PHS= 0.042, 1.841, 0.993, RAW= 298.1, -33.1, CAL= 291.3, -45.3, ROT= 218.7, 45.3 =PDAT read: Bearing 218.7, 45.3 (Local) =~Local bearing/azimuth received: Bearing 218.7, 45.3 (Local) MDAT read: Range 10 to 50 : 155.6 m (Round-trip 207.5 ms) speed 0.0 m/s U,DAT read: user:1024> ]BDAT read: Tx time:19:59:32.5754 ]$Ping request sent.]B?:publishing transmit ping timeYFpublishing direction and range info9טs!?#\k?:ly `e A @)I@Iy@II\5٢U /=)Ii )IimxCU?mQSt{)Ii9#:Q > G٣,6Gy' > Nusing accuracyPremultiplier from config49?4Yv i{'? : b  @lD;;4B ?AEkѩ?ki$ k k NIA:kCBkCZk"X@"U1Z@؊-E@ VZטs!?#\k?:lJk>RkB?*-0xB Q@5gUX%Y.y?S俜t[/Yw,MfIAJa@YJQq@J 0:9J>yJHA??`Լ?`]`C@A?`8?ɨJa@J3;JLCHR>I IIIՁBI&I.I6I<:I- F)-F= -_C}GvAWill construct direction to contact in vehicle frame from tetrahedron phase data.A jYvAyBy޽VB޽I =p=DAII:\5٢ =9Q > G٣yڻ > Nusing accuracyPremultiplier from config 49*? 4Y~ iߠB̨ @lD;1;'4 3AE=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 155.60 m.BjUF<JjUFQ`w,UIAN_1@YN@@N9N{`>yNH`"?@)?L<j?~0U?``??ɨN_1@N.;LɳhjtwAnbillitvwA)t vKtFIx |)ɴV|F QɵU\wAiUQ8IQQIQiY YY)ai mxAqyɶyI)i)IA鷩ɷ y޽GB޽IMb@Mb@Mb@ )YI +?sh|??~jty94?=D A )`@Iyp@IIr^5٢ͪ i=9Q > G٣y > Nusing accuracyPremultiplier from config49ޔ?4YA i5?: @lD;;G4 A Zj1EFNOT Ignoring new targets: 155.60 m.BjMF<JjMF<] ProNav: ac range: 155.600006 m, nav range: 41.515553 m, bearing: 57.589402 deg, approach rate: 0.495719 m/s, LOS rate: 0.695098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.707496 deg. 2je<:jm銚@uHeadingCmd: 4.829457 target range: 155.600006 and range: 155.60 m. jqjqjqjqiyhyhyhhBfffrfbf kT?ɛ_B 隽h@I ^nɚiI=Iibi9))*F?2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996339G!j;GBO>vfw,IA>@Y>S$@>p9>љ>y>H@?`ԏ?X@@푺?lb?g?`k?ɨ>@>4";>JCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247325 Iym7BmII}I}J5٢A >=9Q > G٣-6Gy > Nusing accuracyPremultiplier from config49?4Y i @lD~;; 4 'AZjFNOT Ignoring new targets: 155.60 m.BjC<JjC<- ProNav: ac range: 155.600006 m, nav range: 41.730831 m, bearing: 57.886202 deg, approach rate: 0.499493 m/s, LOS rate: 0.685086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.860920 deg. 2j-<:j-٠@5HeadingCmd: 4.832135 target range: 155.600006 and range: 155.60 m. j1j1j9j9i9h9h9hAhAfAfAfIrfIbfM`?ɛ`B# 隍I ɚiIW=Ii-biתo))*F=?2FA:FABFAJFAjH1bH5<H9I9 I=rII=BI9&I9.I96I=~<:I=x F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504993G% k;G) G) G B O >ԟlw,EIAJJJ0JJJ=:Jـ3JJJJ;J;%@Y%@%fJ9%&>y%H@? ?G_`@?Li?dj?@P?ɨ%@%Ȉ;!)ǹIǹƹƹ ǹǹii) I 3C)1xAiIIi ) $xAI)iy)BI) Mb@Mb@Mb@ )Yx&1?Mb? G٣yY > Nusing accuracyPremultiplier from config49ş?4Yŕ i=B?:H @ mD@;{;4B AE IhzKJKh9KK]K %bzkZNA;73-'%! ZjFNOT Ignoring new targets: 155.60 m.Bj[><Jj[><] ProNav: ac range: 155.600006 m, nav range: 41.977852 m, bearing: 58.197169 deg, approach rate: 0.531937 m/s, LOS rate: 0.665695 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.902512 deg. 2jen<:je˦@eHeadingCmd: 4.832860 target range: 155.600006 and range: 155.60 m. jijijijiiihihihqhu܀BfqfqfrfbfW.?ɛbB@ tI 2ɚiIh=Ii'cit+))!*F2F:FBFJFG V'SGa Bi O >sw,IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0034286@Y6@6OA96c>y6H ??q`%|? ,d )h`?? ?ɨ6@6z^;6ICyUBUIIeIec5٢ =92k;Q ? G٣y+' ? Nusing accuracyPremultiplier from config49O?4Y iN @mD:@:4 AZjFNOT Ignoring new targets: 155.60 m.BjW<JjW< ProNav: ac range: 155.600006 m, nav range: 42.146034 m, bearing: 58.405852 deg, approach rate: 0.611183 m/s, LOS rate: 0.755338 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.598712 deg. 2j=:j[{@%HeadingCmd: 4.827558 target range: 155.600006 and range: 155.60 m. j!j!j!j!i!h!h)h)h)f1f1f1rf1bf5\@ɛ]cBe@ aeIa ehɚiiiIm =IuiukciuRۻ)q)y*F?2F:FBFy2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255614G  IGBO>Fyw,iIABߒ@YB7@BV9BZ>yBH`H?@n?`q ?ƅJ|`???ɨBߒ@BB;BGCy=B=IIUIUT_5٢u uM=9}FʷQ }>y G٣.6Gy > Nusing accuracyPremultiplier from config49򧓜?4Y{ iB @+mD\ ; ;!4  AZjFNOT Ignoring new targets: 155.60 m.HI IGIIBI&I.I6IP<:IV FBjuC<JjuC< ProNav: ac range: 155.600006 m, nav range: 42.370491 m, bearing: 58.679504 deg, approach rate: 0.563782 m/s, LOS rate: 0.683704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.791735 deg. 2j<:j@HeadingCmd: 4.830927 target range: 155.600006 and range: 155.60 m. jjjjihhhhfffrfbf@4@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507332ɛEdBEgs AEII MɚIiiIu=I}i}p"di}&8)y)*F?2F:FBF `5JF JJJ1JJK:Jf4:J3JJ<J<J֌;J֌;G ̻G ?G ?Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759528 $?I zK byNK 9K K ^K   BXbkvw,υJA2ϒ@Y2bߙ@2K`92>y2H9?ϕ?v*@m? ,_?@h?~?ɨ2ϒ@2(;2ICybBbIMMb@Mb@Mb@III I)IYM}?5^I?+?MbpyMMB?M=MI I)Mv@IM@IyM(@IIm5٢; G=9A9Q > G٣y5 > Nusing accuracyPremultiplier from config49ѫ?4Y iB?:' @?mD;e;(4 AB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 155.60 m.Bj- 8<Jj- 8< ProNav: ac range: 155.600006 m, nav range: 42.610828 m, bearing: 58.948076 deg, approach rate: 0.579227 m/s, LOS rate: 0.643620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.776303 deg. 2j<:j@HeadingCmd: 4.830658 target range: 155.600006 and range: 155.60 m. jjjjihhhhÀBfffrf bfMbk@ɛeBu 隥I  ɚiI1I=Iiei!())*F=?2F9:F9BF9JFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016335Ge JG9 BI Oe > Ćw,aJA6@Y6v˙@696/>y6H??`) ѷ?@m`?? q?ɨ6@6Ɉ;6HCyR$BVIIbIba5٢jX= jY=9j=Q j>ll nG٣lyrӻ r> vNusing accuracyPremultiplier from configtz49vO?z4Yv ivBxzw~ @vRmDvn:v;vu/4 A EZjFNOT Ignoring new targets: 155.60 m.Bj3<Jj3<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267418 ProNav: ac range: 155.600006 m, nav range: 42.832348 m, bearing: 59.190846 deg, approach rate: 0.576399 m/s, LOS rate: 0.628425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.699689 deg. 2j<:jˉ@HeadingCmd: 4.829320 target range: 155.600006 and range: 155.60 m. jjjjihhhhf f f rf bfS @ I!ɛ]fBeNmm aeJIa eiɚiiiIm!o=ImifiI))*F-?2F):F)BF-_0JF)ZHRHHS>I I4IIpBI&I.I6II<:IR FBIJIRIZI =bI =jIiA4Gm{#GI BY m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519409O >w,T6JA2@Y2~@2B*92>y2HB???j?@GEb?? @?ɨ2@2{/;0yJ&BNIIfIfhj5٢n < nI=9n˹Q r>pp rG٣r/6GyvC v> ~Nusing accuracyPremultiplier from config|49~ ? 4Y~% i|   @~emD~BM;~M;~64 AEJuJuJu0JqJu:Ju7:Juـ3JqJu#<Ju#<Ju;Ju;Zj1eFNOT Ignoring new targets: 155.60 m.Bjef <Jjef F֓w,PJA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027336:@Y:@:{*9: >y:H-?k?@< S@e?ƒ[e?@DG?@?ɨ:@:A;:JCyZ(BZI^A\Mb@Mb@Mb@ )Y?~jt?{Gzt?y@?D<ף; )I@y@IIZ5٢"< <=9cQ > G٣yZ > Nusing accuracyPremultiplier from config49?4Y iB@?: @zmDG;TE;%>4 A ZjiFNOT Ignoring new targets: 155.60 m.Bj@<Jj@< ProNav: ac range: 155.600006 m, nav range: 43.334431 m, bearing: 59.706298 deg, approach rate: 0.692449 m/s, LOS rate: 0.674740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.738791 deg. 2j<:jc@HeadingCmd: 4.830003 target range: 155.600006 and range: 155.60 m. jjjjihhhhۀBfffrfbf G@ɛuhBu8i y}Iy }l|ɚiI=IihiLzo))*F2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280812G SGa Bi O >[w,iJAV@YV~@VV49Vd >yVH?~? #?ヿ@ڊf?  G٣y   > Nusing accuracyPremultiplier from config49n?4Y iB% @mD ; ;D4) -%A)ZjQ]FNOT Ignoring new targets: 155.60 m.Bje)<Jje) I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783220R蠒w,l΃JAzK"BcNK" 9K K"`K" :@Y:@:@9:o>y:H?ݎ?@@&?@h?? ?ɨ:@:8 ;:JCyFGBFIMb@Mb@Mb@ )Y1Zd? G٣06Gy > Nusing accuracyPremultiplier from config49?4Y* iB2;?: @mDU;;L4B AE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 155.60 m.Bj%j<Jj%jw, JAJ@YJA@JqS9Jag>yJH ?`?`?3 k~j??¯?ɨJ@JN;JKCyVRBVI ^p=\I`I`٢jY= jV=9nGQ n>lp rG٣pyr} r> vNusing accuracyPremultiplier from configtz49v?z4Yv ivB|~~ @vmDv ;v ;vR4 aA Zj9=FNOT Ignoring new targets: 155.60 m.BjEA<JjEAy2H >?@?` w ?ȝj?`P?`I?ɨ2*@2R;2JCyBbBF$IININ R5٢r= rI=9r9Q v>tx zG٣y: %> -Nusing accuracyPremultiplier from config!-49%I?54Y%i i%B155 @%mD%:%n:%Y4A EAAZjyFNOT Ignoring new targets: 155.60 m.Bj<Jj< ProNav: ac range: 155.600006 m, nav range: 44.303364 m, bearing: 60.565354 deg, approach rate: 0.564916 m/s, LOS rate: 0.478316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.613492 deg. 2j!<:jx}@HeadingCmd: 4.827816 target range: 155.600006 and range: 155.60 m. jjjjihhhhfffrfbf@@ qIqɛѻ uI 3ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795568IEiE@niMji)I)IzK]LK]9KYK]aK]   /O]YTL@/$  RKu>JKu?*F?2F:FBF0JFG= iG B) OE >w,NCJA*Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047142yuhBu+IMb@Mb@Mb@ )Y|?5^?Mb~jt?y-?D< A )v@II@y@IIGL5٢-< -8=9-Q ->11 5G٣516Gy5 => ENusing accuracyPremultiplier from config9M49=U?M4Y=@ i=BM .?M:UÿU @=mD=@;=;=a4Y ]AYZjFNOT Ignoring new targets: 155.60 m.Bj<Jj< ProNav: ac range: 155.600006 m, nav range: 44.556686 m, bearing: 60.767347 deg, approach rate: 0.626596 m/s, LOS rate: 0.496788 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.577695 deg. 2jx<:jZx@HeadingCmd: 4.827191 target range: 155.600006 and range: 155.60 m. jjjjihhhh0Bfff9rfAbfEʟ@ɛy 隕I MɚiI=IiC*piKk))JJJ/JJ:Jy6:J(N3J*FU?2FQ:FYBF]P5JFY iIi Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.300340GQ GY GY G1 B9 O] >(?w,QJABF@YBÙ@B:+9BbU>yBH@c?|?¿ ?@ߌepe?@??ɨBF@B6;@yNBNLIVAVAIZIZDP5٢b1> be=9f:Q f>hh jG٣hyn; n> vNusing accuracyPremultiplier from configpv49r:?z4Yr irBxzyÿz @rmDr:r:rg4 A EZj!-FNOT Ignoring new targets: 155.60 m.Bj5<Jj5<HAIA IEIIEBIA&IA.IA6IE<:IE F ProNav: ac range: 155.600006 m, nav range: 44.763607 m, bearing: 60.930988 deg, approach rate: 0.580703 m/s, LOS rate: 0.457120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.463829 deg. 2jۜ<:jh@HeadingCmd: 4.825204 target range: 155.600006 and range: 155.60 m. jjjjihhhhfffrfbf@ɛmkBm 隕P?=I /ɚiI=IiGqi,O))uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552243*Fi2Fi:FiBFm_0JFiGQGI Bq O > i Im h% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803187g&w,KAzKBMKB+9K@KBbKB    +650/1/-)&%$$BKD:KDk@Yę@U49o>yH?? &¿ C? vf?2? ?ɨk@ۇ;HCy%B%\IMb@Mb@Mb@ )Y?y&1?yf&?̼`e< A )@Iy@IIF5٢hr= 9=9Q > G٣y9 >  Nusing accuracyPremultiplier from config 49 {?4Y 3 i B&?:n¿ @ mD c; F; o4! %pA!]B*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 155.60 m.Bj;Jj; ProNav: ac range: 155.600006 m, nav range: 45.007229 m, bearing: 61.124851 deg, approach rate: 0.543039 m/s, LOS rate: 0.429785 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.553606 deg. 2jz<:jt@HeadingCmd: 4.826771 target range: 155.600006 and range: 155.60 m. jjjjihhhhbBfffrfbf j@ɛ H=I nɚiI=I-i-ri-OQ)))1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057101G lVG Jـ3K3 KS}.KK"KJ J J 1J J +:J S2:J 3J B O% >Pǒw,KA6Ē@Y6ә@6 96m">y6H3?`?`E¿J?@qba?T??ɨ6Ē@6F ;6JCyNBRhIIVIV?5٢^V= b`=9b:Q b>dd fG٣dyf; j> nNusing accuracyPremultiplier from configh I=49j?E4Yjq ijBAE5¿E @j nDjBhII IMIIMՁBII&II.II6IM<:IM| FG KG ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559774G B O- >{͒w,8KA2Ӓ@Y2 @2.к92>y2Ho?@?'U¿|?.`Z?!f??ɨ2Ӓ@24;2KCyBBBnIIJIJF5٢R< RL=9V:Q V>TX ZG٣Z26GyZ; Z> bNusing accuracyPremultiplier from config`f49b“?f4YbQ ibBhjj @bnDb:b:b|4l nApZj  FNOT Ignoring new targets: 155.60 m.Bj<Jj<% ProNav: ac range: 155.600006 m, nav range: 45.430748 m, bearing: 61.458006 deg, approach rate: 0.582465 m/s, LOS rate: 0.454438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.494999 deg. 2j%<:j%l@-HeadingCmd: 4.825748 target range: 155.600006 and range: 155.60 m. j)j)j1j1i1h1h1hhfffrfbf@h@ɛQ]: ae=Ii /#ɚiI=I Ii->fti-E)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.812875*F?2F:FBF`0JFzKMKKKcK#      G .-G B O >xeԒw,pRKAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063401yEBE|IMb@Mb@Mb@ )Y\(\?:v!) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E49=uē?E4Y=  i=BE?M:MM @=,nD=;=<;=ބ4]B ]AYZjFNOT Ignoring new targets: 155.60 m.Bj;Jj;5 ProNav: ac range: 155.600006 m, nav range: 45.661373 m, bearing: 61.643843 deg, approach rate: 0.509651 m/s, LOS rate: 0.408599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.529863 deg. 2j=5<:j=q@=HeadingCmd: 4.826356 target range: 155.600006 and range: 155.60 m. jAjAjAjAiAhAhIhQhUBfQfQfQrfYbf] Z @JJJ0JJ:J@0:Jـ3Jɛ_3; ,=I `ɚ!i!I%=I%i-Pui-#b"))))*F?2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316047G jG B O >ӌڒw,@lKA6@Y6J @6T596'>y6H߹? ? ?¿@ ??F?T? ?ɨ6@6&h;6ICyVBZIIfIf@5٢jK= nb=HpIp IrIIrBIr =&Ip.Ip6Ir<:Ir FBIJIRIZI =bI =jI59";Q >    G٣ ydP< > Nusing accuracyPremultiplier from config%49œ?%4YU iB!-- @:nD::D41 5cA5 EZjyFNOT Ignoring new targets: 155.60 m.Bj;Jj; ProNav: ac range: 155.600006 m, nav range: 45.847797 m, bearing: 61.793953 deg, approach rate: 0.505046 m/s, LOS rate: 0.405013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.423676 deg. 2j<:jUb@HeadingCmd: 4.824503 target range: 155.600006 and range: 155.60 m. jjjjihhhhfffrfbf`A!@ɛlBA~; >I ɚiI@=IiSui |) ) ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.568550*F-?2F):F)BF-_1JF)PExceeded connect timeout, disconnecting.GGGtAGq B I hO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819369ww,(KA^ @Y^t@^p9^6>y^Hsh?@8?`>¿L@$?@?n"?`V?@}?ɨ^ @^y];^HCyjBzKj/MKj9KhKjdKjjIMb@Mb@Mb@ )YbX9?~jth?~jtx?yE?D;; A )@Iv@yIIjC5٢< :=9:Q > G٣36Gy; > Nusing accuracyPremultiplier from config 494ȓ?4Y iBH?:_ @JnD1;;ݒ4 9A!=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 155.60 m.BjU8;JjU8;e ProNav: ac range: 155.600006 m, nav range: 46.058804 m, bearing: 61.973035 deg, approach rate: 0.488908 m/s, LOS rate: 0.413038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.509957 deg. 2je<:jen@mHeadingCmd: 4.826009 target range: 155.600006 and range: 155.60 m. jijijijiiqhqhqhqh}Bfyfyfyrfybf[!@ɛ|; d>I dɚiI&=Ii ui))*Fm?2Fi:FiBFm`5JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071309GNGa Bi O >w,bKA: @Y:L0@:6: DID9:>y:H=? k}?K¿@Ǻ?H F`h?@֪?ɨ: @:q;:FCyNBRIIZIZD5٢b0/< b`=9b^;Q b>dd jG٣hy%; %> =Nusing accuracyPremultiplier from config9M49=?ʓ?U4Y= i=BQUU @=XnD=];=3;=w4i u)AqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324596ZjFNOT Ignoring new targets: 155.60 m.Bja;Jja;} ProNav: ac range: 155.600006 m, nav range: 46.242085 m, bearing: 62.127843 deg, approach rate: 0.476742 m/s, LOS rate: 0.401081 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.437758 deg. 2j<:jXd@HeadingCmd: 4.824749 target range: 155.600006 and range: 155.60 m. jjjjihhhhfffrfbf@O"@ɛ15H; 9=>I9 =lEɚ9i9I=Ӵ=IEiEkzuiM)I)Q*F2F:FBF@5JFjHbH<HI IIIBI&I.I6I<:I/ FG- xm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575351G Bi O >w,ԹKA 2nManaging dock network, ignoring radio surface power offy=B=IIMIM>5٢eC e@=9mQ m>iq uG٣qJJJ1JJK:JS2:J3JJ Nusing accuracyPremultiplier from config49̓?4Y<% iB @hnD_;D\;4 >AZj  FNOT Ignoring new targets: 155.60 m.Bj~;Jj~;% ProNav: ac range: 155.600006 m, nav range: 46.444794 m, bearing: 62.297306 deg, approach rate: 0.488411 m/s, LOS rate: 0.406526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.481344 deg. 2j%<:j%j@-HeadingCmd: 4.825510 target range: 155.600006 and range: 155.60 m. j)j)j)j1i1h1h1h9h9f9fAfIrfYbfe@#@ $?IɛmBE ; 隍P>I yɚiI=IiFui))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827359*FY2FY:FaBFe05JFazKKK9KKeK "!##%(*+,-/.G pG ?G ?Gy B O >w,KAWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣46Gy >  Nusing accuracyPremultiplier from config49ϓ?4Y0, iB?:6 @ynDN;;4! %aA!ZjIUFNOT Ignoring new targets: 155.60 m.Bj]E;Jj]E;m ProNav: ac range: 155.600006 m, nav range: 46.659565 m, bearing: 62.492828 deg, approach rate: 0.482912 m/s, LOS rate: 0.437605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.559030 deg. 2jm)<:jmu@uHeadingCmd: 4.826866 target range: 155.600006 and range: 155.60 m. jqjqjqjqiqhyhyhyh}Bfffrfbf g$@ɛ<; 隵l >I ɚiI"=IiMui))*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.)} ſ= y w,>KAH,I, I.II.BI,&I,.I,6I.Q<:I.V F:GDP fYhyj1A%G[@Y%j@%;9%>y%H S?@/w?pE¿ ?@ђa`k??ɨ%G[@%w5;%JCyEBEIIIA5٢ [=9/;Q > G٣y̜< > Nusing accuracyPremultiplier from config49ғ?4Y1 iBL @nD2;R2;#4 B tA  EZj)5FNOT Ignoring new targets: 155.60 m.Bj5;Jj=;M ProNav: ac range: 155.600006 m, nav range: 46.837326 m, bearing: 62.655334 deg, approach rate: 0.475218 m/s, LOS rate: 0.432786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.460841 deg. 2jM<:jMg@UHeadingCmd: 4.825152 target range: 155.600006 and range: 155.60 m. jQjQjQjQiYhYhYhYhYfafafarfibfm '%@ɛnB/; 隝n>I [ɚiIь=Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1025> - y=H#8?w?¿q@ռ? $cc 5B?@4?ɨ=qe@=x;9yUBUIzK *MK9KKfK,../-*,TmC$  Mb@Mb@Mb@ )Y/$?~jt?MbPy?= A @)@IyII{R5٢%xi< %G=9%9Q %>)) -G٣)y5E; 5> =Nusing accuracyPremultiplier from config9E49=֓?E4Y=|8 i9E?E:MM @=nD=;= ;=P4Q U\AQmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 155.60 m.Bjb<Jjb< ProNav: ac range: 155.600006 m, nav range: 47.037556 m, bearing: 62.841767 deg, approach rate: 0.488023 m/s, LOS rate: 0.452464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.532089 deg. 2jB<:jq@HeadingCmd: 4.826396 target range: 155.600006 and range: 155.60 m. jjjj!i!h!h!h!h-Bf)f)f)rf)bf5 3&@ɛoB*;  >I HɚiI=Ii3si3;))*Fm?2Fi:FiBFqJFq5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Tx time:19:59:43.5255 =$Ping request sent.=Qw,?!LA I:l@Y:*|@:]\;9:>y:Hrq?%v?*¿?@ 'b mR??ɨ:l@:_ψ;:ICybBfsIhhIpIp٢zKƽ ~a=9~*}Q ~> G٣56Gy ;  > Nusing accuracyPremultiplier from config49ړ?4YD> iB%l% @nD;;4) -A)ZjIUFNOT Ignoring new targets: 155.60 m.Bj]<Jj]<} ProNav: ac range: 155.600006 m, nav range: 47.215038 m, bearing: 63.005612 deg, approach rate: 0.488953 m/s, LOS rate: 0.449685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.464861 deg. 2j}N<:j}8h@HeadingCmd: 4.825222 target range: 155.600006 and range: 155.60 m. jjjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250017rfbf7&@ɛT; =I 9ɚiIӀ=Iiriɪ;)) *F?2F:FBF0JFHS>I IIIBI&I.I6I<:I FG!j;GBO >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501926w,|(;LA>_@Y>o@>`n:9>&>y>H@ ?@t? ¿`Y?ˍR?-?ɨ>_@> ;>HCyJBJeIIRIR<5٢Z2n ^N=9b;=Q f>dd fG٣dyj# j> rNusing accuracyPremultiplier from configlr49nݓ?v4YnD inBtvv @nnDn:n:n4| ~KA|Zj!%FNOT Ignoring new targets: 155.60 m.Bj-;Jj-;E ProNav: ac range: 155.600006 m, nav range: 47.410271 m, bearing: 63.183433 deg, approach rate: 0.489465 m/s, LOS rate: 0.443975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.506435 deg. 2jMY<:jM*n@J]J]JYJYJ]K:J]\3:JYJYJ]<J]<J];J];mHeadingCmd: 4.825948 target range: 155.600006 and range: 155.60 m. jijijqjqiqhqhqhyhyfyfyfrfbfׁ'@ɛpB: 隵8=I BɚiI=Ii}qiMRn;)Q)Q )I)*F ?2F :FBF1JF"G==G==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757254zKM]MKMs9KIKMgKMKy|nY?41/+('(&"!Gew;GA BI Om >w,TLAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011138B)L@YB[@BP9B>yBH@2o?`z? b&¿O&?`m` "?@B?4?ɨB)L@BY;BICyNBN_IMb@Mb@Mb@ )Y}?5^I?~jt?~jthyM"?=DvA @)AIyAII95٢% %6=9-9Q 5>11 5G٣1y= => ENusing accuracyPremultiplier from configAM49E㓜?M4YEK iEBUw#?U:UU @EnDE;EW;Ez4Y ]qAaZjFNOT Ignoring new targets: 155.60 m.Bj <Jj < ProNav: ac range: 155.600006 m, nav range: 47.630352 m, bearing: 63.405200 deg, approach rate: 0.490136 m/s, LOS rate: 0.491607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.637383 deg. 2j<:j〚@HeadingCmd: 4.828233 target range: 155.600006 and range: 155.60 m. jjjjihhhhBfffrfbfre(@ɛmqBm8 qu=Iq ugɚqiqIu =I}i}Epi}n:))*FA2FA:FABFEK3JFA !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262261GM ']?;G! B1 O] >-+w,AnLAHI IIIBI =&I.I6IJ<:IR FFR@YFb@Fz d99Fk>yFH {?{? ZZ?qS@/,??ɨFR@F=‡;FHCyRBRPI Za=Za=I^I^<5٢f fc=9jb:Q j>hh =G٣=66Gy=; E> MNusing accuracyPremultiplier from configAM49E瓜?U4YE R iEBQu} @EnDEo;E;E4B A EZjFNOT Ignoring new targets: 155.60 m.Bj^<Jj^< ProNav: ac range: 155.600006 m, nav range: 47.812931 m, bearing: 63.587411 deg, approach rate: 0.479683 m/s, LOS rate: 0.476889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.519717 deg. 2j<:jp@=HeadingCmd: 4.826180 target range: 155.600006 and range: 155.60 m. j9j9j9j9iAhAhAhAhAfIfIfIrfbf9)@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514188ɛ]rBe ae=Ia eEUɚiI҅=Iiloig3;))*F92FA:FABFEP5JFAJqJqJ}J}J}0JyJ}:J}7:J}ـ3JyJ}3!<J}4!<J};J}; ) I1 GM :GQ B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779919Q"w,LA6:R@Y6a@6q>:96N >y6Hc?~?@އtO? 琿R@3??ɨ6:R@6j+;6KCypvOIMb@Mb@Mb@ )YL7A`?l?~jth?y+'?=D; A )Iy(AIIT5٢m ==9;Q > G٣ydi > Nusing accuracyPremultiplier from config49쓜?4Y#Y iB=(?:~ @nD;;O4 A B*** querying acoustic contact ***j j zK5NK59K1K5hK5   BKA:KEqAZjFNOT Ignoring new targets: 155.60 m.Bj<Jj< ProNav: ac range: 155.600006 m, nav range: 48.027031 m, bearing: 63.795418 deg, approach rate: 0.518855 m/s, LOS rate: 0.501839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.596398 deg. 2j4<:j{@HeadingCmd: 4.827518 target range: 155.600006 and range: 155.60 m. jjjjihhhhqBfffrfbf`x*@ɛUsBUκ Y]=IY ]gɚYiYI]Î=Ieieɟnie:';)i)*F!2F!:F!BF%0JF)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.023819G ;G B O > ! I% h2;(w,8LA6N@Y6^@6n:96 >y6H??p`Q1?`b,[`?@g?ɨ6N@6;6JCyB~BBFIIJIJ{R5٢R R]=9V:Q V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\f49^^?f4Y^a_ i^Bhjj @^nD^l0;^}0;^4l nAr EZjFNOT Ignoring new targets: 155.60 m.Bj  <Jj  < ProNav: ac range: 155.600006 m, nav range: 48.216190 m, bearing: 63.977014 deg, approach rate: 0.512388 m/s, LOS rate: 0.489971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.517822 deg. 2j!<:jo@HeadingCmd: 4.826147 target range: 155.600006 and range: 155.60 m. jjjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274109frfbfk*@ɛ%tB%V, !%I! I%II%ځBI!&I!.I!6I%<:I%) FBIJIRIZI =bI =jIū4G']?;GrAGsAGBO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526760^f.w,eLA2 F@Y2U@2;92 >y2H`>? o?g ?@_``E?@?ɨ2 F@2{;2KC $?IyuB:IIIT5٢ "=9X-:Q > G٣76Gy > 5Nusing accuracyPremultiplier from config)M49-?U4Y-h i- BYem @-oD-<-<-4 dAWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.782435ZjFNOT Ignoring new targets: 155.60 m.Bj ;Jj ; ProNav: ac range: 155.600006 m, nav range: 48.481556 m, bearing: 64.228058 deg, approach rate: 0.473986 m/s, LOS rate: 0.445950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.724152 deg. 2j<:jK@HeadingCmd: 4.829748 target range: 155.600006 and range: 155.60 m. jj j j i h h hhfffrfybf}@ +@ɛuB I ɚiI=Ii3li|E:)) zKu.LKuh9KqKuiKu*F?2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:19:59:46.1452  TRx dataTimestamp_ set to:1736366387.352662 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031020G ;GQ BY O} >5w,TLAf[4@YfC@fD:9f >yfH@屻? ?`9r`^?`h]?h?ɨf[4@f;fJCɳ|~pwAhi\Fi) I  )))ɴ)111ɵ5twAi5I5@F1I9i9 99)9A AAAɶAAIII)iii)qIqqɷq qyyޅrBޅ8IMb@Mb@Mb@ )YK7?V-?y)?h= @)@IyIIdK5٢+ G=9@Q > G٣yF > Nusing accuracyPremultiplier from config49d?4Yn i B*?: @oDI;;4 vAZjFNOT Ignoring new targets: 155.60 m.Bj<Jj<J-J-J-1J)J-:J-f4:J-3J)a5@a5@a5@a5@E ProNav: ac range: 155.600006 m, nav range: 48.690025 m, bearing: 64.419727 deg, approach rate: 0.590424 m/s, LOS rate: 0.540515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.547710 deg. 2jEy<:jEt@MHeadingCmd: 4.826668 target range: 155.600006 and range: 155.60 m. jIjIjQjQiQhQhQhYh]^BfYfYfarfabfe@,@ɛvBc 隝I T#ɚiI=Iili!W)) Ih*FU?2FQ:FQBFU_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281980G] 7:G1 BA Om >H S>I  I II ƁBI &I .I 6I X<:I ] FyHEQ?`J?@zs6`x? V@m\0?f?ɨ5(@D;IC=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 19:59:46.1452 LVL= 17520, 12337, 10098, 21491, AGC= 55, IDX= 491,-0.23,-2.011, 0.290,-0.957,-1.865, PHS=-0.058, 2.201, 0.905, RAW= 304.9, -28.8, CAL= 300.9, -41.8, ROT= 209.1, 41.8 }Ygot valid direction response: 19:59:46.1452 LVL= 17520, 12337, 10098, 21491, AGC= 55, IDX= 491,-0.23,-2.011, 0.290,-0.957,-1.865, PHS=-0.058, 2.201, 0.905, RAW= 304.9, -28.8, CAL= 300.9, -41.8, ROT= 209.1, 41.8 PDAT read: Bearing 209.1, 41.8 (Local) ~Local bearing/azimuth received: Bearing 209.1, 41.8 (Local) DAT read: Range 10 to 50 : 161.6 m (Round-trip 215.5 ms) speed 0.0 m/s ,DAT read: user:1026> BDAT read: Tx time:19:59:47.2255 $Ping request sent.YY eG٣aymT m> uNusing accuracyPremultiplier from configq}49u?}4Yuv iuBy٭ @u2oDue:u:u4 “B A  Ek=t?k=Xe$ k9 k=ALA:k=!CBk= CZk=7@"=X@>GvUO@ˮ[= e?#?){MJk=|?Rk=LAA?*=vP'U@ VWE> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:19:59:47.2248 *F% ?2F! :F) BF) JF) G1  G5 tAzK >KK  9K K jK GM'HGU ?GU,?G BO->fXDw,9MAmWill construct direction to contact in vehicle frame from tetrahedron phase data.yޭgBޭ)IMb@Mb@Mb@ )Yq= ףp?i|?5?y+?q= @)QAIv@yQAIIM5٢ƻ =9Q >  G٣ 86Gy > -Nusing accuracyPremultiplier from config!-49%|?-4Y% i%B5/,?5:5=5 @%IoD%V;%;%49 EAAeB*** querying acoustic contact ***jajaZjimFNOT Ignoring new targets: 161.60 m.Bj\<;Jj\<;  ProNav: ac range: 161.600006 m, nav range: 109.824524 m, bearing: 307.372400 deg, approach rate: -0.639990 m/s, LOS rate: 0.164679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217454 deg. 2j ;:j D@5HeadingCmd: 4.820904 target range: 161.600006 and range: 161.60 m. j1j1j1j9i9h9h9h9hEWBfAfAfArfAbfM (?J}J}J}0JyJ}:J}\3:J}ـ3JyɛIUnYʻ QUIQ U'ɚQiQI] =I]iekie`ĺ)a)a I*F} ?2Fy :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! % T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.Gm p ~G |uA AH1I1 I5II5BI1&I1.I16I5u<:I5r FGABi }Y|uAyqBO>Kw,ȵ0MAV@YVc@V89V! >yVH꨹??; hl?`p̋} 6?@?ɨV@V ;VJC)\I``` ``bxAbDiddidf$xA)d hIh h)j-xAhhlllilIllIpip pp)pvC ttttzCxIx)xixxy|*III^5٢-A; -g=9-rQ 5>11 5G٣1y=ט =? ENusing accuracyPremultiplier from configAM49E+ ?4YEޅ iEB @EXoDE( Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249638\~Rw,yuJMA6֒@Y6@6鱉96 >y6H@$Ǹ??0t? 3<6Q?``B?.?ɨ6֒@6;4y=`B=!IMb@Mb@Mb@ )Ysh|??+?{Gzt?y)?=ף; A @)II@y\@II:5٢ ?=9l/Q > G٣y >  Nusing accuracyPremultiplier from config -49 ?-4Y G i B-H*?-:-W- @ joD 8; ; _4I e AazK&(KK9KKkKZj!-FNOT Ignoring new targets: 161.60 m.BjU8;JjU8;e ProNav: ac range: 161.600006 m, nav range: 109.365021 m, bearing: 307.498754 deg, approach rate: -0.564344 m/s, LOS rate: 0.161616 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189819 deg. 2je;:je@@mHeadingCmd: 4.820422 target range: 161.600006 and range: 161.60 m. jijjjihhhhXw,y2HF?@? /@`r?`B_?=?R?ɨ2Pƒ@2I;2GCyzeBz(II I DP5٢< Q=9%Q %>!! -G٣-96Gy5y 5> =Nusing accuracyPremultiplier from config9E49=-?E4Y= MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751052i=BQUU @=zoD=;};=};=74eÓB eAe EZjFNOT Ignoring new targets: 161.60 m.BjK;JjK; ProNav: ac range: 161.600006 m, nav range: 109.136757 m, bearing: 307.564612 deg, approach rate: -0.614042 m/s, LOS rate: 0.177533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173174 deg. 2j;:j>@HeadingCmd: 4.820131 target range: 161.600006 and range: 161.60 m. jjjjihhhhfffrfbff?ɛ!% !%I! -oɚ)i)I-YF=I5i5Tni59)1)9*F?2F:FBF0JFH=T>I9 I=II=BI9&I9.I96I=<:I=/ FG=GBO`>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002867_w,~MA2]В@Y2ߙ@2S5>92 >y2H'?D?9 ! b?@G?K?`ݴ?ɨ2]В@2͇;0yRdBR&IIZIZO5J\J^AA٢f fQ=9fI;Q j>hh jG٣hynM; n> rNusing accuracyPremultiplier from configpv49r?v4YrӚ irBtzpz @roDr1;rP;r 4 A $?IZjFNOT Ignoring new targets: 161.60 m.Bj'<;Jj'<; ProNav: ac range: 161.600006 m, nav range: 108.909157 m, bearing: 307.630405 deg, approach rate: -0.567859 m/s, LOS rate: 0.164497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172979 deg. 2j;:j}>@-HeadingCmd: 4.820128 target range: 161.600006 and range: 161.60 m. j)j)j)j)i)h)h1hQhQfYfYfYrfYbf]@ɛ]yB]Y[ ae'I Bɚi!I%\=I]i]nieM#}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258862)a)*F]?2FY:FYBF]0JFazK &~JK 9K K lK    BK qA:K rAGE !G B1 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506864ew,4՘MAr֒@Yr+@rF9r=d >yrHCȸ??j@l?`(?x~? !?ɨr֒@r;rFCyhB+IMb@Mb@Mb@ )Yp= ף?:v?~jtx?y%?T<;3 A -@)Iy(AII٢$< /=9:Q > G٣y: > Nusing accuracyPremultiplier from config49q?4Y iB)%?:B @oDc;;-$4 AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 161.60 m.BjP;JjP;% ProNav: ac range: 161.600006 m, nav range: 108.651756 m, bearing: 307.712011 deg, approach rate: -0.573678 m/s, LOS rate: 0.182309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.220584 deg. 2j%<;:j%KE@5HeadingCmd: 4.820959 target range: 161.600006 and range: 161.60 m. j1j1j1j1i1h1h1h9h=SBf9f9fArfAbfE @JJJ1JJ:JS2:J3Jɛb}Ի I R4ɚiIs=Ii%oi%-)!)) I*F?2F:FBF4JFG GsAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759118G jG B O >HQ IQ  IU IIU BIQ &IQ .IQ 6IU L<:IU T Flw,㦲MA6@Y6@6B996 >y6HGG?a?@+k?@e@h<`|?`?ɨ6@6c݇;6HCyvqBv6II~I~T5٢ H=  i=9 :Q > G٣:6Gy6; > -Nusing accuracyPremultiplier from config!-49%?-4Y% i%B155 @%oD%:%:%N*4A EAIZjimFNOT Ignoring new targets: 161.60 m.BjujI;JjujI; ProNav: ac range: 161.600006 m, nav range: 108.457825 m, bearing: 307.773525 deg, approach rate: -0.554166 m/s, LOS rate: 0.176092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160058 deg. 2j;:j<@HeadingCmd: 4.819902 target range: 161.600006 and range: 161.60 m. jjjjihhhhfffrfbf.@ɛ PI xɚiI=IiD;pi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011822*F?2F:FBF_0JF yIGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:19:59:49.8124  TRx dataTimestamp_ set to:1736366391.140507 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269256rw,MAR9@YR @R:9RӜ >yRHE?? C @?َ@RQ`+?ȱ?ɨR9@Rχ;Py^lB^0IMMb@Mb@Mb@III I)IYMMb?{GzyM ?M#MM A M@)MAIM`@IyMQAIeIeO5٢u/ uD=9u:Q }>yy G٣y; > Nusing accuracyPremultiplier from config49?4Yy i ?: @oDP;N;14 AZjqFNOT Ignoring new targets: 161.60 m.BjD;JjD;zKLK9KKmKRK?JK? ProNav: ac range: 161.600006 m, nav range: 108.238251 m, bearing: 307.848613 deg, approach rate: -0.502060 m/s, LOS rate: 0.172038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200906 deg. 2j";:j{B@HeadingCmd: 4.820615 target range: 161.600006 and range: 161.60 m. jjjjihhhh]Bf1f1f1rf1bf=G @ɛ] 隵`üI DɚiIe=Iipi&))*Fa2Fa:FaBFe^0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516582GM >uG! B1 OU > i Im h%yw,)^MAJ@YJ@J:9J>yJH*?B?`ݹ?`!T??ɨJ@J(;JICyfzBfBIInInK5٢ =  Q=99Q > G٣y%-: %> -Nusing accuracyPremultiplier from config)549-[?54Y- i-B155 @-oD=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 136.9 m (Round-trip 182.6 ms) speed -0.2 m/s U,DAT read: user:1027> ]BDAT read: Tx time:19:59:50.9272 ]$Ping request sent.]w,bJNA>@Y>"@>U:9>>y>H G?6?@k @ չ?|:J ?p?ɨ>@>];>HCJ3K3 K/.KK"KJNJNJN0JLJN :JNf4:JNـ3JLJNsx |I|x G٣;6GyS >  Nusing accuracyPremultiplier from config 49 0 ?4Y  i  @ oD ;  ; s?4) -A)ZjIUFNOT Ignoring new targets: 161.60 m.Bje!V;Jje!V;} ProNav: ac range: 161.600006 m, nav range: 107.821053 m, bearing: 307.992108 deg, approach rate: -0.541881 m/s, LOS rate: 0.187206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194068 deg. 2j}z<:j}A@HeadingCmd: 4.820496 target range: 161.600006 and range: 161.60 m. jjjjihhhhfffrfbf L?ɛxBh 5I mɚiI=Iuiupiuد)q)y*FE?2FI:FIBFQJFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.GXGy zK 2KK S9K K nK  /?IR]ipxq+t:BK sA:K sAB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,NAB/@YB@Bg9Bk>yBH@+ӹ?v?`;5͜?@t,Q > G٣y/ > Nusing accuracyPremultiplier from config49("?4Y iB?:使 @oD';s;F4 AZjiFNOT Ignoring new targets: 161.60 m.BjJ;JjJ; ProNav: ac range: 161.600006 m, nav range: 107.596420 m, bearing: 308.069800 deg, approach rate: -0.510962 m/s, LOS rate: 0.177091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208747 deg. 2j;:jC@HeadingCmd: 4.820752 target range: 161.600006 and range: 161.60 m. jjjj!i!h!h!h!h-jBf)fIfQrfQbf]# ?ɛF 隥I kɚiI$=IiTqiTѻ)) I*Fe?2Fa:FiBFiJFi}Will construct direction to contact in vehicle frame from tetrahedron phase data.G xFG B O >ZH RH @AH I  I II BI &I .I 6I <:I z Faw,p3NA6@Y6 @6,96W >y6H@D?b?7*@¹?؉`EQ?=?`Y?ɨ6@6;6JCyBzBFAIIJIJY45٢Z@s= Z^=9ZںQ ^>\\ bG٣`ybk: b> fNusing accuracyPremultiplier from configdj49f#?j4Yf ifBlnӽn @foDfq ;f: ;fgM4p rFAt B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 161.60 m.Bj%T;Jj%T; ProNav: ac range: 161.600006 m, nav range: 107.403969 m, bearing: 308.136597 deg, approach rate: -0.534628 m/s, LOS rate: 0.185894 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175936 deg. 2j';:j>@HeadingCmd: 4.820179 target range: 161.600006 and range: 161.60 m. jjjjihhhhfffrfbf5@a?ɛ7~ 隥;IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. .ՍɚiI(=IiKqi#))!*F?2F:FBF0JFG GpAJJJ1JJ+:JJ1:J3JJ&< IJ'<J&;J&;GnʻG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515336Lw,MNA2@Y2!@2#92 >y2Hi?@{?\ ]?@5s>t?u?ɨ2@22ŋ;2HCy^xB^>IMb@Mb@Mb@ )Y~jt?Mby? @)AIv@yAII/5٢/ ;=9x;Q > G٣<6Gy8; > Nusing accuracyPremultiplier from config49%?4Y iB?: @pD #;j!; U4 \AEZj!-FNOT Ignoring new targets: 161.60 m.Bj5GM;Jj5GM;E ProNav: ac range: 161.600006 m, nav range: 107.182831 m, bearing: 308.215358 deg, approach rate: -0.502856 m/s, LOS rate: 0.179469 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211957 deg. 2jEV;:jED@MHeadingCmd: 4.820808 target range: 161.600006 and range: 161.60 m. jIjIjIjQiQhQhQhYh]xBfYfYfYrfabfe`+v?ɛwBP 隝:I ͍ɚiI=Ii͜qiVge))zKMOKMh9KIKMoKM]{d.{\A-p[LB;,  *F%?2F):F)BF-|2JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765015GmڽGA BI Om > I uw,:gNA6,@Y6;@6 :96 >y6H@o?C?@, ?X t?ͱ?ɨ6,@6;6JCyBsBB9IIJIJK5٢RƼ R]=9VD;Q V>TX ZG٣XyZ < Z> bNusing accuracyPremultiplier from config\f49^$'?f4Y^x i^Bhjj @^pD^;;^?];^[4t vAt]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.022179ZjFNOT Ignoring new targets: 161.60 m.BjD;JjD;U ProNav: ac range: 161.600006 m, nav range: 106.995476 m, bearing: 308.281928 deg, approach rate: -0.483605 m/s, LOS rate: 0.172131 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175244 deg. 2jUC;:jU>@]HeadingCmd: 4.820168 target range: 161.600006 and range: 161.60 m. jYjYjYjYiYhahihhfffrfbf@)= ZCG`wAZA GY `wAy @BHIC IIIƁBI&I.I6IW<:I] Fɛ 隵I jɚiI=Ii:qiI)!)!*F?2F:FBF)1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273527G V'SG B O >[w,NA 4I6hJBJBJ@J@JB:JB\3:J@J@JB<JB<JB;JB;V@@YV)P@Va};9V5>yVH ?z?V4?I쑿Oc??ɨV@@V ;VHCyfwBj=IIrIrG5٢v'< zF=9z;Q z>|| ~G٣|y; >  Nusing accuracyPremultiplier from config 49 (?4Y  i T @ -pD h;  ; b4! %bA!ZjQ]FNOT Ignoring new targets: 161.60 m.BjeX;JjeX;u ProNav: ac range: 161.600006 m, nav range: 106.786003 m, bearing: 308.356288 deg, approach rate: -0.532875 m/s, LOS rate: 0.189536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198705 deg. 2ju<:ju*B@}HeadingCmd: 4.820577 target range: 161.600006 and range: 161.60 m. jyjyjyjyihhhhfffrfbf@0y@ɛQ]m Y]p9IY ]=ɚYiaIe=Ieimտpimp:)i)i*F2F:F!BF%3JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528589"G =G =G- ϳzK OK 9K K pK {zzzy{|zvpmg[[[F4&  G B O- >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777641w,\NA2$M@Y2\@22;92b>y2Hv?~?,?@Zf?z?ɨ2$M@2O;0ybvBb<IMb@Mb@Mb@ )Yrh|?y&1|y?`廹` A -@)IypAIIL5٢Ul ==9a:Q > G٣=6Gyg; > Nusing accuracyPremultiplier from config49+?4Y iB?:A @>pD@;;Bj4 iAZjAEFNOT Ignoring new targets: 161.60 m.BjMH;JjMH;] ProNav: ac range: 161.600006 m, nav range: 106.564842 m, bearing: 308.432437 deg, approach rate: -0.509283 m/s, LOS rate: 0.175718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204106 deg. 2j]/;:j]B@eHeadingCmd: 4.820671 target range: 161.600006 and range: 161.60 m. jajajajaiahihihihmBfqfyfrfbf@ɛ I 8ɚiI\2=I i soi ȩ; QIQ) )*FE?2FA:FABFE_0JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029170Ge O:GI Bi H S>I  I II BI &I .I 6I c<:I e FO >Աw,>NAy~uB~:IIIA5٢% %U=9-Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=-?E4Y= i9IIM @=LpD=:=:=p4Y ]uAYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 161.60 m.BjL;JjL; ProNav: ac range: 161.600006 m, nav range: 106.368332 m, bearing: 308.500417 deg, approach rate: -0.516922 m/s, LOS rate: 0.179152 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179502 deg. 2j;:jk?@HeadingCmd: 4.820241 target range: 161.600006 and range: 161.60 m. jjjjihhhhfffrfbf @ɛ攘Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:19:59:53.5869 TRx dataTimestamp_ set to:1736366394.924746checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282021 @I n+ɚiIXI=Ii3oi;))*F2F:FBFJF AIAJJJ/JJ+:JJ(N3JJ&<J'<JJG;G?G>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536058w,$NAy޵jB޽.I}Mb@Mb@Mb@yyy y)yY}K7A?y&1?~jthy} "?}`e<}Dy }@)yI}QAyyyIIR5٢54 4=9Q > G٣y > Nusing accuracyPremultiplier from config49Q0?4Y iB"?:鷿 @_pD';;x4ēB AEzK>NK+9KKqK ZjFNOT Ignoring new targets: 161.60 m.Bj?;Jj?; ProNav: ac range: 161.600006 m, nav range: 106.122116 m, bearing: 308.579767 deg, approach rate: -0.518868 m/s, LOS rate: 0.167607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213787 deg. 2j ;:jRD@HeadingCmd: 4.820840 target range: 161.600006 and range: 161.60 m. jjjjihhhhBfffrfbf* @ɛim » im`ɼIi uɚqiqIul=I}i}Zni))Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 19:59:53.5869 LVL= 18416, 11985, 9906, 16851, AGC= 59, IDX= 146,-0.33, 2.415,-1.801,-2.923, 2.428, PHS= 0.075, 2.101, 0.929, RAW= 305.2, -31.9, CAL= 300.3, -44.8, ROT= 209.7, 44.8 =Ygot valid direction response: 19:59:53.5869 LVL= 18416, 11985, 9906, 16851, AGC= 59, IDX= 146,-0.33, 2.415,-1.801,-2.923, 2.428, PHS= 0.075, 2.101, 0.929, RAW= 305.2, -31.9, CAL= 300.3, -44.8, ROT= 209.7, 44.8 =PDAT read: Bearing 209.7, 44.8 (Local) E~Local bearing/azimuth received: Bearing 209.7, 44.8 (Local) MDAT read: Range 10 to 50 : 191.6 m (Round-trip 255.5 ms) speed -0.7 m/s *FU?2FQ:FYBFYJFYGa GetA},DAT read: user:1028> BDAT read: Tx time:19:59:54.6756 $Ping request sent.\¹w,NA>gr@Y>ꁚ@>;9>`A>y>H?{?` @ 2?@p cp?@?ɨ>gr@>+; G٣>6GyK< > Nusing accuracyPremultiplier from config493?4Y iBT @npD;;C4 )Ak k?k~ˀ' k kDlNA:k?CBkK>CZk?@"_@Y>KQ@M]J:_'rK,?ٛ?ʃJk?RkW5?*ffY@g\ t7὘\U?YA5C="k*k7BkyS?k/' 2kFkSl?k$ kkBkJ@M addTargetRange:: Added new target pos. range: 191.600006 m, deltaT: 7.568238 s, deltaX: 30.000000 m, approachRate: 3.963934 m/s, rangeRepo size: 4  Added new target pos. range: 191.600006 m, bearing: 311.379657 deg, lat: 36.905770 deg, lon: -122.121250 deg, deltaT: 7.568238 s, deltaX: 30.000000 m, approachRate: 3.963934 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 191.60 m.BjJj ProNav: ac range: 191.600006 m, nav range: 121.992699 m, bearing: 315.114816 deg, approach rate: 0.000000 m/s, LOS rate: 0.167607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154890 deg. 2j:j;@HeadingCmd: 4.819812 target range: 191.600006 and range: 191.60 m. jjjji hhhhfffrf@3g@bf@?ɛ 隥?I 'ɚiIV=Ii.mi_;))H5T>I1 I5II5BI1&I1.I16I5K<:I5S F*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G :G B O >  I% hw,OAJ0J2BA:d@Y:Ft@:w<;9:s>y:H2??e׼?l gu?`X?ɨ:d@:?;:GCyBSBFIININ0E5٢eD{ eL=9m6Q m>yy }G٣y > Nusing accuracyPremultiplier from config495?4YL i @~pD{;p;W4 AZjFNOT Ignoring new targets: 191.60 m.Bj>U;Jj>U;u ProNav: ac range: 191.600006 m, nav range: 121.788643 m, bearing: 315.187911 deg, approach rate: -0.519584 m/s, LOS rate: 0.186433 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194838 deg. 2ju;:juA@}HeadingCmd: 4.820509 target range: 191.600006 and range: 191.60 m. jyjyjjihhhhfffrfbf?ɛAE AMhII MxɚiI=]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ii1li}Љ;))*F?2F:FBFJFzK LK 9K K rK 1oABK rA:K oAG= ~q; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! OM >aƓw,OA5jY@Y5h@5!;95 >y5H ؼ??lE?@@>dq*?`?ɨ5jY@5;;5HCyޭVBޭI $?IJJJ1JJ:J-.:J3Ja@a@a@a@}Mb@Mb@Mb@yyy y)yY}?Q?~jtxy}f&?}<}Ļy }@)}hAIyyyyII;5٢<<  =9RQ > G٣y2 > Nusing accuracyPremultiplier from config49b:?4Y iB&?: @pD;g;24 vAZjiuFNOT Ignoring new targets: 191.60 m.Bj}[J;Jj}[J; ProNav: ac range: 191.600006 m, nav range: 121.522179 m, bearing: 315.279338 deg, approach rate: -0.514488 m/s, LOS rate: 0.176914 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250068 deg. 2j;:jI@HeadingCmd: 4.821473 target range: 191.600006 and range: 191.60 m. jjjjihhhhjBfffrfbfT?ɛxBO 隕DI ,ɚiI=eWill construct direction to contact in vehicle frame from tetrahedron phase data.IuiujiusP;)q)yE*F ?2F :F BF JF "G% =G% =H9 I= C I= II= BI9 &I9 .I9 6I= }<:I= y FBIJIɣCRIZIbIjIW4G O;G BO%>͓w,A-:OAJW@YJ&g@J3 ;9Jn~ >yJHjʼ??@`t?q&aKB?,?ɨJW@JB;HyVKBZIIfIf?5٢ń nq=9rQ r?pp vG٣v?6Gyv( v?zWill construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config 49V=? 4Y  iB  @pD;-;4 AEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 191.60 m.Bj]EV;Jj]EV;m ProNav: ac range: 191.600006 m, nav range: 121.344017 m, bearing: 315.340778 deg, approach rate: -0.542418 m/s, LOS rate: 0.187329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159775 deg. 2jm<:ju<@uHeadingCmd: 4.819897 target range: 191.600006 and range: 191.60 m. jqjyjyjyiyhyhyhhfffrfbf5~?ɛ= I RɚiI{ =IiRjiL;))*F?2F:FBF`5JF IhG!j;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G B9 O >}ԓw,RSOAJb@YJr@JG O;9J[ >yJH@!??5 `?@꒿iG??ɨJb@Jʉ;JFCyZ>BZIuMb@Mb@Mb@qqq q)qYuQ?/$?Mb`yu\/?u,=uu A q)uAIuv@qyqIIaO5٢s ?=9v#;Q > G٣yL; > Nusing accuracyPremultiplier from config49A?4Y7 iB/?: @pD;;4œB 9AEZjFNOT Ignoring new targets: 191.60 m.Bj X;Jj X; ProNav: ac range: 191.600006 m, nav range: 121.105072 m, bearing: 315.420879 deg, approach rate: -0.562490 m/s, LOS rate: 0.188934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215963 deg. 2j%<:j%D@5HeadingCmd: 4.820878 target range: 191.600006 and range: 191.60 m. j1j9j9j9i9h9h9hAhERBfAfAfIrfIbfMHR?zKU(NKU9KQKUsKUJ{LxObG1jXE* zsnfca[VSNLRKe?JKe>ɛ15lG 15I1 =Iɚ9i9I=G =IEiE,iiED;)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995314*F!2F!:F!BF!JF! IJJJJJ :Jf4:JJGM b;G! B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246174<ړw,BmOA^zp@Y^@^ڇ;9^: >y^Hʏ? ~?_, m%? 4PpY? S?ɨ^zp@^͈;^HCy3B-I9=AAI=I=@T5٢M7_ MO=9U#$;Q U>YY ]G٣Yy]; e> mNusing accuracyPremultiplier from configam49eE?u4Ye5 iaqunu @epDeS;e;er4 AZjFNOT Ignoring new targets: 191.60 m.BjV;JjV; ProNav: ac range: 191.600006 m, nav range: 120.885025 m, bearing: 315.494730 deg, approach rate: -0.558871 m/s, LOS rate: 0.187907 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197142 deg. 2j<:jA@HeadingCmd: 4.820549 target range: 191.600006 and range: 191.60 m. jjjjihhhhfffrfbf0@HI IfIIBI&I.I6I<<:IJ Fɛ~j 隽> I 1ŜɚiI =Iihi#;))*F2F:FBF|4JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499217G;G B I O >w,'OAJ9q@YJ@J";9Ji >yJH?X~? 22 C+?7 Zpn_? ?ɨJ9q@JS;JGCyV1BVIIbIbDP5٢fJ jS=9jmQ j>hl nG٣n@6Gyvu9 v> zNusing accuracyPremultiplier from configx~49zI?~4Yz!" ixk @zpDz;zK;z>4  A Zj1=FNOT Ignoring new targets: 191.60 m.BjEX;JjEX;U ProNav: ac range: 191.600006 m, nav range: 120.667496 m, bearing: 315.568055 deg, approach rate: -0.560502 m/s, LOS rate: 0.189275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195557 deg. 2jU<:jUA@]HeadingCmd: 4.820522 target range: 191.600006 and range: 191.60 m. jYjYjYjaiahihihqhqfqfqfqrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754241ɛ_o 5* I9 EUɚAiIIM =Iifi;))*F2F:FBFZ0JFzKOK9KKtKJEB<<=620.,))*)(($#   % Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:19:59:57.2670 5 TRx dataTimestamp_ set to:1736366398.4525645 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003200G= O;G! B9 O] >w,OA 0I4%v@Y%T@% ;9%I >y%H (½?`}?5@a@S?@?r*e?@?ɨ%v@%ӈ;%HCyޅ$BޅIJJJ0JJJJـ3JmMb@Mb@Mb@iii i)iYm(\?i|?5?~jthymz4?mq=mDm A m-@)mhAIm@iymGAII:\5٢] 1=9_:Q > G٣yu: > Nusing accuracyPremultiplier from config49 O?4Y* i5?:| @pD;;H4 AZjFNOT Ignoring new targets: 191.60 m.Bj)O;Jj)O; ProNav: ac range: 191.600006 m, nav range: 120.398125 m, bearing: 315.654954 deg, approach rate: -0.560170 m/s, LOS rate: 0.181115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236466 deg. 2j;:jG@HeadingCmd: 4.821236 target range: 191.600006 and range: 191.60 m. jjjjihhh h 4Bfffrfbfv @ɛEwBE| IM0&II MoɚIiIIM2!=I]i]:ei]5;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254319))G %Y!y%B*FQ2FY:FYBFYJFYjH<bH<H%U>I! I%GII%BI!&I!.I!6I%u<:I%s FG ;Gy B O >jw,xOA*Will construct direction to contact in vehicle frame from tetrahedron phase data.2DAT read: Range 10 to 50 : 140.4 m (Round-trip 187.3 ms) speed -0.4 m/s 6,DAT read: user:1029> -6X#Rx 1: Read range message, but no direction.,y.f C,:T****** received valid address query ******:R****** received valid ping request ******:Querying Benthos address 50 with one ping in standard two-way mode.V6p@YV@V];9V9 >yVH`?~?+@' "?@Wq@tY?S?ɨV6p@V;VFCy!BII=I=uZ5٢ks B=9Q > G٣yk > I Nusing accuracyPremultiplier from config49S?4Y72 iB @pDy;;4 ƓB &A MB*** querying acoustic contact ***jIjI]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 140.399994 m, deltaT: 3.527323 s, deltaX: -51.200012 m, approachRate: -14.515261 m/s, rangeRepo size: 4ZjYFNOT Ignoring new targets: 191.60 m.Bj\;Jj\; ProNav: ac range: 191.600006 m, nav range: 120.152428 m, bearing: 315.734775 deg, approach rate: -0.593298 m/s, LOS rate: 0.193141 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215137 deg. 2j<:jD@HeadingCmd: 4.820864 target range: 191.600006 and range: 191.60 m. jjjjihhhhfffrf̌a@bf@n?ɛ6ሼ +I LɚiI|[!=IiKdi;))*F?2F:FBF_0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:19:59:58.3756 $Ping request sent.&Pw,HOA6j@Y6z@6JB;96jY >y6H `?@(?1?@Fpc]?2?ɨ6j@6 ;4yJBJI]Mb@Mb@Mb@YYY Y)YY]A`"?)\(?{Gzty]9?]Ga=]ף]I A ]@)YI]v@Yy]AIuIud5٢9 ]=9y.Q > G٣A6Gy > Nusing accuracyPremultiplier from config49OX?4Y09 i9?: @qD{8; 7; 4 kAZjFNOT Ignoring new targets: 191.60 m.Bjk;Jjk; ProNav: ac range: 191.600006 m, nav range: 119.931114 m, bearing: 315.808237 deg, approach rate: -0.618094 m/s, LOS rate: 0.205547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195979 deg. 2j% <:j%A@-HeadingCmd: 4.820529 target range: 191.600006 and range: 191.60 m. j)j)j)j)zK5MK5]9K1K5uK5 >~wi)hAhAhAhEBfIfIfIrfQbfU ?ɛy}m }a}9=}t Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503022ww,OAZK@YZ\[@ZN0;9ZS >yZHl?? P`?t f=?W?ɨZK@Z;ZECyfBjIIrIr-I5٢~c  ~T=9eQ > G٣ y   > Nusing accuracyPremultiplier from config49\?4Ye@ i!%% @!qDh;;4) -A)HET>IA IE4IIEpBIE =&IA.IA6IED<:IEP FZjyFNOT Ignoring new targets: 191.60 m.Bjb;Jjb; ProNav: ac range: 191.600006 m, nav range: 119.703407 m, bearing: 315.884786 deg, approach rate: -0.586668 m/s, LOS rate: 0.197597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205269 deg. 2j<:jC@HeadingCmd: 4.820691 target range: 191.600006 and range: 191.60 m. jjjjihhhhfffrfbf ;?ɛvB II WɚiI2!=Ii]Wbi:))*F?2F:FBF{0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755609 $?IGCQ;G B O >JI JI ^w, PA:0=@Y:L@:8;9:>y:H` ?@?@ts? '̐'b ר?`L?ɨ:0=@:ш;:JCyJBJIIRIRC5٢Zˑ< ZO=9^Q ^>\\ bG٣`yb b> jNusing accuracyPremultiplier from confighn49j#a?n4YjG ihprLr @j4qDj&;j&;j4t vAxZjFNOT Ignoring new targets: 191.60 m.Bj i;Jj i;- ProNav: ac range: 191.600006 m, nav range: 119.469391 m, bearing: 315.964133 deg, approach rate: -0.599745 m/s, LOS rate: 0.203751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213692 deg. 2j- <:j-OD@5HeadingCmd: 4.820838 target range: 191.600006 and range: 191.60 m. j1j1j9j9i9h9hAhAhAfAfIfIrfIbfUC?ɛƻ 隥@I H߷ɚiI*"=IipaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007112i9)9)A*FM?2FI:FIBFM_1JFIG- ;GBO J>zKNK9KKvKofa[YSKHFDB:962/0-*%%# BK:KqA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259049 I w,B#PA6%@Y6|5@6&:96>y6H ???u?@R??ɨ6%@6;6FCJJJJJ+:J,:JJyBIMb@Mb@Mb@ )YZd;O?I +?{Gztyj G٣B6GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511011y > Nusing accuracyPremultiplier from config49f?4Y+R iyFH SR?u? 2k?@~i6`??ɨFW(@Fk;DɳLPRiPPiPR`wA)R(\ V G٣y!: > -Nusing accuracyPremultiplier from config!549%k?54Y%[ i!155 @%dqD%;%;%4A EAAeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 191.60 m.Bj}|;Jj}|;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015110 ProNav: ac range: 191.600006 m, nav range: 118.859818 m, bearing: 316.181101 deg, approach rate: -0.616786 m/s, LOS rate: 0.220754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.285641 deg. 2j<:jN@HeadingCmd: 4.822094 target range: 191.600006 and range: 191.60 m. jjjjihhhhfIfQfYrfabfmf@ɛ5tB5fב 9=>I9 =OŻɚ9i9I="=IEiEaiMA)I)IzK.MK 9KKwKRK ?JK>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268740E V:= 9 I9 *Fm ?2Fq :Fq BFu 0JFq Gb(GqBO ? w,YPnPAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519893R"@YRs2@R;9Rb>yRHZ'?%? `` ٺ?a`?൷?ɨR"@R8;PHYIY IYIYIY&IY.IY6I]A<:I]N FBI£CJIRIZIbIjI¿P4yBIMb@Mb@Mb@ )YK?ˡE?MbP?y^:?'=:` A @)I@yAIIY5٢< <9VQ > G٣C6Gy > Nusing accuracyPremultiplier from config49qr?4YSh iB :? : X  @qD@;>;4ǓB ]AEZj9=FNOT Ignoring new targets: 191.60 m.BjERs;JjERs;] ProNav: ac range: 191.600006 m, nav range: 118.466393 m, bearing: 316.324135 deg, approach rate: -0.583187 m/s, LOS rate: 0.212728 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.405706 deg. 2je<:je_@mHeadingCmd: 4.824190 target range: 191.600006 and range: 191.60 m. jijijqjqiqhqhqhyh}5Bfyfyfrfbf`ɕ@ɛMrBMr IM.II UOc̻ɚQiQIU3#=Ii`i))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771059 I J J J J J :J -.:J J J yHW?`?:m?@ۏ@h\ p?`ͷ?ɨ@͈;騍HC)̏CIZxA xAi i  )  I  )1xAiIIi! !!)!! !!))))I)))i)1y޽)B޽IMb@Mb@Mb@ )YtV?y&1?Mb?y2?`<< A C@)AIQAyAII]5٢MQ= =9gϹQ > G٣yK > Nusing accuracyPremultiplier from config49v?4Y8r iB2?:ȶ @qD.<-<41 =A=EZjYeFNOT Ignoring new targets: 191.60 m.Bjexl;Jjexl; ProNav: ac range: 191.600006 m, nav range: 118.168327 m, bearing: 316.437714 deg, approach rate: -0.541182 m/s, LOS rate: 0.206739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.316778 deg. 2j <:j S@HeadingCmd: 4.822638 target range: 191.600006 and range: 191.60 m. jjjjihhhhHBfffrfbf @ɛ%qB-1Fr )-I) -Vѻɚ1i1I5~#=I5i= `i=z[)9)9zKE"bLKE+9KAKExKE  BKQ:KUsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275026*F?2F:FBFP5JF YIYG w*G B O >L*w,PAWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 168.7 m (Round-trip 225.0 ms) speed -0.5 m/s ,DAT read: user:1030> BDAT read: Tx time:20:00:02.1256 $Ping request sent. G٣y >jH<bH<HU>I I4IIpBI&I.I6Il<:Im F 5Nusing accuracyPremultiplier from config=49z?=4Yx iBAAE @qDv<0;g4i mAq addTargetRange:: Added new target pos. range: 168.699997 m, deltaT: 7.307426 s, deltaX: -22.900009 m, approachRate: -3.133800 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 191.60 m.Bj$f;Jj$f;] ProNav: ac range: 191.600006 m, nav range: 117.967552 m, bearing: 316.514643 deg, approach rate: -0.524223 m/s, LOS rate: 0.201204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206367 deg. 2je <:jeCC@HeadingCmd: 4.820711 target range: 191.600006 and range: 168.70 m. jjjjihhhhfffrf`fe@bfj?ɛEpBEw AMII MԻɚIiIIMx#=IUiU!`iUBQ)Q)Y*F?2F:FBF3JFG%sA G!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:00:02.1249 i Im hG= 9G B! OE >1w,PAJ3KO3 KϚ.KK"KJJJ0JJ :J\3:Jـ3JJs<Jt<J;J;J@YJY@JeSV:9J >yJH '?D?`@ ?ƍ`lJ }4??ɨJ@JÇ;JICyZABZIIbIbQ5٢n|= np=9n?4Q r?pp rG٣rD6Gyvֻ v? uNusing accuracyPremultiplier from configi}49m|?}4Ymb im By}} @mqDm:m:m4 /AZjFNOT Ignoring new targets: 191.60 m.Bj;Jj; ProNav: ac range: 191.600006 m, nav range: 117.772728 m, bearing: 316.589970 deg, approach rate: -0.580774 m/s, LOS rate: 0.224921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201539 deg. 2j\<:jB@HeadingCmd: 4.820626 target range: 191.600006 and range: 168.70 m. jjjji!h!h!h!h!fIfIfIrfQbfU`.p?ɛ-oB5Y 15xI1 5fֻɚ9i9I=q#=Ii-`i))%Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2F:FBF_0JFG xG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK ^LK 9K K yK   RK JK >27w,yPAF@YF@Fj媺9F7>yFH)K??`<?@T4\U?`?`?ɨF@F;FHC %$?I!y-FB-I5Mb@Mb@Mb@111 1)1Y5Fx?~jt?{Gz?y5+?5<5#<5I A 5Z@)1I5@1y5AIMIMP5٢]Λ< ]5=9eÙQ e>aa eG٣aymm m> uNusing accuracyPremultiplier from configq}49uA?}4Yu iu#B+?: @uqDu;uY;uA 4  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 191.60 m.Bj$n;Jj$n; ProNav: ac range: 191.600006 m, nav range: 117.545311 m, bearing: 316.679800 deg, approach rate: -0.526064 m/s, LOS rate: 0.208198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.245196 deg. 2j<:jH@HeadingCmd: 4.821388 target range: 191.600006 and range: 168.70 m. jjjjihhh h _Bf ffrfbf?ɛmB-A )-tI) -շػɚ1i1I5s$=I=i=yai=B)A)I*F?2F:FBFJF) )=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.]vAuA .YvAy B&@ BH1 I1  I5 MII5 BI5  =&I1 .I1 6I5 <:I5 FG XG B O .=w,zTPA6{ђ@Y6@6D096v" >y6H`?@?@*b}?f?6?@?ɨ6{ђ@6/;6FCybVBbIIjIj:5٢vε= ve=9v~Q v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 49݂? 4YH i&B  t @qDz:C:{4 A!ZjIMFNOT Ignoring new targets: 191.60 m.BjU$m;JjU$m;e ProNav: ac range: 191.600006 m, nav range: 117.360046 m, bearing: 316.753722 deg, approach rate: -0.518783 m/s, LOS rate: 0.207326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197303 deg. 2jeI<:jeA@mHeadingCmd: 4.820552 target range: 191.600006 and range: 168.70 m. jijijijiiqhqhqhqhyfyfyfrfbf ?ɛlBo# h2I ٻɚiI$=Ii+bi%&)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256968 I*F?2F:FBFx0JF"G=G=G;3G9BIJeJaJe1JaJe+:JaJe3JaJe&<Je'<JaJaOY>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509676QDw,^QA Sג@Y @ UJ9 . >y H͸?5?Dk? MUi?O?@?ɨ Sג@ f; HCy-\B-I15AMb@Mb@Mb@ )Y"~j?y&1?Mb?yS#?`e<< A C@) AIAyfAI I 65٢q< 7=9mQ >!! %G٣%E6Gy-: -> 5Nusing accuracyPremultiplier from config1=495?=4Y5 i5+BEk#?E:EJE @5qD5"";5 ;5E4MȓB M\AMEZjyFNOT Ignoring new targets: 191.60 m.Bjf;Jjf; ProNav: ac range: 191.600006 m, nav range: 117.142838 m, bearing: 316.843375 deg, approach rate: -0.486487 m/s, LOS rate: 0.201170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244642 deg. 2j <:jH@HeadingCmd: 4.821379 target range: 191.600006 and range: 168.70 m. jjjjihhhhBfffrfbf?ɛkB I ڻɚiI).$=IibiXn))*Fu?2Fq:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761206zKLK9KKzK   IG>uG B O >5Jw, .QA2@Y2@27F92C >y2HZ?C?^g`@3?چňc?u?h?ɨ2@24;2ECy>iBB,IIJIJdK5٢R= Rg=9R];Q R>TT VG٣TyZ:; Z> ^Nusing accuracyPremultiplier from config\b49^ه?b4Y^ i^.B`ff @^qD^m ;^ ;^p4h jAhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013028Zj FNOT Ignoring new targets: 191.60 m.Bj!f;Jj!f; ProNav: ac range: 191.600006 m, nav range: 116.970680 m, bearing: 316.914447 deg, approach rate: -0.486636 m/s, LOS rate: 0.201195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188716 deg. 2j <:j@@HeadingCmd: 4.820403 target range: 191.600006 and range: 168.70 m. jjjjihhhhfffrfbfS@ɛ jB ~߻ I 5ڻɚ1i9I=<$=I=iEĀciEB)A)AHI IrIIBI&I.I6Ii<:Ik F*F?2F:FBFQ5JFGZGqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264936O> I haQw,>GQAJJJ0JJJJ1:Jـ3JJJJ&;J&;F@YF@F9z&9F>yFH}?p? n?f+Ed??U?ɨF@F7;FJCyRqBR7IIZIZ&Q5٢bV(= fH=9fǹQ f>hh jG٣hyj\; j> rNusing accuracyPremultiplier from configpv49rr?v4Yrs ir2Btv蹿z @rrDra:r:r$4| ~A|Zj!%FNOT Ignoring new targets: 191.60 m.Bj-h;Jj-h;= ProNav: ac range: 191.600006 m, nav range: 116.771088 m, bearing: 316.997053 deg, approach rate: -0.490883 m/s, LOS rate: 0.203511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223427 deg. 2j= <:jEE@MHeadingCmd: 4.821008 target range: 191.600006 and range: 168.70 m. jIjIjIjQiQhQhQhYhYfYfYfarfabfeu@ɛiB  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768801zKU tLKU +9KQ KU {KU zXw,aQA2@Y2.@2%92>y2Hǹ??L@Vʝ?@}d?5?/?ɨ2@2;2HC 8Iy G٣F6Gy: > Nusing accuracyPremultiplier from config49&?4Y? i6B~?:@ @ rD ;\;,4 NA B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 191.60 m.Bj-V;Jj5V;M ProNav: ac range: 191.600006 m, nav range: 116.571808 m, bearing: 317.079056 deg, approach rate: -0.455580 m/s, LOS rate: 0.187789 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221613 deg. 2jU<:jUqE@]HeadingCmd: 4.820977 target range: 191.600006 and range: 168.70 m. jYjYjYjYiYhYhahaheBfififirfibfm@ɛhBt p2=I E#ػɚAiAIE_J$=I]ieVdieɻ)a)y*F?2F:F!BF%Y0JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020903HV>I IIIBI&I.I6I<:I FG G B O >7^w,{QAF@YFG @F3,9F]>yFH`??B@xʹ?蔈a??ӯ?ɨF@F6};DyRBRJIIZIZaO5٢ba< bW=9fm:Q f>dh jG٣hyj{; j> rNusing accuracyPremultiplier from configpv49r?v4YrH ir:Btz(z @r/rDr :r:r24| ~2A|Zj)-FNOT Ignoring new targets: 191.60 m.Bj5`;Jj5`;E ProNav: ac range: 191.600006 m, nav range: 116.395012 m, bearing: 317.152014 deg, approach rate: -0.475282 m/s, LOS rate: 0.196434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194395 deg. 2jE<:jEA@MHeadingCmd: 4.820501 target range: 191.600006 and range: 168.70 m. jIjIjQjQiQhQhQhYhYfYfafarfabfe @ɛgBa2 隝T=I ׻ɚiIK$=IiAdi1@))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:20:00:04.7569 }TRx dataTimestamp_ set to:1736366406.012728checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274034 yI}h*F?2F:FBF_0JFGGBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524905!ew,QAe@Ye8 @e9ex>yeH G٣y > Nusing accuracyPremultiplier from config49?%4Yҵ i?B%?%:%2% @BrD<j<;45ɓB 5A5EZjFNOT Ignoring new targets: 191.60 m.BjuH;JjuH; ProNav: ac range: 191.600006 m, nav range: 116.172714 m, bearing: 317.242775 deg, approach rate: -0.428424 m/s, LOS rate: 0.175254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.247989 deg. 2j;:j6I@HeadingCmd: 4.821437 target range: 191.600006 and range: 168.70 m. jjjjihhh!h%ԁBf!f!f)rf)bf-'@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:00:04.7569 LVL= 23968, 13537, 14546, 22115, AGC= 59, IDX= 448, 0.49,-2.246,-0.251,-1.144,-2.064, PHS=-0.093, 1.860, 0.917, RAW= 298.9, -29.3, CAL= 293.7, -41.8, ROT= 216.3, 41.8 Ygot valid direction response: 20:00:04.7569 LVL= 23968, 13537, 14546, 22115, AGC= 59, IDX= 448, 0.49,-2.246,-0.251,-1.144,-2.064, PHS=-0.093, 1.860, 0.917, RAW= 298.9, -29.3, CAL= 293.7, -41.8, ROT= 216.3, 41.8 PDAT read: Bearing 216.3, 41.8 (Local) ~Local bearing/azimuth received: Bearing 216.3, 41.8 (Local) DAT read: Range 10 to 50 : 170.2 m (Round-trip 227.0 ms) speed -0.8 m/s ,DAT read: user:1031> BDAT read: Tx time:20:00:05.8757 $Ping request sent.ۅN?ɚQiiImI$=ہہu:publishing transmit ping timeuFpublishing direction and range info؁9؅y ?RA?1Ny؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅJQdԄ?E>*Fq2Fy:FyBF}^0JFy"G=G=JM JM JI JI JM :JM 7/:JI JI a] @a] @a] @a] @G b5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:20:00:05.8750 Gi Bq O >Bkw,RQAF@YFY @FN$9F>yFH7?`?nŹ?`d???ɨF@F;DyfBf\IIII5٢5< f=9XQ >!! %G٣%G6Gy-d9 ->H=W>I9 I=II=ՁBI9&I9.I96I=<:I= FBIJIRIZI =bI =jI4 uNusing accuracyPremultiplier from config1}495?}4Y5" i5CBy}. @5OrD5b;5~:5A4 Ak})3?k}& ky k}QA:k}3*CBk} )CZk}A@"}yQzZ@erNI:I@i6~^}y ?RA?1NJk}>Rk}N?*}sٖS@tX@DdY\}{=v?"a⿏Mh6"k}*k}Bk}\_?k}b& 2k}4Fkyk}+% k}rk}Bk}@E addTargetRange:: Added new target pos. range: 170.199997 m, deltaT: 3.781091 s, deltaX: 1.500000 m, approachRate: 0.396711 m/s, rangeRepo size: 4 u Added new target pos. range: 170.199997 m, bearing: 308.425194 deg, lat: 36.905770 deg, lon: -122.121346 deg, deltaT: 11.088517 s, deltaX: -21.400009 m, approachRate: -1.929925 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 170.20 m.BjJj ProNav: ac range: 170.199997 m, nav range: 121.981247 m, bearing: 314.351250 deg, approach rate: 0.000000 m/s, LOS rate: 0.175254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167028 deg. 2j:j=@HeadingCmd: 4.820024 target range: 170.199997 and range: 170.20 m. jjjjihhhhfffrf`fFe@bf?ɛ=eB=` 9=p=I9 EӻɚAiAIE1C$=IMiM{CeiM#)I)Q*F?2F!:F!BF%_0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data. IGE ҸG B O% >rw,DQA2@Y2g@2:92:>y2H 1?@:?`.@Md?Äo??@?ɨ2@2;2HCy@@IJIJm?5٢RN: RR=9ViQ V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config`f49bs?f4Yb ibGBdjej @b]rDb:bq:bH4l nAlZj FNOT Ignoring new targets: 170.20 m.BjE;JjE;- ProNav: ac range: 170.199997 m, nav range: 121.803001 m, bearing: 314.414209 deg, approach rate: -0.489331 m/s, LOS rate: 0.173093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164340 deg. 2j-;:j-@=@5HeadingCmd: 4.819977 target range: 170.199997 and range: 170.20 m. j1j1j1j9i9h9hAhAhAfAfIfIrfIbfM ?ɛ@#8 =I }ѻɚi!I%7$=I%i-ͱei- ))))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFp0JFG̻GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.  I zK] NK] 9KY K] }K] \UMF?8-'"  RKm >JKm >xw, QAy BfIJJJ1JJ:J-.:J3JMb@Mb@Mb@ )Yn?Q?aa eG٣aym m> Nusing accuracyPremultiplier from config49 ?4Y iKBh?:) @mrDR;~;P4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 170.20 m.Bj3;Jj3; ProNav: ac range: 170.199997 m, nav range: 121.599022 m, bearing: 314.487452 deg, approach rate: -0.437072 m/s, LOS rate: 0.157202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195282 deg. 2j;:jA@HeadingCmd: 4.820517 target range: 170.199997 and range: 170.20 m. jjjjih!h!h!h%ЁBf)f)f9rf9bfE?ɛ dB`*9 =I ͻɚiIO'$=Ii%?fi%)!)!EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F]?2FY:FYBFen0JFaGmsA GmrAHAIA IEIIEBIA&IA.IA6IE<:IE FG ޻G G G B O > w,;sQA6P@Y6@6i޻96I>y6H   G٣ y >  > Nusing accuracyPremultiplier from config%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498786-49/?-4Y iMB15J5 @zrD;;V4A EAAZjimFNOT Ignoring new targets: 170.20 m.Bju8;Jju8; ProNav: ac range: 170.199997 m, nav range: 121.441338 m, bearing: 314.544407 deg, approach rate: -0.446214 m/s, LOS rate: 0.161381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146274 deg. 2j;:j:@HeadingCmd: 4.819662 target range: 170.199997 and range: 170.20 m. jj Ijjihhhhfffrfbf`|?ɛc =I =$̻ɚiI$=Iifiӯ))*F?2F:FBF`5JFGGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750731O> w,dRAVZ@YV@V -9V>yVHZܹ?{?@`й?s x?@??ɨVZ@Ve&;VFCybBbNIUMb@Mb@Mb@QQQ Q)QYUn?y&1?yQU` G٣H6Gya; > Nusing accuracyPremultiplier from config49,?4Y iOB?: @rD"";!;7^4 %AEZjFNOT Ignoring new targets: 170.20 m.Bj';Jj'; ProNav: ac range: 170.199997 m, nav range: 121.250519 m, bearing: 314.609684 deg, approach rate: -0.428652 m/s, LOS rate: 0.146868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171325 deg. 2j%;:jE@>@UHeadingCmd: 4.820099 target range: 170.199997 and range: 170.20 m. jQjQjYjYiYhYhYhhׁBfffrfbf ?ɛcB%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003129 =L=IA Ep ʻɚAiAIE$=IMiM giM/)I)Q IhzK]{VMK]+9KYK]~K]BKi:KmrA*F2F:FBF2JFJJJ0JJ[:JJ1:Jـ3JG  ~G `wA ZAG B) E zYE `wAyM BOU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254748 3w,*3RAZHlRHlHpIp IpIpIp&Ip.Ip6Ir<:Ir FymBmHII}I}&Q5٢Bļ H=9Q > G٣y > Nusing accuracyPremultiplier from config49 ?4Y iPB @rD":q:Se4 MAZj FNOT Ignoring new targets: 170.20 m.BjT<;JjT<;% ProNav: ac range: 170.199997 m, nav range: 121.067223 m, bearing: 314.672632 deg, approach rate: -0.478720 m/s, LOS rate: 0.164652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164316 deg. 2j%;:j%@=@-HeadingCmd: 4.819977 target range: 170.199997 and range: 170.20 m. j)j)j)j)i1h1h1h9h9f9f9f9rfAbfE+@ɛim imf=Iq uȻɚqiqIu#=I}i}TfgiĻ))*F2F:FBF4JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506662 }$?IyGG?G ?G B O >]w,1 MRA: @Y:*@:ѩ9:]>y:H x?`*? Ӻ?ẽ5:u?`??ɨ: @: ̉;:GCyFxBF>IIRIRP5٢Z+ Z[=9Z:Q Z>\\ ^G٣\yb4< b> fNusing accuracyPremultiplier from configdj49f?j4YfL ifRBln4n @frDfTE;fE;fk4t vAtZjFNOT Ignoring new targets: 170.20 m.Bj0;Jj0;- ProNav: ac range: 170.199997 m, nav range: 120.899017 m, bearing: 314.730112 deg, approach rate: -0.450973 m/s, LOS rate: 0.154324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147867 deg. 2j-;:j-:@5HeadingCmd: 4.819689 target range: 170.199997 and range: 170.20 m. j1j9j9j9i9h9h9hAhAfAfAfArfIbfMH@ɛyEL 隅(=I kǻɚiI^#=IiLgiش ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759530*F2F:FBF_0JFG5,ɻG BO5>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010684 i Ii zK ezKK K K K    RK ?JK ?Fw,fRAyޅpBޅ5IJJJJJ{:J\3:JJMb@Mb@Mb@ )YQ?Zd;O?y&1|y?j<`A C@)AIyAIIJ5٢ .=9Q > G٣I6Gy > Nusing accuracyPremultiplier from config49?4Ys iQB?:c @rDs;;t4 AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 170.20 m.Bj0;Jj0;% ProNav: ac range: 170.199997 m, nav range: 120.678192 m, bearing: 314.807365 deg, approach rate: -0.440793 m/s, LOS rate: 0.154487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207366 deg. 2j% ;:jegC@mHeadingCmd: 4.820728 target range: 170.199997 and range: 170.20 m. jijijijiiihqhqhqhuBfyfyfyrfybf$ @ɛ5bB=Ҳ 9=<Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:00:08.4753 TRx dataTimestamp_ set to:1736366409.792766checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263888I9 ƻɚiI#=Ii-'giK1))HI IIIՁBI&I.I6Ix<:Ix F*Fq2Fq:FqBFu2JFqG i"G G Gq By O >Qw,SRAFx.@YF=@F'9F>yFH??pEn?D u??D?ɨFx.@F[;FICyRXBRI \I\bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516234IjIjxV5٢rd  vf=9vMùQ v>xx zG٣xy~; ~> Nusing accuracyPremultiplier from config 49? 4Y i   @rD ; ; BDAT read: Tx time:20:00:09.5757 $Ping request sent.}w,9RAI3@YB@򁶻9 >yHP?;? K?6v? _?`J?ɨI3@;ECy]QB]I ae=mMb@Mb@Mb@iii i)iYmx&1?~jt?I +ymA ?m G٣y: > Nusing accuracyPremultiplier from config49I?4Y^ iPBf ?: @rD[;Z;C4ʓB AEaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 146.600006 m, deltaT: 3.778900 s, deltaX: -23.599991 m, approachRate: -6.245201 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 170.20 m.BjD;JjD; IhWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:00:09.5750 % ProNav: ac range: 170.199997 m, nav range: 120.278923 m, bearing: 314.947197 deg, approach rate: -0.489760 m/s, LOS rate: 0.172102 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219481 deg. 2j%9;:j%#E@-HeadingCmd: 4.820940 target range: 170.199997 and range: 170.20 m. j)j)j)j)i)h1h1h1h5Bfffrf@3Sb@bf`73?ɛd 0 I lȻɚiI$=I%i%3_fi%P)!))zKLK59KKK BKsA:K*F?2F:FBF`0JFGM 'H} Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 OM >w,RAH I  I"II"BI" =&I .I 6I"i<:I"m FrD6@YrE@rǻ9rm>yrH ?P? ?8~x? ??ɨrD6@r럈;rHCy~9B~II I 0E5٢% %f=9-Q ->)) -G٣5J6Gy5: 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=. i9IMM @=rD=:=7:=|4Y ]A]EZjyFNOT Ignoring new targets: 170.20 m.Bj6S;Jj6S; ProNav: ac range: 170.199997 m, nav range: 120.099434 m, bearing: 315.010375 deg, approach rate: -0.523823 m/s, LOS rate: 0.184657 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165005 deg. 2jt;:jY=@HeadingCmd: 4.819989 target range: 170.199997 and range: 170.20 m. jjjjihhhhfffrfbf?ɛmԏO imȤIi uʻɚqiqIu$=I}i} fi}>E7)y)y*F%?2F!:F!BF%0JF! IWill construct direction to contact in vehicle frame from tetrahedron phase data.G zQG ?G ?GBO >J J J J J :J o5:J J J sy2H@=?s?Cÿ@@ m9?R? pD?j?ɨ2%@2/;2FCy^-B^IIfIfB5٢ns nO=9nQ r>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~49z ?4Yz izOB:  @zrDzE;z`F;z^4 AZjFNOT Ignoring new targets: 170.20 m.BjB;JjB; ProNav: ac range: 170.199997 m, nav range: 119.901367 m, bearing: 315.080646 deg, approach rate: -0.478675 m/s, LOS rate: 0.170107 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186347 deg. 2j|;:jf@@HeadingCmd: 4.820361 target range: 170.199997 and range: 170.20 m. jjjjihhh h f ffrfbf 7?5Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛEcBM8[ IMսII U̻ɚQiQIU&$=I]i]ei])Y)a*F?2F:F BF 2JF G GBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i zK ILK 9K K K @w,PRA6(@Y6O8@6'96>y6HU?x?5¿ p^?@|?@?II MG٣IyUR[: U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]o iYm*?m:mem @]sD];];]:4q }aAyZjFNOT Ignoring new targets: 170.20 m.Bj c;Jj c; ProNav: ac range: 170.199997 m, nav range: 119.659355 m, bearing: 315.165744 deg, approach rate: -0.563383 m/s, LOS rate: 0.198502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230995 deg. 2j:<:jF@HeadingCmd: 4.821140 target range: 170.199997 and range: 170.20 m. jjjjihhhh\Bfffrfbf(?ɛ| 隕I лɚiI=$=IiZteiр))EWill construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBF]_5JFYHEV>IA IEfIIEBIE =&IA.IA6IEv<:IEv FBIJIRIZIbIjIƦ4GM pG! B1 OM >w,SA I:*@Y:S:@:]9:>y:He?(|?P¿@q?jz`k?`TL??ɨ:*@:B;8yJBJIRWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ)M5٢b싽 bg=9fQ f>hh jG٣jK6Gyj5: j> rNusing accuracyPremultiplier from configpv49r?v4Yr  iptv^z @rsDrn:r:rp4| ~A|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 170.20 m.Bj-GY;Jj-GY;E ProNav: ac range: 170.199997 m, nav range: 119.468231 m, bearing: 315.233227 deg, approach rate: -0.537135 m/s, LOS rate: 0.189958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177959 deg. 2jE]<:jE3?@UHeadingCmd: 4.820215 target range: 170.199997 and range: 170.20 m. jQjQjQjQiQhQhYhYhYfafafarfabfmD?ɛ)5Ɣw,pSAyޕ BޕI5Mb@Mb@Mb@111 1)1Y5X9v?Mb?I +y53?5=5941 5p@)5hAI5A1y5AIMIMZ5٢] ]2=9eQ e>aa eG٣iy} > Nusing accuracyPremultiplier from config49F?4Y i3?:G @+sDH;qF;4˓B AEZjFNOT Ignoring new targets: 170.20 m.Bje;Jje; ProNav: ac range: 170.199997 m, nav range: 119.207260 m, bearing: 315.325684 deg, approach rate: -0.564125 m/s, LOS rate: 0.200296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.253162 deg. 2jv < Ih:jI@HeadingCmd: 4.821527 target range: 170.199997 and range: 170.20 m. jjjjih!h!h)h-CBf1f1f1rf1bf=@ɛae{ am8/Ii myٻɚiiiImm{$=Iuiudiu)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265105*F?2F:FBFP4JFzKJK]9KKKG ïG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518744R̔w,D6SAH$I$ I&4II&pBI$&I$.I$6I&Ű<:I& Ff8@YfH@f59fY>yfH (ӻ??`?v ƃ?Q??ɨf8@fk;dyvBvI z=z=I~I~^5٢߹ b=9Q >! %G٣!y%; %> 5Nusing accuracyPremultiplier from config)549-”?=4Y- i)9== @-;sD- ;- ;-4A MAIZjimFNOT Ignoring new targets: 170.20 m.Bjf;Jjf; ProNav: ac range: 170.199997 m, nav range: 119.005524 m, bearing: 315.397262 deg, approach rate: -0.568128 m/s, LOS rate: 0.201919 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190284 deg. 2j <:j@@HeadingCmd: 4.820430 target range: 170.199997 and range: 170.20 m. jjjjihhhhff!f!rf!bf% o@ɛbB 隥PI ޻ɚiIڠ$=Ii3`di9))*F?2F:FBF_0JFPExceeded connect timeout, disconnecting. IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768293GGA BQ Om >J J J /J J :J $-:J (N3J J <J <J ;J ;Ӕw, PSA24@Y2C@2p8+92 >y2H`P?ހ?Ͱ`ɻ?urf? a?K?ɨ24@2u;0yVBVII^I^[W5٢f4 fO=9jQ j>hl nG٣nL6Gynn r> zNusing accuracyPremultiplier from configpz49r/Ɣ?~4Yr" irPB|~$~ @rMsDr:;r;r4 A Zj)5FNOT Ignoring new targets: 170.20 m.Bj=Mf;Jj=Mf;M ProNav: ac range: 170.199997 m, nav range: 118.782600 m, bearing: 315.476813 deg, approach rate: -0.563165 m/s, LOS rate: 0.201344 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214286 deg. 2jM. <:jMeD@UHeadingCmd: 4.820849 target range: 170.199997 and range: 170.20 m. jQjQjYjYiYhYhYhahafafafarfibfm@ɛļ 隥oI F6ɚiI$=IiciV))]Will construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:20:00:12.2120 mTRx dataTimestamp_ set to:1736366413.330362}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031947*Fu?2Fq:FqBFu`0JFqG9GqByO> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280124wڔw,iSAzK&JK&9K$K&K&b+@Yb.;@b$;9bm >ybH@Zl?? Sk?lad??`v?ɨb+@b;bECyrBvIuMb@Mb@Mb@qqq q)qYuCl? ףp= ?y&1|yu;??uQ8=u`q uC@)uAIuhAqyu=AIIDP5٢N ==9HQ > G٣) y >G EYAyE B uNusing accuracyPremultiplier from config!49%9˔?4Y%, i%RB??: @%dsD%<%i <%4 AZjFNOT Ignoring new targets: 170.20 m.Bj-i;Jj-i;m ProNav: ac range: 170.199997 m, nav range: 118.493210 m, bearing: 315.577938 deg, approach rate: -0.583505 m/s, LOS rate: 0.204397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.279298 deg. 2juF <:jM@HeadingCmd: 4.821983 target range: 170.199997 and range: 170.20 m. jjjjihhhhBfffrfbfD @ɛ  g|  rtI )ɚiI+$=IicimWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534531))HeW>Ia IeIIeLBIa&Ia.Ia6Ie<:Ie F*FI2FI:FIBFM_0JFIG} !  nManaging dock network, ignoring radio surface power off I GQ Ba O} >2w,^.SA2 @Y2 0@2JJ92 >y2H@??k8A?c~Y??C?ɨ2 @2و;2FCJWill construct direction to contact in vehicle frame from tetrahedron phase data.RDAT read: Range 10 to 50 : 174.0 m (Round-trip 232.1 ms) speed -0.4 m/s R,DAT read: user:1033> VBDAT read: Tx time:20:00:13.3273 Z$Ping request sent.Z|| ~G٣|y{ > Nusing accuracyPremultiplier from config49Δ?4Y2 iSB%% @tsDX%;;^;4) 53A=EB*** querying acoustic contact ***jjM addTargetRange:: Added new target pos. range: 174.000000 m, deltaT: 7.566985 s, deltaX: 3.800003 m, approachRate: 0.502182 m/s, rangeRepo size: 4 ZjQUFNOT Ignoring new targets: 170.20 m.Bj]/X;Jj]/X; ProNav: ac range: 170.199997 m, nav range: 118.286339 m, bearing: 315.650819 deg, approach rate: -0.535540 m/s, LOS rate: 0.189003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194212 deg. 2j<:jA@HeadingCmd: 4.820498 target range: 170.199997 and range: 174.00 m. jjjjihhhhfffrfe@bfk`?Jـ3Km3 KL.KK"KJ%J%J%0J!J%:J%>:J%ـ3J!J%#<J%#<J%˕;J%˕;ɛaBN ȼ 隍8yI ɚiI %=Iiccip))*Fm?2Fi:FqBFqJFqEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:20:00:13.3265 UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G ݻG B O% >&w,HSAEb@YE@E~yt9E>yEH?`e?xZ?&S?`厎? ?c?ɨEb@Eϱ;EHC QIQy}ڀB}|IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500859Mb@Mb@Mb@ )Y~jt? ףp= ?MbPyD?` A Z@)QAIAyAI5I5;5٢g" =9Q > G٣M6Gy > Nusing accuracyPremultiplier from config49JԔ? 4YW= iWB D? :   @sDP;;84mB A%EZjAEFNOT Ignoring new targets: 170.20 m.BjMA;JjMA;e ProNav: ac range: 170.199997 m, nav range: 117.958420 m, bearing: 315.768636 deg, approach rate: -0.700098 m/s, LOS rate: 0.252235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.329615 deg. 2je-<:jeT@mHeadingCmd: 4.822862 target range: 170.199997 and range: 174.00 m. jijqjqjqiyhyhhhBfffrfbf@o*?ɛYeiͼ aeֆIi mEɚiiizKuVBJKu+9KqKuKu BK:KImF%=IiciȂ))*F?2F:FBF`0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752860jH <bH <H% X>I!  I% II% =BI! &I! .I! 6I% e<:I% k FGM w*GQ GU tAG B) OE >w,̹SAB@YBN@BSdz9Bg>yBH &?? ?. o?b?:L? s!?๽?ɨB@BE;BICɳHLNbiNUFLiLf|wA)fn f.tFIh j C)j`wAɴjj9|FhlɵpirEIppIpiv-xA tt)tt ttxɶxxxIx)xix)|I||ɷ y܀BII%I%-I5٢5Qt< 5=95Q 5?99 =G٣9yEt: E? MNusing accuracyPremultiplier from configIU49Mה?U4YMC iMZBQ]] @MsDM;M+;M4i mAiZjFNOT Ignoring new targets: 170.20 m.Bj";Jj"; ProNav: ac range: 170.199997 m, nav range: 117.764267 m, bearing: 315.838737 deg, approach rate: -0.619505 m/s, LOS rate: 0.224049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185837 deg. 2j<:jS@@HeadingCmd: 4.820352 target range: 170.199997 and range: 174.00 m. jjjjihhhhfffrfbfH?ɛ`B0w I xɚiIh%=I i ci @))*F?2F:FBF_5JF YI]hGGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004838OB>w,UjSA6@Y6~@6$96>y6H樹?c?`t?h?T?II MG٣IyU@ U> ]Nusing accuracyPremultiplier from configYe49]Vܔ?e4Y]L i]^Bimu @]sD] F;]OF;]4y }`AyZjFNOT Ignoring new targets: 170.20 m.Bj;Jj; ProNav: ac range: 170.199997 m, nav range: 117.476273 m, bearing: 315.943692 deg, approach rate: -0.615873 m/s, LOS rate: 0.224994 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.290818 deg. 2ji<:jVO@HeadingCmd: 4.822185 target range: 170.199997 and range: 174.00 m. jjjjihhhhfffrfbf?ɛ5¼ &}I  ɚiI%=IiTdiwi޻)) aImh*FU?2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510092zK .LK 9K K K  RK ?JK >Gu J J J 1J J +:J @0:J 3J a @a @a @a @GQ BY Ou >\w,SAN^@YN@Nډ9N>yNH X\??EL?Il? ;?@?*?ɨN^@N;NFC)1I111 9999i99iAA)A AIA I)IIIIIQiQIQQIQiQ QY)YY ] xAYYYaaIa)aiaayޕBޕI5Mb@Mb@Mb@111 1)1Y5ˡE?Zd;O?~jtx?y5G?5j<=5;5 A 5C@)5AI5hA1y1IMIMe5٢]< ]F=9]ݺQ e>aa eG٣eN6Gy 2  > Nusing accuracyPremultiplier from config49?4YU idBIH?:% @sDU;;-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760807n4=lB =0A=EZjHI III8BI =&I.I6I<:I FFNOT Ignoring new targets: 170.20 m.Bj;Jj; ProNav: ac range: 170.199997 m, nav range: 117.206619 m, bearing: 316.042989 deg, approach rate: -0.606508 m/s, LOS rate: 0.223855 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.273761 deg. 2j<:jL@EHeadingCmd: 4.821887 target range: 170.199997 and range: 174.00 m. jAjYjYjaiahahahahm Bfififirfibfu?ɛ_Bļ pI }ɚiI%=IiWdi6))*F?2F:FBF,4JF ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013185G5 GY Ba O >@[w,7 TAJՒ@YJ@J9J >yJH?@?@R Y@r ?@bs?`{?.??ɨJՒ@J;HymBmII}I}a5٢a= U=9SQ > G٣y߻ > Nusing accuracyPremultiplier from config49r䔜?4Y)] iiBW @sD*::4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 170.20 m.Bj;Jj;  ProNav: ac range: 170.199997 m, nav range: 116.980782 m, bearing: 316.127043 deg, approach rate: -0.642876 m/s, LOS rate: 0.239733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227835 deg. 2j $<:j TF@HeadingCmd: 4.821085 target range: 170.199997 and range: 174.00 m. jjjjihhh!h!f!f!f)rf)bf- @ɛU^BU"ɼ QUYIY eh ɚaiaIe>%=Imimeim!)i)i*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265016G6GB O% > I mzw,m#TAy]B]I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516861Mb@Mb@Mb@ )YV-?Q?{Gz?y|??u=#<` A -@)hAIAyIIr^5٢%z= %B=9-Q ->)) 5G٣1y5 => ENusing accuracyPremultiplier from config9M49=锜?M4Y=\e i=oBM@?M:MU @=sD=5;=3;=#4Y ]pAaZjiFNOT Ignoring new targets: 170.20 m.Bj i;Jj i; ProNav: ac range: 170.199997 m, nav range: 116.725746 m, bearing: 316.218507 deg, approach rate: -0.566864 m/s, LOS rate: 0.203739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250176 deg. 2j <:jI@HeadingCmd: 4.821475 target range: 170.199997 and range: 174.00 m. jjjjihhhh"Bfffrfbf@zKeKKaKaKeKeBKurA:KusAɛ}]B}U y}=Iy d8 ɚiI%=Iiyfiw:))J J J 0J J :J ,:J ـ3J *F]?2FY:FYBF]^0JFY- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768749H Y>I  I II GBI &I .I 6I u<:I x FBIyJIyRIyZIybIyjI}ɦ4G GY Bi O >ǣw,Qg=TA>;Œ@Y>ԙ@>Ý9> >y>H a;Œ@> ;>HCyJ BJIIRIRZ5٢^= ^e=9bZQ b>`` fG٣fO6Gyf0 f> jNusing accuracyPremultiplier from confighn49j씜?r4YjPl ijuBprr @jtDj ;j. ;ja4t vAxZjFNOT Ignoring new targets: 170.20 m.Bj;Jj;5 ProNav: ac range: 170.199997 m, nav range: 116.510078 m, bearing: 316.296575 deg, approach rate: -0.660031 m/s, LOS rate: 0.239363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209824 deg. 2j5E$<:j5C@=HeadingCmd: 4.820771 target range: 170.199997 and range: 174.00 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU X@ɛ}\B}Ϯ 隅#I 0 ɚiIb%=Ii6gi4+:)) $?I*F]?2FY:FaBFe`0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:00:15.9666 TRx dataTimestamp_ set to:1736366417.108919checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022172GsGiByO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272778w,FWTA’@Y8ҙ@4_9< >yH@;(?3?@``j?,y? ?`?@?ɨ’@;騅GCy޵B޽III[W5٢߂= 7=9 {Q  >    G٣y4 > %Nusing accuracyPremultiplier from config!-49%?-4Y%u i%}B15 5 @%tD%%;%;%249 =AEEZjamFNOT Ignoring new targets: 170.20 m.Bjuu{;Jjuu{; ProNav: ac range: 170.199997 m, nav range: 116.240494 m, bearing: 316.394750 deg, approach rate: -0.602282 m/s, LOS rate: 0.219843 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.270392 deg. 2j<:jjL@HeadingCmd: 4.821828 target range: 170.199997 and range: 174.00 m. jjjjihhhhfffrfbf @ɛ[B獼 XI ɚiI_%=Ii?\hip:))*F?2F:FBF_0JF IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525233G K7G B O >zK KK ]9K K K J! J% J% 1J! J! J% $-:J% 3J! w,qTA2Ò@Y2Pә@292>y2H0??@`?x? P?@?ٮ?ɨ2Ò@21;0yn.BnIMb@Mb@Mb@ )YZd;?~jt?{Gz?y9?D=ף< A p@)Iy=AIIT5٢= O=9ѻ8Q > G٣yݱ9 > Nusing accuracyPremultiplier from config49?4Yv| iBU:?: @*tD;8;4 AZjFNOT Ignoring new targets: 170.20 m.Bjo;Jjo; ProNav: ac range: 170.199997 m, nav range: 116.013565 m, bearing: 316.480611 deg, approach rate: -0.552318 m/s, LOS rate: 0.209383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233270 deg. 2j<:jG@Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 176.2 m (Round-trip 235.0 ms) speed -0.2 m/s 5,DAT read: user:1034> =BDAT read: Tx time:20:00:17.0759 =$Ping request sent.=IQ IU!IIU`BIQ&IQ.IQ6IU<:IU Fm:publishing transmit ping time9yHeadingCmd: 4.821180 target range: 170.199997 and range: 174.00 m. jjjjihhhh\Bfffrf`ff@bf@?ɛeZBe>m 隍I  ɚiI%=IiiiT8))E*F}?2Fy:FyBF}`0JF"GG= I Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]=Gy B O >h"w,TA6ҽ@Y6V͙@6 96>y6H`O?@R?¿K@z?j z?A???ɨ6ҽ@6 ;6FCy^>B^IIjIjY45٢r= rY=9vY}Q v>tt zG٣zP6Gyz z> Nusing accuracyPremultiplier from config|49~?4Y~ i~B  (  @~;tD~:~:~4 oA addTargetRange:: Added new target pos. range: 176.199997 m, deltaT: 3.780050 s, deltaX: 2.199997 m, approachRate: 0.582002 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 170.20 m.Bj7|;Jj7|; ProNav: ac range: 170.199997 m, nav range: 115.796700 m, bearing: 316.563202 deg, approach rate: -0.577912 m/s, LOS rate: 0.220503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223422 deg. 2jT<:jE@ HeadingCmd: 4.821008 target range: 170.199997 and range: 176.20 m. j j j j i h hhhfffrfbf@c&?ɛYBlP UI ,ɚiI%=I%i%}ji%(D)!))*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G K7G B! Om > I (w,ӤTAB@YBr@B!9B9 >yBHj?@r?~M?̘?C?@R?`ز?ɨB@B;BDCyNPBN I-Mb@Mb@Mb@))) )))Y-/$? rh??y-,?-C =-<- A -C@))I))y)IMIM>5eWill construct direction to contact in vehicle frame from tetrahedron phase data.٢U_= mC=9mnQ m>qq uG٣qy}s }> Nusing accuracyPremultiplier from config49[?4Y iB^,?U:]} @NtD<f< 4 AB*** querying acoustic contact ***jjZj1=FNOT Ignoring new targets: 170.20 m.BjEL_;JjEL_;u ProNav: ac range: 170.199997 m, nav range: 115.575325 m, bearing: 316.651268 deg, approach rate: -0.489801 m/s, LOS rate: 0.195223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.239888 deg. 2j}<:j}H@}HeadingCmd: 4.821296 target range: 170.199997 and range: 176.20 m. jjjjihhhh~Bfffrfbf`r?ɛXB-&$ )-PI) -ɚ1i1I5k%=I5i=wki=j}e)9)9JJJ0JJJJـ3J~GvAzKJKh9KKAK aYvAy) B*F ?2F :FBF91JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.HU Y>IQ  IU YIIU BIQ &IQ .IQ 6IU <:IU FGm jLBG9 BI Oi .w,殾TABc@YB筙@B.ٳ9B>yBH?@'? ?݂?`z? O?`V?ɨBc@B;BHCyR_BR IIZIZY45٢b= bT=9fJQ f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr49nC?r4Yn inBtvŷv @n^tDn7:nX:n4x zbA~EZj!-FNOT Ignoring new targets: 170.20 m.Bj-;Jj-;E ProNav: ac range: 170.199997 m, nav range: 115.376183 m, bearing: 316.731142 deg, approach rate: -0.591401 m/s, LOS rate: 0.237614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215221 deg. 2jE#<:jED@MHeadingCmd: 4.820865 target range: 170.199997 and range: 176.20 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbfe?ɛ 隍| Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503521'5w,TA2+@Y2@2ⷼ92]>y2Hct??"¿y ???p??ɨ2+@2 ;2GCyRsBR8IIZIZ>5٢b#= bJ=9bQ f>dd fG٣fQ6Gyj}; j> rNusing accuracyPremultiplier from configlr49n`?v4Yn˜ inBtvv @notDn:n:n4 A Zj)-FNOT Ignoring new targets: 170.20 m.Bj5o;Jj5o; ProNav: ac range: 170.199997 m, nav range: 115.165276 m, bearing: 316.815859 deg, approach rate: -0.520894 m/s, LOS rate: 0.209617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229803 deg. 2j<:jF@HeadingCmd: 4.821120 target range: 170.199997 and range: 176.20 m. jjjjihhhhfffrfbf M?ɛ-WB5\^ U)=Ua=IQ ]#ɚYiYI]%=IeiennieC\)a)a*F=?2F9:F9BFE_0JFA AIAuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756109GשhG B O >zK LK 9K K K STC/xl_SG;) qAq/ t5C y2H@(??`6¿@?~?c?m ?g?ɨ2’@2Չ;0y>B>MI=Mb@Mb@Mb@999 9)9Y=K7A??I +?y= "?=<=9<=A 9)9I=~A9y=AI]I]P5٢}*= }>=9}A;Q > G٣y; > Nusing accuracyPremultiplier from config49j? 4Y iB E"? :   @tD:;d;%4 =AZj9EFNOT Ignoring new targets: 170.20 m.BjEf;JjEf;U ProNav: ac range: 170.199997 m, nav range: 114.948616 m, bearing: 316.904741 deg, approach rate: -0.491084 m/s, LOS rate: 0.201840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242331 deg. 2jU <:j]gH@mHeadingCmd: 4.821338 target range: 170.199997 and range: 176.20 m. jqjqjqjqiyhhhhBfffrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007364ɛVB[0 X=I ɚiI$=HI IIIBI&I.I:D6I߰<:I FIi!oi6)) *F12F1:F1BF1JF1 !I!GU *UG) B9 OU >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259821Bw,J@ UA6Ԓ@Y69@6H 96>y6Hq?@̈́?W¿ 6?Iz?H? +?L?ɨ6Ԓ@6;6ECy>BBaI F=Fp=IJIJJ5٢RѦ= RZ=9Vh:Q V>TT ZG٣XyZ; ^> Nusing accuracyPremultiplier from config%49?%4Y> iB!%N- @tD;;,41 5A1ZjYeFNOT Ignoring new targets: 170.20 m.Bje e;Jje e;u ProNav: ac range: 170.199997 m, nav range: 114.766785 m, bearing: 316.979357 deg, approach rate: -0.487224 m/s, LOS rate: 0.200254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199389 deg. 2j}n <:j}CB@HeadingCmd: 4.820589 target range: 170.199997 and range: 176.20 m. jjjjihhhhfffrfbf@JJJJJ :J+:JJJs 9 IA Iw,&UA2@Y2@2922>y2HA?2?@S¿md?eDv?6?`*?v?ɨ2@2X;2FCyBBBiIMb@Mb@Mb@ )YA`"?{Gz?~jt?y?#<D< Z@)AI Ay AI5I5DP5=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763255٢U< U@=9U:Q U>YY ]G٣]R6Gye; e> mNusing accuracyPremultiplier from configiu49mY ?u4Ym imB#?: @mtDmI ,0 ɚiI7$=Iiqi) ) zKe'lOKeh9KaKeKeBKi:KiEX;=Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:00:19.7493  TRx dataTimestamp_ set to:1736366420.892196 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020454ZH1 RH5 ?AHA IA  IE IIE ߁BIA &IA .IA 6IE <:IE F*Fu ?2Fy :Fy BF} _0JFy G j 9I9GiByO>3Qw,hDUAB@YBH@Bk9B>yBHͮ? ?@CQ¿` ?@ s? |ԓ?@(?`?ɨB@B͈;BGCyNBR{IIZIZJ5٢^m= b2=9f\U:Q f>hh jG٣lynm; n> rNusing accuracyPremultiplier from configpv49r ?z4Yr iráBxzpz @rtDr;r;rL;4~kB ~ AEZj!%FNOT Ignoring new targets: 170.20 m.Bj-Qm;Jj-Qm;= ProNav: ac range: 170.199997 m, nav range: 114.369431 m, bearing: 317.149466 deg, approach rate: -0.483458 m/s, LOS rate: 0.207479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244451 deg. 2j=d<:j=H@MHeadingCmd: 4.821375 target range: 170.199997 and range: 176.20 m. jIjQjQjQiQhQhQhYhYfYfYfarfabfe~ @ɛ G; 隕)>I  ɚiI#=Iilqi9ջ)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267387E=*FE?2FA:FABFAJFIJJJJJ;:JJJJ<J<JJGeH;G9 BI Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519104@Ww,k^UA:@Y:7@:9:AZ>y:H %??B¿`J?$q?ₓ??@#?ɨ:@:6;:FCyPPZAZAIbIbJ5٢j\ jJ=9jWJ:Q j>ll nG٣pyr; v> zNusing accuracyPremultiplier from configtz49vX?~4Yv? ivɡB|~4 @vtDv,;v;vYB4  A Zj)5FNOT Ignoring new targets: 170.20 m.BjE _;JjE _;U ProNav: ac range: 170.199997 m, nav range: 114.186188 m, bearing: 317.228042 deg, approach rate: -0.454031 m/s, LOS rate: 0.195004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211290 deg. 2jU<:jUC@]HeadingCmd: 4.820796 target range: 170.199997 and range: 176.20 m. jYjYjYjaiahahahahifififirfibfuC @ɛPXQ; 隥(>I aɚiI#=Iifqi1)) $?Ih-Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: Range 10 to 50 : 201.9 m (Round-trip 269.3 ms) speed -0.6 m/s M,DAT read: user:1035> UBDAT read: Tx time:20:00:20.8258 U$Ping request sent.]I  I II BI &I .I 6I <:I FBIJIRIZI =bI =jI*4 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq By O > ^w,%zUAyޕBޕ|I=Mb@Mb@Mb@999 9)9Y=Cl?V-?{Gz?y=?=<=#<=A 9)=~AI99y=AIeIe3A5٢K; #=9Q > G٣S6Gy > Nusing accuracyPremultiplier from config49?4Y iϡB?: @tD1;z;K4lB  AEeaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 201.899994 m, deltaT: 3.780109 s, deltaX: 25.699997 m, approachRate: 6.798745 m/s, rangeRepo size: 4ZjamFNOT Ignoring new targets: 170.20 m.Bj}E;Jj}E; ProNav: ac range: 170.199997 m, nav range: 113.965950 m, bearing: 317.316427 deg, approach rate: -0.428546 m/s, LOS rate: 0.172317 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.240855 deg. 2j;:j1H@%HeadingCmd: 4.821312 target range: 170.199997 and range: 176.20 m. j!j)j)j)i)h)h)h1h5Bf1f1f1rf=I9 =]ɚ9i9I=>#=IEiEqiE!)I)IEQEQ*EQ"EQWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J ':J J J <J <J ;J ;*F ?2F :F BF JF GԑWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO?fw,UA: @Y:3@:l9:>y:H`]?܁?¿>Ժ?jv?=???ɨ: @:ʍ;:ECyFBJIININS<5٢V(= Z3=9Z#Q Z>\\ ^G٣\y^4: b> fNusing accuracyPremultiplier from config`=49b.?=4YbC ibաBAEE @btDbf>I >ɚiI~"=Ii rilƒ))*Fm?2Fi:FqBFul0JFy !I-hWill construct direction to contact in vehicle frame from tetrahedron phase data.G[6GBO>zKM KKM h9KI KM KM lw,ḵUA2.@Y2@2892y4>y2H ʈ?Ā?0#¿@) ?Iv?? ]?6?ɨ2.@2;2GCy>B>~I F=DMb@Mb@Mb@ )YV-?{Gz?yh?#<A )AIy AII75٢  <=9Q > G٣y: > Nusing accuracyPremultiplier from configHY>I IIIBI&I.I6Iհ<:I F49?4Y iءBn?: @tDO;;Z4   A Will construct direction to contact in vehicle frame from tetrahedron phase data.-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 170.20 m.BjEY;JjEY;U ProNav: ac range: 170.199997 m, nav range: 113.577583 m, bearing: 317.477988 deg, approach rate: -0.441494 m/s, LOS rate: 0.190293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218631 deg. 2jU<:j]E@eHeadingCmd: 4.820925 target range: 170.199997 and range: 176.20 m. jajijijiiihqhyhhBfffrfbfG{?ɛ:r; .>I /ɚiIE"=IUiUri]{)Y)a*F%?2F!:F!BF%o0JF) !I!Gm ԑ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Gi B O >sw,[UA6t1@Y6@@6Y96ɀ>y6H ?~? ¿ ?i?@?M? N?ɨ6t1@6;6ECyRBRxIIbIb R5٢jtռ jZ=9j;Q j>JrJpJpJpJr;:JpJpJpJr<Jr<JpJpl| ~G٣~T6GyuX.< u> }Nusing accuracyPremultiplier from configy49}?4Y} i}ڡB @}uD}b;};}a4kB  AEZjFNOT Ignoring new targets: 170.20 m.BjV;JjV; ProNav: ac range: 170.199997 m, nav range: 113.407219 m, bearing: 317.550990 deg, approach rate: -0.437560 m/s, LOS rate: 0.187779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194522 deg. 2j<:jA@HeadingCmd: 4.820504 target range: 170.199997 and range: 176.20 m. jjjjihhhhfffrfbf ?ɛ5UB=8fx; 9=$>I9 =6ɚ9iAIEkH"=IEiMeqiM|)I)I*F ?2F :FBF1JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762693G-g{G B O5 > I yw,vUABWill construct direction to contact in vehicle frame from tetrahedron phase data.@i@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016005y]B]sIEMb@Mb@Mb@AAA A)AYE9v??MbpyE?Eqq }G٣yy} }> Nusing accuracyPremultiplier from config49N?4Y9 iܡB"?: @uD0;S.;7i4 @AZjFNOT Ignoring new targets: 170.20 m.Bj}T;Jj}T; ProNav: ac range: 170.199997 m, nav range: 113.208664 m, bearing: 317.632033 deg, approach rate: -0.454348 m/s, LOS rate: 0.185772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218739 deg. 2j;:jE@HeadingCmd: 4.820927 target range: 170.199997 and range: 176.20 m.)=  jj jji!h1hAe~~GhY`wAZA Y`wAyBhmBf)f)f)rf)bf-C@ɛy}U; y隅>I ɚiI$!=Ii?qikv1))zKJK 9KKKXX  O ` N  (<lI4% *F}?2Fy:FyBF}0JFyHI III&I.I6I<:I F5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266700G 'HG B O >Oɀw,YLVA>Uc@Y>r@>#h9>Q@>y>H~&?x?7¿m?=@,?6?׭?ɨ>Uc@>8q;hh jG٣hyj< j> rNusing accuracyPremultiplier from configpz49r!?z4Yr irޡB|~㴿~ @ruDrF;rmG;rXo4 A Zj)-FNOT Ignoring new targets: 170.20 m.Bj5R;Jj5R;E ProNav: ac range: 170.199997 m, nav range: 113.049156 m, bearing: 317.696600 deg, approach rate: -0.454601 m/s, LOS rate: 0.184277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169160 deg. 2jE;:jM=@MHeadingCmd: 4.820061 target range: 170.199997 and range: 176.20 m. jIjQjQjQiQhQhQhYhYfYfafarfabfeڞ@ɛT{<; 隝>I 2ɚiI!=IiAvpiZ;))*Fm?2Fi:FqBFu1JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521066G >JJJJJ:J,:JJJ<J<J;J;GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774853\w,-'VA>n@Y>b~@>vz9>wR>y>H7? v?¿n ý?S N??ӭ?ɨ>n@>^͇;>GCyJBJZIIVIV-I5٢Z83 ^K=9^5:Q ^>`` bG٣bU6Gyfoe; f> nNusing accuracyPremultiplier from confighr49j"$?r4Yj ijBprr @j.uDj;j;j^v4x zAxZjFNOT Ignoring new targets: 170.20 m.Bj%S;Jj%S;5 ProNav: ac range: 170.199997 m, nav range: 112.866158 m, bearing: 317.770759 deg, approach rate: -0.455933 m/s, LOS rate: 0.185064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198024 deg. 2j5;:j5B@=HeadingCmd: 4.820565 target range: 170.199997 and range: 176.20 m. j9j9j9j9iAhAhAhAhAfIfIfQrfQbfUx@ɛ9=WS9 AE=IA EɚAiAIE!=IMiMg5oi;)) I*F5?2F1:F9BF=_0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:00:23.4698 TRx dataTimestamp_ set to:1736366424.678143checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029648GCQ;Gq B O >zK cOK h9K K K w,7VA2 @Y2@2g92F>y2H?`t?¿8? d`W?$??ɨ2 @2Ić;2FCyNBRSIZHRH@AHI IIIBI&I.I9D6Iڰ<:I FMb@Mb@Mb@ )YZd;?y&1|?:vy?`;T )IAyAIIQ5٢޼ 7=9 %;Q  >  G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278855y%R; %> -Nusing accuracyPremultiplier from config)549-5'?=4Y- i-ߡB=?=:=7= @-@uD-g;-(;-1~4A MAIeB*** querying acoustic contact ***jajaZji}FNOT Ignoring new targets: 170.20 m.Bj}i;Jj}i; ProNav: ac range: 170.199997 m, nav range: 112.654007 m, bearing: 317.862100 deg, approach rate: -0.473517 m/s, LOS rate: 0.204256 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.249724 deg. 2j- <:jvI@HeadingCmd: 4.821467 target range: 170.199997 and range: 176.20 m. jjjjihhh!h%Bf!f!f)rf)bf-` @ɛVBJ (=I =6ɚiI1[!=IiZmig&;))*F?2F:FBFJF IhG {/; Will construct direction to contact in vehicle frame from tetrahedron phase data. i A DAT read: Range 10 to 50 : 179.8 m (Round-trip 239.8 ms) speed -0.6 m/s  ,DAT read: user:1036>  BDAT read: Tx time:20:00:24.5758  $Ping request sent. w,PVAV@YV.@V5]9V>yVH`?Uv?O @5@?(h ???ɨV@Vg;TyfBfHI ~a=~a=IIaO5٢5@ =[=9=g:Q =>AA EG٣AyM : M> UNusing accuracyPremultiplier from configQ}49U)?}4YU iUޡBy}1 @UOuDUW;U;UĄ4jB WAE addTargetRange:: Added new target pos. range: 179.800003 m, deltaT: 7.318028 s, deltaX: 3.600006 m, approachRate: 0.491937 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 170.20 m.Bj b;Jj b;= ProNav: ac range: 170.199997 m, nav range: 112.475922 m, bearing: 317.939108 deg, approach rate: -0.457915 m/s, LOS rate: 0.198326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206575 deg. 2j=<:jEJC@EHeadingCmd: 4.820714 target range: 170.199997 and range: 179.80 m. jAjIjIjIiIhIhIhhfffrfyf@bf?ɛy}d׺ 隅=I ɚiI+3!=Ii6li))E-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:20:00:24.5750 *F2F:FBFJF i Ii G o;G BA O >1w,jVA>Will construct direction to contact in vehicle frame from tetrahedron phase data.r@YrN@rT9rը>yrH?v?f@4?Ql ???ɨr@r;pyxB?IMb@Mb@Mb@ )YE? G٣V6Gy > Nusing accuracyPremultiplier from config49-?4Y iB&?:޲ @auD7;@;4 AZjFNOT Ignoring new targets: 170.20 m.Bjq;Jj%q; ProNav: ac range: 170.199997 m, nav range: 112.259796 m, bearing: 318.025353 deg, approach rate: -0.529046 m/s, LOS rate: 0.211523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.234419 deg. 2j*<:jEG@HeadingCmd: 4.821200 target range: 170.199997 and range: 179.80 m. jjjjihhhhBfffrfbf`}?ɛWB' T=I %rɚ!i!I%!=IMiUPjiU'C;)Q)QJK3 K.-KK"KJJJJJ:J(:JJa@a@a@a@*F2F:FBF`0JFzKJK9KKKRK?JK?HyIy I}II}߁BIy&Iy.Iy6I}<:I} F5Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O5 > Y IY Qw,VA6sl@Y6{@6!_96`>y6H`.o?9x?7?:je K? ?`?ɨ6sl@6/;6GCyFmBF1IININJ5٢V~ Z]=9ZQ Z>\\ ^G٣\y^л b> jNusing accuracyPremultiplier from configdj49fB1?n4Yfg ifBln+n @fpuDf":f:f4rkB vAvEZjFNOT Ignoring new targets: 170.20 m.Bjb;Jjb; ProNav: ac range: 170.199997 m, nav range: 112.069611 m, bearing: 318.101981 deg, approach rate: -0.491707 m/s, LOS rate: 0.198449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205457 deg. 2j1<:j!C@HeadingCmd: 4.820694 target range: 170.199997 and range: 179.80 m. jjjjihhhhfffrfbfy?ɛ XB2  '=I euɚiIV =Ii%ii%;)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG;GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.CAw,mVA62U@Y6d@6h96l >y6HY?~? ͖@|`)?V ? ?G?ɨ62U@6H%;6FCyBhBB+IHHININ?5٢VI VK=9VQ V>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj49f4?j4Yf7 ifBhnn @fuDf}0;f1;f4t vAtZj FNOT Ignoring new targets: 170.20 m.Bjnw;Jjnw;- ProNav: ac range: 170.199997 m, nav range: 111.864479 m, bearing: 318.185498 deg, approach rate: -0.530345 m/s, LOS rate: 0.216321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226196 deg. 2j-u<:j-F@=HeadingCmd: 4.821057 target range: 170.199997 and range: 179.80 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfU M`?ɛeYBe(ݤ aeJ J J J J :J &:J J zK m$JK K K K BK! :K% qACkw,HVABT@YBOd@B"T9B >yBH@=?`?ph@?c@3?T?ݳ?ɨBT@B ;BECyN`BN!IjH<bH4<H!I! I%II%ˁBI!&I!.I!6I%<:I% FBIJIRIZIbIjIC4UMb@Mb@Mb@QQQ Q)QYUn?:v?{GztyUV.?U=9}3;Q }> G٣W6Gy. > Nusing accuracyPremultiplier from config498?4Y iBw.?: @uD;X;$4 WA]Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 170.20 m.Bjo;Jjo; ProNav: ac range: 170.199997 m, nav range: 111.638947 m, bearing: 318.281061 deg, approach rate: -0.493925 m/s, LOS rate: 0.209710 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.262453 deg. 2j<:jHK@HeadingCmd: 4.821690 target range: 170.199997 and range: 179.80 m. jjjjihhhhBfff!rf!bf%V?ɛZBmͻ 隝J;))*Fi2Fi:FiBFm2JFi IhG $; Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G B O >qSw,$VA2y\@Y2k@2OB928) >y2Hi?~?`fm?$m`dT?$W?`?ɨ2y\@2T;0yBWBBIIJIJ=X5٢V{> VX=9Z5?;Q Z>XX ZG٣\y^"; ^> fNusing accuracyPremultiplier from config`f49b;?f4Yb ibBhjj @buDb:b7:b4njB rArEZj FNOT Ignoring new targets: 170.20 m.Bj;Jj;% ProNav: ac range: 170.199997 m, nav range: 111.440475 m, bearing: 318.365427 deg, approach rate: -0.565288 m/s, LOS rate: 0.240720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228733 deg. 2j-4%<:j-uF@5HeadingCmd: 4.821101 target range: 170.199997 and range: 179.80 m. j1j1j1j1i1h1h1h9h9f9fAfArfAbfE5$@ɛiu@} qu@޻Iq qɚiI =Ii*gi 3y;) ) *F?2F:FBF4JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274678G']?; IGBO>w, VA^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526897-Mb@Y-q@-39-. >y-H? _~?`cUG;?trv?W??ɨ-Mb@-;)yMRBMI ]=]=Mb@Mb@Mb@ )YX9v? G٣y: %> -Nusing accuracyPremultiplier from config!549%??54Y% i%B53?=:=>= @%uD%a#;%3";%4A EAAZjFNOT Ignoring new targets: 170.20 m.Bj;Jj;  ProNav: ac range: 170.199997 m, nav range: 111.200012 m, bearing: 318.470911 deg, approach rate: -0.515584 m/s, LOS rate: 0.226659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.292319 deg. 2j <:j O@HeadingCmd: 4.822211 target range: 170.199997 and range: 179.80 m. jjjjihhhhbBf!f!f!rfIbfM^@ɛ\B4 隝I ɚiJJJJJ:J*:JJI =Iiei~\;))EV>E*F?2F:FBF4JFzKJK9KKK H)I) I-II-BI)&I).I)6I-<:I- FmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778872G g;Gy B O > I /ew,#WA6_@Y6 o@6:.962 >y6Hj ?~?v`"?]t>Dž?@k? M?ɨ6_@6fr;4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030864yuTB}III:\5٢; (=94:Q >  G٣X6Gyp, > Nusing accuracyPremultiplier from config%49C?-4Y' iB)-H- @uD ; ;Z41 5A9ZjamFNOT Ignoring new targets: 170.20 m.Bjm;Jjm;} ProNav: ac range: 170.199997 m, nav range: 110.933228 m, bearing: 318.588755 deg, approach rate: -0.551439 m/s, LOS rate: 0.244168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.329565 deg. 2j'<:jT@HeadingCmd: 4.822861 target range: 170.199997 and range: 179.80 m. jjjjihhhhfffrfbf`O@ɛ]B 0I KɚiIw =Ii;di ;))*FY2FY:FYBF]4JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:00:27.2548  TRx dataTimestamp_ set to:1736366428.468842 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284005G 1;G B O >Ǖw,!WAɳhjOwAjTinNFlilnSwA)nY lIl p)pɴrpptɵvlwAivIv1FtIxix x|)|| |||ɶwAI)i) I A ɷ  )I Dii!!)! !I! ))--xA)))11i1I11I9i9 99)99 9AAAAAIA)AiIIyURBUIIeIeuZ5٢}Y }}=9Q  ? G٣y ? Nusing accuracyPremultiplier from config49JF?4Y- iB @uD::Ľ4 I AZjFNOT Ignoring new targets: 170.20 m.Bj};Jj}; ProNav: ac range: 170.199997 m, nav range: 110.768120 m, bearing: 318.662075 deg, approach rate: -0.498459 m/s, LOS rate: 0.221682 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195473 deg. 2j#<:jA@HeadingCmd: 4.820520 target range: 170.199997 and range: 179.80 m. jjjjihhhhfffrfbf5`6v @ɛ: I ɚ!i!I-A =ImiuciuY/;))=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536083*F?2F):F)BF5_0JF9}G .YyBJ% J% J! J! J% ;:J% %:J! J! zK ĂKK 9K K K  G ;ZHq RHq Hy Iy  I} yII} BIy &Iy .I} :D6I} <:I} FG B O >\Εw,<yRH०? ?q" 幼?ػv!?@j?n?ɨR,S@R{;RBC~Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 206.1 m (Round-trip 274.9 ms) speed 0.0 m/s %,DAT read: user:1037> -BDAT read: Tx time:20:00:28.3759 -$Ping request sent.- G٣yvJ > Nusing accuracyPremultiplier from config49J?4Y6 iBp4?: @uD;D;4 Ih%iB %A-EB*** querying acoustic contact ***jj=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 206.100006 m, deltaT: 3.791534 s, deltaX: 26.300003 m, approachRate: 6.936507 m/s, rangeRepo size: 4Zj9EFNOT Ignoring new targets: 170.20 m.BjED;JjED;} ProNav: ac range: 170.199997 m, nav range: 110.496941 m, bearing: 318.778341 deg, approach rate: -0.542168 m/s, LOS rate: 0.233020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.324836 deg. 2j}<:j}3T@HeadingCmd: 4.822778 target range: 170.199997 and range: 179.80 m. jjjjihhhh[Bfffrf@3i@bf?ɛ5^B5T 15I9 =.Lɚ9i9I=ē =IEiE?biEx/;)A)I*FE?2FA:FABFAJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:00:28.3751 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ge g;Gy G} rAGA BQ Om >eՕw,fXWA6?S@Y6b@6996 >y6HK?? p1?M+z(g?`k? o?ɨ6?S@6;6ECyM[BMII]I][W5٢m= u\=9u;Q u>yy }G٣}Y6Gy}7 > Nusing accuracyPremultiplier from config49dN?4Yp= iB @vDq::4 tAZjFNOT Ignoring new targets: 170.20 m.Bj;Jj; ProNav: ac range: 170.199997 m, nav range: 110.300308 m, bearing: 318.863125 deg, approach rate: -0.577275 m/s, LOS rate: 0.249353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229990 deg. 2j +<:jF@HeadingCmd: 4.821123 target range: 170.199997 and range: 179.80 m. jjjjihhhhfffrfbf/K?ɛ_B 隽 I xɚiI =Ii":bi ;;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499970*FE?2FA:FABFAJFI IGGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752993{ەw,(rWA2C0@Y2?@2D 92~ >y2H?=?x@o?@ct? Kp?8?ɨ2C0@2;2CCyNXBNI-Mb@Mb@Mb@))) )))Y-l?l?{Gzt?y-7?-=-ף;- A --@))I))y-AIMIMdK5٢w F=9Q > G٣yn) > Nusing accuracyPremultiplier from config49RR?4Y'E iB7?:մ @vD;;4jB AEZj!%FNOT Ignoring new targets: 170.20 m.Bj-;Jj-;= ProNav: ac range: 170.199997 m, nav range: 110.072731 m, bearing: 318.961919 deg, approach rate: -0.550243 m/s, LOS rate: 0.239362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.272180 deg. 2j=E$<:jEL@EHeadingCmd: 4.821859 target range: 170.199997 and range: 179.80 m. jAjIjIjIiIhIhIhQhUvBfYfYfYrfYbf]d?ɛ`B$ 隕I VɚiI =Iiai挺))*F?2F:FBFo0JFzK%RKK%+9K!K%K%H}Z>Iy IyIyIy&Iy.Iy6I}°<:I} FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000970GM7eD; IG B O5 >w,WA:+@Y:r;@:9:} >y:Hn?`?%sv@t?u_?k?g?ɨ:+@:;:HCy\\ f=fa=IjIj;5٢r: vY=9voa:Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 49U? 4Y,L iB  洿 @(vDr;;4 AZjAEFNOT Ignoring new targets: 170.20 m.BjM;JjM;eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253290m ProNav: ac range: 170.199997 m, nav range: 109.865967 m, bearing: 319.052255 deg, approach rate: -0.551710 m/s, LOS rate: 0.241496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246701 deg. 2jm%<:jmI@uHeadingCmd: 4.821414 target range: 170.199997 and range: 179.80 m. jqjqjyjyiyhyhyhhfffrfbf`9?ɛaBF 隽PI MɚiIb =Ii aiA))*F5?2F1:F1BF=1JF9G 'HJMAAJIJQJUJU1JQJQJU':JU3JQJU Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504822 $?I w,ۥWA6@Y6t,@6P"96q >y6HS??` ?s`I?? w?ɨ6@6yO;6DCyRUBRIIZIZS<5٢fo fL=9fɒQ f>hh jG٣jZ6Gynޕ n> =Nusing accuracyPremultiplier from config1E495Y?E4Y5S i5BIM"M @5;vD5:5:54UiB UAUEZjyFNOT Ignoring new targets: 170.20 m.Bj@;Jj@; ProNav: ac range: 170.199997 m, nav range: 109.640648 m, bearing: 319.151595 deg, approach rate: -0.547176 m/s, LOS rate: 0.241739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.273818 deg. 2j%<:jL@HeadingCmd: 4.821888 target range: 170.199997 and range: 179.80 m. jjjjihhhhfffrfbf@?ɛ-bB5wC 9=˼I9 EɚAiAIE =IMiUhai]).)a)i}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759276*FE?2FA:FABFEp1JFAGi GA BI jHu <bHu <H} [>I} C Iy Iy Iy &Iy .Iy 6I} հ<:I} FO >zK rKK ]9K K K BK :K = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0126650w,_WAy=WBEI YIYMb@Mb@Mb@ )YV-?9A EG٣AyE E> UNusing accuracyPremultiplier from configIU49M^?]4YMb\ iMB]1?]:]2] @MPvDM;M ;M4a mAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 170.20 m.Bj;Jj; ProNav: ac range: 170.199997 m, nav range: 109.390656 m, bearing: 319.262569 deg, approach rate: -0.518398 m/s, LOS rate: 0.230647 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.308865 deg. 2jJ<:jQ@HeadingCmd: 4.822499 target range: 170.199997 and range: 179.80 m. jjjj i h h hhfffrfbf0?@ɛMcBM;e IUIQ UɚQiQIUZ =I]i]Aai]٫)Y)a*F2F:F!BF%`5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264846GE *Ju Ju Ju 0Jq Ju +:Ju (:Ju ـ3Jq Ju &<Ju '<Ju ;Ju ;G9 BI Om >w,WA2.@Y2=@2ڻ92 >y2H?? j x?耿[{??U?ɨ2.@2bb;2FCyB[BBI)D DDFAIJIJZ5٢V< V=9V$ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771802Cw,pWA:*-@Y:<@: ܷ9:>y:H`x??@n ^g?@7yv?@? p?ɨ:*-@:q;8y^iB^,IUMb@Mb@Mb@QQQ Q)QYUB`"?V-?~jtx?yU.?U G٣[6Gy > Nusing accuracyPremultiplier from config49d?4Yi i B/?: @qvD; ;74 AZjy}FNOT Ignoring new targets: 170.20 m.Bj;Jj; ProNav: ac range: 170.199997 m, nav range: 108.997635 m, bearing: 319.439477 deg, approach rate: -0.493327 m/s, LOS rate: 0.224786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.272152 deg. 2jD<:jL@HeadingCmd: 4.821859 target range: 170.199997 and range: 179.80 m. jjjjihhhhBfffrfbfXi@ɛ=eB=x޻ AE@;IA EdɚAiAIEȉ =Imiu`iuN_)q)qH\>I IIIBI&I.I6I<:I FBIJIRIZIbIjIö4zKXKK9KKKRK>JK#?*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020900 9IEhG iG B OE >K*w,F XA62@Y6A@6萻96_>y6H`?Ā?`?"År???ɨ62@6;6ECyBrBB7IIJIJ:\5٢RH= RZ=9RO;Q R>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from configXb49Zg?b4YZp iZ Bdff @ZvDZ);Zd*;Z4h jAjE]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:20:00:31.0563 eTRx dataTimestamp_ set to:1736366432.252677mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273976ZjFNOT Ignoring new targets: 170.20 m.Bj5;Jj5;M ProNav: ac range: 170.199997 m, nav range: 108.804359 m, bearing: 319.527716 deg, approach rate: -0.501107 m/s, LOS rate: 0.229182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.240369 deg. 2jMI<:jMH@uHeadingCmd: 4.821304 target range: 170.199997 and range: 179.80 m. jqjyjyjyiyhyhyhhfffrfbf @ɛEfBE ⸻ 隍 ! I) pT w,!'XA6-@Y6y=@6m96>y6H?׀?b`@k[?N m??)?ɨ6-@6;6FCybgBb)I fp=dIjIjU5٢rBY rF=9r:Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~Yk?4Y~w i~B    @~vD~?;~ ;~4! %A!Zj =FNOT Ignoring new targets: 170.20 m.BjEM;JjEM;U ProNav: ac range: 170.199997 m, nav range: 108.591690 m, bearing: 319.625413 deg, approach rate: -0.521585 m/s, LOS rate: 0.240077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.268850 deg. 2ju$<:ju2L@}HeadingCmd: 4.821801 target range: 170.199997 and range: 179.80 m. jyjyjyjyiyhhhhfffrfbf  @}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 207.1 m (Round-trip 276.2 ms) speed -0.4 m/s ,DAT read: user:1038> -X#Rx 1: Read range message, but no direction.؁y؅OC؁T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛEhB%E@ !%I) -Fɚ)i)I-S =I5i=_i=a?U)9)9*F?2F:FBFJFZH RH AAH ]>I  I II BI  =&I .I 6I <:I FG zQzK% qkKK% +9K! K% K% G5 ?G5 ? Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Tx time:20:00:32.1759 % $Ping request sent.% @w,AXA2.@Y2 >@2'92I>y2H?`6?xU? {d?`?|?ɨ2.@2ƈ;2DCy>sB>8I I]Mb@Mb@Mb@YYY Y)YY]x&? rh?I +?y]7)?]C =]94<] A ]C@)YIYYyYIIJ5٢mA= m'=9m;Q u>qq uG٣u\6Gy}9 }> Nusing accuracyPremultiplier from config49o?4YI iBv)?: @vD;;} 4 A]B*** querying acoustic contact ***jYjYu addTargetRange:: Added new target pos. range: 207.100006 m, deltaT: 7.576389 s, deltaX: 27.300003 m, approachRate: 3.603300 m/s, rangeRepo size: 4 Zjq}FNOT Ignoring new targets: 170.20 m.Bj;Jj; ProNav: ac range: 170.199997 m, nav range: 108.347099 m, bearing: 319.736648 deg, approach rate: -0.506215 m/s, LOS rate: 0.230736 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.309641 deg. 2jZ<:jR@HeadingCmd: 4.822513 target range: 170.199997 and range: 207.10 m. jjjjihhhhBfffrf@3i@bf?ɛ]iB]MpŻ ae0?^w,ZXA>(@Y>m8@> 9>S#>y>HV??=!@&?_]a?@е?0?ɨ>(@>@;>FCyNpBN5IIVIVI5٢^sa ^=9^:Q ^?`` bG٣`yf f? ~Nusing accuracyPremultiplier from configx49zRr?4Yz izB%  @zvDz:z:z 4 AEZj9=FNOT Ignoring new targets: 170.20 m.BjE;JjE;U ProNav: ac range: 170.199997 m, nav range: 108.188286 m, bearing: 319.809339 deg, approach rate: -0.536541 m/s, LOS rate: 0.245944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193580 deg. 2jU(<:jUoA@]HeadingCmd: 4.820487 target range: 170.199997 and range: 207.10 m. jYjYjajaiahahahihifqfqfyrfybf} ӡ?ɛjB̻ 隭?)u = y  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758540E ~Gm vA A Y vAy BPw,GstXA6@Y66 @696j>y6H ?``? 9&?Ƅ`Yp?X?`?ɨ6@6Ɖ;4ybjBj.I)l lppMb@Mb@Mb@ )YZd;O?Q?~jth?y~*?u<D; Z@) AIyAIIMD5٢ ݼ <=9Q > G٣yF > Nusing accuracyPremultiplier from config49Ku?4Y> iB*?:D @vD;1;4 AZj%FNOT Ignoring new targets: 170.20 m.Bj%;Jj%;5 ProNav: ac range: 170.199997 m, nav range: 107.978027 m, bearing: 319.912517 deg, approach rate: -0.487442 m/s, LOS rate: 0.239664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.285321 deg. 2j=z$<:j=N@=HeadingCmd: 4.822089 target range: 170.199997 and range: 207.10 m. jAjAjAjAiAhAhAhIhMBfIfIfQrfQbfU1?ɛlB) 隍_I RɚiI= =Ii_iƻ))H^>I IIIBI =&I.I6I~<:I F*F ?2F :F BF_5JFzK%V$KK%h9K!K%K%   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007316 IhGïGBO >i#w,MXAN@YN@N@*9N>yNH`)??~?nʇ`Re?? ?ɨN@N ;NACyvnBv2II~I~B5٢ <  V=9;Q > G٣y: > -Nusing accuracyPremultiplier from config!-49%w?54Y% i%B15.5 @%vD%v:%:%;!49 EAEE]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259528ZjyFNOT Ignoring new targets: 170.20 m.Bj_;Jj_; ProNav: ac range: 170.199997 m, nav range: 107.791306 m, bearing: 320.004507 deg, approach rate: -0.486726 m/s, LOS rate: 0.240204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.251631 deg. 2j$<:jI@HeadingCmd: 4.821500 target range: 170.199997 and range: 207.10 m. jjjjihhhhfffrfbf U?ɛnB=Y I IɚiI- =Ii_ip))*F2F:FBF5JFGmҸGABIOm5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511584 $?I @)w,dXA>@Y>X$@>#9>Z4>y>H`%? Ä?GEz?3S`vD?@?"?ɨ>@>;>DCybmBb1IIrIrO5٢~R~ ~J=9;Q >  G٣]6Gyî; > -Nusing accuracyPremultiplier from config)549-z?=4Y- i-BAE縿E @-vD-];-];-\(4Q UAQZjFNOT Ignoring new targets: 170.20 m.Bj ;Jj ; ProNav: ac range: 170.199997 m, nav range: 107.591957 m, bearing: 320.102793 deg, approach rate: -0.485412 m/s, LOS rate: 0.239768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.270587 deg. 2j$<:jqL@HeadingCmd: 4.821831 target range: 170.199997 and range: 207.10 m. jjjjihhhhfffrfbf?ɛ}pBl 隍@I tɚiI$ =Ii\_i@))]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766517*F2F:FBF~3JFJ-J-J-1J)J-:J-$:J-3J)a5@a5@a5@a5@G̻G?G1?G B jH <bH 4<H I  I II BI &I .I 6I <:I FO >zK GLK K K K &@TZWQKHFDB@<73542.'  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018842z0w,KXA2;"@Y21@22Y:92[>y2H!?Ƃ?Rֺ?܏]&K? ]?ɨ2;"@21;0y:wB>=IMb@Mb@Mb@ )Yx&?Mb?MbPy7)?<` A )I@y IIQIIZ5٢%9= -:=9-CY;Q ->11 UG٣QyUr; U> eNusing accuracyPremultiplier from configYe49]}?m4Y] iYm:)?m:m蹿m @]vD]';];] 04y }AyZjFNOT Ignoring new targets: 170.20 m.Bj;;Jj;; ProNav: ac range: 170.199997 m, nav range: 107.380585 m, bearing: 320.209242 deg, approach rate: -0.485926 m/s, LOS rate: 0.245200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.295161 deg. 2jG(<:jO@HeadingCmd: 4.822260 target range: 170.199997 and range: 207.10 m. jjj)j)i1h1h1h1h=Bf9f9f9rf9bfEX@ɛrB!mֻ  )E]!>*Fy2Fy:FBF\4JF"G=G=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267464G 9GY Bi O >o6w,TXA6s(@Y67@6:96Y>y6HBS?`P?u /? P_?i?ɨ6s(@6y;6ECyVnBV3IIbIb@T5٢f? jc=9jE;Q j>ll nG٣lyr ; r> zNusing accuracyPremultiplier from configtz49v?~4Yvɨ it|~Ϲ @v wDv;v;vI64  A %B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 170.20 m.Bj=;Jj=;M ProNav: ac range: 170.199997 m, nav range: 107.209145 m, bearing: 320.295893 deg, approach rate: -0.480383 m/s, LOS rate: 0.243186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235551 deg. 2jM&<:jMoG@UHeadingCmd: 4.821220 target range: 170.199997 and range: 207.10 m. jQjYjYjYiYhahahihififqfqrfqbf}@ɛsByo 隥`I ɚiI(!=IiT6_i;噺))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520566*FU?2FQ:FYBF]`0JFY 9IAGpGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774091 G٣^6Gy > Nusing accuracyPremultiplier from configu49?u4Y# i}$?}:}n} @wD9<<=4hB A EZjFNOT Ignoring new targets: 170.20 m.Bj;Jj; ProNav: ac range: 170.199997 m, nav range: 107.004715 m, bearing: 320.399131 deg, approach rate: -0.448139 m/s, LOS rate: 0.226746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.285491 deg. 2j<:jN@HeadingCmd: 4.822092 target range: 170.199997 and range: 207.10 m. jjjjihhhhBff f rf bf q @H}]>Iy IyIyIy&Iy.Iy6I}<:I} FɛvBw 隽I ɚiIA!=Ii)^i-s3))))zKMK]9KKK! *F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:00:34.8593 TRx dataTimestamp_ set to:1736366436.033930checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025766 9IEhG ïG G sAG B O= >SCw,YAy~vB~=I  AIIW5EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275416٢< N=9Q > G٣y > Nusing accuracyPremultiplier from config49?4YӶ iB @-wD ::D4 AZjFNOT Ignoring new targets: 170.20 m.Bjv;Jjv; ProNav: ac range: 170.199997 m, nav range: 106.819046 m, bearing: 320.493388 deg, approach rate: -0.493272 m/s, LOS rate: 0.250850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.258446 deg. 2j',<:jJ@HeadingCmd: 4.821620 target range: 170.199997 and range: 207.10 m. jj!j!j!i!h!h!h)h)f)f)f1rf1bf=u @ɛexBer aeIa m"ɚiiiIm]!=Iuiu^iq)q)yE*F?2F:FBFo0JFG GtAG9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531015GY B O > ) I1 Iw,I)YAN.@YNx>@Nt u;9Nq>yNH솻??%@r@??In`??ɨN.@Nf;NFCyjtBj9III#U5٢%U %Q=9-(;Q 5>19 =G٣AyE\; M> eNusing accuracyPremultiplier from configYm49]8?u4Y]u iYq}T} @]>wD]];]*^;]K4  AZj1=FNOT Ignoring new targets: 170.20 m.Bj=;Jj=;u ProNav: ac range: 170.199997 m, nav range: 106.635094 m, bearing: 320.587097 deg, approach rate: -0.444573 m/s, LOS rate: 0.226865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.256796 deg. 2ju<:juyJ@}HeadingCmd: 4.821591 target range: 170.199997 and range: 207.10 m. jyjyjyjihhhhfff)rf)bf5@@UWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:00:34.8593 LVL= 12656, 16561, 8082, 19027, AGC= 52, IDX= 454, 0.49, 2.658,-1.419,-2.306, 2.752, PHS=-0.006, 2.159, 1.222, RAW= 295.6, -32.4, CAL= 288.7, -44.4, ROT= 221.3, 44.4 %Ygot valid direction response: 20:00:34.8593 LVL= 12656, 16561, 8082, 19027, AGC= 52, IDX= 454, 0.49, 2.658,-1.419,-2.306, 2.752, PHS=-0.006, 2.159, 1.222, RAW= 295.6, -32.4, CAL= 288.7, -44.4, ROT= 221.3, 44.4 EPDAT read: Bearing 221.3, 44.4 (Local) M~Local bearing/azimuth received: Bearing 221.3, 44.4 (Local) DAT read: Range 10 to 50 : 209.4 m (Round-trip 279.2 ms) speed -0.4 m/s ,DAT read: user:1039> ɛ{B  VI <ɚ i I !=%BDAT read: Tx time:20:00:35.9759 %$Ping request sent.%UxI?QQ:publishing transmit ping time!Fpublishing direction and range infoQ9UP3D'/?F U?#쨆yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU_mY&Dga?9$)QIQiQQJK KKK"KJ%J%J!J!J%:J%(:J!J!QQ*F ?2F :F BF _0JF ZHa RHe @AHm ^>Ii  Ii Ii Im  =&Ii .Ii 6Im O<:Im _ FBI5ɤCJI5ɤCRI1ZI5 =bI5 =jI5, 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G G ?G ?zK5 9LK5 9K1 K5 K5  G B O >Qw,UDYA IF@YFI.@FY;9F>yFH`3??{.? H7k?@~?ɨF@FΈ;FCCy5sBU8I]Mb@Mb@Mb@YYY Y)YY]v/?{Gz?Mb`y]x)?]ף<]] A ]C@)YI]AYy]fAII-I5٢ )=9cQ > G٣_6Gy >  Nusing accuracyPremultiplier from config 49֋? 4Y iB)?: @RwD;;T4! -A)kAyb?k:v , k k2YA:kfQCBkOCZkD]@"7ISa@zQ HI@R-~vbP3D'/?F U?#쨆Jk>RkxI?*sFlIU@eɦ<` 5IaG? i]rv"k*kLBk *?k #, 2kqkkb& k4Fk"Bkٚ@ addTargetRange:: Added new target pos. range: 209.399994 m, deltaT: 4.031706 s, deltaX: 2.299988 m, approachRate: 0.570475 m/s, rangeRepo size: 4  Added new target pos. range: 209.399994 m, bearing: 303.245645 deg, lat: 36.905770 deg, lon: -122.121476 deg, deltaT: 30.273158 s, deltaX: 39.199997 m, approachRate: 1.294876 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 209.40 m.BjJj ProNav: ac range: 209.399994 m, nav range: 114.066910 m, bearing: 316.209797 deg, approach rate: 0.000000 m/s, LOS rate: 0.226865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.293822 deg. 2j:jO@HeadingCmd: 4.822237 target range: 209.399994 and range: 209.40 m. jjjjihhhhBfffrf,j@bf??ɛ}B< I ;ɚiI!=I-i5^i55)9)*FU?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G e*Gq B O >6AWw,m^YA6@Y6P@68;96>y6H7?s?Ɲÿ@ʹ? Tg?@̝?ɨ6@6};6ECyBxBB>IIJIJW5٢R< Ry=9VȺQ V?TT ZG٣Xy^ ^? bNusing accuracyPremultiplier from config`f49bF?f4Ybj i`hj j @b`wDb":b.:bY4p rAp}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 209.40 m.Bji;Jji; ProNav: ac range: 209.399994 m, nav range: 113.896378 m, bearing: 316.278297 deg, approach rate: -0.507591 m/s, LOS rate: 0.204195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180992 deg. 2j# <:j?@HeadingCmd: 4.820268 target range: 209.399994 and range: 209.40 m. jjjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɛBD 隍@ZI  ɚiI!=IiE.^iS)) IE E *F?2F:FBF_5JF"G=Ga=Gw*G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.949860B9 O >m]w,RxYAJ"J"J J J";:J"$:J J B@YBV@B(;9B>yBHW? x?@=ÿ}@?`{o e@A??ɨB@Bg;BCCyNuBN;IuMb@Mb@Mb@qqq q)qYush|??Q?yu)?u G٣y: > Nusing accuracyPremultiplier from config49ޑ?4Y iB(*?:' @rwD;;ta4 AZjFNOT Ignoring new targets: 209.40 m.Bjzt;Jjzt; ProNav: ac range: 209.399994 m, nav range: 113.667717 m, bearing: 316.367803 deg, approach rate: -0.544944 m/s, LOS rate: 0.213740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244243 deg. 2j<:j%H@%HeadingCmd: 4.821372 target range: 209.399994 and range: 209.40 m. j)j)j)j)i)h)h1h1h5Bf1f9f9rf9bf= ?ɛmBmgH}_>Iy IyIyIy&Iy.Iy6I}<:I} F i-I) -ɚ1i1I5!=I5i=O^i=䌻)9)9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.199717*F12F1:F1BF515JF9zKe ULKe9KaKeKeRKm?JKm? IG G rAG rAG B O >hSdw,$YABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.450669> @Y>@>Q2;9>S>y>Hq?@X|?¿$@?A`Bf[?`T?ɨ> @>Q;>DCyRyBR@IIZIZT5٢bE< bZ=9bR9Q f>dd fG٣f`6Gyj: j> nNusing accuracyPremultiplier from configlr49n?r4Ynt rtIiltvv@nwDn];na;nh4x tAZj!-FNOT Ignoring new targets: 209.40 m.Bj-fk;Jj-fk;= ProNav: ac range: 209.399994 m, nav range: 113.471138 m, bearing: 316.445055 deg, approach rate: -0.522789 m/s, LOS rate: 0.205803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207344 deg. 2jE= <:jEfC@MHeadingCmd: 4.820727 target range: 209.399994 and range: 209.40 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf]?ɛB) 隍`I tɚiI&!"=Iixb^il))*F5?2F1:F1BF5_0JF1Guԑ5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702613GYBaO}>  I hE}jw,YAy~qB6III\5٢% %D=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config1E495h?E4Y5 i5BAAM@5wD5%;5:5Eo4Q UAQZjyFNOT Ignoring new targets: 209.40 m.Bjum;Jjum; ProNav: ac range: 209.399994 m, nav range: 113.253250 m, bearing: 316.531094 deg, approach rate: -0.524728 m/s, LOS rate: 0.207602 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233799 deg. 2jy<:j/G@HeadingCmd: 4.821189 target range: 209.399994 and range: 209.40 m. jjjjihhhhfffrfbfJ>?ɛBZ% %I .ɚiIM"=Iix^ij;))E E >%G]`wAuZAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958074*F? .Y `wAyB2F:F1BF1JF9GrA GrAH}`>Iy IyIyI} =&Iy.Iy6I}<:I} FGxG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206630zK BJK +9K K K BK qA:K rA  I ,eqw,YAbI@Yb-@b;9bdg>ybH`X?@? Z¿1?`@r`II MG٣IyMʤ; U> ]bBottom track data is 0.4 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe49]?m4Y]L iYm+:im:mϵm@]wD]-;]>]u4y }tAyZjFNOT Ignoring new targets: 209.40 m.Bj`m;Jj`m; ProNav: ac range: 209.399994 m, nav range: 113.022102 m, bearing: 316.622415 deg, approach rate: -0.524218 m/s, LOS rate: 0.207530 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.249708 deg. 2jm<:juI@HeadingCmd: 4.821467 target range: 209.399994 and range: 209.40 m. jjjjihhhhfffrfbf@)@ɛ%B% !%@I! % ɚ)i)I-"=I5i5N^i5_)1)9*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458474Gg{G ?G?Ju Ju Ju 1Jq Ju :Ju #:Ju 3Jq Ju ww,YA6#@Y6.3@6d;96X>y6H`-? ?C? `"u$?,?ɨ6#@6{;6ACyBBFIIININU5٢VF#= Vh=9Z:Q Z>X\ ^G٣^a6Gybu: b> fbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdj49f?j4Yfh idn :lnQ:nn@fwDf9;fK?fy4t v:AtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 209.40 m.Bj%m;Jj%m;5 ProNav: ac range: 209.399994 m, nav range: 112.837212 m, bearing: 316.695715 deg, approach rate: -0.523162 m/s, LOS rate: 0.207746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195444 deg. 2j5<:j5A@EHeadingCmd: 4.820520 target range: 209.399994 and range: 209.40 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfU@ɛBı I 1ɚiIS"=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710641Ii^iֺ))! $?I*F?2F:FBFo0JFGpG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:00:38.6302  TRx dataTimestamp_ set to:1736366439.812836 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9638360}w,YAV@YV,@Vct;9V->yVH?@Z?Y ?r@.u!??ɨV@VV;VFCybBbNI f=fp= U U UU UU  U ] ]Mb@Mb@Mb@YYY Y)YY]w/?~jt? G٣y > Nusing accuracyPremultiplier from config49A?4Y i BT:a'?:~@wDo;R;4gB A"EZjFNOT Ignoring new targets: 209.40 m.Bjc;Jjc;HI IIIƁBI&I.I6Iy<:I F ProNav: ac range: 209.399994 m, nav range: 112.610641 m, bearing: 316.781356 deg, approach rate: -0.525467 m/s, LOS rate: 0.199021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232626 deg. 2j<:jG@HeadingCmd: 4.821169 target range: 209.399994 and range: 209.40 m. jjjjihhhhBfffrfbfv @ɛuBu˪ quPIq }z ɚyiyI} "=IiL]ijX%))E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214963*FU?2FQ:FQBFQJFQ"GaGe= IzK]JKKKKG $Ga Bi O >w,vqZA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6DAT read: Range 10 to 50 : 187.5 m (Round-trip 250.0 ms) speed -0.8 m/s B,DAT read: user:1040> -JX#Rx 1: Read range message, but no direction.0y2;C0NT****** received valid address query ******NR****** received valid ping request ******NQuerying Benthos address 50 with one ping in standard two-way mode.^@Y^n+@^[;9^K>y^Hj??` g ]w?{Δv/??ɨ^@^yJ;^DCyhnMIIvIv7`5٢~ S=9(|:Q >    G٣ y W > Nusing accuracyPremultiplier from config%49?%4YH i"B!%%@wDL::܇41 5A1eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 187.500000 m, deltaT: 3.525869 s, deltaX: -21.899994 m, approachRate: -6.211233 m/s, rangeRepo size: 4ZjimFNOT Ignoring new targets: 209.40 m.BjuFd;JjuFd; ProNav: ac range: 209.399994 m, nav range: 112.408203 m, bearing: 316.858264 deg, approach rate: -0.524372 m/s, LOS rate: 0.199573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206326 deg. 2j<:jAC@HeadingCmd: 4.820710 target range: 209.399994 and range: 209.40 m. jjjjihhqhqhqfyfyfyrf}pg@bf}`C?ɛBư pI  ɚiIW#=Ii]i}#))J)J-AAJ5J5J50J1J5:J5+:J5ـ3J1J5Z<J5[<J5Ƅ;J5Ƅ;*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Tx time:20:00:39.7260 %$Ping request sent.-hˊw,F-ZA6@Y6z"@6>;967>y6H0? r?]@X2?s Gv?Į?ɨ6@6A;6BCyRBRWIIZIZX[5٢~= J=9CQ >    G٣ b6Gy x1 > Nusing accuracyPremultiplier from config%49ܪ?%4Y i%B!%%@wD;d;41 5A1ZjaeFNOT Ignoring new targets: 209.40 m.BjmYd;JjmYd;} ProNav: ac range: 209.399994 m, nav range: 112.197212 m, bearing: 316.938976 deg, approach rate: -0.520902 m/s, LOS rate: 0.199638 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217775 deg. 2j} <:jD@HeadingCmd: 4.820910 target range: 209.399994 and range: 209.40 m. jjjjihhhhfffrfbfUf?ɛB$ JI <ɚiI:#=Ii]i d))*Fu?2Fy:FyBF;5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261991Gu*ZHRHAAH%a>I! I%II%ˁBI!&I!.I!6I%<:I% FGIBYBm&JO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509733 I zKE KKE 9KA KE KE !*,;yK| 7]@,  w,y#GZAJ2@YJ@J;9J>yJH@? ?@*.?r`:BqL??ɨJ2@JV;JDCyVBV]IEMb@Mb@Mb@AAA A)AYE(\?{Gz?{Gz?yE'?E#=E#    G٣ y  > Nusing accuracyPremultiplier from config%49?%4Y  i(B-(?-:5ʴ=@wD;;4Y eAaZjFNOT Ignoring new targets: 209.40 m.Bj3g;Jj3g; ProNav: ac range: 209.399994 m, nav range: 111.970757 m, bearing: 317.029126 deg, approach rate: -0.506718 m/s, LOS rate: 0.202129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246184 deg. 2j <:jH@]HeadingCmd: 4.821405 target range: 209.399994 and range: 209.40 m. jYjYjYjaiahhhhفBfffrfbf ~7?ɛB6  I  <*ɚiIaj#=I%iM`^iMv)I)IEYE]rA*F?2F:FBFP5JFGtA GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762703J] J] J] 1JY J] ;:J] #:J] 3JY J] <J] <J] };J] };Ge OPG! B) OE >$ޗw,`ZA6~@Y6@68;96>y6H(n??(i@ ?`Ap`??ɨ6~@6;4 Ih%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015578yޭBYIIIm?5٢%v %9=9-Q 5>11 5G٣1y=' => ENusing accuracyPremultiplier from configAM49E?U4YE# iE+BQUݴU@ExDEM;E;EF4Y ]Ae!E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 209.40 m.Bjvr;Jjvr; ProNav: ac range: 209.399994 m, nav range: 111.742332 m, bearing: 317.120651 deg, approach rate: -0.527970 m/s, LOS rate: 0.211978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250319 deg. 2jz<:jI@HeadingCmd: 4.821477 target range: 209.399994 and range: 209.40 m. jjjjihhhhfffrfbf@-?ɛBs @I Գɚi I ~#=Ii@^i))!*F2F:FBFJ4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265751G UG B O5 > w,izZA2@Y2@26;92>>y2Ho?I?fydĸ? f??ɨ2@2 ;2CCHI IIIՁBI&I.I6I<:I FBIyJIyRIyZIybI} =jI}4)IbxA ii) I )   i I Ii ) !!I!)!i!!y5B5VIMb@Mb@Mb@ )YMb?I +?5٢S2 >=9GQ > G٣c6GyA > Nusing accuracyPremultiplier from config49z?4Y i.B ?:ܳ@ xDr;;54 I   A%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517936ZjQUFNOT Ignoring new targets: 209.40 m.Bj}];Jj}]; ProNav: ac range: 209.399994 m, nav range: 111.516579 m, bearing: 317.210126 deg, approach rate: -0.488485 m/s, LOS rate: 0.193998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244154 deg. 2j#<:jH@HeadingCmd: 4.821370 target range: 209.399994 and range: 209.40 m. jjjjihhhh݁Bfffrfbf૲?zK5IvNK5h9K1K5K5ɛMBM9N IM@Iy #ɚiIR#=Ii)_il ))*F12F1:F9BF=5JF9Gu 6 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770621GI BY Ou >w, ZAb)@Yb@b甖;9bA>ybH ˹?Q?d:@b? h쒿rv?`?ɨb)@b8;`ɳlnXwAnE6illilrxwA)r+ r tFIp rC)rwAɴrffv+|Fttɵv`wAizzIxxIxix xx)|| |||ɶ|wAI)i) I A ɷ   yޭBޭ\III[W5JJJ0JJl:J":Jـ3JJ <J <J8{;J9{;٢7< O=9;Q > G٣ym; > Nusing accuracyPremultiplier from config49Ĺ?4Y i0B@/xDy;;4 AZjAEFNOT Ignoring new targets: 209.40 m.BjMK`;JjMK`;] ProNav: ac range: 209.399994 m, nav range: 111.331932 m, bearing: 317.283248 deg, approach rate: -0.494346 m/s, LOS rate: 0.196092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194916 deg. 2j]<:j}A@HeadingCmd: 4.820511 target range: 209.399994 and range: 209.40 m. jjjjihhhhfffrfbf!M@ɛB  I  Wɚ i I #=Iiu_iK弻))9EAEE >*F?2F:FBF_0JF"G=G= I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021952G G B O >w,۰ZA6@Y6|@60;96d>y6H8?T? ţù?@bw@?2?ɨ6@6.8;4y}B}ZIII@T5٢ Y=9uG;Q > G٣yf; > Nusing accuracyPremultiplier from config49&?4Y% i2BM@>xD::H4 AZjAEFNOT Ignoring new targets: 209.40 m.BjM#g;JjM#g;] ProNav: ac range: 209.399994 m, nav range: 111.143890 m, bearing: 317.357783 deg, approach rate: -0.508959 m/s, LOS rate: 0.202078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199167 deg. 2je <:je;B@eHeadingCmd: 4.820585 target range: 209.399994 and range: 209.40 m. jijijijiiihihiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273948hhfffrfbf=@ɛB%w# QU(IY ]CɚaiaIe'$=Ii&`iq))jH<bHp<Hb>IC IIIځBI =&I.I;D6Iݰ<:I F*F2F:FBFJF I % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525745G ҸG G sAzKe KKe +9Ka Ke Ke G B O >􍲖w,ZA2 @Y2T@2;92#>y2H /?5?``$?7c {z`V?֮?ɨ2 @2];2DCy%B%SIMb@Mb@Mb@ )Yףp= ?S㥛?{Gzt?y?/<ף;A )7AIAyAII=X5٢c  F=9 :Q  > G٣d6Gym&; m> }Nusing accuracyPremultiplier from configq49u]?4Yu, iu3B?:k@uOxDu:;uw9;u4 AZjFNOT Ignoring new targets: 209.40 m.BjSg;JjSg; ProNav: ac range: 209.399994 m, nav range: 110.939774 m, bearing: 317.443237 deg, approach rate: -0.482188 m/s, LOS rate: 0.202241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232020 deg. 2j <:jF@HeadingCmd: 4.821158 target range: 209.399994 and range: 209.40 m. jjjjihhh h Bf f frfbf ;@ɛ=B=9 EV6=EYIA EDɚIiIIUa$=I]ie5`ie/w)i)q*F?2F:FBFe0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779100GXG B O >Qw,ZA 6$?I6h:h@Y: @:_;9:>y:H@Л?8? `lu? |`?`?ɨ:h@:;8yRBRMIIZIZ&Q5٢bܼ ba=9b5:Q f>dd fG٣dyn: n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:20:00:42.4160 vTRx dataTimestamp_ set to:1736366443.600822vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031062 Nusing accuracyPremultiplier from configy49}3Õ?4Y}2 i}4B\@}^xD}q:}:}04fB A#EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 209.40 m.Bj-b;Jj-b;m ProNav: ac range: 209.399994 m, nav range: 110.760483 m, bearing: 317.518574 deg, approach rate: -0.470649 m/s, LOS rate: 0.198083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201562 deg. 2jm<:jmB@HeadingCmd: 4.820627 target range: 209.399994 and range: 209.40 m. jjjjihhhhfffrfbf @ɛmBmJ 隍4I 0rɚiIΣ$=IiV9`i1Md))E*FE?2FA:FABFM|0JFIGUsA GUsA)= UCMGq aYyYBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281728Gm nGy B O >J= J= J= 1J9 J= :J= $:J= 3J9 ae @ae @ae @am @ᾖw, kZAH&a>I$ I&II&ՁBI$&I$.I&:D6I&<:I& FB@YB#+@B?;9Bk>yBH?n? b@Xd?V}?Q?ɨB@B;BBCyNzBRAI5Mb@Mb@Mb@111 1)1Y5/$?/$?{Gzt?y5?5<11 1)5AI5hA1y5AIIuZ5٢) <=9e9Q > G٣yR<; > Nusing accuracyPremultiplier from config49"ƕ?4Y=9 i5B?:`@nxDT&;H%;i4 `AZj  FNOT Ignoring new targets: 209.40 m.Bj2o;Jj2o;% ProNav: ac range: 209.399994 m, nav range: 110.565643 m, bearing: 317.602158 deg, approach rate: -0.486619 m/s, LOS rate: 0.209122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226379 deg. 2j%<:j-F@-HeadingCmd: 4.821060 target range: 209.399994 and range: 209.40 m. j)j)j1j1i1h1h9hAhEсBfAfAfArfIbfM @ɛuBu*k y}PIy }ɚyiyI}$=Iii`i)) YIaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 214.3 m (Round-trip 285.8 ms) speed -0.3 m/s ,DAT read: user:1041> -X#Rx 1: Read range message, but no direction.yLVC%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*F5?2F1:F1BF54JF1PExceeded connect timeout, disconnecting.zK.JKػ9KKKRK ?JK$?GuxGu?Gu>G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:20:00:43.5260  $Ping request sent. y6H@?m?9Sd?@-n~.?J?ɨ6@6F;6DCyrtBr:IIzIz[W5٢} M=99Q > G٣e6Gym7 > Nusing accuracyPremultiplier from config49ɕ?4Y? i_@~xD::49 =A9 addTargetRange:: Added new target pos. range: 214.300003 m, deltaT: 7.316198 s, deltaX: 4.900009 m, approachRate: 0.669748 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 209.40 m.Bjb;Jjb; ProNav: ac range: 209.399994 m, nav range: 110.373909 m, bearing: 317.684792 deg, approach rate: -0.457696 m/s, LOS rate: 0.197602 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223519 deg. 2j<:jE@HeadingCmd: 4.821010 target range: 209.399994 and range: 214.30 m. jjjji hhhhfff!rf%j@bf%`?ɛBx (I ɚiIN:%=Ii<_i&)) QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251381E=EEsA*Fm ?2Fi :Fi BFm o0JFi "Gu =Gu =G *GiBqO>͖w,46[AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506501JJJ0JJ+:J :Jـ3JyhB+IuMb@Mb@Mb@qqq q)qYuQ?/$?{Gztyu(?quףu/A u@)u AIuAqyu(AIIG5٢2 =9Q > G٣y > Nusing accuracyPremultiplier from configHIC IIIˁBI =&I.I6I<:I F%49̕?%4YpH i4B%A?%:%%@xD;;41 5A1ZjaeFNOT Ignoring new targets: 209.40 m.Bjmj;Jjmj;} ProNav: ac range: 209.399994 m, nav range: 110.117500 m, bearing: 317.795357 deg, approach rate: -0.475313 m/s, LOS rate: 0.205434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.307649 deg. 2j} <:jQ@HeadingCmd: 4.822478 target range: 209.399994 and range: 214.30 m. jjjjihhhhӁBfffrfbf@@?ɛBɇ \I ɚiI%=I i _i ) ) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755606 e nManaging dock network, ignoring radio surface power offzK KK 9K K K  #/684663.+**&#"#!E 8=*Fu ?2Fq :Fq BFu `0JFy }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008253Gb(GsAGGBO%?a֖w,Z[A2k@Y2@2H;92V >y2H@? '?2`?v ]?&?ɨ2k@2;2CCyvUBvIIIA5٢- -=9%ӄQ %>!) -G٣)y-P -> =Nusing accuracyPremultiplier from config1=495SЕ?=4Y5O i52BAEBE@5xD5 ;5 ;5K4MiB UAU EZjy}FNOT Ignoring new targets: 209.40 m.Bjl;Jjl; ProNav: ac range: 209.399994 m, nav range: 109.896805 m, bearing: 317.891377 deg, approach rate: -0.473336 m/s, LOS rate: 0.206352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.263823 deg. 2j <:jzK@HeadingCmd: 4.821713 target range: 209.399994 and range: 214.30 m. jjjjihhhhfffrfbfo?ɛBѤ rӸܖw,\u[AV@YV{+@Vg;9V+ >yVH?d?y@dz? `Lw@?@?ɨV@V3;VFCybBBbIIjIjB5٢r# rH=9v9Q v>xx ~G٣~f6Gy~ u; ~>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.519334 eNusing accuracyPremultiplier from config49Fӕ?4YuV i1B@xDx;;s4hB 0A#E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 209.40 m.Bj[;Jj%[; ProNav: ac range: 209.399994 m, nav range: 109.705025 m, bearing: 317.974975 deg, approach rate: -0.440435 m/s, LOS rate: 0.192324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226418 deg. 2j<:j!F@5HeadingCmd: 4.821061 target range: 209.399994 and range: 214.30 m. j9jYjajaiahihqJJJJJ:J!:JJhh!f)f)fQrfYbfe`=?ɛBHIC IIIBI&I.I6I~<:I F $iI nrɚiIb&=I%i%_i%*&)!))E5J>E5>*F?2F:FBF0JFG GrA IhWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771743G xzK- uMK- 9K) K- K-  G B O >w,[A2'@Y2S7@2;924O>y2HM? j? ZϺ?`﷕fVz?༯?ɨ2'@2E;2CCyJ3BJIMb@Mb@Mb@ )Y{Gz?Mb?~jty#?<DA )AI~AyIIZ5٢@ ?=9:Q > G٣yS^; > Nusing accuracyPremultiplier from config49֕?4Y] i.B#?:v@xD;};4{B CAZj-FNOT Ignoring new targets: 209.40 m.Bj58;Jj58;E ProNav: ac range: 209.399994 m, nav range: 109.499321 m, bearing: 318.068583 deg, approach rate: -0.510929 m/s, LOS rate: 0.232942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.256537 deg. 2jE<:jEoJ@MHeadingCmd: 4.821586 target range: 209.399994 and range: 214.30 m. jIjIjQjQiQhYhYhYh]Bfafafarfabfm@ɛBn I L ɚiI&=Ii%Ձ_i%u)!)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.025260*F?2F:FBF_5JFG pG B O > I % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276404w,[AF*/@YF>@FER;9F~>yFH?^? Jz?`T:{m?c?ɨF*/@Ft;FDCyV%BZIIjIj`5٢< M=9h:Q > G٣y; > Nusing accuracyPremultiplier from config49ؕ?4YFd i+BX@xD@::4|B AZjFNOT Ignoring new targets: 209.40 m.Bj};Jj}; ProNav: ac range: 209.399994 m, nav range: 109.306602 m, bearing: 318.156559 deg, approach rate: -0.485244 m/s, LOS rate: 0.221903 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.239577 deg. 2jJ<:jH@ HeadingCmd: 4.821290 target range: 209.399994 and range: 214.30 m. j j j j ihhhhfffrf!bf%@ɛMBU Q]IY ]ɚYiYI]`Y'=Ieie+)_ieL)a)i*Fm?2Fi:FiBFm4JFi}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527345GïG J J J J J l:J #:J J BA Oe >jH bH H b>I  I YII BI  =&I .I ;D6I <:I FBIʥCJIʥCRIZI =bI =jIʯ54:w,[A6Z,@Y6;@62;96LI>y6H5r?Ѐ?!@? y ? ?ɨ6Z,@6߈;6BCy^BbI AIAMb@Mb@Mb@ )Y rh??~jty,?<A p@)IhAyAII^5٢7ͽ H=9غQ > G٣g6Gyr[ > Nusing accuracyPremultiplier from config49ܕ?4Yzk i(B,?:K@xD;-; 4 aAZj FNOT Ignoring new targets: 209.40 m.Bj;Jj;- ProNav: ac range: 209.399994 m, nav range: 109.094337 m, bearing: 318.249356 deg, approach rate: -0.519350 m/s, LOS rate: 0.227489 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.254117 deg. 2j-<:j-J@=HeadingCmd: 4.821544 target range: 209.399994 and range: 214.30 m. j9j9j9j9iAhAhAhAhEgBfIfIfIrfIbfU@ɛ}B}n 隅nI ɚiIX'=Ii$^i#u))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779561*F ?2F :F BF _0JF"G=G=zKuLK9KKK G5u4G B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:00:46.2162  TRx dataTimestamp_ set to:1736366447.391269 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036215cw,D[AN*@YN:@Nw;9N>yNH9d??'?@Vǁvi?Y?ɨN*@NT;NDCyZBZIIjIj]5٢v vX=9vԺQ v>xx zG٣xyzH ~> ENusing accuracyPremultiplier from configA]49EPߕ?]4YEDr iE&BaeRe@ExDE;E;E4m{B mAu%EZjFNOT Ignoring new targets: 209.40 m.Bj8};Jj8};- ProNav: ac range: 209.399994 m, nav range: 108.894440 m, bearing: 318.337228 deg, approach rate: -0.502693 m/s, LOS rate: 0.221382 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.239285 deg. 2j-<:j-G@HeadingCmd: 4.821285 target range: 209.399994 and range: 214.30 m. jjjjihhhhfffrfbfut @ɛ]B] Y]UIY e]ɚaiaIeo(=Imi}n~^i})y) 1I1*F=?2F9:F9BF9JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284354G >G G Ga Bi O >'w,~[Af$@Yfj4@f\;9f)>yfH6?@?"~@Ⱥ?擿~r?@ݮ?ɨf$@f;fFCyrBrIiI I i5٢ G=9Q >!! %G٣!y-?޺ -> 5Nusing accuracyPremultiplier from config1=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 214.5 m (Round-trip 286.0 ms) speed -0.8 m/s U,DAT read: user:1042> -UX#Rx 1: Read range message, but no direction.AyEVCA]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.u495╜?}4Y5Ty i5#By}i}@5 yD5#<5#<5 4 6AB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 214.500000 m, deltaT: 3.785613 s, deltaX: 0.199997 m, approachRate: 0.052831 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 209.40 m.Bj;Jj; ProNav: ac range: 209.399994 m, nav range: 108.687065 m, bearing: 318.428981 deg, approach rate: -0.520512 m/s, LOS rate: 0.230740 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250969 deg. 2jZ<:jI@HeadingCmd: 4.821489 target range: 209.399994 and range: 214.50 m.JK3 K.KK"KJJJJJ:J:JJ jqjqjqjyiyHc>I I'IIfBI&I.I6I<:I Fhhhhfffrfj@bf .?ɛÁB 隍ξI 1ɚiIl)=Ii7^i9y޺)) %$?I%h*FU?2FY:FYBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:00:47.3260 $Ping request sent.w,2r\A2I @Y2/@2.l;92>y2H@P?i?^? ǒ ΅m ?g?ɨ2I @2;2BCy>B>IMb@Mb@Mb@ )YzG?~jt?~jty 7?<A ) AI~AyAIIob5٢! @=9Q > G٣h6Gy$ > Nusing accuracyPremultiplier from config49H敜?4YF i B57?:Ŷ@yD/;;>4 zAZj FNOT Ignoring new targets: 209.40 m.Bj;Jj; ProNav: ac range: 209.399994 m, nav range: 108.454689 m, bearing: 318.532955 deg, approach rate: -0.556327 m/s, LOS rate: 0.249455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.287774 deg. 2j2+<:jN@HeadingCmd: 4.822131 target range: 209.399994 and range: 214.50 m. jjjjihhhhHBfffrfbf`9?ɛmŁBm~- qu'پIq u#ɚqiqIu4)=I}i^ilW ))EEtAMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253434*F=?2F9:F9BF9JF9GA GEsAG] ï  I G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504384 w,E*\AN @YN?@NK ;9Nc>yNH~? ?`(?e xa}? ̯?ɨN @N;Ly^րB^wIddIfIfe5٢r rY=9r~Q r>tt vG٣tyvpŻ z> }Nusing accuracyPremultiplier from configq}49u镜?4Yu iuB@u1yDuo;u;u4 )AZjFNOT Ignoring new targets: 209.40 m.Bjԉ;Jjԉ;% ProNav: ac range: 209.399994 m, nav range: 108.241432 m, bearing: 318.629356 deg, approach rate: -0.532094 m/s, LOS rate: 0.241003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.264958 deg. 2j-e%<:j-K@=HeadingCmd: 4.821733 target range: 209.399994 and range: 214.50 m. j9j9j9j9i9h9hAhAhAfAfAfirfibfu`!?ɛǁB3 I )ɚiI:%*=Ii!^iψ))vAA -Y5vAy5SB*F?2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755356G% G9 Bi H I  I II BBI &I .I 6I <:I FO >w,RD\A6@Y6 @6O996^m> XI\y6H??溹?@4@?@?ɨ6@6;4y؀BzIMb@Mb@Mb@ )Y?:v?:vy@?<T A ) AIAyAIIe5٢< :=9SQ > G٣y   > uNusing accuracyPremultiplier from config}49G한?}4Yߐ iB}$@?:_@EyDv;;{!4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007166'EZj FNOT Ignoring new targets: 209.40 m.BjUۏ;JjUۏ;e ProNav: ac range: 209.399994 m, nav range: 108.001144 m, bearing: 318.739134 deg, approach rate: -0.549365 m/s, LOS rate: 0.251541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.305249 deg. 2je,<:jefQ@mHeadingCmd: 4.822436 target range: 209.399994 and range: 214.50 m. jjjjihhhhBfffrf bf  C?ɛɁB) =I 0ɚiI*=Iiv^i|))zKOK9KKK :CBBBD=:9743//-,(%#! BKrA:KnA*F?2F:FBFJFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259099GE 󻂻G B) OM >Kw,]\A2@Y2k@2 A92o>J:J:J:1J8J::J:!:J:3J8J:`d fG٣fi6Gyf f> nNusing accuracyPremultiplier from confighn49jf?n4Yj ijBprr@jVyDj~ ;j%;j'4t z9Az$EZjFNOT Ignoring new targets: 209.40 m.Bj%;Jj%;5 ProNav: ac range: 209.399994 m, nav range: 107.795761 m, bearing: 318.833793 deg, approach rate: -0.604346 m/s, LOS rate: 0.279067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.259702 deg. 2j5?<:j=J@=HeadingCmd: 4.821641 target range: 209.399994 and range: 214.50 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfU?ɛˁB%"H %[=%I! %5ɚ!i)I-0F+=I-i5 ^i5ͳ)1)1Eee>Ee> Ih*F2F:FBF@5JF"G%=G%=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512135G=XG B! O= >;w,Áw\A2ߒ@Y2 @2d92 >y2H`?ݍ?57?K`b?ME?@?ɨ2ߒ@23;2BCyBрBBqI Fp=F=IJ1IJx5٢Rq VM=9VQ V>XX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\f49^?f4Y^ş i^Bdfѷf@^jyD^:^~:^.4h nQAlZj FNOT Ignoring new targets: 209.40 m.Bj ;Jj ;% ProNav: ac range: 209.399994 m, nav range: 107.570755 m, bearing: 318.938478 deg, approach rate: -0.564739 m/s, LOS rate: 0.263296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.289895 deg. 2j%4<:j%4O@-HeadingCmd: 4.822168 target range: 209.399994 and range: 214.50 m. j)j)j)j)i)h1h1h1h1f1EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763217f9fIrfIbfM$@ɛ́B< I %m<ɚ!i!I%+=I-i-w_i-U )))1HqIq IuIIu)BIu =&Iq.Iq6Iu<:Iu F*F?2F:FBF4JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015261Gm ߻GA B O >zK MK 9K K K RK ?JK ?$$w,>^\Ay]πB]nIMb@Mb@Mb@ )YL7A`?~jt?Mbpy+G?<A @)AIyAI%+I%u5٢E M'=9UQ U>YY ]G٣Yye e> Nusing accuracyPremultiplier from configi49m?4YmƩ ii:G?:S@myDmTC+w,K?\A6͒@Y6uݙ@6e968B>y6H܂?`O?< P|e?5D@l?`O??ɨ6͒@6¨;6CCyV݀BVII^ I^f5٢f= fT=9j9WQ j>ll nG٣nj6Gyr r> vNusing accuracyPremultiplier from configtz49v?z4Yv it|~~@vyDvb;v;v>4 A &EZj)5FNOT Ignoring new targets: 209.40 m.Bj5;Jj5;M ProNav: ac range: 209.399994 m, nav range: 107.064323 m, bearing: 319.182532 deg, approach rate: -0.683575 m/s, LOS rate: 0.332141 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.298763 deg. 2jMc<:jMyP@UHeadingCmd: 4.822323 target range: 209.399994 and range: 214.50 m. jQjYjYjYiYhYhYhhfffrf bf L@ɛЁBPF 隥SI JɚiI-=Iiai*))uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771397EFJ5=HI III#BI&I.I6I}<:I F*F?2F:FBF_5JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:20:00:50.0192 - TRx dataTimestamp_ set to:1736366451.168736- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024323G= ZGBAO>|3w,à\AB@YBǙ@B29B?`>yBHշ??`J̷?@~Sw? ??ɨB@B;BACybBbIdfAzK52KK5h9K1K5K5    eMb@Mb@Mb@aaa a)aYe~jt?{Gzt?y&1|?yeD?eף;e`;e A eZ@)aIe~Aaye AI}%I}Es5٢I= =9$Q > G٣y > Nusing accuracyPremultiplier from config49 ?4Y iBD?:w@yD;`;G4 AZjFNOT Ignoring new targets: 209.40 m.Bjݢ;Jjݢ; ProNav: ac range: 209.399994 m, nav range: 106.778496 m, bearing: 319.328478 deg, approach rate: -0.556233 m/s, LOS rate: 0.284777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.414187 deg. 2jpC<:j`@ HeadingCmd: 4.824337 target range: 209.399994 and range: 214.50 m. j j j j i hhhh2Bfffrfbf`> @ɛҁB( AI 'RɚiI-=Ii}biM))EKY=*F}?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275280J-J-J)J)J-L:J-#:J)J)J-A <J-A <J-};J-};G} 9"G ?G >GY Bi O > I 9w,m\A2쫒@Y2r@2<#92>y2Hs?)?¿`[/w?"8yY$|?? έ?ɨ2쫒@28;2BCyFBFIIZIZi5٢jM= jX=9nKKQ n>pp rG٣tyv0 z> Nusing accuracyPremultiplier from config| 49~p?4Y~ i~B@~yD~;~;~M4MWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530973 AZj!%FNOT Ignoring new targets: 209.40 m.Bj-;Jj-;] ProNav: ac range: 209.399994 m, nav range: 106.567009 m, bearing: 319.437526 deg, approach rate: -0.514726 m/s, LOS rate: 0.265930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.302974 deg. 2j]6<:j]Q@eHeadingCmd: 4.822397 target range: 209.399994 and range: 214.50 m. jajajijiiihihihhfffrfbf@ɛԁB2- $׾I WɚiI%.=I%i%ci-Ș`)))iEqEq*Ey"Ey*F2F:FBFP5JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 216.7 m (Round-trip 289.0 ms) speed -0.2 m/s  ,DAT read: user:1043>  BDAT read: Tx time:20:00:51.1260  $Ping request sent. `Aw,?]Ay%B-IMb@Mb@Mb@ )Y/$?Zd;O?~jt?y)1 5G٣5k6Gy5 5> ENusing accuracyPremultiplier from config9M49=?M4Y=H i=$BU] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] A:Gw,v]AJ2J2J0J0J2:J2!:J0J0J2M<J2N<J2my;J2ny;Fを@YFi@FO/9F֑>yFH`,?2?Y¿`@AV?s`@??M?ɨFを@F?;FECyV BVI Z=Z=I~I~N5٢Er= E\=9E(Q M>II MG٣IyU\ U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]w i]*Bim|m@]yD]X:]:]\4uzB uA}(EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 209.40 m.Bj;Jj; ProNav: ac range: 209.399994 m, nav range: 106.096031 m, bearing: 319.673044 deg, approach rate: -0.539226 m/s, LOS rate: 0.272742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.279124 deg. 2j.;<:jM@HeadingCmd: 4.821980 target range: 209.399994 and range: 216.70 m. jjjjihhhhfffrfbf@?ɛׁB *#  I  aɚ i IY.=Iigip)) $?Ih*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GUGBO>ǩMw,N9]A>z@Y>'@>Z9>>y>H@? ?|¿`0V.?L?\?h??ɨ>z@>ן;>ACyJ7BJIIZIZ:5٢bi= bS=9bQ f>dd fG٣dyj}* j> nNusing accuracyPremultiplier from configlr49nu ?r4Yn in0Btvv@nyDn:nn:nc4x zAx%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005311Zj15FNOT Ignoring new targets: 209.40 m.Bj=A;Jj=A;M ProNav: ac range: 209.399994 m, nav range: 105.888199 m, bearing: 319.778753 deg, approach rate: -0.532692 m/s, LOS rate: 0.271472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.292932 deg. 2jMO:<:jUO@UHeadingCmd: 4.822221 target range: 209.399994 and range: 216.70 m. jQjYjYjYiYhahahahafififirfibfmdG?ɛ؁BG 隥I eɚiItBTw,k,S]AzK"BJK"]9K K"K">_vwqh[N?2" BK$:K&rA>n@Y>6~@>9>>y>HO?B?@¿`?n?`}?`m?@?ɨ>n@>F;>BCyZPBZ I=Mb@Mb@Mb@999 9)9Y=|?5^?S㥛?~jt?y=2?=/<=<=/A =@)=AI99y=AIUIU>5٢e~= e@=9eӻQ m>ii mG٣ml6Gyu` u> }Nusing accuracyPremultiplier from configy49}d ?4Y} i}8B.3?:@}zD};};}+k4 QAZjFNOT Ignoring new targets: 209.40 m.BjT;JjT; ProNav: ac range: 209.399994 m, nav range: 105.671379 m, bearing: 319.888642 deg, approach rate: -0.514130 m/s, LOS rate: 0.261108 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.305528 deg. 2j23<:jpQ@HeadingCmd: 4.822441 target range: 209.399994 and range: 216.70 m. jjjjihhhhЁBfffrfbf?ɛفB:B QI &iɚiIx/=I iTki))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509559*F?2F:FBFp0JF IGՒG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760087ϻZw,%m]A>@Y>@>(9>e>y>H ?@? a¿`?@{?as?@?`_m?f?ɨ>@>p;dd fG٣dyj#; j> rNusing accuracyPremultiplier from configlr49n?v4Yn in@Btvv@n!zDne:n:nq4x ~A|ZjFNOT Ignoring new targets: 209.40 m.Bj;Jj; ProNav: ac range: 209.399994 m, nav range: 105.475883 m, bearing: 319.987868 deg, approach rate: -0.487936 m/s, LOS rate: 0.248116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.273413 deg. 2jG*<:jL@HeadingCmd: 4.821881 target range: 209.399994 and range: 216.70 m. jjjjih)= hhQihY`wAfZAf aY`wAyYBfrfbf7?ɛ%ځB-) )-wI) ]mɚYiYI]w/=IuiuIPmi}')y)y*F%?2F!:F!BF%0JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012109G- ~J J J 1J J :J ":J 3J a @a @a @a @H a>I  I SII BI &I .I :D6I <:I FG BQ O > I aw,]A:@Y:A@:hw9:j>y:Hrr? ?@¿ ?z??9\? ©?ɨ:@:;8yFpBF5I%Mb@Mb@Mb@!!! !)!Y%RQ?X9v?X9v?y%"?%<%YY ]G٣YyeXf; e> mNusing accuracyPremultiplier from configiu49m?u4Ym imJBu"?}:}}@m2zDmS;m%;m?y4 OAZjFNOT Ignoring new targets: 209.40 m.Bj;Jj; ProNav: ac range: 209.399994 m, nav range: 105.278603 m, bearing: 320.086631 deg, approach rate: -0.486958 m/s, LOS rate: 0.244237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.272026 deg. 2j'<:jL@HeadingCmd: 4.821856 target range: 209.399994 and range: 216.70 m. jjjjihhhhBfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264214ɛہBQ VI ӷoɚiI/=Iinif))*F?2F:FBF`5JF "G=G=zKwoMKKKKRK ?JK ?GM D&G! B1 E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516198O] >Agw,{]A6M@Y6ө@6㬼96 c>y6HO?`e? ¿Tq?"??z?U?ɨ6M@6B~;4yBBFSIIJIJ@T5٢V= VU=9VQ Z>XX ZG٣Zm6Gy^; ^> bNusing accuracyPremultiplier from config`f49b?f4Yb ibTBhjOj@bBzDb@:b:b4l nAp~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 209.40 m.Bj ;Jj;- ProNav: ac range: 209.399994 m, nav range: 105.099655 m, bearing: 320.176362 deg, approach rate: -0.466841 m/s, LOS rate: 0.234490 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244836 deg. 2j- <:j-H@5HeadingCmd: 4.821382 target range: 209.399994 and range: 216.70 m. j1j1j1j1i1h9h9h9hAfAfAfArfAbfM @ɛu܁B}ۼ }4=}'Iy }qɚyiyIg/=Iit]pix)) aIei*F2F:FBFK4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768048G GBO >mw,]A2@Y2 @2ބ92:#>y2H :o??¿s@ ? .?p?M?%?ɨ2@2\;2ACWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020966y%B%bI 5=5=I=I={R5٢EJ= M'=JUJUJQJQJU:JU :JQJQ9MEoQ e>H`>IC IIIBI =&I.I6Id<:Iq F G٣yӆ;  > 5Nusing accuracyPremultiplier from config!E49%P?U4Y% i%aBYe @%VzD%<%<%49 =)A aIiZjFNOT Ignoring new targets: 209.40 m.Bjv;Jjv;  ProNav: ac range: 209.399994 m, nav range: 104.859619 m, bearing: 320.296907 deg, approach rate: -0.428180 m/s, LOS rate: 0.215523 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.337646 deg. 2j <:j V@HeadingCmd: 4.823002 target range: 209.399994 and range: 216.70 m. jj9j9j9iAhAhAhAhAfIfIfIrfIbfU I @ɛށB쾼 隽I  YtɚiIf/=Ii_DriA^))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:00:53.8208 TRx dataTimestamp_ set to:1736366455.200763checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273317*F2F:FBF2JFzK QJK 9K K K G ňBK :K sAG B O >buw,Q]A2@Y2Й@2Ǽ92>y2H??_¿(¸? ?w???ɨ2@2/6;2DC)ZxA<< <@@BDi@@iDD)D DID H)HHHHLLiLILLILiL PP)PP R(xAPPTTTIT)TiTXy^B^vI=Mb@Mb@Mb@999 9)9Y=I +?V-?y&1?y=9?=<=`<=A =@)9I=7A9y=GAuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526159IIS5٢m= ;=9^Q > G٣y; > Nusing accuracyPremultiplier from config49?4Y ikB-?5:5=@fzD<<04 AZj!%FNOT Ignoring new targets: 209.40 m.Bj-)j;Jj-)j;u ProNav: ac range: 209.399994 m, nav range: 104.682312 m, bearing: 320.385752 deg, approach rate: -0.407868 m/s, LOS rate: 0.204720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242171 deg. 2j <:jaH@HeadingCmd: 4.821335 target range: 209.399994 and range: 216.70 m. jjjjihhhh4Bfffrfbf@. @ɛB*ȸ 隍,I &vɚiIi/=IiqsigD:)) I*F 2F :F BF`5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 20:00:53.8208 LVL= 22768, 19697, 15714, 24851, AGC= 59, IDX= 442, 0.34, 3.009,-0.963,-2.141,-3.112, PHS=-0.074, 2.196, 0.969, RAW= 302.7, -29.0, CAL= 298.2, -41.9, ROT= 211.8, 41.9 ] Ygot valid direction response: 20:00:53.8208 LVL= 22768, 19697, 15714, 24851, AGC= 59, IDX= 442, 0.34, 3.009,-0.963,-2.141,-3.112, PHS=-0.074, 2.196, 0.969, RAW= 302.7, -29.0, CAL= 298.2, -41.9, ROT= 211.8, 41.9 e PDAT read: Bearing 211.8, 41.9 (Local) e ~Local bearing/azimuth received: Bearing 211.8, 41.9 (Local) u DAT read: Range 10 to 50 : 217.8 m (Round-trip 290.5 ms) speed -1.2 m/s } ,DAT read: user:1044>  BDAT read: Tx time:20:00:54.9261  $Ping request sent. )|w,:]A6ؒ@Y6@6Ӽ96A>y6Hո? ]~?@¿ "?`?x???ɨ6ؒ@6,I;6BCWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:00:54.9253 yޕBޕzIAIIF5٢p@< =92+Q > G٣n6Gyj; > Nusing accuracyPremultiplier from config49?4YW ixB-@{zDz:":4H=_>I9 I=II=BI9&I9.I96I=°<:I= FJQJUJQJQJQJU!:JQJQJUy:H3J?`}?[¿7%?@??c??ɨ:U@:Z;:CCɳ@BOwAB?5iBGF@iDFtwA)F FtFID J C)JXwAɴJI HHLɵNhwAiNC IN*FLILiR(xA PP)PP PPPɶTTTIT)TiX)XIXXɷX X\yUBUIMb@Mb@Mb@ )YK7?J +?~jt?yI ?H=<A @)AIMAyAIIV85٢< =9:ۻQ > G٣y2<; > ENusing accuracyPremultiplier from config9M49=8$?U4Y=_ i=BU ?U:U}@=zD=z;=;=4yB EA*EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 217.80 m.Bj^;Jj^;E ProNav: ac range: 217.800003 m, nav range: 112.268021 m, bearing: 317.931113 deg, approach rate: -0.497990 m/s, LOS rate: 0.194750 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.299985 deg. 2jE<:jEP@uHeadingCmd: 4.822344 target range: 217.800003 and range: 217.80 m. jqjqjyjyiyhyhyhhYBfffrfbf-?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛB+ νI zɚiIe/=I-i-Vui-W)1)1Eu |1=*F% ?2F! :F) BF- 4JF) m Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248056ZHRHH`>I III BI =&I.I6I<:I FBIΤCJIΤCJJJ0JJ:J:Jـ3JJM<JN<J t;Jt;RIZI =bI =jIΏo5G5 IiG1BYO?w,"H^AyޭB޵I a=R=UMb@Mb@Mb@QQQ Q)QYU~jt?kt?~jtx?yU?U 0=U;UEA U@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499634)U AIUAQyUGAI}I}%.5٢G` =9Q > G٣o6Gy > Nusing accuracyPremultiplier from config49(?4Y iB?:@zDL;;4 eAZjFNOT Ignoring new targets: 217.80 m.Bj?;Jj?;  ProNav: ac range: 217.800003 m, nav range: 112.037949 m, bearing: 318.021956 deg, approach rate: -0.423746 m/s, LOS rate: 0.167657 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.248271 deg. 2j ;:j @I@HeadingCmd: 4.821442 target range: 217.800003 and range: 217.80 m. jjjjihhhhviE)A)IEQEQ*EQ"EQzK-KK)K)K-K-BK1:K5pA*F} ?2Fy :F BF @5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751966G % IIIGyBO>jw,~g^AF*@YF3:@F\9Fq>yFHa? xt?-!ÿ =G?@Se?*??@?ɨF*@F;Dy5B5rIIUIU&Q5٢mF m9=9uvdQ u>yy G٣y< > Nusing accuracyPremultiplier from config498,?4Y% iB@zD^;L^;4 AZjFNOT Ignoring new targets: 217.80 m.Bj?/;Jj?/; ProNav: ac range: 217.800003 m, nav range: 111.854294 m, bearing: 318.093593 deg, approach rate: -0.392143 m/s, LOS rate: 0.153213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190452 deg. 2jL;:j@@HeadingCmd: 4.820433 target range: 217.800003 and range: 217.80 m. jjjjihhhhfffrfbf @ɛB]ȼ &I ~ɚiIZ/=I i ui F) )%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003323*F?2F:FBF_0JFGGrAGqAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255285!Lw,O?^A6>@Y6N@6d964j>y6H>?q?S,ÿ=ݼ?@A?I?@T? ?ɨ6>@6;6DCyBBB^IIJIJ@T5HVa>IT IVIIVBIV =&IT.IT6IV<:IV F٢b bV=9f/:Q f>dd fG٣fp6Gyj; j> =Nusing accuracyPremultiplier from config9E49=s/?E4Y=#+ i=BAMM@=zD=:=:=4Q U:AQZjFNOT Ignoring new targets: 217.80 m.Bju?;Jju?; ProNav: ac range: 217.800003 m, nav range: 111.692764 m, bearing: 318.156534 deg, approach rate: -0.428950 m/s, LOS rate: 0.167384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164282 deg. 2j;:j>=@ HeadingCmd: 4.819976 target range: 217.800003 and range: 217.80 m. j j jj9i9hAhIhqhyf $?Iffrfbf @5P@ɛEBe,޼ im1Ii mQɚiiqIuL/=I}i}[ui}F`:)y)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507362*F]?2FY:FYBFYJFaG5'HGBO5>zKU JKU ]9KQ KU KU {w,1^A63U@Y6d@696DŽ>y6H³?`np? dÿ`?@ |?@8?? ?ɨ63U@6Ϙ;6@CyBBBOI)D DDFA Mb@Mb@Mb@    ) Y Zd;O?J +?~jtxy ~ ? H= Ļ A ) AI MA y I!I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759276٢-%X -5=95ߢ:Q 5>11 =G٣9y=; => uNusing accuracyPremultiplier from configq}49u3?}4Yu_1 iuB} ?}:}}@uzDu;u;uF4 A)EZjFNOT Ignoring new targets: 217.80 m.Bj@;Jj@;  ProNav: ac range: 217.800003 m, nav range: 111.498634 m, bearing: 318.230387 deg, approach rate: -0.442175 m/s, LOS rate: 0.168509 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197129 deg. 2j J;:jA@HeadingCmd: 4.820549 target range: 217.800003 and range: 217.80 m. jjjjihhhAhEBfAfIfIrfIbfM@@ɛB' MI aɚiI-L/=IiEtiI;))JJJJJL:J:JJa@a@a@a@ I*F?2F:FBFJFE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011319G >G  ) A } Yy y} 9 BB O >(w,^AB\@YBnl@B9B>yBH ?dp? 0¿@ƽ?d?;?@ƥ??ɨB\@BPe;BDCyNpBN5IIZIZX5٢bO be=9fǹQ f>dh jG٣hyj,; j> rNusing accuracyPremultiplier from configlv49n6?v4YnJ6 inBtv箿v@nzDn:nX:ni4x ~IA|B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 217.80 m.Bj7;Jj7; ProNav: ac range: 217.800003 m, nav range: 111.345413 m, bearing: 318.288795 deg, approach rate: -0.421242 m/s, LOS rate: 0.160799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150651 deg. 2j;:jK;@HeadingCmd: 4.819738 target range: 217.800003 and range: 217.80 m. jjjjihhhhfffrfbf @ɛUBU8 qu|Iy }a ɚyiyI}hW/=Iimsi8@p;))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:00:57.6238 TRx dataTimestamp_ set to:1736366458.982148checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265826G;GBOB>jH<bH<HI IIIBI&I.I6It<:I| F Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517345䫳w,0f^Ay޽gB޽)IUMb@Mb@Mb@QQQ Q)QYU^I +?Zd;O?~jtyUX?Uj<=UU/A U@)UhAIUAQyU(AI}I}X[5٢ -=9Q > G٣q6Gy > Nusing accuracyPremultiplier from config49n;?4Y= iB?:B@zD<;j;4 AZjFNOT Ignoring new targets: 217.80 m.Bj)^;Jj)^; ProNav: ac range: 217.800003 m, nav range: 111.119301 m, bearing: 318.377301 deg, approach rate: -0.495207 m/s, LOS rate: 0.194230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241242 deg. 2jL<:j?H@HeadingCmd: 4.821319 target range: 217.800003 and range: 217.80 m. jjjjihhhhҁBfffrfbfP @ɛB $I :ɚiIc/=IEiEOriE̸h;)A)IzKJK+9KKK*F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 220.1 m (Round-trip 293.5 ms) speed -0.1 m/s ,DAT read: user:1045> BDAT read: Tx time:20:00:58.7261 $Ping request sent. I iiѹw,.^AJi@YJx@J9J>yJHQ?tq?¿=L%?@ߋ?`US?b?.?ɨJi@J,;Hy^BB^I f=f=IrIr\5٢~}N ~i=9慹Q >   G٣y$; > -Nusing accuracyPremultiplier from config!549%>?=4Y%C i%B9==@%zD%b6;%r;%4I MAIu addTargetRange:: Added new target pos. range: 220.100006 m, deltaT: 3.779994 s, deltaX: 2.300003 m, approachRate: 0.608467 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 217.80 m.BjV;JjV;  ProNav: ac range: 217.800003 m, nav range: 110.950516 m, bearing: 318.443472 deg, approach rate: -0.478348 m/s, LOS rate: 0.187820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174003 deg. 2j<:j>@=HeadingCmd: 4.820146 target range: 217.800003 and range: 220.10 m. j9j9j9jAiAhAhAhAhIfIfIfIrfM@3k@bfU@'?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:00:58.7253 ɛB\o* I 1ɚ i I օ/=Ii5Nqi;))*F?2F:FBF`5JFGg;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.He `>Ia  Ie IIe ՁBIa &Ia .Ia 6Ie <:Ie Fw,XS_A6|X@Y6h@696ŭ>y6Hͼ?ot?¿d?@I?? bC? ?ɨ6|X@6;6BCyn0BnIIzIzW5٢ H=9 Q  >   G٣y > %Nusing accuracyPremultiplier from config!-49%B?-4Y%sI i%B15V5@% {D%,;%;%49 =LAAZjaeFNOT Ignoring new targets: 217.80 m.BjuX;JjX; ProNav: ac range: 217.800003 m, nav range: 110.755783 m, bearing: 318.520462 deg, approach rate: -0.478144 m/s, LOS rate: 0.189373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206562 deg. 2j<:jJC@HeadingCmd: 4.820714 target range: 217.800003 and range: 220.10 m. jjjjihhhhfffrfbf ? IɛB6 %ľI! -sɚiIE/=Iihpi%>;)!)Q*F!2F!:F!BF%@5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm G;Gy B O >Ɨw,%_AzK"BJK"h9K K"K"BK@YB0[@B9B>yBH@g?@7x?[¿3H?@F6?^?? K?ɨBK@Bve;@yJBNIWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-ˡE?Mb?/$y-'?-=--A -p@))I-A)y-AI=I=O5٢M˽ MF=9UܼQ U>QY ]G٣Yy]@x e> mNusing accuracyPremultiplier from configau49eF?u4Ye~P ieBu8(?u:u}@e{De{<;eM;;e)4 A+EZjFNOT Ignoring new targets: 217.80 m.Bjv;Jjv;E ProNav: ac range: 217.800003 m, nav range: 110.545784 m, bearing: 318.609051 deg, approach rate: -0.508857 m/s, LOS rate: 0.215070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241455 deg. 2jE<:jEGH@MHeadingCmd: 4.821323 target range: 217.800003 and range: 220.10 m. jIjIjQjQiQhhhh|Bfffrfbfd?ɛB< ۾I ښɚiI9/=IiQoi9:)!)!JJJ0JJJ:Jـ3J*F?2F:FBF_0JF IiWill construct direction to contact in vehicle frame from tetrahedron phase data.G U:;G B O >͗w,7_A>6@Y>RF@>0]9>K>y>H?@z?Q¿VѨ?Q5?媠???ɨ>6@>~;dd fG٣fr6Gyj4ػ j> nNusing accuracyPremultiplier from configlr49nJ?r4YnW inBtvfv@n,{DnC:n:n4x z`AxB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 217.80 m.Bj%x;Jj-x;E ProNav: ac range: 217.800003 m, nav range: 110.349678 m, bearing: 318.692619 deg, approach rate: -0.507924 m/s, LOS rate: 0.216829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226333 deg. 2jE<:jEF@MHeadingCmd: 4.821059 target range: 217.800003 and range: 220.10 m. jIjIjIjIiIhIhQhQhQfQffrfbf?ɛ B O  CI [nɚ1i9I=b0=I=iE9oiE)A)A*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.H_>I IrIIBI =&I.I6Im<:Iv F IG]:Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761585ԗw,jP_AyBIMb@Mb@Mb@ )Yx?I +?/$yK7?9<A )QAIAy3AIIm5٢+ :=9Q > G٣y > Nusing accuracyPremultiplier from config49M?4YI_ iBv7?:@@{D;;4 AZj)5FNOT Ignoring new targets: 217.80 m.Bj=;Jj=;M ProNav: ac range: 217.800003 m, nav range: 110.110886 m, bearing: 318.798776 deg, approach rate: -0.544454 m/s, LOS rate: 0.242567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.294347 deg. 2jMx&<:jMO@UHeadingCmd: 4.822246 target range: 217.800003 and range: 220.10 m. jYjYjYjYiYhYhYhaheEBfafafirfibfm?ɛBU 隥I q璼ɚiI`0=Iipni:n))*F)2F):F)BF)JF)zK}+KK}+9KyK}K}BKqA:KEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014553GU'HG) B9 O] >J J J 1J J :J :J 3J $?I n/ڗw,Zj_AN!@YN\1@NO9N0$ >yNH.?ڀ? F?@V-?CI?@?3?ɨN!@N<;LyZBZIIbIbo5٢j j\=9jz;Q n>ll nG٣pyr r> vNusing accuracyPremultiplier from configt~49vP?~4Yv;f ivB@vQ{DveA;vA;v4  yA (EZj15FNOT Ignoring new targets: 217.80 m.Bj=;Jj=;M ProNav: ac range: 217.800003 m, nav range: 109.909325 m, bearing: 318.889355 deg, approach rate: -0.542420 m/s, LOS rate: 0.244203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.247420 deg. 2jM'<:jM!I@UHeadingCmd: 4.821427 target range: 217.800003 and range: 220.10 m. jQjQjQjQiYhYhYhYhafafafarfibfm@@ɛBi 隝\I %ɚiIg0=Iiini$$))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265835*F2F:FBFp0JFG:GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517036H `>I  I 4II pBI &I .I 6I <:I FBIJIRIZIbIjI_4w,_A6|@Y6-@6C96 >y6Hz? ? Meۻ?N‘???U?ɨ6|@6 4;6@Cy^BbI f=f=InInn5٢v  vI=9vQ v>xx zG٣zs6Gy~7 ~> Nusing accuracyPremultiplier from config 49aT? 4Ym iB  "@d{D:7:,4 A!ZjAEFNOT Ignoring new targets: 217.80 m.BjM;JjM; aIa ProNav: ac range: 217.800003 m, nav range: 109.688972 m, bearing: 318.989009 deg, approach rate: -0.542331 m/s, LOS rate: 0.245760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.274746 deg. 2j(<:j M@HeadingCmd: 4.821904 target range: 217.800003 and range: 220.10 m. jjjjihh h h f ffrf1bf5@F@ɛBd )5 I9 =XɚAiAIE1=Iifnit-))IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771145*F2F:FBFj0JFG% b(G B O- >Aw,ep_AzK..JK.9K,K.K.RK6?JK6?F" @YF@F̺9FJ >yFHf^?T?@¿K?`p֒????ɨF" @FtЈ;F?Cyz݀BzI~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020975Mb@Mb@Mb@ )Y r?~jtx?QyC?;u A Z@)v@IAyAI-Iv5٢ >=9Q 5>99 EG٣AyM笻 e> Nusing accuracyPremultiplier from config49W?4Yv iBC?:@z{DE;; 4 A+EZjAEFNOT Ignoring new targets: 217.80 m.Bju;Jju; ProNav: ac range: 217.800003 m, nav range: 109.433586 m, bearing: 319.111532 deg, approach rate: -0.543664 m/s, LOS rate: 0.261435 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.343610 deg. 2jk3<:jV@ aImiHeadingCmd: 4.823106 target range: 217.800003 and range: 220.10 m. jjjjihhhhBfffrfbf69 @ɛMBM] QUIQ U؞ɚQiQI}_1=Ii,niF))*F5?2F1:F1BF5`0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:01:01.4279 TRx dataTimestamp_ set to:1736366462.761358checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275082G j-Gq By O >Iw,x _A6@Y6u @6¿96u>y6Hh??5¿I ߺ?.? (?@)?7?ɨ6@67;6ACy>B>IIJIJi5٢Nh< RF=9RQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b49^}Z?b4Y^~ i^Bdfj@^{D^>;^?;^4l nAlzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 217.80 m.Bj ;Jj ; ProNav: ac range: 217.800003 m, nav range: 109.215660 m, bearing: 319.217092 deg, approach rate: -0.583242 m/s, LOS rate: 0.283077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.292495 deg. 2jEB<:j%O@-HeadingCmd: 4.822214 target range: 217.800003 and range: 220.10 m. j)j)j)j)i)h)h1h1h1f1f1f9rf9bf= @ɛuBu quIq uPɚyiyI}s1=Iinibǻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526273*F?2F:FBF`5JFjH5<bH5<HEa>IA IEIIEQBIE =&IA.IA6IEf<:IEs FGԑJ=J=J9J9J=l:J=:J9J9J= !I!m Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: Range 10 to 50 : 223.2 m (Round-trip 297.6 ms) speed -0.1 m/s  ,DAT read: user:1046>  BDAT read: Tx time:20:01:02.5261  $Ping request sent. y6H,?@6??¿^@Z,? @ה?ʹ?@??ɨ6@6 ;6BCyNBNIPRA}Mb@Mb@Mb@yyy y)yY}q= ףp?~jtxMbpy}K?}Ļ}y }-@)}`@Iyyy}AI"Iq5٢0< <=9;Q > G٣t6Gy#߻ > Nusing accuracyPremultiplier from config49)]?4YÇ iBK?:P@{D;J;4 A addTargetRange:: Added new target pos. range: 223.199997 m, deltaT: 3.779940 s, deltaX: 3.099991 m, approachRate: 0.820116 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 217.80 m.Bj;Jj;- ProNav: ac range: 217.800003 m, nav range: 108.966698 m, bearing: 319.343459 deg, approach rate: -0.572855 m/s, LOS rate: 0.291431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.355148 deg. 2j-H<:j-X@5HeadingCmd: 4.823307 target range: 217.800003 and range: 223.20 m. j1j1j9j9i9h9h9hAhMBfIfQfQrfU`fk@bfUNx?ɛBj I  䰥ɚ i I 12=IiSjoi ))*F2F:FBFP5JFzKV$KK 9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:01:02.5253 ) I) GE XG B1 OU >=w,h_A>/Ӓ@Y>@>v9>߉>y>H? ҄?{[¿ֳ?? /??`i?ɨ>/Ӓ@>6;>ACyZBZIIjIj#U5٢z^= ~V=9Q >   G٣ y > -Nusing accuracyPremultiplier from config)EWill construct direction to contact in vehicle frame from tetrahedron phase data.U49-w_?]4Y-ď i-Baem@-{D- <-n<-5!4y }]A) KCvAA  YvAy&B}@}BZjFNOT Ignoring new targets: 217.80 m.Bjb;Jjb; ProNav: ac range: 217.800003 m, nav range: 108.748207 m, bearing: 319.455508 deg, approach rate: -0.477695 m/s, LOS rate: 0.245470 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.312005 deg. 2jv(<:j]R@HeadingCmd: 4.822554 target range: 217.800003 and range: 223.20 m. jjjjihhhhfffrfbf`?ɛBh E I ЛɚiIR2=I%i%;Npi%%))))*F2F:FBF@5JFGGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.HM c>IM C IM IIM GBIM  =&II .IM ;D6IM w<:IM FJe Je Je 0Ja Je :Je :Je ـ3Ja Je <Je <Je w;Je w;  I w,t`A6n@Y6̙@696g>y6Hc?@?X¿y?i? C??`A?ɨ6n@6;6CCyBBBIIJIJKk5٢Vk.= VO=9Vb.Q V>XX ZG٣Xy^ݻ ^> bNusing accuracyPremultiplier from config`f49ba?f4Yb ibBdj齿n@b{Db e;b|;b (45xB =A=-EZjaFNOT Ignoring new targets: 217.80 m.Bj;Jj;] ProNav: ac range: 217.800003 m, nav range: 108.526718 m, bearing: 319.570387 deg, approach rate: -0.672507 m/s, LOS rate: 0.349518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.320521 deg. 2j]o<:jeS@HeadingCmd: 4.822703 target range: 217.800003 and range: 223.20 m. jjjjihhhhfYfafrfbf?ɛB؊m !%uI) -ɚ)i)I-2=I5i5jqi5KJ)1)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FyBF}4JFyG= G B! OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. i AzK5 FKK5 9K1 K5 K5 +w,5E"`Ay BI %p=%a=Mb@Mb@Mb@ )Yn?I +~jtx?yVN?9; A C@)@I AyAIIM5٢= 6=9%Q %>)) -G٣-u6Gy- -> =Nusing accuracyPremultiplier from config1E495c?E4Y5z i5ƢBEkN?E:EE@5{D5;5j;5/4Q UxAQ IiZj!-FNOT Ignoring new targets: 217.80 m.BjU;JjU;m ProNav: ac range: 217.800003 m, nav range: 108.273590 m, bearing: 319.708299 deg, approach rate: -0.549235 m/s, LOS rate: 0.299940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.389883 deg. 2jM<:j]@HeadingCmd: 4.823914 target range: 217.800003 and range: 223.20 m. jjjjihhhh2Bfffrfbf `t?ɛB|` 隕sI xgɚiI2=Iiri E))*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.Gc?GiByO>Uw,<`A>@Y>(@>!9>A>y>Hὶ?@8? ¿3?7̚?5?AT? ?ɨ>@>V;>@CyJBJIIVIVX5٢Zv= ^c=9^TQ b>`` fG٣dyj] j> nNusing accuracyPremultiplier from configlr49n>e?r4Yn in̢BpvCv@n{DnG;n;n264x zAx B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 217.80 m.Bj-;Jj-;= ProNav: ac range: 217.800003 m, nav range: 108.073685 m, bearing: 319.818995 deg, approach rate: -0.591106 m/s, LOS rate: 0.327925 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.307885 deg. 2j= a<:j=Q@EHeadingCmd: 4.822482 target range: 217.800003 and range: 223.20 m. jAjAjAjIiIhQhQhQhQfYfYfarfabfe`?ɛBo 隕~I ɚiIq 3=Iisi ))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FM?2FQ:FQBFU`0JFQZHRH@AHb>I IIIVBI =&I.I6I<:I FJ-J-J)J)J-:J-:J)J)J-<J-<J-u;J-u; IGf AGBO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012144=w,/U`A6Ɠ@Y6M@6!96>y6H@??l¿`^?5?@4?@{?`?ɨ6Ɠ@6);6CCyn1BnIuMb@Mb@Mb@qqq q)qYu r? rh G٣y > Nusing accuracyPremultiplier from config49ef?4Y̱ i֢BC?:ÿ@ |D;M;=4wB .A/EZjFNOT Ignoring new targets: 217.80 m.Bj ɫ;Jj ɫ; ProNav: ac range: 217.800003 m, nav range: 107.850006 m, bearing: 319.948611 deg, approach rate: -0.517280 m/s, LOS rate: 0.300371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.364834 deg. 2j$N<:jY@HeadingCmd: 4.823476 target range: 217.800003 and range: 223.20 m. jjjjihhhhPBfffrfbf@mi@ɛMBM4I imWӾIq uJ޵ɚqiqIu13=I}i}ݩui}7r)y)*F ?2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265440zK=QJK=]9K9K=K= IGM mGU ?GU ?G) BI Om >gw,o`A6K@Y6Ҩ@6}l!96u>y6H۶?F?`p¿@?_?`9,???ɨ6K@6;o;6BCyBNBB IHJAININ@T5٢Vk> V[=9Zn99Q Z>XX ZG٣Zv6Gy^R: ^> fNusing accuracyPremultiplier from config`f49bfg?f4YbF ibޢBhjÿj@b|Db:b:bED4Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516105y }IAyZjFNOT Ignoring new targets: 217.80 m.Bj;Jj; ProNav: ac range: 217.800003 m, nav range: 107.658485 m, bearing: 320.060130 deg, approach rate: -0.487552 m/s, LOS rate: 0.284399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.310337 deg. 2j.C<:j R@%HeadingCmd: 4.822525 target range: 217.800003 and range: 223.20 m. j!j!j!j!i!h!h)h)h)f)f1fQrfQbfUz@ɛD ^I "ɚiIM3=Iiu%wiu7~)q)y*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771634Gm H I  I MII BI  =&I .I :D6I ʰ<:I FG) B9 OU >JE JE JA JA JE :JE :JA JA JE 4<JE 5<JE xp;JE yp; I iP"w,`A2@Y26@23E"92>y2H ??@rÿY@D??JG?? _?ɨ2@2ˬ;2DCyNdBN&IIZIZ)M5٢j= jH=9jlQ n>ll rG٣pyr: r> zNusing accuracyPremultiplier from configx~49zh?~4Yz izBÿ@z0|Dz;zK;zoK4  A ZjFNOT Ignoring new targets: 217.80 m.Bj?;Jj?; ProNav: ac range: 217.800003 m, nav range: 107.447685 m, bearing: 320.183447 deg, approach rate: -0.513835 m/s, LOS rate: 0.301179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.345857 deg. 2jN<:j4W@ HeadingCmd: 4.823145 target range: 217.800003 and range: 223.20 m. j1j1j1j9i9hAhAhyhfffrfbf`@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020524ɛuB}Ϲ1 隅СI %ڄɚ!i!I%\3=I-i-Wxi-:v)1)1*F?2F:FBFp0JFG= =u Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:01:05.2273  TRx dataTimestamp_ set to:1736366466.541542 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274603G B) OM >t(w,Ow`AzKJK9KKK 1jbJ;/")0:u@Y:@:!9:>y:H {?`{?Jÿ??4?@?ğ?ɨ:u@:;8yFBFGIMb@Mb@Mb@ )Ygfffff?Mb~jt?y33?<vA C@)@IyfA IIIII3A5٢U<= ]5=9]ש9Q > G٣y7; > Nusing accuracyPremultiplier from config49Cj?4Y iBZ3?:@D|D;;yS4 AZjFNOT Ignoring new targets: 217.80 m.Bjߚ;Jjߚ; ProNav: ac range: 217.800003 m, nav range: 107.226631 m, bearing: 320.308081 deg, approach rate: -0.479308 m/s, LOS rate: 0.270800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.349855 deg. 2j9<:jW@HeadingCmd: 4.823215 target range: 217.800003 and range: 223.20 m. jjjjihh!h!h%Bf!f)f)rf)bf-@i @ɛB[) 隭I JɚiIb3=I=i==ziEN])A)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524266*FU?2FQ:FQBFU0JFQG k}G sAG sAG B O >.w,`AyBlI ==I%I%N5٢==> ES=9EQ E>II MG٣Mw6GyM U> ]Nusing accuracyPremultiplier from configYe49]k?e4Y] i]Baae@]U|D]:]:]Z4q uAu1EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 217.80 m.Bja;Jja; ProNav: ac range: 217.800003 m, nav range: 107.045395 m, bearing: 320.410861 deg, approach rate: -0.509048 m/s, LOS rate: 0.289171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.284044 deg. 2jtF<:j^N@HeadingCmd: 4.822066 target range: 217.800003 and range: 223.20 m. jjjjihhhhfffrfbf.@ɛv  TI Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:01:05.2273 LVL= 20064, 15905, 13234, 23363, AGC= 63, IDX= 413, 0.05, 0.836,-3.087, 1.860, 1.258, PHS=-0.334, 1.985, 0.599, RAW= 306.4, -21.5, CAL= 307.6, -31.6, ROT= 202.4, 31.6 Ygot valid direction response: 20:01:05.2273 LVL= 20064, 15905, 13234, 23363, AGC= 63, IDX= 413, 0.05, 0.836,-3.087, 1.860, 1.258, PHS=-0.334, 1.985, 0.599, RAW= 306.4, -21.5, CAL= 307.6, -31.6, ROT= 202.4, 31.6 PDAT read: Bearing 202.4, 31.6 (Local) ~Local bearing/azimuth received: Bearing 202.4, 31.6 (Local) DAT read: Range 10 to 50 : 222.6 m (Round-trip 296.9 ms) speed -0.7 m/s ,DAT read: user:1047> BDAT read: Tx time:20:01:06.3262 $Ping request sent.I IIIBI =&I.I;D6I<:I FBI¥CJI¥CRIZI =bI =jI”#5 - oɚ)i1I5a3=I=i=f{iE`)AM:publishing transmit ping timeMFpublishing direction and range info9B S?Qj㯅?Iy^C`N!> 3)C[I?i {?X?D @7 ˫@)0 I=b@i0 ?f'cHQ`\Dp׿)AI>i7?S?:publishing transmit ping timeFpublishing direction and range info9B S?Qj㯅?Iy )Ii )Iif'cHQ`\Dp׿)Ii) Ii*F ?2F :FBFB5JFGE U Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:01:06.3254 G B O% >5w,K`AZǒ@YZ֙@Z%9ZӦ>yZH F?@z?ÿ`YX?=?@ĵ? j?@R?ɨZǒ@ZCi;ZBCynBnI%Mb@Mb@Mb@!!! !)!Y%~jt?~jth?y%$?%D%<%A %-@)%QAI%A!y%AII{R5٢= 4=9Q > G٣y; > Nusing accuracyPremultiplier from config49m?4Y iB$?:%;%@h|DU;;b4Q UBAQkM 6œ?kMZ+ kI kM`A:kM^CBkM]CZkM[c@"MOc\@H X@Z xdMB S?Qj㯅?IJkM7?RkMS?*ME`@BSRcZaMYsyb+?AlL4޿Yw"kM{*kMXCkM퍲Rœ?kMX+ 2kM kMyS?kMX+ kMݍkM(CkM@ addTargetRange:: Added new target pos. range: 222.600006 m, deltaT: 3.780162 s, deltaX: -0.599991 m, approachRate: -0.158721 m/s, rangeRepo size: 4 M Added new target pos. range: 222.600006 m, bearing: 321.193168 deg, lat: 36.905907 deg, lon: -122.122021 deg, deltaT: 11.340096 s, deltaX: 4.800003 m, approachRate: 0.423277 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 222.60 m.BjUJjQe ProNav: ac range: 222.600006 m, nav range: 143.157532 m, bearing: 311.487565 deg, approach rate: 0.000000 m/s, LOS rate: 0.289171 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.393918 deg. 2j:j^@HeadingCmd: 4.823984 target range: 222.600006 and range: 222.60 m. jjjjihhhhBfffrf@3k@bf 9?ɛ` -Will construct direction to contact in vehicle frame from tetrahedron phase data. 2I9 ޾ɚiIEF3=Iiϑ|io2))zK~`MK 9KKK4:CFKND' Qj!&V-9~F>BKsA:KrA*F2F:FBFP5JF IJ J J J J :J z:J J a%@a%@a%@a%@G _G B O >'Ò@Y>eә@>l/*9>c>y>Hk-??@ÿ@Hz?қ?`\D?q?`?ɨ>Ò@>Ko;>CCyNƁBNIIVIV:5٢^]> bj=9bLQ b?dd fG٣dyf f? nNusing accuracyPremultiplier from configlr49n[o?r4Yns inBprCr@nv|Dnb;nb;nh4x z AxZj!%FNOT Ignoring new targets: 222.60 m.Bj->;Jj->; ProNav: ac range: 222.600006 m, nav range: 142.978058 m, bearing: 311.541099 deg, approach rate: -0.558561 m/s, LOS rate: 0.166820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135991 deg. 2j;:j39@HeadingCmd: 4.819482 target range: 222.600006 and range: 222.60 m. jjjjihhhhfffrfbf@#?ɛAE! AE<IA mьɚiiiIm03=Iuiu@[}iuW>)q)y*FE?2FA:FABFE_0JFAGI6G% ?G%*?G9BAO]U>Will construct direction to contact in vehicle frame from tetrahedron phase data.HI IIIBI&I.I6IH<:I_ F a Ia 5 Cw, aA6`Ւ@Y6@6..96k>y6Hw?s{? QÿH? :?? 9? ?ɨ6`Ւ@6K;4yFՁBFI\^AIbIb25٢j= nI=9n)Q n>pp rG٣rx6Gyv,; v> zNusing accuracyPremultiplier from configx49zAq?4YzK izB   @z|Dzth;z i;z9o4  A.EZjFNOT Ignoring new targets: 222.60 m.=Will construct direction to contact in vehicle frame from tetrahedron phase data.BjUN;JjUN;e ProNav: ac range: 222.600006 m, nav range: 142.768799 m, bearing: 311.603469 deg, approach rate: -0.451961 m/s, LOS rate: 0.134906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162571 deg. 2j+;:j=@HeadingCmd: 4.819946 target range: 222.600006 and range: 222.60 m. jjjjihhhhfffrfbf@Hz?ɛB  ˽I! %MɚiI2=IiH~iY))*F?2F:FBFJFG :Q1 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK FOK ]9K K K A&qG r\I9,|ysqmhgd_[ZWWSONKIGCA?<9c5Iw,&aA $?IJ J J J J L:J h:J J y]B]IMb@Mb@Mb@ )Y +?S㥛?Zd;O?y?/<j<vA @)@IAyAII*5٢1= /=9Q > G٣y > Nusing accuracyPremultiplier from config49et?4Yr i(B?:@|D;;_w4 q AZjAEFNOT Ignoring new targets: 222.60 m.BjM);JjM);] ProNav: ac range: 222.600006 m, nav range: 142.541016 m, bearing: 311.664746 deg, approach rate: -0.550612 m/s, LOS rate: 0.148359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159311 deg. 2j];:j]<@eHeadingCmd: 4.819889 target range: 222.600006 and range: 222.60 m. jajajajaiihihhhBfffrfbf@R ?ɛim} imvIq u.ɚqiqIu,2=I}i}i}]!)y)vA5ZA*F-?=Will construct direction to contact in vehicle frame from tetrahedron phase data.2F9:FIBFIJFQ }Y}vAywBG !G B O Pw,|@aA6&@Y6*@6#96؊>y6H@?@p?@Eÿj"?E?p?:?m?ɨ6&@6߈;6BCWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHQRHQH]f>IY I]! II]1BIY&IY.IY6I]R<:I]g FyBII%I%G5٢5l= 5C=9=;Q =>9A EG٣AyE< M> UNusing accuracyPremultiplier from configQ]49Ufw?]4YU iU3Baee@U|DU:U:U~4q u Au1EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 222.60 m.Bj;Jj; ProNav: ac range: 222.600006 m, nav range: 142.335037 m, bearing: 311.719361 deg, approach rate: -0.495533 m/s, LOS rate: 0.131579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139267 deg. 2j;:j9@HeadingCmd: 4.819540 target range: 222.600006 and range: 222.60 m. jjjjihhhhfffrfbf@@ IiɛZSռ I ɚiI2=Ii~i))*FE?2FI:FIBFQJFQG G"GGM Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.G rAG Gq B O >lVw,ZaA66@Y6eF@696>y6H?n?aÿ@?@Z?`Q֣?{(? ?ɨ66@6l;4)^xA@@ @@@BiDDiDD)D DID H)LLLLLLiLIPPIPiP PP)PT TTTTXXIX)ZFiXXybBbIMb@Mb@Mb@ )YCl??Mb?y?L=<A -@)v@I AyAI-I-N5٢5J< =W=9=K;Q =>AA EG٣Ey6GyMr< M> UNusing accuracyPremultiplier from configQ]49Uz?e4YUi iU;Bm?m:mom@U|DUu;Ut;UY4q } AyZjFNOT Ignoring new targets: 222.60 m.Bj-+;Jj-+;= ProNav: ac range: 222.600006 m, nav range: 142.151154 m, bearing: 311.763368 deg, approach rate: -0.467617 m/s, LOS rate: 0.112054 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107378 deg. 2j=͙;:j=5@eHeadingCmd: 4.818983 target range: 222.600006 and range: 222.60 m. jijijijiiihihqhqhu3Bfqfyfyrfybf`d@ɛ Bм `ؼI  ɚiIJp2=I%i%y~i%18)!))eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491302*F?2F:FBF0JFzKVhOK9KKK6543.'  GqBy IO^>J5J1J51J1J5|:J1J53J1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743361\w,JtaA6O@Y6_@6 96>y6H`?k?`ÿ`'D?@젔?z4?)? ٝ?ɨ6O@6p,;6DCymBmIIIJ5٢zA= 7=9S5;Q > G٣y&; > Nusing accuracyPremultiplier from config49~?4Y iEB @|D,;:%4  AZjFNOT Ignoring new targets: 222.60 m.Bj;Jj; ProNav: ac range: 222.600006 m, nav range: 141.934967 m, bearing: 311.814918 deg, approach rate: -0.497617 m/s, LOS rate: 0.118839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130073 deg. 2j;:jZ8@HeadingCmd: 4.819379 target range: 222.600006 and range: 222.60 m. jjjjihhhhfffrfbf }@ɛǟļ @ѻI ,ɚiI/=2=IiR}iP!;))!}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995966*F2F:FBFx0JFHg>I IS IIYBI =&I.I6I`<:Iq FGBO> I [xcw,aA:MY@Y:h@:P9:>y:H`Ҽ?@k?`ÿ I?@??&?)?ɨ:MY@::;:ACɳ@BCwAFXiF@FFiDFOwA)FP JtFIH H)J\wAɴJ$J|FHLɵLiN$IR#FPIXiX XX)\d dhhɶhhhIl)lil)lIppɷp pryeBmIIIGL5٢Iɼ j=9}:Q }> G٣y*H; >Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:01:09.0305 TRx dataTimestamp_ set to:1736366470.324418checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253223 ]Nusing accuracyPremultiplier from configYe49]?e4Y]! i]NBim寿m@]|D];];] 4  AZjFNOT Ignoring new targets: 222.60 m.BjK;JjK; ProNav: ac range: 222.600006 m, nav range: 141.743958 m, bearing: 311.860498 deg, approach rate: -0.476722 m/s, LOS rate: 0.113912 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112111 deg. 2jZ;:j5@HeadingCmd: 4.819066 target range: 222.600006 and range: 222.60 m. j!j!j!j!i!h!hIhIhIfIfQfQrfQbfUq @ɛ Buʼ 隥@I  FɚiIh2=Ii{|i57Q;))*FE?2FI:FIBFM4JFIG] ?G]?GB!OMt> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498802zK5 -HMK5 +9K1 K5 K5 !#"    OO{S iw,kaA I:i@Y:$y@:9:>y:HT?Yi?fÿ`@4d?p?@x?`"??ɨ:i@:T;:BCJـ3K3 K.KK"KJ J J 0J J  :J #:J ـ3J y= B=IIIMb@Mb@Mb@ )YS? G٣z6GyR; > Nusing accuracyPremultiplier from config 49? 4YH ! iVB L?:Y@|D;;4 W AZjaeFNOT Ignoring new targets: 222.60 m.BjmS:JjmS:} ProNav: ac range: 222.600006 m, nav range: 141.549271 m, bearing: 311.902605 deg, approach rate: -0.501216 m/s, LOS rate: 0.108552 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101680 deg. 2j};:jK4@HeadingCmd: 4.818883 target range: 222.600006 and range: 222.60 m. jjjjihhhh:Bfffrfbf@ @ɛ 2;I AɚiI\1=Iiм{iO0;))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 225.0 m (Round-trip 300.1 ms) speed -1.1 m/s ,DAT read: user:1048> BDAT read: Tx time:20:01:10.1262 $Ping request sent.pw,DaA6q@Y6@696I>y6H?ii?@rÿ ?d?`T?y ??ɨ6q@6"u;6?CyvBvIII-I5٢  n=9M:Q ? G٣y%8; %? -Nusing accuracyPremultiplier from config)549-銖?54Y-:! i-]B158=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:20:01:10.1254 M@-|D-;-Ō;-4Q U AQ addTargetRange:: Added new target pos. range: 225.000000 m, deltaT: 3.780103 s, deltaX: 2.399994 m, approachRate: 0.634902 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 222.60 m.Bj}:Jj}: ProNav: ac range: 222.600006 m, nav range: 141.378860 m, bearing: 311.939482 deg, approach rate: -0.497313 m/s, LOS rate: 0.107749 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.085951 deg. 2j;:j 2@HeadingCmd: 4.818609 target range: 222.600006 and range: 225.00 m. jjHI Il IInBI&I.I6IT<:Ii Fjjihhhhfffrf l@bfM?ɛ BƼ 隥 I OɚiI1=Iizi;)) I i*F?2F:FBF_0JFGePG9BAOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.Kvw, 'aA6Y@Y6Qi@6;96$>y6Hּ? tf? MĿ1 ?@V?? ??ɨ6Y@6<;6ACyNBRI-Mb@Mb@Mb@))) )))Y-Cl?MbX9?MbPy-?-ʡ=--A --@)-3@I))y-AIEIE?5٢].X ]E=9eEQ e>aa mG٣iym m> }Nusing accuracyPremultiplier from configq}49uՏ?4Yu6! iucBI?:ਿ@u|Du;u;u"4vB  A3E B*** querying acoustic contact ***j j Zj1=FNOT Ignoring new targets: 222.60 m.Bj= :Jj= :u ProNav: ac range: 222.600006 m, nav range: 141.170837 m, bearing: 311.983502 deg, approach rate: -0.486882 m/s, LOS rate: 0.103182 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107442 deg. 2ju;:ju5@}HeadingCmd: 4.818984 target range: 222.600006 and range: 225.00 m. jyjyjjihhhh$Bfffrfbf?ɛ BY}Ӽ I yɚ)i)I-1=I5i5yi5rz6;)1)9MWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFGtA GtA I zK="OK9K9K=K=W?+ J%J%J!J!J%\:J%K:J!J!G ~q;G sAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005225|w, aA6^@Y6=n@6960>y6H?j?ÿ@ ?v?ݢ? 0?ϝ?ɨ6^@6C$;6BCyBBBIIJIJjC5٢V$ VW=9ZM :Q Z>X\ ^G٣^{6Gy^y: b> fNusing accuracyPremultiplier from config`f49b`?j4Yb! ibiBhjʨj@b }Db:bC:b̮4=wB E AE0EZjamFNOT Ignoring new targets: 222.60 m.Bjm:Jjm: ProNav: ac range: 222.600006 m, nav range: 140.979309 m, bearing: 312.024096 deg, approach rate: -0.508310 m/s, LOS rate: 0.107880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097132 deg. 2j;:j3@HeadingCmd: 4.818804 target range: 222.600006 and range: 225.00 m. jjjjihhhhfffrfbf ]?ɛm Bu޼ quJIq }dɚyiyI}o1=Iiͽxi5s;))*FM?2FI:FIBFM`0JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256772Hh>IC III&I.Iʃw,bA2FS@Y2b@292TT>y2H ɢ?o?A"ÿ ?`x?@>?? C?ɨ2FS@2դ;2ACy>B>IININ85٢R+ VJ=9VyQ V>XX ZG٣\yba b> fNusing accuracyPremultiplier from configdj49f-?j4Yf ! ifpBhnn@f}DfB;f;f4p rW ApZj)5FNOT Ignoring new targets: 222.60 m.Bj5:Jj=:E ProNav: ac range: 222.600006 m, nav range: 140.775986 m, bearing: 312.067465 deg, approach rate: -0.511054 m/s, LOS rate: 0.109165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105481 deg. 2jM֕;:jM4@UHeadingCmd: 4.818950 target range: 222.600006 and range: 225.00 m. jQjQjQjQiQhYhYhYhYfafafarfabfe?ɛeBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511731 I H¼ɚiIf1=I=ie $?I w,)bAzK"YLK"9K K"K"yuBuI Mb@Mb@Mb@    ) Y Cl?+?Mbpy d? =  I A @) v@I  A y AIEIExV5٢]W ]2=9]Q e>aa eG٣aym m> }Nusing accuracyPremultiplier from configq49uƞ?4Yu'! iuwB?:a@u,}Du;u¿;u4  AZjFNOT Ignoring new targets: 222.60 m.Bj;Jj; ProNav: ac range: 222.600006 m, nav range: 140.529694 m, bearing: 312.121620 deg, approach rate: -0.538962 m/s, LOS rate: 0.118716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137937 deg. 2j;:jz9@HeadingCmd: 4.819516 target range: 222.600006 and range: 225.00 m. jjjjihhhhBf ffrfbf!a?ɛB 隵̟I C¼ɚiIbD1=Iipviv&;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014180*F?2F:FBFo0JF"Gp=G=G $;G B O >_ؐw,CbAJo^@YJm@JO9JT~>yJH ?t?¿@5? ? ? C?j?ɨJo^@J;;;JBCyV؁BVII^I^Q5٢f᧽ jh=9jP;Q j>ll nG٣n|6Gyrd|; r> vNusing accuracyPremultiplier from configtz49v?z4YvG-! iv|Bx~3~@v:}Dv ;v ;v4  A%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264698Zj9EFNOT Ignoring new targets: 222.60 m.BjMV;JjMV;Hei>Ia IeZ IIe^BIe =&Ia.Ie;D6IeC<:Ie] F ProNav: ac range: 222.600006 m, nav range: 140.339462 m, bearing: 312.163460 deg, approach rate: -0.541208 m/s, LOS rate: 0.119195 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100876 deg. 2j;:j-4@HeadingCmd: 4.818869 target range: 222.600006 and range: 225.00 m. jjjjihhhhfffrfbf F@ɛ xݽI nsüɚiI9=1=Ii+viJ{;)) yIyJJJ1JJJ9:J3JJw,g]bA6X@Y6g@696>y6H ɼ?[w?L¿ ? Ғ? ¡?X? t?ɨ6X@6s;6ACynсBnImMb@Mb@Mb@iii i)iYmp= ף?i|?5?~jtxym%?mq=mĻi m@)m3@Im~AiymAII^5٢J >=9:Q > G٣y > Nusing accuracyPremultiplier from config49⧖?4Yt4! iB%?:宿@L}D@;';4vB ( A2EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 222.60 m.Bj;Jj; ProNav: ac range: 222.600006 m, nav range: 140.099640 m, bearing: 312.221133 deg, approach rate: -0.559097 m/s, LOS rate: 0.134685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148504 deg. 2jݸ;:j:@HeadingCmd: 4.819701 target range: 222.600006 and range: 225.00 m. jjjjihhhhсBfffrfbf`@ɛEBEy AEII M ]ļɚIiIImc31=IuiuG(uiur@;)y)yEEsA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768585 qIu i*F?2F:FBFJFzK KK+9KKKJJ)  G @; }G `wA G B O% > 5 .Y= `wAy= 'B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022355 -w,CwbAFD@YFT@F.T9F.~ >yFH~.?:|?`¿`<%?@L|? ɡ?`??ɨFD@FՈ;FBCyRBVIIZIZe5٢b fX=9fQ f>hh jG٣hyjPλ n> rNusing accuracyPremultiplier from configpz49r?~4Yr:! irB2@r[}Dr;r;r&4 % A!ZjFNOT Ignoring new targets: 222.60 m.Bj@;Jj@;- ProNav: ac range: 222.600006 m, nav range: 139.889847 m, bearing: 312.272049 deg, approach rate: -0.522450 m/s, LOS rate: 0.126987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128164 deg. 2j-L;:j-8@UHeadingCmd: 4.819345 target range: 222.600006 and range: 225.00 m. jQjQjQjQiQhYhYhYhYfafafarfabfm@ɛBa !I ]żɚiI>51=Iiti2$X:))*F?2F:FBF\0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Heh>Ia Ie: IIeEBIe =&Ia.Ia6Iep<:Ie FBDAT read: Rx Time:20:01:12.8361 TRx dataTimestamp_ set to:1736366474.121424checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294417 YIYG- 7eD;G1 G1 G J J J 0J J :J U:J ـ3J J (<J (<J e;J e;B) OM >w,dbA>1@Y>A@>w9>R >y>H?`X?B@?F??n??ɨ>1@>;>ACy^BbIIjIj Y5٢r% rI=9rQ r>tt vG٣v}6GyzW ~> Nusing accuracyPremultiplier from config 49n? 4YA! iB~@l}D::J4wB % A%/EZjIUFNOT Ignoring new targets: 222.60 m.Bjm&;Jju&; ProNav: ac range: 222.600006 m, nav range: 139.662872 m, bearing: 312.327631 deg, approach rate: -0.592091 m/s, LOS rate: 0.145228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142203 deg. 2jV;:j:@HeadingCmd: 4.819591 target range: 222.600006 and range: 225.00 m. jjjjihhhhfffrfbf' @ɛu 隅$I YƼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528768ɚiI81=Iig$ti%I)))q*F?2F:FBF_0JFG ?:M Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: Range 10 to 50 : 229.2 m (Round-trip 305.7 ms) speed 0.0 m/s m ,DAT read: user:1049> u BDAT read: Tx time:20:01:13.9262 u $Ping request sent.u A II Aw,bAzKNJKN9KLKNKN   4]qud@Y.@Y9< >yH? ?`( 4? œ?`?v? P?ɨd@z;DCy=B=I=Mb@Mb@Mb@999 9)9Y=ʡE?y&1?Mbpy=/?=`e===3 A =@)=@I=A9y=\@IUIU\5٢uH }3=9IQ > G٣y > Nusing accuracyPremultiplier from config49g?4YI! iB40?:@}D;V;V4 A addTargetRange:: Added new target pos. range: 229.199997 m, deltaT: 3.780202 s, deltaX: 4.199997 m, approachRate: 1.111051 m/s, rangeRepo size: 4 Zj!%FNOT Ignoring new targets: 222.60 m.Bj-u(;Jj-u(;= ProNav: ac range: 222.600006 m, nav range: 139.393143 m, bearing: 312.395836 deg, approach rate: -0.581311 m/s, LOS rate: 0.147276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180195 deg. 2j=&;:j=?@EHeadingCmd: 4.820254 target range: 222.600006 and range: 229.20 m. jAjAjAjIiIhIhIhQhUBfQfQfYrf]`fl@bf]Ȱ?ɛEBM IMxE>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:01:13.9254 *FA2FA:FABFAJFIG ˴GY Bq O >&w,bA6 @Y6@6-96 >y6Hn5?+?g8?@?@@??̭?ɨ6 @6؇;6?CyBBBIIJIJ3A5٢fI fj=9f[Q f?hh jG٣hyj n? rNusing accuracyPremultiplier from configpv49r ?v4YrO! irBtv|v@r}Dr:r:rT4|Will construct direction to contact in vehicle frame from tetrahedron phase data.H i>I C I  II ,BI  =&I .I 6I u<:I  F ~*A!ZjQUFNOT Ignoring new targets: 222.60 m. $?IBj);Jj);  ProNav: ac range: 222.600006 m, nav range: 139.192871 m, bearing: 312.447051 deg, approach rate: -0.580195 m/s, LOS rate: 0.148586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129053 deg. 2j ;:j 58@HeadingCmd: 4.819361 target range: 222.600006 and range: 229.20 m. jjjQjqiqhqhyhyhyfyffrfbf`a?ɛ/ AI zȼɚiID1=IitiT))JJJ1JJ,:Jq:J3JJ<J<Jk;Jk;*F?2F:FBF`0JFuPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.Gb(G G ?G B O- >~Qw,bA:ޒ@Y:@:49:Q>y:H?@3?NE r ?@ʗ?Ţ?`? ?ɨ:ޒ@:S;:ACy^BbI}Mb@Mb@Mb@yyy y)yY}`"?Q?Mbpy}7?} G٣y2 > Nusing accuracyPremultiplier from config49?4YW! iB7?:!@}D;;4vB JA1EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 222.60 m.Bj >B;Jj >B;% ProNav: ac range: 222.600006 m, nav range: 138.936890 m, bearing: 312.519415 deg, approach rate: -0.599622 m/s, LOS rate: 0.169822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192680 deg. 2j%;:j%NA@-HeadingCmd: 4.820472 target range: 222.600006 and range: 229.20 m. j)j)j)j)i)h1h1h9h=uBf9f9fArfAbfE ]^?ɛimj quJIq u6/ʼɚqiqI}K1=I}i}tiw))*F ?2F :F BF x0JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. I izK8MK+9KKKzxqib`_ZTNGC?<:72/.,*%#"   G-GB O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258597;zw,QbA*@Y˙@9 >yH?U?`X@ ? ƙ?\? 7*??ɨ*@ ;?CyB}II-I-F5٢=[ =Q=9EQ E>AA EG٣M~6GyM<0 M> UNusing accuracyPremultiplier from configQ]49U俖?]4YUL_! iUBaee@U}DUe ;U ;U4i mXAiZjFNOT Ignoring new targets: 222.60 m.BjA;JjA; ProNav: ac range: 222.600006 m, nav range: 138.706726 m, bearing: 312.585356 deg, approach rate: -0.590454 m/s, LOS rate: 0.169441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173335 deg. 2j;:j>@HeadingCmd: 4.820134 target range: 222.600006 and range: 229.20 m. jjjjihhhhfffrfbf.h?ɛEBE% AENIA E˼ɚIiIIMVN1=IMiUuiUP)q)yE*F?2F:FBF0JFHe>I I IIBI =&I.I6It<:I F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510743 IGGi By O >J J J 0J J :J J ـ3J J <J <J J ] nManaging dock network, ignoring radio surface power offgĘw,zcA6@Y6@6"96 >y6Hd??|;@ד?@M?V? Ӄ?j?ɨ6@6;6ACyBBB{IIJIJd5٢R RT=9V:|Q V>TT ZG٣XyZ! ^> bNusing accuracyPremultiplier from config\b49^Ö?f4Y^f! i^Bdf񷿑f@^}D^;^O+;^t4l neAlZj FNOT Ignoring new targets: 222.60 m.Bj B;Jj B;% ProNav: ac range: 222.600006 m, nav range: 138.479294 m, bearing: 312.651083 deg, approach rate: -0.587638 m/s, LOS rate: 0.170104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172691 deg. 2j%{;:j%r>@-HeadingCmd: 4.820123 target range: 222.600006 and range: 229.20 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bfE6?ɛ  f" nRI ̼ɚiI{N1=IMiU0wi]Gh)Y)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766199*FE?2FA:FABFE`5JFIGUrA GUrAG%hAG-rAG-rAG B O% >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014707 I ʘw,@,cA6@Y6ƙ@6 96 >y6H@ȷ??`, =??F?? ?ɨ6@6A<;6CCy@@MMb@Mb@Mb@III I)IYMK?y&1|?~jth?yM^:?M`;MD;I I)IIIIyIImIm_5zK},5NK}S9KyK}K} '٢13 >=9:Q > G٣yZg; > Nusing accuracyPremultiplier from config49Ŗ?4Yn! iB`:?:@}DG ;;4 jAZjFNOT Ignoring new targets: 222.60 m.BjWO;JjWO; ProNav: ac range: 222.600006 m, nav range: 138.227875 m, bearing: 312.729091 deg, approach rate: -0.583177 m/s, LOS rate: 0.181272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209635 deg. 2j;:jC@HeadingCmd: 4.820767 target range: 222.600006 and range: 229.20 m. jj j j i h h hhqBfffrfbfH?@ɛAEsH IMSII M<μɚIiIIM N1=IUi]dxi]M)Y)Y*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268279G-:_G B O1 tјw,\FcA6J@Y6Ù@6!96F>y6H`? ?w¿`h@I?PÚ?#;?@??ɨ6J@6;6?CZHTRHV?AHZd>IX IZIIZBIZ =&IX.IX6IZn<:IZz FBIqJIqRIqZIu =bIqjIum5yfBfIIrIra5٢z'< zS=9z:Q z>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518735|   G٣ 6Gy e > Nusing accuracyPremultiplier from config-49Ȗ?-4Y"v! iB)- 5@}D_;2`; 4=uB =AA=4E aIe iZjFNOT Ignoring new targets: 222.60 m.BjD;Jj D;= ProNav: ac range: 222.600006 m, nav range: 138.003479 m, bearing: 312.799068 deg, approach rate: -0.550516 m/s, LOS rate: 0.171956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185459 deg. 2j=;:j=E@@EHeadingCmd: 4.820345 target range: 222.600006 and range: 229.20 m. jAjAjAjAiAhIhIhIhIfQfqfqrfybf} ܒ@ɛ JI >ϼɚiIK1=Iiyi(V))*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774318GU SGA BY Ou >טw,`cA2N@Y2Ǚ@2 "92>y2H@ѷ??5f¿ ?`a???'?&?ɨ2N@2A;0yNBNI-Mb@Mb@Mb@))) )))Y-\(\?{GztMbp?y-:?-ף-;- A -@)-@I))y-@IEIE[5٢Ucm= UC=9U0Q ]>YY ]G٣Yyei: e> Nusing accuracyPremultiplier from configi49mLʖ?4Ym~! imB:?:@m~DmJJJJJl:JS2:JJa@a@a@a@zKŵLKػ9KKKFnJ3'"G lVG% ?G% >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:01:16.6381  TRx dataTimestamp_ set to:1736366477.884610 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275702Kݘw,ycA2뵒@Y2rř@2t#92\>y2H̾? ? u¿ ??hx? ?|?ɨ2뵒@2;2ACy>B>IIFIF Y5٢R9$= RW=9VPQ Z> G٣y : > Nusing accuracyPremultiplier from config49s̖?4Y! iãB!@~D;;04  AZj)UFNOT Ignoring new targets: 222.60 m.Bj]_;Jj]_; ProNav: ac range: 222.600006 m, nav range: 137.528244 m, bearing: 312.953342 deg, approach rate: -0.600380 m/s, LOS rate: 0.195725 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205897 deg. 2jR<:j2C@HeadingCmd: 4.820703 target range: 222.600006 and range: 229.20 m. jjjjihhhhfffrfbfd! @ɛ%B%}! !%!I! -Ѽɚ)i)IM81=IUiU|iUT)Q)Y*FE?2FA:FABFE_0JFAHc>I I IIBI&I.I6I><:IV FWill construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526970 9I9GM KG! B) OM >nw,[cAF'@YFǙ@Fn$9Fp>yFHз??`¿??`?Z??ɨF'@FF;DyRȁBRII^I^Z5٢j= jG=9jWQ j>ll rG٣r6Gyr;: r> vNusing accuracyPremultiplier from configtz49vsΖ?z4Yv=! ivʣB|~~@v&~DvX;v;v4 k A Zj)-FNOT Ignoring new targets: 222.60 m.Bj53\;Jj53\;M ProNav: ac range: 222.600006 m, nav range: 137.309921 m, bearing: 313.024666 deg, approach rate: -0.588349 m/s, LOS rate: 0.192514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189498 deg. 2jU<:jU@@]HeadingCmd: 4.820416 target range: 222.600006 and range: 229.20 m. jYjYjYjYiYhahahahafififirfibfm@ @ɛ15o 9=I9 =BҼɚ9i9I=-1=IMWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 230.8 m (Round-trip 307.8 ms) speed -0.1 m/s ,DAT read: user:1050> BDAT read: Tx time:20:01:17.7262 $Ping request sent.w,cAJFJFJDJDJFL:JFh:JDJDy=ՁB=IzKh!OK9KKK  7nF0& !!## ! Mb@Mb@Mb@    ) Y 7A`?Mb`Mbp?y 6?    A @) @I A y p@IIP5٢-`= -6=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configAM49EЖ?U4YE! iEѣB]6?]:ee@E:~DE;E;E'4  A~G3EA %Y!y%BM addTargetRange:: Added new target pos. range: 230.800003 m, deltaT: 3.786162 s, deltaX: 1.600006 m, approachRate: 0.422593 m/s, rangeRepo size: 4 ZjI FNOT Ignoring new targets: 222.60 m.BjF;JjF;% ProNav: ac range: 222.600006 m, nav range: 137.058289 m, bearing: 313.106567 deg, approach rate: -0.533405 m/s, LOS rate: 0.173931 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221340 deg. 2j%;:j%gE@UHeadingCmd: 4.820972 target range: 222.600006 and range: 230.80 m. jYjYjYjYiahahahhBfffrfl@bf ?ɛ I 2Ӽɚi I 1=I i~i{|P))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F!:F!BF!JF)G=sA G=tAGY G9 BA Oe >=w,cAHb>I I II'BI&I.I6I<:I+ F \I\jWill construct direction to contact in vehicle frame from tetrahedron phase data.U@YU@U +9Ul#>yUHG?@E? ¿@aa G٣yK > Nusing accuracyPremultiplier from config49Ӗ?4Yu! iأBڽ@M~D3;Z4;.4  AZj%FNOT Ignoring new targets: 222.60 m.Bj-a\;Jj-a\;= ProNav: ac range: 222.600006 m, nav range: 136.823090 m, bearing: 313.183801 deg, approach rate: -0.585731 m/s, LOS rate: 0.192671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207286 deg. 2j=:<:j=dC@EHeadingCmd: 4.820726 target range: 222.600006 and range: 230.80 m. jAjAjAjIiIhIhIhIhQfQfQfQrfQbf]z?ɛMBMu QUνIQ UNԼɚQiQIU0=IiOiSNp))*F-?2F1:F1BF5o0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.G KG) B9 OU >w,AcAyzBzIMb@Mb@Mb@ )Ym?/$Mb?y.?< A @)@I@y@II85٢Z= Q=9Q >    G٣ 6Gy > Nusing accuracyPremultiplier from config%49[Ԗ?%4YR! iߣB%.?-:--@^~D;^;541 5 A9UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 222.60 m.Bjm]T;Jjm]T; ProNav: ac range: 222.600006 m, nav range: 136.622742 m, bearing: 313.253856 deg, approach rate: -0.530191 m/s, LOS rate: 0.185662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185659 deg. 2j;:jM@@HeadingCmd: 4.820349 target range: 222.600006 and range: 230.80 m. jjjjihhhhBfffrfbfp?ɛ% Q]SIa e^ԼɚaiaIe0=Iui}Si}Nl)y)y IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFE1JFAJJJ1JJ:J:J3JzKMMKM]9KIKMKM G JiGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495135w,HcAb@Yb@bn49b@n>ybH ??ث¿@?GA?@?@L9??ɨb@bL;bDCyrBrIIzIz<55٢< \=95Q >    G٣yӺ %> =Nusing accuracyPremultiplier from config1E495Ֆ?M4Y5! i5BQUU@5n~D5;5;5:<4i u AqZjFNOT Ignoring new targets: 222.60 m.BjMO;JjMO; ProNav: ac range: 222.600006 m, nav range: 136.427155 m, bearing: 313.322590 deg, approach rate: -0.514985 m/s, LOS rate: 0.181238 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181684 deg. 2j;:j?@HeadingCmd: 4.820280 target range: 222.600006 and range: 230.80 m. jjjjihhhQhQfYfYfYrfYbfe?ɛB Y]x3IY ]ԼɚaiaIe 0=IeimPim$v)i)q*F?2F:FBFP5JF "G=G=HAIA IE: IIEEBIA&IA.IA6IE<:IE F IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746323GM iG! B) O] > w,dA6@Y6,ę@6 096 W>y6H 鳷?ǃ?¿`6` ???IV?ۣ?ɨ6@6k>;6?CyBBBIHJAININX[5٢Zj< ZP=9Z?2;Q Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj49f֖?j4Yf! ifBhnMn@f~Df:f>+;f C4p v Av5EZj FNOT Ignoring new targets: 222.60 m.BjZU;JjZU; ProNav: ac range: 222.600006 m, nav range: 136.222977 m, bearing: 313.394302 deg, approach rate: -0.530281 m/s, LOS rate: 0.186526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190644 deg. 2j<:jA@HeadingCmd: 4.820436 target range: 222.600006 and range: 230.80 m. jjjjihhhhfffrfbf?]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999107ɛB %PI! -CռɚiI:k0=IiQiR))*F2F:FBF=5JF  I i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251836GE JiG) B9 OU >* w,0.dAJ2J2J0J0J2L:J2z:J0J0>*Ē@Y>ә@>(,9>tk>y>H`/??¿ ?E?`?`x??ɨ>*Ē@>ه;>ACyN BNI}Mb@Mb@Mb@yyy y)yY}Q?Q{Gz?y}(?}u}#<} A y)yI}`@yy}(@IIQ5٢c= ;=9:Q > G٣6Gyv; > Nusing accuracyPremultiplier from config49ؖ?4Y! iB)?:@~Df;;J4 L AZjFNOT Ignoring new targets: 222.60 m.BjJ;JjJ;% ProNav: ac range: 222.600006 m, nav range: 136.000961 m, bearing: 313.471126 deg, approach rate: -0.509727 m/s, LOS rate: 0.176670 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206035 deg. 2j%~;:j%7C@-HeadingCmd: 4.820705 target range: 222.600006 and range: 230.80 m. j)j1j1j1i1h1h1h9h=Bf9fAfArfAbfER@zKUKLKU+9KQKUKURKu?JKu>ɛIMؼ IMԻIQ U&ռɚQiQIUI30=I]i]xni]_E;)Y)aEE*FA2FA:FABFE_0JFAmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503472Ge \LGA BI Oe >HA IA  IE ` IIE dBIA &IA cw,iHdA.Iq6Iua<:Iun F $I$>ڒ@Y>@>%D(9>c>y>H2޸?}? ÿ P%?@????ɨ>ڒ@>{;<bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754565yjBjIIrIrI5٢z4= ~V=9~<;Q ~> G٣y ;  > Nusing accuracyPremultiplier from config493ږ?4Y/! iBÿ%@~D ; ;SQ4) - A)ZjIUFNOT Ignoring new targets: 222.60 m.BjUJ;Jj]J;u ProNav: ac range: 222.600006 m, nav range: 135.806656 m, bearing: 313.538275 deg, approach rate: -0.510376 m/s, LOS rate: 0.176631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176921 deg. 2jup;:ju ?@}HeadingCmd: 4.820197 target range: 222.600006 and range: 230.80 m. jyjjjihhhhfffrfbfj^@ɛBͼ A=w,GbdA6@Y6G@6l&96C>>y6H@[#?{? ÿ f?A?Τ??I?ɨ6@6͇;6BCy^'B^ IMb@Mb@Mb@ )Y"~j?Mb`y&1|?yS#?`; A )@IyIIB5٢= >=9:Q > G٣yR; > Nusing accuracyPremultiplier from config 49dܖ?4Yx! iBV#?:@~D;;X4 %q A!=B*** querying acoustic contact ***j9j9ZjQUFNOT Ignoring new targets: 222.60 m.Bj]&>;Jj]&>;m ProNav: ac range: 222.600006 m, nav range: 135.588409 m, bearing: 313.610801 deg, approach rate: -0.499456 m/s, LOS rate: 0.166241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193112 deg. 2ju.;:ju^A@}HeadingCmd: 4.820479 target range: 222.600006 and range: 230.80 m. jyjyjyjyiyhhhhЁBfffrfbf  @ɛ B( 隽 O=I UԼɚiIG/= 5$?I1Imiu iu< )q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:01:20.4384 TRx dataTimestamp_ set to:1736366481.666837checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262611*FE?2FA:FABFAJFAzKQJK9KKKG= G B O- >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510390(w,F|dAF@YF0@F;#9F$>yFH)?z?ÿ oaκ?!b?}?`x??ɨF@FD);FACy^$B^ IIfIfjC5٢V S=9:Q  >    G٣ 6Gy; > Nusing accuracyPremultiplier from config%49Yޖ?%4Y! i B)-ټ-@~D::_49 E AIZjAEFNOT Ignoring new targets: 222.60 m.BjM1;JjM1;] ProNav: ac range: 222.600006 m, nav range: 135.396881 m, bearing: 313.674477 deg, approach rate: -0.466515 m/s, LOS rate: 0.155319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166485 deg. 2j]0;:j]=@eHeadingCmd: 4.820014 target range: 222.600006 and range: 230.80 m. jajajajiiihihqhqhqfyfyfyrfybf}`$ @ɛ Bt 隭B=I fԼɚiI/=Ii'Oi))Ee>E>*FM?2FQ:FQBFUo0JFYHI I II}BI&I.I6IX<:Ig FBIaJIaRIaZIe =bIe =jIer4 IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 231.0 m (Round-trip 308.0 ms) speed -0.4 m/s ,DAT read: user:1051> BDAT read: Tx time:20:01:21.5263 $Ping request sent.l%w,dA6@Y68 @65"96u>y6H?Ty?&ÿ?к?bE?୹?_?ɨ6@62;6?CWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:01:21.5255 y5(B5 IMb@Mb@Mb@ )YGz?AA EG٣AyM3; M> UNusing accuracyPremultiplier from configQ]49Uᖜ?]4YU! iUBeu?e:eSe@U~DU;U ;U:j4utB u_ Au7E addTargetRange:: Added new target pos. range: 231.000000 m, deltaT: 3.777665 s, deltaX: 0.199997 m, approachRate: 0.052942 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 222.60 m.Bj<;Jj<; ProNav: ac range: 222.600006 m, nav range: 135.099655 m, bearing: 313.769791 deg, approach rate: -0.513633 m/s, LOS rate: 0.165073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261754 deg. 2j;:j.K@HeadingCmd: 4.821677 target range: 222.600006 and range: 231.00 m. jjjjihhhhсBfffrfl@bf@l?ɛ% B-BϷ )-q=I) 53Ӽɚ1i1I51/=I=i=zi=̻)9)9 Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _0JF "G =G G UG ?G>GBzKK+9KKKO>u,w,eodAJ1@YJ@J&9J->yJH g?-?u¿ rU? O?Ԥ???ɨJ1@JRˈ;J@C)TIVZxATT TXZxAXiXXi\^(xA)^&@ \I\ \)\````fnxAidIddIdifVxA dh)hh hhhhllIl)lilnyv1Bv" II~I~MD5٢ j=  =9HuQ ? G٣yL; ? -Nusing accuracyPremultiplier from config!-49%㖜?54Y%S! i%B1535@%~D%:%X:%Xo49 E AAZjimFNOT Ignoring new targets: 222.60 m.Bju4;Jju4; ProNav: ac range: 222.600006 m, nav range: 134.956146 m, bearing: 313.815913 deg, approach rate: -0.490748 m/s, LOS rate: 0.157889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113701 deg. 2j;:j6@EWill construct direction to contact in vehicle frame from tetrahedron phase data.UHeadingCmd: 4.819093 target range: 222.600006 and range: 231.00 m. jQjQjQjQiQhihihihqfffrfbf ?ɛU Bu¢ qu`=Iy }UhӼɚyiyI}.=Ii{ixA))*F5?2F1:F9BF=o0JF9HI I IIBI =&I.I6Im<:Iv F IGu  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >3w,#dAJ6J6J4J4J6:J6:J4J4J6 <J6 <J6xp;J6yp;Vt@YV@Vޗ&9V>yVH@`7?{?¿s??Ѥ?b\?o?ɨVt@Vx;V?Cyu7Bu* IIIS<5٢d< &=9 \8Q > G٣6GyS: > Nusing accuracyPremultiplier from config49斜?4Y?! iB  ' @~D.F;F;w4  AZj9=FNOT Ignoring new targets: 222.60 m.BjE4;JjE4;U ProNav: ac range: 222.600006 m, nav range: 134.714905 m, bearing: 313.893666 deg, approach rate: -0.489277 m/s, LOS rate: 0.157978 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208863 deg. 2j];:j]C@eHeadingCmd: 4.820754 target range: 222.600006 and range: 231.00 m. jajajajaiahahihihifqfqfqrfqbfu ~?ɛBB 隭=I qҼɚiI.=IiUi1))EmWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FQ:FQBFU0JFGE Ҹ  I G! B1 O] >:w, dAN-@YN@N[+9N8>>yNH@,?@~y?ÿ@ \x??Ot?@?`?ɨN-@N$;NAC^Will construct direction to contact in vehicle frame from tetrahedron phase data.ɳdfdwAfnidfihjdwA)jK7 lIl l)nGwAɴn&n|Flpɵr"wAirmIppItit tt)tx xxxɶx||I|)|i|)Iɷ y) I =p=Mb@Mb@Mb@ )YK7A?)1 5G٣1y5ֹ 5> =Nusing accuracyPremultiplier from config9E49=閜?M4Y=! i=#BMO"?U:UU@= D=G;=`F;=~4Y ] AaB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 222.60 m.Bj/;Jj/; ProNav: ac range: 222.600006 m, nav range: 134.516312 m, bearing: 313.952412 deg, approach rate: -0.517980 m/s, LOS rate: 0.153451 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151685 deg. 2j;:jq;@HeadingCmd: 4.819756 target range: 222.600006 and range: 231.00 m. jjjjihhhhՁBfffrfbf e?ɛB =I I#ҼɚiI].=I i ΃i zⲻ)))) -EC-GYq*F2F:FBF1JFG GsA YYyHBzK5}KK1K1K5K5eWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.G [6Gy B O >@w,eAV @YV.@V5$9V>yVH@?*w?`¿P;?@ژ??່?`?ɨV @V;TyUIC I IIBI&I.I6I<:I F I ProNav: ac range: 222.600006 m, nav range: 134.334930 m, bearing: 314.005874 deg, approach rate: -0.494251 m/s, LOS rate: 0.145877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135789 deg. 2j:;:j+9@HeadingCmd: 4.819479 target range: 222.600006 and range: 231.00 m. jjjjihhhhfffArfIbfM?ɛBG 隝p=I sѼɚiI.=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012694Ii iNt))*Fy2F:FBFP5JFJ}J}JyJyJ}L:J}:JyJyJ}A <J}A <J}Cr;J}Dr;G VGy B O u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264682HGw,teA6 ,@Y6;@6!96ZZ>y6H@"k?w?¿@w??h2?`aW? ?ɨ6 ,@6A;6?Cyޭ6Bޭ) IIIT5٢-¼ 5?=9=#:Q E>QQ ]G٣e6Gyuq; }> Nusing accuracyPremultiplier from config49?4Y! i/B @)D;;x4tB  A7EZjFNOT Ignoring new targets: 222.60 m.Bj8;Jj%8;5 ProNav: ac range: 222.600006 m, nav range: 134.103607 m, bearing: 314.074089 deg, approach rate: -0.547086 m/s, LOS rate: 0.161607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180182 deg. 2j5;:j5?@=HeadingCmd: 4.820253 target range: 222.600006 and range: 231.00 m. j9j9j9jAiAhAhAhIhIfIfIfQrfQbfU|<@ɛ}B}2z y隅=I мɚiI-=IiiS))EE*F=?2FA:FABFE0JFA IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516745G *G B O >y:Haɻ?u?l¿]7? G,?`_? f??ɨ:7@:Y;8yF9BF, ILNAUMb@Mb@Mb@QQQ Q)QYU#~j?+?MbpyU%?U=UUzA Q)U@IUI@QyU@ImIm N5٢}I< }V=9:Q > G٣y|; > Nusing accuracyPremultiplier from config49$?4Y! i4B0&?:e@9D>;';֒4  AZjFNOT Ignoring new targets: 222.60 m.Bj3;Jj3; ProNav: ac range: 222.600006 m, nav range: 133.908691 m, bearing: 314.131160 deg, approach rate: -0.535296 m/s, LOS rate: 0.156963 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146650 deg. 2jq;:j:@HeadingCmd: 4.819668 target range: 222.600006 and range: 231.00 m. jj j j i hhh!h%Bf)f)uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776734frfbfP]@ɛ=B=ܑ 9==IA EмɚAiAIE-=IMiTi5))*F?2F:FBF^0JFZHRHAA IH`>I I IIBI =&I.I6I`<:Ik FG ˴5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030753G B O R$Tw,N_QeAJ4J6J61J4J4J6:J63J4J4J4J6xp;J6yp;R>@YRN@R9Rp>yRH?u?¿ %? ? ѣ?3Z?(?ɨR>@R{@;RCCy3B% II%I%V5٢5K 5O=9=9Q =>AA EG٣AyE ; M> UNusing accuracyPremultiplier from configI]49M?e4YM^" iM9BaeIe@MIDMGD;MD;M4i u AqZjFNOT Ignoring new targets: 222.60 m.Bj`3;Jj`3; ProNav: ac range: 222.600006 m, nav range: 133.697327 m, bearing: 314.193166 deg, approach rate: -0.533732 m/s, LOS rate: 0.156823 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161498 deg. 2j@;:j<@HeadingCmd: 4.819927 target range: 222.600006 and range: 231.00 m. jjjjihhhhfffrfbfJO @ɛB մ  =I  ϼɚiIbI-=Iui}9i}*[9)y)y*F ?2F :F BF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:01:24.2421 TRx dataTimestamp_ set to:1736366485.452550checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281641G5zQG B O5 > I dRZw,JkeAnWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532611yU8BU+ IMb@Mb@Mb@ )Yx&?:v?y7)?T= )@I`@y=@IIaO5٢ ұ<  ==9Q > G٣6Gy > %Nusing accuracyPremultiplier from config!-49%K?54Y% " i%@B=)?=:==@%[D%|S;%RQ;%J4A E AIZjFNOT Ignoring new targets: 222.60 m.Bj.;Jj.; ProNav: ac range: 222.600006 m, nav range: 133.458557 m, bearing: 314.260914 deg, approach rate: -0.536918 m/s, LOS rate: 0.152617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178794 deg. 2j z;:j Q?@HeadingCmd: 4.820229 target range: 222.600006 and range: 231.00 m. jjjjihhhh%Bf!f!fIrfIbfUd @ɛB 隝P=I μɚiIl,=Iiᾂi9))EN>E>*F]?2FY:FYBFYJFYzK JK +9K K K  Qm@ Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 233.7 m (Round-trip 311.7 ms) speed -0.4 m/s ,DAT read: user:1052> BDAT read: Tx time:20:01:25.3263 $Ping request sent.8aw,!eARH@YR5X@R9Rgf>yRH CN? {t?@¿@p?Ύ?к? Y?@A?ɨRH@Rl;RBCy^tt vG٣tyzT; z> ~Nusing accuracyPremultiplier from config|49~?4Y~ " i~GB  鰿 @~kD~7:~:~4  A9E=B*** querying acoustic contact ***jAjAm addTargetRange:: Added new target pos. range: 233.699997 m, deltaT: 3.787709 s, deltaX: 2.699997 m, approachRate: 0.712831 m/s, rangeRepo size: 4 Zjq}FNOT Ignoring new targets: 222.60 m.Bj}7;Jj}7; ProNav: ac range: 222.600006 m, nav range: 133.256546 m, bearing: 314.318314 deg, approach rate: -0.564707 m/s, LOS rate: 0.160700 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147647 deg. 2j;:j:@HeadingCmd: 4.819685 target range: 222.600006 and range: 233.70 m. jjjjihhhhfffrf`f6m@bf ?H9I9 I9I9I= =&I9.I=:D6I=^<:I=i F ]$?I]iɛB 隥D=I zͼɚiI,=Iimipƾ:))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:01:25.3255 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFGM}:G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500869`gw,|eAR<@YRL@R, 9RB>yRH? Kx?i¿`???;?`?ɨR<@Rه;Py^;Bb. II I ;5٢M UD=9pQ > G٣y` > =Nusing accuracyPremultiplier from configM49?}4Y" iNB@}D<։<Z4  AZj9=FNOT Ignoring new targets: 222.60 m.BjE,+;JjE,+;u ProNav: ac range: 222.600006 m, nav range: 133.014557 m, bearing: 314.387572 deg, approach rate: -0.521939 m/s, LOS rate: 0.149652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183338 deg. 2juh;:j}?@}HeadingCmd: 4.820309 target range: 222.600006 and range: 233.70 m. jyjjjihhhhfffrfbf?ɛ-B-L 15>I1 5̼ɚ1i1I5_,=I=i=iE"_)A)A QIQ*F=?2F9:F9BFE{0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753592Ji Jm Ji Ji Ji Jm z:Ji Ji a} @a} @a} @a} @Ge 7:G B1 OM >/mw,lθeA6P.@Y6=@6=$96>y6H R|?K?~ ?E?`ݎ? y?[?ɨ6P.@6щ;4yB?BB3 IEMb@Mb@Mb@AAA A)AYEV-?J +?MbP?yEh1?EH=E:EA EK@)E@IEv@AyE@zK]3LK]9KYK]K]  RKe ?JKe?ImIm@5٢}ǣ< }G=9}3Q > G٣6Gy⏻ > Nusing accuracyPremultiplier from config49?4Y " iUB1?:U@D;; 4  AZjFNOT Ignoring new targets: 222.60 m.Bj)Q;Jj)Q; ProNav: ac range: 222.600006 m, nav range: 132.792145 m, bearing: 314.452848 deg, approach rate: -0.622015 m/s, LOS rate: 0.182862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171342 deg. 2j;:jA>@HeadingCmd: 4.820099 target range: 222.600006 and range: 233.70 m. jjjjihhhhBfff rf bf K?ɛ=B=m 9=v >I9 E0̼ɚAiAIE,=IMiM2iMº)I)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005008E*Fm?2Fi:FiBFm_5JFi 1I9jHM<bHM<HYIY IYIYIY&IY.IY6I]<:I] FBIȤCJIȤCRIZI =bI =jI7)5G9G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257238Nrtw,eeA @6@Y6)@63(96>y6Hֺ?y?F@`?zM?c? ?`?ɨ6@6;6?CyfIBj@ IIrIr65٢z5S= zT=9zQ z>|| ~G٣|y׻ >  Nusing accuracyPremultiplier from config 49  ?4Y '" i \B@ D v: ; 4! %R A!ZjIUFNOT Ignoring new targets: 222.60 m.BjUA;JjmA; ProNav: ac range: 222.600006 m, nav range: 132.571091 m, bearing: 314.518349 deg, approach rate: -0.570746 m/s, LOS rate: 0.169401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172016 deg. 2j;:jY>@HeadingCmd: 4.820111 target range: 222.600006 and range: 233.70 m. jjjjihhhhfffrfbf6?ɛBv9Z =%>I ;'˼ɚiI+=Ii9i|m))*F?2F:FBFj1JF"G=G=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509063G|G ?G>GBO> ) I1 pzw,eAbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761135yjMBjE IMb@Mb@Mb@ )YbX9?/$?~jth?yE6?,=D; 5@)@I@y\@II N5٢w< ==9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y/" idB6?:0@D[;;p4 5 A6EZj15FNOT Ignoring new targets: 222.60 m.Bj=K;Jj=K;M ProNav: ac range: 222.600006 m, nav range: 132.319290 m, bearing: 314.595232 deg, approach rate: -0.581679 m/s, LOS rate: 0.177943 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206272 deg. 2jM=;:jM?C@UHeadingCmd: 4.820709 target range: 222.600006 and range: 233.70 m. jQjQjYjYiYhYhYhaheBfafafarfibfm s?ɛB5R 隝"3>I (ɼɚiI_T+=Ii$⁻J=J=J9J9J=:J=q:J9J9iW)Q)Q*F?2F:FBF \0JF zKUPCLKQKQKUKU %:pBKerA:KeqA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013992GU xG) B9 OU >Ow,\fAZ@YZR(@Zk'9Zz >yZH@ Ѻ?`? @?ۓ??{}?`>?ɨZ@ZRr;Z@Cy~OBG II%I%O5٢ME; MS=9Uյ9Q U>QQ ]G٣]6Gy]v ]> mNusing accuracyPremultiplier from configam49e?u4Ye6" ielBqu5u@eDe;e1;e44 ' A8EB*** querying acoustic contact ***jj IiZjFNOT Ignoring new targets: 222.60 m.BjK;JjK;HI I IIBI =&I.I;D6I<:I F ProNav: ac range: 222.600006 m, nav range: 132.094238 m, bearing: 314.664276 deg, approach rate: -0.579620 m/s, LOS rate: 0.178126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182671 deg. 2j~;:j ?@HeadingCmd: 4.820297 target range: 222.600006 and range: 233.70 m. jjjjihhhhfffrfbf@ɛB D J:>I %׮ȼɚ!i!I%*=I-i-ׁi-R])Q)QEerAEerAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265053*F?2F:FBF_0JFGV'SG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517158w,8 fA:@Y:> @:(9:T>y:H?E?-¿ @\Ȼ???@? !?ɨ:@:;:BCyV]BVX I ^p=^p=`bAAIbIb=X5٢j4= jR=9nQ n>ai uG٣qy > Nusing accuracyPremultiplier from config49?E4Ye>" itBIuV}@Dݾ<&<|4 AZjiFNOT Ignoring new targets: 222.60 m.Bj:;Jj:; ProNav: ac range: 222.600006 m, nav range: 131.852478 m, bearing: 314.738937 deg, approach rate: -0.525850 m/s, LOS rate: 0.162692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199579 deg. 2jN;:jJB@HeadingCmd: 4.820592 target range: 222.600006 and range: 233.70 m. jjjjihhhhfffrfbf`:f@ɛUBU-% QUp\>IQ ]iǼɚYiYI]z*=Iuiu4ہi}`)y) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769023Em8=J] J] J] 0JY J] ,:J] :J] ـ3JY ~G ZA*F 2F :F BF 05JF 5 Y1 y5 zBzK AMK 9K K K VoT/|\4q0pG%}zsoga^YVSPOLGDB>:85G-s7]G1G5sAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020989GBO]?w,l@fA@Yv@()9&>yH`??-H¿`?@ښ?`#?`?*?ɨ@;?Cy%qB-q IMb@Mb@Mb@ )Y +?y&1?:v?y6?`e=T<7A @)Iyf@I I  R5٢/= %=9%͐Q %>)) -G٣)y-ٹ 5> =Nusing accuracyPremultiplier from config1E495-?E4Y5G" i5BE`7?E:E'M@5D5;5;54Q UAQZjq}FNOT Ignoring new targets: 222.60 m.Bj]];Jj]]; ProNav: ac range: 222.600006 m, nav range: 131.547928 m, bearing: 314.830094 deg, approach rate: -0.645084 m/s, LOS rate: 0.193531 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.249288 deg. 2j<:jfI@HeadingCmd: 4.821460 target range: 222.600006 and range: 233.70 m. jjjjihhhqhuBfqfyfyrfybf}@#Q @ɛ%B-L QU>IQ ]żɚYiYIe)=Ieie⁻im`)i) IZHRHHa>I I IIBI&I.I6I<:I FEmNw =*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:01:28.0447 TRx dataTimestamp_ set to:1736366489.239243%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280641G% G B O% >6w,ZfAy|B II-I-GL5٢Ep= E\=9MQ M>QQ UG٣U6Gy] ]> eNusing accuracyPremultiplier from configam49e."?m4YeN" ieBiqu@eDez:ee:e 4y AZjFNOT Ignoring new targets: 222.60 m.BjnJ;JjnJ; ProNav: ac range: 222.600006 m, nav range: 131.328217 m, bearing: 314.896187 deg, approach rate: -0.587339 m/s, LOS rate: 0.176979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173798 deg. 2j;:j>@HeadingCmd: 4.820142 target range: 222.600006 and range: 233.70 m. jjjjihhhhfffrfbf  @ɛB}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529032 n>I jüɚiII)=Iih聻i㍻))!E)E)*E)"E)EE I*F?2F:FBF^0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:01:28.0447 LVL= 23776, 21809, 16370, 27923, AGC= 65, IDX= 446, 0.14, 1.558,-2.416, 2.416, 1.993, PHS=-0.347, 1.922, 0.420, RAW= 310.6, -19.4, CAL= 313.5, -28.2, ROT= 196.5, 28.2  Ygot valid direction response: 20:01:28.0447 LVL= 23776, 21809, 16370, 27923, AGC= 65, IDX= 446, 0.14, 1.558,-2.416, 2.416, 1.993, PHS=-0.347, 1.922, 0.420, RAW= 310.6, -19.4, CAL= 313.5, -28.2, ROT= 196.5, 28.2  PDAT read: Bearing 196.5, 28.2 (Local)  ~Local bearing/azimuth received: Bearing 196.5, 28.2 (Local)  DAT read: Range 10 to 50 : 235.6 m (Round-trip 314.2 ms) speed -0.4 m/s  ,DAT read: user:1053>  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.478468,0.513945,-0.711989] Fpublishing direction and range info9 9= 9?T<= x@= -\ = h@)= dI= ~[@i= d>9 9 = @H{0ƿkKտ)= :=I= >i= 5R?= J?9 9  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J J J J J :J J J G PGq B O >w,PvfAJ@YJ @Jn1*9J=>yJHsO?:~?}¿ ౏?` ?D??/?ɨJ@JYlj;HyRBV I)1 115AMb@Mb@Mb@ )YʡE?l?~jt?y-2?=< )p@I@yp@IIX5٢-I= - =9-Q ->11 5G٣1y=ɺ => MNusing accuracyPremultiplier from configAM49E&?M4YEX" iEBU~2?U:UU@E DE;zK8OK+9KKK30.,**&$+Bay~vqjb\WTPHE=63-('#    E;E4sB PA:Ek.ɜ?k2~, k khxofA:kkC=Will construct direction to contact in vehicle frame from tetrahedron phase data.=Cb ?@5Q]ܿ#"k*kCkE*ʜ?k, 2k֝k ܺ?k #, kqkTCk/@ addTargetRange:: Added new target pos. range: 235.600006 m, deltaT: 3.785900 s, deltaX: 1.900009 m, approachRate: 0.501865 m/s, rangeRepo size: 4  Added new target pos. range: 235.600006 m, bearing: 326.283883 deg, lat: 36.906049 deg, lon: -122.122049 deg, deltaT: 22.697741 s, deltaX: 13.000000 m, approachRate: 0.572744 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 235.60 m.BjJj% ProNav: ac range: 235.600006 m, nav range: 144.328339 m, bearing: 318.737027 deg, approach rate: 0.000000 m/s, LOS rate: 0.176979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.264820 deg. 2j!:j%K@-HeadingCmd: 4.821731 target range: 235.600006 and range: 235.60 m. j)j)j)jIiIhQhQhQhUƁBfYfYfYrf]@3sm@bf]&j?ɛB@ğ >I qɚ i I(=I%i%i% )!))*F2F:FBF_0JF ] $?Ie iH I  I II ӂBI  =&I .I 6I ~<:I FG G ?G D? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285059Ga Bq O > w,fA~@Y~+ @~_-9~2>y~Hع??~¿ !??M? r?`?ɨ~@~;~BCy5B5 IIEIE55٢e= eg=9mQ m>qq uG٣qyui u> Nusing accuracyPremultiplier from configy49})?4Y}^" i}Bٵ@}D}`+;}+;}4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 235.60 m.Bj7c;Jj7c; ProNav: ac range: 235.600006 m, nav range: 144.140717 m, bearing: 318.799942 deg, approach rate: -0.591638 m/s, LOS rate: 0.198649 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164174 deg. 2jT<:j:=@HeadingCmd: 4.819974 target range: 235.600006 and range: 235.60 m. jjjjihhhhfffrfbf@y?ɛ-B5,C; 15=>I1 5ɚ1i9I=Z(=I=iEOiEڻ)A)A*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536966G-TGB O% >  I 0w,fAZ@YZ@Z*9Z{>yZHa?? @^ J?R ?@[?Ĭ??ɨZ@Z[;ZACybBf ImMb@Mb@Mb@iii i)iYm? rh?{Gz?ym,?mC =mף G٣6Gy > Nusing accuracyPremultiplier from config49-?4Ye" iB-?:@D] ;;?4 1AZjFNOT Ignoring new targets: 235.60 m.BjuH;JjuH;}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789807 ProNav: ac range: 235.600006 m, nav range: 143.931442 m, bearing: 318.871185 deg, approach rate: -0.514052 m/s, LOS rate: 0.175253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189227 deg. 2j;:j@@HeadingCmd: 4.820411 target range: 235.600006 and range: 235.60 m. jjjjihhhhBfffrfbfX?ɛ=BEȀj; AE>IA E综ɚAiAIMg'=Imiu*uiup)q)qE*F2F:FBF0JFJJJJJ:J":JJGE UzK kLNK 9K K K   % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040893G) B9 OU >w,DfA>ܒ@Y>@>c(9>3>y>H)?`?@bw$?]???@3?ɨ>ܒ@>K;>@CyJBJ IIRIR:5٢Z+= ZY=9^:Q ^>\\ bG٣`ybtҺ b> fNusing accuracyPremultiplier from configdj49f/0?n4YfJl" ifBprv@f$Df~;f;f4tB A 8EZjFNOT Ignoring new targets: 235.60 m.Bj!F;Jj!F; ProNav: ac range: 235.600006 m, nav range: 143.739197 m, bearing: 318.936979 deg, approach rate: -0.505458 m/s, LOS rate: 0.173219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172832 deg. 2j ;:j-w>@5HeadingCmd: 4.820125 target range: 235.600006 and range: 235.60 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfE` z? IɛBh; ?>jH bH 4<HI I!IIBI =&I.I6I<:I FI -5Rɚ)i)I-'=I5i51͂i5bC)1)9*F2F:FBF1JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293786GZGGpAG B O >Bw,tfA6}@Y6@6!96L7 >y6HbI?R? @`o?i ?`&5?U??ɨ6}@6 ;6BCyN‚BN IIZIZ05٢b = bJ=9f;Q f>dh jG٣hyjPW; j>nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.545027 vNusing accuracyPremultiplier from configtz49v3?z4Yvrs" iv¤B|~~@v-Dv;vI;v4sB A :EZj)-FNOT Ignoring new targets: 235.60 m.Bj=J;Jj=J;M ProNav: ac range: 235.600006 m, nav range: 143.531021 m, bearing: 319.008322 deg, approach rate: -0.516920 m/s, LOS rate: 0.177408 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189524 deg. 2jM;:jU@@mHeadingCmd: 4.820416 target range: 235.600006 and range: 235.60 m. jijijijiiihihqhqhqfyfyfyrfybf}܅?ɛ}ށB}%< 隅`>I dɚiI#w&=Iiis))*FQ2FQ:FQBF]F5JFY IGmjWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.798832GA BQ O >akw,IfA:@Y: @:9:y >y:H*ݹ??¿`D+?驗?@=?? 5?ɨ:@:H;:?CyR˂BR I-Mb@Mb@Mb@))) )))Y-x&1?I +? rh?y-A ?-9<-C<-MA -K@)-@I-@)y-@IEIEB5٢U&= UB=9m֑;Q m>iq uG٣u6Gyu; }> Nusing accuracyPremultiplier from configy49}v6?4Y}Xz" i}ˤBi ?:@}5D};};}P 4 @AZjFNOT Ignoring new targets: 235.60 m.Bj =;Jj =; ProNav: ac range: 235.600006 m, nav range: 143.333038 m, bearing: 319.078185 deg, approach rate: -0.467702 m/s, LOS rate: 0.165268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185065 deg. 2j;:j7@@HeadingCmd: 4.820339 target range: 235.600006 and range: 235.60 m. jjjjihhhhBfffrfbf @ɛM܁Bm>< qu_>Iq uɚqiqIu%=I}i}I- C I- A!II- BI-  =&I) .I) 6I- p<:I- x FBIJIRIZIbIjIȿ4Gu ;3GA BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304895Sęw,&gA2@Y2 %@2y92m>y2H???;¿ A@?1?ա? ?٪?ɨ2@2Ì;2=Cy^ւB^ IddIjIjB5٢rb= rR=9r;Q r>tt vG٣tyv < z> Nusing accuracyPremultiplier from config|49~:9? 4Y~" i~ԤB   @~=D~C:~e:~4 A5B*** querying acoustic contact ***j1j1JJJJJ :Jo5:JJJI ɚiI .%=Ii 8i%2W)!)!*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557276G ٻG B9 O > I ~ʙw,,gAy܂B IMb@Mb@Mb@ )YQ?~jt?~jt?y?D<D< @)p@I@y@I5I5B5٢E< E6=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configYm49];?m4Y]" i]ܤBm?m:uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809174}n@]FD]u;]';]4 AZjFNOT Ignoring new targets: 235.60 m.Bji=;Jji=; ProNav: ac range: 235.600006 m, nav range: 142.956757 m, bearing: 319.212732 deg, approach rate: -0.455635 m/s, LOS rate: 0.165595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186973 deg. 2jJ;:j}@@HeadingCmd: 4.820372 target range: 235.600006 and range: 235.60 m. jjjjihhhhBfffrfbf3X@ɛ%؁B%Ef< !-5?I) -eɚ)i)I-\$=I5i5R3i=Ct)9)9*F?2F:FBFJFGxG B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062800zK} KK} 59Ky K} K} 9hљw,EgARB@YRQ@R9R>yRH@?@Cy?l[¿?(?̹??@b?ɨRB@RT;R?Cy^B^ IIfIfD5٢n< nd=9r/pp rG٣r6Gyvx< v> zNusing accuracyPremultiplier from configx~49z)>?~4Yz" izB@zLDz;z:z1"4  A Zj15FNOT Ignoring new targets: 235.60 m.Bj=4;Jj=4; ProNav: ac range: 235.600006 m, nav range: 142.800980 m, bearing: 319.268845 deg, approach rate: -0.438513 m/s, LOS rate: 0.158130 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143709 deg. 2j ;:jM:@HeadingCmd: 4.819617 target range: 235.600006 and range: 235.60 m. jjjjihhhhfffrfbfQ? @ QIYɛ}ցB}< y}D?Iy =ɚiI#=IZHRH@AHI If!II9BI&I.I6I<:I Fi肻i:))Ea>E>*FE?2FI:FIBFM`0JFI}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅABDAT read: Rx Time:20:01:31.8962 TRx dataTimestamp_ set to:1736366493.273042checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314435JK3 K.KK"KJJJJJ,:Jq:JJJ<J<Jk;Jk;GIG B O- >Gיw,$_gA6Y@Y6Vi@696>y6Hؼ?u?x¿a@/?!o? ?*?`?ɨ6Y@6.;6ACyBBB I J=J=IjrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.565284IjF5٢z4; zI=9~;Q ~> G٣y;  > Nusing accuracyPremultiplier from config 49 @?4Y 6" i B!%_%@ TD +; ,; L)4-rB -A- BDAT read: Tx time:20:01:32.9764 $Ping request sent.!ݙw,SygAFq@YF@F|ۼ9F%>yFH?r?¿3=@?@7?`7z?H? ?ɨFq@FX;F?CybނBb IMb@Mb@Mb@ )Y7A`?:v?y?T< @)@I@y@II:5٢{ ==9;Q > G٣y; > Nusing accuracyPremultiplier from config49C?4Yؙ" iB?:o@\D6;N;04  A  addTargetRange:: Added new target pos. range: 236.699997 m, deltaT: 4.034307 s, deltaX: 1.099991 m, approachRate: 0.272659 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 235.60 m.Bj!3;Jj!3; ProNav: ac range: 235.600006 m, nav range: 142.433411 m, bearing: 319.400168 deg, approach rate: -0.440137 m/s, LOS rate: 0.156609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178461 deg. 2j;:jE?@HeadingCmd: 4.820223 target range: 235.600006 and range: 236.70 m. jjjjihhhh&Bfffrf`fm@bf@?ɛҁB<  ?IWill construct direction to contact in vehicle frame from tetrahedron phase data. /ɚ i I ε"=Iiʁiݶ;))zK->KK- 9K)K-K-BK=sA:K=rA*F?2F:FBFo0JF 1I5iHb>I Is!IICBI&I.I6I<:I FG% 9y;G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,lgA6O@Y6P_@696m >y6H\?{?=? #?;??@?ɨ6O@6Kȉ;6>CyBςBB IIJIJA5٢R4 R`=9VmQ V>TT ZG٣Z6GyZ6 Z> bNusing accuracyPremultiplier from config\b49^F?b4Y^s" i^Bdff@^cD^:^:^<74h jAhzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 235.60 m.Bj 4;Jj 4; ProNav: ac range: 235.600006 m, nav range: 142.273254 m, bearing: 319.457744 deg, approach rate: -0.438519 m/s, LOS rate: 0.157824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148109 deg. 2j;:j%:@%HeadingCmd: 4.819694 target range: 235.600006 and range: 236.70 m. j!j)j)j)i)h)h)h1h1f1f1f9rf9bf=)?JJJJJ :J:JJJ<J<Jn;Jn;ɛсB<  j>I  Yɚ i I M1"=I5i=ui= ~:)9)9EI*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GU{/;G) B1 OM > A IA uw,FgA @6d`@Y6o@6| ռ96->y6H ? w?@1+¿I㳽?@mۃ??`?`?ɨ6d`@6z;6?CyBǂBF IHHMb@Mb@Mb@ )Yl?{Gz?{Gzy?#<# 5@)@IyI5I5\05٢E M@=9Mq;Q M>QQ UG٣QyUh; > Nusing accuracyPremultiplier from config49I?4YU" iB ? :  @kD@;;?4 WA]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004583ZjiFNOT Ignoring new targets: 235.60 m.Bj?4;Jj?4; ProNav: ac range: 235.600006 m, nav range: 142.077103 m, bearing: 319.528624 deg, approach rate: -0.435491 m/s, LOS rate: 0.157583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188119 deg. 2jK;:j@@HeadingCmd: 4.820392 target range: 235.600006 and range: 236.70 m. jjjjihhhhBfffrfbf k?ɛuρBuX< qu>Iy }LɚyiyI}!=Iis总i(9;))*FA2FA:FABFAJFIG:GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256581zK KK ]9K K K @w,!gAN4i@YNx@NHμ9Nb)>yNHS?Uw?¿s@]?w?`lș???ɨN4i@Nv;N@CyzBz II I s75٢ M=9;Q >!! %G٣!y-1; -> 5Nusing accuracyPremultiplier from config1=495K?=4Y5," i5B9E뷿E@5sD5 ;5? ;5E4I MAIZjyFNOT Ignoring new targets: 235.60 m.Bj8;Jj8; ProNav: ac range: 235.600006 m, nav range: 141.910553 m, bearing: 319.588890 deg, approach rate: -0.446196 m/s, LOS rate: 0.161646 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156197 deg. 2j;:j<@HeadingCmd: 4.819835 target range: 235.600006 and range: 236.70 m. jjjjihhhhfffrfbf@E? $?Iiɛ ΁BLu< >I ӘɚiI$!=I%i%Dgi%;)!))jH<bH4=H `>I C I m!II >BI  =&I .I 6I <:I  F*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508635JJJJJ:Jq:JJJ<J<Jk;Jk;G?:GBO >w,SgA2@Y26@29 92PF>y2H &?ft?@¿@=?*x? @??`ڭ?ɨ2@2*;2>CyNBN IIVIVDP5^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760603٢fĽ fO=9jF;Q j>hh nG٣n6Gyn"< n> vNusing accuracyPremultiplier from configpv49rDN?v4YrF" irBxzz@rzDr:rX:rL4 YA>EZj FNOT Ignoring new targets: 235.60 m.Bjf*;Jjf*;- ProNav: ac range: 235.600006 m, nav range: 141.736160 m, bearing: 319.651793 deg, approach rate: -0.412516 m/s, LOS rate: 0.148976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164126 deg. 2j-{;:j-9=@UHeadingCmd: 4.819973 target range: 235.600006 and range: 236.70 m. jYjYjYjYiYhYhYhahafafafirfibfmB?ɛ́B,< >I 0ݕɚi1I5V =I=i=6i=Kl;)9)AEQEQ*F?2F I9:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012568G CQ;G B O >w,gA6ʞ@Y6R@696>y6HG?@p?¿ Yj?}h?@”?`?@ӭ?ɨ6ʞ@6c;6ACy޵B޵ I =a=]Mb@Mb@Mb@YYY Y)YY]"~j?:v? G٣y; > Nusing accuracyPremultiplier from config49R?4Yx" iB#?:۳@D&;~$;$U4 A;EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264538ZjFNOT Ignoring new targets: 235.60 m.Bj I;JjI;% ProNav: ac range: 235.600006 m, nav range: 141.495224 m, bearing: 319.734174 deg, approach rate: -0.515141 m/s, LOS rate: 0.176437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222748 deg. 2j%,;:j%E@-HeadingCmd: 4.820996 target range: 235.600006 and range: 236.70 m. j)j)j)j)i)h1h1h1h5ցBf9f9f9rf9bf=A@ɛmˁBm>< im>Iq }~ĒɚyiyI< =zKJKh9KKK 9m^ZBKrA:KIMiU}iUe&<)Q)Q*F=?2F9:F9BF9JF9 )I)HI IM!II%BI&I.I6I<:I F} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516484G *;G B O >[0w,hA:x@Y:@:9:R>y:H s?`o?`c¿ @Ϳ?DP? C)B CIB/wAFDFVF DFCF7wAFDiFɇFHiJCJwA)Jt J6{FIH NYC)NvAN$NFLRCR?wAiRIRa{FPIV&CiVwA TT)TZَC XXZTFXZ&C^ҁAI^Ļ)\i\\yfBj IIvIvaO5٢ `=9;Q > G٣y ; > Nusing accuracyPremultiplier from config49U?4Y" i!%%@D;;[4) --AQB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 235.60 m.Bj&<;Jj&<; ProNav: ac range: 235.600006 m, nav range: 141.315186 m, bearing: 319.795758 deg, approach rate: -0.480270 m/s, LOS rate: 0.164493 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160176 deg. 2j;:j<@ HeadingCmd: 4.819904 target range: 235.600006 and range: 236.70 m. j j j jihhhhfffrf!bf%'T@ɛʁB< \>I uKɚiI=Ii<{iB<<))*F=?2F9:F9BF9JF9eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770412G} )< I G B O- >X w,}/hAF@YF-͚@F@Ҋ9Ff>yFH? m?K?oIZ?8?`?ɨF@F ;F=CyzB| IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021192EMb@Mb@Mb@AAA A)AYE rh?Zd;O?{GzyE,?Ej G٣6Gy; > Nusing accuracyPremultiplier from config49Y?4Y" iB,?:0@Dz[;}f;b4 AZjFNOT Ignoring new targets: 235.60 m.BjO;JjO; ProNav: ac range: 235.600006 m, nav range: 141.098816 m, bearing: 319.870717 deg, approach rate: -0.523256 m/s, LOS rate: 0.181553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200406 deg. 2j 2;:j iB@HeadingCmd: 4.820607 target range: 235.600006 and range: 236.70 m. jjjjihhhhBf!f!f!rf!bf-x@ɛ]ɁBeП; ae$>Ia eɚaiiJJJJJ :Jz:JJa@a@a@a@Im=I i yiW<))E!E!*F?2F:FBF`0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:20:01:35.6998 u TRx dataTimestamp_ set to:1736366497.052940} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273896G .<zK Q#NG B O% >K 9K K K *KK<=5*! 5ltY:hN;. znc\XVTOJFB941/.$,Bw,yIhAV@YV͚@V|y9V>yVHh?@n?`U ~?.[@O?? ?ɨV@VFƉ;V?C yIyZHRH?AHb>I I!IIBI&I.I6Iy<:I~ FBIJIRIZIbIjI5yejBei IIuIuZ5٢E .=9-;Q > G٣yn > Nusing accuracyPremultiplier from config492^?4Y?" iB1@D;8;.k4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524854Y ];Ae>EZjFNOT Ignoring new targets: 235.60 m.BjA;JjA; ProNav: ac range: 235.600006 m, nav range: 140.857513 m, bearing: 319.954683 deg, approach rate: -0.485510 m/s, LOS rate: 0.169233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227515 deg. 2jI;:jIF@HeadingCmd: 4.821080 target range: 235.600006 and range: 236.70 m. jjjjihhhhfffrfbf @ɛ ǁB :; YeǢ>Ii sɚiIB=Ii&viS<))*F ?2F :F BF _0JF u Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:01:35.6998 LVL= 21488, 21745, 14546, 25539, AGC= 55, IDX= 465, 0.11, 0.600, 2.952, 1.510, 0.994, PHS=-0.305, 2.006, 0.513, RAW= 309.6, -21.1, CAL= 311.3, -31.0, ROT= 198.7, 31.0  Ygot valid direction response: 20:01:35.6998 LVL= 21488, 21745, 14546, 25539, AGC= 55, IDX= 465, 0.11, 0.600, 2.952, 1.510, 0.994, PHS=-0.305, 2.006, 0.513, RAW= 309.6, -21.1, CAL= 311.3, -31.0, ROT= 198.7, 31.0  PDAT read: Bearing 198.7, 31.0 (Local)  ~Local bearing/azimuth received: Bearing 198.7, 31.0 (Local)  DAT read: Range 10 to 50 : 239.4 m (Round-trip 319.2 ms) speed -1.0 m/s  ,DAT read: user:1055>  BDAT read: Tx time:20:01:36.8264  $Ping request sent. Iu Ov>iu ΅E?u 3 J?q q  :publishing transmit ping time  Fpublishing direction and range infoq 9u 1Z^$h(? ,o?pyq q q q q )q Iq iq q q q q q )q Iq iq q q u ^mp ÿXG)BAOm?w,ihA iIuiɳquKwAuE6iu8Fqi}َC}xA)} yIy C)twAɹuF鹁Cɺ$xAiףIyFI3CixA 麑)黕3C wAɻ=C9I9)=uFi9)E̎CIEAEɼA AAyMZBUU IWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչJDAT read: TxSync time:20:01:36.8256 Mb@Mb@Mb@ )Y\(\?Zd;O?Mby:? A @)p@I@y3@IIZ5٢-f -=95Q 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAm49Ec?m4YE" iAu;?u:u}@EDE;E;Et4 AJJJ1JJ:JB:J3Jk5ɜ?k@A- k kchA:kfoCBkmCZk@"$_8^@m\e]@Ē=e1Z^$h(? ,o?pJk΅E?Rk3 J?*\%Kc@aŹ5Z{߿bE?Qtܿ} "k*kXCk>1ʜ?k"- 2kk퍲Rœ?k, k kk#Ck^@ addTargetRange:: Added new target pos. range: 239.399994 m, deltaT: 3.779821 s, deltaX: 2.699997 m, approachRate: 0.714319 m/s, rangeRepo size: 4  Added new target pos. range: 239.399994 m, bearing: 325.813448 deg, lat: 36.906253 deg, lon: -122.122142 deg, deltaT: 7.814128 s, deltaX: 3.799988 m, approachRate: 0.486297 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 239.40 m.BjJj ProNav: ac range: 239.399994 m, nav range: 163.421692 m, bearing: 322.951075 deg, approach rate: 0.000000 m/s, LOS rate: 0.169233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.258856 deg. 2j!:j%J@-HeadingCmd: 4.821627 target range: 239.399994 and range: 239.40 m. j)j)j)j)i)h1h1h1h5tBf9f9f9rf]m@bfe`?ɛŁB'S9 隭֔>I ɯɚiI=Ii2sisT<))E*Fu ?2Fq :Fq BFq JFq m Will construct direction to contact in vehicle frame from tetrahedron phase data.zK OK 9K K K 3yyNTwvD^%xoje^ZWSRNLLGEB?=921/.0.-BK sA:K sAGiG<GYBaOpv"w,?ThA 1I1Hd>IC I IIӂBI =&I.I6I)<:IF Fy5PB5H IIMIM^S5٢UaF ]C=9yQ > G٣6Gy > Nusing accuracyPremultiplier from config 49g?4Y" i@D[;U\;|4A E AAZjFNOT Ignoring new targets: 239.40 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjT;JjT; ProNav: ac range: 239.399994 m, nav range: 163.193573 m, bearing: 323.027979 deg, approach rate: -0.549274 m/s, LOS rate: 0.185430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206218 deg. 2j;:j=C@HeadingCmd: 4.820708 target range: 239.399994 and range: 239.40 m. jjjjihhhhfff rf bf ?ɛāB (; 隅>I ߆ɚiIE=Ii(w,bhA6e@Y6y6H y9?`Q?n?2??`y?`\?ɨ6e@6qK;6=CyrLBrD I zp=z=I~I~B5٢ ɚ  i=9+:Q > G٣y% %? -Nusing accuracyPremultiplier from config)549-j?54Y-p" i)15 @-D-<-Ȗ<-V4 ) AB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 239.40 m.BjUE;Jj]E; ProNav: ac range: 239.399994 m, nav range: 163.019775 m, bearing: 323.088070 deg, approach rate: -0.499080 m/s, LOS rate: 0.172745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155654 deg. 2j;:j<@HeadingCmd: 4.819825 target range: 239.399994 and range: 239.40 m. jjjjihhhhfffrfbf`7? IɛuB}H; y};>Iy ɚiIIv=Iioi;;))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.]GmvAA*F?2F:FBFJF %YvAyBJ1 J5 J1 J1 J1 J5 :J1 J1 G zQ<G B O >"'0w,#hA:QT@Y:c@:q9:>y:H`e? 0?#?Ȩ9 2?`c???ɨ:QT@:;:@CyBKBBB IMb@Mb@Mb@ )Y~jt?V-?{GztyD?<ףA @)C@Ip@yG@I=I=B5٢U U==9]w;Q ]>YY eG٣aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498120y >  Nusing accuracyPremultiplier from config 49 Oo?4Y z" i BD?:ɵ@ ɀD U; ; :4%qB -2 A-@EZjq}FNOT Ignoring new targets: 239.40 m.Bjb;Jjb; ProNav: ac range: 239.399994 m, nav range: 162.772308 m, bearing: 323.173611 deg, approach rate: -0.572487 m/s, LOS rate: 0.198189 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232197 deg. 2j<:jF@HeadingCmd: 4.821161 target range: 239.399994 and range: 239.40 m. jjjjihhhhFBfffrfbf s?ɛmBukw; qu>IqzK}xOK}9KyK}K}00,)*('&(%&&'&%%$#$##!! "2AW&wN5$RK?JK> lɚiI>=IiKoi%;))*FU?2FQ:FQBF]o0JFY $?IiGe2<jHbH<He>I I IIBI =&I.I6It<:I~ FGABIOew>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750394G6w,ThA6J@Y6LZ@6V96! >y6Hc?@?`^+2? _ nي? ? ?ɨ6J@6;6?CynIBn? IIvIv_5٢# Q=96;Q >    G٣ 6Gy eN > Nusing accuracyPremultiplier from config%49r?-4Y" iB15𵿑5@ҀDNm;m;4=rB =H AE=EZjaeFNOT Ignoring new targets: 239.40 m.Bjm!\;Jjm!\; ProNav: ac range: 239.399994 m, nav range: 162.570038 m, bearing: 323.243988 deg, approach rate: -0.552440 m/s, LOS rate: 0.192453 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186580 deg. 2j<:jn@@HeadingCmd: 4.820365 target range: 239.399994 and range: 239.40 m. jjjjihhhhfffrfbf`?ɛB`y; s>I SぼɚiI$ =Iizni_:))*FU?2FQ:FYBF]r3JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002398G(;GqBO>  I Bty6Hx»??`=#?aΈ??@9?ɨ6}6@6Ɋ;6>CyFUBFN IPPMb@Mb@Mb@ )Y#~j?Q?yE?\= A @)Z@IC@y@IUIUZ5٢ehU= e6=9e :Q e>JyJ}J}0JyJyJ}^:J}ـ3Jyi G٣y > Nusing accuracyPremultiplier from config49hw?4Y # iBF?:i@݀DP'<'<4 AZj!%FNOT Ignoring new targets: 239.40 m.BjMW;JjMW;] ProNav: ac range: 239.399994 m, nav range: 162.319244 m, bearing: 323.330884 deg, approach rate: -0.543306 m/s, LOS rate: 0.188537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236275 deg. 2j]d<:j]G@eHeadingCmd: 4.821232 target range: 239.399994 and range: 239.40 m. jajjjihhhhEBfffrfbf @ɛ-B-|e; )->I) -1ɚ1i1I5=I=i=mi=Թ)9)9*F2F:FBFQ1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506424zK% NK% 9K! K% K%     AV896GM 7:G] ?G] ?BKu rA:Ku rAG B! O= > I \Cw, iAH"f>I  I" II"BI &I .I 6I"z<:I" FB&@YBo6@B8lC9B' >yBHF?@?>(Np?Hdam?? ?ɨB&@BE;@yN\BNW IIVIVa5٢^(= ^i=9b-:Q b>`d fG٣dyf f? nNusing accuracyPremultiplier from confighn49jz?r4Yj # ijBprr@jDj:jC:j4q uAqZjFNOT Ignoring new targets: 239.40 m.Bj*W;Jj*W; ProNav: ac range: 239.399994 m, nav range: 162.128738 m, bearing: 323.397414 deg, approach rate: -0.538019 m/s, LOS rate: 0.188112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175011 deg. 2j<:j>@HeadingCmd: 4.820163 target range: 239.399994 and range: 239.40 m. jjj j ihhhhfffrfbf% @ɛeBm< 隵>I p{ɚiI=Iimi')MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758536)*F?2F:FBF%D5JF!Gu4GBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010230ӆIw,,'iAZ@YZ0-@Z%99ZK>yZH`?`?  C"?g D1? ??ɨZ@Z;Z?CyrbBr^ II~I~X[5٢X< E=9:Q %>!) -G٣-6Gy5{1 => MNusing accuracyPremultiplier from configAU49E~?]4YEq# iEBY]̵]@EDEI;E-J;E4mqB yA?E B*** querying acoustic contact ***j j Zj9=FNOT Ignoring new targets: 239.40 m.BjEY;JjEY; ProNav: ac range: 239.399994 m, nav range: 161.899216 m, bearing: 323.478065 deg, approach rate: -0.540816 m/s, LOS rate: 0.190303 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217480 deg. 2j<:jD@ IHeadingCmd: 4.820904 target range: 239.399994 and range: 239.40 m. jjjjihhhhfffrfbf`ID @ɛEBEȫ; AE>IA M0CvɚIiIIM)J=IUimiD0))]Will construct direction to contact in vehicle frame from tetrahedron phase data.aiamBDAT read: Rx Time:20:01:39.4992 mTRx dataTimestamp_ set to:1736366500.834359}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265599*FI2FQ:FQBFUP5JFQG ǹGq B O >3Pw,fiBiAB @YBH@B29B>yBH~?`a?@.?sh WR?(? ?ɨB @B/@;@yfsBft I r=rp=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514419}Mb@Mb@Mb@yyy y)yY}p= ף?/$?=9:Q > G٣y > Nusing accuracyPremultiplier from config49p?4Y# iB?E?:@DN;;y4 AZjFNOT Ignoring new targets: 239.40 m.Bjdb;Jjdb; ProNav: ac range: 239.399994 m, nav range: 161.671066 m, bearing: 323.562342 deg, approach rate: -0.535057 m/s, LOS rate: 0.197927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228374 deg. 2j<:jhF@HeadingCmd: 4.821095 target range: 239.399994 and range: 239.40 m. jjjji h h h hnBfffrfbf`z @zKYNKh9KKK 2CGE?=>>><==9:765411/0-,+'('''&#" ɛB@< >I ˳qɚiIN=Ii͕mi%6)!)1 AIEi*F2F:FBF_0JFHd>I I IIBI&I.I6I<:I FGb(GaBiO|>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: Range 10 to 50 : 201.4 m (Round-trip 268.6 ms) speed -0.4 m/s U ,DAT read: user:1056> ] BDAT read: Tx time:20:01:40.5764 ] $Ping request sent.e y6H F.?ʋ? L?kI*?@0??ɨ6@6=;6@Cy^Bb IInIn Y5٢ = U=9:Q > %G٣!y%jR %> -Nusing accuracyPremultiplier from config)549-?54Y-"# i-B9=⸿=@-D-;-;--4A EfAI}addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 201.399994 m, deltaT: 3.784690 s, deltaX: -38.000000 m, approachRate: -10.040452 m/s, rangeRepo size: 4ZjyFNOT Ignoring new targets: 239.40 m.Bjn;Jjn; ProNav: ac range: 239.399994 m, nav range: 161.467148 m, bearing: 323.638171 deg, approach rate: -0.561051 m/s, LOS rate: 0.208894 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202958 deg. 2j\<:jB@HeadingCmd: 4.820651 target range: 239.399994 and range: 239.40 m. jjjjihhhhfffrf,i@bf`?ɛBA< %>I =mɚiIԶ=Ii?miR1))E *Fq2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:01:40.5756 G 9I9GqBO5 >= Will construct direction to contact in vehicle frame from tetrahedron phase data.\w,uiAyB IMb@Mb@Mb@ )YS?~jt?Q?y/=?<u< A @)p@Ip@y@IIB5٢̨= @=9Q > G٣6Gy > Nusing accuracyPremultiplier from config49?4Y+# i BR=?:,@D;;4 AZj!%FNOT Ignoring new targets: 239.40 m.Bj-X;Jj-X;E ProNav: ac range: 239.399994 m, nav range: 161.248520 m, bearing: 323.718890 deg, approach rate: -0.512577 m/s, LOS rate: 0.189505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217673 deg. 2jE<:jED@MHeadingCmd: 4.820908 target range: 239.399994 and range: 239.40 m. jIjIjIjQiQhQhQhYh]BfYfYfarfabfe@ʖ?ɛ B '~< 9=l>I9 =fɚ9i9I="W=IEiE3miM )I)I*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G- XG- ?G- ?G zK FMK ػ9K K K    B O5 > ! I% iH e>I  I II ɂBI &I .I 6I j<:I v FBI˥CJI˥CRIZI =bI =jI4cw,׏iA> ϒ@Y>ޙ@>=uD9>KP>y>H`??+;?A?}? ?ɨ> ϒ@>j;>AA MG٣IyU͇ U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]2# i]Bamm@]D]X:]:]g4upB u?AuAEZjFNOT Ignoring new targets: 239.40 m.BjhV;Jj=hV;E ProNav: ac range: 239.399994 m, nav range: 161.051727 m, bearing: 323.792768 deg, approach rate: -0.498710 m/s, LOS rate: 0.187449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197090 deg. 2jM<:jMA@UHeadingCmd: 4.820549 target range: 239.399994 and range: 239.40 m. jYjajajaiahahahihifififrfbfӺ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBX@< 隝>I V`ɚiI#=Iini#5))J)J-J)J)J)J-^:J)J)J)J)J-g;J-g;*Fe?2Fa:FaBFen0JFa"Gm=Gm=G G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >iw,RiANK@YN͙@NII9N>yNH ? ?:a:?ܗ4 )? X? ?ɨNK@Nlڌ;NBCybBb IIrIrp;5٢~= ~F=9:Q > G٣ y   > Nusing accuracyPremultiplier from config49 ?%4Y!:# iB!%A%@!D;;N4) -A1 $?IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 239.40 m.BjU;JjU;% ProNav: ac range: 239.399994 m, nav range: 160.851730 m, bearing: 323.868465 deg, approach rate: -0.493433 m/s, LOS rate: 0.186993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202560 deg. 2j%T<:j%B@-HeadingCmd: 4.820644 target range: 239.399994 and range: 239.40 m. j)j)j)j)i)h)hyhhfffrfbfr?ɛ]Be< 隕Z?I XɚiI n=I%i%pi%MCG)!))Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFp0JFG "G B O >tpw,ߋiA6%ƒ@Y6ՙ@6596l >y6H`D??ty@m? `?%k?@I?ɨ6%ƒ@6߳;6=CyB΂BB IMb@Mb@Mb@ )Yd;O??I +?y4?<9<A @)IZ@y@I%I%X5٢5b= 5G=9=?;Q =>AA EG٣E6GyM; M>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756027 Nusing accuracyPremultiplier from configQ49U4?4YUA# iUB4?:@U*DUVEZjaeFNOT Ignoring new targets: 239.40 m.BjmM;JjmM; ProNav: ac range: 239.399994 m, nav range: 160.652145 m, bearing: 323.943950 deg, approach rate: -0.475275 m/s, LOS rate: 0.179976 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201921 deg. 2j;:jB@HeadingCmd: 4.820633 target range: 239.399994 and range: 239.40 m. jjjjihhhhBfffrfbf i?ɛeBe(< imP?Ii QɚiI=Iipi4))zK-}2LK-9K)K-K- I*F-?2F):F1BF52JF1HI I!IIBI&I.I6I.<:IJ F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009035GM a'?Gi Gm rAGA BI Om >JE JE JA JA JE :JE z:JA JA JE <JE <JE l;JE l;ww,fiANג@YN}@NXj9NP>yNH {Ҹ? ?d`?o6̓?%??ɨNג@N̍;NBCynBn!IIvIvW5٢~ > N=9j;Q >    G٣ y ; > Nusing accuracyPremultiplier from config%495?%4Y I# i%B!%%@3DC ; ;l41 5:A9ZjYeFNOT Ignoring new targets: 239.40 m.Bje_;Jje_;u ProNav: ac range: 239.399994 m, nav range: 160.460266 m, bearing: 324.016489 deg, approach rate: -0.517273 m/s, LOS rate: 0.195787 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193063 deg. 2j}]<:j}\A@HeadingCmd: 4.820478 target range: 239.399994 and range: 239.40 m. jjjjihhhhfffrfbf \@ɛEBM/C= IM6?II M(iJɚIiQIUn=Ii qiI))*FE?2FA:FABFE5JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260862 IGmI6GQ By O >) ;C1 M `wAe ZA %Y `wAy 9 B Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511923J-}w,DiA6@Y6{@6X96>y6H *?? ¿@C;?"u;?@?`?ɨ6@6W;6?CyBBB!I-uonly read 0 of 1 data item for altitude. Device response is::BD, +49.43, +613.17 7.63, 0.00  u@u u@} }@}  }@} II@T5٢ɵ= A=9;Q > G٣yxO; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49t?4YP# i,B+:s:@=D;;>l4 AAEZjFNOT Ignoring new targets: 239.40 m.BjQ;JjQ; ProNav: ac range: 239.399994 m, nav range: 160.254837 m, bearing: 324.094259 deg, approach rate: -0.483999 m/s, LOS rate: 0.183462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208792 deg. 2j%;:j%C@-HeadingCmd: 4.820753 target range: 239.399994 and range: 239.40 m. j)j)j)j)i)h)h)h1h1f9f9f9rf9bf=@ɛeBmH = im)?Ii mAɚqiqIu=I}i}Ari}jV)y)*F-?2F):F)BF-_0JF)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763964GM׹GI BQ Om > I izK +KK s9K K K BK qA:K qAH d>I  I G!II BI &I .I 6I T<:I e Fw,-jAf@Yf@f=9fr>yfHG??[N¿E ?#{?NL??ɨf@ft;dynBr'!IIzIzaO5٢~T= S=9%;Q >    G٣ 6Gy ; > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%49u?%4YW# i2B- :)-E:-B-@ED';O?41 =^A9ZjYeFNOT Ignoring new targets: 239.40 m.BjeR;JjeR;u ProNav: ac range: 239.399994 m, nav range: 160.067871 m, bearing: 324.165011 deg, approach rate: -0.486409 m/s, LOS rate: 0.184283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187690 deg. 2j};:j}@@HeadingCmd: 4.820385 target range: 239.399994 and range: 239.40 m. jjjjihhhhfffrfbf`@ɛB= 9.?I 8ɚiIiI=Iiǟriλ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017176*F?2F:FBFJFJSK[3 K[.-KSKS"KSJ J J J J \:J h:J J J <J <J Ni;J Oi;GG?G>GBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:01:43.3040  TRx dataTimestamp_ set to:1736366504.612644 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269001Aw,+jA $$ @Y @ D9 n->y H 5?~? t¿`2?إ`H}?u?,?ɨ @ ú; =C I!y-B->!IIeIeF5٢= C=9:Q > G٣y ; > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ɞ?4Y_# i9B9:@OD6H;?4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 239.40 m.BjQ;JjQ;  ProNav: ac range: 239.399994 m, nav range: 159.863281 m, bearing: 324.242434 deg, approach rate: -0.483730 m/s, LOS rate: 0.183294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207754 deg. 2j ;:juC@HeadingCmd: 4.820735 target range: 239.399994 and range: 239.40 m. jjjjihhh!h!f!f!f)rf)bf-7 @ɛ]B]&d= ]^,<]8?Ia e/ɚaiaIe=Imiu-riuL3)q)q*F ?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520648G-4λG B1 Ou >&w,DjA6@Y6c,@6)ʻ96A >y6H`?[z?¿E?.Ey???ɨ6@6FW;6?CyV BVI!IEWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 20:01:43.3040 LVL= 23424, 17505, 15026, 28275, AGC= 61, IDX= 491,-0.05, 2.921,-0.985,-2.450,-2.932, PHS=-0.342, 1.994, 0.478, RAW= 309.8, -20.1, CAL= 312.2, -29.4, ROT= 197.8, 29.4 Ygot valid direction response: 20:01:43.3040 LVL= 23424, 17505, 15026, 28275, AGC= 61, IDX= 491,-0.05, 2.921,-0.985,-2.450,-2.932, PHS=-0.342, 1.994, 0.478, RAW= 309.8, -20.1, CAL= 312.2, -29.4, ROT= 197.8, 29.4 PDAT read: Bearing 197.8, 29.4 (Local) ~Local bearing/azimuth received: Bearing 197.8, 29.4 (Local) DAT read: Range 10 to 50 : 242.4 m (Round-trip 323.3 ms) speed -0.4 m/s ,DAT read: user:1057> BDAT read: Tx time:20:01:44.4265 $Ping request sent.(= C=9;Q >9EhhMY?>=? yEfrCAE[EaD E:)EsnIE=iEEd;?Ej>Ec@E E]@)EG\IE\@iEG\?AAEBCy{ 3?_Ŀ'S_ ֿ)E(>IE>iE[bK?EK?AA :publishing transmit ping timeء Fpublishing direction and range infoA9EhhMY?>=? yAAAA G٣y; > Nusing accuracyPremultiplier from config49?4Yf# i>BT: A)AIAiAAAAA A)AIAiAAAEBCy{ 3?_Ŀ'S_ ֿ)AIAiAAAA?: @XD;;4 AkEKʜ?kEJ. kA kEqGjA:kEfrCBkEpCZkE[Y@"Eň?]@{:^@YbeEhhMY?>=? JkE[bK?RkEK?*E(c@,Y*"cEdWT?=3dۿﯝ`5"kE*kECkEZ+U8˜?kEJ 6. 2kEkEE*ʜ?kE'CL- kE֝kE&5CkE'@ addTargetRange:: Added new target pos. range: 242.399994 m, deltaT: 7.560473 s, deltaX: 3.000000 m, approachRate: 0.396801 m/s, rangeRepo size: 4 I Added new target pos. range: 242.399994 m, bearing: 326.494699 deg, lat: 36.906467 deg, lon: -122.122176 deg, deltaT: 7.560473 s, deltaX: 3.000000 m, approachRate: 0.396801 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 242.40 m.Bj%zKmKKm9KiKmKmRK ?JK%?Jj!ZHARHEAAHMe>II IM!IIMMBIM =&II.II6IM`<:IMm F ProNav: ac range: 242.399994 m, nav range: 181.150375 m, bearing: 327.938894 deg, approach rate: 0.000000 m/s, LOS rate: 0.183294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225400 deg. 2j:jE@HeadingCmd: 4.821043 target range: 242.399994 and range: 242.40 m. jjjjihhhhIBfffrfLn@bf@u?ɛBK = =?I _!ɚiI=I%i%ri%)!))EY*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:01:44.4257 G ԑG tAG tAG B O >"w,bjAF-@YF,=@F9F@>yFH|? w? ¿f?@Dф@w??G?ɨF-@Ff^;Dyn+BrV!IIzIz75٢B=  ?=9M:Q M>QQ UG٣U6Gy]O; ]> eNusing accuracyPremultiplier from configam49e ?4YeYm# ieCBg@e`De;e?;e4 -AZjFNOT Ignoring new targets: 242.40 m.Bj *;Jj *; ProNav: ac range: 242.399994 m, nav range: 180.988281 m, bearing: 327.999196 deg, approach rate: -0.401297 m/s, LOS rate: 0.149422 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156253 deg. 2j%;:j%<@MHeadingCmd: 4.819836 target range: 242.399994 and range: 242.40 m. jIjIjIjIiIhQhQhQhQfQfYfYrfYbf]#?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB L=  C?I  nɚiIbV=IiYriJYU))A*F?2F:FBFJF aIaG= j-G B) OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data.@Fw, {jAJ$J&J$J$J$J&:J$J$a*@a*@a*@a*@B!@YB&@Bb9BN4>yBH]ɺ??` Aκ?f{J ?`ɷ??ɨB!@Bĵ;@yN4BNa!I Ra=Ra=Mb@Mb@Mb@ )Y9v?:v?{Gz?y?#<A )I@yp@II45٢5= A=9Q > G٣ySػ > Nusing accuracyPremultiplier from config49?4Ys# iGB)?:I@gD;;4pB ACEZjFNOT Ignoring new targets: 242.40 m.Bj%#;Jj%#;5 ProNav: ac range: 242.399994 m, nav range: 180.831253 m, bearing: 328.057682 deg, approach rate: -0.383692 m/s, LOS rate: 0.143033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150797 deg. 2j5S;:j=Q;@=HeadingCmd: 4.819741 target range: 242.399994 and range: 242.40 m. j9jAjAjAiAhAhAhIhMrBfIfIfQrfbf`Z)?ɛB8= !%I?I! %Rɚ!i!I%/=ImimJriuik)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.E+= YIei*FI 2FI :FI BFI JFI zK JK 9K K K BK rA:K sAH h>I  I !II vBI  =&I .I G ?G ?GiPExceeded connect timeout, disconnecting.BO>uw,njAJ`Jb?AjI @Yj/@jb99jU>yjHE? ? ¿`q?@}? ??ɨjI @j]f;hyv8Bvf!II~I~"25٢  w<  /=9X:Q > G٣y]C; e> Nusing accuracyPremultiplier from config49?4Yz# iKB&@pD;;W4 AZjFNOT Ignoring new targets: 242.40 m.Bj ;Jj ;  ProNav: ac range: 242.399994 m, nav range: 180.649567 m, bearing: 328.125419 deg, approach rate: -0.376236 m/s, LOS rate: 0.140410 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178600 deg. 2j;:jJ?@HeadingCmd: 4.820226 target range: 242.399994 and range: 242.40 m. jjjjihh!h!h!f!f)f)rf)bf- ?ɛ]B]"3= YexK?Ia e ɚaiaIe^=ImimVrimP)i)qEec<*F?2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G_vGBO> I/w, G٣%6Gy% %> 5Nusing accuracyPremultiplier from config)549-/?=4Y-# i-MB=?=:==@-yD-;-f;-> 4 AJJJJJ:J :JJB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 242.40 m.Bj;Jj;M ProNav: ac range: 242.399994 m, nav range: 180.477539 m, bearing: 328.187675 deg, approach rate: -0.365669 m/s, LOS rate: 0.132460 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162132 deg. 2jUϵ;:jU<@]HeadingCmd: 4.819939 target range: 242.399994 and range: 242.40 m. jYjYjYjYihhhh{Bfffrfbf`?ɛB0=  I?I  ɚ i I  =Iiqi޾))9EAEA*EA"EAm Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.*F} ?2F :F BF JF I jHE <bHE <HU j>IU C IU !IIU BIU  =&IQ .IQ 6IU X<:IU k FBIJIRIZIbIjItE5zKu ]JKu 9Kq Ku Ku GUxG]rAG]sAGABaO}? w,2jA "@B ]@YBl@B9B>yBH?@Zv?V¿d?5Rc?Fl?`?ɨB ]@B;BACyN5BNb!IIVIVO5٢^Ք; ^>=9~\5 G٣y <  > Nusing accuracyPremultiplier from config%49Ѳ?%4YQ# iOB)-5@D;;4eqB eAe@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255367ZjFNOT Ignoring new targets: 242.40 m.Bj;Jj;- ProNav: ac range: 242.399994 m, nav range: 180.309784 m, bearing: 328.247673 deg, approach rate: -0.385773 m/s, LOS rate: 0.138101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155348 deg. 2j-;:j-;@UHeadingCmd: 4.819820 target range: 242.399994 and range: 242.40 m. jQjYjYjYiYhYhYhahafafafirfibfm .Y@ }nManaging dock network, ignoring radio surface power offɛeBe9= aeJ?Ia mԻɚiiiIm^T=IiCpiV;))*F?2F:FBF`0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510384G pG B O > $?I @,w,jAfn@YfX~@fR89f%>yfHʂ? t?N¿ c3? Rn? ?ɨfn@fE;dy~+BV!IIIL5٢%m1 %E=9-;Q ->)) 5G٣1y=; => ENusing accuracyPremultiplier from configAM49E0ɚiIթ=Ii yoi Oַ;) ) JJJ1JJ\:J :J3J*F?2F:FBFo0JFG!j;GBO>šw,kAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011279:"z@Y:@:u;9:2>y:H@ܽ?rt?(.¿` z?2` V?`~?ɨ:"z@:v;:;CyJ$BJN!IMb@Mb@Mb@ 9I9 )YI +?A`"?MbP?y9?Y=MA @)@I@yp@Hk>I III =&I.I6I<:I FII)M5zKEJKE+9KAKEKEBKQ:KUtA٢eۼ e =9e-;Q m>ii mG٣m6Gyu1; u> }Nusing accuracyPremultiplier from configy49}]?4Y} # i}RB?:@}D}y;};}#4pB \ABEZjFNOT Ignoring new targets: 242.40 m.Bj!;Jj!; ProNav: ac range: 242.399994 m, nav range: 179.949753 m, bearing: 328.371744 deg, approach rate: -0.420936 m/s, LOS rate: 0.141191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180383 deg. 2j;:j?@HeadingCmd: 4.820257 target range: 242.399994 and range: 242.40 m. jjjjihhhhbBfffrfbfs @ɛBA= !%C?I! %Qɚ!i!I% =I-i-uni-v;)1)1EA*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:01:47.1581 TRx dataTimestamp_ set to:1736366508.392813checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264606G 1;G ?G >G B O >;Țw,"kA6@Y6@6Á;96ţ>y6H`C?s?y¿`}Ͻ?C }8piD? ?ɨ6@6e;6>CyBBB:!IIJIJ@T5٢R V=9V;Q V?XX ZG٣XyZ; ^? %Nusing accuracyPremultiplier from config%49W?-4Yq# iSB)-\-@D:P:)41 5A9ZjamFNOT Ignoring new targets: 242.40 m.Bjm;Jjm;} ProNav: ac range: 242.399994 m, nav range: 179.832184 m, bearing: 328.411121 deg, approach rate: -0.399373 m/s, LOS rate: 0.133846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093393 deg. 2j;:j3@HeadingCmd: 4.818739 target range: 242.399994 and range: 242.40 m. jjjjihhhhfffrfbf @ɛb=  ! e rYi ym iBe Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:01:47.1581 LVL= 21856, 17873, 15730, 26211, AGC= 60, IDX= 460, 0.47,-1.804, 0.594,-0.945,-1.282, PHS=-0.434, 1.923, 0.334, RAW= 311.4, -17.2, CAL= 315.5, -24.3, ROT= 194.5, 24.3  Ygot valid direction response: 20:01:47.1581 LVL= 21856, 17873, 15730, 26211, AGC= 60, IDX= 460, 0.47,-1.804, 0.594,-0.945,-1.282, PHS=-0.434, 1.923, 0.334, RAW= 311.4, -17.2, CAL= 315.5, -24.3, ROT= 194.5, 24.3  PDAT read: Bearing 194.5, 24.3 (Local)  ~Local bearing/azimuth received: Bearing 194.5, 24.3 (Local)  DAT read: Range 10 to 50 : 245.5 m (Round-trip 327.4 ms) speed -0.7 m/s  ,DAT read: user:1058>  BDAT read: Tx time:20:01:48.2765  $Ping request sent. m '@m ` m \5@)m %پIm 3BY@im %>i i m t[Tȿҿ)m R\im a?m ґM?i i  :publishing transmit ping time  Fpublishing direction and range infoeΚw,cAA EG٣AyM M> ]bBottom track data is 0.5 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe49U-×?e4YU# iUUBe+:ae:ae@UDU);U>U/4q }JAykdgΜ?k, k kj:kA:kuCBksCZkot@"gt0l[@$js`@yfwB?ڎ2{'?uJka?RkґM?*pZd@e)VF7Ŏc$?=׿챨d"kN*k'CkeΜ?k k>, 2kk>1ʜ?k, kk(2Ck@m addTargetRange:: Added new target pos. range: 245.500000 m, deltaT: 3.796435 s, deltaX: 3.100006 m, approachRate: 0.816557 m/s, rangeRepo size: 4 } Added new target pos. range: 245.500000 m, bearing: 332.055587 deg, lat: 36.906468 deg, lon: -122.122142 deg, deltaT: 3.796435 s, deltaX: 3.100006 m, approachRate: 0.816557 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 245.50 m.BjJj ProNav: ac range: 245.500000 m, nav range: 178.156616 m, bearing: 329.314508 deg, approach rate: 0.000000 m/s, LOS rate: 0.133846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175257 deg. 2j:j>@HeadingCmd: 4.820168 target range: 245.500000 and range: 245.50 m. j j j j i h h hhfffrfn@bf rO?ɛB۔!= 隍5?I  ՂɚiI=Ii%ki;))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:01:48.2757 *F2F:FBF_5JF"G=G= !I!ZH RH @AH I  I !II {BI  =&I .I 6I <:I zKe JQJKe 9Ka Ke Ke G G sAG GY By O >՚w,WkAB@YBC@Bi;9B>yBH-?t?}q ?G_=|"?'?ɨB@BS;B?CyfBf!IInIn85٢vx vp=9v I 6ۚw,MpkA:Dd@Y:s@:3;9:>y:H.? E|?@h쨼?{\??ɨ:Dd@:=;:ACyB!IIIGL5٢U ]=9m{Q m>qq uG٣qy}$ }> bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49˗?4Ys# iWB9B:殿@D >;??~84 EAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994748ZjFNOT Ignoring new targets: 245.50 m.Bj@;Jj@; ProNav: ac range: 245.500000 m, nav range: 177.819778 m, bearing: 329.433025 deg, approach rate: -0.393172 m/s, LOS rate: 0.139230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190345 deg. 2j;:j@@HeadingCmd: 4.820431 target range: 245.500000 and range: 245.50 m. jjjjih h h h fffrfbf (E?ɛU= QUk&?IQ E<ɚiI=Iitkhi{;))*F ?2F :F BF 4JF } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246412GU 2<GU ?GU > I G BO5> w,kAFg@YF[w@Fˡ<9F7>yFHK?{? `ĺ?b>.@??ɨFg@F;D)RCIPTT TV&CXXiXXi^C\)\ \I\ \)^MvAbbF```i`I`dIf3CifwA dd)hjC jwAhhhlnЁAIl)lillyrӂBv IH1I1 I5!II5bBI1&I1.I16I5`<:I5s F        Mb@Mb@Mb@ )Y??y&1|y ?L=`7A 5@)@Ip@y@II>5٢Mн MM=9U<2;Q U>QQ ]G٣Yy]u: ]>zKeJKe9KaKeKeBKq:KusA }Nusing accuracyPremultiplier from configq49uϗ?4Yu# iuVBT: ?:@uDua#;u";uw?4 AEEZjFNOT Ignoring new targets: 245.50 m.BjR,;JjR,; ProNav: ac range: 245.500000 m, nav range: 177.653275 m, bearing: 329.493212 deg, approach rate: -0.416390 m/s, LOS rate: 0.150656 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155916 deg. 2j;:j <@HeadingCmd: 4.819830 target range: 245.500000 and range: 245.50 m. jjjAjAiAhAhAhIhM BfIfIfIrfQbfU?ɛ(= /?I ɚiI=Iihgi;))*F]?2FY:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499694G5@;G BO5q>JJ@AJJJJJJ:JJJ;aJ;aJJ;aJJ;a w,CtkA2d@Y2}t@2C<92J>y2H4?|?`"2?@\胿 ?H?ɨ2d@2;2@Cy5̂B5 I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751396IMIM[5٢}#  Y=9A;Q > G٣6Gyr > Nusing accuracyPremultiplier from config49ӗ?4Y# iUB@D: ;F4 !ABEZjFNOT Ignoring new targets: 245.50 m.Bj/;Jj/; ProNav: ac range: 245.500000 m, nav range: 177.496841 m, bearing: 329.549965 deg, approach rate: -0.421640 m/s, LOS rate: 0.153102 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145593 deg. 2j%;:j:@HeadingCmd: 4.819650 target range: 245.500000 and range: 245.50 m. jjjj i hhhhfffrfbf`?ɛEBM,= IM? YI]iII ]iɚYiYI],=Ieiegwfiep;)i)i*F?2F:FBFJFG; Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006052G B O5 >w,EkA6p@Y6r@6A<96N>y6H ?=|?`p߼?UI0?@t?ɨ6p@6fs;6?Cy]B] IMb@Mb@Mb@ )Yv/?V-?I +yx)?m=94 @)IZ@y(@I%I%]5٢5N 5&=9=r;Q =>99 EG٣AyEB; M> UNusing accuracyPremultiplier from configIU49MRٗ?]4YMl# iMRB]$*?]:]ޮ]@MʁDMf;M;MN4mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254463q }AyZjFNOT Ignoring new targets: 245.50 m.BjU5;JjU5; ProNav: ac range: 245.500000 m, nav range: 177.277847 m, bearing: 329.628151 deg, approach rate: -0.443497 m/s, LOS rate: 0.158534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.210033 deg. 2j;:jC@HeadingCmd: 4.820775 target range: 245.500000 and range: 245.50 m. jjjjihhhhBfffrfbfA@ɛ1= = M$?II 隽?I P\ɚiI=Iidi^;))EjH=<bH=<HMl>II IMf!IIM9BII&II.II6IML<:IMf F*Fm?2Fi:FqBFqJFq"G}=G}=zKV$KKػ9KKKG G rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507857G B O >w,@kAv}@Yv4@v&c<9v">yvH ?A{? a82?dJ?n?ɨv}@v.;v>Cɸ~LC~ xA~iQvFiC xA)ף I ) GwAɹ G   CɺiII@CixA )! %wA!!ɻ!%C%xAI)))i))-َCJEJEJE1JAJE:JE:JE3JAJE;JE;JEoN;JEpN;I)yɼy yyyޕBޝ IIIV5٢ s=9;Q ? G٣y՗; ? Nusing accuracyPremultiplier from config49,ݗ?4Y.# iPB@сD::{T4 &AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 245.50 m.Bj.;Jj.; ProNav: ac range: 245.500000 m, nav range: 177.127930 m, bearing: 329.681683 deg, approach rate: -0.427435 m/s, LOS rate: 0.152757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135919 deg. 2j;:j09@HeadingCmd: 4.819481 target range: 245.500000 and range: 245.50 m. jjjjihhhhfffrfbfD@ɛ= 隍?I  ɚiI=IiOci;))*F]?2FY:FYBF]{0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758534 IiG] O;G9 BA Oe >Sw,kAJ!@YJ@J|<9J >yJH~ ?a{?Ug 7?@ K?s?ɨJ!@Jԁ;J@CyޥBޥ II-I-`5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012566٢$ :=9Ei;Q > G٣6Gy)3: > Nusing accuracyPremultiplier from config549E◜?54Y# iMB1==@ہD;=;=\4A EiAEDEZjFNOT Ignoring new targets: 245.50 m.Bj:;Jj:; ProNav: ac range: 245.500000 m, nav range: 176.930115 m, bearing: 329.752501 deg, approach rate: -0.455335 m/s, LOS rate: 0.163193 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187877 deg. 2j;:j@@HeadingCmd: 4.820388 target range: 245.500000 and range: 245.50 m. jjjjihhhhf f f rf bf`@ɛ = 隥Y?IA M1ɚIiIIM+A=IUiUbiUS;)Q)Y*F?2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:20:01:51.0109 - TRx dataTimestamp_ set to:1736366512.1886245 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263487 I G &;G B O= >w,jlAHRo>IRC IR4!IIRBIR =&IRFD.IR=D6IR<:IR FBIeCJIeCRIaZIe =bIe =jIe975r@YrB@r<9r, >yrH?`<|?q7 8?̠U@??ɨr@rl;r=CyB IeMb@Mb@Mb@aazKm KKm 9KiKmKma a)aYeS?~jt?{Gzye/?eD=e#eA e@)aIaaye@IIe5٢ P=9y;Q > G٣y: > Nusing accuracyPremultiplier from config49~旜?4Y# iJB/?:ְ@D;<;c4 AZjFNOT Ignoring new targets: 245.50 m.Bj9;Jj9; ProNav: ac range: 245.500000 m, nav range: 176.755142 m, bearing: 329.817579 deg, approach rate: -0.436422 m/s, LOS rate: 0.162479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170612 deg. 2j;:j&>@HeadingCmd: 4.820086 target range: 245.500000 and range: 245.50 m. jjjjihhhhBf!f)f)rf)bf-+ @ɛ = >I BM6ɚiIR=Ii`i};)y)yEEsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516848*F?2F:FBF1JFG GtAJuJuJu0JqJuL:Ju :Juـ3JqJuQ;JuR;JuR;JuR;G *;G B O >s w,:*lAj|@Yj@jϓ<9j >yjH@?~?L@ke ?@;y`f??ɨj|@jΊ;j>CyrBv I~Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 247.6 m (Round-trip 330.2 ms) speed -0.8 m/s  ,DAT read: user:1059> -X#Rx 1: Read range message, but no direction.|y~wC|T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I-I-d5٢Eg Ed=9EK;Q M>II MG٣IyU$Ժ U> yI ]Nusing accuracyPremultiplier from configQ]49Uꗜ?e4YU# iUGBae鰿e@UDU:U:Ui4 9A addTargetRange:: Added new target pos. range: 247.600006 m, deltaT: 3.779121 s, deltaX: 2.100006 m, approachRate: 0.555686 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 245.50 m.Bj-C;Jj-C;E ProNav: ac range: 245.500000 m, nav range: 176.579315 m, bearing: 329.883267 deg, approach rate: -0.457832 m/s, LOS rate: 0.171214 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172446 deg. 2jE;:jEi>@HeadingCmd: 4.820118 target range: 245.500000 and range: 247.60 m. jjjjihhhhfffrf@3n@bfE,?ɛ%q = !Eu>IA M>9ɚIiIIM=IUiUp_iUp;)Q)Y*F2F:FBFD5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.չiսABDAT read: Tx time:20:01:52.1265 $Ping request sent.|w,8DlA6=y@Y6ƈ@6\<96B >y6H9Խ?P?`Y@Q?@᡿y`Fa? ?ɨ6=y@6i?;6BCyN{BN~ I]Mb@Mb@Mb@YYY Y)YY]On?? G٣6Gyϐ > Nusing accuracyPremultiplier from config49 ?4Y# iDB9?:@D;I;p4 AZjFNOT Ignoring new targets: 245.50 m.BjAR;JjAR; ProNav: ac range: 245.500000 m, nav range: 176.399704 m, bearing: 329.950811 deg, approach rate: -0.488303 m/s, LOS rate: 0.183819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178027 deg. 2jN;:j5?@ HeadingCmd: 4.820216 target range: 245.500000 and range: 247.60 m. j j j j i h hhhBfff!rf!bf%B=?ɛIMh = QU>IQ Uk9ɚYiYI]=I]ie S^iet>;)a)a*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245953 yIyZHRHHI I!IIBI =&I.I6I<:IG *;GzKBJK+9KKKB O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497615,w,^lAJ-J-J-1J)J-l:J-:J-3J)J-;J-;J-I;J-I;yEpBEo IIUIU]5٢9c H=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y]# i@B@D^;;w4qB AAE%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 245.50 m.Bj=7G;JjE7G;U ProNav: ac range: 245.500000 m, nav range: 176.207474 m, bearing: 330.023349 deg, approach rate: -0.461059 m/s, LOS rate: 0.174169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193036 deg. 2jU;:jU[A@]HeadingCmd: 4.820478 target range: 245.500000 and range: 247.60 m. jYjjjihhhhfffrfbf@?ɛBɲ< 隭>I xa:ɚiI=Ii\i;))*F?2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750345 IIM iG ;G sAG rAGq By ) ECO > % vA5 A Y vAy BLw,wlA%G@Y%"W@%O<9% >y%HI? Ԇ?Uc?2="?Ŵ?ɨ%G@%;%ACykBj IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004928IIJ5٢%` %4=9-|?Q -> G٣y.U > Nusing accuracyPremultiplier from config49?4Y# iII U:ɚQiQIU@j=I]i]]\i] :)Y)*F?2F:FBF_0JFG% G%"G%G%% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253565 I II G B O >4$w,lAH&m>I$ I& II&ɂBI& =&I$.I&AA EG٣E6GyM M> UNusing accuracyPremultiplier from configQ]49UF?]4YU# iU:Be7?e:eYe@UDU;U;U4i m[AiZjFNOT Ignoring new targets: 245.50 m.BjR;zKFJK9KKKF8H?& w]G7.& BK:KpAJjR; ProNav: ac range: 245.500000 m, nav range: 175.826569 m, bearing: 330.172187 deg, approach rate: -0.459879 m/s, LOS rate: 0.184287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171484 deg. 2j;:jF>@HeadingCmd: 4.820102 target range: 245.500000 and range: 247.60 m. jjjjihhh h Bf ffrfbf@?ɛ=BEk< AE>IA E:ɚIiIIMG=IUiU[iUlw:)Q)Y*F?2F:FBFk0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506617GB O%M>J-J-J-0J)J-ܫ:J-:J-ـ3J)J-;J-;J-L;J-L;J_*w,lA67@Y6G@6<96V >y6Hɻ?\?@Ѻ?(F.?@?ɨ67@6;6=C r$?IpvWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759056yxx)| |AI I ^5٢%P %^=9%;Q %>)) -G٣)y5P 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=$ i=7BAEM@=D=:=":=4Q U`AQZjy}FNOT Ignoring new targets: 245.50 m.BjR;JjR; ProNav: ac range: 245.500000 m, nav range: 175.661224 m, bearing: 330.238863 deg, approach rate: -0.456150 m/s, LOS rate: 0.184119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175403 deg. 2j;:j>@HeadingCmd: 4.820170 target range: 245.500000 and range: 247.60 m. jjjjihhhhfffrfbfwY@ɛ~< >I 8a:ɚiIF+=Ii[iζ))E*F2F:FBF1JFGBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012672F1w,ZlA2>@Y2.N@2<92 >y2H??` )?F`Fޗ-??ɨ2>@2,M;0y^\B^W IMb@Mb@Mb@ )Yrh|?V-?MbPy;?<7A K@)@Iy@II4d5٢ B=9;Q > G٣yP; > Nusing accuracyPremultiplier from config49?4Y $ i3B I ! ;ɚiI=IiWzZi-jW:)))1 IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262594*F?2F:FBF1JFGBOE>jHE<bHE<HEn>IA IE IIEBIE =&IA.IA6IEd<:IEz FzK PNK h9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513755p7w,/2lA2A@Y2Q@2L<92} >y2H@?Ň? @?@/ᨙy.?D?ɨ2A@2;2>Cy dB a II-I-i5٢U@/= UP=9U;Q ]>YY eG٣aymm: m> }Nusing accuracyPremultiplier from configq}49uL?4Yu?$ iu0B򵿑@u-Du;u;uŚ4oB XAFEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 245.50 m.BjX;JjX; ProNav: ac range: 245.500000 m, nav range: 175.290710 m, bearing: 330.392430 deg, approach rate: -0.455918 m/s, LOS rate: 0.189461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198094 deg. 2j<:jB@HeadingCmd: 4.820566 target range: 245.500000 and range: 247.60 m. jjjj i h h h hfffrfbf @ɛg=< >I .;ɚiIi=IiYi:)!)!*F?2F:FBFU5JF I!i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767369G )o;G B O= >ӛ=w,8lA6[;@Y6J@6<96vp >y6HG??S@ ?_Ҥ" ??@m?ɨ6[;@6١;6?CyPP b=b=IfIfQc59n\;Q n>pp rG٣r6GyrP v> zNusing accuracyPremultiplier from configt49v ?4Yv$ iv-B @v6Dv=v=v4) )9eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021470ZjY]FNOT Ignoring new targets: 245.50 m.Bje8;Jje8; ProNav: ac range: 245.500000 m, nav range: 175.115311 m, bearing: 330.465622 deg, approach rate: -0.386227 m/s, LOS rate: 0.161330 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194983 deg. 2jp;:jA@HeadingCmd: 4.820512 target range: 245.500000 and range: 247.60 m. jjjjihhhhfffrfbf @ɛB%< !JK(3 K(.KK"KJ-J-J-1J)J-,:J-:J-3J)aE@aE@aE@aE@%>Ia m4;ɚiiiImr=Iuiu[DYiu:)q)y*FY2FY:FYBF]Q5JFY I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:01:54.8635  TRx dataTimestamp_ set to:1736366516.221560 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272040GE .r:GA BI Om >H9 I9  I= II= BI=  =&I9 .I9 6I= <:I= FZDw,mAyAIMb@Mb@Mb@ )YA`"?Mb?Mbpy9?<A 5@)3@I-@yIIY5٢ <9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=l?E4Y=#$ i=(BE"9?M:M,M@=@D=r;=;=U4Q U\AYZjyFNOT Ignoring new targets: 245.50 m.Bj~;Jj~; ProNav: ac range: 245.500000 m, nav range: 174.920959 m, bearing: 330.549896 deg, approach rate: -0.517578 m/s, LOS rate: 0.224679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228286 deg. 2j1<:jeF@HeadingCmd: 4.821093 target range: 245.500000 and range: 247.60 m. jjjjihhhhBfffrfbf࿋ @ɛ]= s>I .G;ɚiIG =IiXifP.:))zKmJKm9KiKmKm*F?2F:FBF_0JFGtA GtAuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524034Gĝ:G B O >FJw,,mA 4I4bWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:01:54.8635 LVL= 27088, 22257, 18098, 29219, AGC= 64, IDX= 442, 0.03, 0.714, 2.864, 1.519, 1.185, PHS=-0.382, 1.726, 0.331, RAW= 310.6, -17.7, CAL= 314.4, -25.2, ROT= 195.6, 25.2 %Ygot valid direction response: 20:01:54.8635 LVL= 27088, 22257, 18098, 29219, AGC= 64, IDX= 442, 0.03, 0.714, 2.864, 1.519, 1.185, PHS=-0.382, 1.726, 0.331, RAW= 310.6, -17.7, CAL= 314.4, -25.2, ROT= 195.6, 25.2 -PDAT read: Bearing 195.6, 25.2 (Local) -~Local bearing/azimuth received: Bearing 195.6, 25.2 (Local) 5DAT read: Range 10 to 50 : 249.6 m (Round-trip 332.8 ms) speed -0.8 m/s yYY,DAT read: user:1060> BDAT read: Tx time:20:01:55.9782 $Ping request sent.bx@b2+ b@)bz0Ib|Z@ibz0>``b!< Idƿ=܅qӿ)b[>=Ib >ibYL\?b\O?ImIma5``:publishing transmit ping time؉Fpublishing direction and range info`9bTy?A?5rn-y```` `)`٢A; O=9Q >   GI`i````` `)`I`i```b!< Idƿ=܅qӿ)`I`i``٣y > Nusing accuracyPremultiplier from config49?4Y+$ tIi$B``@JD4<4<4pB %]A%CEkbvM͜?kbOk- k` kbT.mA:kbyCBkbwCZkb4@"bC \@6:rO`@[lfbTy?A?5rn-JkbYL\?Rkb\O?*b$Id@*dVa-idbP*D?"5׿Zp&X"kb*kb$Ckb{8Μ?kb{- 2kbkbZ+U8˜?kb{- kbkb3Ckb /@] addTargetRange:: Added new target pos. range: 249.600006 m, deltaT: 4.032002 s, deltaX: 2.000000 m, approachRate: 0.496031 m/s, rangeRepo size: 4  Added new target pos. range: 249.600006 m, bearing: 331.179707 deg, lat: 36.906496 deg, lon: -122.122196 deg, deltaT: 7.811123 s, deltaX: 4.100006 m, approachRate: 0.524893 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 249.60 m.BjJj ProNav: ac range: 249.600006 m, nav range: 179.831802 m, bearing: 329.779788 deg, approach rate: 0.000000 m/s, LOS rate: 0.224679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.288264 deg. 2j:jN@HeadingCmd: 4.822140 target range: 249.600006 and range: 249.60 m. jjjjihhhhfffrf@33o@bf?ɛBl<  5>I  x`;ɚ i I u =Ii=V%Xi9)A)A*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:01:55.9774 JM JM JM 0JI JM |:JM :JM ـ3JI G }:G B O >Qw,HmAr@Yr?@rhp<9r >yrH ?ࢍ?`@*{׸?L_ Q?`T?ɨr@r;pyiBg I IMb@Mb@Mb@ )Yl?I +?MbPy7?94< b@)I@IZ@y @IIF5٢d< 1=9;Q > G٣6GEWill construct direction to contact in vehicle frame from tetrahedron phase data.yMʅ M> ]Nusing accuracyPremultiplier from configYe49]?e4Y]f3$ i]Be7?e:e m@]TD]D;];]|4uoB u5AuEEZjFNOT Ignoring new targets: 249.60 m.Bja;Jja;5 ProNav: ac range: 249.600006 m, nav range: 179.639786 m, bearing: 329.861297 deg, approach rate: -0.463044 m/s, LOS rate: 0.196768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219974 deg. 2j5 <:j55E@EHeadingCmd: 4.820948 target range: 249.600006 and range: 249.60 m. jAjAjIjIiIhIhqhqhuBfqfyfyrfybf}?ɛB= >I t;ɚiI) =Ii6bXi û)ZH1RH5AAH9I9 I= II=BI9&I9.I96I=i<:I=~ FBIħCJIħCRIZI =bI =jI`%5) *F?2F:FBF_0JFzKU KKU +9KQ KU KU  YD`: VuS6   Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai AG) G B! O} >"-Xw,@Y>@><9>b|>y>H`,??ި` ?᤿jWB?`>?ɨ>@>;>I (u;ɚiI =IiXi? ))*F?2F:FBFJF"Ga=G= iIm"iGg{%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.GABIOeV>a^w,CS|mA:Ғ@Y:.@:<9:>y:H`??wG`?n٤ 5?`?ɨ:Ғ@:i;:>CyfuBfv IIIdK5٢Ur; U@=uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2412449Q > EG٣AyM U> Nusing accuracyPremultiplier from configi49mL?4Ym(B$ imB@mfDm;m;m:4 AJJJ1JJ:J9J3JZj)5FNOT Ignoring new targets: 249.60 m.Bj]K;Jj]K;m ProNav: ac range: 249.600006 m, nav range: 179.304276 m, bearing: 330.005907 deg, approach rate: -0.411698 m/s, LOS rate: 0.178229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227140 deg. 2jm;:jm;F@uHeadingCmd: 4.821073 target range: 249.600006 and range: 249.60 m. jqjyjyjyiyhyhyhhfffrfbf`(Y?ɛBr= _>I ;ɚiI =IifYi ))E*F?2F:FBFo0JF 9IA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490666G bG rAG G H q>I  I II BI  =&I .I =D6I <:I FBi O >=ew,PmA:[ޒ@Y:@:`<9:d >y:H ? ~? ױ @9ŷ?㥿ʞ@R$?w?ɨ:[ޒ@:ߍ;:=CybBb I j=j=]Mb@Mb@Mb@YYY Y)YY]I +? G٣6Gyax; > Nusing accuracyPremultiplier from config49?4Y I$ iBJ4?:o@nD;#;4 uAZjFNOT Ignoring new targets: 249.60 m.Bj%V;Jj%V;  ProNav: ac range: 249.600006 m, nav range: 179.145874 m, bearing: 330.073215 deg, approach rate: -0.440211 m/s, LOS rate: 0.187222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177291 deg. 2j }<:j ?@HeadingCmd: 4.820203 target range: 249.600006 and range: 249.60 m. jjjjihhhhBfffrfbf@K?zK2OK9KKK @ u  s I  ɛ%B%Pb= )-<>I) MO;ɚIiQIUA =IUi] qZi]5)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743771*F ?2F :F BF 0JFGjGBOb> A IA = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994689kkw,KmA6@Y6@6=96I@ >y6H?@?@,?!U X?`=?ɨ6@6;4yZB^ IIfIfa5٢u = uK=9uE;Q }>yy G٣y̚; > Nusing accuracyPremultiplier from config49?4YP$ iB0@xDL:n:4 AGE =`wAeZAZjFNOT Ignoring new targets: 249.60 m.Bj5;Jj5; Y`wAyB ProNav: ac range: 249.600006 m, nav range: 178.973145 m, bearing: 330.146573 deg, approach rate: -0.374142 m/s, LOS rate: 0.159051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195472 deg. 2jO;:jA@HeadingCmd: 4.820520 target range: 249.600006 and range: 249.60 m. jjjjihhhhf!f)f)rf)bf-PI@ɛUBUl= Y]r>IY ]ۧ;ɚyiIæ =Ii'Ziڻ))*FQ2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250360Jm Jm Ji Ji Jm ̝:Jm :Ji Ji G G ?G ?G B O >Orw,mA6^@Y6@6,=96 >y6H@Gѹ?@? ( 'o?? D?ɨ6^@6Q;6>CyZBZ IMMb@Mb@Mb@III I)IYM/$?y&1|?Mb?yM,?M`;M G٣yMM; > Nusing accuracyPremultiplier from config49x"?4YW$ iB ,?:@Dw;;4 A $?I#iZjFNOT Ignoring new targets: 249.60 m.Bjhf;Jjhf;  ProNav: ac range: 249.600006 m, nav range: 178.814880 m, bearing: 330.216068 deg, approach rate: -0.458339 m/s, LOS rate: 0.201437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183854 deg. 2j > <:j  @@HeadingCmd: 4.820318 target range: 249.600006 and range: 249.60 m. jjjjihhhhBfffrfbf`$@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498962ɛmB!= 隕*>I F;ɚiI =IiF[i))EEtAjHbH<Hs>I I IIBI =&I.I6It<:I F*FA2FA:FIBFMM5JFIzKM gOKM +9KI KM KM  " MW[v`W&ziZL@4"|zurGm UGA BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750619{xw,1mA:C@Y:@:V =9:>y:H@G?z?u`h׸?8C)? ߪ?ɨ:C@:װ;:AA EG٣E6GyE; M> ]Nusing accuracyPremultiplier from configIe49M$?e4YM^$ iM BaeȺm@MDM%L;M;M4q uAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 249.60 m.Bj/G;Jj/G; ProNav: ac range: 249.600006 m, nav range: 178.658295 m, bearing: 330.284797 deg, approach rate: -0.396392 m/s, LOS rate: 0.174139 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181555 deg. 2j;:j?@HeadingCmd: 4.820278 target range: 249.600006 and range: 249.60 m. jjjjihhhhfffrfbf"@ɛ Bʬ)= >I Ĩ;ɚiI%;z =Iig[iX)) I*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002794G XG B O >~w,fjmAJG@YJ!@Jg =9J>yJH? ? tt%?d l@? 5?ɨJG@J2;J=CyVBV IIdId٢r= rP=9zѧ:Q ~>   G٣y%\; ->mWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:20:01:58.7173 TRx dataTimestamp_ set to:1736366520.008521checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261080  Nusing accuracyPremultiplier from configE49'?M4Yf$ i By}@D<3<94 UAZjQUFNOT Ignoring new targets: 249.60 m.Bj]8;Jj]8; ProNav: ac range: 249.600006 m, nav range: 178.489441 m, bearing: 330.358970 deg, approach rate: -0.367187 m/s, LOS rate: 0.161448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197915 deg. 2j;:j B@HeadingCmd: 4.820563 target range: 249.600006 and range: 249.60 m. jjjjihhhhfffrfbf@ @ɛ]Be= a隅>I ++;ɚiIj =Ii}i[iR))*F)2F):F1BF5_0JF1 I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506526GM g{GU sAGU sAH I  I II ɂBI &I .I 6I N<:I n FGY Bi O >撅w,`nA^="@Y^1@^N`=9^>y^H ?f? q?@:ˡ/??ɨ^="@^qK;^>CyzBz IMb@Mb@Mb@ )YˡE?~jt?~jt?y'?D<D< A )AI@y@IIU5٢;= <=9:Q > G٣yR; > Nusing accuracyPremultiplier from config49d*?4Yl$ iB'?:|@Dw;;H4 AZj9=FNOT Ignoring new targets: 249.60 m.BjES;JjES;U ProNav: ac range: 249.600006 m, nav range: 178.331467 m, bearing: 330.427327 deg, approach rate: -0.427403 m/s, LOS rate: 0.185106 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180439 deg. 2jU;:jU?@]HeadingCmd: 4.820258 target range: 249.600006 and range: 249.60 m. jYjYjYjaiah h hhCBf9fAfArfAbfEo @zK]S PK]]9KYK]K]olfa_]WUROMMJJEBB?:9668553100-/./,((&&$$&$!"!7om1&=ɛBR 1= 隵?I ;ɚiIO =Ii'9[iBѺ))EN>EeWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 251.2 m (Round-trip 335.0 ms) speed -0.3 m/s ,DAT read: user:1061> BDAT read: Tx time:20:01:59.8266 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:01:59.8258 ŋw,`1nAV))@YV8@V=9V>yVHT??`@`͹? m``/?Χ?ɨV))@V;V?Cy``IrIrX59zPB:Q z>x| ~G٣~6Gy; >  Nusing accuracyPremultiplier from config 49 ,?4Y ks$ i B`@ D : K ; 4%nB %A%IEU addTargetRange:: Added new target pos. range: 251.199997 m, deltaT: 3.784546 s, deltaX: 1.599991 m, approachRate: 0.422770 m/s, rangeRepo size: 4 ZjQeFNOT Ignoring new targets: 249.60 m.BjeB;JjmB; ProNav: ac range: 249.600006 m, nav range: 178.184357 m, bearing: 330.491086 deg, approach rate: -0.392132 m/s, LOS rate: 0.170093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166619 deg. 2jw;:j=@HeadingCmd: 4.820017 target range: 249.600006 and range: 251.20 m. jjjjihhh h f f frf`ffo@bf`->?ɛB1=  ?I a;ɚi I 4 =I5i5~Zi5V)1)9*F?2F:FBF`0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu i"Ga Bi O >w,JnA6@Y6.@6+n=96>y6HW?Ё?[¿Z ?@[@젿? ?ɨ6@6E;4yBBB I AIAUMb@Mb@Mb@QQQ Q)QYUZd;?S㥛?y&1?yU?U/ G٣y > Nusing accuracyPremultiplier from config490?4Y5z$ iB*?:@Dw;;-4oB AFEZjFNOT Ignoring new targets: 249.60 m.Bj4;Jj4; ProNav: ac range: 249.600006 m, nav range: 178.025131 m, bearing: 330.557342 deg, approach rate: -0.379269 m/s, LOS rate: 0.157961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174133 deg. 2j;:j>@HeadingCmd: 4.820148 target range: 249.600006 and range: 251.20 m. jj j j i h h hhSBfffrfbfl?ɛMBMk4= IM?II MG;ɚQWill construct direction to contact in vehicle frame from tetrahedron phase data.iQI5 =Ii [Zi5^)1)9ZHQRHU?AHYIY I] II]݂BIY&IY.IY6I]3<:I]Z F*F?2F:FBFo0JFGM 'HGU ?GU *?zK qNK +9K K K a6ui_SD94-0?;) G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.ǘw,dnAJJJJJ̝:J9JJJ;J;J%7;J&7;>{@Y>,@>N =9>C>y>H H??s?@@IG?P?ɨ>{@>ˊ;>@CyJBJ IIVIVJ5٢Z%= ^X=9^:Q ^>`` fG٣dyjO; n> ~Nusing accuracyPremultiplier from configx49z2?4Yzh$ izBx@zDzc;z;z4 A-B*** querying acoustic contact ***j)j)Zj9FNOT Ignoring new targets: 249.60 m.Bj`5;Jj`5; ProNav: ac range: 249.600006 m, nav range: 177.879578 m, bearing: 330.617899 deg, approach rate: -0.380830 m/s, LOS rate: 0.158572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157006 deg. 2j;:j4<@HeadingCmd: 4.819849 target range: 249.600006 and range: 251.20 m. jjjj1i1h9h9hAhAfAfIfIrfIbfU`F?ɛ5B=0= 9=?I9 EDY<ɚAiAIE =IiZib))E 9I9*F?2F:F BF 0JF G]UWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.GBOf>w,~nA2.@Y2h>@2I9 =92S">y2HX?? ?NH 1??ɨ2.@2`?;2?CybBf IjAjAIzIzC5٢    E=9 ē:Q > G٣6Gy%; %> =Nusing accuracyPremultiplier from config)M4mWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5147499-%6?4Y-$ i)-@-D-<- <- 4 AZjA]FNOT Ignoring new targets: 249.60 m.Bje9;Jje9; ProNav: ac range: 249.600006 m, nav range: 177.722702 m, bearing: 330.683067 deg, approach rate: -0.332705 m/s, LOS rate: 0.138331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170861 deg. 2j޽;:j/>@HeadingCmd: 4.820091 target range: 249.600006 and range: 251.20 m. jj j j i h h hhfffrfbf?ɛuBu6(= qu@?Iq u<ɚyiyI} =IitZiš))*F}?2Fy:FyBF}0JFy !I! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762190GE }Hq Iq  Iu !IIu BIu  =&Iq .Iq 6Iu 8<:Iu _ FBI JI RI ZI  =bI  =jI ʺK5G9 BI Om >ڥw, nABE@YBAU@B=9B2>yBH7?@?Z`?`^@"?`?ɨBE@B;B>Cy^B^ IMb@Mb@Mb@ )YOn?l?I +?y?=94< A @)hAI@y@II#U5٢< <=9 @x;Q  >  G٣y; > %Nusing accuracyPremultiplier from config!-49%9?-4Y%ԍ$ i%B-?5:5d5@%ÂD%l;%N;%49 =A9ZjaeFNOT Ignoring new targets: 249.60 m.BjmG;JjmG; ProNav: ac range: 249.600006 m, nav range: 177.559113 m, bearing: 330.748260 deg, approach rate: -0.436325 m/s, LOS rate: 0.174043 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170946 deg. 2j;:j2>@HeadingCmd: 4.820092 target range: 249.600006 and range: 251.20 m. jjjjihhhhvBfffrfbfe?ɛB>= s?I n<ɚiI =Ii3Yi;))zKt0NK]9KKK &hIoeP=% [BK:KqAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015552*F?2F:FBF@5JF JAJAJAJAJAJAJAJAJAJAJAJAG- u4 I %iG B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266153"w,y6H??vA$@q"?I_o?w?ɨ6*W@6-;4y^B^ IIfIf)M5٢v v^=9vz;Q v>xx zG٣xyzg; ~> Nusing accuracyPremultiplier from config 49I ;<ɚiI =IiXizp;))EErA*Fe?2Fa:FaBFeg3JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520756G |;G B O >벛w,@nABd@YB,t@BH$=9BV>yBH+? ? 0`{?Z@S??ɨBd@B u;B;C PITy޽B IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770259 =Mb@Mb@Mb@ )Y ףp= ?:v?{Gz?yQ?T=#< )~AI@yf@HI I!IIBI&I.I6I0<:IX FIIZ5٢U !=9lw;Q >!! %G٣%6Gy-T; -> 5Nusing accuracyPremultiplier from config1=495B?=4Y5\$ i5B=?=:=E@5ӂD5@;5;5"4Q U AQZjy}FNOT Ignoring new targets: 249.60 m.Bj1;Jj1; ProNav: ac range: 249.600006 m, nav range: 177.223877 m, bearing: 330.877746 deg, approach rate: -0.410608 m/s, LOS rate: 0.155412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199125 deg. 2jP;:j:B@HeadingCmd: 4.820584 target range: 249.600006 and range: 251.20 m. jjjjihhhhyBfffrfbfৱ@ɛB&'= 隍s>I <ɚiI' =Ii7Wiۻ;))*F92F9:F9BF=3JF9zKe OKe 9Ka Ke Ke _yurnidb`\WUQLJJIFDCD?>;651001.,('&(**%9iRB7. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023298G g;Je Ja Je 1Ja Je :Ja Je 3Ja Je R;Je T;Ja Ja Gy B O >.Hw,lnA2>h@Y2w@2n)=92ZQ>y2H8H??#-?KP,L??ɨ2>h@2;2?C)< <@B3wA@i@@iDD)D DID D)FvAJJFHJ CHiLILLILiL LL)PP PPPPTTIT)TiTTyZB^ IIfIf]5٢~ Ľ ~=9~;Q ~ ? G٣y:   ? Nusing accuracyPremultiplier from config 49 &E?4Y 5$ i B@ قD < \< r(4 AUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 249.60 m.Bj;Jj; ProNav: ac range: 249.600006 m, nav range: 177.101974 m, bearing: 330.923928 deg, approach rate: -0.350271 m/s, LOS rate: 0.132791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113830 deg. 2jD;:j6@HeadingCmd: 4.819096 target range: 249.600006 and range: 251.20 m. jjjji! 5$?I1h!hIhIhQfQfQfQrfQbf] @ɛB-= >I -"<ɚiI =IiViIŨ;))}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:02:02.5678 TRx dataTimestamp_ set to:1736366523.788828checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275459*F?2F:FBF_0JFGsA GsA) ;C1I 6Yy0B@BG CQ;Gy B O >#-w,QoA:&q@Y:@:_.=9:>y:H@?`r?A Qͻ?Fʥ ??ɨ:&q@:V;:;CrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526695y~B II I  N5٢}ɟ C=9n;;Q > G٣y'; > Nusing accuracyPremultiplier from configU49I?U4Y*$ iBQU|U@D<<T04a eAaZjFNOT Ignoring new targets: 249.60 m.Bj*;Jj*; ProNav: ac range: 249.600006 m, nav range: 176.927002 m, bearing: 330.990257 deg, approach rate: -0.393433 m/s, LOS rate: 0.149290 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174368 deg. 2j;:j>@HeadingCmd: 4.820152 target range: 249.600006 and range: 251.20 m. jjjjihhhhff !I!fArfIbfUS @ɛBH= "|=>I )<ɚiIW =I=i=UiE;)A)IE]Y>E]>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 252.8 m (Round-trip 337.1 ms) speed -0.8 m/s ,DAT read: user:1062> BDAT read: Tx time:20:02:03.6766 $Ping request sent.I C I !II BI &I .I 6I t<:I F*F ?2F :F BF [0JF G {/;GBO>'Ǜw, oAzK-NK-9K)K-K-&"    UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:20:02:03.6758 y=B= IMAMA5Mb@Mb@Mb@111 1)1Y5333333?T㥛 ?~jtx?y5?5=5;53 A 5@)5AI5@1y5@IIW5٢p =9 Q  >  G٣6Gy > %Nusing accuracyPremultiplier from config%49UP?%4Y$ iB-s?-:-&-@D;;:41 =DA=HE I&i addTargetRange:: Added new target pos. range: 252.800003 m, deltaT: 3.783774 s, deltaX: 1.600006 m, approachRate: 0.422860 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 249.60 m.BjV-;JjV-; ProNav: ac range: 249.600006 m, nav range: 176.684464 m, bearing: 331.079219 deg, approach rate: -0.412587 m/s, LOS rate: 0.151542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242436 deg. 2j;:jkH@HeadingCmd: 4.821340 target range: 249.600006 and range: 252.80 m. jjjjihhhhgBfffrfo@bf!?ɛ-B5@= 15>I1 5/<ɚ1i9I=M =I=iESiEk~;)A)A Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF G ;GBO> ϛw,}#?oA6n@Y68~@62=96̀ >y6H z??J? @V}?G?ɨ6n@6];6?Cɸ<<Ii (3<ɚiI =JJJ0JJ:J9Jـ3Ja@a@a@a@Ii%śRi%{;)!)Y*FE?2FA:FIBFM_0JFI"GU=GU= I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm y;ZHq RHu @AHy Iy  I} II} ӂBIy &Iy .Iy 6I} <:I} $ FGa Bq O >b՛w,XoA6I@Y6 Y@6:/=96 >y6H@S??` '?@`奿`?o?ɨ6I@6;4yjBh IMb@Mb@Mb@ )Yx&1?Q?{GztyA ?\=ף )IyIIC5٢y <=92Q > G٣y4- > Nusing accuracyPremultiplier from config 49X? 4Y$ iBB!?:@D ;;H4 %%A!ZjAMFNOT Ignoring new targets: 249.60 m.BjMy/;JjMy/;e ProNav: ac range: 249.600006 m, nav range: 176.376434 m, bearing: 331.192221 deg, approach rate: -0.418930 m/s, LOS rate: 0.153410 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172085 deg. 2je;:je\>@mHeadingCmd: 4.820112 target range: 249.600006 and range: 252.80 m. jijijijiiqhqhqhyh}KBfyffrfbf@?ɛBS = z>I 8<ɚiI- =IijQi:)) Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK 9K K K  Eq<E!*F ?2F :F BF JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G O;GBO>Pݛw,woA:<<@Y:K@:h/=9:e>y:H???U >?@`ॿz?@ï?ɨ:<<@:8;:=CyޕPBޕH I ==II R5٢ֽ +=9Q > G٣6Gy/^ > Nusing accuracyPremultiplier from config49v^?4YG$ iBʬ@D;3;oP4 A B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 249.60 m.Bj%M/;Jj%M/;5 ProNav: ac range: 249.600006 m, nav range: 176.177246 m, bearing: 331.265592 deg, approach rate: -0.415608 m/s, LOS rate: 0.153262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195547 deg. 2j5];:j5A@=HeadingCmd: 4.820522 target range: 249.600006 and range: 252.80 m. j9j9j9j9i9hAhAhAhAfffrfbf?ɛEāBE&< IM>II M0~<<ɚIiIIM> =I]i]EQi]6:)a)E+=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG ;JJJJJJO9JJGB O> I 3w,ßoA6E@Y6}U@6O4=96i >y6H7? ?@g}? @?`|?ɨ6E@62O;4yb)) -G٣)y-:; 5> ENusing accuracyPremultiplier from config9M49=c?M4Y=3$ i=BM%?M:MëU@=D=r;=;=W4Y ] AYZjFNOT Ignoring new targets: 249.60 m.Bj3;Jj3; ProNav: ac range: 249.600006 m, nav range: 175.997345 m, bearing: 331.331023 deg, approach rate: -0.432066 m/s, LOS rate: 0.157306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171680 deg. 2j;:jM>@HeadingCmd: 4.820105 target range: 249.600006 and range: 252.80 m. jjjjihhh)h5I ?<ɚiIx =IiPi;))EE*E"EEEsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265226*F- ?2F) :F) BF) JF) zK5 qALK5 9K1 K5 K5 GE rA GE rAGU : I G)B9O}>ww,oAJ{J@YJZ@Jms7=9J >yJHZ?#?WT ?@&@w즿@a??ɨJ{J@J;J;CyV,BV II^I^m5٢f f==9fN:Q j>hh jG٣hyn: n> rNusing accuracyPremultiplier from configpv49rh?z4Yr_$ irBxz~@rDrD;rE;rE_4  AJEZj)-FNOT Ignoring new targets: 249.60 m.Bj53;Jj53;E ProNav: ac range: 249.600006 m, nav range: 175.811111 m, bearing: 331.398912 deg, approach rate: -0.430856 m/s, LOS rate: 0.157229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179068 deg. 2jE;:jM\?@MHeadingCmd: 4.820234 target range: 249.600006 and range: 252.80 m. jQjQjQjQiQhQhYhYhYfafafarfabfe @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516533ɛ5ʁB5< 9=D>I9 =SB<ɚ9i9I=- =IEiEOiE;)A)I*F ?2F :F BF o0JF GIG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768313J#K+3 K+.K#K#"K#Jy J} Jy Jy Jy J} 9Jy Jy 8Rw,VoA%C@Y%GS@% 7=9%>y%H.%??Pf?%gq?`خ?ɨ%C@%;% G٣6Gy l  > $?I %Nusing accuracyPremultiplier from config!-49%_n?-4Y% $ i%ڤB5B-?5:5_5@%!D%;%;%f49 =d A9ZjaeFNOT Ignoring new targets: 249.60 m.Bjm>;Jju>; ProNav: ac range: 249.600006 m, nav range: 175.615509 m, bearing: 331.472387 deg, approach rate: -0.444032 m/s, LOS rate: 0.166981 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195858 deg. 2j1;:jA@ HeadingCmd: 4.820527 target range: 249.600006 and range: 252.80 m. j j jjihhhh1Bfffrf!bf%@<@ɛ́B2< 隕`(>I D<ɚiI<=Ii Oi:)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021761*F}?2Fy:FBFJFHu>I I IIBI =&I.I6IZ<:Iz FBImŨCJImŨCRIiZIm =bIm =jImņ4G $;Gy B O >yw,?oA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:20:02:06.3718 6TRx dataTimestamp_ set to:1736366527.568621:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273432B=@YB5M@Bn7=9B >yBH? z? Z@7? 릿`??ɨB=@B$;B>CyJBNIIV/IVw5٢^=ֽ ^b=9bQ b>`` bG٣dyf f>zKnKKn9KlKnKn zNusing accuracyPremultiplier from configtz49vr?~4Yvb$ ivդB|~w~@v)Dv6;v;vWm4 oB  A GEZj)5FNOT Ignoring new targets: 249.60 m.Bj5)?;Jj5)?;E ProNav: ac range: 249.600006 m, nav range: 175.454575 m, bearing: 331.533140 deg, approach rate: -0.442320 m/s, LOS rate: 0.167128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157610 deg. 2jMe;:jMJ<@UHeadingCmd: 4.819860 target range: 249.600006 and range: 252.80 m. jQjQjQjQiQhQhYhYhYfafafarfabfe@x @ɛMЁBM2«< Q]=IY ]C(F<ɚYiYI][=IeieNiew:)a)i*FM?2FI:FIBFMA3JFI I'iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524505G}p:G ?G>G B O >w,foA6,@Y6<@6 3=96? >y6H4m?݌?h `?~ }? ?ɨ6,@6݇;6=CyBBBIIJ IJq5٢z| ~F=9~Q ~> G٣y S  > Nusing accuracyPremultiplier from config49w?4Y~$ iϤB%%@2D ;: ;zt4) - A)UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 249.60 m.Bjm>;Jjm>;} ProNav: ac range: 249.600006 m, nav range: 175.274643 m, bearing: 331.601568 deg, approach rate: -0.438350 m/s, LOS rate: 0.166876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180681 deg. 2j} ;:j}?@HeadingCmd: 4.820262 target range: 249.600006 and range: 252.80 m. jjjjihhhhfffrfbf % @ɛӁB#< =I 0 BDAT read: Tx time:20:02:07.4767 *F?2F:FBF 5JF$Ping request sent.% Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:20:02:07.4759 H w>I  I Z II ^BI  =&I .I 6I w<:I F$w,DpA2$@Y24@2Z2=92f >y2H-?v?@p`Ez?=I@??ɨ2$@2;0y^BbI f=fa=mMb@Mb@Mb@iii i)iYm/$?T㥛 ?~jtxym&1?m=mĻmI A i)m AIiiymAI} I}1h5٢* A=9|sQ > G٣6Gy > Nusing accuracyPremultiplier from config49|?4Y$ iɤB1?:¯@ I 8 w,?1pAZ} @YZ@Zy+=9ZW >yZH!_?0? q0J?@1/q??ɨZ} @Z܇;Z G٣y > Nusing accuracyPremultiplier from config 49 򀘜?4Y $ i ĤB*@ DD ; >; 4-nB -G A-JEZjIUFNOT Ignoring new targets: 249.60 m.BjU1I;JjU1I;e ProNav: ac range: 249.600006 m, nav range: 174.917465 m, bearing: 331.743017 deg, approach rate: -0.441385 m/s, LOS rate: 0.175897 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177440 deg. 2jmo;:jm ?@uHeadingCmd: 4.820206 target range: 249.600006 and range: 252.80 m. jqjqjqjqiqhyhyhhfffrfbfG?ɛ؁Be< 隽w, KpAE:@YE@E%W%=9E>yEH~? ǔ?1<n?t?E?ɨE:@E[;Ay]ہB]I IMb@Mb@Mb@ )Y"~??MbPy3?L=` A C@)7AI@yAII[W5٢"4 %8=9%aQ %>!) -G٣yG > Nusing accuracyPremultiplier from config49?4Ya$ iBl4?:>@NDf;;4  AZjFNOT Ignoring new targets: 249.60 m.Bj P;Jj P; ProNav: ac range: 249.600006 m, nav range: 174.718445 m, bearing: 331.826554 deg, approach rate: -0.432837 m/s, LOS rate: 0.181886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226081 deg. 2j;:jF@HeadingCmd: 4.821054 target range: 249.600006 and range: 252.80 m. jjj!j!i!h!h)h)h)f)f1f1rf1bf5M>?ɛeہBm,G< imIi mdH<ɚiiqIu=Iui}޳Ni}E)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFHEy>IA IE( IIE6BIE =&IA.IE>D6IEU<:IEz FG ̌G B O >w,JdpA"Will construct direction to contact in vehicle frame from tetrahedron phase data."Ai"A>ђ@Y>f@>=9>8>y>H@ȝ?t??@)(? @Y ?@o?ɨ>ђ@>#;tt vG٣v6Gyz# z? Nusing accuracyPremultiplier from config|49~? 4Y~% i~B   @~VD~7:~:~4  AzK}pMK}9KyK}K}-' JJJJJ:J9JJJm;a-Jn;a5J;a5J;a5ZjQ]FNOT Ignoring new targets: 249.60 m.Bje=;Jjm=; ProNav: ac range: 249.600006 m, nav range: 174.568939 m, bearing: 331.889997 deg, approach rate: -0.390956 m/s, LOS rate: 0.166046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165680 deg. 2j;:jq=@HeadingCmd: 4.820000 target range: 249.600006 and range: 252.80 m. jjQjQjYiYhYhahhfffrfbf ?ɛUށBUQ.< Y]IY ](H<ɚYiYI]T6= I(iIeiOi#))*F%?2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge G9 BI Oe >9w,~pA6ϒ@Y6ߙ@6S=96K>y6H@D??T`?W??ɨ6ϒ@6 ;4y@BIIN'IN(t5٢V VM=9ZkQ Z>XX ^G٣\y^; ^> bNusing accuracyPremultiplier from config`f49bꌘ?f4Yb % ibBhjj@b_Db\ ;b ;b4l n Ap~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 249.60 m.Bj~f;Jj~f;% ProNav: ac range: 249.600006 m, nav range: 174.397675 m, bearing: 331.962958 deg, approach rate: -0.472552 m/s, LOS rate: 0.201511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194284 deg. 2j%K <:j-A@5HeadingCmd: 4.820499 target range: 249.600006 and range: 252.80 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfE8)?ɛBh$< )-0I) -zG<ɚ)i)I-=I5i5QPi=1 )9)9MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFo0JF"G=Ga=GG?G>GBOI> u$?Iu)i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257564HE }>IE C IE  IIE BIE =&IA .IA 6IE <:IE 5 FX%w,pAy~ЁBIMb@Mb@Mb@ )YI +? rh?Mb`?y94?C =; A )AIyAI(It5٢; :=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y% iBo4?:@iD!;p/;Q4   A IEZj15FNOT Ignoring new targets: 249.60 m.Bj=U;Jj=U;M ProNav: ac range: 249.600006 m, nav range: 174.214569 m, bearing: 332.045128 deg, approach rate: -0.415519 m/s, LOS rate: 0.186664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221955 deg. 2jM<:jU}E@]HeadingCmd: 4.820982 target range: 249.600006 and range: 252.80 m. jYjYjYjYiYhYhYhaheBfafifirfibfm@ɛB< 隭I -AG<ɚ)i1I5=I5i==AQi=i)9)9*F?2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509766zK.ELK9J=J=J9J9J=]:J=9J9J9J=:;J=<;J=2;J=3;KKK "&*0469@IMRTX]`bgu+=OG G B O > i Ii ,w,epA2̒@Y2ۙ@2/=92\;>y2H@p?Y?T@p?-`h ??ɨ2̒@2b;2=Cy:ρB:I @B=IF'IF(t5٢N] N`=9RTX ZG٣Z6Gy= E> }Nusing accuracyPremultiplier from configQ49Uꓘ?4YU-% iUB@UrDUE;U:U 4  AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761673Zj FNOT Ignoring new targets: 249.60 m.Bj LO;Jj LO;E ProNav: ac range: 249.600006 m, nav range: 174.054565 m, bearing: 332.117263 deg, approach rate: -0.401632 m/s, LOS rate: 0.181235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191789 deg. 2jE;:jE-A@MHeadingCmd: 4.820456 target range: 249.600006 and range: 252.80 m. jIjIjIjIiIhQhqhyhyfyfyfyrfbf?[@ɛB^< X.I F<ɚiIE=Ii(Ri=N&))!*F?2F:FBF1JFG m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013615G B O >2w,*opA Im=ђ@Ym@mM5=9m>ymH`7?@ ?ೋ s*? ը ??ɨm=ђ@mO;m G٣y: > Nusing accuracyPremultiplier from config49?4Y=#% iB1?:@|D;:;ܭ4  AZjFNOT Ignoring new targets: 249.60 m.BjX;JjX; ProNav: ac range: 249.600006 m, nav range: 173.872391 m, bearing: 332.199551 deg, approach rate: -0.418948 m/s, LOS rate: 0.189436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222307 deg. 2j<:jE@HeadingCmd: 4.820989 target range: 249.600006 and range: 252.80 m. jjj j i h h hh BfffrfbfS @ɛB< 9I F<ɚ i I B=I]ieSie_P)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266704jH<bH4<H>IC III BI =&I.I?D6I\<:I F*Fa2Fi:FiBFm1JFiGusA GutAG 9"G rAG rAGa Bq O >9w,LpAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:02:10.2250 TRx dataTimestamp_ set to:1736366531.601078checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519172U-В@YUߙ@U3=9U >yUH?S?(?#Zr#??ɨU-В@U ;U=CyeցBmII}I}l5٢< \=90Q > G٣y% > Nusing accuracyPremultiplier from config49ʚ?4Y)% iBzKmNK]9KKK`m|ue[TLE@;74-'&!   }yxwJ%J%J!J!J%s:J%9J!J!J%;J%;J%;J%;@D<<h4  AZjFNOT Ignoring new targets: 249.60 m.BjXF;JjXF;  ProNav: ac range: 249.600006 m, nav range: 173.720078 m, bearing: 332.268636 deg, approach rate: -0.381978 m/s, LOS rate: 0.173407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182623 deg. 2j ;:j ?@5HeadingCmd: 4.820296 target range: 249.600006 and range: 252.80 m. j1j1j9j9i9h9h9hAhAfAfAfArfIbfMO @ɛB< h#I )E<ɚiI= 1I9IUiUOSi]$)Y)Y*F2F :F BF P5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769691G jG B O >jA?w,~pA2Ғ@Y2@2> =92Ӽ >y2Hݣ??ҩ Q@?`࠱ '?'?ɨ2Ғ@2;0yBЁBBIDDIJIJn5٢R VZ=9V׺Q V>TX ZG٣Z6GyZ]J: Z> bNusing accuracyPremultiplier from config\b49^杘?f4Y^0% i^Bdff@^D^:^ :^4h n AnKEzB*** querying acoustic contact ***jxjxZj  FNOT Ignoring new targets: 249.60 m.Bjb;Jjb;- ProNav: ac range: 249.600006 m, nav range: 173.569183 m, bearing: 332.337263 deg, approach rate: -0.435244 m/s, LOS rate: 0.198122 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181246 deg. 2j-<:j-?@5HeadingCmd: 4.820272 target range: 249.600006 and range: 252.80 m. j1j1j1j1ihhhhfffrfbf@ɛ=B=4< 9=`I9 =}D<ɚAiAIEN=IMiMTiM%)I)q5Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 258.0 m (Round-trip 344.1 ms) speed -0.5 m/s ],DAT read: user:1064> eBDAT read: Tx time:20:02:11.3267 m$Ping request sent.m Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:02:11.3259 H >I C I II BI  =&I .I 6I 8<:I q FBIʩCJIʩCRIʔCZI =bI =jIʵG6'Fw,tqA6Ӓ@Y62@61 =96Y >y6H@쬸?t? S@UO?ͧs??ɨ6Ӓ@6o;6;CyjˁBjI}Mb@Mb@Mb@yyy y)yY}Zd;O?y&1?y&1|?y}~*?}`<}`;}A }p@)}MAI}`@yy}3AIIp5٢t ;=9Q > G٣y9 > Nusing accuracyPremultiplier from config49>?4YG8% iB*?:@D;;4  A addTargetRange:: Added new target pos. range: 258.000000 m, deltaT: 7.812527 s, deltaX: 5.199997 m, approachRate: 0.665597 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 249.60 m.Bj%GM;Jj%GM;5 ProNav: ac range: 249.600006 m, nav range: 173.400528 m, bearing: 332.415454 deg, approach rate: -0.386731 m/s, LOS rate: 0.179468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209986 deg. 2j5U;:j5C@=HeadingCmd: 4.820774 target range: 249.600006 and range: 258.00 m. j9j9jAjAiAhAhAhIhMBfIfIfIrfU p@bfU@0?ɛB; 隍HI C<ɚiI:=IiyUi7))E*F)2F):F)BF-`0JF)"G5=G5=EWill construct direction to contact in vehicle frame from tetrahedron phase data.JEJEJAJAJEp:JE9JAJAJE;JE;JE;JE;Ge Gm?Gm>zKuoOKu 9KqKuKuvurpkjbacca```YM@94223410//-..-.--)++**)(''#%%#"#"" !!Gi Bq O > 9 IA QLw,3qAyсB%IIWill construct direction to contact in vehicle frame from tetrahedron phase data.IX[5٢< I=9Q > G٣y > Nusing accuracyPremultiplier from config49]?4Y^?% iB@D::4  AZjFNOT Ignoring new targets: 249.60 m.Bj%dN;Jj%dN;5 ProNav: ac range: 249.600006 m, nav range: 173.243210 m, bearing: 332.488660 deg, approach rate: -0.387412 m/s, LOS rate: 0.180440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195002 deg. 2j5;:j5A@=HeadingCmd: 4.820512 target range: 249.600006 and range: 258.00 m. j9j9j9j9iAhAhAhIhQfQfQfYrfYbf]O?ɛBV; 隍 I vC<ɚiI:=IiIVic))*F-?2F):F1BF5_0JF1G= G="G=G=GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data..>Sw,MqA xI|̒@Ymܙ@)<94>yHw?N?R@>?㥿c[a??ɨ̒@P;騽>CyӁBI =Mb@Mb@Mb@ )YL7A`?Zd;O?:v?y+'?j<T<vA @)dAI@yAII#U5٢a< :=9Q > G٣6Gy >  Nusing accuracyPremultiplier from config 49 }?4Y F% i BN'?:@ D ; U; g4) - A1ZjQ]FNOT Ignoring new targets: 249.60 m.Bj]J;Jj]J;u ProNav: ac range: 249.600006 m, nav range: 173.077484 m, bearing: 332.567534 deg, approach rate: -0.371880 m/s, LOS rate: 0.177160 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212035 deg. 2ju*;:juD@}HeadingCmd: 4.820809 target range: 249.600006 and range: 258.00 m. jyjyjyjyiyhyhh!h%4Bf!f)f1rf1bf5 ?H>I III =&I.I@D6IF<:I~ FWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛBy; 隝؅I B<ɚiIf=IikWi'))*FM?2FI:FIBFQJFQG)B1OM>U Will construct direction to contact in vehicle frame from tetrahedron phase data.kYw,ZgqA6’@Y6Oҙ@61<96!>y6H'?@?Uh @`?@K褿z~??ɨ6’@6 ;6=CyFցBFIININe5٢Vˡ< Zs=9ZyQ Z?X\ ^G٣\y^s ^? fNusing accuracyPremultiplier from config`M49bʩ?U4YbL% ibBQ]Ը]@bDb) EC5Ge`wA}ZAWill construct direction to contact in vehicle frame from tetrahedron phase data. Y `wAy BL`w,?qA2rْ@Y2@2Z<92T>y2H ۸?̔? Fz橷?ud`6 v??ɨ2rْ@2w;2;CyNсBRIIVIVe5٢^ռ bJ=9b:Q b>dd fG٣dyfa; j> nNusing accuracyPremultiplier from confighr49j?r4YjS% ihtvzv@jDjIW;jW;j=4~mB ~ A~NEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 249.60 m.Bj-ae;Jj-ae;= ProNav: ac range: 249.600006 m, nav range: 172.804016 m, bearing: 332.698280 deg, approach rate: -0.419580 m/s, LOS rate: 0.200541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191154 deg. 2jE <:jEA@MHeadingCmd: 4.820445 target range: 249.600006 and range: 258.00 m. jIjIjIjIiIhIhIhQhQfQfQfrfbfz?ɛ%B-; )-I) -^e@<ɚ)i1I5=Ii(Xi. ))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fm?2Fi:FiBFmo3JFiGABIOm5> I+iH >I  I II BI &I .I 6I V<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260672svfw,CqA6@Y6F@6m<96>y6H5??@+{ ,?Dž Q@y??ɨ6@6-;4ynׁBnIuMb@Mb@Mb@qqq q)qYu+?/$? G٣6Gy(Q; > Nusing accuracyPremultiplier from config49?4YZ% iB?:h@D;;4  AZjFNOT Ignoring new targets: 249.60 m.BjB;JjB; ProNav: ac range: 249.600006 m, nav range: 172.650452 m, bearing: 332.771786 deg, approach rate: -0.355247 m/s, LOS rate: 0.170197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195902 deg. 2j;:jA@HeadingCmd: 4.820528 target range: 249.600006 and range: 258.00 m. jjjjihhhhCBff f rf bf5lc@ɛmB`-; 隕\I V?<ɚiI#@=IiYi ))EMe>EM>*F2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512711zK`MK9KKK}uiZO82+'"  $?I G% XG B) OM >lw,vqAZ@YZS@Z<9Z>yZH}??`h@J?`@?Y?ɨZ@Z;Z=CyfсBfIInInc5٢vr vU=9zWQ z>x| ~G٣|y~*=; >  Nusing accuracyPremultiplier from config 49@?4Y`% iBD@ǃD;);y4%nB % A%KEZjAMFNOT Ignoring new targets: 249.60 m.BjM2D;JjM2D;e ProNav: ac range: 249.600006 m, nav range: 172.514343 m, bearing: 332.837008 deg, approach rate: -0.357670 m/s, LOS rate: 0.171528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171007 deg. 2jeo;:je4>@mHeadingCmd: 4.820093 target range: 249.600006 and range: 258.00 m. jijijijiiqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766759hhhhfffqrfqbfu{l@ɛBn; I X8><ɚiI{=IiZi U޻))*F}?2Fy:FyBF05JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016744G ;3G B O >J% }J% |J% 0J! J% [j:J% @9J% ـ3J! a- @a- @a- @a- @sw,qA HILyUρBUIMb@Mb@Mb@ )YV-?y&1?y&1|?y|?`<`;EA @)zAIypAII7`5٢%; %+=9-Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=ѵ?M4Y=h% i=BM?M:MȶM@=уD={!;=;=4Q U AYZjy}FNOT Ignoring new targets: 249.60 m.BjA;JjA; ProNav: ac range: 249.600006 m, nav range: 172.342422 m, bearing: 332.917672 deg, approach rate: -0.360256 m/s, LOS rate: 0.169196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217416 deg. 2j<;:jD@HeadingCmd: 4.820903 target range: 249.600006 and range: 258.00 m. jjjjihhhhcBfffrfbf, @ɛB; νI b<<ɚiIm=IiđZi}Q)H->I-C I-II-BI- =&I).I)6I-<:I-_ FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:02:14.0780 TRx dataTimestamp_ set to:1736366535.380602checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270137)*Fq2Fq:FqBFu4JFqG}sA G}tAG UGq By O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521422yw,qAyޕɁBޝIIIm5٢ e=9Q > G٣6Gy > Nusing accuracyPremultiplier from config49|?4YXn% iB@؃D=;A; 4Y ]# AaZjzK5MK 9KKK FNOT Ignoring new targets: 249.60 m.Bj9;Jj9; ProNav: ac range: 249.600006 m, nav range: 172.214081 m, bearing: 332.978101 deg, approach rate: -0.344891 m/s, LOS rate: 0.162513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156610 deg. 2j;:j%<@ HeadingCmd: 4.819842 target range: 249.600006 and range: 258.00 m. jjjjih!h!h!h!f)f)f)rf)bf5`z @ɛ]B]OH; Y]PIY eF;<ɚaiaIe*==Imiu[iq)q)q I*F ?2F :F BF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 260.3 m (Round-trip 347.1 ms) speed -0.7 m/s ,DAT read: user:1065> BDAT read: Tx time:20:02:15.1767 $Ping request sent.w,jrA28 @Y2@2<92B>y2H7h??S``@? m쳜.??ɨ28 @2rt;2;CyBBBIIJ IJg5٢V Z]=9ZiaQ Z>X\ ^G٣\y^:< b> jNusing accuracyPremultiplier from configdj49fR?n4Yf[t% ifBlnQr@f߃Df!;f;f4}mB } AMEB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 260.299988 m, deltaT: 3.779100 s, deltaX: 2.299988 m, approachRate: 0.608607 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 249.60 m.Bj0?;Jj0?; ProNav: ac range: 249.600006 m, nav range: 172.080566 m, bearing: 333.040675 deg, approach rate: -0.356376 m/s, LOS rate: 0.167151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163053 deg. 2jm;:j=@5HeadingCmd: 4.819954 target range: 249.600006 and range: 260.30 m. j9j9j9j9i9h9h9hAhAfAfAfIrfMDp@bfM`=|?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:02:15.1759 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛMB :  I  U9<ɚ iI8=Ii[iRj))J{J{JJJd:J-9JJ*F?2F:FBFJF IG H= >I9  I9 I9 I9 &I9 .I9 6I= <:I= F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501299G B O >Ćw,drA6 @Y6^@6Ӫ<96>y6H}??V [?_v@O?@CyBIeMb@Mb@Mb@aaa a)aYe+?~jt?~jth?ye?e=eD;eA e@)edAIehAayeGAI}I}P5٢N; $=9cQ > G٣y': > Nusing accuracyPremultiplier from config49?4Yp|% iB ?:&@D;4;2 4 z AZjFNOT Ignoring new targets: 249.60 m.BjG;JjG; ProNav: ac range: 249.600006 m, nav range: 171.896545 m, bearing: 333.124197 deg, approach rate: -0.384482 m/s, LOS rate: 0.174692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226018 deg. 2j ;:j F@HeadingCmd: 4.821054 target range: 249.600006 and range: 260.30 m. jjjjihhhhMBff!f!rf!bf-&E?ɛ Bݕ: I  7<ɚiIE=Ii1[ix)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754520*F?2F:FBFJF"Gp=G=zK MK +9K K K     I ,iG V'SG B O >)w,;6rAb @Yb@bb<9b{ >ybH'? ?@l@i?Dg_?m?ɨb @b0N;bJ) J- J) J) J) J- 9J) J) q֓w,PrA 0I0e@Ye@eӦ<9eƒ>yeHn? 9?]a@?_Q?4?ɨe@eF;e>CyB}IMb@Mb@Mb@ZHRHAAH>I IIIBI =&I.IAD6It<:I FBIìCJIìCRIÓCZI =bI =jIáf5 )YCl?Zd;O?y;?j<=/A @)I~AyIIN5٢ %&=9%HQ %>)) -G٣)y5:; 5> =Nusing accuracyPremultiplier from config9E49=Ƙ?E4Y=ډ% i=BM?M:MhM@=D=;=;=4Q UAQmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509096ZjFNOT Ignoring new targets: 249.60 m.Bjz=;Jjz=; ProNav: ac range: 249.600006 m, nav range: 171.588547 m, bearing: 333.262550 deg, approach rate: -0.372552 m/s, LOS rate: 0.165655 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221229 deg. 2j_;:jcE@HeadingCmd: 4.820970 target range: 249.600006 and range: 260.30 m. jjjjihhhh:Bfffrfbfc?ɛB 隝PI 1<ɚiIv=Iin[i%l))*Fu?2Fy:FyBF}o0JFyPExceeded connect timeout, disconnecting.G T- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765191G B O >mw,krAR $@YR3@R%<9RF>yRHp.?`q?,R]*?@.Y G٣y; > Nusing accuracyPremultiplier from config49Gʘ?4Y% iB@D;a;4 vAZj  FNOT Ignoring new targets: 249.60 m.Bj>;Jj>;% ProNav: ac range: 249.600006 m, nav range: 171.457047 m, bearing: 333.320843 deg, approach rate: -0.376319 m/s, LOS rate: 0.166947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150199 deg. 2j-&;:j-;;@-HeadingCmd: 4.819730 target range: 249.600006 and range: 260.30 m. j1j1j1zK5LK5]9K1K5K5   RKE?JKAjAiAhIhIhIhIfQfQfQrfQbf]B? yIyɛB 隕nI (/<ɚiI=IiZ?[ibߦ))*F=?2F9:F9BF=_5JFAGQ GUrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013689GM7G) B1 OU >Fw,WrA2D1@Y2@@2<92>y2H?@،?W?@EIo ??ɨ2D1@2:;0Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265073yBcIIIm5٢E E5=9UC9Q U>YY eG٣e6Gymg; u> Nusing accuracyPremultiplier from configy49}Θ?4Y}% i}Bݱ@} D}";};}&4 AOEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 249.60 m.J#K+m3 K+S}-K#K#"K#JqJuuJqJqJqJu9JqJqBj:;Jj:;- ProNav: ac range: 249.600006 m, nav range: 171.285400 m, bearing: 333.396933 deg, approach rate: -0.367814 m/s, LOS rate: 0.163213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203684 deg. 2j5;:j5B@=HeadingCmd: 4.820664 target range: 249.600006 and range: 260.30 m. j9j9j9j9i9h9 Ihhhf!f)f1rfYbfeC@ɛB Q 隥I m*<ɚiI=IimZiH4))Ea>E>H% >I!  I% II% BI%  =&I! .I! 6I% <<:I% } F*FM ?2FI :FI BFM 0JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517873G ˴  nManaging dock network, ignoring radio surface power offGiBqO>Íw,rA::@Y:J@:b_<9:T>y:Hw?@?`>Qܺ?4 Y+`?Y?ɨ::@:;:;Cɸ@@@i@@iDD)D DID H)JOwAɹJX9HHLɺLiLILLIPiP PP)PT TTTɻTXXIX)\i\)\I\\ɼ\ \`yfBfPIMb@Mb@Mb@ )Yy&1?S㥫?~jtxy`%?/]=ĻA @)IyI5I5n5٢Em E8=9MQ m>qq uG٣qyu&; }> Nusing accuracyPremultiplier from configy49}DӘ?4Y}[% i}B%?:Y@}D}p;};}.4Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770368 8ALEZjFNOT Ignoring new targets: 249.60 m.Bj<;Jj<; ProNav: ac range: 249.600006 m, nav range: 171.109390 m, bearing: 333.473353 deg, approach rate: -0.379372 m/s, LOS rate: 0.164885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204681 deg. 2jQ;:jC@HeadingCmd: 4.820681 target range: 249.600006 and range: 260.30 m. jjjjihh!h!h%Bf)f)f)rf)bf-@ɛB2P2 /0;=隭HI &<ɚiI=Iil5Zi5:)) ]$?I]-izKuTLKu 9KqKuKu     *F2F:FBF@3JF ~G1 Q  Y y TBG} F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023660Gq By O >Dw,HrA>lB@Y>Q@>R<9>\>y>H`??<@!`?4??ɨ>lB@>Ɉ;>>Cy=xB=?IIMIMm5٢] ][=9ecFQ e>aa eG٣iym*; m> uNusing accuracyPremultiplier from configq}49u&ט?}4Yu% iuB9@uDu\ ;u ;u44 AZjEFNOT Ignoring new targets: 249.60 m.BjMV;JjMV;] ProNav: ac range: 249.600006 m, nav range: 170.963608 m, bearing: 333.536736 deg, approach rate: -0.430951 m/s, LOS rate: 0.187528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165497 deg. 2j]<:jek=@eHeadingCmd: 4.819997 target range: 249.600006 and range: 260.30 m. jajijijiiihihihqhqfqfyfyrfybf}`H @ɛBo 隵I #<ɚiIk=IiYi:))*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:02:17.9290  TRx dataTimestamp_ set to:1736366539.160645 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274028Gu}:G) BA Q IQ O >ܛw,nrA6F@Y6 V@6͐<96i>y6H @??>* "B?@4`??ɨ6F@6;6=CjHB<bHB4=HF>ID IFIIFځBID&ID.ID6IFI<:IF Fy-qB-6I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524956Mb@Mb@Mb@ )Y?&1?{Gzty,?P=ףEA )AIyAIIp5٢5 A=9YtQ > G٣6GyR:  > Nusing accuracyPremultiplier from config 49 ۘ?4Y % i BL-?:5%@ $D A; ; c<4) -A)ZjQFNOT Ignoring new targets: 249.60 m.BjGO;JjGO;- ProNav: ac range: 249.600006 m, nav range: 170.790482 m, bearing: 333.613481 deg, approach rate: -0.408383 m/s, LOS rate: 0.181215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205654 deg. 2j5;:j5)C@=HeadingCmd: 4.820698 target range: 249.600006 and range: 260.30 m. j9j9j9j9i9h9hAhAhEBfAfIfIrfQbfU" @ɛ"B׭X  ۰I  S <ɚ i I(=IiXio:))EI*F?2F:FBF_0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: Range 10 to 50 : 261.0 m (Round-trip 348.1 ms) speed -0.3 m/s ] ,DAT read: user:1066> e BDAT read: Tx time:20:02:19.0267 m $Ping request sent.m Je Je tJa Ja Je p:Je 9Ja Ja Je ;au Je ;au Je :au Je :au 9 IE .iƻw,crAzK.LK.+9K,K.K.BcE@YBT@B<9B>yBH`7?@8? &w??<_?@?ɨBcE@BP;B G٣y   > Nusing accuracyPremultiplier from config=49ߘ?=4Yz% iB9E9E@,Dq;;B4I MBAMOE addTargetRange:: Added new target pos. range: 261.000000 m, deltaT: 3.784661 s, deltaX: 0.700012 m, approachRate: 0.184960 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 249.60 m.BjdH;JjdH; ProNav: ac range: 249.600006 m, nav range: 170.638992 m, bearing: 333.680897 deg, approach rate: -0.393334 m/s, LOS rate: 0.175198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177614 deg. 2jy;:j&?@HeadingCmd: 4.820209 target range: 249.600006 and range: 261.00 m. j j j j i h h hQhQfQfYfYrfePp@bfe?2?ɛE%BM폼 im:Ii m[<ɚqiqIut=I}i}6SXi}$:)y)ymWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:20:02:19.0259 Ed=*F 2F :F BF 05JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G :GqByO>Üw,2sA y}H@? ? `!?_s?`?ɨ}A@}߈;yy5`B=!III:\5٢ =91Q > G٣y' > Nusing accuracyPremultiplier from configy49}u嘜?4Y}L% i}~BK@}8D};};}L4 eAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 249.60 m.BjU;JjU; ProNav: ac range: 249.600006 m, nav range: 170.411163 m, bearing: 333.782823 deg, approach rate: -0.415917 m/s, LOS rate: 0.186322 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.281371 deg. 2j;:jM@HeadingCmd: 4.822020 target range: 249.600006 and range: 261.00 m. jjjjihhhhfffrfbf ?H!I%C I%II%BI% =&I!.I!6I%E<:I% FɛM(BM[x IMǾIQ U<ɚQiQIU=I]i]{Wi]:)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.EQ9=*FM?2FI:FIBFM_0JFIG Gi B O >2ʜw,P*sA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002170^)@Y^;9@^<9^,=y^H[??@`?*8`㰾??ɨ^)@^Ĉ;^=CyfQBjIeMb@Mb@Mb@aaa a)aYeQ?p= ף?Mb`ye\/?e=ee/A e@)edAIeAayaI}I}\5٢ [=91Q > G٣6Gy| > Nusing accuracyPremultiplier from config49阜?M4Y% i|BM&0?U:UIU@@D|<^<R4Y ]AYJ}yJ}qJyJyJ}]:J}q9JyJyJ};J};J}:J}:ZjFNOT Ignoring new targets: 249.60 m.BjB;JjB; ProNav: ac range: 249.600006 m, nav range: 170.261749 m, bearing: 333.847792 deg, approach rate: -0.390937 m/s, LOS rate: 0.170137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170263 deg. 2j;:j>@ I-HeadingCmd: 4.820080 target range: 249.600006 and range: 261.00 m. j)j)j)j1i1h1h1h1h=Bf9f9f9rf9bfE ?ɛ*Br= 隵uپI C <ɚiI=IiFWi憺))EE*E"EzKe}\KKeh9KaKeKe "$   EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252977*FE ?2FA :FA BFE 1JFA G GaBqO> =Ҝw,cIsA6"@Y6p2@61/<96\=y6H%??`# 1@QU?`E[M??ɨ6"@6ֈ;6PB> IIJIJob5٢Vª V6=9VXX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49b?f4Yb% ibzBdfej@bJDb:bL:bZ4l nAlZj|Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504864FNOT Ignoring new targets: 249.60 m.BjQ`;JjQ`;- ProNav: ac range: 249.600006 m, nav range: 170.073181 m, bearing: 333.930234 deg, approach rate: -0.448070 m/s, LOS rate: 0.196114 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222786 deg. 2j-<:j5E@5HeadingCmd: 4.820997 target range: 249.600006 and range: 261.00 m. j1j9j9j9i9h9h9hAhAfAfAfIrfIbfM`R?ɛu-Bud y}ݾIy }U<ɚyiI.=IiWir)) *F?2F:FBF`0JF IG'HGYBOF>ZH}?ARH}?AH>I IyIIBI&I.I6I'<:Iq FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7583055Z؜w,JcsA6S@Y6&@6*<96=y6H@ɺ?@?@7 }?`n@œ??ɨ6S@6.;6=CyBCBBIMb@Mb@Mb@ )YM?~jt?yn2?=A @) AI Ay=AIIp5٢,m  7=9 TQ  >  G٣y~O > -Nusing accuracyPremultiplier from config!-49%?-4Y%% i%xB52?=:==@%TD%9;%8;%b4A ERAENEZjiuFNOT Ignoring new targets: 249.60 m.Bj}[;Jj}[; ProNav: ac range: 249.600006 m, nav range: 169.893921 m, bearing: 334.016105 deg, approach rate: -0.400464 m/s, LOS rate: 0.192037 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233070 deg. 2j<:jG@HeadingCmd: 4.821177 target range: 249.600006 and range: 261.00 m. jjjjihhhhBfffrfbf@zu?ɛ0Bj 隽I  j<ɚiI=IiNVilC))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008885*F?2F:FBFJFJexJeuJe1JaJeZ:Je9Je3JaJe ;Je ;Jeg:Jeh: I/izK MK]9KKKExwM/ G ݻG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263670ޜw,6|sAR@YR[*@R/$<9RDC>yRH?@ߓ?@̋ .?@V9d ?@\?ɨR@Rp;Py^>B^IIf9If"|5٢nɼ n_=9r:Q r>pp vG٣v6Gyv: v> zNusing accuracyPremultiplier from configx~49zR?4YzP% izwB@z\DzT ;z ;zh4  vAZjFNOT Ignoring new targets: 249.60 m.BjP;JjP; ProNav: ac range: 249.600006 m, nav range: 169.747467 m, bearing: 334.086473 deg, approach rate: -0.379708 m/s, LOS rate: 0.182600 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186473 deg. 2j;:jk@@%HeadingCmd: 4.820364 target range: 249.600006 and range: 261.00 m. j!j!j!j!i!h)h)h)h)f1fQfQrfQbf]@ɛ2Bۼ I ;ɚiIb=IiVi^))EN>E>*FE?2FA:FABFEo0JFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512920G OP $?I Gi By O >ow,JΖsAHAIA IE`IIEBIA&IA.IA6IE{<:IE FBICJICRIZI =bI =jI95yޱޱEMb@Mb@Mb@AAA A)AYE|?5^?J +?Mb`?yE2?EH=E;EA A)EzAIE AAyAI]I]m59uQ u>yy }G٣yy} }> Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.76528949?4Y% ivBb3?:@fD; ;p4 B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 249.60 m.Bj#Y;Jj#Y; ProNav: ac range: 249.600006 m, nav range: 169.560181 m, bearing: 334.173975 deg, approach rate: -0.405871 m/s, LOS rate: 0.189835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.237979 deg. 2jH<:jG@HeadingCmd: 4.821262 target range: 249.600006 and range: 261.00 m. jAjAjAjAiAhAhIhIhMBfIfQfQrfQbfUs@ɛ4B9ż QI |P;ɚiIc =IiVi"))*F?2F:FBFJFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019748G *G B O >w,ؚsAJJwJ0JJJ9Jـ3JJJJ: $I$J:vD@Yv,@v)<9v>yvH@?Ȓ? {J$ii uG٣qyuXT: u> Nusing accuracyPremultiplier from configy49}?4Y}S% i}uB@}nD}":}:}Vw4 xAZjFNOT Ignoring new targets: 249.60 m.Bjl;Jjl; ProNav: ac range: 249.600006 m, nav range: 169.408813 m, bearing: 334.244936 deg, approach rate: -0.441310 m/s, LOS rate: 0.207071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188258 deg. 2j<:j@@HeadingCmd: 4.820395 target range: 249.600006 and range: 261.00 m. jjjjihhhhffQfQrfYbf]W @zKuMKu+9KqKuKu ɛ6Bu 隥HI ;;ɚiIV=Ii;Vi+))*FU?2FQ:FQBF]`5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:02:21.7823 TRx dataTimestamp_ set to:1736366542.944647checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269864Gb(G B O >f~w,usAR@YR_'@Rom<9Rg>yRHκ? R?  '?LiH??ɨR@RL;R= nT=9nQ r>pp rG٣r6Gyv v> zNusing accuracyPremultiplier from configx~4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5208379z? 4YzW% ix  ˲ @zwDzMu;zu;z~4 %.A!ZjAMFNOT Ignoring new targets: 249.60 m.BjMO[;JjMO[;] ProNav: ac range: 249.600006 m, nav range: 169.251053 m, bearing: 334.319258 deg, approach rate: -0.406609 m/s, LOS rate: 0.191735 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198360 deg. 2je<:jeB@mHeadingCmd: 4.820571 target range: 249.600006 and range: 261.00 m. jijijijiiihihihqhqfqfyfyrfybf}X @ɛ8B 隭I ;ɚiIs=IixVir*;)) 9I9*F?2F:FBF1JFjHAbHE<HaIa IeSIIeBIa&Ia.Ia6Ie<:Ie FGpGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776027B O پw,hsA2@Y2 #@2ޒY<92>y2HB?? ?`'2@M? ?ɨ2@2h;2;Cy>JBBI=Mb@Mb@Mb@999 9)9Y=m?Mb?~jtx?y=.?===;=/A =@)= AI=A9y= AIU(IUt5٢e`< e?=9m1qq uG٣qy}v }> Nusing accuracyPremultiplier from config49g?4Y% i.?:䵿@Dt;F;4lB APEZjFNOT Ignoring new targets: 249.60 m.Bj#\;Jj#\; ProNav: ac range: 249.600006 m, nav range: 169.086655 m, bearing: 334.401125 deg, approach rate: -0.386102 m/s, LOS rate: 0.192459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221026 deg. 2j<:j[E@HeadingCmd: 4.820966 target range: 249.600006 and range: 261.00 m. jjjjihhhhBfffrfbf@ɛ-:B5ÔӼ 15I1 5};ɚ9i9I=\=IiVi BDAT read: Tx time:20:02:22.8768 %$Ping request sent.%i܋D?B?:publishing transmit ping time!Fpublishing direction and range info9Xsɮ?1x? y )Ii )I I0iinSP)Qiƿfؿ)IizK+KK9KKK?RUQMKGEA?GV'S) ;C= GQ q Gy B O Y y B Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,2;sA6 @Y6V@6?<96Q{>y6Hv?@L?`߹?@<.ㇿ`C??ɨ6 @6`;4yNCBNI\\IbIbZ5٢ S=9鈻Q >    G٣ y: 5> =Nusing accuracyPremultiplier from config9E49= ?E4Y=% i9AMM@=D=:=:=a4q uJAqkEAϜ?kE*} 2 kA kEsA:kECBkEӂCZkEmZ@"E?=*a@M`@f°fEXsɮ?1x? JkE܋D?RkEB?*E?S#d@f@]qldE_w,atAHxIx IxIxIz =&Ix.Ix6IzO<:Iz FyJBImWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y/$?~jt?I +?y,?<94<EA @) AI7AyAIId5٢Z= 1=9Q > G٣6Gy > Nusing accuracyPremultiplier from config49E ?4Y& iwB*,?:@D';%;^4 AB*** querying acoustic contact ***jjZj-FNOT Ignoring new targets: 263.40 m.Bj-6b;Jj-6b; ProNav: ac range: 263.399994 m, nav range: 177.691101 m, bearing: 335.370507 deg, approach rate: -0.390787 m/s, LOS rate: 0.197768 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226147 deg. 2j<:jF@HeadingCmd: 4.821056 target range: 263.399994 and range: 263.40 m. jjjjihhhh,Bfffrfbf?ɛU>BUH Y]IY }n;ɚyiI'=IiViP|))*F2F:FBF!JF!% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.GE G B! Oe > I w,1tA6@Y6}@6zX <96=y6H@(? T?``᷹?@kkd?`?ɨ6@6;6w,KtA2@Y2@2;92y=y2H ?`˜?A@?`b哿)|`^??ɨ2@2;2=Cy>WB>I B=Bp=IFIFT5٢Nb&= RO=9R`rQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb49Z?b4YZ& iZzB`bb@ZDZ ;Z2 ;Z?4jmB jAhrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.471692Zj  FNOT Ignoring new targets: 263.40 m.BjlQ;JjlQ;% ProNav: ac range: 263.399994 m, nav range: 177.426041 m, bearing: 335.505632 deg, approach rate: -0.358144 m/s, LOS rate: 0.183093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192240 deg. 2j%O;:j%>A@-HeadingCmd: 4.820464 target range: 263.399994 and range: 263.40 m. j)j)j)j)i)h1h1h1h1f9f9f9rfAbfE_?ɛmABm im@Ii uב;ɚqiqIu =I%i%%Wi%1e)!)) IJEzJEwJAJAJE`:JE9JAJA*F2F:FBF0JFZH@ARH@AHI I`IIBI&I.I6I2<:Iz FGXWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724295G B O5 >w,ԘetA6b @Y6@6+;96yX>y6Hd?&? 翿*??@h{??ɨ6b @6C];6?CyB^BBIEMb@Mb@Mb@AAA A)AYEE?Q?=9uGQ u>yy G٣6GyH; > Nusing accuracyPremultiplier from config49d?4Y/& i|B&?:7@D;c;Ȩ4 tAZjFNOT Ignoring new targets: 263.40 m.Bj&K;Jj&K; ProNav: ac range: 263.399994 m, nav range: 177.273453 m, bearing: 335.581861 deg, approach rate: -0.355206 m/s, LOS rate: 0.177606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204071 deg. 2j;:jB@HeadingCmd: 4.820671 target range: 263.399994 and range: 263.40 m. jjjjihh!h!h%?Bf)f)f1rf1bf@u?ɛ CB t^μ -I1 5x;ɚ1i1I5!=I=i=DWi=)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976210*F?2F:FBF 0JF  I1izKM X8MKM 9KI KM KM GQ G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229089 w,ttAf @Yf[@f};9fK>yfH o??"@i?R&wK?3?ɨf @fM;f! %G٣!y-9 5> =Nusing accuracyPremultiplier from config1E495?M4Y5 & i5~BIU2U@5D5hH;5H;54Y ]JAYZjFNOT Ignoring new targets: 263.40 m.BjUJ;JjUJ; ProNav: ac range: 263.399994 m, nav range: 177.134506 m, bearing: 335.651494 deg, approach rate: -0.352705 m/s, LOS rate: 0.176895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184246 deg. 2j;:j@@HeadingCmd: 4.820324 target range: 263.399994 and range: 263.40 m. jjjjihhhhfff9rfQbf]`K@ɛDBG 隥I )r;ɚiI!=IiZWi))*Fi2Fq:FqBFu`5JFq"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479580 }$?IGsGa Bq J J yJ 1J J J 9J 3J O > &w,]tAHN>IL INlIINBIN =&IL.IL6IN9<:IN~ F@YI @ ;9!>yH`Ŗ??D`5?{Tt`k?@3?ɨ@V;騱ygB)IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739604Mb@Mb@Mb@ )YPn?~jt?~jt?y$?<D<rA v@) AIAyAIIKk5٢-q< 5,=95Q 5>99 =G٣9y=: => MNusing accuracyPremultiplier from configIU49M?U4YM(& iMBU=$?U:]L]@MDMj;MQ;M4a e-Aa}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 263.40 m.BjH;JjH; ProNav: ac range: 263.399994 m, nav range: 176.972687 m, bearing: 335.734461 deg, approach rate: -0.341709 m/s, LOS rate: 0.175359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.224313 deg. 2j;:jE@HeadingCmd: 4.821024 target range: 263.399994 and range: 263.40 m. jjjjihhhhbBfffrfbf@ɛFBR̼ 隍޾I  X;ɚiI:!=IiaWi_))*F?2F:FBFJFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994682G ! i Im 2iG B O >_3,w,^,tAJ J 6@Y6c!@6 ;96;>y6H ? ? {M@-F? K> pq?`?ɨ6@6;6;CyRpBV5II^"I^q5٢fjl= f|=9f OQ j ?hh jG٣j6Gy~9  ?  Nusing accuracyPremultiplier from config 49 ?4Y J.& i BH=@ ĄD p; ; 4A EAAZjFNOT Ignoring new targets: 263.40 m.Bj-E;Jj-E; ProNav: ac range: 263.399994 m, nav range: 176.860046 m, bearing: 335.792406 deg, approach rate: -0.334886 m/s, LOS rate: 0.172384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149133 deg. 2j;:j;@HeadingCmd: 4.819712 target range: 263.399994 and range: 263.40 m. jjjjihhhhf f f rf bf @R @ɛGB ־I D;ɚiIT"=IiGdWiM[))zK-2QKK-9K)K-K-BK9:K=rA*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:02:25.6368 TRx dataTimestamp_ set to:1736366546.988087checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248090GV'SGi Bq O >3w,utAZ@YZ%@Z" B;9Zwy>yZH?@d?+b@n?ːAhY??ɨZ@ZLϋ;Z G٣y(: > Nusing accuracyPremultiplier from config49"?4Yu5& iB8@̈́D;X;'4lB ARE IZj%FNOT Ignoring new targets: 263.40 m.Bj%yL;Jj%yL;5 ProNav: ac range: 263.399994 m, nav range: 176.713867 m, bearing: 335.867764 deg, approach rate: -0.346480 m/s, LOS rate: 0.178764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201447 deg. 2j=^;:j=B@EHeadingCmd: 4.820625 target range: 263.399994 and range: 263.40 m. jAjAjAjAiAhAhIhIhIfIfIfQrfQbfU @JaJesJe0JaJaJe9Jeـ3Jaɛ5IB=KuԼ AE۾Ia mp+;ɚiiiIm;"=Iui}WWi}3>)y)y*F%?2F!:F!BF!JF!G) G-tAjH<bHp<H>IC IIIBI =&I.I6I!<:Ik FBIiJIiRIiZIm =bIm =jImƤ 5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:02:25.6368 LVL= 23920, 23393, 15970, 29123, AGC= 66, IDX= 472,-0.09,-2.332,-0.130,-1.624,-2.102, PHS=-0.141, 2.020, 0.476, RAW= 313.9, -23.4, CAL= 314.8, -34.9, ROT= 195.2, 34.9 Ygot valid direction response: 20:02:25.6368 LVL= 23920, 23393, 15970, 29123, AGC= 66, IDX= 472,-0.09,-2.332,-0.130,-1.624,-2.102, PHS=-0.141, 2.020, 0.476, RAW= 313.9, -23.4, CAL= 314.8, -34.9, ROT= 195.2, 34.9 PDAT read: Bearing 195.2, 34.9 (Local) ~Local bearing/azimuth received: Bearing 195.2, 34.9 (Local)  DAT read: Range 10 to 50 : 266.8 m (Round-trip 355.8 ms) speed -0.4 m/s  ,DAT read: user:1068>  BDAT read: Tx time:20:02:26.7268 % $Ping request sent.% )ٵqIٵBiٵNbٵG@ٵF>ٵP@ٵѾ ڵFѯ@)ڵIIڵ^ Z@iڵI?ڱڱ۵@Vfh0?̿_ٿ)۵'9I۵>i۵׈G?۵O4?۱۱M :publishing transmit ping time! M Fpublishing direction and range infoر9ص鉀TQ?@%? tXyرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵@Vfh0?̿_ٿ)۱I۱i۱۱۱۱G% ]UG B O >`E9w,tAy~{BBI = =Mb@Mb@Mb@ )Y+?X9v?Q?y?<u<A @)IAy(AIIk5٢5o= 54=9=Q =>99 EG٣AyE E> uNusing accuracyPremultiplier from configq}49uh&?}4Yu<& iuB}?}:@uքDun;u;u+4 A Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:02:26.7260 kcWӜ?kO3 k k?tA:kfCBkCZk&X@"TS\ b@f~a@2e鉀TQ?@%? tXJk׈G?RkO4?*g>f@p_0(ed6cvtHX?';޿.o"k *k1CkӜ?k$53 2kkeΜ?kJ 6. kk3Ck:@ addTargetRange:: Added new target pos. range: 266.799988 m, deltaT: 3.787256 s, deltaX: 3.399994 m, approachRate: 0.897746 m/s, rangeRepo size: 4  Added new target pos. range: 266.799988 m, bearing: 324.695762 deg, lat: 36.906593 deg, lon: -122.122261 deg, deltaT: 3.787256 s, deltaX: 3.399994 m, approachRate: 0.897746 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 266.80 m.BjJj I  ProNav: ac range: 266.799988 m, nav range: 179.844604 m, bearing: 334.935713 deg, approach rate: 0.000000 m/s, LOS rate: 0.178764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235039 deg. 2j :j\G@HeadingCmd: 4.821211 target range: 266.799988 and range: 266.80 m. jjjjihhhAhEgBfIfIfIrfM̬p@bfM`?ɛKBǼ  оI ;ɚiI>(#=IiKWiA))*F?2F:FBFJFzK JK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.G /G B O >xv@w,uAB @YB @Bd 99Bp)>yBH`O??`B _?mŋ!3@Y??ɨB @Bb;B=CyNwBN=IIV IVh5٢^? ^o=9bQ b?dd fG٣f6Gyj j? nNusing accuracyPremultiplier from configlz49n)?z4YnjB& inB|Ե @n݄Dn;n;n4 AZj9EFNOT Ignoring new targets: 266.80 m.BjMK;JjMK;] ProNav: ac range: 266.799988 m, nav range: 179.727768 m, bearing: 334.991662 deg, approach rate: -0.372100 m/s, LOS rate: 0.178301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143141 deg. 2j];:j]8:@HeadingCmd: 4.819607 target range: 266.799988 and range: 266.80 m. jjjjihhh!h!f!f)f1rf1bf=ǩ?ɛMB 隭վI ;ɚiI |#=IiOWifg))*Fq2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data. AIIG=HNG B1 OU >H >I  I II BI  =&I .I 6I (<:I o FFw,ͫuA@Y}#@i͖9e>yH V??*YZ~?R?-l? J?ɨ@+;騙y޵{B޽CIWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYU-? ףp= ?{Gz?yU5?UQ8=U# G٣yI: > Nusing accuracyPremultiplier from config49:-?4YI& iB?:@D';;4 AmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 266.80 m.Bj>3;Jj>3; ProNav: ac range: 266.799988 m, nav range: 179.564728 m, bearing: 335.066009 deg, approach rate: -0.343341 m/s, LOS rate: 0.156707 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198429 deg. 2j;:j B@HeadingCmd: 4.820572 target range: 266.799988 and range: 266.80 m. jjjjihhhhBfffrfbf;*?ɛ=OB=/Ѽ 隅ZӾI H:ɚiI#=IiKWiL))*FU?2FY:FYBF]_0JFY"GaGep= Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. I II G g{G B O >J yJ uJ 1J J ]:J 9J 3J J ;a J ;a J g:a J h:a 4Lw,{5uAz}G %A MPYIyMs BE/ @YE@E:9E>yEHb? ?`@VPC? Wg?M???ɨE/ @E~S;E8CyލuBލ:IAIIM5٢7 V=9Q > G٣yL > Nusing accuracyPremultiplier from config490?4YO& iBᲿ@DP:q:4 mB AOEZjFNOT Ignoring new targets: 266.80 m.Bj=;Jj=; ProNav: ac range: 266.799988 m, nav range: 179.429382 m, bearing: 335.128098 deg, approach rate: -0.361417 m/s, LOS rate: 0.165923 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161593 deg. 2j;:j<@HeadingCmd: 4.819929 target range: 266.799988 and range: 266.80 m. jjjjihh h)h)f1f1f1rf1bf=jSw,iSOuA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750142:y @Y:0@:#9:>y:H?S?@A 9? C@\\ ^G٣\ybW; b> jNusing accuracyPremultiplier from confighn4 pIr3i9j4?v4YjU& ijBtvv@jDj"{;j{;j.4~lB ~A~QEZj%FNOT Ignoring new targets: 266.80 m.Bj%T?;Jj-T?;5 ProNav: ac range: 266.799988 m, nav range: 179.299408 m, bearing: 335.187549 deg, approach rate: -0.365431 m/s, LOS rate: 0.167273 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153670 deg. 2j=;:j=;@EHeadingCmd: 4.819791 target range: 266.799988 and range: 266.80 m. jAjAjAjAiAhIhIhQhQfQfYfYrfYbf] ?ɛESBE^ AE߾II M{:ɚIiIIM.$=I]i]=Wi]+ ͺ)Y)Y*F?2F:FBF`5JFZH?ARHAAH>I IIIƁBI&I.I6I<:IF FGԑ%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005585GBO>Yw,34iuAypB5ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254330IMb@Mb@Mb@ )Y$C?&1?I +?y?P=94<EA $@) AIAy AII+p5٢G =9Q  >    G٣ 6Gy > Nusing accuracyPremultiplier from config%498?%4Y]& iB-?-:--@D;; 41 5A9ZjaeFNOT Ignoring new targets: 266.80 m.Bjm=4;Jjm=4;} ProNav: ac range: 266.799988 m, nav range: 179.119797 m, bearing: 335.268004 deg, approach rate: -0.351428 m/s, LOS rate: 0.157576 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.216792 deg. 2j}I;:j}D@HeadingCmd: 4.820892 target range: 266.799988 and range: 266.80 m. jjjjihhhhBfffrfbfr@ɛUB ;߼ 隍I :ɚiIk$=IJsK{3 K{.KsKs"KsJxJvJ0JJZ:Jϣ9Jـ3JJ ;J ;J:J:iWiaC))*F?2F:FBF0JFG GsAzK &~JK 9K K K     %S5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509134G ˴G B O >`w,uAN;@YNJ@N&49N9>yNH??@[@( û?@ фf? Fk? K?ɨN;@N;L)TIV+wAVDT TXZ;wAXiX\i\^wA)\ \I\ `)bvAb bF`ddidIddIdih hh)hh lllllnҁAIl)pippyveBv(I |~=IIen5٢- -}=9-;JQ 5 ?99 =G٣9yE#< E ? MNusing accuracyPremultiplier from configIU49MHE >IE C IA IA IE  =&IA .IA 6IE 7<:IE | Fgw,IuAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010430mF@YmxV@mD9mh >ymH`E??f"?@B`h?@u??ɨmF@m";m=Cy-[B-IEMb@Mb@Mb@AAA A)AYECl?+?~jtx?yEd?E=E;EA EQ@)AIE~AAyAI] I]Ng5٢m . m+=9m Q m>qq uG٣u6Gy}F; }> Nusing accuracyPremultiplier from config497@?4Ymj& iB?:鲿@D0;8;4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 266.80 m.Bj6;Jj6; ProNav: ac range: 266.799988 m, nav range: 178.841187 m, bearing: 335.395421 deg, approach rate: -0.343462 m/s, LOS rate: 0.159837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204661 deg. 2jc;:jC@HeadingCmd: 4.820681 target range: 266.799988 and range: 266.80 m. jjjjihhh!h%uBf)f)f)rf)bf5* @ɛZB? 隭I 2ɚiIc%=IiUi@;))EA*F?2F:FBFK5JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:20:02:29.4877 5 TRx dataTimestamp_ set to:1736366550.764717= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264417 I II J yJ J J J ]:J J J J ;J ;J J G- g:G B O- >mw,_`uA6M@Y6\@6Z96&>y6Hv?@?k`+ mU?ZCk?y?Ի?ɨ6M@6m;6yy }G٣y!; > Nusing accuracyPremultiplier from config49yC?4Y;p& iBѲ@DZ;Z;4 ATEZjFNOT Ignoring new targets: 266.80 m.Bj7;Jj7; ProNav: ac range: 266.799988 m, nav range: 178.714401 m, bearing: 335.454469 deg, approach rate: -0.343511 m/s, LOS rate: 0.160100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152458 deg. 2j;:j;@ HeadingCmd: 4.819770 target range: 266.799988 and range: 266.80 m. j j j j i hhhhff!f)rf)bf-E @ɛ]\B]/! Y]IY etL$ɚaiaIe%&=zKmLKm9KiKm Km}}|wpf]ZTQNC952///.,+)'%&%$"!!  '03/-'# Imi}(Ui}&;)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515410*F%?2F!:F!BF-_0JF)G:Ga Bi O > Y I] 4ie Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: Range 10 to 50 : 267.6 m (Round-trip 356.8 ms) speed -0.5 m/s } ,DAT read: user:1069> } BDAT read: Tx time:20:02:30.5768  $Ping request sent. yrHǼ?@7?Zc ?`k?q??ɨr?W@r+;r>CyzJB~IIMIMhj5٢e˥ eL=9eSQ e>ii mG٣iyuL; u> Nusing accuracyPremultiplier from config49G?4Yv& iB@D:; 4  Ae addTargetRange:: Added new target pos. range: 267.600006 m, deltaT: 3.781324 s, deltaX: 0.800018 m, approachRate: 0.211571 m/s, rangeRepo size: 4 ZjaeFNOT Ignoring new targets: 266.80 m.BjmA2;JjmA2; ProNav: ac range: 266.799988 m, nav range: 178.574783 m, bearing: 335.519520 deg, approach rate: -0.334227 m/s, LOS rate: 0.155844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170490 deg. 2j;:j">@HeadingCmd: 4.820085 target range: 266.799988 and range: 267.60 m. jjjjihhhhfffrfp@bf`\?ɛ=^B= 9= IA Ee#ɚAiAIE&=IUiU5TiUl;)Q)YjH<bH<H>IC IIIBI =&I.I6I<:IL F*F?2F:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:02:30.5760 G .A;Ga Bi O >zw,luA6Y@Y6`i@6ԃ96>y6Hܼ?@? D@`C?N zp?P??ɨ6Y@6v;6=C IWill construct direction to contact in vehicle frame from tetrahedron phase data.ye6BeI Mb@Mb@Mb@    ) Y ʡE?{Gz?y ? #=  rA `@) zAI A y AII)M5٢- 5%=95LQ 5>99 =G٣=6Gy=&: E> MNusing accuracyPremultiplier from configIU49MK?U4YM~& iMBU?]:]^]@M'DM<;M;M94aJuwJusJu1JqJuW:Ju9Ju3JqJuz;Juz;Ju<:Ju>: AZjFNOT Ignoring new targets: 266.80 m.Bj<;Jj<; ProNav: ac range: 266.799988 m, nav range: 178.402298 m, bearing: 335.599783 deg, approach rate: -0.354728 m/s, LOS rate: 0.165227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.216209 deg. 2j;:jD@ HeadingCmd: 4.820882 target range: 266.799988 and range: 267.60 m. j j j j i h hhh;Bfffrfbf-w,ivA6L@Y6[@6796dF=y6Hn??)j1c?Iဿqv? Gt?@?ɨ6L@6;6xA@i@@i@@)@ DID D)FhwAɹFFgFDHɺJ xAiHIHHILiL LL)LP PPPɻPTTIT)TiT)TITXɼX XXy^'B^IIfIfX5٢v= z~=9Q  ?   G٣yY ? Nusing accuracyPremultiplier from config49N?4Y& iB@.D:@:?4 %AZjFNOT Ignoring new targets: 266.80 m.Bj A;Jj  A;= ProNav: ac range: 266.799988 m, nav range: 178.281982 m, bearing: 335.656163 deg, approach rate: -0.359902 m/s, LOS rate: 0.168765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144441 deg. 2jE;:jEh:@MHeadingCmd: 4.819630 target range: 266.799988 and range: 267.60 m. jIjIjIjIiIhIhQhqhqfqfyfyrfybf}-?ɛbBE VI lɚiI\'=Iig~RiS ;)) 9I9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFGg;GGsAHU >IU C IU yIIU BIQ &IQ .IQ 6IU #<:IU m FBIɬCJIɬCRIZI =bI =jI4G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,W"vA6<@Y6AL@6pл96=y6Hu?`@?+ȿ`?@}Bz?˿?g?ɨ6<@6b;6;CyUBUIMb@Mb@Mb@ )Y)\(?Mb?I +yG!?@=94A I@)AIdAyG AII R5٢mA u4=9u=Q u>yy }G٣yy}َ }> Nusing accuracyPremultiplier from config49R?4Y& i!?:R@7D5;;"4mB AQEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 266.80 m.Bj=;Jj=; ProNav: ac range: 266.799988 m, nav range: 178.126251 m, bearing: 335.727839 deg, approach rate: -0.360542 m/s, LOS rate: 0.166086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190401 deg. 2j;:j@@HeadingCmd: 4.820432 target range: 266.799988 and range: 267.60 m. jjjjihhh h +Bf ffrfbf`?ɛEdBE= AM#II Mʣ*ɚIiIIM"5(=IUi]Qie3:)i)y*F=?2F9:F9BF=0JFA ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.Ge ;GA Bi O >J uJ oJ 0J J [Q:J K9J ـ3J J o;J o;J :J :Uw,I<@Y>K@>69>=y>H?Ύ?R翿X?`w?߿??ɨ>I<@> ;>8Cy- B-II= I=g5٢Uͮ U_=9UQ ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiu49mV?}4Ym& iiy}T}@m>Dm;mw;m.)4lB ASEZjFNOT Ignoring new targets: 266.80 m.Bj5?;Jj5?;E ProNav: ac range: 266.799988 m, nav range: 177.993759 m, bearing: 335.789030 deg, approach rate: -0.362287 m/s, LOS rate: 0.167447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158897 deg. 2jE;:jMy<@MHeadingCmd: 4.819882 target range: 266.799988 and range: 267.60 m. jIjIjQzKULKUh9KQKU KU    jQiqhqhqhyhyfyfyfrfbf'?ɛeBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759309]Q ,I /LɚiI(=IiniQib:))Ee>E>*Fu?2Fq:FyBF}3JFyG9Gi By O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011288=w,UvA6DP@Y6_@6i96b=y6H 䏼?@?ͿQ?`{(}? ˿?Z?ɨ6DP@6;6?CyBBBIIJ.IJBw5٢V VV=9Z:Q Z>\\ ^G٣^6Gyb; b> fNusing accuracyPremultiplier from configdj49f^Z?j4YfS& idhnn@fFDf ;f;f/4p rsApZj  FNOT Ignoring new targets: 266.80 m.Bj>;Jj>;M ProNav: ac range: 266.799988 m, nav range: 177.855133 m, bearing: 335.852920 deg, approach rate: -0.361762 m/s, LOS rate: 0.166857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167004 deg. 2jU;:jU=@UHeadingCmd: 4.820024 target range: 266.799988 and range: 267.60 m. jYjYjYjYiYhYhahahafafifirfibfm@ɛgBg^ 4I pɚiIW)=I%i%Pi%SmN;))))ZH@ARH@AH>I IYIIBI =&I.I6I<:I= F*F ?2F :F BF  5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267566G5}:G9G=>G B O5 >gw,ovA PIV5iyB=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515201IMb@Mb@Mb@ )YK7A`?L7A`?Qy+?+=uA `@)IAyAI)I)٢E] E3=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configYe49]^?e4Y]>& i]BeB+?e:e m@]PD];];]74q uAq)Y YGZA - Y)y-BZjAEFNOT Ignoring new targets: 266.80 m.Bju8;Jju8; ProNav: ac range: 266.799988 m, nav range: 177.687134 m, bearing: 335.934795 deg, approach rate: -0.329956 m/s, LOS rate: 0.160958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221044 deg. 2j;:j\E@HeadingCmd: 4.820967 target range: 266.799988 and range: 267.60 m. jjjjihhhhBfffrfbfW@ɛ-iB5M 15;I1 5ɚ1i9I=Y *=I=inOij:;))E*F2F:F!BF%_5JF!zKm`LKiKiKm KmD4bH+ Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767439G 7eD;G B O >w,avA )I)Z@Yi@P 9y=yHDݼ?? `x?{ w8?7? ?ɨZ@<;騵   G٣ 6Gy A$;  > %Nusing accuracyPremultiplier from config!-49%b?-4Y%& i%B155@%ZD%:%:%&@49 =YAAZjaeFNOT Ignoring new targets: 266.80 m.Bjmh;Jjmh;} ProNav: ac range: 266.799988 m, nav range: 177.511505 m, bearing: 336.020521 deg, approach rate: -0.416441 m/s, LOS rate: 0.203468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232615 deg. 2j} <:jG@HeadingCmd: 4.821168 target range: 266.799988 and range: 267.60 m. jjjjihhhhfffrfbf`_@ɛejBmi impDIi mɚiiqIu *=I}i}4Ni};)y)JEzJAJAJAJE`:JAJAJAaU@aU@aU@aU@*F)2F):F)BF5 5JF1H>I I'IIfBI =&I.I6I<:Ic FGq  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:02:33.3405  TRx dataTimestamp_ set to:1736366554.544704 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272377Gi Bq O >k%w,\vAyjրBjxI]Mb@Mb@Mb@YYY Y)YY] G٣y > -Nusing accuracyPremultiplier from config)549- f?=4Y-H& i-B=3?=:E׶E@-bD-Y;-V;-F4I uAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 266.80 m.BjT;JjT; ProNav: ac range: 266.799988 m, nav range: 177.373734 m, bearing: 336.091441 deg, approach rate: -0.360716 m/s, LOS rate: 0.185828 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188111 deg. 2j;:j@@5HeadingCmd: 4.820392 target range: 266.799988 and range: 267.60 m. j1j1j1j1i1h9h9h9h=ǁBfAfAfArfAbfE_~ @ɛkB b=隽JI aɚiI@g+=IiMiz;)) 5$?I9*F?2F:FBF_0JFG GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523355G !j;G B O >w,WBvAf#V@Yfe@fED9fP>yfHm?`?Ҽ?Hdsuh? ??ɨf#V@fE‡;dyv΀BvnI z=zp=I-6I-z5٢= =P=9E2Q E>AA MG٣IyMϣ M>]Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 269.5 m (Round-trip 359.4 ms) speed -0.5 m/s },DAT read: user:1070> BDAT read: Tx time:20:02:34.4269 $Ping request sent.Je vJe wJa Ja Je {T:Je 9Ja Ja 7w,MvAJL@YJ[@J-9J^>yJH:n?`?5?(Qm]?)??ɨJL@J;J;CyVȀBVfIIbGIb+5٢jN jQ=9n;Q n>pp rG٣pyrgN v> zNusing accuracyPremultiplier from configtz49vql?~4YvT& ivB|~ ~@vsDv ;v ;vT4  $A Zj15FNOT Ignoring new targets: 266.80 m.jH=<bH9HM>II IMIIMBBII&II.II6IM,<:IMx FBjf\;Jjf\; ProNav: ac range: 266.799988 m, nav range: 177.088867 m, bearing: 336.239208 deg, approach rate: -0.369992 m/s, LOS rate: 0.192689 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195276 deg. 2j=<:jA@HeadingCmd: 4.820517 target range: 266.799988 and range: 269.50 m. jjj!j!i!h!h!h)h)f)f)f)rf1bfU>?ɛ}nB}ꂽ 隅RI 9ɚiI,=IiOLiA;))*F%?2F!:F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.Gg;Gi By O >  I 6iE Will construct direction to contact in vehicle frame from tetrahedron phase data.aw,[vAy-ŀB-cIMb@Mb@Mb@ )Yv?~jt? G٣6Gy > Nusing accuracyPremultiplier from config 49Tp? 4Y& i8?:e@}D=;M;;[4%mB %>A-REZjIUFNOT Ignoring new targets: 266.80 m.Bj]jb;Jj]jb;m ProNav: ac range: 266.799988 m, nav range: 176.920319 m, bearing: 336.326273 deg, approach rate: -0.382842 m/s, LOS rate: 0.197947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236628 deg. 2jm<:jmG@uHeadingCmd: 4.821239 target range: 266.799988 and range: 269.50 m. jqjqjqjqiyhyhyhyhBfffrfbf?ɛ5oB5L 9=TI9 =qɚ9i9I=u-=IEiEKiMK#;)I)IEul;=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKK9KKK9e~unf[OF?920(%$!   *F ?2F :F BF _0JF "G =G =G ; I GiBqO>Xgĝw,lxwA @65@Y6dE@6/O96T >y6Hs?@ށ? J?nb@?|??ɨ65@6e;6bIDFAIJ IJNg5٢Rl R<=9RQ R>TT VG٣TyZ]̻ Z>^Will construct direction to contact in vehicle frame from tetrahedron phase data. bNusing accuracyPremultiplier from config`f49bt?f4Yb& ibBhjn@bDb 3;b3;bSc4p rDApZj FNOT Ignoring new targets: 266.80 m.Bj d;Jjd;% ProNav: ac range: 266.799988 m, nav range: 176.754120 m, bearing: 336.413004 deg, approach rate: -0.381738 m/s, LOS rate: 0.199397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235622 deg. 2j%<:j%qG@-HeadingCmd: 4.821221 target range: 266.799988 and range: 269.50 m. j)j)j)j)i)hhhhfffrfbf`?ɛEpBE$Q AMUIi mK ɚiiiIuF.=Iui}Ki}7)y)yJuJrJJJ[Q:J9JJEPa=H >I  I II )BI &I .I 6I  <:I _ F*F=?2F9:F9BF=j0JF9}Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;G9 BI Oe >kʝw,`>,wAyǀBeIMb@Mb@Mb@ )YQ?I +?Mbp?y( G٣y > %Nusing accuracyPremultiplier from config!-49%w?-4Y%j& i%B5?lҝw,HwA2+@Y2;@2h92{>y2H@n??嫻?G>`?ߢ??ɨ2+@2;2:CyFπBJnIIf5If\z5٢n\= nJ=9n pQ r>pp vG٣v6Gyv(C v> ]Nusing accuracyPremultiplier from config|e49~U{?e4Y~/& i~Bimm@~D~Zm<~Y;~:r4 AZjFNOT Ignoring new targets: 266.80 m.Bj`;Jj`; ProNav: ac range: 266.799988 m, nav range: 176.427948 m, bearing: 336.586735 deg, approach rate: -0.367553 m/s, LOS rate: 0.196653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223190 deg. 2j<:jE@HeadingCmd: 4.821004 target range: 266.799988 and range: 269.50 m. jjjjihhhhf f frfbf}V@ɛrB 隥QI J ɚiI/=Ii2JiݪG)) )I1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267790JUvJUqJQJQJU{T:JUq9JQJQG 9G rAG ZH RH ?AH >I  I II BI &I .I 6I <:I M FBIɭCJIɭCRIZI =bI =jI'4G B Om >+؝w,|EbwAF@YF*@F姁9F,>yFH B? 1?vn4?Pa?@4?kW? ?ɨF@F;F=CyR܀BVI f=f=Iv=-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522274Iv}5٢}= >=9|Q >   5G٣9yE M> Nusing accuracyPremultiplier from config49?4Y& iB޷@Dr"<<!z4  A Zjy}FNOT Ignoring new targets: 266.80 m.Bj_h;Jj_h; ProNav: ac range: 266.799988 m, nav range: 176.256378 m, bearing: 336.679286 deg, approach rate: -0.376245 m/s, LOS rate: 0.203156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.253105 deg. 2jl <:jI@HeadingCmd: 4.821526 target range: 266.799988 and range: 269.50 m. jjjjihhh)h)f1f1f1rf9bf=i@ɛsB}  KI m,ɚiIo0=IiJic#))*F}?2Fy:FyBF0JF AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771274G >G B O >Uޝw,`|wA> @Y>1@>"9>>y>H@?u?ؐ?@SϺ?@q?`?.??ɨ> @> ;>;CyRBRI=Mb@Mb@Mb@999 9)9Y=5^I ?Q?I +?y=8?=u<=94<=A =@)=MAI=dA9y=\AIU/IUw5٢m"h= mP=9mډQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49с?4Y& iB 8?:g@D;+;4 &AZjFNOT Ignoring new targets: 266.80 m.Bju;Jju; ProNav: ac range: 266.799988 m, nav range: 176.122253 m, bearing: 336.753947 deg, approach rate: -0.385540 m/s, LOS rate: 0.214776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199340 deg. 2jf<:jBB@HeadingCmd: 4.820588 target range: 266.799988 and range: 269.50 m. jjjjihhhqh}Bfyfyfyrfybf@ɛ莽 隭EI 5ɚiIg1=IiC"Ji))-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024092*F?2F:FBF5JF"GG=zK%7KK% 9K!K%K%RK=?JK=?G*G B O > ) I- 8i Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:02:37.1930  TRx dataTimestamp_ set to:1736366558.328595 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276290~=w,wAyEBEIIU3IUyy5٢= H=9Q > G٣6Gy > Nusing accuracyPremultiplier from config49Ԅ?4Y{& iB@De:$;4lB AWEZjFNOT Ignoring new targets: 266.80 m.Bjf;Jjf; ProNav: ac range: 266.799988 m, nav range: 175.974808 m, bearing: 336.836353 deg, approach rate: -0.360564 m/s, LOS rate: 0.201684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222610 deg. 2jj <:jE@HeadingCmd: 4.820994 target range: 266.799988 and range: 269.50 m. jjjjihhhhfffrfbf @ɛMtBUI QU>IQ UX=?ɚYiYI]1=I]ie6Jie_p)a)aHI III)BI&I.I6I<:IC F*F ?2F :F BF _0JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532615GM xG! B9 Oe >gw,կwA b$?I`ynBrIttuMb@Mb@Mb@qqq q)qYuM?~jt?Zd;O?yun2?u G٣y > Nusing accuracyPremultiplier from config49⇙?4Y& iĤB2?:฿@D;I;4 6A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 266.80 m.Bj=_;Jj=_;M ProNav: ac range: 266.799988 m, nav range: 175.829483 m, bearing: 336.917137 deg, approach rate: -0.351821 m/s, LOS rate: 0.195734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217737 deg. 2jMT<:jMD@UHeadingCmd: 4.820909 target range: 266.799988 and range: 269.50 m. jQjQjQjYiYhYhYhYheBfafafarfabfm8@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780864ɛ7ׁ 隵p7I CHɚiI62=IiIJi))-~GYq YyBJwJlJJJW:J9JJJz;aJz;aJ(:aJ):a*F?2F:F BF JF G g{G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: 20:02:37.1930 LVL= 21968, 18913, 13410, 23539, AGC= 62, IDX= 455, 0.25,-0.314, 1.969, 0.447, 0.085, PHS=-0.312, 1.931, 0.358, RAW= 313.1, -19.3, CAL= 316.2, -28.0, ROT= 193.8, 28.0  Ygot valid direction response: 20:02:37.1930 LVL= 21968, 18913, 13410, 23539, AGC= 62, IDX= 455, 0.25,-0.314, 1.969, 0.447, 0.085, PHS=-0.312, 1.931, 0.358, RAW= 313.1, -19.3, CAL= 316.2, -28.0, ROT= 193.8, 28.0  @DAT read: Bearing 193.8, 28.0  ^unknown deviceResponse_: Bearing 193.8, 28.0  DAT read: Range 10 to 50 : 271.5 m (Round-trip 362.0 ms) speed -0.8 m/s  ,DAT read: user:1071>  BDAT read: Tx time:20:02:38.2769  $Ping request sent. iM wM +?M K>M 7ޮ@M iw M r@)M 5IM zX@iM 5>I I M +jVڰ Y˿߷7+տ)M r:IM 陬>iM Z?M A?I I  :publishing transmit ping timeة  Fpublishing direction and range infoI 9M y?;+B?ü9+yI I I I I )I II iI I I I I I )I II iI I I M +jVڰ Y˿߷7+տ)I II iI I I I zK FJK +9K K K tX `/s<! !f|,kRB/$BK sA:K sA)Pw,wAb+@Yb@bHν9bVo>ybH` G٣y9 > Nusing accuracyPremultiplier from config%49Ҋ?%4Y}' iͤB!-t-@˅D:z:4 Aku|z՜?kuq+2 kq ku>]wA:kuCBkuنCZkuK @"uo'e/`@٬eb@rWQguy?;+B?ü9+JkuZ?RkuA?*uf@rmW\( ndu;? @IۿԲ/tC"ku*kuL7CkuE՜?ku3Ve2 2kukui?М?ku=o<52 kukuFCkuZ@ addTargetRange:: Added new target pos. range: 271.500000 m, deltaT: 4.035504 s, deltaX: 2.000000 m, approachRate: 0.495601 m/s, rangeRepo size: 4 I Added new target pos. range: 271.500000 m, bearing: 327.725246 deg, lat: 36.906633 deg, lon: -122.122712 deg, deltaT: 11.595589 s, deltaX: 4.700012 m, approachRate: 0.405328 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 271.50 m.BjJj ProNav: ac range: 271.500000 m, nav range: 198.622955 m, bearing: 326.795429 deg, approach rate: 0.000000 m/s, LOS rate: 0.195734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.240120 deg. 2j:jH@HeadingCmd: 4.821300 target range: 271.500000 and range: 271.50 m. jjjjihhhhfffrfp@bf?ɛEuBMui IM2II MKaSɚIiIIU.2=IUi]Ji])Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFjH <bH <H I  I II BBI &I .I 6I <:I k FG9 G B O% >Izw,֎wA6ݒ@Y61@61м96>y6H??`T5Ɲ?=?@z?`8? a?ɨ6ݒ@6;6;CyR%BRIIZIZa5٢bE= b\=9fŻQ f>hh jG٣j6GynL n> vNusing accuracyPremultiplier from configpv49re?v4Yr ' irդBxzz@rӅDr:r@:r|4 Will construct direction to contact in vehicle frame from tetrahedron phase data. <A!ZjaeFNOT Ignoring new targets: 271.50 m.Bj!;Jj!; ProNav: ac range: 271.500000 m, nav range: 198.459534 m, bearing: 326.851445 deg, approach rate: -0.412680 m/s, LOS rate: 0.141571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143372 deg. 2jQ;:jA:@HeadingCmd: 4.819611 target range: 271.500000 and range: 271.50 m. j j j j i h hhhfffrfbf e?ɛw 隵9(I [ɚiIi13=IiKiH ))  I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G sAG J uJ oJ 1J J [Q:J K9J 3J J o;J o;J :J :GY Bi O >w,fwA>ƒ@Y>֙@>n9>u=y>H@E???=6?|?*w??ɨ>ƒ@>[;>Ya eG٣ayeۻ e> mNusing accuracyPremultiplier from configiu49m;?u4Yme' imߤB}s)?}:}}@m܅DmS;m%;mأ4 AVEZjFNOT Ignoring new targets: 271.50 m.BjJ;JjJ; ProNav: ac range: 271.500000 m, nav range: 198.280579 m, bearing: 326.912888 deg, approach rate: -0.514035 m/s, LOS rate: 0.176651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159683 deg. 2jw;:j<@HeadingCmd: 4.819896 target range: 271.500000 and range: 271.50 m. jjjjihhhh$Bfffrfbfv?ɛ} n#I bɚiIf3=IiGuLiq2))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFzK>OKh9KKK RK?JK$?G I 9iG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,x~xA>@Y>FǙ@>9>>y>H@Ϸ?` ?Z@{ ?@?.?5 ?V?ɨ>@>Ǐ;>=CyNFBNIIVIVuZ5٢^9= ^S=9bQ b>`` fG٣dyfR f> jNusing accuracyPremultiplier from confighn49jΒ?r4Yj' ijBprƹr@jDj? ;j ;j4t v5AxZjFNOT Ignoring new targets: 271.50 m.Bj%H';Jj%H';5 ProNav: ac range: 271.500000 m, nav range: 198.116241 m, bearing: 326.969696 deg, approach rate: -0.422727 m/s, LOS rate: 0.146249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145751 deg. 2j5;:j=:@EHeadingCmd: 4.819653 target range: 271.500000 and range: 271.50 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU`8?ɛ%k !%I! %iɚ!i!I-3=I-i5{Mi5dH)1)QEaH!I! I%.II%kBI!&I!.I!6I%L<:I% F*F ?2F :F BF72JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G.-GB Ou > w,q!1xA IR6@YRę@R& 9R*>yRH?@? ?'?s?H? ϸ?ɨR6@R ;R G٣6Gy79 > Nusing accuracyPremultiplier from config49ӕ?4Y' iB?:෿@D};|;<4  A -B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 271.50 m.Bj=;JjE;M ProNav: ac range: 271.500000 m, nav range: 197.941635 m, bearing: 327.028443 deg, approach rate: -0.399434 m/s, LOS rate: 0.134510 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151583 deg. 2jU;:jUm;@]HeadingCmd: 4.819754 target range: 271.500000 and range: 271.50 m. jYjYjYjYiYhahahaheKBfififirfiuWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bfm>5?ɛ]vB]fR ae Ia erɚaiaIet+4=Ii^NiiI))JK3 K.-KK"KJwJpJ0JJW:J^9Jـ3JJz;Jz;J}:J~:*FU?2FQ:FQBFU4JFQGe f A- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004464GA BI Om >zK KK 9K K K  '8FR_hryw,JxA @yfYBfIIn Inf5٢vt< vZ=9vQ z>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 49m? 4Y%' iB @D::ɸ4 AZjAEFNOT Ignoring new targets: 271.50 m.BjM;JjM; ProNav: ac range: 271.500000 m, nav range: 197.791367 m, bearing: 327.079136 deg, approach rate: -0.403617 m/s, LOS rate: 0.136264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127381 deg. 2j;:j7@HeadingCmd: 4.819332 target range: 271.500000 and range: 271.50 m. jjjjihhh h f ffrf1bf5F@ɛy}"b 隅?I YyɚiIyp4=IiPi I)) !I!*FM?2FI:FIBFM4JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256943GY<ZH) RH) H= >I9  I= `II= BI9 &I9 .I9 6I= <:I= FGi Bq O >w,dxA>Ȓ@Y>ؙ@>9>2>y>H@ T?^?`}`~U?$2?˚?w?@v?ɨ>Ȓ@>S;>;CyfbBf$IrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508910IIe5٢7= H=9Q > %G٣!y%; %> -Nusing accuracyPremultiplier from config)549-Q?=4Y-+' i- BAMM@-D-j;-;-4 PAZjAFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 197.627045 m, bearing: 327.134465 deg, approach rate: -0.350228 m/s, LOS rate: 0.118022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141310 deg. 2j;:j9@-HeadingCmd: 4.819575 target range: 271.500000 and range: 271.50 m. j)j)j)j)i1h1h1h1h1f9f9f9rf9bfE` @ɛuB?N | I ҀɚiIߧ4=I i +Qi*&))EE I *F?2F:FBF@5JFGrA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759888G hAJ vJ J J J {T:J J J J Hu;J Ku;J J G B O >w,Ѯ~xA6ʒ@Y6ڙ@6V96>y6H g?o?@ r?4?)?%? ?ɨ6ʒ@6.;4ynuBn;IuMb@Mb@Mb@qqq q)qYu$C??{Gz?yu?u G٣6Gy6: > Nusing accuracyPremultiplier from config49%?4YQ2' iBT?:@D#;;T4 AYEZjFNOT Ignoring new targets: 271.50 m.Bj 0;Jj 0; ProNav: ac range: 271.500000 m, nav range: 197.462341 m, bearing: 327.190540 deg, approach rate: -0.453253 m/s, LOS rate: 0.154444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143552 deg. 2j;:jH:@HeadingCmd: 4.819614 target range: 271.500000 and range: 271.50 m. jjjjihhhhkBfffrfbf@ɛ 5Z 15I1 5ɚ1i1I=4=I=iEQiE&)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013336*F2F:FBF ^0JF zKDNK9KKK}zwtqrokiieb^[Z[YWWZYXSRRPNLKIERK  ?JK > IG- -,G B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:02:41.0471  TRx dataTimestamp_ set to:1736366562.361525 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265845H%w,?xAԒ@YN@9.8>yH@ɴ?ސ?Kǹ?]ޙ???д?ɨԒ@;?Cy-wB5=IIEIEi5٢U:< UP=9UMQ ]>YY ]G٣Yye;G; e> mNusing accuracyPremultiplier from configiu49m̠?u4Ym}8' imBy}@m Dm+V;mZ;m34 AZjFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 197.309006 m, bearing: 327.242757 deg, approach rate: -0.389141 m/s, LOS rate: 0.132621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131959 deg. 2j;:j8@HeadingCmd: 4.819412 target range: 271.500000 and range: 271.50 m. jjjjihhhhfffrfbf @ɛR +IH>I IIIBI&I.I6I3<:I| FBIJIRIZIbIjI4 nɚ)i)I5t5=I5i=Ri==)9)9*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515976GM "G) BI Oe > I :i,w,AexA6֒@Y6Z@6#96>y6Hĸ? ?o }?'M?^???ɨ6֒@6QW;6;CynxBr>IuMb@Mb@Mb@qqq q)qYuI +?{Gz?I +?yu9?uף G٣y}: > Nusing accuracyPremultiplier from config49c?4Y>' i$BV?:@D%;;k4 AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 271.50 m.Bj ;Jj;UWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 274.5 m (Round-trip 366.1 ms) speed -0.5 m/s u,DAT read: user:1072> }BDAT read: Tx time:20:02:42.1269 }$Ping request sent.}E5>*F?2F:FBFJF"G=G=G Z Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  JDAT read: TxSync time:20:02:42.1261 G B O >2w,@xAzK"NK K K"K"GHACBA?==<:78666432120)**'%'%#$#!""#""$#""#!$" !!  :@Y:@:ch(9:>y:H@U-? m?@6V@TS\?4? ? (?_?ɨ:@: ;:9C yIyyqB7II I ^5٢ 4=9%>Q %>!! -G٣-6Gy-h; -> =Nusing accuracyPremultiplier from config1=495B?E4Y5E' i5,BAE_E@5D5~:5:5X4Q UAQ addTargetRange:: Added new target pos. range: 274.500000 m, deltaT: 3.779959 s, deltaX: 3.000000 m, approachRate: 0.793659 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 196.985977 m, bearing: 327.354130 deg, approach rate: -0.368865 m/s, LOS rate: 0.127268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150168 deg. 2j;:j:;@HeadingCmd: 4.819730 target range: 271.500000 and range: 274.50 m. jjjjihhhhfffrfbf76?ɛ-tB5R 9=`I9 E鍼ɚAiAIEM5=IMiM1TiMC)Q)YuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFJxJwJJJZ:J9JJa@a@a@a@H>I IIIՁBI&I.I6IA<:I FGE jG B) OE >9w,xAV@YV @Vl/9V2>yVH@NI?@~?H\g?6??`e?@Q?ɨV@V';T)\I^/wAbWill construct direction to contact in vehicle frame from tetrahedron phase data.dd dhj7wAhihhill)l lIl rfC)rvArbppttitIttItit xx)xx zwAxx|||I|)|iy pB 5I11IEIEW5٢U@޻ Um=9UfQ ]?YY eG٣aye: e? mNusing accuracyPremultiplier from configiu49mt?u4YmJ' im3By}O}@m"Dm;mS;ma4 AZjeFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 196.857285 m, bearing: 327.398560 deg, approach rate: -0.334041 m/s, LOS rate: 0.115398 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108562 deg. 2jd;:jG5@ HeadingCmd: 4.819004 target range: 271.500000 and range: 274.50 m. j j j j i hhhhfffrfbfb?ɛW M>=隍I XɚiIso5=Ii!TiR+)) u$?Iq*Fe?2Fa:FaBFe0JFa)A E6C}Will construct direction to contact in vehicle frame from tetrahedron phase data.GGvAA 5 Y5 vAy5 VBGe >uG9 BI Om >@?w,axAy=mB=1IMb@Mb@Mb@ )Y`"?~jt?Mb`y?<rA )7AIyQAIIL5٢  @=9Q >  G٣ y  > Nusing accuracyPremultiplier from config%49k?%4YeQ' i9B%?%:%0-@*D;;45kB 5A5[EZjY]FNOT Ignoring new targets: 271.50 m.Bje(;Jje(;u ProNav: ac range: 271.500000 m, nav range: 196.692902 m, bearing: 327.454456 deg, approach rate: -0.433078 m/s, LOS rate: 0.147387 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143017 deg. 2j}L;:j}4:@}HeadingCmd: 4.819605 target range: 271.500000 and range: 274.50 m. jjjjihhhh]Bfffrfbf@9?ɛmsBHb 隕#I wɚiI%5=IiGUi))Will construct direction to contact in vehicle frame from tetrahedron phase data.EQ*F2F:FBF-2JFGsA GpAzK]NK]h9KYK]K] " !""$%'#$+36>EKRrne`_^\WSRNMLIFDB@A aIiG ;3G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.'Fw,yAB@YB@BmA9B/>yBH{? !?L|`"h?1?d+?K? ?ɨB@B#;@y=_B= IIMIMV5٢]Б ]U=9e7Q m>iq uG٣u6Gyu ; u>JuJrJJJ[Q:J9JJ Nusing accuracyPremultiplier from config497?4YW' i?B   @2D::4 eAZj9EFNOT Ignoring new targets: 271.50 m.BjM7;JjM7;] ProNav: ac range: 271.500000 m, nav range: 196.538620 m, bearing: 327.506974 deg, approach rate: -0.385500 m/s, LOS rate: 0.131328 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132864 deg. 2j]B;:j]8@eHeadingCmd: 4.819427 target range: 271.500000 and range: 274.50 m. jajijijqH}>Iy I}II}BIy&Iy.Iy6I}e<:I} Fiqhhhhfffrfbfe?ɛrB3Wh  I b痼ɚiI25=I i кUi ܻ))*FE?2FI:FIBFM05JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G >uG B O5 > a Ia RLw,ڬ3yAyn[BrIuMb@Mb@Mb@qqq q)qYu~jt?~jt?{Gzyu?uD G٣y > Nusing accuracyPremultiplier from config49?4Y]' iCB?:@9DY;V;4lB AXEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 271.50 m.Bj ;Jj;=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 271.500000 m, nav range: 196.386078 m, bearing: 327.561072 deg, approach rate: -0.384359 m/s, LOS rate: 0.136414 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137604 deg. 2j=;:jn9@HeadingCmd: 4.819510 target range: 271.500000 and range: 274.50 m. jjjjihhhhGBfffrfbfL@ɛ)5g 15S I1 =2ɚ9i9I=z5=IUiU6Vi]47)Y)YEe=EE*FM ?2FI :FI BFM 3JFI "GU =GU p= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264843zK DNK 9K K K @A@?;;9:8655220/.-,,))(%$%%%#     G ܻG BO=> iIu;iMTw,J RyAn6 @Yn/@nb;I9n{ >ynH ? ?@O > ?? $?@?{?ɨn6 @n7;n;CWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515952y5OB5 IIMIMi5٢U: ]=9ejQ m>qy }G٣yy;< > Nusing accuracyPremultiplier from config49+?4Ybf' iIB@DD;;4 AZjFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 196.177765 m, bearing: 327.634262 deg, approach rate: -0.369203 m/s, LOS rate: 0.129857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194991 deg. 2j=;:jA@HeadingCmd: 4.820512 target range: 271.500000 and range: 274.50 m. jjjjihhhhfffrfbf@@ɛ5qB5[ 15I1 5ɚ9i9I=65=I=iE%UiE2z)A)AJvJoJJJ{T:JK9JJE-==HaIa IeIIeځBIa&Ia.Ia6Iej<:Ie F*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768073G G B OU >1[w,#nyAM.@YMP>@MxL9M1>yMH|??ʊ \???-?७?ɨM.@MBq;Iɸae xAaiaaiimxA)i iIi q)uOwAɹu^:u`FqyɺyiyIyyIyiy y麁)黁 ɻxAI)i)I鼑ɼ yޥ@BޥI IMb@Mb@Mb@ )YˡE?:v? rhy'?T<CEA @) AI Ay3AI Ih5٢ @=9Q > G٣6Gy%e; -> 5Nusing accuracyPremultiplier from config)549-G%?G%>zKhMK9KKK   GBO-?cw,|yA2!1@Y2@@2oR92>y2H 4??U?@h?K?`:?@?ɨ2!1@2;0 tIvQQ UG٣Qy] : ]> eNusing accuracyPremultiplier from configam49e?m4Yeu' ieQBquHu@eVDeX:e7:e4 &AZEZjFNOT Ignoring new targets: 271.50 m.Bj(;Jj (;- ProNav: ac range: 271.500000 m, nav range: 195.801270 m, bearing: 327.766354 deg, approach rate: -0.419112 m/s, LOS rate: 0.147386 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183846 deg. 2j-L;:j- @@5HeadingCmd: 4.820317 target range: 271.500000 and range: 274.50 m. j1j1j1jihhhhfffrfbf& @ɛ=nB=8} AE#IA EȪɚAiAIE86=IMiMy!UiMC퀹)Q)UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525492*F=?2F9:F9BF=25JF9JxJvJJJZ:Jϣ9JJHe>Ia IeIIeˁBIa&Ia.Ia6IeF<:Ie FG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 275.3 m (Round-trip 367.1 ms) speed -0.7 m/s .BDAT read: Tx time:20:02:45.9770 6$Ping request sent.6:publishing transmit ping time4IyII]9@YH@V9>yH7л?`ށ?E 0`^?? Ӫ??@?ɨ]9@ӆ;騑 Iy)15Mb@Mb@Mb@111 1)1Y5n?~jtx?:vy5V.?5;5T5\A 5@)5~AI5 A1y1IEIEm5٢U;: U=9].Q ]> G٣6Gy: > Nusing accuracyPremultiplier from config49c?4Yo' iXB_.?:@bD;^;E4 #A addTargetRange:: Added new target pos. range: 275.299988 m, deltaT: 3.780047 s, deltaX: 0.799988 m, approachRate: 0.211634 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 271.50 m.Bj%4;Jj%4;5 ProNav: ac range: 271.500000 m, nav range: 195.567703 m, bearing: 327.850555 deg, approach rate: -0.436169 m/s, LOS rate: 0.157429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228092 deg. 2j5;:j5^F@]HeadingCmd: 4.821090 target range: 271.500000 and range: 275.30 m. jajajajaiahihihihmBfqfqfqrfu4q@bf}?ɛmBnww 隭"I 6ɚiIx[6=Ii~Ti.$:))}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:02:45.9762 *FQ2FQ:FQBFUR5JFQJ J @AG FGi By O >xqw,,-yA6A@Y6P@6[Z96Bc>y6H0 ?$?у??N???ɨ6A@6 ;69Cy>BBIIJIJGL5٢Z!  ^=9^RQ ^?\` bG٣`ybZ; b? jNusing accuracyPremultiplier from configdj49fX?n4Yfu' if[Blnn@fhDf ;fC ;f3 4p vAtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 271.50 m.Bj%1;Jj%1;5 ProNav: ac range: 271.500000 m, nav range: 195.446640 m, bearing: 327.894255 deg, approach rate: -0.429994 m/s, LOS rate: 0.155309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106367 deg. 2j5,;:j=4@=HeadingCmd: 4.818965 target range: 271.500000 and range: 275.30 m. j9jAjAjAiAhAhAhIhIfIfIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.frfbf?ɛlB%R !%k,I! %rTɚ)i)I-!6=IUiU TiUH :)Q)Y*F?2F:F BF _0JF zKdLK9KKKBK rA:K rA IG%}:G B! M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.736119O} >jH1 bH5 <H= >I9  I= I9ww,yAIuBIu =&Iq.Iq6Iuj<:Iu FBIAJIARIAZIAbIAjIE34 C@Y xS@ P\9 =y Hz#? ?A{^⨽?C?[?`陿?@U?ɨ C@ ܙ; :Cy]BeIIuIu7`5٢!< <=9YQ > G٣yP: > Nusing accuracyPremultiplier from config49]Ù?4Y3' iaB-@rDW<W<'41 =A9ZjaeFNOT Ignoring new targets: 271.50 m.Bjm-;Jjm-;} ProNav: ac range: 271.500000 m, nav range: 195.260269 m, bearing: 327.961683 deg, approach rate: -0.417846 m/s, LOS rate: 0.151319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177663 deg. 2j};:j}(?@HeadingCmd: 4.820210 target range: 271.500000 and range: 275.30 m. jjjjihhhhfffrfbf?ɛjBk *I ɚiI6=IibSi:))*FM?2FQ:FQBFQJFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988531G5: IG B O5 >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239384}w,>yA69@Y6oI@6`96p>y6H`ӻ??@ֿ$2e???? ?ɨ69@6B";4yBBBIMb@Mb@Mb@ )YZd;? G٣yE > Nusing accuracyPremultiplier from config49ƙ?4Y' ihB9?:з@{D7;6;.4kB A]EZjFNOT Ignoring new targets: 271.50 m.Bj@;Jj@;5 ProNav: ac range: 271.500000 m, nav range: 195.071762 m, bearing: 328.028283 deg, approach rate: -0.476211 m/s, LOS rate: 0.168409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175179 deg. 2j5';:j5>@=HeadingCmd: 4.820166 target range: 271.500000 and range: 275.30 m. j9j9j9j9i9h9hAJqJutJu1JqJqJu9Ju3JqJu ;a}Ju ;aJu:aJu:ahAhBfff rf bf  ?ɛUiBU  Y]+IY }uɚiI\6=Ii\Rix9))EEpA*FU?2FQ:FQBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491610G= :G B! O= > q Iu =izK} QJK} +9Ky K} K} RK ?JK ?ǰw,mzA2/@Y2?@2AUb92>y2H@?҇? |`T ?@ܤ?F?!H?ٰ?ɨ2/@2ˊ;2AA EG٣E6GyML U> mNusing accuracyPremultiplier from configau49eə?u4YeC' iepBy}}@eDeL;eB;e54 AZjFNOT Ignoring new targets: 271.50 m.Bj;;Jj;; ProNav: ac range: 271.500000 m, nav range: 194.892090 m, bearing: 328.092122 deg, approach rate: -0.462018 m/s, LOS rate: 0.164309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166878 deg. 2j;:j=@HeadingCmd: 4.820021 target range: 271.500000 and range: 275.30 m. jjjjihhhhfffrfbf ?ɛ hBω *I ]ɚiI*7=IiRif))Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745462*Fm?2Fq:FqBFuo0JFyH>IC IfIIBI =&I.I6I!<:Ik FGzQGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996489E PExceeded connect timeout, disconnecting.w,-zA,@Y <@za9R>yHi??:d [ ?Ѳ?5?@??ɨ,@ɍ;騽8C Iy=B=IIMAMb@Mb@Mb@ )Y1Zd??{Gz?y";?<#<A )VAI~AyAI.IBw5٢< 0=979Q >    G٣ yp > Nusing accuracyPremultiplier from config-49͙?-4Y ' i|B-C;?-:-/5@DN;M;=49 =A9ZjYeFNOT Ignoring new targets: 271.50 m.Bjm<;Jjm<;} ProNav: ac range: 271.500000 m, nav range: 194.676361 m, bearing: 328.168089 deg, approach rate: -0.467849 m/s, LOS rate: 0.164933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203341 deg. 2j}b;:j}B@EHeadingCmd: 4.820658 target range: 271.500000 and range: 275.30 m. jAjAjAjAiAhIhIhIhMBfQfQfQrfQbfU@~@%GE`wA]ZA HY`wAy/BɛMfBDž 隝'I ,ļɚiI|T7=Ii$Rie>))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247612*Fm?2Fi:FiBFm_0JFiJ{JvJ0JJd:Jϣ9Jـ3JJ#;J$;J:J:G >Gi By O >葞w,HzANO"@YN1@N(b9N|>yNH`?w?J`X켼?V?[?n??ɨNO"@N#;N;CyZB^IIjIjm5٢r< rn=9ruaQ r?tt vG5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499269٣tyMe U> ]Nusing accuracyPremultiplier from configQe49UЙ?e4YU̪' iUBaeXe@UDUz:Ue:UC4ulB u}AuZEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 271.50 m.Bj&9;Jj&9; ProNav: ac range: 271.500000 m, nav range: 194.510834 m, bearing: 328.226725 deg, approach rate: -0.456568 m/s, LOS rate: 0.161871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151243 deg. 2j.;:ja;@HeadingCmd: 4.819748 target range: 271.500000 and range: 275.30 m. j!j!j!j!i!hIhIhIhIfQfQfQrfQbf] v@ɛdBإ #I AmȼɚiI7=IiQi_})) $?I*F2F:FBF1JFG G"GGzKJK9KKK "%$""BK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751484GY Bq O >H I  I SII BI  =&I .I 6I F<:I FH w,razAzc@Yz,@zKb9z>yzH? ц?O>?t٤?E??߭?ɨzc@zɌ;z:Cy=$B=IIMIM+p5٢]k= ]C=9e9Q e>aa mG٣m6Gym m> uNusing accuracyPremultiplier from configq}49u@ԙ?4Yu' iuBl@uDuh;uy;u K4 =A\EZjFNOT Ignoring new targets: 271.50 m.Bj'A;Jj'A; ProNav: ac range: 271.500000 m, nav range: 194.321960 m, bearing: 328.293925 deg, approach rate: -0.474162 m/s, LOS rate: 0.168868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176982 deg. 2j;:j?@HeadingCmd: 4.820198 target range: 271.500000 and range: 275.30 m. jjjjihhhhfffrfbf+@ɛcB~ %XI! %Y̼ɚ!i!I%7=I-i5yQi5)1)9*F?2F:FBF05JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004402GB nManaging dock network, ignoring radio surface power offO > I>i Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:02:48.7539  TRx dataTimestamp_ set to:1736366569.920781 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256611S9w,Ҩ{zA63@Y6"@6'b96}>y6H??n. B?QQ UG٣Qy]`; ]> eNusing accuracyPremultiplier from configam49eי?m4Yeں' ieBLGiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511825BO> I zKu MKu +9Kq Ku Ku   :w,}wzA: @Y:R@:+ b9:p/>y:H@]?? ?@?y=?@s?@y?ɨ: @:;8yB9BBIININi5٢VΏ= Vi=9V8Q V>XX ZG٣Xy^@ ^> bNusing accuracyPremultiplier from config`f49bڙ?f4Yb' ibBdfj@bDb:b :bX4l nAlZj)5FNOT Ignoring new targets: 271.50 m.Bj=H;JjEH;U ProNav: ac range: 271.500000 m, nav range: 193.957275 m, bearing: 328.425407 deg, approach rate: -0.485102 m/s, LOS rate: 0.175554 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151549 deg. 2jU;:jl;@HeadingCmd: 4.819754 target range: 271.500000 and range: 275.30 m. jjjjihhhhfffrfbf &@ɛ_B I \ԼɚiI7=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 279.5 m (Round-trip 372.7 ms) speed -0.4 m/s ,DAT read: user:1074> -X#Rx 1: Read range message, but no direction.yCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ii.QiS))*F?2F:FBF_0JFHU>IQ IUYIIUBIU =&IQ.IQ6IU<:IU FGBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:20:02:49.8770  $Ping request sent. >yH`:?6?t ??$?`3p??ɨo@߿;騍 G٣6Gyc > %Nusing accuracyPremultiplier from config!-49%dߙ?-4Y%' i%B-4?-:-q5@%D%/;%;%a49 =MA9u addTargetRange:: Added new target pos. range: 279.500000 m, deltaT: 3.784159 s, deltaX: 4.200012 m, approachRate: 1.109893 m/s, rangeRepo size: 4 Zjq}FNOT Ignoring new targets: 271.50 m.Bj}6;Jj}6; ProNav: ac range: 271.500000 m, nav range: 193.722244 m, bearing: 328.507278 deg, approach rate: -0.458479 m/s, LOS rate: 0.159901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221097 deg. 2jz;:j^E@HeadingCmd: 4.820968 target range: 271.500000 and range: 279.50 m. jjjjihhhh́Bfffrfxq@bf'?ɛ ]B | ? I ؼɚi!I%8=I-i=7Ri=굻)9)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250490*F ?2F :F BF JFJ!J%BAJ-uJ-vJ-0J)J-[Q:J-ϣ9J-ـ3J)J-o;J-o;J-:J-:G- b\G B O- >$w,azAy^ZB^IInIna5٢v> v=9vQ v?xx zG٣|y~ ~? Nusing accuracyPremultiplier from config 49♜? 4Yv' i¥B@ƆDX;B;f4kB A_EZjA]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502205FNOT Ignoring new targets: 271.50 m.Bj 6;Jj 6; ProNav: ac range: 271.500000 m, nav range: 193.587143 m, bearing: 328.554495 deg, approach rate: -0.456283 m/s, LOS rate: 0.159578 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116935 deg. 2j;:jy6@%HeadingCmd: 4.819149 target range: 271.500000 and range: 279.50 m. j!j!j)j)i)h)h1h1h1f1f9f9rf9bf=@"?ɛ [B Y 6I `ۼɚiI78=IisRiX))! I*F?2F:FBFJFzKLK9KKK,pbGGBOi> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755881Hm >Ii  Im rIIm BIi &Ii .Ii 6Im h<:Im FJw,7zAN@YN@Nb9N!=yNH o?`?J P@#??>?.? ?ɨN@Nэ;Lyn`Bn!IIzIz3A5٢< I=9;Q >    G٣ y9 > Nusing accuracyPremultiplier from config%49噜?%4Y' iϥB!%-@φD;^;n4A E[AA]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 271.50 m.BjuK5;JjuK5; ProNav: ac range: 271.500000 m, nav range: 193.403183 m, bearing: 328.619065 deg, approach rate: -0.451132 m/s, LOS rate: 0.158499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169081 deg. 2j;:j=@HeadingCmd: 4.820060 target range: 271.500000 and range: 279.50 m. jjjjihhhhfffrfYbf]@;?ɛYBh{ 隥I 9޼ɚiI9L8=IijRiDӻ))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006256*F?2F:FBFo0JF I?iG ҸG ?G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257652tw, zAr@YrA@rS_9r\=yrH@N? ?@`Ժ?D?`?ڬ?`?ɨr@r;r:CyvB%<IMb@Mb@Mb@ )Yn?~jt?Zd;O?yV.?=j<A @)AIAyQAII&Q5٢-= -9=9-l:Q ->11 =G٣=6Gy=: => MNusing accuracyPremultiplier from configAM49E陜?M4YE' iEޥBe.?e:eǵm@E؆DE;E\;Eu4 AZjFNOT Ignoring new targets: 271.50 m.Bjq-;Jjq-; ProNav: ac range: 271.500000 m, nav range: 193.209976 m, bearing: 328.687363 deg, approach rate: -0.428532 m/s, LOS rate: 0.151635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180283 deg. 2j!;:j?@%HeadingCmd: 4.820255 target range: 271.500000 and range: 279.50 m. j)j)j1j1i1h1h9h9hEBfAfAfrfbf@]?ɛ5VB=~f 9=,I9 =xɚ9iAIER8=IiuSio))*F]?2FY:FYBFYJFa}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509814GE 4λ I G B) OM >zK% QNK% 9K! K% K% TG:, {skaWMHF=952,'&&"   \Şw,}{A2@Y2@2a92k=y2HP?9?'_ ] P??.?.w?^?ɨ2@2M;0y:B>^IIZIZa5٢b> bd=9fAQ f>hh jG٣hyj 8 j> rNusing accuracyPremultiplier from configpz49r왜?4Yr' irBɵ@rDr;r;r|4%lB %A!ZjIMFNOT Ignoring new targets: 271.50 m.BjU3;JjU3; ProNav: ac range: 271.500000 m, nav range: 193.053604 m, bearing: 328.742816 deg, approach rate: -0.442751 m/s, LOS rate: 0.157136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141680 deg. 2j;:j:@HeadingCmd: 4.819582 target range: 271.500000 and range: 279.50 m. jjjjihhhhff!f)rf)bf-^?ɛTB^g 隝¾I ZɚiIV8=IiSi ))EY>E >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763084*FM?2FI:FIBFMc5JFIH>I IIIBI&I.I6I2<:Ix FBIĬCJIĬCRIZI =bI =jIϞ4JK KKK"KJmxJmrJiJiJmZ:Jm9JiJiJm ;Jm ;Jm:Jm:G;3Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013667"˞w,Y0{A 9IA@YQ@H1\9F>yH@'?$?v 9?`X?@Ă? 5M?\?ɨ@2;騥;CyEBMvIMb@Mb@Mb@ )Y(\?X9v?~jt?y'?<<A )@IyAIIe5٢-= -)=9-X2;Q 5>11 5G٣1y=[ => ENusing accuracyPremultiplier from configA49EX?4YEG' iEB'?:@EDERuG rAG G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518236O >7&Ӟw,5M{A:C@Y:@:Z9:>y:HmS??`!?`d?@O??༯?ɨ:C@:O;8yFBFIILIL٢Vα= V^=9V:Q V>XX ZG٣Z6Gy^P: ^> bNusing accuracyPremultiplier from config`j49b5?j4Yb' ibBhn񶿑n@bDb|O;bO;b4p E AE^EZjFNOT Ignoring new targets: 271.50 m.Bj,;Jj,; ProNav: ac range: 271.500000 m, nav range: 192.701889 m, bearing: 328.870534 deg, approach rate: -0.414641 m/s, LOS rate: 0.150861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141570 deg. 2j;:j9@HeadingCmd: 4.819580 target range: 271.500000 and range: 279.50 m. jjjjihhhhfffrf!bf@ $?IɛOBO I ɚiI98=Ieie-Uie0)i)izKuNKu9KqKu Ku*FM?2FI:FIBFMT5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769617G AZH RH H I C I II BI  =&I .I 6I =<:I FG B J% tJ% qJ% 1J! J% ;N:J% q9J% 3J! J% {j;J% ~j;J% :J% :OE >Dٞw,7f{A6 @Y6@6iY96C>y6Hi?[?3q`,$?S'?)?`o? I?ɨ6 @6;69CyBBBIIJIJb5٢Vq[= VL=9V<:Q V>XX ZG٣Xy^O; ^> fNusing accuracyPremultiplier from configdj49fY?j4Yfh' ifBhjҶn@fDfn;f;f4p r_ ApB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 271.50 m.Bjc5;Jjc5;- ProNav: ac range: 271.500000 m, nav range: 192.535675 m, bearing: 328.931014 deg, approach rate: -0.435447 m/s, LOS rate: 0.158582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156783 deg. 2j-;:j-,<@5HeadingCmd: 4.819845 target range: 271.500000 and range: 279.50 m. j9j9j9jAiAhIhIhIhIfQfQfQrfbfL @ɛ]MB] 6E YeIa e5<ɚaiaIe)8=ImimUimLvһ)i)qEyWill construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022346*F?2F:FBF_0JF I@iG>u)) 5;CGGBO >  Y y% B Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:02:52.6551  TRx dataTimestamp_ set to:1736366573.956688 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274808,w,({A:@Y:5 @:X9:>y:H?}?]*l`|?8????ɨ:@:;:8CybׁBbI]Mb@Mb@Mb@YYY Y)YY]Mb?{Gz?{Gz?y] ?]#=]ף<]A Y)]@I]AYyYImImc5٢= ==9P:Q > G٣y3W; > Nusing accuracyPremultiplier from config49?4Yl( iB ?:x@D9;7;}4  AZjFNOT Ignoring new targets: 271.50 m.Bj";Jj";} ProNav: ac range: 271.500000 m, nav range: 192.361374 m, bearing: 328.992299 deg, approach rate: -0.403902 m/s, LOS rate: 0.142142 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159208 deg. 2j};:j}<@HeadingCmd: 4.819888 target range: 271.500000 and range: 279.50 m. jjjjihhhh8BfffrfbfHa @ɛJB4  fI  ɚ1i1I57 8=I=i=!Ui=)9)A*F?2F:FBF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525667 IGm UGA BQ Ou >zK LK 9K K !K RK ?JK >Vw,%{AB@YB<@BnZ9B>yBH@@E?`F?,.ػ??@|N?@$? ?ɨB@BeO;@y^BbIIrIr4d5٢zj= zT=9~ӺQ ~>| G٣6Gy~d; > %Nusing accuracyPremultiplier from config-49J?54Y( i*B15L=@ Dm;n;B4A E AA]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 280.5 m (Round-trip 374.0 ms) speed -0.4 m/s u,DAT read: user:1075> }BDAT read: Tx time:20:02:53.7770 }$Ping request sent.} I ޅw,b{A} @Y}&@}[9}>y}H`?_? 5N@9T?`$?`v??`8?ɨ} @}xp;}9CyޕBޕI%Mb@Mb@Mb@!!! !)!Y%S?~jt?y&1?y%?%=%`e<%zA %Z@)!I%A!y% AI=I=^5٢M2y= M6=9UF4Q U>QQ ]G٣Yy]; ]> uNusing accuracyPremultiplier from configiu49m?}4Ym( im6B}?}:}}@mDm;m;m4  AZjFNOT Ignoring new targets: 271.50 m.Bj? ;Jj? ; ProNav: ac range: 271.500000 m, nav range: 192.029343 m, bearing: 329.108983 deg, approach rate: -0.398557 m/s, LOS rate: 0.140100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160042 deg. 2jL;:j<@HeadingCmd: 4.819902 target range: 271.500000 and range: 280.50 m. jjjjihhhhABfafifirfibfu@C?ɛEB 隽I L ɚiI7=IiUiO,))E E tAeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG }G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ahw,L{A6@Y6@6]96E>y6H@u{?U?Y1 ?4?;?? ?ɨ6@6Y;67CyRBRIIZIZL5٢bBl= bh=9fQ f>hh jG٣hynQ@ n> rNusing accuracyPremultiplier from configpv49r?v4YrI( ir?Btz$z@rDr:r:rB4~lB ~G A`EZjFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 191.892197 m, bearing: 329.157370 deg, approach rate: -0.376596 m/s, LOS rate: 0.132963 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120451 deg. 2j;:j6@HeadingCmd: 4.819211 target range: 271.500000 and range: 280.50 m. jjjj i h h h hfffrfbf@? 9I=AiɛeCBe imPIi mVɚiiiIm}7=I}i}Vi}y)y)y*F)2F):F)BF-0JF)zK% KK%]9K!K%"K% BK):K)Will construct direction to contact in vehicle frame from tetrahedron phase data.G*GBO >Ha Ia  Ie A IIe JBIe  =&Ia .Ia 6Ie `<:Ie FJ vJ |J J J {T:J @9J J J Hu;J Ju;J {:J }:w,0{A2 @Y2@2^92x">y2Hv?`?% Z ?h? Ы?R??ɨ2 @2{;2;Cy> BBIININdK5٢Z:= ZK=9^CQ ^>`` bG٣f6Gyf= j> rNusing accuracyPremultiplier from configlv49nE?v4Yn( inJBxz)z@n"Dnk;na];nP4  A =B*** querying acoustic contact ***j9j9ZjQ]FNOT Ignoring new targets: 271.50 m.Bje;Jje; ProNav: ac range: 271.500000 m, nav range: 191.735092 m, bearing: 329.212960 deg, approach rate: -0.394487 m/s, LOS rate: 0.139701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142094 deg. 2j;:j:@HeadingCmd: 4.819589 target range: 271.500000 and range: 280.50 m. jjjjihhhhfff!rf!bf%%?ɛ}AB}ϙ y}нIy uɚiI#@7=IiuVit))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FI:FIBFM1JFI !I)GMOPG! B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508713c~w,|A2@Y2h-@2C_927X>y2H ?`Q?1" ?? ?aݫ?x??ɨ2@2%΋;29CyRBR I=Mb@Mb@Mb@999 9)9Y=d;O?/$?Q?y=?=<=u<9 =@)=VAI99y=AIUIU>5٢ex= e?=9eoQ e>ii mG٣iyu; u> }Nusing accuracyPremultiplier from configy49}! ?4Y} "( i}UB?:]@}*D}pJ;}!I;}4  AZjFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 191.581284 m, bearing: 329.270394 deg, approach rate: -0.367092 m/s, LOS rate: 0.137188 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147628 deg. 2jM;:j:@HeadingCmd: 4.819685 target range: 271.500000 and range: 280.50 m. jjjjihhhhsBfffrfbf~1?ɛ?B 隵̊I ɚiI6=IiUi))EC>E>*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760850 IGWqGa Bi O >zK KK 9K K #K n kw,<|AB_;@YBJ@B Z9B>yBH`߻?? j4o?@ﲣ?P? ?`?ɨB_;@By;B;CyN BN IIVIV]5٢^< ^V=9bg8;Q b>`` fG٣dyf< f> jNusing accuracyPremultiplier from confighn49j ?r4Yj'( ij^Bpr綿r@j1Dj ;j* ;jg4x ze A|MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014480ZjaeFNOT Ignoring new targets: 271.50 m.Bjm;Jjm; ProNav: ac range: 271.500000 m, nav range: 191.442566 m, bearing: 329.321949 deg, approach rate: -0.355109 m/s, LOS rate: 0.132071 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129961 deg. 2jG;:jV8@HeadingCmd: 4.819377 target range: 271.500000 and range: 280.50 m. jjjjihhhhfffrfbf >@ɛ=B^ XiI WHɚiI6=IicUi":))HI Is IIsBI =&I.I6IN<:I FJMxJMqJM1JIJMZ:JMq9JM3JIJM ;JM ;JM:JM:*F?2F:FBF@5JFGpWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265934G ?G ?G B O >  I T w,G5|A\@Ywl@WT9~.>yH`??`n`p h?`Ϣ?ژ?T??ɨ\@;騉y&B IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517009Mb@Mb@Mb@ )Y> ףp=?y&1?~jtx?y?`<; A p@)@IQAy3AII=X5٢_< =9,;Q > G٣6Gy; > Nusing accuracyPremultiplier from config49?4Y/( iiB?:z@;D_N;L;4mB 7 A]EZjFNOT Ignoring new targets: 271.50 m.Bj%S;Jj%S;5 ProNav: ac range: 271.500000 m, nav range: 191.247314 m, bearing: 329.391982 deg, approach rate: -0.370908 m/s, LOS rate: 0.133173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185499 deg. 2j5ʶ;:j5G@@=HeadingCmd: 4.820346 target range: 271.500000 and range: 280.50 m. j9j9j9j9iAhAhAhAhIfIfIfIrfIbfUn@ɛ:BV 隅!I xɚiIa6=Ii7Ti;))*F?2F:FBFX5JFG O: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769304G B O% > w,O|Avm@Yv}@vMS9vȲ>yvHIr?`?` L?g}?Fr?!e??ɨvm@vn;v:C)!I!%! !)))i))i11)1 YIY ]YC)]vA]"eFaaaiaIaaIiii ii)iq qqqq IBi3CЁAI)iy%$B% IIuIuZ5٢#{ w=9i:Q ? G٣y; ? Nusing accuracyPremultiplier from config49?4Y4( ipB6@AD"%<%<49 =H A=`EZjFNOT Ignoring new targets: 271.50 m.Bj;;Jj;; ProNav: ac range: 271.500000 m, nav range: 191.123215 m, bearing: 329.436432 deg, approach rate: -0.349376 m/s, LOS rate: 0.125222 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108625 deg. 2j;:jI5@HeadingCmd: 4.819005 target range: 271.500000 and range: 280.50 m. jjjjiAhIhIhIhIfQfQfQrfQbf]f@ɛ9BzKjMKKK$KYJ;3(" d (I ɚiI#6=IiSif;))E!mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024504*F?2F:FBF5JFHI I IIBI =&I.I6IL<:I FBIȭCJIȭCRIZI =bI =jIv4G !j;G B O= >lUw,Wk|AZS@YZ@ZVQ9Z>yZH#? |? @AQ??@'? Hq?X?ɨZS@Z;XyM BM II]I]:\5٢ K=9:Q > G٣yQ; > Nusing accuracyPremultiplier from config49?4Y:( iwBݳ@HD:Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:02:56.5573 TRx dataTimestamp_ set to:1736366577.736955checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274187":4 h AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 271.50 m.Bj;Jj;- ProNav: ac range: 271.500000 m, nav range: 190.978271 m, bearing: 329.488192 deg, approach rate: -0.378786 m/s, LOS rate: 0.135368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130583 deg. 2j-͹;:j5m8@=HeadingCmd: 4.819388 target range: 271.500000 and range: 280.50 m. j9j9j9j9i9hAhAhAhIfIfIfIrfQbfUXW @ɛ}7B}  y}} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524706J5 wJ1 J5 0J1 J5 W:J1 J5 ـ3J1 a= @a= @a= @a= @z6!w,<|A6@Y6@@6O96B>y6H@ŭ?{?@:[s??=?`uW?Y?ɨ6@6;69Cyr$Br IuMb@Mb@Mb@qqq q)qYu(\?:v?MbPyuz?uT G٣6Gy; > Nusing accuracyPremultiplier from config49r?4Y@( i~B?:ɶ@PD;;4 H AZjFNOT Ignoring new targets: 271.50 m.Bj;Jj; ProNav: ac range: 271.500000 m, nav range: 190.832397 m, bearing: 329.542906 deg, approach rate: -0.364891 m/s, LOS rate: 0.136968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139455 deg. 2j;:j9@HeadingCmd: 4.819543 target range: 271.500000 and range: 280.50 m. jjjjihhhhfBfffrfbf } @ɛE5BEWW AMII MaɚiiiIm5=IuiuPi}=!<)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781470*F?2F:FBFJF IG 1X<G B O >zK LK 9K K %K \`'w,Z|A"Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: 20:02:56.5573 LVL= 25184, 22497, 20290, 32755, AGC= 64, IDX= 439,-0.18, 0.365, 2.821, 1.317, 0.831, PHS=-0.378, 2.037, 0.483, RAW= 309.4, -19.7, CAL= 312.1, -28.6, ROT= 197.9, 28.6 JYgot valid direction response: 20:02:56.5573 LVL= 25184, 22497, 20290, 32755, AGC= 64, IDX= 439,-0.18, 0.365, 2.821, 1.317, 0.831, PHS=-0.378, 2.037, 0.483, RAW= 309.4, -19.7, CAL= 312.1, -28.6, ROT= 197.9, 28.6 VPDAT read: Bearing 197.9, 28.6 (Local) V~Local bearing/azimuth received: Bearing 197.9, 28.6 (Local) v@@YvͶ@vfM9v='>yvH09?z?vO?SW? ?`z4??ɨv@@vw;v:C DAT read: Range 10 to 50 : 282.0 m (Round-trip 376.0 ms) speed -0.4 m/s H>I I IIBI&I.I6Ix<:I FU,DAT read: user:1076> ]BDAT read: Tx time:20:02:57.6771 ]$Ping request sent.]z?]@y"C "`b"W "BO)"I"@i"7"5^@"K>"3ͬ@"x "=O@)"rI"q]@i"r> "z{˺Mÿ>| տ)">I"۪>i"L?"N? :publishing transmit ping timeYFpublishing direction and range info 9"d.u ?>z?]@y  ) I i ) I i "z{˺Mÿ>| տ) I i Will construct direction to contact in vehicle frame from tetrahedron phase data.yB I@AI I ^5٢5 b 5 <95 `:Q = >9 9 = G٣9 yE qW; E > M Nusing accuracyPremultiplier from configI U 49M ?U 4YM J( iM BY ] ] @M \DM :M 7:M 4a m Aq I k"&Z՜?k"4 k  k"l||A:k"CBk"CZk"@""a`@CQa@si"d.u ?>z?]@Jk"L?Rk"N?*"if@g3zD^:o%f"FX?PLܿ3ŷ("k"z*k"(5Ck"|yܿ՜?k"h5 2k"Dk"Ӝ?k"3Ve2 k"k"BKCk"Y@  addTargetRange:: Added new target pos. range: 282.000000 m, deltaT: 4.031976 s, deltaX: 1.500000 m, approachRate: 0.372026 m/s, rangeRepo size: 4 M  Added new target pos. range: 282.000000 m, bearing: 325.665296 deg, lat: 36.906729 deg, lon: -122.122791 deg, deltaT: 19.408153 s, deltaX: 10.500000 m, approachRate: 0.541010 m/s, posRepo size: 4 ZjI U FNOT Ignoring new targets: 282.00 m.BjU JjQ  ProNav: ac range: 282.000000 m, nav range: 203.259460 m, bearing: 329.439189 deg, approach rate: 0.000000 m/s, LOS rate: 0.136968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.255774 deg. 2jI ~G vA :j SJ@ ] Y] vAy] B HeadingCmd: 4.821573 target range: 282.000000 and range: 282.00 m. j j j j i h h h h f f f rf q@bf M?ɛ3BlB 隕@KI ɚiI45=Ii[LiU[=<))EEsAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFJ]|J]rJYJYJ];g:J]9JYJYG)<G?G ?GBO6?3w,|ANF@YNӳ@N6bP9N =yNHJ!?@Y?`Ɉ`@qq }G٣yy}O }> bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.49D!?4YyQ( iB+::@dD#;>4lB 3 AbEZjFNOT Ignoring new targets: 282.00 m.Bj(;Jj(; ProNav: ac range: 282.000000 m, nav range: 203.092957 m, bearing: 329.497555 deg, approach rate: -0.386651 m/s, LOS rate: 0.135648 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150429 deg. 2j0;:jC;@HeadingCmd: 4.819734 target range: 282.000000 and range: 282.00 m. jjjjih hhhfffrfbfc??ɛ2B{ I YxɚiI 5=IiJi85<)) )I)*F?2F:FBF 5JFzKMKK9KK&KG I3<E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >H I  I II BI  =&I .I 6I <:I F)9w,k|A2@Y2@2;)P924t=y2H@?? `1?3?`I?@?໺?ɨ2@2G;2:Cy~B~I %=%=II3A5٢xB G=9a 9Q > G٣6Gy > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49+$?4YW( iB :p:@lD;`?D4  AZjQ]FNOT Ignoring new targets: 282.00 m.Bjeu;Jjeu; ProNav: ac range: 282.000000 m, nav range: 202.942978 m, bearing: 329.550323 deg, approach rate: -0.358696 m/s, LOS rate: 0.126295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133607 deg. 2jY;:j8@HeadingCmd: 4.819441 target range: 282.000000 and range: 282.00 m. jjjjihhhhfffrfbf?ɛ0B DѽI %ɚiI$4=IiCHia0<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF%_0JF! ICiGM )<GA B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.(@w,'L}AJ@YJA@JM9J-H=yJH 11 5G٣1y=q; => ENusing accuracyPremultiplier from configAM49E'?U4YE^( iEBUT:U#?U:UU@EtDE7;Es6;E4a m AiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 282.00 m.Bj";Jj";JvJoJJJ{T:JK9JJ ProNav: ac range: 282.000000 m, nav range: 202.772980 m, bearing: 329.608748 deg, approach rate: -0.411914 m/s, LOS rate: 0.141686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150609 deg. 2jy;:jJ;@HeadingCmd: 4.819737 target range: 282.000000 and range: 282.00 m. jjjjihhhhBfffrfbfԺ?ɛ/BAy ݽI ɚiI%4=I%i-Gi-}R><))))*F2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G9)<GGrA I G B O >(8Fw,}A6L@Y6Ț@60I96=y6H`ȿ? i|? /k`ߎ??`i#?`N~?ѷ?ɨ6L@6,;68CyfBfIInIni5٢vj va=9zB;Q z>xx ~G٣|y~"; ~>  Nusing accuracyPremultiplier from config 49*?4Yd( iB@|Da::4! % A!ZjYeFNOT Ignoring new targets: 282.00 m.Bjen;Jjmn;} ProNav: ac range: 282.000000 m, nav range: 202.625458 m, bearing: 329.659363 deg, approach rate: -0.405957 m/s, LOS rate: 0.139384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127140 deg. 2j}P;:j}7@HeadingCmd: 4.819328 target range: 282.000000 and range: 282.00 m. jjjjihhhhfffrfbf@{?ɛ-Bu-# F IzKJKKK'K DɚiI"4=Ii{Ei6^<))Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948644*F?2F:FBFJFH]>IY I] II]BIY&IY.IY6I]t<:I] FG)<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199752  I aLw,3}A:“@Y:Қ@:)EH9:=y:H ?;{?k@@??? ??ɨ:“@:;:9CyFсBFIHHIRIRa5٢Z ZN=9^:Q ^>`` bG٣b6Gyb9; f> jNusing accuracyPremultiplier from configdj49f5.?n4YfUk( ifBprr@fDf/;fO/;f 4t v AtZjFNOT Ignoring new targets: 282.00 m.Bj ;Jj ;5 ProNav: ac range: 282.000000 m, nav range: 202.463959 m, bearing: 329.714791 deg, approach rate: -0.409717 m/s, LOS rate: 0.140733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141605 deg. 2j5*;:j5:@MHeadingCmd: 4.819580 target range: 282.000000 and range: 282.00 m. jIjIjIjQiQhQhQhQhYfYfYfarfabfeQ@ɛ,B(- 隍4I ɚiI}4=IiBij<))*F-?2F1:F1BF=p0JF9%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451686G}P<GQBYOu>JJrJJJJ9JJwKSw,M}A6ѓ@Y6@69E96 _=y6H|B?,y?@Pr`?H?@R?`ˍ?@?ɨ6ѓ@6W;6:Cy^ҁB\}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703782Mb@Mb@Mb@ )Y> ףp=?I +?y&1|y1?9<` A C@)IAyAIIm5٢: :=9?:Q > G٣y; > Nusing accuracyPremultiplier from config49P2?4YFs( iB2?:@D;;4mB aEZj)-FNOT Ignoring new targets: 282.00 m.Bj5-;Jj5-;E ProNav: ac range: 282.000000 m, nav range: 202.269989 m, bearing: 329.781573 deg, approach rate: -0.440813 m/s, LOS rate: 0.151913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175723 deg. 2jE;:jE>@MHeadingCmd: 4.820176 target range: 282.000000 and range: 282.00 m. jQjQjQjQiQhQhYhYh]́BfYfafarfabfejj@ Iɛ*Bl* f0I @ɚiIke4=I%i%@i-i<)I)I*F2F:FBFo0JFzKK 9KK(KG 5[<G ?G ?5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957442G B O >ZHI RHM @AH] >IY  I] l II] nBI]  =&IY .IY 6I] k<:I] FuYw,g}AB3ѓ@YB@BF9B7=yBH =C?y?`t[ j?`?%? ^??ɨB3ѓ@Bn;B9CyNȁBRIIZIZa5٢bS b]=9bQ b>dd jG٣hyj8 n> vNusing accuracyPremultiplier from configtz49v5?4Yvz( ivB@vDv5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459775\`w,@}AyMÁBMI Y]=Mb@Mb@Mb@ )Y$C?V-?Mby:?< A )$@Iy(AI Ih5٢%F %6=9%Q %>)) -G٣-6Gy5 5> =Nusing accuracyPremultiplier from config9E49=a:?E4Y=q( i=BEE:?M:M~U@=D=p;=n;=!4a eO Aa}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 282.00 m.BjB;JjB; ProNav: ac range: 282.000000 m, nav range: 201.897980 m, bearing: 329.909073 deg, approach rate: -0.499721 m/s, LOS rate: 0.170411 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187907 deg. 2j;:j@@HeadingCmd: 4.820388 target range: 282.000000 and range: 282.00 m. jjjjihhhhBff!f!rf!bf% @ɛU&BU3 Y]GIY ]GɚYiaIe}C4=Ieim;i  <) ) *Fu?2Fq:FqBF}2JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 285.3 m (Round-trip 380.4 ms) speed -0.4 m/s ,DAT read: user:1077> BDAT read: Tx time:20:03:01.5771 $Ping request sent.fw,Z}A6@Y62̚@6D96==y6H?y?j@?@ϕ? Ȝ?फ?t?ɨ6@6އ;6;CyfBfIIn-Inv5٢v v`=9zG:Q z>xx ~G٣|y~ >  Nusing accuracyPremultiplier from config 49>?4YR( iBѳ@D:*:5(4! % A!m addTargetRange:: Added new target pos. range: 285.299988 m, deltaT: 3.780098 s, deltaX: 3.299988 m, approachRate: 0.872990 m/s, rangeRepo size: 4 ZjimFNOT Ignoring new targets: 282.00 m.BjuW5;JjuW5; ProNav: ac range: 282.000000 m, nav range: 201.729294 m, bearing: 329.967018 deg, approach rate: -0.461140 m/s, LOS rate: 0.158539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149168 deg. 2j;:j;@HeadingCmd: 4.819712 target range: 282.000000 and range: 285.30 m. jjjjihhhhfffrfq@bf@Q?ɛ%BΈ> >[I ɚiI>4=Ii/9i \<))zKQJK]9KK)K ")-($%$!  Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:20:03:01.5763 *F?2F:FBFW0JFHI IG IIOBI&I.I6IW<:I FBIJIRIZIbIjI&O4JtJpJ1JJ;N:J^9J3JJ{j;aJ~j;aJ}:aJ~:aGy<GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ie Eilw,=}A2@Y2@2F92:=y2H`?6?繿@ G ?@?ب? k? B>IIJIJR5٢R2< RO=9V)Q V>TT VG٣XyZe Z> bNusing accuracyPremultiplier from config\b49^A?b4Y^ʐ( i^æBdfHf@^D^z:^:^/4jlB j AndEZj|FNOT Ignoring new targets: 282.00 m.Bj 8;Jj 8; ProNav: ac range: 282.000000 m, nav range: 201.547348 m, bearing: 330.030175 deg, approach rate: -0.464427 m/s, LOS rate: 0.161358 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164829 deg. 2j%z;:j%R=@%HeadingCmd: 4.819985 target range: 282.000000 and range: 285.30 m. j)j)j)j)i)h)h)h1h1fAfAfIrfIbfM@tA?ɛ=#BET8 AERIA EGMɚIiIIM24=IuiupP7iuU+<)q)y*F?2F :F BF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.GzQ<Ga Bq O >ڗsw,#}A2@Y2P@2WK92:=y2H$??nbd=?`d|? Fh??z?ɨ2@2F;0ybBbIddeMb@Mb@Mb@aaa a)aYep= ף?ˡE?Mb`?yeE?e'=e;}Will construct direction to contact in vehicle frame from tetrahedron phase data.e A e@)e@IeAaye\@II[5٢y <=9$Q > G٣6GyG > Nusing accuracyPremultiplier from config49F?4Y|( iͦBfE?:D@D3";;64  A IZj %FNOT Ignoring new targets: 282.00 m.Bjw?;Jjw?; ProNav: ac range: 282.000000 m, nav range: 201.333466 m, bearing: 330.103480 deg, approach rate: -0.487894 m/s, LOS rate: 0.167394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195331 deg. 2j;:jA@HeadingCmd: 4.820518 target range: 282.000000 and range: 285.30 m. jjj!j!i!h!h!h)h-Bf)f1f9rf9bf=G?ɛ B6 TI _ɚiI`4=Iiغ5i;))*Fe?2Fa:FaBFaJFazK mMK 9K K *K - Will construct direction to contact in vehicle frame from tetrahedron phase data.G )<H I  I ( II 6BI  =&I .I 6I <:I FG B O >yw,}AJ#K+3 K+.K#K#"K#J>uJ<J>0J<J>[Q:J<J>ـ3J<J>o;J>o;J<J< Z@Y 8j@ \R9 !=y Hټ?%? U@(?`$?H?^??ɨ Z@ {N; yEBEII]I]T5٢mm m>=9uQ u>yy }G٣yy+ > Nusing accuracyPremultiplier from config49bK?4Y( iצBس@LJDe ; ;B>4  AZj-FNOT Ignoring new targets: 282.00 m.Bj5?;Jj5?;E ProNav: ac range: 282.000000 m, nav range: 201.122772 m, bearing: 330.176620 deg, approach rate: -0.482918 m/s, LOS rate: 0.167817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194837 deg. 2jEW;:jEA@mHeadingCmd: 4.820509 target range: 282.000000 and range: 285.30 m. jijijqjqiqhqhqhyhyfyfyfyrfbf:?ɛ B (9 RI v:ɚiI 4=Ii&4iu;))!Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBFJF)a e6CG`wA %6Y%`wAy%k B@ BG% *;G B) Ou >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.)w,~A6N@Y6h^@6P96i=y6H{?@Q?D`̽?@4?@Y? ??ɨ6N@6͉;69CyBʁBBIuMb@Mb@Mb@qqq q)qYuˡE? ףp= ?~jtx?yuG?uQ8=u;u~A u@)qIulAqyu@IIHo5٢ = Y=9:Q > G٣yT{ > Nusing accuracyPremultiplier from config49O?4Yé( iBFH?:@чDT;;D4  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 282.00 m.Bj H;Jj H; ProNav: ac range: 282.000000 m, nav range: 200.935883 m, bearing: 330.241421 deg, approach rate: -0.505570 m/s, LOS rate: 0.175461 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169769 deg. 2j%;:j%>@%HeadingCmd: 4.820072 target range: 282.000000 and range: 285.30 m. j)j)j)j)i)h)h)h9h9f9fAfArfAbfEt?ɛmBuv0 x$I !ɚiI3=Ii%!4i%.@;)!)!*F?2F :F BF `0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IGM l;G! B1 OM >Նw,~AZJ@@YZO@ZzN9Z=yZH?ה? JEKW?@? ̩? j??ɨZJ@@Zz;Z;CyfЁBfI jp=hIn#Inbr5٢v= vV=9v%:Q z>xx ~G٣~6Gy~G ~>  Nusing accuracyPremultiplier from config49S?4Y( iBdz@ڇD!E;E;K4%mB % A-cEZjYeFNOT Ignoring new targets: 282.00 m.Bje@D;Jje@D;} ProNav: ac range: 282.000000 m, nav range: 200.747360 m, bearing: 330.307234 deg, approach rate: -0.491016 m/s, LOS rate: 0.171575 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172812 deg. 2j};:j}w>@HeadingCmd: 4.820125 target range: 282.000000 and range: 285.30 m. jjjjihhhhfffrfbf@ɛB* @I ɚiI3=Iip3iݗ:))zKeKK9KK+KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269104HI I II,BI&I.I6Ie<:I F*F?2F:FBF0JFJzJJJJ`:JJJJp;Jq;JJG']?;GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520048 I Fiw,~6~A:4@Y:4D@:6O9:E=y:H??yE?H4??zN??ɨ:4@:nˆ;:9CyFBFIIR)IR u5٢Z= ZN=9ZʹQ Z>\\ ^G٣\yb7k b> fNusing accuracyPremultiplier from configdj49fW?j4Yf( ifBhjn@fDf:fX:fnR4p rK ApZj FNOT Ignoring new targets: 282.00 m.Bj+G;Jj+G;- ProNav: ac range: 282.000000 m, nav range: 200.552490 m, bearing: 330.375698 deg, approach rate: -0.495142 m/s, LOS rate: 0.174127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180776 deg. 2j-;:j-?@5HeadingCmd: 4.820264 target range: 282.000000 and range: 285.30 m. j1j1j1j1i9hYhYhahafafafirfibfm@ɛB 隥8нI }ɚiI3=Ii3i9))*F?2F:FBFj3JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772520G5?:G B O5 >哟w,XP~AyvBvI aIamWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025753Mb@Mb@Mb@ )Y~jt?ˡE?~jt?yD?'=< )@Iy@IIo5٢%iX= %5=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=\?E4Y=( i=BED?E:MM@=D=;=^;=PZ4UB ] AYZjFNOT Ignoring new targets: 282.00 m.Bj =;Jj =;= ProNav: ac range: 282.000000 m, nav range: 200.336304 m, bearing: 330.452881 deg, approach rate: -0.462616 m/s, LOS rate: 0.165341 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206984 deg. 2j=;:j=YC@EHeadingCmd: 4.820721 target range: 282.000000 and range: 285.30 m. jAjAjAjAiAhIhIhqhuBfqfqfyrfybf}@d@ɛB I I&ɚiILv3=Ii2i:))*F2F:FBF`2JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:03:04.3642  TRx dataTimestamp_ set to:1736366585.552561 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277055zKM vKKM 9KI KM ,KM ZH RH H I  I ( II 6BI  =&I .I 6I 8<:I | FG }:G B O >J wJ oJ J J W:J K9J J J z;J z;J :J :w,;j~Af@YfM(@fQ9fU=yfH`ͺ?@@? dž*'*?{?N8?@?~?ɨf@f;fII MG٣M6GyUp U> Nusing accuracyPremultiplier from config49g`?4Y2( iB.@D:\:a4 3 AZjFNOT Ignoring new targets: 282.00 m.Bj K;Jj K;u ProNav: ac range: 282.000000 m, nav range: 200.153397 m, bearing: 330.518882 deg, approach rate: -0.493040 m/s, LOS rate: 0.178074 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173371 deg. 2jul;:j}>@}HeadingCmd: 4.820135 target range: 282.000000 and range: 285.30 m. jjjjihhhhfffrfbf@ @ɛ B @I 7ɚiI<3=I-i522i5>/))1)9 ]$?}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531600I*F2F:FBF,5JFG! G B1 O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: Range 10 to 50 : 287.2 m (Round-trip 383.0 ms) speed -0.3 m/s - ,DAT read: user:1078> -- X#Rx 1: Read range message, but no direction. y C 5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.w,s~Av@Yv@vfvR9v"O=yvH׈??ʾ`A?գ?@K?鎽?S?ɨv@vj;v;CyB I]Mb@Mb@Mb@YYY Y)YY]S? G٣y  > Nusing accuracyPremultiplier from config49d?4Y( iB=?:@DC;aB;h4 z AfEUB*** querying acoustic contact ***jQjQm addTargetRange:: Added new target pos. range: 287.200012 m, deltaT: 3.783781 s, deltaX: 1.900024 m, approachRate: 0.502150 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 282.00 m.Bj==;Jj==; ProNav: ac range: 282.000000 m, nav range: 199.950821 m, bearing: 330.593233 deg, approach rate: -0.450321 m/s, LOS rate: 0.165447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198463 deg. 2j;:j!B@HeadingCmd: 4.820572 target range: 282.000000 and range: 287.20 m. jjjjihhhhցBff f rf@3q@bfj-?ɛmBu qu(w,~A6@Y62@6S96=y6H ?@?7vs?@3? 9t?@??ɨ6@6=҇;69CyB Rq=9VqQ V?TX ZG٣Xy^ ^? bNusing accuracyPremultiplier from config`f49bg?f4Yb6( ib*BdfFj@b Db: ;b;bn4l n AlZj FNOT Ignoring new targets: 282.00 m.BjB;JjB;% ProNav: ac range: 282.000000 m, nav range: 199.799515 m, bearing: 330.649171 deg, approach rate: -0.460701 m/s, LOS rate: 0.170452 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143129 deg. 2j%;:j%8:@-HeadingCmd: 4.819607 target range: 282.000000 and range: 287.20 m. jQjQjQjQiYhYhYhYhafafafarfabfml?ɛ B$Ǽ o==I wɚ!i!I%e2=I-i-$2i-:)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250691H5>I5C I5M II5TBI5 =&I1.I16I5b<:I5 FzKUJKU]9KQKU-KU*F2F:FBF^0JFG!G B1 OM > Y IY u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501824~Mw,˷~A6@Y6@66X96==y6HdI?c? L h z? HŤ?@)?E??ɨ6@6^͇;4y>MBBD I F=F=IJIJ@T5٢R= RK=9RJQ V>TT VG٣V6GyZ Z> ^Nusing accuracyPremultiplier from config\b49^#k?b4Y^( i^8Bdff@^D^:^:^u4l n AlZjFNOT Ignoring new targets: 282.00 m.Bj ?;Jj ?; ProNav: ac range: 282.000000 m, nav range: 199.618835 m, bearing: 330.716595 deg, approach rate: -0.449372 m/s, LOS rate: 0.167842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177639 deg. 2j`;:j%'?@%HeadingCmd: 4.820209 target range: 282.000000 and range: 287.20 m. j!j)j)j)i)h)h)h1h1f1fAfIrfIbfMIy 6vɚiIf<2=Ii@3iy))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753920GMsJxJrJ1JJZ:J9J3Ja@a@a@a@GA BQ Ou >4w,~A Iy mB l IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006184Mb@Mb@Mb@ )YʡE?~jt?Mb?y-2?== A @)@I@y@IIO5٢> 6=9Q >  G٣ y   > Nusing accuracyPremultiplier from config49o?%4Y ( iHB%2?%:%%@D;';}4) 5A1ZjYeFNOT Ignoring new targets: 282.00 m.Bjeq4;Jjeq4;u ProNav: ac range: 282.000000 m, nav range: 199.428543 m, bearing: 330.787222 deg, approach rate: -0.424634 m/s, LOS rate: 0.157755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187271 deg. 2j};:j}@@}HeadingCmd: 4.820377 target range: 282.000000 and range: 287.20 m. jjjjihhhh Bfffrfbf;?ɛBlѕ 隕L>I eɚiIG1=Ii3i))*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261095HY IY  I] II] BIY &IY .IY 6I] <:I] ` FBIJIRIZI =bI =jI4G G sAG pAzK JK 9K K .K G B O >fw,o~A2Ԓ@Y2@2b]92*=y2H@ ? z?46`&?蚥?3???ɨ2Ԓ@2 ;28Cy>BB IIJIJ6=5٢Z= ^a=9b\Q b>hh jG٣hyjػ n> rNusing accuracyPremultiplier from configlv49nr?v4Yn( inVBxzkz@n'Dnj;n;n4~B ~MA~cEZj!%FNOT Ignoring new targets: 282.00 m.Bj]S5;Jj]S5; ProNav: ac range: 282.000000 m, nav range: 199.273773 m, bearing: 330.845133 deg, approach rate: -0.423345 m/s, LOS rate: 0.158527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149053 deg. 2j;:j;@ HeadingCmd: 4.819710 target range: 282.000000 and range: 287.20 m. j j j j i hhhhfffrfbf?ɛ%B-?Z )->I) -ɚ1i1I5.1=I5i=4i=)) IMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513021E==*F] ?2FY :FY BFY JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764844G] UG9BIOe>WŸw, AJ.vJ.J.0J,J.{T:J.9J.ـ3J,Z@YZ@ZQU9Z 6=yZH@Ty??` ^C??@m??a?ɨZ@Z;Z:CyfBf IhjAMb@Mb@Mb@ )Yx&1?Q?y&1?y!?<`<hA @)IVAyIIW5٢ =  =9'x;Q > G٣6GyM; > Nusing accuracyPremultiplier from config 49u? 4Y( igB!?:@1D_;;ӌ4B AeE=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 282.00 m.BjU$;JjU$;e ProNav: ac range: 282.000000 m, nav range: 199.080109 m, bearing: 330.918434 deg, approach rate: -0.380106 m/s, LOS rate: 0.144009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195304 deg. 2je;:jeA@uHeadingCmd: 4.820518 target range: 282.000000 and range: 287.20 m. jqjqjqjqiqhqhqhyh}NBfyfyfrfbf p@ɛBF{8 隵>I KɚiIV0=IEiE85iEŻ)A)IE2= IHi=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015305*F?2F:FBFk0JFG G B O >yȟw,ʉ#AF @YF @FyS9F@_>yFHf??`Z??7l?d??ɨF @F;F8CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265861yZBZ IHf>Id If IIfĂBIf =&Id.Id6Ifa<:If FIvIvDP5٢~> [=9?:Q >    G٣ y ; > Nusing accuracyPremultiplier from configzKBJK+9KK/K RK ?JK>49x?4Y( isB@9D<<R4B AZjaeFNOT Ignoring new targets: 282.00 m.Bjmy;Jjmy; ProNav: ac range: 282.000000 m, nav range: 198.938477 m, bearing: 330.972038 deg, approach rate: -0.349655 m/s, LOS rate: 0.132429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136112 deg. 2jĵ;:j79@HeadingCmd: 4.819484 target range: 282.000000 and range: 287.20 m. jjjjihhhhfffrfbf r@ɛBTY̻ b>I ,ɚiIIM/=IUiU5iUfO)Q)YEaEa*Ea"Ea IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517865*F ?2F :F BF _0JF }G {Y y zBG ҸG ?G ?GBO=>gПw,CA^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769970U2 @YU@U8O9Um>yUH j?@?@R @߻?ݢ??`C??ɨU2 @U;Qym΂Bm IMb@Mb@Mb@ )YRQ?Mb?kt?y?= 0= A )n@IAy @II R5٢%= %=9%:Q > G٣yx; > Nusing accuracyPremultiplier from config49a|?4Yi) iBG?:0@ADZ;;4 AZjQ]FNOT Ignoring new targets: 282.00 m.Bje ;Jje ;u ProNav: ac range: 282.000000 m, nav range: 198.766357 m, bearing: 331.035759 deg, approach rate: -0.323481 m/s, LOS rate: 0.119861 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166514 deg. 2ju;:j}=@}HeadingCmd: 4.820015 target range: 282.000000 and range: 287.20 m. jyjyJyJqJJJ]:Jq9JJjjihhhh%Bfffrfbf @ɛEBM̔ IM>II Mw}ɚIiIIU"/=I}i}R5itR))*F?2F:FBFn0JF ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022548G] [6G1 BA O] >ןw,Ag]AB@YBP,@BJ9B$>yBH??| zZ? ?N? d?q?ɨB@BtG;B;CyJBN IIVIVW5٢b= be=9bc;Q f>dd fG٣f6GyjF; j? nNusing accuracyPremultiplier from configlr49n~?r4Yn ) inBtv񴿑v@nGDn;n:n4x zcAxZjFNOT Ignoring new targets: 282.00 m.Bj% ;Jj% ;= ProNav: ac range: 282.000000 m, nav range: 198.658844 m, bearing: 331.075510 deg, approach rate: -0.325418 m/s, LOS rate: 0.120384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094506 deg. 2j=<;:j=D3@EHeadingCmd: 4.818758 target range: 282.000000 and range: 287.20 m. jAjAjIjIiIhIhIhQhQfQfQfQrfYbf]@O @ɛB[; 隍K>I "ɚiI.=Iio5iOú))*FU?2FQ:FQBFU`5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:03:08.2692 TRx dataTimestamp_ set to:1736366589.585793checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276449HI I(!IIBI =&I.I6I#<:Ii FzKKK9KK0K G<GBO> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525921&.ݟw,4HwA>'@Y>7@>E9>Y>y>HpG? އ??IY?8?@z?`/?ɨ>'@>wN;>8CyNBN!IIVIVR5٢^= bJ=9b5;Q b>dd fG٣dyf]; j> nNusing accuracyPremultiplier from confighr49jj?r4YjL) ijBprƴr@jNDj ;j;:j 4x zAxZj%FNOT Ignoring new targets: 282.00 m.Bj-;Jj-;= ProNav: ac range: 282.000000 m, nav range: 198.532608 m, bearing: 331.122155 deg, approach rate: -0.311815 m/s, LOS rate: 0.115289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115208 deg. 2j=>;:j=:6@EHeadingCmd: 4.819119 target range: 282.000000 and range: 287.20 m. jAjAjAjAiAhIhIhIhIfQfQfQrfbf@@ɛ]B]c; ae?Ia eɚaiaIe^-=ImiE5ig))*FM?2FI:FIBFMP5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 289.7 m (Round-trip 386.3 ms) speed -0.1 m/s ],DAT read: user:1079> uBDAT read: Tx time:20:03:09.3772 }$Ping request sent.}J wJ tJ J J W:J 9J J w,A2S>@Y2M@2?92m>y2H?q?`O`_M?bO??O}??ɨ2S>@2#Ĉ;2;C AIA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:20:03:09.3764 y޽B޽"!IMb@Mb@Mb@ )Y?L7A`?Mb?yf?+=< A @)@IVAyp@IIDP5٢ = !=9Y;Q > G٣y; > Nusing accuracyPremultiplier from config49)? 4Y1) iB ? : @VDlK;>J;4 hAgE5B*** querying acoustic contact ***j9j9M addTargetRange:: Added new target pos. range: 289.700012 m, deltaT: 4.034475 s, deltaX: 2.500000 m, approachRate: 0.619659 m/s, rangeRepo size: 4 ZjQUFNOT Ignoring new targets: 282.00 m.BjU;Jj];m ProNav: ac range: 282.000000 m, nav range: 198.367401 m, bearing: 331.182160 deg, approach rate: -0.325995 m/s, LOS rate: 0.118504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155351 deg. 2jm;:jm;@uHeadingCmd: 4.819820 target range: 282.000000 and range: 289.70 m. jqjqjqjqiqhyhyhyh}Bfffrf@3r@bf ?ɛ5B5 ; 9=?I9 =>Pɚ9i9I=,=Ieie4ie-:)i)i*F2F:FBFO5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.H I  I m!II >BI  =&I .I 6I <:I a FG u4zK &KK K K 1K    G! B1 O] >Bw, A a0@Y ?@ 2A9 u>y H?`?A` ? ζ?.?u?`A?ɨ a0@ #؈; 9C)1I1=D9 9999i9AiAA)A AIA MfC)MvAMpMFIQQiQIQYIaia ai)iq qqyyЁЅҁAIЅ`)ЁiЁyލBޕ(!IIIG5٢< u=9Q ? G٣6Gy5 ? Nusing accuracyPremultiplier from config49?4Y) iB³@\DC ;e ;4 >AZj  FNOT Ignoring new targets: 282.00 m.Bj;Jj;% ProNav: ac range: 282.000000 m, nav range: 198.258911 m, bearing: 331.221799 deg, approach rate: -0.326892 m/s, LOS rate: 0.119505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094171 deg. 2j%;:j%83@HeadingCmd: 4.818752 target range: 282.000000 and range: 289.70 m. jjjjihhhhfffrfbf@?ɛ5B= %U< E4iuhw׸)y)y 9I=Ii*F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.736296G% :G B O% >S+w,uAVWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991980%jF@Y%U@%=9%>y%H:?`2? G٣yL; > Nusing accuracyPremultiplier from config49?4Y ) iB?:@cD1;;W4 AZjFNOT Ignoring new targets: 282.00 m.Bj;Jj; ProNav: ac range: 282.000000 m, nav range: 198.118027 m, bearing: 331.271621 deg, approach rate: -0.322907 m/s, LOS rate: 0.114272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124757 deg. 2jٜ;:j7@%HeadingCmd: 4.819286 target range: 282.000000 and range: 289.70 m. j!j)j)j)i1h1h9hhBfffrfbfs.?ɛB; 隵(?I ɚiIt+=IiTp3i ,;)) 9I9*F?2F:FBF4JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241483G u4G ?G /?G B O >w,\A2uS@Y2c@2792->y2H"? U?AM`5?` C?@?%??ɨ2uS@2G;2:Cy B *!II%I%S<5٢%ռ Q=9n;Q > G٣y; > Nusing accuracyPremultiplier from config49?4Y%) iħB`@iD8;{;$4 2AZjFNOT Ignoring new targets: 282.00 m.Bj;Jj; ProNav: ac range: 282.000000 m, nav range: 197.992157 m, bearing: 331.316098 deg, approach rate: -0.323162 m/s, LOS rate: 0.114263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108701 deg. 2j֜;:jL5@HeadingCmd: 4.819006 target range: 282.000000 and range: 289.70 m. jjjjih!h!h)h)f)f)f1rf1bf5`߹?ɛ]B]`y< Y]} ?Ia eɚaiaIe0*=Imim~2imTy;)q)qHI I!IIgBI =&I.I6I:IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493171*F=?2F9:F9BF=_0JF9zKLK9KK2K#(('&',/237860G:JvJxJJJ{T:J9JJJHu;aJJu;aJ&:aJ(:aGBOK> y I  Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iձ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744495w,A:m@Y:U}@:-9:>y:Hs?@~?1/ 7?e?R?z?̲?ɨ:m@:Ĉ;:;Cy^B^ !IIjIjS5٢rV$ vW=9vk;Q v>xx zG٣z6Gy~| < ~> Nusing accuracyPremultiplier from config 49*? 4Y*) iʧB@oD2:u:4B xA%dEZjAEFNOT Ignoring new targets: 282.00 m.BjM;JjM;m ProNav: ac range: 282.000000 m, nav range: 197.868820 m, bearing: 331.359484 deg, approach rate: -0.324464 m/s, LOS rate: 0.114209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105427 deg. 2jmœ;:jm4@uHeadingCmd: 4.818949 target range: 282.000000 and range: 289.70 m. jqjqjyjyiyhyhyhhfffrfbf?ɛBA< 隽 ?I ݼɚiI&*=Ii1i;))El==Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000932*F?2F:FBFJFG] ;Ga Ge sAG1 BA O] >_w,A IJiyB!I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249376Mb@Mb@Mb@ )Yp= ף?Mb?Mb`y?@=~A )@IAyI I Q5٢ɻ 8=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=495%?E4Y50) i5ЧB? : Ů @5wD5<5<54B AgEUB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 282.00 m.Bj:Jj: ProNav: ac range: 282.000000 m, nav range: 197.718704 m, bearing: 331.410609 deg, approach rate: -0.316376 m/s, LOS rate: 0.107829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128676 deg. 2j;:j'8@HeadingCmd: 4.819355 target range: 282.000000 and range: 289.70 m. jjjjihhhhBfffrf!bf%@ɛmBm; quQ ?Iq uj7ټɚqiqIuV)=Ii?0iz;))!E<*F?2F:FBFJFHI I!II{BI&I.I6I<:Ie FBIȬCJIȬCRIZIbIjI)4% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500150zK= l,MK9 K9 K= 3K= ,($%$"!#  G O;J wJ sJ J J W:J 9J J J z;J z;J <:J >:G B O >@ w,^.AR@YR@R9R>yRH?}?<@??@?*?@?ɨR@R4;P IyUBU!IaeAImImY5٢}31 }1=9}C@ G٣ylQ< > Nusing accuracyPremultiplier from config49f?4Y6) iէB@DA;;4%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752187Y eAaZjFNOT Ignoring new targets: 282.00 m.Bj@;Jj@;% ProNav: ac range: 282.000000 m, nav range: 197.561935 m, bearing: 331.463504 deg, approach rate: -0.342406 m/s, LOS rate: 0.115623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133998 deg. 2j%;:j%8@-HeadingCmd: 4.819448 target range: 282.000000 and range: 289.70 m. j)j)j)j)i)h1h1h1hYfYfYfYrfabfe{@ɛMBM< IMv?II UռɚiIQ(=Ii .i=<))EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006858*FE ?2FA :FI BFI JF GGB IO?5w,TAN=@YNΚ@NP9N->yNH]? {?^`o d?׿?`J? ?@?ɨN=@NB;LɸTTTiTTiXX)X XIX \)\ɹ\^XF\\ɺb$xAi`I``I`i` `d)dd ddhɻhhhIh)hih)lIllɼl llyvBv!I}Mb@Mb@Mb@yyy y)yY}oʡ?Zd;O?{Gzy} ?}j<=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:03:12.1695 TRx dataTimestamp_ set to:1736366593.364775checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258153}#}hA y)}@I}~@yy}@II^S5٢7. =9~  G٣6Gy; > Nusing accuracyPremultiplier from config49?e4Yl>) i٧Be ?m:m%m@D<n<4q u.AqZjFNOT Ignoring new targets: 282.00 m.BjL ;JjL ; ProNav: ac range: 282.000000 m, nav range: 197.370728 m, bearing: 331.528340 deg, approach rate: -0.363956 m/s, LOS rate: 0.123532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169883 deg. 2j;:j >@%HeadingCmd: 4.820074 target range: 282.000000 and range: 289.70 m. j!j!j!j!i!h)h)h)h-}Bf1f1f1rf1bf=`ǟ @ɛB; ?I мɚiI9'=Ii,X+io<))*F?2F:FBFJFGm2<G)B9OUu>HI I!IIvBI =&I.I6I.<:Io FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508663zKm WMKm ]9Ki Km 4Km J vJ J 1J J {T:J J 3J J Gu;J Ju;J J =:w,mA2P̓@Y2ۚ@292eQ>y2H2?z?qW `?@Mӊ??U?`A?ɨ2P̓@2u;2:Cy}ɂB} IIIT_5٢ I=9t;Q > G٣y; > Nusing accuracyPremultiplier from config49?4Y5D) iܧB  񭿑 @D;;4 )AZjIMFNOT Ignoring new targets: 282.00 m.BjU@;JjU@;e ProNav: ac range: 282.000000 m, nav range: 197.224579 m, bearing: 331.577884 deg, approach rate: -0.376898 m/s, LOS rate: 0.127863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123929 deg. 2je;:jmy7@mHeadingCmd: 4.819272 target range: 282.000000 and range: 289.70 m. jijqjqjqiqhqhqhyhyfyfyfrfbf @ $?IɛB!; 隵@>I nͼɚiIg'=IiQ(i-<)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.)Q ]1CDAT read: 20:03:12.1695 LVL= 22848, 23425, 16930, 27971, AGC= 65, IDX= 451,-0.18, 2.829,-1.218,-2.766,-2.900, PHS=-0.467, 1.729, 0.131, RAW= 314.8, -14.1, CAL= 319.9, -19.1, ROT= 190.1, 19.1 G  E.YIyMB*F2F:FBFJFYgot valid direction response: 20:03:12.1695 LVL= 22848, 23425, 16930, 27971, AGC= 65, IDX= 451,-0.18, 2.829,-1.218,-2.766,-2.900, PHS=-0.467, 1.729, 0.131, RAW= 314.8, -14.1, CAL= 319.9, -19.1, ROT= 190.1, 19.1 PDAT read: Bearing 190.1, 19.1 (Local) ~Local bearing/azimuth received: Bearing 190.1, 19.1 (Local) DAT read: Range 10 to 50 : 291.0 m (Round-trip 388.1 ms) speed -0.4 m/s E,DAT read: user:1080> MBDAT read: Tx time:20:03:13.2772 M$Ping request sent.MFѯ@d{ v@)㭪IXT@i㭪>Awau',@Ͽ 7EϿ)8IK{>id~?@G?:publishing transmit ping timeIFpublishing direction and range info9##?W?A"wy )Ii )IiAwau',@Ͽ 7EϿ)IiGE 9)<G B OM >m Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:03:13.2764 !w,5A1ԓ@Y@D'ټ9=yH@R? Xz?C>8?? $??W?ɨ1ԓ@;8Cyޕ‚Bޕ I p=a=-Mb@Mb@Mb@))) )))Y-333333? ףp= ?~jty-?-Q8=-D-A )))I-;@)y-@IeIe Y5٢ue u$=9};Q }>y G٣y: > Nusing accuracyPremultiplier from config49?4YK) tIiާB?: ݮ @D3<-<4 bAk"عߜ?k^2 k kwA:kCBkCZk@"d`;\@Yxe@7i##?W?A"wJkd~?Rk@G?*gygj@>QVW&@fn[z:?ĶEԿ@%y"k*k;SCk/?k?\2 2kGk|yܿ՜?kkTksJCk@ I addTargetRange:: Added new target pos. range: 291.000000 m, deltaT: 3.780775 s, deltaX: 1.299988 m, approachRate: 0.343842 m/s, rangeRepo size: 4  Added new target pos. range: 291.000000 m, bearing: 336.581622 deg, lat: 36.906784 deg, lon: -122.122791 deg, deltaT: 15.379129 s, deltaX: 9.000000 m, approachRate: 0.585209 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 291.00 m.BjJj = ProNav: ac range: 291.000000 m, nav range: 202.449265 m, bearing: 332.469469 deg, approach rate: 0.000000 m/s, LOS rate: 0.127863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177191 deg. 2jA:jE?@MHeadingCmd: 4.820201 target range: 291.000000 and range: 291.00 m. jIjIjIjIiIhIhIhqhuQBfyfyfyrf}0r@bf@E?ɛށB`; m>I H!ʼɚiI>'=Iiw%i <)) uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF"G=G=G 5<G B O >(w,9+AH I  I !II bBI &I .I 6I 7<:I v F5d@Y5ɚ@51Ҽ95_=y5H ؿ?@~?`Aj5?@?uE?&??ɨ5d@5;5:CyMBUWill construct direction to contact in vehicle frame from tetrahedron phase data.] IImIm^5٢}  }f=9};Q }> G٣6GyN > Nusing accuracyPremultiplier from config49I?4YsQ) iBD@Dn:p;4 "AiEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 291.00 m.Bj#;Jj#; ProNav: ac range: 291.000000 m, nav range: 202.315994 m, bearing: 332.515971 deg, approach rate: -0.410298 m/s, LOS rate: 0.143259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114783 deg. 2j;:j+6@ HeadingCmd: 4.819112 target range: 291.000000 and range: 291.00 m. j j j jihhh!h!f!f!f!rf)bf5=?ɛ݁Bn; [>I :ȼɚi)I-&=I5i5#i51\<)1)1zKKK9KK5KJK3 K.-KK"KJ)J)J-0J)J)J)J-ـ3J)J)J)J)J)*F?2F:FBF0JF IKiGRD< Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ******% R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.G B O >/w,񾀶Ay~B~ II I I5٢  %Q=9%Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1=495>?E4Y5W) i5BAAE@5D5G;5;54I UAQZjq}FNOT Ignoring new targets: 291.00 m.Bj;Jj; ProNav: ac range: 291.000000 m, nav range: 202.168381 m, bearing: 332.567606 deg, approach rate: -0.379264 m/s, LOS rate: 0.132765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130207 deg. 2j;;:j_8@HeadingCmd: 4.819381 target range: 291.000000 and range: 291.00 m. jjjjihhhhfffrfbf %?ɛ}܁B}x2; 隅>I żɚiI>V&=Ii!ic<))uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.177588*F?2F:FBF^5JFGM P<  I G) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4263935w,؀A6@Y6~@6Fi96_=y6Hd?:?`r?P{?@L?#???ɨ6@6;69Cy~B~ IMb@Mb@Mb@ )YQ?Mb?y&1y(?@=`eQA @)@I$@y@IIJ5٢f A=92 G٣y > Nusing accuracyPremultiplier from config49γ?4Y^) iBm)?:(@DG;F; 4B AfEZjFNOT Ignoring new targets: 291.00 m.Bj';Jj';- ProNav: ac range: 291.000000 m, nav range: 201.993805 m, bearing: 332.629725 deg, approach rate: -0.411415 m/s, LOS rate: 0.146518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161702 deg. 2j-;:j5<@HeadingCmd: 4.819931 target range: 291.000000 and range: 291.00 m. jjjjihhhhBfffrfbf ?ɛځBh !%>I! %&üɚ!i!I%&=Imiui iu1<)q)q*F?2F:FBFV5JFG GH>I I`!II4BI&I.I6I<:I_ F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679030G- Re<G B zK% uJK% 9K! K% 6K% O] >J9 J= tJ9 J9 J9 J= 9J9 J9 J9 J9 J= :J= :, G٣6Gy%; %> -Nusing accuracyPremultiplier from config)549-?54Y-Pe) i-B9==@-D-6;-;-4A EAAZjFNOT Ignoring new targets: 291.00 m.Bj&;Jj&; ProNav: ac range: 291.000000 m, nav range: 201.835526 m, bearing: 332.686112 deg, approach rate: -0.409194 m/s, LOS rate: 0.145891 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144482 deg. 2j?;:jj:@HeadingCmd: 4.819631 target range: 291.000000 and range: 291.00 m. jjjjihhhhfffrfbf@?ɛ؁B5$ T=隍ӣ>I s<ɚiI|%=Ii8i:E<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931293*F%?2F!:F)BF-]0JF)GiG<GBOF> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.185279Bw, Ab[@Yb豚@bSn9b6=ybH??I`l`GT?*????ɨb[@b;b:CynjBrh Iu@u uMb@Mb@Mb@qqq q)qYu ףp= ?/$?QyuQ8?u,=uuuA u@)u@IqqiuII4d5٢^ B=9J G٣yŇ > Nusing accuracyPremultiplier from config49?4Y5m) i8?:@ˆD;{;44 ( AZjFNOT Ignoring new targets: 291.00 m.Bj;;Jj;; ProNav: ac range: 291.000000 m, nav range: 201.649124 m, bearing: 332.754574 deg, approach rate: -0.444982 m/s, LOS rate: 0.163584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180760 deg. 2j;:j?@%HeadingCmd: 4.820263 target range: 291.000000 and range: 291.00 m. j!j!j!j!i)h)hhhfffrfbfO@ɛׁBH >I) -+ɚ)i)I-_%=I5i5Ei5 ><)1)9 I*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434477G )<G G G B O >&Iw,_&A2@Y2@24<92~=y2H? ̌?h`D`?dq?`^?]?ɨ2@2;29Cy>bB>^ IHV>IT IV(!IIVBIT&IT.IT6IVa<:IV FIbIbk5٢jw) jX=9nIlp rG٣pyrI r> zNusing accuracyPremultiplier from configtz49v?z4YvBt) =Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.686248ivBy}ұ@vˈDvIY ]oUɚYiYI]H%=IeierimPH7<)i)EEzKMJKMh9KIKM7KM   *FE?2FA:FABFE^0JFA"GM=GM= ILiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939279G- ܸ<<G) B1 OU > Pw,8@A:@Y:@:9:=y:H c? :?3v?qE? ? s?ɨ:@:m;8yJZBJU IIVIVj5٢^ ^L=9b;Q b>`` bG٣f6Gyf f> jNusing accuracyPremultiplier from confighn49jŚ?r4Yj{) ihtvv@jԈDjvA;jA;j&4x z AxZjFNOT Ignoring new targets: 291.00 m.Bj%I;Jj%I;5 ProNav: ac range: 291.000000 m, nav range: 201.307449 m, bearing: 332.881124 deg, approach rate: -0.473582 m/s, LOS rate: 0.176244 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171216 deg. 2j5;:j5<>@=HeadingCmd: 4.820097 target range: 291.000000 and range: 291.00 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfUff @ɛԁB6\ 隅>I JػɚiI~%=Iii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202199EJ%uJ!J!J!J%[Q:J!J!J!a-@a-@a-@a-@*FU?2FQ:FQBF]_0JFY u $?Iq G= 2<G B! = Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:20:03:16.0733 E TRx dataTimestamp_ set to:1736366597.404774M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451467OU >[9Vw,ZA2}@Y2@2ǎ92̺=y2H ? ?`v) ?`z$z@|?&??ɨ2}@2;2:CyFHBF? I Mb@Mb@Mb@ )Y%C? ףp= ? G٣yz > %Nusing accuracyPremultiplier from config!-49%1ʚ?U4Y%) i!UD?U:UmU@%߈D%[;%;%.4Y e1 AaZjFNOT Ignoring new targets: 291.00 m.BjD;JjD; ProNav: ac range: 291.000000 m, nav range: 201.099442 m, bearing: 332.959126 deg, approach rate: -0.456766 m/s, LOS rate: 0.171462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209434 deg. 2jX;:jC@ HeadingCmd: 4.820764 target range: 291.000000 and range: 291.00 m. j j jjihhhhBfffrf!bf% @ɛӁBy 隵Bj>I ɚiI7%=Iii|C<))!E+=*F}?2Fy:FyBF}`0JFyH>I I II؂BI&I.I6IL<:I FBIaJIaRIaZIe =bIe =jIeƏm4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703051zK uLK K K 8K G l<G ?G >G B O > Y IY g\w,tAvc@Yvs@vK;9v=yvH ,?`m?$? bGv? ??ɨvc@v߈;v7CyMBE II&Is5٢%< %W=9-׉;Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E49=eΚ?E4Y=() i9IMҲM@=D=K ;= ;=-54Q ] AYZjyFNOT Ignoring new targets: 291.00 m.BjM;JjM; ProNav: ac range: 291.000000 m, nav range: 200.925934 m, bearing: 333.024836 deg, approach rate: -0.472890 m/s, LOS rate: 0.179245 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172485 deg. 2j;:jk>@HeadingCmd: 4.820119 target range: 291.000000 and range: 291.00 m. jjjjihhhhfffrf)bf- @ɛҁB妻 隵v>I ɚiI!%=IiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 293.9 m (Round-trip 391.9 ms) speed -0.8 m/s ,DAT read: user:1081> BDAT read: Tx time:20:03:17.1772 $Ping request sent.E >*Fe?2Fa:FaBFaJFaGi Gi Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:03:17.1764 G] 2<J1 J5 rJ1 J1 J1 J5 9J1 J1 GA BQ Om >cw,2A6J@Y6?Z@696=y6H c?ગ?{3@g@9R?Ёp?D?@8?ɨ6J@6KP;69CyBHBB> IuMb@Mb@Mb@qqq q)qYuV-?kt?~jtxyuM?u 0=uĻq q)u@Iu@qyu@IIp5٢ 3=9KJ;Q > G٣6GyUݻ > Nusing accuracyPremultiplier from config49zӚ?4 IY) iBM?:쳿@Dy;@x;'=4B 9 A% addTargetRange:: Added new target pos. range: 293.899994 m, deltaT: 4.036899 s, deltaX: 2.899994 m, approachRate: 0.718372 m/s, rangeRepo size: 4 Zj!-FNOT Ignoring new targets: 291.00 m.Bj-Q;Jj-Q;= ProNav: ac range: 291.000000 m, nav range: 200.708176 m, bearing: 333.109125 deg, approach rate: -0.473156 m/s, LOS rate: 0.183345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228326 deg. 2j=;:jEfF@MHeadingCmd: 4.821094 target range: 291.000000 and range: 293.90 m. jIjIjIjIiIhIhQhQhUBfQfYfYrf]`f^r@bf]?ɛЁBB޻ 隝lo>I 3궼ɚiI%]%=I-i-i-.:;)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG{/;G B O >H} >Iy  I} II} BI}  =&Iy .Iy 6I} P<:I} Fjw,PA"Will construct direction to contact in vehicle frame from tetrahedron phase data.yޑޕ? III]5٢}; I=9Q > G٣y > Nusing accuracyPremultiplier from config49ך?4Y)) i@D:,;;;D4 3 AmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 291.00 m.BjL;JjL; ProNav: ac range: 291.000000 m, nav range: 200.515274 m, bearing: 333.184083 deg, approach rate: -0.460162 m/s, LOS rate: 0.178982 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200276 deg. 2j;:jdB@HeadingCmd: 4.820604 target range: 291.000000 and range: 293.90 m. jjjajiiihihihqhqfqfqfqrfybf}D?zKN KK9KK9K#XbIY ds!t ^5 ɛ΁B|$˻ t>I  Q0ɚ i I c%=IiiiQ;)) IMi*F?2F:FBF2JFGvAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 5jY5vAy=BG} ']?;GQ Ba O >pw,ÁAB@YB@B`9BU7=yBHʹ?@?轿@?* rp?=??ɨB@B;B:CyJSBNL I R=PIVIVY5٢bc= b\=9f{08Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49nۚ?r4Yn) iltv;v@nDn;n;nJ4x z AxZj9MFNOT Ignoring new targets: 291.00 m.BjUW^;Jj]W^;u ProNav: ac range: 291.000000 m, nav range: 200.340805 m, bearing: 333.253597 deg, approach rate: -0.487452 m/s, LOS rate: 0.194387 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183910 deg. 2j}g<:j} @@HeadingCmd: 4.820319 target range: 291.000000 and range: 293.90 m. jjjjihhhhfffrfbf ,N?]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259871ɛḾBU QU>IQ UFɚQiYI]̔%=JJmJ1JJJ&9J3JIiUiMϻ)) I*F2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508730G k;GY Ba O >(ww,ށAy-]B5Y IMb@Mb@Mb@ )Ym?:v?MbP?yN?T=:A )@Iy @II#U5٢:= =7=9=Q E>AA MG٣M6GyM M> UNusing accuracyPremultiplier from configQ]49U᚜?]4YU) iUBeO?e:ee@UDUV;U;UR4q } AyZjFNOT Ignoring new targets: 291.00 m.BjV;JjV; ProNav: ac range: 291.000000 m, nav range: 200.122269 m, bearing: 333.339230 deg, approach rate: -0.479118 m/s, LOS rate: 0.187947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232365 deg. 2j<:jF@HeadingCmd: 4.821164 target range: 291.000000 and range: 293.90 m. jjjjihhhhBfffrfbf y?ɛˁBP >I ҥɚiI%=I%i%i%))))*F2F:FBF_0JFH I  I  II BI &I .I 6I <:I  FG!5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761795GqBO_>zK (PK 9K K :K  "8><<;54221120/,,+)**'($"#= PExceeded connect timeout, disconnecting. y Iy M}w,A2ڒ@Y2@2z92E=y2H @? ?@x.`iƸ?RN ^???ɨ2ڒ@2;28CyNmBRm IIVIVk5٢= Y=9%?;Q %>!! %G٣)y- -> 5Nusing accuracyPremultiplier from config1=495䚜?=4Y5D) i5BAEoE@5D5 ;56;5 Y4MB M AMjEZjq}FNOT Ignoring new targets: 291.00 m.Bj}W;Jj}W; ProNav: ac range: 291.000000 m, nav range: 199.949142 m, bearing: 333.407828 deg, approach rate: -0.475712 m/s, LOS rate: 0.188655 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181158 deg. 2jx<:j?@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012774HeadingCmd: 4.820271 target range: 291.000000 and range: 293.90 m. jjjjihhhhfffrfbf@:1@ɛ ɁB : 隵Y>I ɚiI}%=Ii%Wi%S.)!)1*F2F:FBFJFG 4λG ?G >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264713G Bq O >J J oJ 0J J J K9J ـ3J 4w,IA:.ג@Y:@:w9:wQ=y:H̸?=? &`w ?@ N??@?ɨ:.ג@:;:9CyB~BF I !I%Ni-Mb@Mb@Mb@))) )))Y-J +? ףp= ?~jt?y-H?-Q8=-D<) -x@)-@I-@)y-@IMIMHo5٢]S= ]F=9e:;Q e>aa eG٣iym`[ m> uNusing accuracyPremultiplier from configq49u!障?4Yu) iuBI?:@u(Du[Iq uꬼɚyiyI}r%=Ii7i))EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520367*F?2F:FBF!JF!G JG B O H I  I II BI  =&I .I 6I (<:I m F] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769255mw,+A2Ӓ@Y2a@2H^92D=y2H?ཡ? rӽ@?W ?@??ɨ2Ӓ@2y;0yBBF IININk5٢V|= ZT=9Zb;Q Z>X\ ^G٣^6Gy^ b> fNusing accuracyPremultiplier from config`j49b욜?j4Yb) ibBhjj@b1Db :b:bg4p rApZjFNOT Ignoring new targets: 291.00 m.Bj1a;Jj1a; ProNav: ac range: 291.000000 m, nav range: 199.587753 m, bearing: 333.554614 deg, approach rate: -0.483179 m/s, LOS rate: 0.196877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188623 deg. 2j<:j@@HeadingCmd: 4.820401 target range: 291.000000 and range: 293.90 m. jjjjihhhQhYfYfYfYrfYbfe@ɛƁB< >I BɚiIW%=Iuiu,iuHb )q)yzKMK9KK;K"!       nManaging dock network, ignoring radio surface power off $?I*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020579G5 G B O5 >ZFw,XEA6ʒ@Y6ٙ@6q996=y6Hc?7? Oy_4? K 47`&?.?ɨ6ʒ@6ͨ;6;CyFBF IININ.l5٢V = VL=9ZƄ:Q Z>XX ZG٣Xy^eD ^> bNusing accuracyPremultiplier from config`f49b?f4Yb) ibBhj˵j@b;Db:be:bn4rB rAArgEB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 291.00 m.Bj=Q;Jj=Q;M ProNav: ac range: 291.000000 m, nav range: 199.407562 m, bearing: 333.628429 deg, approach rate: -0.445856 m/s, LOS rate: 0.182811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196833 deg. 2jM;:jMA@UHeadingCmd: 4.820544 target range: 291.000000 and range: 293.90 m. jQjQjQjQiYhYhYhYhafafafarfabfm@ @ɛāB|J< 隝">I $짼ɚiI3%=Iioi))Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:20:03:19.9779 -TRx dataTimestamp_ set to:1736366601.1861255checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276047*Fu?2Fy:FBF0JF IOiG JG G Ga By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524708Lpw,33_AyĂB IMb@Mb@Mb@ )YV-?l?~jt?y|??=< @);@I@y@IIa5٢N> 9=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Yf) iB??:@FD;F;u4  TA jEZj1=FNOT Ignoring new targets: 291.00 m.Bj=M;Jj=M;M ProNav: ac range: 291.000000 m, nav range: 199.220459 m, bearing: 333.707005 deg, approach rate: -0.428052 m/s, LOS rate: 0.179933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211134 deg. 2jM;:jMC@UHeadingCmd: 4.820794 target range: 291.000000 and range: 293.90 m. jYjYjYjYiYhYhYhihm&Bfififqrfqbfu9G @ɛB_< 隥?I zNɚiI%=Iii8))ER>E>*Fm?2Fq:FqBF}/1JFyHI I IIĂBI =&I.I6I<:Ic F"G=G=-Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 20:03:19.9779 LVL= 24544, 23537, 16466, 32291, AGC= 64, IDX= 473,-0.04, 3.077,-0.853,-2.334,-2.699, PHS=-0.419, 1.893, 0.362, RAW= 310.6, -17.7, CAL= 314.5, -25.1, ROT= 195.5, 25.1 mYgot valid direction response: 20:03:19.9779 LVL= 24544, 23537, 16466, 32291, AGC= 64, IDX= 473,-0.04, 3.077,-0.853,-2.334,-2.699, PHS=-0.419, 1.893, 0.362, RAW= 310.6, -17.7, CAL= 314.5, -25.1, ROT= 195.5, 25.1 }PDAT read: Bearing 195.5, 25.1 (Local) }~Local bearing/azimuth received: Bearing 195.5, 25.1 (Local) DAT read: Range 10 to 50 : 297.3 m (Round-trip 396.5 ms) speed -0.6 m/s ,DAT read: user:1082> BDAT read: Tx time:20:03:21.0772 $Ping request sent.5x@52+ 5b@)5KI5'`Z@i5K>115oSusƿQ jnӿ)5s6=I5>i5t\?5IO?11:publishing transmit ping timeؙFpublishing direction and range info195r?AD?ʓ+y1111 1)1I1i11111 1)1I1i1115oSusƿQ jnӿ)1I1i1111JsJpJJJK:J^9JJJe;aJe;aJ}:aJ~:aG  I G B zK jMK 9K K <K       O >w,yAB̒@YBܙ@BE:9B,=yBH {?@+?`.p@>? r[`'^?`B?ɨB̒@B⡉;B8CyjӂBn IIvIvc5٢eK= mQ=}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:03:21.0765 9_;Q > G٣6Gyo: > Nusing accuracyPremultiplier from config49`?4Y) iB@OD;!;|4 Ak]} ٜ?k]Q5 kY k]&lA:k]CBk]CZk]˷@"]I=`@F!qc@ꊟj]r?AD?ʓ+Jk]t\?Rk]IO?*]_!}h@ݗ\?WZ0Zh]?Zm+ؿ r'"k]*k]@Ck]gdڜ?k]5 2k]gk]E՜?k]$53 k]Dk]HCk] @ addTargetRange:: Added new target pos. range: 297.299988 m, deltaT: 3.781875 s, deltaX: 3.399994 m, approachRate: 0.899023 m/s, rangeRepo size: 4  Added new target pos. range: 297.299988 m, bearing: 329.086705 deg, lat: 36.906787 deg, lon: -122.122821 deg, deltaT: 7.818774 s, deltaX: 6.299988 m, approachRate: 0.805751 m/s, posRepo size: 4 ZjMFNOT Ignoring new targets: 297.30 m.Bj]JjY ProNav: ac range: 297.299988 m, nav range: 200.623322 m, bearing: 333.129399 deg, approach rate: 0.000000 m/s, LOS rate: 0.179933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201176 deg. 2j:jB@HeadingCmd: 4.820620 target range: 297.299988 and range: 297.30 m. jjjjihhhhfffrf̔r@bf%?ɛUBUl{|< Q] ?IY ]ZFɚYiYI]$=IiIil))*F?2F:FBFJF% Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ZGY B O5 > vw,ABFВ@YBߙ@B<;9Br>yBH`ĕ?`I?`nӿSR?b??ɨBFВ@BÉ;B9C PIPyRBR !IEMb@Mb@Mb@AAA A)AYEq= ףp?/$?Q?yE+?E,=E mL=9m:Q u>qq }G٣yy}+: }> Nusing accuracyPremultiplier from config49?4Y ) iB,?:@XDP#;";4  AZjFNOT Ignoring new targets: 297.30 m.Bj<;Jj<; ProNav: ac range: 297.299988 m, nav range: 200.468811 m, bearing: 333.191080 deg, approach rate: -0.413379 m/s, LOS rate: 0.165149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160372 deg. 2j;:j<@HeadingCmd: 4.819908 target range: 297.299988 and range: 297.30 m. jjjjihhhh_Bfffrfbf (7?ɛB%?.< !%?I! M)ǜɚIiIIM$=IUiUiUcD)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF%25JF!Ga Gm ?Gm >GY Bi O >H >I C I !II BI &I .I 6I <:I ; FBIJIRIZI =bI =jIʨs4U Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A6D@Y6Ù@6[:96SS >y6H?@?x'` x?`>qvK -O=9-bQ ->11 5G٣1y=t => ENusing accuracyPremultiplier from configAM49E?M4YE) iE BQUU@E`DE;E;E4Y ]7AaZjFNOT Ignoring new targets: 297.30 m.Bj3;Jj3; ProNav: ac range: 297.299988 m, nav range: 200.315247 m, bearing: 333.253089 deg, approach rate: -0.388998 m/s, LOS rate: 0.157197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161355 deg. 2j;:j<@HeadingCmd: 4.819925 target range: 297.299988 and range: 297.30 m. jjjjihhhhfffrfbf ?ɛB< $?I 똼ɚiI,6$=IiiAE)) EJtJqJJJ;N:Jq9JJJ{j;J~j;J:J: IPi*F2F:FBF_0JFG GoAzK}MK}9KyK}=K}   &)+-...10.,+)*%"! Will construct direction to contact in vehicle frame from tetrahedron phase data.G׹GBO > w,_ƂA2[@Y2ș@2F:92 >y2HA߷??(@L ^?ዿ@T?ʷ?ɨ2[@2;27Cy>B>A!IIJIJ<55٢RѾ= RT=9Rڔ:Q R>TT VG٣V6GyZr: Z> ^Nusing accuracyPremultiplier from config\b49^X?b4Y^) i^B`f쵿f@^iD^ ;^+;^A4h jAjlEvB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 297.30 m.Bj Y3;Jj Y3; ProNav: ac range: 297.299988 m, nav range: 200.165955 m, bearing: 333.313455 deg, approach rate: -0.387489 m/s, LOS rate: 0.156799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156421 deg. 2j8;:j<@HeadingCmd: 4.819839 target range: 297.299988 and range: 297.30 m. jjjjihhhhfffrfbf@3?ɛ]B](< ae.?Ia eCɚaiaIej#=Imimim5))%Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*FQ2FQ:FYBFYJFa IG T:G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749126Iw,37A:ǒ@Y:cי@:\:9:hw>y:HR?? @?@b*X?`v?ɨ:ǒ@:p;:6CyF(BFR!IMb@Mb@Mb@ )YK?{Gz?V-?y^?#=<hA x@)h@I@y@I5I5L5٢Ex= E@=9M:Q M>IQ UG٣QyUG; U>  Nusing accuracyPremultiplier from config 49?4Y) iB?:G@qD;!;4! %7A!ZjIMFNOT Ignoring new targets: 297.30 m.BjUY!;JjUY!; ProNav: ac range: 297.299988 m, nav range: 200.009247 m, bearing: 333.376339 deg, approach rate: -0.351258 m/s, LOS rate: 0.141063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163985 deg. 2j;:j3=@HeadingCmd: 4.819971 target range: 297.299988 and range: 297.30 m. jjjjihhhhBfffrfbf tt?ɛ B ?< QU5?IY ]NɚaiaIe7n#=Iiri))*Fe?2Fi:FiBFiJFiH>I I!IIbBI =&I.I6I$<:Ik F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001875JJJJJJJJJJJJ y Iy G N<8G G qAGa Bq O >zK MK 9K K >K ) 6C6۽w,A"`wA4 V&YZ`wAyZB}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252987yU:BUi!IImImG5٢u= u =9}Q }> G٣y > Nusing accuracyPremultiplier from config49 ?4Yc* i#B@{Dy;d;4 AZjFNOT Ignoring new targets: 297.30 m.BjH!;JjH!; ProNav: ac range: 297.299988 m, nav range: 199.838348 m, bearing: 333.445143 deg, approach rate: -0.349934 m/s, LOS rate: 0.141004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181774 deg. 2j;:j?@HeadingCmd: 4.820282 target range: 297.299988 and range: 297.30 m. jjjjihhhhf f f rf bf z@ɛ=B=4 = 9=??I9 ExɚAiAIEq"=IMiM iMG)I)QEaEa*F?2F:FBFJF"G=G=- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505515G  q Iy GI B O >Šw,)<A63@Y6@6L;96>y6H#?n?@?`k)w`%?@?ɨ63@6;68C)@I@@@ DDDDiHHiHH)H HIH NYC)NvAN N܆FPPPiTITXIhih hh)hl llllprЁAIrĻ)pippyvHBvz!I5Mb@Mb@Mb@111 1)1Y5HzG? ףp= ?~jt?y5= ?5Q8=5<5A 5@)5~@I5@1y5@IMIMDP5٢]= ef=9eM?ii mG٣m6Gyu{< u> }Nusing accuracyPremultiplier from configy49} ?4Y}`* i}(B ?:)@}D}3;};}ʧ4 0AZjFNOT Ignoring new targets: 297.30 m.BjC;JjMC;] ProNav: ac range: 297.299988 m, nav range: 199.723145 m, bearing: 333.489335 deg, approach rate: -0.324045 m/s, LOS rate: 0.124375 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107839 deg. 2j];:j],5@eHeadingCmd: 4.818991 target range: 297.299988 and range: 297.30 m. jajajajaiahqhqhqhuBfyfyfyrfybf}@> @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757063ɛ-B-K"= )5+G?I1 5ޝɚ1i1I5"=I=i=9 i=G)9)a*F2F:FBF`0JFG% {#H >I  I !II BI &I .I BD6I @<:I FG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008867O >^;ˠw,*/AA@YP@B><9 >yH5?օ?o6U?50?|?ɨA@ 8;:Cy޵LB޵!III^S5JyJJJJ]:J9JJJ;J;J;J;٢H< Q=9 G٣y <  > Nusing accuracyPremultiplier from config49?4Y * i-B!%4%@D::4) -A1ZjQUFNOT Ignoring new targets: 297.30 m.Bj]?;Jj]?; }$?Iy ProNav: ac range: 297.299988 m, nav range: 199.595016 m, bearing: 333.537833 deg, approach rate: -0.328347 m/s, LOS rate: 0.124364 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120774 deg. 2j;:j7@HeadingCmd: 4.819217 target range: 297.299988 and range: 297.30 m. jjjjihhhhf f frfbfI, @ɛB&r$= xI?I &ɚiI$"=IiWiI;))zK KK +9K K ?K *F?2F:FBF0JFGu Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261829GiByO~> Ҡw,JHAyޝQBޝ!IAAII٢< N=9Q > G٣y > Nusing accuracyPremultiplier from config498?4Yp* i2B@Dz::4 AB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 297.30 m.Bj- ;Jj- ;]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:20:03:23.8783 eTRx dataTimestamp_ set to:1736366605.217477mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514895 ProNav: ac range: 297.299988 m, nav range: 199.465179 m, bearing: 333.587101 deg, approach rate: -0.326581 m/s, LOS rate: 0.124005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123086 deg. 2j4;:jZ7@HeadingCmd: 4.819257 target range: 297.299988 and range: 297.30 m. jjjjih!h!h!h!f)f)f)rfbf@ @ yI}Qiɛ B = L?I IjrɚiI!=I=iEoiE?@ ;)A)A*F?2F:FBFp0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764958Gu 2FGQ BY Ou >gؠw,^*eAynOBn!IuMb@Mb@Mb@qqq q)qYux&1?J +? G٣6Gy > Nusing accuracyPremultiplier from config49?4Y(* i7B9?:Z@DC ;a;/4 AZjFNOT Ignoring new targets: 297.30 m.Bj;Jj;- ProNav: ac range: 297.299988 m, nav range: 199.329132 m, bearing: 333.637325 deg, approach rate: -0.312103 m/s, LOS rate: 0.115297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125962 deg. 2j5A;:j57@=HeadingCmd: 4.819307 target range: 297.299988 and range: 297.30 m. j9jAjAjAiAhAhhhBfffrfbf@HaIa Ie!IIeBIa&Ia.Ia6Ie<:IeJ Fɛ9= 隭K?I DiɚiIYJ!=Ii_ei))EWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 297.6 m (Round-trip 396.8 ms) speed -0.4 m/s U,DAT read: user:1083> ]BDAT read: Tx time:20:03:24.9773 e$Ping request sent.ezK} ؞KK} 9Ky K} @K}  /-01,)&%'%"   Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:03:24.9765 ߠw,~A2}@Y2@2/kQ<92\ >y2H?t~?vD?[ 7- Q??ɨ2}@2G;27CyrKBv}!II~I~X5٢m uN=9u8$yy }G٣yyI< > Nusing accuracyPremultiplier from config49x?4Y_* i;Bh@DW;;#4 "A addTargetRange:: Added new target pos. range: 297.600006 m, deltaT: 4.030308 s, deltaX: 0.300018 m, approachRate: 0.074441 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 297.30 m.Bj;Jj; ProNav: ac range: 297.299988 m, nav range: 199.203796 m, bearing: 333.683005 deg, approach rate: -0.315303 m/s, LOS rate: 0.114986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112311 deg. 2jӝ;:j5@HeadingCmd: 4.819069 target range: 297.299988 and range: 297.60 m. jjjjihh h h f ffqrf}r@bf} ?ɛB-= I?I O<_ɚiI =IiQi<))*F2F:FBF5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.G:GsAGtAG A II J#K+ـ3 K+ .K#K#"K#J uJ ~J /J J [Q:J f9J (N3J a5 @a5 @a5 @a5 @By O >w,ΘAWill construct direction to contact in vehicle frame from tetrahedron phase data.y>Bn!IUMb@Mb@Mb@QQQ Q)QYUjt?y&1?Mb`?yU?U`e=U;Q U@)UVAIU$@QyU@IuIujC5٢Q -=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y}$* iM?M:M M@Dж<<^4Q UAQZjFNOT Ignoring new targets: 297.30 m.Bjh:Jjh: ProNav: ac range: 297.299988 m, nav range: 199.052902 m, bearing: 333.736087 deg, approach rate: -0.305957 m/s, LOS rate: 0.107712 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134553 deg. 2jؓ;:j8@HeadingCmd: 4.819457 target range: 297.299988 and range: 297.60 m. jjjjihhhhBfffrfbf@B[?ɛ= C?I bSɚiIv =I i byi <))E*F2F:FBF 5JFHe >Ia  Ie !IIe BIa &Ia .Ia 6Ie <:Ie g Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.G 4<G B O >sw,zA6Km@Y6|@6E:<96s9>y6Hiv?`Bx? @?(8H`6??ɨ6Km@6'n;66Cɸ<<JK>*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G2<G B O >Jw,w̃A:@Y:7@:Q<9:NJ >y:H@?|?R+ ^?@zY =z??ɨ:@:;:8C%Will construct direction to contact in vehicle frame from tetrahedron phase data.y-B-;!IIEIE;5٢U UD=9Uc;Q U>YY ]G٣Yye; e> mNusing accuracyPremultiplier from configiu49m&?u4Ym .* im=Bq}}@mDm;m-;m94 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 297.30 m.BjK;JjK; ProNav: ac range: 297.299988 m, nav range: 198.817749 m, bearing: 333.819220 deg, approach rate: -0.322482 m/s, LOS rate: 0.113912 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110722 deg. 2jZ;:j5@uHeadingCmd: 4.819041 target range: 297.299988 and range: 297.60 m. jqjqjqjqiyhyhyhyhyfffrfbf? IJ5sJ5qJ50J1J5K:J5q9J5ـ3J1ɛ= /?I @ɚiI;=I i bi <))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G O;G ?G ?G B O >-&w,_惶A2@Y2@2gBq<92@>y2H sž?~? %?*(?൶?ɨ2@2*Ƌ;0yrBr)!IMb@Mb@Mb@ )Yw/?L7A`?~jtxy?+=Ļ )I;@yf@II^5٢ C=9W;Q > G٣y; > Nusing accuracyPremultiplier from config49*?4Y3* i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266335w,}=A6f@Y6@68<96ɖ>y6H+??@'G` @`?<>@冐`-?T?ɨ6f@61;4yBBB !IININX[5٢fu f\=9fy;Q f>hh jG٣hynD; ~> Nusing accuracyPremultiplier from config =49 .?=4Y 8* i :BAEoE@ D ; ; $4I MAIZjFNOT Ignoring new targets: 297.30 m.Bj;Jj; ProNav: ac range: 297.299988 m, nav range: 198.544388 m, bearing: 333.912361 deg, approach rate: -0.348926 m/s, LOS rate: 0.118913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106979 deg. 2j7;:j  5@ HeadingCmd: 4.818976 target range: 297.299988 and range: 297.60 m. j jj1j1i1h1h1h9h9f9f9fArfAbfE@ɛ = ?I 1ɚiI?i=Iii)MG<)!)!*F?2F:FBF~0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516486G2<G B Jm qJm kJi Ji Jm D:Jm 9Ji Ji I RiO >7w,A2@Y2=@2坋<92>y2H`]?@9? ލ? 磠@s l?`?ɨ2@2z;29CyR܂BR I5Mb@Mb@Mb@111 1)1Y5I +?y&1?y&1y59?5`e=5`e5 A 1)5@I5$@1y5@IUIUi5٢e} eA=9e ;Q e>ii mG٣m6Gym: u>  Nusing accuracyPremultiplier from config 49 f3?4Y `?* i 7B?:@ ʼnD ; ; 4%B %A%kEZjQ]FNOT Ignoring new targets: 297.30 m.Bj]t;Jj]t;m ProNav: ac range: 297.299988 m, nav range: 198.385757 m, bearing: 333.969410 deg, approach rate: -0.375172 m/s, LOS rate: 0.135035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146472 deg. 2juX;:ju:@}HeadingCmd: 4.819665 target range: 297.299988 and range: 297.60 m. jyjyjyjyiyhyhhhBfffrfbf )@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768637ɛ < l?I )ɚiI>=Ii3iO<))*Fm?2Fi:FiBFma1JFiHI Is!IICBI =&I.I6I<:IN FGI3<GrAGsAG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020462a w,3A2@Y2@2I<92>y2H@S(??喿@@[?| -?@?ɨ2@2 ;28CyRBR IIZ)IZ u5٢   P=9 c9Q  > G٣y  => MNusing accuracyPremultiplier from configAM49Ew7?M4YE E* iE4BQUάU@ẺDEX:E: e$?IqEa4y }AyZjFNOT Ignoring new targets: 297.30 m.Bj;Jj; ProNav: ac range: 297.299988 m, nav range: 198.248062 m, bearing: 334.019146 deg, approach rate: -0.360578 m/s, LOS rate: 0.130332 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124498 deg. 2j;:j7@HeadingCmd: 4.819282 target range: 297.299988 and range: 297.60 m. jjjjihhhhfffrfbf: @ɛS< ?I ZL#ɚiI=I%i%i-iB<)))1E=e>E=>Aa*F?2F:FBFO5JF Yy B"G=G=zKJKKKCKWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:03:27.7818 TRx dataTimestamp_ set to:1736366608.996756checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273717GU=<G) BI O} >Kw,MA2嚓@Y2s@2<92G>y2H߾? ? Qv?@l@&[?`?ɨ2嚓@2w;2;Cy>B> IIJ IJq5٢R RQ=9RM:Q R>TT VG٣TyVA: Z> ^Nusing accuracyPremultiplier from config\b49^;?b4Y^J* i^0B`b󬿑f@^ԉD^L:^:^#4h jSAhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526395%B*** querying acoustic contact ***j!j!Zj9MFNOT Ignoring new targets: 297.30 m.BjU;JjU; ProNav: ac range: 297.299988 m, nav range: 198.107941 m, bearing: 334.070005 deg, approach rate: -0.357795 m/s, LOS rate: 0.129957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127870 deg. 2j`;:j 8@HeadingCmd: 4.819341 target range: 297.299988 and range: 297.60 m. jjj!j!i!h!h!h)h)f)f)fQrfYbfeۖ @ɛAm< q}>Iy ɚiI = aIiJuJmJJJ[Q:J&9JJIiih3<))*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:03:27.7818 LVL= 26176, 23009, 18578, 28723, AGC= 63, IDX= 464,-0.12, 2.740,-1.188,-2.678, 3.133, PHS=-0.305, 2.009, 0.469, RAW= 310.8, -20.6, CAL= 313.0, -30.3, ROT= 197.0, 30.3 Ygot valid direction response: 20:03:27.7818 LVL= 26176, 23009, 18578, 28723, AGC= 63, IDX= 464,-0.12, 2.740,-1.188,-2.678, 3.133, PHS=-0.305, 2.009, 0.469, RAW= 310.8, -20.6, CAL= 313.0, -30.3, ROT= 197.0, 30.3 PDAT read: Bearing 197.0, 30.3 (Local) ~Local bearing/azimuth received: Bearing 197.0, 30.3 (Local)  DAT read: Range 10 to 50 : 300.2 m (Round-trip 400.3 ms) speed -0.7 m/s  ,DAT read: user:1084>  BDAT read: Tx time:20:03:28.8773  $Ping request sent. ٭^@٭X ڭϮ@)ڭaIڭ \@iڭa?ککۭ7xQ/jՈg|ƿֿ)ۭiۭBL?ۭF?۩۩u :publishing transmit ping time } Fpublishing direction and range infoة9حNO?#cV?Nnyةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ7xQ/jՈg|ƿֿ)۩I۩i۩۩۩۩G F<G B O >vw,gA:@Y:%@:֙<9: =y:H[n??6̾`?\Xʋ?L?ɨ:@:5";:8CyVBV IH>I I.!II BI&I.I6I <:IZ FMb@Mb@Mb@ )YK7A?kt? rhy "? 0=C~A )VAI@yp@I5 I51h5٢En e&=9mn7Q u>qq uG٣}6Gy}f }> Nusing accuracyPremultiplier from config49@?4YR* i*Bz"?:İ@މD+;{;4 AmEWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:03:28.8765 ktOڜ?k1bP6 k k`A:kCBkCZk@""{9rb@H(c@-2E NjNO?#cV?NnJkBL?RkF?*4Dh@Vc\^v)h9D|?%(kڿ"k*k$BCkf(ۜ?k7 2k{kgdڜ?kh5 kGk/ZCkh*@} addTargetRange:: Added new target pos. range: 300.200012 m, deltaT: 3.779988 s, deltaX: 2.600006 m, approachRate: 0.687835 m/s, rangeRepo size: 4  Added new target pos. range: 300.200012 m, bearing: 327.448733 deg, lat: 36.906911 deg, lon: -122.123020 deg, deltaT: 7.810296 s, deltaX: 2.900024 m, approachRate: 0.371308 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 300.20 m.BjJj% ProNav: ac range: 300.200012 m, nav range: 218.187012 m, bearing: 331.537825 deg, approach rate: 0.000000 m/s, LOS rate: 0.129957 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173512 deg. 2j!:j%>@-HeadingCmd: 4.820137 target range: 300.200012 and range: 300.20 m. j)j)j9j9i9hAhAhAhETBfIfIfIrfM@3r@bfU?ɛP< 隥>I 2ɚiI =Ii i<)) aIa*Fi2Fi:FiBFuP5JFqzK] KK] 9KY K] DK]  G} 2<G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Bi O >y w,?A>s@Y>Z@><9>۶=y>H`?U?nO?`/!??ɨ>s@>;< R>I 7 ɚiI=Ii! iP;)) E*F-?2F):F)BF5_0JF1G=tA G=sAWill construct direction to contact in vehicle frame from tetrahedron phase data.G)<GB O > q I} Si-&w,$A:FO@Y:^@:it<9:_>y:Hz?`l?+Z @˻?@m靿`K?Z?ɨ:FO@:ź;:6CyJlBJk I%Mb@Mb@Mb@!!! !)!Y%Cl?L7A`? rhy%/?%+=!%hA !)%~@I%@!y%(@I=I=Ho5٢MU MG=9MQ U>QQ UG٣Qy]1 ]> eNusing accuracyPremultiplier from configam49eG?m4Ye_* ie"Bu 0?u:uBu@eDe;e<;e4y } AZjFNOT Ignoring new targets: 300.20 m.Bj$;Jj$; ProNav: ac range: 300.200012 m, nav range: 217.881821 m, bearing: 331.639320 deg, approach rate: -0.423545 m/s, LOS rate: 0.144157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151774 deg. 2j;:jt;@HeadingCmd: 4.819757 target range: 300.200012 and range: 300.20 m. jjjjihhhhBfffrfbf8?UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛB 3|< >I / ɚiI5=Iia> i7T;)) *F?2F:FBFJFH>I I II΂BI =&I.IAD6IJ<:I FG;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,w,lzA:9@Y:I@:Wqa<9:r>y:H|ڻ??X@@~/?s -`B?`ټ?ɨ:9@:;:9CyFUBFN IININ^S5٢V VU=9ZEQ Z>XX ^G٣^6GJbsJbrJb1J`JbK:Jb9Jb3J`Jbe;ajJbe;ajJb:ajJb:ajy~ ޻ >  Nusing accuracyPremultiplier from config 49XK?4Yf* iB@D7: !I!z:4) - A)ZjQUFNOT Ignoring new targets: 300.20 m.Bj}%$;Jj}%$; ProNav: ac range: 300.200012 m, nav range: 217.717636 m, bearing: 331.695631 deg, approach rate: -0.418112 m/s, LOS rate: 0.143509 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144246 deg. 2j;:ja:@HeadingCmd: 4.819626 target range: 300.200012 and range: 300.20 m. jjjjihhhhfffrfbfhM?ɛ9=_< 9=>I9 E+ ɚAiAIE=IMiM@ iMQP:)I)Q*F ?2F :F BF o0JF zKE<LKE 9KAKEEKE   RK]?JK]?eWill construct direction to contact in vehicle frame from tetrahedron phase data.GM']?;G) B1 OM >G3w,RτA62@Y6B@6^<96 1=y6H?`ޓ?r㾿 Q@M?@Fq?9?ɨ62@6;4yBKBBB IIJ-IJv5٢RB RK=9VdQ V>TT VG٣TyZ< Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data. fNusing accuracyPremultiplier from config\j49^N?j4Y^m* i^Blnn@^D^D;^D;^~4p r% AtB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 300.20 m.Bj4$;Jj4$;- ProNav: ac range: 300.200012 m, nav range: 217.553131 m, bearing: 331.752313 deg, approach rate: -0.416328 m/s, LOS rate: 0.143559 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145361 deg. 2j- ;:j-:@5HeadingCmd: 4.819646 target range: 300.200012 and range: 300.20 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfE@=}?ɛqK< |>I ɚiI=I%i%[ i%qs:))))*F?2F:FBF0JF 1I5Ti"GG=}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G ?:GI BQ Om >e9w,-鄶AJ6@YJIF@J:o<9J=yJHaĻ?@͔?@@?B獿u ?W?ɨJ6@JS;J8Cy^:B^. IH>I I IIBI&I.I6I<:IH FMb@Mb@Mb@ )YS??:vy:?<TA @)@Iyz@IIn5٢  5=9;Q > %G٣!y%Є: %> -Nusing accuracyPremultiplier from config)=49-R?=4Y-av* i-B=:?=:EE@- D-t2;-51;-a'4I M AIZjiuFNOT Ignoring new targets: 300.20 m.Bj}1;Jj}1; ProNav: ac range: 300.200012 m, nav range: 217.357300 m, bearing: 331.822003 deg, approach rate: -0.435913 m/s, LOS rate: 0.155266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184443 deg. 2j;:j @@HeadingCmd: 4.820328 target range: 300.200012 and range: 300.20 m. jjjjihhhhBfffrfbf`@ɛBe< l>I ɚiI=Ii< i::))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256480*F?2F:FBFf1JFJtJlJ0JJ;N:J9Jـ3JJ{j;J~j;J(:J): I!G7:G B O >zK] ̘LK] 9KY K] FK] BKm qA:Km sA} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507493@w,F A27@Y2vG@2{-z<92$=y2H@ͻ?`x?jV"?@iߜ_E`A?@?ɨ27@2!;0y:3B>% IIF IFq5٢VB% Zd=9^:Q b>dh jG٣j6Gyr9 r> zNusing accuracyPremultiplier from configx~49z1V?~4YzK}* izB@zDzy;z;z-4   A ZjFNOT Ignoring new targets: 300.20 m.Bj-*;Jj-*; ProNav: ac range: 300.200012 m, nav range: 217.199677 m, bearing: 331.878259 deg, approach rate: -0.416562 m/s, LOS rate: 0.148781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144078 deg. 2j6;:j[:@HeadingCmd: 4.819623 target range: 300.200012 and range: 300.20 m. jjjjihhhhfffrfbf%@ɛB< t>I hɚiI)=Iib iM:)I)Q*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759438G ?: % $?I) G B O >Fw,A2,'@Y26@2ȹs<92=y2HH?7?Z`n?:9`vS??ɨ2,'@2/;27CyB(BB IMb@Mb@Mb@ )Y}?5^I?I +?{GztyMB?9<ף @)VAIy@Ie)Ie u5٢uI }>=93pQ > G٣y > Nusing accuracyPremultiplier from config49Y?4Y* i BcB?:@D;;)54 ? AZjFNOT Ignoring new targets: 300.20 m.Bj9@;Jj9@; ProNav: ac range: 300.200012 m, nav range: 217.010529 m, bearing: 331.947213 deg, approach rate: -0.460596 m/s, LOS rate: 0.168057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182228 deg. 2j;:j?@HeadingCmd: 4.820289 target range: 300.200012 and range: 300.20 m. jj j j i h h hhہBfffrfbf`)@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011830ɛQ]y-; Y]]>IY ]ɚYiYIeA=Ieim imX)i)i*F)2F):F)BF-3JF1G5rA G1HI I IIBI&I.I6I<:IS FBIYJIYRIYZIYbIYjI]4GG:Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263408*Mw,q6A:4@Y:+@:^r<9:=y:H@a??t@J?@C ??ɨ:4@:D,;:9CyF$BF IIRIRhj5٢Ve ZW=9Z뇹Q Z> `I``d fG٣dyjfJrsJrmJr1JpJrK:Jr&9Jr3JpJre;Jre;Jr:Jr: j> ~Nusing accuracyPremultiplier from config|49~4]?4Y~X* i~ B  Ƿ @~%D~e:~:~;4 ^ AZj9=FNOT Ignoring new targets: 300.20 m.BjE:;JjE:;] ProNav: ac range: 300.200012 m, nav range: 216.839676 m, bearing: 332.009880 deg, approach rate: -0.444801 m/s, LOS rate: 0.163276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163334 deg. 2je;:je=@mHeadingCmd: 4.819960 target range: 300.200012 and range: 300.20 m. jijijijiiihihihqhqfyfyfyrfybf}7< @ɛBB; 隭vT>I MɚiIX=Ii iϰ))*Fm?2Fi:FiBFm_0JFqEWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:20:03:31.6852 MTRx dataTimestamp_ set to:1736366613.028563Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516541zK]KK]9KYK]GK]RKm?JKm%?GiGiByO>TSw,5PA6y @Y6@6j<96x=y6HHt??[`Lҹ?AU ?D?ɨ6y @6׈;68Cy>#BB IIJ IJh5RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767625٢V޻ VK=9ZQQ Z>\\ ^G٣b6Gyb b> fNusing accuracyPremultiplier from configdj49f`?j4Yf8* ifBlnn@f/DfC ;f ;fB4p rf AroEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 300.20 m.Bj:;Jj:;- ProNav: ac range: 300.200012 m, nav range: 216.664230 m, bearing: 332.074695 deg, approach rate: -0.441329 m/s, LOS rate: 0.163172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169788 deg. 2j-;:j->@5HeadingCmd: 4.820072 target range: 300.200012 and range: 300.20 m. j1j1j1j9i9h9hAhAhAfAfIfIrfIbfM,i@ɛuBu; O>I sOɚiIp=Ii iLA) )  IUi*F?2F:FBFJF G5ïG5sAG1]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 302.8 m (Round-trip 403.8 ms) speed -0.4 m/s u,DAT read: user:1085> }BDAT read: Tx time:20:03:32.7773 }$Ping request sent.}F!Zw,|jARF@YR@Rf<9R=yRH@=?@Ӛ?@z@`s? ԚŒ ??ɨRF@R;R;Cy~'B~ IHAIA IEs IIEsBIA&IA.IA6IE7<:IE| FMb@Mb@Mb@ )Y"~j?~jth?MbPySC?D;~A @)I@y@IIk5٢< 9=9&Q > G٣y\ > Nusing accuracyPremultiplier from config49c?4Y * iBTC?:{@:DK;j;J4  F A  addTargetRange:: Added new target pos. range: 302.799988 m, deltaT: 4.033256 s, deltaX: 2.599976 m, approachRate: 0.644634 m/s, rangeRepo size: 4 Zj%FNOT Ignoring new targets: 300.20 m.BjU6;JjU6; ProNav: ac range: 300.200012 m, nav range: 216.475906 m, bearing: 332.148649 deg, approach rate: -0.406689 m/s, LOS rate: 0.159844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197241 deg. 2jf;:jA@HeadingCmd: 4.820551 target range: 300.200012 and range: 302.80 m. jWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:03:32.7765 jjjihhhh߁Bfffrfr@bfߦ?ɛmBmD; imZU>Ii uɚqiqIu$=I}i}` i})y)yE*F}?2Fy:FyBFyJFy"G=G= IJJqJJJJq9JJJJJ:J:)a avAA % Y%vAy-BG b(e Will construct direction to contact in vehicle frame from tetrahedron phase data.G zK ]JK +9K K HK BK rA:K rAB O >|aw,>AJ@YJ@JS<9J=yJH@R??w@"`L?[q??ɨJ@J;J9CyV)BV II^I^X[5٢fL < f[=9fAQ j>hh nG٣lyrW r> Nusing accuracyPremultiplier from config| 49~f?4Y~* i~Bۻ@~CD~;~(;~!Q41 59 A9ZjamFNOT Ignoring new targets: 300.20 m.Bj=I;Jj=I;% ProNav: ac range: 300.200012 m, nav range: 216.316345 m, bearing: 332.211923 deg, approach rate: -0.443335 m/s, LOS rate: 0.175936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165150 deg. 2j%|;:j-^=@-HeadingCmd: 4.819991 target range: 300.200012 and range: 302.80 m. j)j1j1jQiQhQhQhYhYfYfYfarfabfe?ɛB< 隥tV>I $:ɚiI=Iic iڻ))*Fe?2Fa:FaBFe`0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G} V'S I Gi B O >Agw,UmAy0B" IMb@Mb@Mb@ )Y%C?~jt?Mbp?yZD?D<; A )lAI$@y\@IIO5٢ = :=9Q > G٣6Gy >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config 49Ki? 4Y]* iB`D?:x@ND;;X4  A!ZjFNOT Ignoring new targets: 300.20 m.Bj -8;Jj -8;= ProNav: ac range: 300.200012 m, nav range: 216.127304 m, bearing: 332.285403 deg, approach rate: -0.413890 m/s, LOS rate: 0.161019 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195817 deg. 2j=;:j=A@uHeadingCmd: 4.820527 target range: 300.200012 and range: 302.80 m. jqjqjqjqiqhyhyhyh} Bfffrfbf?ɛBV < c>I ,ۻɚiI-=Iiv iͻ))*F?2F!:F!BF%m0JF!H%>I! I!I!I!&I!.I!6I%I<:I% F Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ̻GM ?GM ?G B) OE >Okmw,HA I%ʒ@Y%Qڙ@%-JJ<9%a =y%H ji?@ӫ?@zF ?I ?@G?ɨ%ʒ@%, ;%8CyE;BE/ IJ]qJ]lJYJYJ]D:J]9JYJYJ]IZ;J]KZ;J](:J]):IUIUDP5٢}`= Q=9ƺQ > G٣y > Nusing accuracyPremultiplier from config49l?4Y4* i뺿@WD;;_4  ArEZjFNOT Ignoring new targets: 300.20 m.Bj1M;Jj1M; ProNav: ac range: 300.200012 m, nav range: 215.959854 m, bearing: 332.351210 deg, approach rate: -0.456128 m/s, LOS rate: 0.179395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172760 deg. 2j;;:ju>@HeadingCmd: 4.820124 target range: 300.200012 and range: 302.80 m. jjjj i h h hhfffrfbf ?ɛMBMa=< QUrw>I ջɚiIi=Ii N iĔ))E E *F?2F:FBFO1JFGsA GrA Will construct direction to contact in vehicle frame from tetrahedron phase data.zKEJKE9KAKEIKE  %&%##! !#+/,)'(&#  GG B O >WStw,$҅A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6:Ē@Y6ә@6qI<96=y6H`5?@y?@9 ?`ZA.'?`H?ɨ6:Ē@6;66Cyfxx zG٣xy >  Nusing accuracyPremultiplier from config 49 n?4Y * i B@ aD e: 0; Uf4! % A)EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 300.20 m.Bj]pA;Jj]pA;m ProNav: ac range: 300.200012 m, nav range: 215.794861 m, bearing: 332.416373 deg, approach rate: -0.427877 m/s, LOS rate: 0.169116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170824 deg. 2jm ;:jm.>@uHeadingCmd: 4.820090 target range: 300.200012 and range: 302.80 m. jqjqjqjyiyhyhhhfffrfbf`?ɛB2< v>I ϻɚiI=IiB; i7{")) !I-Vi*F5?2F1:F1BF=05JF9GUܜWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.G9BAO]>~zw,셶AHf>Id If IIfBIf =&Id.Id6If<:Ifi FyLBC IMb@Mb@Mb@ )Y+?Mb?~jt?yv>?=D< A )AI@yf@IIa5٢ =  9=9Q > G٣6Gy > %Nusing accuracyPremultiplier from config!-49%r?-4Y%* i%B5>?5:55@%kD%;%;%n4=B E$ AEoEZjiuFNOT Ignoring new targets: 300.20 m.Bj}8;Jj}8; ProNav: ac range: 300.200012 m, nav range: 215.605148 m, bearing: 332.487497 deg, approach rate: -0.430346 m/s, LOS rate: 0.161481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188746 deg. 2j;:j@@HeadingCmd: 4.820403 target range: 300.200012 and range: 302.80 m. jjjjihhhhBfffrfbfk@ɛÁB#A< ~>I ǻɚiI˹=IipVWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267619iN!))*FE?2FA:FABFE;5JFA I Ge Gm rAGm tAGA BY O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515579zK nMK 9K K JK   ew,A2Ò@Y2aә@2p8O<92-=y2H`%2? k?@`?@承`S?`?ɨ2Ò@28;28CyNYBRT IIZIZi5٢zՑ= z^=9z^{:Q z>|| ~G٣|y >  Nusing accuracyPremultiplier from config 49 u?4Y * i B@ tD ? ;  ; ut4! % A!ZjYmFNOT Ignoring new targets: 300.20 m.Bju]8;Jju]8; ProNav: ac range: 300.200012 m, nav range: 215.447144 m, bearing: 332.546951 deg, approach rate: -0.428050 m/s, LOS rate: 0.161185 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153679 deg. 2j=;:j;@HeadingCmd: 4.819791 target range: 300.200012 and range: 302.80 m. jjjjihhhhfffrfbf@ɛāBPw< {>I ɚiI=I%i%Ji%")!))E5C>E5>*F?2F:FBF_0JF"G=G=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767478GZGBO> IJ rJ kJ 0J J G:J 9J ـ3J a @a% @a% @a% @w,:A:͒@Y:ܙ@:]P<9:>y:HT{?R?@忿@?@B`}-??ɨ:͒@:9;:5CyF_BF[ I-Mb@Mb@Mb@))) )))Y-7A`?A`"?~jt?y-6?-Y=)-7 A ))-AI-;@)y-zAIEIEa5٢U< UC=9]dl9Q ]>YY eG٣aye//; m> uNusing accuracyPremultiplier from configiu49my?}4Ymv* imB}7?}:}}@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019239m~DmdI fnɚiIj=IiUi]O)) *F?2F:FBFJFHI I IIBI =&I.I6I<:IX F} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:03:35.5878  TRx dataTimestamp_ set to:1736366616.809813 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273633G GQ BY Ou > $?I Wiqw,9A2Ғ@Y2@2P<92>y2Hۣ?@֕?loL `? ??ɨ2Ғ@2w;28CyNnBNm IIVIV:\5٢^= ^V=9bS7Q b>`` fG٣f6Gyf%: f> nNusing accuracyPremultiplier from confighn49j}?r4Yj* ijBprr@jDj.:jC:jx4t v AxZjFNOT Ignoring new targets: 300.20 m.Bj4;Jj4; ProNav: ac range: 300.200012 m, nav range: 215.102219 m, bearing: 332.668820 deg, approach rate: -0.444856 m/s, LOS rate: 0.157448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149646 deg. 2j;:j';@HeadingCmd: 4.819721 target range: 300.200012 and range: 302.80 m. jjjjihhhhfffrfbfko @ɛUǁBU$< QUF>IQ ]lɚYiYI]=Ieie|ie8 )a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523479*F?2F:FBFJFzK-#LK)K)K-KK-I%pD`2q+p>rX<%GZG ?G?G B O >w,lSA"Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: 20:03:35.5878 LVL= 24816, 26337, 19250, 31187, AGC= 65, IDX= 445,-0.02,-2.229, 0.184,-1.396,-1.760, PHS=-0.380, 1.991, 0.361, RAW= 312.2, -18.4, CAL= 315.7, -26.3, ROT= 194.3, 26.3 FYgot valid direction response: 20:03:35.5878 LVL= 24816, 26337, 19250, 31187, AGC= 65, IDX= 445,-0.02,-2.229, 0.184,-1.396,-1.760, PHS=-0.380, 1.991, 0.361, RAW= 312.2, -18.4, CAL= 315.7, -26.3, ROT= 194.3, 26.3 JPDAT read: Bearing 194.3, 26.3 (Local) J~Local bearing/azimuth received: Bearing 194.3, 26.3 (Local) NDAT read: Range 10 to 50 : 304.7 m (Round-trip 406.3 ms) speed -0.6 m/s R,DAT read: user:1086> VBDAT read: Tx time:20:03:36.6774 V$Ping request sent.V"]@"l "Q@)"I" Y@i"> "ɿV* t(Կ)"k;I">i"P]?"rG? j:publishing transmit ping timeTjFpublishing direction and range info 9" IV?1T?S/~y  ) I i ) I i "ɿV* t(Կ) I i -a֒@Y-@-9U<9- 6>y-H Ÿ??@A?G7??ɨ-a֒@-4;-6C IJsK{(3 K{(.KsKs"KsJuJjJJJ[Q:J9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.iAJDAT read: TxSync time:20:03:36.6766 y%tB%u I11= Mb@Mb@Mb@9 9 9 9 )9 Y= S?X9v?  G٣ y ^D:  >  Nusing accuracyPremultiplier from config  49 ? 4Y * i B% /?% :% - @ D ; A; 41 5 A1 k"WaaNޜ?k"; 7 k  k"SA:k"YCBk"WCZk"4@""Ia@G6ed@7 l|j" IV?1T?S/~Jk"P]?Rk"rG?*"b܇i@Hޫ)U]\ h" @@LCk"twޜ?k"ul"7 2k"Uk"f(ۜ?k"5 k"Uk"'\Ck"@U  addTargetRange:: Added new target pos. range: 304.700012 m, deltaT: 3.778501 s, deltaX: 1.900024 m, approachRate: 0.502851 m/s, rangeRepo size: 4  Added new target pos. range: 304.700012 m, bearing: 329.818304 deg, lat: 36.906932 deg, lon: -122.123099 deg, deltaT: 7.811757 s, deltaX: 4.500000 m, approachRate: 0.576055 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 304.70 m.Bj Jj   ProNav: ac range: 304.700012 m, nav range: 220.154388 m, bearing: 331.421440 deg, approach rate: 0.000000 m/s, LOS rate: 0.157448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.318102 deg. 2j! :j% I ̟ɚ i I Q=I i Gi r) ) E *F?2F:FBFn2JFG GsAWill construct direction to contact in vehicle frame from tetrahedron phase data. IXiGGBO%?~w,|A)hIj+wAhh hhhlillill)l lIp p)pr)rԆFtttitIttIxix xx)x| ~wA|||  ҁAI ) i  yB II-I-DP5٢== =]=9=Q E>A G٣y > Nusing accuracyPremultiplier from config49?4Y* iB@D;,;`4 >A-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 304.70 m.Bje,;Jje,;u ProNav: ac range: 304.700012 m, nav range: 219.990173 m, bearing: 331.474155 deg, approach rate: -0.470656 m/s, LOS rate: 0.151199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133449 deg. 2ju;:ju8@HeadingCmd: 4.819438 target range: 304.700012 and range: 304.70 m. jjjjihhhhfffrfbf;\?ɛÉBEby< IM;>II M⨗ɚIiIIM=IUiU%Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ia:))zKPKh9KKLK{wqiebSOMJHE?=<;<954111-,**(%#%"!!!!  BK:K*F ?2F :F BF 5JF G G"GGG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995096\w,~ARWՒ@YR@R`@<9R)>yRH ?`+?5_?ԙ `?C?ɨRWՒ@RՊ;R8C Iy]B] IImImJH5٢= G=9VNQ > G٣6Gy > Nusing accuracyPremultiplier from config49B?4Y* iB@D:2:E4 AsEZjFNOT Ignoring new targets: 304.70 m.BjIy }NɚyiyI7^=Iiib))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248162*F?2F:FBF;4JFGsAGsAGiByO>Ha Ia  Ie IIe ӂBIe  =&Ia .Ia 6Ie <:Ie N F(w,>^A6>Ғ@Y6@6X+<96 >y6H??y``` ?@6 |@J? ?ɨ6>Ғ@6M;66CyB I -p=-p=Mb@Mb@Mb@ )YS㥛?+?Mb?y$?=< A @)IypAIIF5٢ [=  B=9 BQ >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499212!! %G٣!y-i -> 5Nusing accuracyPremultiplier from config1=495$?=4Y5* i5BE&?E:E୿E@5D5;5<;54MB M{AMpEZjy}FNOT Ignoring new targets: 304.70 m.Bj;Jj; ProNav: ac range: 304.700012 m, nav range: 219.640854 m, bearing: 331.583465 deg, approach rate: -0.421320 m/s, LOS rate: 0.128216 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138621 deg. 2j;:j9@HeadingCmd: 4.819528 target range: 304.700012 and range: 304.70 m. jjjjihhhhBfffrfbf?ɛЁB< r>I U䂻ɚiI.=Ii i 7 )) IEEIm`wA*F? Y`wAy! B2F:FBF_0JFGBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751049zK= -NK= 9K9 K= MK=  &8ADECBDDRKE ?JKE >{w,kʆA2@Y2?@2YA<921 >y2H@'?I?D\`,? 5șf??ற?ɨ2@2;29CyRBV IIjIj`5٢~V= ~\=99m;Q >  G٣ y ;  > Nusing accuracyPremultiplier from config49r?%4Y+ iB!%-@D];e;%4A E+AIZjiuFNOT Ignoring new targets: 304.70 m.Bju;Jj}; ProNav: ac range: 304.700012 m, nav range: 219.484344 m, bearing: 331.630985 deg, approach rate: -0.419878 m/s, LOS rate: 0.127577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117850 deg. 2j ;:j 6@HeadingCmd: 4.819166 target range: 304.700012 and range: 304.70 m. jjjjihhh9hAfAfIfQrfQbf@?ɛҁB,< M>I ;KoɚiI.=Iip[iFۻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003678*FM?2FI:FIBFM`0JFIG!B)OMR> IJ]qJ]qJ]2JYJ]D:J]q9J]c3JYw,I䆶A:@Y:@:W<9:@] >y:H~¹??H?Hh]? ?ɨ:@BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255124:7;:7Cy}Bޅ I=Mb@Mb@Mb@999 9)9Y=T㥛 ?kt? rh?y=!?= ==C<=d A =C@)=AI=Q@9y=AIUIU_5٢e= e=9m*;Q m>qq uG٣u6Gyu; u> Nusing accuracyPremultiplier from configy49}?4Y}o + i}"B"?:e@}ŠD};};}4 AZjFNOT Ignoring new targets: 304.70 m.Bj;Jj; ProNav: ac range: 304.700012 m, nav range: 219.268311 m, bearing: 331.694494 deg, approach rate: -0.423958 m/s, LOS rate: 0.124755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165898 deg. 2j<;:jy=@HeadingCmd: 4.820004 target range: 304.700012 and range: 304.70 m. jjjjihhhhςBfffrfbfP@H I  I  !II BI &I .I 6I <:I g FɛEՁBE?w< AE>IA MylRɚIiIIM =IUiUiU)Q)Y5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507677*FE?2FA:FABFE_0JFA $?I YiGu G} ?G} 2?GQ BY O} >0w,zPAB6@YB @Bb<9Bu >yBH`?8?2E?``T6?@д?ɨB6@B|;B8CɸLLLiLLiRCR xA)P PIP P)RdwAɹVVTTTɺTiVףITXIXi\ \\)\\ \\`ɻ``bxAI`)`i`)dIdfɼd ddynBr ItvAIz IzNg5٢Z; w=99;Q  ?   G٣y+; ? %Nusing accuracyPremultiplier from config%49Ӡ?-4Y+ i%B)-F-@ȊD ; ;41 =A=sEUB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 304.70 m.Bj ;Jj ; ProNav: ac range: 304.700012 m, nav range: 219.128799 m, bearing: 331.735541 deg, approach rate: -0.420758 m/s, LOS rate: 0.123877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.098408 deg. 2j;:j3@HeadingCmd: 4.818826 target range: 304.700012 and range: 304.70 m. jjjjihhhhfffrfbf@@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759133ɛׁBeY< 隭8>I &?ɚiIo=Ii iW))El>E>zKMMK9KKNKGLMLMIFA>:85.*&# ! *F}?2Fy:FyBF0JFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011094 I 7ơw,UA 6@Y6*@6Ln<96U >y6HE?2?@#?@ =ɍ??ɨ6@67;66CJJyUBU IIm Imh5٢O; D=9 :Q  >19 =G٣9y=*; => MNusing accuracyPremultiplier from configAe49EH?e4YE+ iE)Bae m@EъDE;EW;E4q }AyZjFNOT Ignoring new targets: 304.70 m.Bj:Jj: ProNav: ac range: 304.700012 m, nav range: 218.943085 m, bearing: 331.790185 deg, approach rate: -0.366684 m/s, LOS rate: 0.107982 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139255 deg. 2j6;:j9@HeadingCmd: 4.819539 target range: 304.700012 and range: 304.70 m. j j j j i h h hhfffrfbfn @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263348ɛځB< 7>I [#ɚiItx=I=i= >iEZ)A)A*F?2F:FBFo0JFH I  I !II BI &I .I 6I <:I J FG5 HG= rAG9 G B 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:20:03:39.4904 = TRx dataTimestamp_ set to:1736366620.840782E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516285OU >x̡w,6A AIAyB IMb@Mb@Mb@ )Y333333?+η?I +?y?v=9< )I~@yAIIe5J5sJ5jJ50J1J5K:J59J5ـ3J1J5e;aEJ5e;aEJ5:aEJ5:aM٢m< m#=9uQ u>qq }G٣}6Gy} }> Nusing accuracyPremultiplier from config49V?4Yb + i0B?:@ۊD<;9;4 AZj)-FNOT Ignoring new targets: 304.70 m.Bj5+;Jj5+;m ProNav: ac range: 304.700012 m, nav range: 218.747131 m, bearing: 331.846121 deg, approach rate: -0.462576 m/s, LOS rate: 0.132163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143144 deg. 2jmg;:ju9:@uHeadingCmd: 4.819607 target range: 304.700012 and range: 304.70 m. jqjyjyjyiyhyhyhh݂Bfffrfbf @ɛ݁Bx< M>I 8 ɚiItI=Iihi&zc))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768734*F?2F:FBF~0JFzK CMK 9K K OK  G xG B) OM >Cԡw,QA2}@Y2 @2 u<92o >y2H@L??ȍ?@ 4 i *)?@?ɨ2}@2Co;27CyJBJ I n=n=IrIrk5٢zG< zg=9z:Q ~>|| G٣y9 >  Nusing accuracyPremultiplier from config 49 ԰?4Y %+ i 4B%@ D -; F-; 4-B -A-pEZjIUFNOT Ignoring new targets: 304.70 m.Bj]U ;Jj]U ; ProNav: ac range: 304.700012 m, nav range: 218.601822 m, bearing: 331.887697 deg, approach rate: -0.425455 m/s, LOS rate: 0.121815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100000 deg. 2j3;:j 4@HeadingCmd: 4.818854 target range: 304.700012 and range: 304.70 m. jjjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 306.6 m (Round-trip 408.8 ms) speed -0.5 m/s  ,DAT read: user:1087> BDAT read: Tx time:20:03:40.5774 $Ping request sent.I! %z>ɚ)i)I-= 1I9I=iEiE])A)AE*F%?2F!:F!BF%`5JF!GM OP Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:03:40.5766 G B O- >qڡw,kA:@Y:@:$v<9:: >y:H 8?? `y?y;Wߎ`?࠵?ɨ:@:Gч;:8CyNBN IUMb@Mb@Mb@QQQ Q)QYU|?5^?i|?5? rh?yU?Uq=UC G٣HI I(!IIBI&I.I6I,<:Ir Fy> > Nusing accuracyPremultiplier from config49?4Y<,+ i8B?:p@D3;;4 A addTargetRange:: Added new target pos. range: 306.600006 m, deltaT: 4.032046 s, deltaX: 1.899994 m, approachRate: 0.471223 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 304.70 m.Bj;Jj; ProNav: ac range: 304.700012 m, nav range: 218.444901 m, bearing: 331.937508 deg, approach rate: -0.354487 m/s, LOS rate: 0.112604 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124727 deg. 2j;:j7@HeadingCmd: 4.819285 target range: 304.700012 and range: 306.60 m. jjjjihhhhfffrf)s@bf ?ɛUBU< Q]>IY ]ɚYiYI]@=Ieiip))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FyBF}05JF !I!JUrJUoJQJQJUG:JUK9JQJQJU_;JU_;JU:JU:G d/XG ?G ?Gy B O >Uw,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>@Y>X@>Of<9>b>y>H`?? ?ܛ`Ɍ??ɨ>@>Y;>9CyFBJ IIRIRT5٢Z) ZY=9Z 1Q ^>\\ bG٣b6Gyby˻ b> fNusing accuracyPremultiplier from configdj49f?n4Yf1+ if;Btzz@fDfS;f;f4  A rE-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 304.70 m.BjE ;JjE ;U ProNav: ac range: 304.700012 m, nav range: 218.308533 m, bearing: 331.981102 deg, approach rate: -0.376900 m/s, LOS rate: 0.120561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106049 deg. 2jUz;:jU4@eHeadingCmd: 4.818960 target range: 304.700012 and range: 306.60 m. jajajijiiihihihqhqfqfqfqrfbfJ?ɛEBEvd< AEb>II MݓɚIiIIM=IUiUi]Ά)Y)qzKF'LKKKPK*F-?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.GElZ  I ZiG B! O= >w,qsAf_@Yf @f6c<9fނ >yfH?@? `ZO? }`"?v?ɨf_@f8;f7CyB I9=AIeIeJ5٢ <=9ǭQ > G٣Qye,\; m> Nusing accuracyPremultiplier from config49󼛜? 4Y8+ i?B155@Dq<<!49 =A9ZjamFNOT Ignoring new targets: 304.70 m.uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256995Bj;Jj; ProNav: ac range: 304.700012 m, nav range: 218.139877 m, bearing: 332.034984 deg, approach rate: -0.354376 m/s, LOS rate: 0.113304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136958 deg. 2j;:jV9@HeadingCmd: 4.819499 target range: 304.700012 and range: 306.60 m. jjjjihhhhfffrfbf@d?ɛUB][< Y]>IY ]EɚYiYIe=Ii*hi\))EEoA*F=?2F9:FABFAJFAHI III&I.I6I<:IJ FBIaJIaRIaZIabIajIe4Ge % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509230G9 BI Oe >  I hw,YAJR @YJ@Jw<9J >yJH`z???a`?ܵ?ɨJR @J+;HyVBV IuMb@Mb@Mb@qqq q)qYu|?5^?l?I +?yu ?u=u94 G٣y`; > Nusing accuracyPremultiplier from config49翛?4Y>+ i@B*?:@D;';4 AZjFNOT Ignoring new targets: 304.70 m.Bj( ;Jj( ;JtJkJJJ;N:J9JJJ{j;J~j;J:J:= ProNav: ac range: 304.700012 m, nav range: 218.011612 m, bearing: 332.078873 deg, approach rate: -0.357896 m/s, LOS rate: 0.122534 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106930 deg. 2j=0;:j= 5@EHeadingCmd: 4.818975 target range: 304.700012 and range: 306.60 m. jAjAjAjIiIhIhIhhBfffrfbf@Q?ɛB*< ->I) 5ɚ1i1I5h=I=i=&xi=))9)A*F?2F:FBFJF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760985zK KK9KKQKG% xG) G- rAG B O% >Ow,h=ӇAJ#@YJb3@J<9J9>yJH-?? 1b? .?ܶ?ɨJ#@Jh;J6CyVBV II^I^ob5٢n nW=9r8x;Q v>tt zG٣z6Gyz; ~>  Nusing accuracyPremultiplier from config 49 ›?4Y C+ i BBR@ D ; ; l4! %A!ZjIUFNOT Ignoring new targets: 304.70 m.BjU';Jj]';e ProNav: ac range: 304.700012 m, nav range: 217.882324 m, bearing: 332.122962 deg, approach rate: -0.338598 m/s, LOS rate: 0.115536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107533 deg. 2jm;:jm!5@uHeadingCmd: 4.818985 target range: 304.700012 and range: 306.60 m. jqjqjqjqiqhyhyhyhyfyffrfbfs @ɛBۭ< 隽>I IPɚiIHG=IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014436 $?IiEiD))*FE?2FA:FABFEn0JFAG* Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265283G B O >w,5퇶A6e9@Y6H@6<965,>y6H5ٻ??`aa@?@1 ??ɨ6e9@6.t;69CyNBN IHAIA IE!IIEBIA&IA.IA6IEޯ<:IE9 FMb@Mb@Mb@ )YK7?Mb?Mb`?yI ?<; A Z@);AIyIIb5٢ <=9);Q > G٣yi; > Nusing accuracyPremultiplier from config49^ś?4YI+ i@BM ?:P@D;9;4 A Zj)5FNOT Ignoring new targets: 304.70 m.Bj=q;Jj=q;M ProNav: ac range: 304.700012 m, nav range: 217.746780 m, bearing: 332.174066 deg, approach rate: -0.313877 m/s, LOS rate: 0.118413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128593 deg. 2jM;:jM$8@UHeadingCmd: 4.819353 target range: 304.700012 and range: 306.60 m. jQjQjQjQiQhYhYhYh]ЂBfafafirfibfm@ɛB< 隝>I D8ɚiI9=IiiR:)))E=N>E=>*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519841 I) 1C%GIeZA YyBJ=vJ=mJ9J9J={T:J=&9J9J9J=Hu;J=Ju;J=:J=:GSnGI BY Ou >w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772947y=B= IIUIUa5٢e؀ eQ=9mQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from configy49}Ǜ?4Y}fO+ i}?B@}D}:}:}4 `AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 304.70 m.BjV;JjV; ProNav: ac range: 304.700012 m, nav range: 217.624756 m, bearing: 332.220192 deg, approach rate: -0.312832 m/s, LOS rate: 0.118319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113643 deg. 2jg;:j6@HeadingCmd: 4.819092 target range: 304.700012 and range: 306.60 m. jjjjihhhhfffrf bf U@ɛ5B=4< 9=d>I9 =ќ9ɚ9iAIEn0=IMiM@iUHi:)Q)zK-uJK)K)K-RK-BK9:K=sA*F?2F:FBF#2JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.029338 IG:G ?G ?G B O >Aw, A~V@Y~ef@~џ<9~>y~H ü??GU`r߻?Zɶ?I?ɨ~V@~;~8CymBm IIeIeb5٢$ uF=9;Q > G٣6Gy]D< ]> eNusing accuracyPremultiplier from configauWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:20:03:43.3934 }TRx dataTimestamp_ set to:1736366624.624730checking for new query: numPingsReceived=0, elapsed TxPingTime=3.27800249eKʛ?4YeV+ ie=B۸@eDe;e;e4B  AuEZj!uFNOT Ignoring new targets: 304.70 m.Bj};Jj}; ProNav: ac range: 304.700012 m, nav range: 217.478241 m, bearing: 332.275284 deg, approach rate: -0.303886 m/s, LOS rate: 0.114343 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140574 deg. 2j;:j9@HeadingCmd: 4.819562 target range: 304.700012 and range: 306.60 m. jjjjihhhhfffrfbf @ɛmBm$k< imk>Iq ub:ɚqiqIuG=Iiiܮ;))EHIII IM IIM؂BII&II.II6II:II*F?2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528813 I [iG G B O >w,A >A:N_@Y:n@:㬣<9:^>y:H F??K`?` Cu?@o?ɨ:N_@:#;8yJ`BJ\ IeMb@Mb@Mb@aaa a)aYe|?5^?{Gzt~jtxye ?eףeĻed A ep@)eAIaayaI}I}[5٢o 4=9Q:Q > G٣y&#; > Nusing accuracyPremultiplier from config49F̛?4Y[+ i9B ?:{@$D;;4  AZjFNOT Ignoring new targets: 304.70 m.Bj;Jj; ProNav: ac range: 304.700012 m, nav range: 217.354767 m, bearing: 332.323928 deg, approach rate: -0.320640 m/s, LOS rate: 0.126390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121200 deg. 2j%{;:j-7@=HeadingCmd: 4.819224 target range: 304.700012 and range: 306.60 m. j9j9jAjIiQhQhYhqh}Bff frfbfE@ @ɛ]B]or< Y]J>IY eq7:ɚaiaIedX=ImimimT;)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 20:03:43.3935 LVL= 29360, 23153, 17842, 32755, AGC= 60, IDX= 454, 0.03, 1.269,-2.587, 2.112, 1.686, PHS=-0.329, 2.058, 0.423, RAW= 312.1, -19.8, CAL= 314.9, -28.8, ROT= 195.1, 28.8 -Ygot valid direction response: 20:03:43.3935 LVL= 29360, 23153, 17842, 32755, AGC= 60, IDX= 454, 0.03, 1.269,-2.587, 2.112, 1.686, PHS=-0.329, 2.058, 0.423, RAW= 312.1, -19.8, CAL= 314.9, -28.8, ROT= 195.1, 28.8 =PDAT read: Bearing 195.1, 28.8 (Local) E~Local bearing/azimuth received: Bearing 195.1, 28.8 (Local) }DAT read: Range 10 to 50 : 308.9 m (Round-trip 411.9 ms) speed -0.3 m/s ,DAT read: user:1088> BDAT read: Tx time:20:03:44.4775 $Ping request sent.?ls? 9ysCrqZ E)I<irF@u>=O@;ﰾ ߯@)IY@i?Hɼqt'ɿ/dտ)u;I>iT?!D?*F-?2F1:F1BF53JF1E:publishing transmit ping timeرmFpublishing direction and range info9k5>?ls? 9y )Ii )IiHɼqt'ɿ/dտ)IizKMKK+9KKSK&BU]^[[[XWTPKEA<983-*(%!!  RK>JK?GU CQ;G B! OU >w,WA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:20:03:44.4767 :&o@Y:~@ @I@:/<9:>y:H ??9B@?@*E ?q?ɨ:&o@:3;:6Cy-=B-1 IIeIe^5٢m- uM=9u;Q u> G٣y; > Nusing accuracyPremultiplier from config49QΛ?4Ya+ i6B;@+D ; ;4  AkhEߜ?k7 k k0HA:ksCBkmCZk-@"K܂b@d@#{jk5>?ls? 9JkT?Rk!D?*C#tvi@|x0^7Lh˴Һ_?RD]#mٿTg9#"kq*kSNCk*uߜ?ky8 2kEktwޜ?k7 k{khCk}@ addTargetRange:: Added new target pos. range: 308.899994 m, deltaT: 3.784003 s, deltaX: 2.299988 m, approachRate: 0.607819 m/s, rangeRepo size: 4  Added new target pos. range: 308.899994 m, bearing: 329.256136 deg, lat: 36.907030 deg, lon: -122.123244 deg, deltaT: 7.816049 s, deltaX: 4.199982 m, approachRate: 0.537354 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 308.90 m.BjJj ProNav: ac range: 308.899994 m, nav range: 232.975784 m, bearing: 330.804003 deg, approach rate: 0.000000 m/s, LOS rate: 0.126390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136171 deg. 2j:j99@HeadingCmd: 4.819485 target range: 308.899994 and range: 308.90 m. jj!j!j!i!h!h!h)h)fIfIfQrfU`fNs@bfUT?JurJqJu1JqJuG:JqJu3Jqa}@a}@a}@a}@ɛB< 隥|=I ZP:ɚiI|=Ii>iQ;))*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ~q;G sAG sAGa Bq O >ZH RH H >I  I II BI &I .I 6I *<:I q F"w,6qAy$B% IMb@Mb@Mb@ )Y-?y&1/$y??`弹zA Z@)$AIVAyII=X5٢] A=9Q > G٣6Gy > Nusing accuracyPremultiplier from config 49ϛ? 4Y&h+ i.B ? : ÿ@3Dr;;L4! %g A!ZjIMFNOT Ignoring new targets: 308.90 m.BjU6;JjU6;e ProNav: ac range: 308.899994 m, nav range: 232.842621 m, bearing: 330.853809 deg, approach rate: -0.334561 m/s, LOS rate: 0.125205 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124691 deg. 2jeګ;:jm7@mHeadingCmd: 4.819285 target range: 308.899994 and range: 308.90 m. jijqjqjqiqhqhyhyh}bBfyffrfbfy?ɛBF; 隽 =I >]:ɚiI=Iii1;))EEtA5Will construct direction to contact in vehicle frame from tetrahedron phase data. YIY*FM?2FI:FIBFM_0JFIGm;GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.V"w,ARS@YR"c@Rݛ<9R =yRH.?ݏ?`Xػ? T{@?[?ɨRS@R;R7Cy^B^I fp=f=zKMKs9KKTKIjIjS5٢Mؽ MF=9%yQ %>99 =G٣9y=h E> ]Nusing accuracyPremultiplier from configIe49MLћ?e4YMn+ iM&Bim:m@M;DMP#;M!;M&4uB }# A}rEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 308.90 m.Bj ;Jj ; ProNav: ac range: 308.899994 m, nav range: 232.701874 m, bearing: 330.907005 deg, approach rate: -0.316984 m/s, LOS rate: 0.119876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134868 deg. 2j;:j 9@HeadingCmd: 4.819463 target range: 308.899994 and range: 308.90 m. jjjjihhh h f f frfbfz?ɛ B 6: Ѕ')w,8fAeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491364]W@Y]dg@])<9]9>y]H ˼?q?`:` ?sW~?h?ɨ]W@];]6Cy}BޅIMb@Mb@Mb@ )Y"~j?~jtQyS#?ļd A @)AIyAI5I5{R5٢E E5=9EҦQ E>II MG٣IyUP: U> ]Nusing accuracyPremultiplier from configYe49]$ӛ?e4Y]u+ i]Be#?:@]DD]<]Ε<]g-4B  AtEZj9=FNOT Ignoring new targets: 308.90 m.Bje;Jje;u ProNav: ac range: 308.899994 m, nav range: 232.552460 m, bearing: 330.962139 deg, approach rate: -0.339848 m/s, LOS rate: 0.125486 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140695 deg. 2ju=;:ju9@}HeadingCmd: 4.819564 target range: 308.899994 and range: 308.90 m. jyjyjyjyihhhh7Bfffrfbf `?HI If IIiBI&I.I6I<:IX Fɛ B% !%('I! %Y:ɚ)i)I-9=I-i5{i5o;)1)1*FU?2FQ:FQBFU^0JFQ I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740231G= g;G B! OE >0w,PA2Nm@Y2|@2i+<92^>y2H}u??@s``?  ??ɨ2Nm@2;2:Cy>ׁB>IIJIJi5٢NP9 R=9R.;Q R ?PT VG٣V6GyZ1< Z ? ^Nusing accuracyPremultiplier from config\b49^ԛ?b4Y^F{+ i^B`bQf@^JD^ :^ :^24Q U AQZjFNOT Ignoring new targets: 308.90 m.Bj;Jj; ProNav: ac range: 308.899994 m, nav range: 232.440536 m, bearing: 331.003298 deg, approach rate: -0.355305 m/s, LOS rate: 0.130726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.098725 deg. 2jn;:j3@HeadingCmd: 4.818832 target range: 308.899994 and range: 308.90 m. jjjjihhhhfffrfbf^?ɛ B ;=ҽI %H:ɚiI=I%i-i-/;))))E=Y>E=>*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993422zK& LK9KKUKG%~q;GB! OU > I \i5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245272i(6w,وA2@Y2@27<92y>y2H? ? n ?@D-zD#?μ?ɨ2@2;29Cy:B>I@BAIFIFHo5٢Nr NK=9R; ;Q R>PT VG٣Ty^̴; ^> jNusing accuracyPremultiplier from configdr49fn֛?r4Yf + if Btvz@fSDf';f;f94 AZj9EFNOT Ignoring new targets: 308.90 m.BjE;JjE;U ProNav: ac range: 308.899994 m, nav range: 232.296570 m, bearing: 331.056109 deg, approach rate: -0.368359 m/s, LOS rate: 0.135207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133716 deg. 2j;:j8@HeadingCmd: 4.819443 target range: 308.899994 and range: 308.90 m. jjjjihhhhfffrfbf@ɛeBe+- imX&Ii h%:ɚiI=Ii iK<))JwJlJJJW:J9JJ*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497366G&;G B O >H I  I  II 'BI &I .I 6I &<:I o FBIJIRIZIbIjIʻ4R G٣y > Nusing accuracyPremultiplier from config49oٛ?4Y"+ iB54?:E@\Dn$;!;A4 0AZj)-FNOT Ignoring new targets: 308.90 m.Bj5#;Jj5#;E ProNav: ac range: 308.899994 m, nav range: 232.116959 m, bearing: 331.118159 deg, approach rate: -0.413572 m/s, LOS rate: 0.142986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161480 deg. 2jEB;:jM<@UHeadingCmd: 4.819927 target range: 308.899994 and range: 308.90 m. jQjQjYjYiYhYhYhaheBfafafarfibfm@ yI}]iɛBÞZ 隥MI 6E9ɚiId=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748273I i i( <))*F?2F:FBF0JFG 6;<G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001097B O >9Cw,' A:쀓@Y:{@:㎩<9:>y:H`??O?$[*? @y1`q4?Q?ɨ:쀓@:;:8CyFBFdIIN)IN u5٢Z Z^=9^-gQ ^>`` bG٣b6Gyb9 f> jNusing accuracyPremultiplier from configdj49fۛ?n4Yf+ ifBln>r@feDf6;f;fH4t vAvvEZjFNOT Ignoring new targets: 308.90 m.Bj!;Jj!;- ProNav: ac range: 308.899994 m, nav range: 231.967056 m, bearing: 331.170073 deg, approach rate: -0.407644 m/s, LOS rate: 0.141266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131030 deg. 2j5;:j5}8@5HeadingCmd: 4.819396 target range: 308.899994 and range: 308.90 m. j9j9jAjAiAhAhAhIhIfIfIfIrfQbfUf @ɛ}B}Re 隅~I 9ɚiI4=Ii i<))zK7KK9KKVK yIyEr =E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254354*Fe?2Fi:FiBFiJFqJsK{3 K{T.KsKs"KsJ uJ mJ 1J J [Q:J &9J 3J G] 2<G9 Ba O >Iw,H7(A Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:20:03:47.2964 5TRx dataTimestamp_ set to:1736366628.665783Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513188e:y@YeɈ@e0<9eT>yeH 9Խ?`??`<h?`3@`/??ɨe:y@e;e7CyޝBޝYI ==mMb@Mb@Mb@iii i)iYm{Gz?~jth?y&1ymC?mD;m`md A i)mAIiiymAI#Ibr5٢   =9?Q > G٣y\ > Nusing accuracyPremultiplier from config49?4Y+ iBC?:@qD;;x;Q4 #AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 308.90 m.Bja.;Jja.; ProNav: ac range: 308.899994 m, nav range: 231.737915 m, bearing: 331.248087 deg, approach rate: -0.447341 m/s, LOS rate: 0.152454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209460 deg. 2jA;:jC@HeadingCmd: 4.820765 target range: 308.899994 and range: 308.90 m. jjjH)I) I-II-BI)&I).I)6I-K<:I- FjiIhIhIhQhUЁBfQfQfQrfYbf] # @ɛB 隍I 5ɚiIz =Ii6 iP<)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756377E&=== }GQ i Y y B*F ?2F :F BF o0JF G9GE?GE>GB!O=?"tRw,JJAWill construct direction to contact in vehicle frame from tetrahedron phase data.^DAT read: 20:03:47.2964 LVL= 24992, 23905, 18146, 32755, AGC= 63, IDX= 452,-0.23,-2.693,-0.240,-1.793,-2.210, PHS=-0.395, 2.017, 0.413, RAW= 310.8, -18.7, CAL= 314.1, -26.9, ROT= 195.9, 26.9 bYgot valid direction response: 20:03:47.2964 LVL= 24992, 23905, 18146, 32755, AGC= 63, IDX= 452,-0.23,-2.693,-0.240,-1.793,-2.210, PHS=-0.395, 2.017, 0.413, RAW= 310.8, -18.7, CAL= 314.1, -26.9, ROT= 195.9, 26.9 fPDAT read: Bearing 195.9, 26.9 (Local) f~Local bearing/azimuth received: Bearing 195.9, 26.9 (Local) nDAT read: Range 10 to 50 : 311.1 m (Round-trip 414.8 ms) speed -0.4 m/s n,DAT read: user:1089> rBDAT read: Tx time:20:03:48.3775 v$Ping request sent.v^@ 2m@)vaIZ@iva>  OQKƿ.Կ)=I >iW?^ L? :publishing transmit ping timepFpublishing direction and range info 9Fә?ͧ?Yy  ) I i ) I i EK`@YEo@E<9E>yEH c??`+@=?@*@87?ࢼ?ɨEK`@E;E8CyxB>I  OQKƿ.Կ) I i I/Iw5٢-֧ -=95FnQ 5>99 =G٣9yEt E> UNusing accuracyPremultiplier from configIU49M&䛜?]4YM+ iMBY]h]@M~DM:M:M Z4 AzKKK59KKWK k@{ޜ?k77 k  k~JA:kCBkCZkw!@"ze}"b@Ï|@=d@ G٣6Gy > %Nusing accuracyPremultiplier from config!-49%^雜?-4Y%+ i%اB-Q?5:5v5@%D%-;%;%>c49 =1A=yEZjiuFNOT Ignoring new targets: 311.10 m.BjuE;Jj}E; ProNav: ac range: 311.100006 m, nav range: 231.515182 m, bearing: 331.291751 deg, approach rate: -0.525916 m/s, LOS rate: 0.172335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228539 deg. 2j;:jnF@HeadingCmd: 4.821097 target range: 311.100006 and range: 311.10 m. jjjjihhhhBfffrfbf`?ɛu!Bu6l¼ y}Iy ;:ɚiIj!=Iii-;)) I%^i*FU?2FQ:FQBF]o0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G-~q;G BO5p>J! J% lJ! J! J! J% 9J! J! J% o;a5 J% o;a5 J% (:a5 J% ):a5 #aw,:應A6*@Y69@68t<96 =y6H@J_?@7?ʾ?=< _?S?ɨ6*@6Ӊ;65CybtBb:I)h hhjAIvIve5٢~6= ~^=9XQ >   G٣ y   > Nusing accuracyPremultiplier from config%49웜?%4Y+ iԧB!%Q%@DN;;i41 5A1ZjYeFNOT Ignoring new targets: 311.10 m.Bjm:;Jjm:;}Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 311.100006 m, nav range: 231.335419 m, bearing: 331.351631 deg, approach rate: -0.489129 m/s, LOS rate: 0.163056 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154965 deg. 2j;:j;@HeadingCmd: 4.819813 target range: 311.100006 and range: 311.10 m. jjjjihhhhfffrfbfy3?ɛ$Bڼ I yɚiIP"=IiQiM.))*F]?2FY:FYBF]_5JFYzKg3LK+9KKXKGu@; I!GQBYOu>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.J9 J= AAhw, ɡA>@Y>5@>><9>N=y>Hv?`I?: ? ?औ?`?ɨ>@>^0;>6CyHHIZIZc5٢bo: bN=9b Q b>dd fG٣f6GyjP j> vNusing accuracyPremultiplier from configpv49r?z4Yr+ irϧBxzz@rDr ;r ;rp4B AvEZj)5FNOT Ignoring new targets: 311.10 m.Bj=;;Jj=;;M ProNav: ac range: 311.100006 m, nav range: 231.142288 m, bearing: 331.416844 deg, approach rate: -0.486302 m/s, LOS rate: 0.164345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170990 deg. 2jM;:jM4>@UHeadingCmd: 4.820093 target range: 311.100006 and range: 311.10 m. jQjQjQjYiYhYhYhYhafafafarfabfm?ɛ'BDIҼ 隕I ɚiI"=Iii))*F}?2Fy:FBF5JFG}EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOH>HyIy I}II}BIy&Iy.Iy6I};<:I} F  I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= PExceeded connect timeout, disconnecting.Inw,껉AJqJkJ0JJD:J9Jـ3JJIZ;JKZ;J:J:y~BFIMb@Mb@Mb@ )YM?Mb?Mbp?ynR?@=;A @)IVAy AI1Ix5٢Z=  =9Q > G٣y > Nusing accuracyPremultiplier from config49? 4Y+ i R? : Ѵ @D(;%;y4 A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 311.10 m.BjM9;JjM9;] ProNav: ac range: 311.100006 m, nav range: 230.886459 m, bearing: 331.499223 deg, approach rate: -0.501735 m/s, LOS rate: 0.161741 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222595 deg. 2j];:j]E@eHeadingCmd: 4.820994 target range: 311.100006 and range: 311.10 m. jajijijiiihihihqhuŁBfyfyfrfbf߶?ɛ-*B-6 )-KI) 5G zK & LK 9K K YK  B O >uw,uՉA2@Y2;@2<92C=y2H  ?@?I?@@>`??ɨ2@2Z8;0)8I>/wA<< <<@@i@@i@@)B# DID D)FvAF%F͆FHHHiHIHHILiL LL)LP RwAPPPTTIT)TiTTyZBZfI b=b%=If3Ifyy5٢v0> v=9v,Q z?xx zG٣xy~L ~? Nusing accuracyPremultiplier from config 49S? 4Yh+ iM@Dn::~4 A%xEZji I_iUFNOT Ignoring new targets: 311.10 m.Bj]?8;Jj]?8;m ProNav: ac range: 311.100006 m, nav range: 230.735733 m, bearing: 331.548297 deg, approach rate: -0.494423 m/s, LOS rate: 0.161083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122506 deg. 2jm;:jmE7@HeadingCmd: 4.819247 target range: 311.100006 and range: 311.10 m. jjjjihhhhfffrfbf`@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242278ɛ,B\  쓾I   ɚiI#=Iiji|))!*F2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497179GE xG9 BA Oe > N{w,wjA6̒@Y63ܙ@6%<96K=y6Hx?y?`]9y?f(D` %G٣%6Gy5 5> ENusing accuracyPremultiplier from config949=?4Y=+ i=֧BP?:䱿@=D=<=<=4 %^A!ZjimFNOT Ignoring new targets: 311.10 m.Bjud*;Jjud*; ProNav: ac range: 311.100006 m, nav range: 230.508316 m, bearing: 331.618599 deg, approach rate: -0.481414 m/s, LOS rate: 0.148968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186300 deg. 2jx;:jd@@HeadingCmd: 4.820360 target range: 311.100006 and range: 311.10 m. jjjjihhhhBfffrfbf@ɛ-/B5Ĥ 15I1 5}ɚ1i9I=%$=IeieXie)a)i I nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746725*F?2F:FBF_0JFJ pJ J 1J J A:J J 3J J T;J T;J J G= ߻G B! O= >6w,H AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999002yuBuIIIKk5٢= L=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y*+ iۧB   @ˋD-;;4 AZj9EFNOT Ignoring new targets: 311.10 m.BjMtC;JjMtC;] ProNav: ac range: 311.100006 m, nav range: 230.306870 m, bearing: 331.681075 deg, approach rate: -0.550501 m/s, LOS rate: 0.170880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162778 deg. 2j];:j]=@eHeadingCmd: 4.819950 target range: 311.100006 and range: 311.10 m. jajajajiiihihihihqfqfqfqrfqbf}~@ɛ1B 隵uI ɚiIx$=Ii! iK))*F]?2FY:FaBFaJFa"Gm=Gm=zKPLK9KKZK IG׹GrAG Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:03:51.2006  TRx dataTimestamp_ set to:1736366632.440656 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251332G B O >_Zw,#A2:@Y2ɸ@2jc;92i>y2H^?*?@B ? thr+"?@?ɨ2:@2};28CyBցBBIININhj5٢Vz0> Va=9Z"Q Z>XX ZG٣\y^vC e> uNusing accuracyPremultiplier from configiu49mY?}4YmG+ imBy}t}@mՋDmq ;m ;m:4  AZjFNOT Ignoring new targets: 311.10 m.Bj5;Jj5; ProNav: ac range: 311.100006 m, nav range: 230.112488 m, bearing: 331.742096 deg, approach rate: -0.505485 m/s, LOS rate: 0.158816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158402 deg. 2j;:jg<@HeadingCmd: 4.819873 target range: 311.100006 and range: 311.10 m. jjjjihhhhfffrfbf @ɛ3B%HWz !%9I! %ɚ!i)I-ڸ$=I-i5m i5 U)9)9*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508956H%>I! I%II%BI!&I!.I!6I%<:I%S FBIJIRIZIbIjIƮi4GMZG1 BA O > $?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.w,* }BDAT read: Tx time:20:03:52.3275 $Ping request sent.U@U闾 U@)UվIUݱW@iU>QQUkXB 5,mʿRaҿ)U:IU>iU"g?U~I?QQ:publishing transmit ping time؁Fpublishing direction and range infoQ9Us8?m?qxyQQQQ Q)Q:@Yɯ@<;9;)>IQiQQQQQ Q)QIQiQQQUkXB 5,mʿRaҿ)QIQiQQQQyH??_`Ͷ?ǘ `ggy? ջ?ɨ:@Շ;JqJmJ0JJD:J&9Jـ3JJIZ;JKZ;J:J:yBIMb@Mb@Mb@ )YMbX9?kt? rh?yA? =C =A );AIAyAIIl5٢ =  =9bPQ >AA EG٣E6GyM M> UNusing accuracyPremultiplier from configQ]49U?]4YU+ iUB;C?:߯@UDU;U;U4  A{EkUνs?kUΐ)8 kQ kUxw,[ABWill construct direction to contact in vehicle frame from tetrahedron phase data.y5B=II]I]Q5٢ml> u@=9uQ u>yy }G٣yy} > Nusing accuracyPremultiplier from config49M?4Y+ iB@Dp;,q;4B # AxEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 314.20 m.Bj);Jj); ProNav: ac range: 314.200012 m, nav range: 233.708847 m, bearing: 330.333903 deg, approach rate: -0.525805 m/s, LOS rate: 0.148503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153368 deg. 2j;:j;@HeadingCmd: 4.819786 target range: 314.200012 and range: 314.20 m. jjjjihhhhfffrfbff?ɛ=9B=? ḀI .&ɚiI%=I i  i Z) )*F2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.H I  I ( II 6BI &I .I 6I <:I FG G B O >xw,vA6U@Y6䛙@6f96A6>y6H`x?_?```M? 1LyC?Ě?@Ǻ?ɨ6U@6Sχ;62Cɸ<<ii mG٣iyu u> }Nusing accuracyPremultiplier from configy49}?4Y}, i}B1?:@}D}n<}(n<}I4 a AZjYeFNOT Ignoring new targets: 314.20 m.Bjm ;Jjm ; ProNav: ac range: 314.200012 m, nav range: 233.519379 m, bearing: 330.388501 deg, approach rate: -0.427452 m/s, LOS rate: 0.123276 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139113 deg. 2j4;:j9@HeadingCmd: 4.819537 target range: 314.200012 and range: 314.20 m. jjjjihhhhBfffrfbfc$?ɛ%;B- p )-pI) -T(ɚ)i)I5-%=I5i=ti=)9)9*F2F:FBFi0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203806Gi GI BQ O >uw,Z)A6@Y6@6g*96>y6H@7?}?` ?`VŁLe?V??ɨ6@6 ;67Cy%AB%6 II5I5J5٢e> em=9ehQ e?ii mG٣m6Gym/ u? Nusing accuracyPremultiplier from configy49}?4Y} , i} B;@}D}:} :}T4  AZjFNOT Ignoring new targets: 314.20 m.Bjz;Jjz; ProNav: ac range: 314.200012 m, nav range: 233.365280 m, bearing: 330.433168 deg, approach rate: -0.474660 m/s, LOS rate: 0.137677 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109277 deg. 2j;:ja5@HeadingCmd: 4.819016 target range: 314.200012 and range: 314.20 m. jjjjihhhhfffrfbf6?ɛ%=B- )-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456220JtJkJ1JJ;N:J9J3Ja@a@a@a@?w,A-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710914yޝWBޥQ IIIW5٢ \= @=9%Q %> G٣y -> 5Nusing accuracyPremultiplier from config1=495!?=4Y5, i5BAAE@5D5:5u:5]4i m AuzEH>I Iy IIxBI&I.I6I<:IZjFNOT Ignoring new targets: 314.20 m.Bjz;Jjz; ProNav: ac range: 314.200012 m, nav range: 233.160721 m, bearing: 330.492613 deg, approach rate: -0.437288 m/s, LOS rate: 0.127188 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153678 deg. 2j;:j;@HeadingCmd: 4.819791 target range: 314.200012 and range: 314.20 m. jjjjihhhhf)f)f)rf1bf5?ɛ}AB}9 隍H1=I tG%ɚiI %=Iii"z))*F?2F!:F!BF%2JF! IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959818G k}G B O >N'w,ĊA:٘@Y:h@:$S9: >y:HIܶ?@5?#:ö?awj?`+?@?ɨ:٘@:;:8CybiBbg IddUMb@Mb@Mb@QQQ Q)QYUZd;?L7A`?~jt?yU?U+=U=UA U@)QIUAQyUAImIm=X5٢}= }T=9k׺Q > G٣y5< > Nusing accuracyPremultiplier from config49$?4Ys, i!B?:ϰ@D;I;4 U AZjFNOT Ignoring new targets: 314.20 m.Bj;Jj;} ProNav: ac range: 314.200012 m, nav range: 233.023529 m, bearing: 330.532317 deg, approach rate: -0.398839 m/s, LOS rate: 0.115494 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094369 deg. 2j};:j}?3@HeadingCmd: 4.818756 target range: 314.200012 and range: 314.20 m. jjjjihhhhBfffrfbf@@ɛCB /I; -И=I) 5W!ɚ1i1I5 %=I=i=i=2`)9)95Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213385*FE?2FA:FABFE4JFAG #ԇzK JK 9K K ]K  I aiGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464288Pw,ޮފA2䩒@Y2s@2.l92i >y2H d?m?drL? ,!m?l??ɨ2䩒@2z;24CyNvBRw IIbIbO5٢r= rU=9vQ v>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|49~(?4Y~r , i~*B   @~D~z:~X:~54 AZj%FNOT Ignoring new targets: 314.20 m.Bj%E:Jj%E:= ProNav: ac range: 314.200012 m, nav range: 232.873199 m, bearing: 330.575742 deg, approach rate: -0.364874 m/s, LOS rate: 0.105468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105546 deg. 2j=Ð;:j=4@EHeadingCmd: 4.818951 target range: 314.200012 and range: 314.20 m. jAjAjAjAiIhIhIhIhQJJmJJJJ&9JJfffrfbf @ɛ]FB]u; Y]H=IY eIɚaiaIe$=Imi]iH))*FE?2FI:FIBFM_0JFIEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718575Gm UH >I  I II BI &I .I 6I <:I P FGA BQ Om >|w,mA 0I0:@Y:̙@:Y9: >y:He?`?Yܷ?V<7k?`Hc??ɨ:@:;:8CyFBF IMb@Mb@Mb@ )YuV?kt?:v?yr? 0=<A @)AIAypAI5I5I5٢Eu= ED=9E6:Q M>II MG٣M6GyUȲ; U> eNusing accuracyPremultiplier from configYm49]+?u4Y]<&, i]1B ?:5@]D]C<]$<]~4=B =A9}B*** querying acoustic contact ***jyjyZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968262FNOT Ignoring new targets: 314.20 m.Bj5:Jj5: ProNav: ac range: 314.200012 m, nav range: 232.733093 m, bearing: 330.618368 deg, approach rate: -0.334870 m/s, LOS rate: 0.101943 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103142 deg. 2j;:j4@ HeadingCmd: 4.818909 target range: 314.200012 and range: 314.20 m. jjjjihhhhBfff!rf!bf%`T@ɛIB7; 隕=I  rɚiI$=Iii8+))*F ?2F:FBF^0JFG% KG E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219736Ba O} >bĢw,eA6;͒@Y6ܙ@6Mf96 >y6H}??;```Jc?Ol?gD?@?ɨ6;͒@6 I;67CyNBPIZIZX5٢bE bS=9b Q f>dd fG٣dyj; j> rNusing accuracyPremultiplier from configlz49n.?~4Yn+, in8Bl@n#Dn;nC;n?4%B -\A1ZjFNOT Ignoring new targets: 314.20 m.Bj:Jj:= ProNav: ac range: 314.200012 m, nav range: 232.602951 m, bearing: 330.657875 deg, approach rate: -0.337636 m/s, LOS rate: 0.102553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093774 deg. 2j=Ì;:jE*3@EHeadingCmd: 4.818746 target range: 314.200012 and range: 314.20 m. jAjIjIjIiIhIhIhQhQfqfqfyrfybf}Mc @ɛKBݸ; =I 5ɚiI$=Iiy[ie)) U$?I]bizKJQJK9KK^K*F%?2F!:F!BF%_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:03:55.1528 TRx dataTimestamp_ set to:1736366636.475331checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476173JsJnJJJK:J99JJG +I,G B O >=ʢw,=,A:@Y:@:un9: >y:H@W+?(?^A?@@m?h?ҳ?ɨ:@:_;:5CyFBF IIbIbdK5٢j7< jI=9jIQ r>x Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725312| G٣yh; > =Nusing accuracyPremultiplier from config)U49-1?]4Y-Y1, i-?Bamm@-*D-<-"<-}4 4AZj =FNOT Ignoring new targets: 314.20 m.HYIY I] II]ӂBIY&IY.IY6I]<:I]D FBjM:Jj: ProNav: ac range: 314.200012 m, nav range: 232.463135 m, bearing: 330.700184 deg, approach rate: -0.319174 m/s, LOS rate: 0.096640 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102189 deg. 2j;:j^4@HeadingCmd: 4.818892 target range: 314.200012 and range: 314.20 m. jjjji!h!h!h!hIfIfIfQrfQbfU@@ɛOB; =I A ɚiI$=Ii|i\>ڻ)) IIQ*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 315.8 m (Round-trip 421.1 ms) speed 0.0 m/s ,DAT read: user:1091> BDAT read: Tx time:20:03:56.2276 $Ping request sent.;uѢw,qFA6@Y63 @6Ul965 >y6H߹??5` ?`Fm?@P??ɨ6@6;66CyVBZ IMb@Mb@Mb@ )YCl?/$?~jt?yd><D<A @)AIAyAIIGL5٢ ,=9q8Q > G٣6Gy4;  > Nusing accuracyPremultiplier from config494?4YT7, iCB%>%:%%@2Dw;;41 5rA1e addTargetRange:: Added new target pos. range: 315.799988 m, deltaT: 4.030930 s, deltaX: 1.599976 m, approachRate: 0.396925 m/s, rangeRepo size: 4 ZjamFNOT Ignoring new targets: 314.20 m.Bjm/:Jju/: ProNav: ac range: 314.200012 m, nav range: 232.324173 m, bearing: 330.745135 deg, approach rate: -0.335184 m/s, LOS rate: 0.108491 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110122 deg. 2j;:j5@HeadingCmd: 4.819031 target range: 314.200012 and range: 315.80 m. jjjjihhhh$Bfffrf̼s@bf`dt?ɛRB; =I ޚɚiImz$=Ii$\i~ ))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:03:56.2268 *F2F:FBF~0JF 1 I1 G zK% .JK% 9K! K% _K%   G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.עw,`Aj8@Yj@jS9j?=yjH %C?? S >?@5zzu?RW??ɨj8@j3;j7CyvBv II~I~G5٢ l  p=9Q ?!) -G٣)y=; =? ENusing accuracyPremultiplier from configAM49E6?M4YE;, iEFBQUԶU@E7DE;Et;E4Y eAaZjFNOT Ignoring new targets: 314.20 m.Bj:Jj: ProNav: ac range: 314.200012 m, nav range: 232.221069 m, bearing: 330.778398 deg, approach rate: -0.299228 m/s, LOS rate: 0.096577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.075018 deg. 2j;:j{0@HeadingCmd: 4.818418 target range: 314.200012 and range: 315.80 m. jjjjihhhhfffrfbf ?JupJujJu0JqJuA:Ju9Juـ3JqɛUB"; 隥=I PɚiI}]$=Ii;ib}Z)))*F?2F:FBF2JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.HI II  IM IIM ݂BII &II .II 6IM 8<:IM | FBI JI RI ZI bI jI Ó4G Gq By O >  I ݢw,yAF@YFI!@FKD9F(=yFH??`νx??`\{`v?ӽ??ɨF@Ff;F8CyVlBVk I=Mb@Mb@Mb@999 9)9Y= +?Mb?y&1|y=>=<=`=A =@)=QAI=A9y=AIUIUS<5٢e mD=9m[Q u>qq uG٣qy}_; }> Nusing accuracyPremultiplier from config498?4Y@, iEB>:f@=DA;@;4  AZjmWill construct direction to contact in vehicle frame from tetrahedron phase data.uFNOT Ignoring new targets: 314.20 m.Bju[:Jj}[: ProNav: ac range: 314.200012 m, nav range: 232.103622 m, bearing: 330.817982 deg, approach rate: -0.284360 m/s, LOS rate: 0.095889 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093999 deg. 2j;:j23@HeadingCmd: 4.818749 target range: 314.200012 and range: 315.80 m. jjjjihhhh*BfffrfbfUc?ɛ5XB5'<: 9=` =I9 =ɚ9i9I=G$=IMiMaiMI)I)I*F?2F:FBFP5JFG= V'SGE ?GE F? Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 OU >w,A6(@Y67@6>Aͻ96j=y6HP? +?@=fO?Zzy?R? ?ɨ6(@69ē;67CyR`BR\ IIZIZ?5٢bY{ fV=9fQ f>hh jG٣j7GyjL; n> =Nusing accuracyPremultiplier from config1E495:?E4Y5E, i1IM M@5DD56;5J4;54Q ]u AYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 314.20 m.Bj:Jj: ProNav: ac range: 314.200012 m, nav range: 231.991333 m, bearing: 330.855681 deg, approach rate: -0.284921 m/s, LOS rate: 0.095703 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.088338 deg. 2j\;:jc2@HeadingCmd: 4.818651 target range: 314.200012 and range: 315.80 m. jjjjihhhhfffrfbfI6?ɛ[Bx "JM sJM sJI JI JM K:JM 9JI JI w,ۇA6=@Y6qM@6~ı96=y6H?`[?%y` ?@8v?т? ?ɨ6=@6Ss;66CyBKBBB I J=J=ININV5٢ZDѽ ZL=9Z ;Q Z>\\ ^G٣\yb(; b> fNusing accuracyPremultiplier from configdj49f2@eHeadingCmd: 4.818633 target range: 314.200012 and range: 315.80 m. jajijijqiqhyhhhfffrfbf`?HI I IIĂBI&I.I6I<:Ii Fɛ_Bt 隥I sUɚiI4$=Iii;))*FE?2FA:FABFE_0JFI IG `wA%ZA MaYM`wAyMPBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013568Gm !Gq By O >w,rpNjA2[@Y2+k@2,92>y2H@N??`}ռ? `r?5 ?^?ɨ2[@2f;0yN0BV! IeMb@Mb@Mb@aaa a)aYe r?Mb/$ye?eee3A e@)aIaaye=AI}I}X[5٢ <=9-:Q > G٣y# < > Nusing accuracyPremultiplier from config49>?4YP, i@B?:仿@QDD=;<;%4B  A|EZjFNOT Ignoring new targets: 314.20 m.Bj:Jj: ProNav: ac range: 314.200012 m, nav range: 231.751831 m, bearing: 330.938184 deg, approach rate: -0.298762 m/s, LOS rate: 0.105588 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110663 deg. 2j;:j5@HeadingCmd: 4.819040 target range: 314.200012 and range: 315.80 m. jj!j!j!i!h!h!h)h-ނBf)f1f1rf1bf5ϲ@ɛ]bB]| ae<ǽIa eɚaiaIeB$=IuiuiuK;)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265375*F%?2F!:F)BF)JF)GM:GQGQ IciG! B1 OM >zK} KK} 9Ky K} aK}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517029w,NዶAjo@Yj~@j9j$>yjHD?9?(LF@j?@@~q?X?޼?ɨjo@jm;j5CyB III_5٢%k  -Q=9-e:Q ->11 5G٣57Gy=; => ENusing accuracyPremultiplier from configAM49E`@?M4YEU, iEI  I II BI &I .I 6I Z<:I FGY B O > y Iy ,w,A6~@Y6B@696-s>y6H*? ?Y@v|?؞q?G? u?ɨ6~@6;4yVBVIXZAEMb@Mb@Mb@AAA A)AYEM?y&1 rhyEn?E`eEC EA A)E;AIEAAyEpAIeIee5٢m  uF=9uQ u>yy }G٣yyO; > Nusing accuracyPremultiplier from config49aB?4Y\, i5B?:$@_D;;,4  AZjFNOT Ignoring new targets: 314.20 m.Bj$;Jj$; ProNav: ac range: 314.200012 m, nav range: 231.501892 m, bearing: 331.026749 deg, approach rate: -0.329027 m/s, LOS rate: 0.117275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119078 deg. 2j;:j6@HeadingCmd: 4.819187 target range: 314.200012 and range: 315.80 m. jjjjihhhhBfffrf bf @]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021225ɛiBjz bI *ɚiIQ$=Ii#i a <) ) *F?2F:FBFo0JFJ;3K;O3 K;(.K3K3"K3JurJuiJu1JqJuG:Juڈ9Ju3JqJu_;aJu_;aJuh:aJuj:aGO;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:03:59.0542  TRx dataTimestamp_ set to:1736366640.252639 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274112#w,A:4@Y:Ù@:d9:>y:H`\?E?` B?ws?`g??ɨ:4@:j3;:7CyFBJIIbIbKk5٢jo jU=9j뙺Q j>|| ~G٣ym; >  Nusing accuracyPremultiplier from config 49 JD?4Y a, i .B==@ fD ; [; 4A E^ AIB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 314.20 m.Bj];Jj]; ProNav: ac range: 314.200012 m, nav range: 231.375092 m, bearing: 331.071892 deg, approach rate: -0.319963 m/s, LOS rate: 0.113973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110688 deg. 2jo;:j5@HeadingCmd: 4.819041 target range: 314.200012 and range: 315.80 m. I jqjqjqjqiyhyhyhyhyfffrfbf`x @ɛmB 抾I  )ɚiIJ$=I i ٖiE0[<)A)QzKMezKKM9KIKMbKM .Xt{unjfd_[WPLC@BKY:KY*F2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526258GM O <GM ?GM /?G) B9 O} >2) w,.A6H@Y6ם@6896\>y6H@|?@e?@ch? zv?|? ǹ?ɨ6H@6,;66CyRˁBRIIZIZm5bWill construct direction to contact in vehicle frame from tetrahedron phase data.fDAT read: Range 10 to 50 : 316.8 m (Round-trip 422.5 ms) speed -0.8 m/s j,DAT read: user:1092> -jX#Rx 1: Read range message, but no direction.`ybfC`nT****** received valid address query ******nR****** received valid ping request ******rQuerying Benthos address 50 with one ping in standard two-way mode.٢%޽ -E=9]Ya eG٣e7Gye: e> uNusing accuracyPremultiplier from configiu49mZF?%4Ym,h, im'B)5仿}@mmDm/=mA=m;#4H>I IM IITBI =&I.I6I-<:Iu F %A!m addTargetRange:: Added new target pos. range: 316.799988 m, deltaT: 3.780067 s, deltaX: 1.000000 m, approachRate: 0.264546 m/s, rangeRepo size: 4 ZjiuFNOT Ignoring new targets: 314.20 m.Bju:Jju: ProNav: ac range: 314.200012 m, nav range: 231.239075 m, bearing: 331.120365 deg, approach rate: -0.280808 m/s, LOS rate: 0.100133 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120693 deg. 2jq;:j7@HeadingCmd: 4.819215 target range: 314.200012 and range: 316.80 m. jjjjihhhhfffrfs@bf@`? I ɛ5qB=Z 9=ӥI9 =K=ɚ9iI%=Iiix`"<))*FM?2FI:FQBF]0JFYuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Tx time:20:04:00.1776 }$Ping request sent.}w,HAF@YF2@Fo+ֻ9F>yFH_??`٩,U?@~`az???ɨF@F;F7CyVBVI Za=Za==Mb@Mb@Mb@999 9)9Y=E?y&1L7A`堿y=&?9=+9 =@)=AI=;A9y=AIUIUi5٢m& mE=9tQ > G٣yn > Nusing accuracyPremultiplier from config49H?4Y_o, i!B&?:@vD;j;*4 A Zj)5FNOT Ignoring new targets: 314.20 m.Bj59;Jj59;M ProNav: ac range: 314.200012 m, nav range: 231.082138 m, bearing: 331.176285 deg, approach rate: -0.453791 m/s, LOS rate: 0.161804 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143058 deg. 2jM;:jM5:@UHeadingCmd: 4.819605 target range: 314.200012 and range: 316.80 m. jQjQjQjQiQhYhYhYh]9Bfafafarfibfmr?ɛsB! 隝ľI #WMɚiI1X%=Iixi<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252356*F=?2FA:FABFE05JFA IG-<GB O- >zK zMK 9K K cK =7/(u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503260;w,ׅbAJr@YJ@JR9Jv >yJH6?C~?@/`QY ]G٣Yy] e> mNusing accuracyPremultiplier from configam49eJ?u4Yeu, ieBquu@e~De6;e`;eV14B AEZjFNOT Ignoring new targets: 314.20 m.Bj0;Jj0; ProNav: ac range: 314.200012 m, nav range: 230.939651 m, bearing: 331.227487 deg, approach rate: -0.370039 m/s, LOS rate: 0.133055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128889 deg. 2j;:j/8@HeadingCmd: 4.819358 target range: 314.200012 and range: 316.80 m. jjjjihhhhfffrfbf ?ɛ-vB-f0 15BI GcɚiI%=Ii9iϪ;))*F?2F:FBFT0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755359H>I I IIBI =&I.I6I <:I] FG! G B! O= > I di fw,^d|ABf@YBu@B/9Bc>yBH@ G٣7Gy7k >  Nusing accuracyPremultiplier from config 49N?4Y}, iBg7?:@D;%;84! %(A!uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015621ZjFNOT Ignoring new targets: 314.20 m.Bjk;Jjk; ProNav: ac range: 314.200012 m, nav range: 230.761063 m, bearing: 331.288608 deg, approach rate: -0.404374 m/s, LOS rate: 0.138501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158691 deg. 2j;:j r<@5HeadingCmd: 4.819879 target range: 314.200012 and range: 316.80 m. j1j1j1j1i1h9h9hAhEBfAfAfIrfibfm@'?ɛzB= bI ;ɚiI4&=Ieim im;)i)iJUqJUlJQJQJUD:JU9JQJQJUIZ;JUKZ;JU(:JU):*F?2F:FBF_0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267211G- ;G B O% >M%w,-?A6vH@Y6X@6(696>y6HQ??``6`r?k`Ć? ˏ??ɨ6vH@6ù;66CyBwBB>IININuZ5٢VP Va=9Z.ѻQ Z>XX ^G٣\y^" b> fNusing accuracyPremultiplier from configdj49fP?j4Yf, ifBhjnj@fDf7:fz:f?4vB zAz|EB*** querying acoustic contact *** $?IjjZjFNOT Ignoring new targets: 314.20 m.Bj$;Jj$; ProNav: ac range: 314.200012 m, nav range: 230.609375 m, bearing: 331.341074 deg, approach rate: -0.414320 m/s, LOS rate: 0.143399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132686 deg. 2j;:j8@HeadingCmd: 4.819425 target range: 314.200012 and range: 316.80 m. jjjjihhhhfff!rf!bf%@/?ɛm|BK, 隵I nɚiIq&=Iii ij*;))zK\LK9KKdK(:?BD*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519994GE ;G) BQ O >w+w,A2~G@Y2 W@2?92>y2HI? ? aD@p?d?@LP??ɨ2~G@2櫈;25CyBhBF+IIN$INr5٢V VK=9VYQ V>XX ZG٣Xy^Й ^> bNusing accuracyPremultiplier from config`f49bS?f4YbA, ibBdjtj@bDb*:b:b&F4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771418t v+AtZjFNOT Ignoring new targets: 314.20 m.Bj% -;Jj% -;5 ProNav: ac range: 314.200012 m, nav range: 230.441147 m, bearing: 331.399437 deg, approach rate: -0.435768 m/s, LOS rate: 0.151292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150405 deg. 2j5;:j5B;@=HeadingCmd: 4.819734 target range: 314.200012 and range: 316.80 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfUN@HYIY I]II]߁BIY&IY.IY6I]<:I]V FBIJIRIZIbIjIPg4ɛB%1  I Kɚi I &=IEiM iu)D;)q) qIq*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023935G ;G B O >Je rJe jJa Ja Je G:Je 9Ja Ja Je _;Je _;Je :Je :_2w,oɌA6-=@Y6L@6 P96>y6H?6?BK'?ST?@E-??ɨ6-=@62;66Cy~eB'IMb@Mb@Mb@ )YNbX9?Zd;O?MbyE?j< @)$AI$AyAI"Iq5٢w :=9Q > G٣7Gy; > Nusing accuracyPremultiplier from config49W?4Y, iBE?:@D5;2;M4B =A~EZjFNOT Ignoring new targets: 314.20 m.BjV);JjV); ProNav: ac range: 314.200012 m, nav range: 230.238998 m, bearing: 331.467123 deg, approach rate: -0.441760 m/s, LOS rate: 0.148046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178423 deg. 2j4;:jD?@HeadingCmd: 4.820223 target range: 314.200012 and range: 316.80 m. jjjjihhh h BfIfQfQrfQbfU@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275959ɛEBE' AEIi m yɚqiqIuOJ'=I}i} i}a:)y)*F]?2FY:FYBFYJFa YI]eiG ;GY Bi zK} LK} 9Ky K} eK} EA@?:9;9665540, QyO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527361!8w,㌶Ay5aB=#IIe+Ieu5٢}] 1=9Q > G٣y > Nusing accuracyPremultiplier from config49[?4Yr, iB@DM;NN;U4 WAZjFNOT Ignoring new targets: 314.20 m.Bj8;Jj8;% ProNav: ac range: 314.200012 m, nav range: 230.025635 m, bearing: 331.538812 deg, approach rate: -0.480355 m/s, LOS rate: 0.161545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190451 deg. 2j%;:j-@@EHeadingCmd: 4.820433 target range: 314.200012 and range: 316.80 m. jAjAjIjIiIhQhQhYhafififqrfqbf}@ɛmBml 6 imIi u^ɚqiqIua'=I}i}_ i}q;)y)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780196*F=?2F9:F9BF=e0JF9HYIY I]II]BIY&IY.IY6I]9<:I]~ F I II G :)Q U &CG ~G! 9 B9 u Yy y} BO >Z>w,Ao@VB)fCIxAD   vA i F i3CxA)# I C) xADC!i!I!!I%Ci%fvA %-F))-C -xA)5yF11yU_BUIMb@Mb@Mb@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031368)Y(\?ˡE?Mb?yN?'=<A @)AIAy(AI"Iq5٢Eq \=9Q >!! %G٣!y) -> =Nusing accuracyPremultiplier from config1E495_?E4Y50, i5BM[N?M:MM@5D5,R;55;5a\4Q UmAYZjFNOT Ignoring new targets: 314.20 m.Bj%-;Jj%-; ProNav: ac range: 314.200012 m, nav range: 229.844376 m, bearing: 331.597618 deg, approach rate: -0.466004 m/s, LOS rate: 0.151306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151744 deg. 2j;:js;@HeadingCmd: 4.819757 target range: 314.200012 and range: 316.80 m. jjjjihhhhʁBfffrfbf @ɛMBM/A IMII M_JʻɚQiQIU,(=I}i i))*F5?2F1:F1BF50JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:04:03.0100  TRx dataTimestamp_ set to:1736366644.292637 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284347G 7:G G rAG B O >Ew,oFA>2@Y>&@ DID>Oۄ9>h>y>Hsɺ?K?B?g? :?`!??ɨ>2@>0;ii mG٣m7GyuoH u> }Nusing accuracyPremultiplier from configq49uc?4Yu!, iuBV@uÌDu:u:ub4 (A5B*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 314.20 m.Bjm7;Jjm7;} ProNav: ac range: 314.200012 m, nav range: 229.659927 m, bearing: 331.658216 deg, approach rate: -0.486923 m/s, LOS rate: 0.160098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157124 deg. 2j};:j}8<@HeadingCmd: 4.819851 target range: 314.200012 and range: 316.80 m. jjjjihhhhfffrfbf`Q @ɛBF I 3׻ɚiI_(=Ii ij))*FU?2FQ:FQBFUP5JFQzKJNKh9KKfK~yqkf`[YXTRPLKGA@@><7/,)+(''((&$"#$%"" Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536552JqJnJJJD:J99JJa@a@a@a@G:G B Ou >Kw,>&2A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2Ai2ARDAT read: 20:04:03.0100 LVL= 28912, 23393, 17442, 32483, AGC= 64, IDX= 478,-0.11,-1.497, 0.946,-0.648,-1.006, PHS=-0.403, 1.999, 0.355, RAW= 312.0, -18.0, CAL= 315.8, -25.6, ROT= 194.2, 25.6 VYgot valid direction response: 20:04:03.0100 LVL= 28912, 23393, 17442, 32483, AGC= 64, IDX= 478,-0.11,-1.497, 0.946,-0.648,-1.006, PHS=-0.403, 1.999, 0.355, RAW= 312.0, -18.0, CAL= 315.8, -25.6, ROT= 194.2, 25.6 ZPDAT read: Bearing 194.2, 25.6 (Local) Z~Local bearing/azimuth received: Bearing 194.2, 25.6 (Local) bDAT read: Range 10 to 50 : 321.2 m (Round-trip 428.3 ms) speed -1.0 m/s f,DAT read: user:1093> fBDAT read: Tx time:20:04:04.1276 j$Ping request sent.j2@@2|٠ 2A`@)2I2iX@i2>002,9wNV\ɿDsӿ)2;I2>i2>_?2c8I?00:publishing transmit ping timehFpublishing direction and range info092)o?^P?ʾC:3y0000 0)0I0i00000 0)0I0i000HI IIIBI&I.I6I<:I F2,9wNV\ɿDsӿ)0I0i0000 @Y@؜9R>yHp?p? XCɺ?p?@a?`??ɨ @ I;4CyޭvBޭ<I-Mb@Mb@Mb@))) )))Y-Q?y&1?y&1?y-H?-`e=-`e<-A -@)-$AI-A)y-QAIaIa٢%E= % =9%XQ %>)) -G٣)y5 5> ENusing accuracyPremultiplier from config9E49=j?M4Y=?, i=(BMI?M:M M@=ҌD=;=';=^m4}B }A}Ek2 V?k2s9 k0 k22A:k2CBk2CZk2)@"2f%B@b@=e@khl2)o?^P?ʾC:3Jk2>_?Rk2c8I?*2Aj@G?%_ݪ#H i2ǣu?| ~ٿY"k2*k2eWCk2 Q?k2 9 2k2Gk2*uߜ?k2y8 k2Uk2hCk2O@Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:20:04:04.1268  addTargetRange:: Added new target pos. range: 321.200012 m, deltaT: 4.040172 s, deltaX: 4.400024 m, approachRate: 1.089069 m/s, rangeRepo size: 4 E Added new target pos. range: 321.200012 m, bearing: 329.290992 deg, lat: 36.907056 deg, lon: -122.123347 deg, deltaT: 11.851169 s, deltaX: 7.000000 m, approachRate: 0.590659 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 321.20 m.BjmJji} ProNav: ac range: 321.200012 m, nav range: 232.015259 m, bearing: 331.798504 deg, approach rate: 0.000000 m/s, LOS rate: 0.160098 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.258220 deg. 2jy:jJ@HeadingCmd: 4.821616 target range: 321.200012 and range: 321.20 m. jjjjihhhhBfffrf@3t@bf?ɛm Bm ~( i m # Ii m ɚq iq Iu (=I} i}  i} <)y )y *F] ?2FY :FY BF] o0JFa Gb(Will construct direction to contact in vehicle frame from tetrahedron phase data.GABIOm ?uTw,TAF2@YF @F{u9F>yFHb?`\?~:l HU?v? jΒ?y?Ž?ɨF2@Fy;F7CyBSIIEIET_5٢eA= uj=9}@IQ }> G٣y( > Nusing accuracyPremultiplier from config49n?4Yt, i.BL@یD*;`+;s4 AZjY qIufiFNOT Ignoring new targets: 321.20 m.Bj/;Jj/; ProNav: ac range: 321.200012 m, nav range: 231.844696 m, bearing: 331.852600 deg, approach rate: -0.484242 m/s, LOS rate: 0.153697 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137595 deg. 2j;:jm9@HeadingCmd: 4.819510 target range: 321.200012 and range: 321.20 m. jjjjihhhhfffrfbf?ɛ%B%? !%I) -ɚ)i)I-{J)=I5i5L i5p)1)9*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.zKENKEs9KAKEgKE     RKU?JKU?G) J rJ mJ J J G:J &9J J G B1 O] > [w,LnAy=B=dIIU IUg5٢e^= eK=9mQ m>ii mG٣u7Gyu u> }Nusing accuracyPremultiplier from configy49}s?4Y}, i}5B@}D}:}:}z4B A}EZjFNOT Ignoring new targets: 321.20 m.BjO7;JjO7; ProNav: ac range: 321.200012 m, nav range: 231.652481 m, bearing: 331.913733 deg, approach rate: -0.503473 m/s, LOS rate: 0.160260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158738 deg. 2j;:js<@HeadingCmd: 4.819879 target range: 321.200012 and range: 321.20 m. jjjjihhhhfffrfbf`?ɛ%B-l3 )-,I) -ˆɚ)i)I5z)=I5i= i=̝)9)9}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHqRHu?AHyIy I}II}ЁBIy&Iy.Iy6I}g<:I} F*FI2FQ:FQBFU05JFY $?IG ԑ% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >&aw,5A6*@Y6@6=96i=y6H*?`?#`q?Ϧ? Xǔ?@0Ž??ɨ6*@6 ;66CyޝBޝI=Mb@Mb@Mb@999 9)9Y=MbX9?MbX9?X9v?y=A?=ʡ==<=zA =@)=AI=$A9y=zAI]I]DP5٢mO= m-=9mQ m>qq uG٣qy}Ի }> Nusing accuracyPremultiplier from config49x?4Y, iCBC?:ү@DM ;;4B AEZjFNOT Ignoring new targets: 321.20 m.Bj%;Jj%; ProNav: ac range: 321.200012 m, nav range: 231.425720 m, bearing: 331.982167 deg, approach rate: -0.480276 m/s, LOS rate: 0.145083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180688 deg. 2j#;:j?@HeadingCmd: 4.820262 target range: 321.200012 and range: 321.20 m. jjjjihhhh'Bfffrfbf@j?ɛ-B5' 9=I9 =g ɚ9i9I=)=IMiMH iM2)I)IEYWill construct direction to contact in vehicle frame from tetrahedron phase data.ՅAiՁ*F?2F:FBF3JF"G=Ga= iIugiG G B O >hw,A6ޒ@Y6t@6u962=y6H?$?1``s? R? I?? [?ɨ6ޒ@6H;4ɽ>&C>wA>Ļi>F@iB@CBwA)Bף BzFI@ JC)JwAɾJDJFHLɿNwAiNIN {FLIPiRwA PRtF)PR̎C VwATTTVCVxAIT)XiXX^Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.YZhbIiZwA)XZG ZAfLReceived data from all battery sticks.ynBnIrWill construct direction to contact in vehicle frame from tetrahedron phase data.IzIzj5٢m=  {=9Q  ?zK]9$MK]9KYK]hK] G٣yǺ ? Nusing accuracyPremultiplier from config498}?4Y, iLB鯿@DO-<}-<4 {A]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 321.20 m.Bj;Jj; ProNav: ac range: 321.200012 m, nav range: 231.261017 m, bearing: 332.032088 deg, approach rate: -0.459778 m/s, LOS rate: 0.139455 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125055 deg. 2ji;:j7@HeadingCmd: 4.819292 target range: 321.200012 and range: 321.20 m. jjjjihhhhfffrfbf$H?JJJJoJJJJK9JJɛB ,۾I ZɚiI*=Ii i-ё)))1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Hu >Iq  Iu IIu BIq &Iq .Iq 6Iu p<:Iu FG UG B OU > y I Jnw,AnXْ@Yn@nbn9nL=ynHܸ?c?տ ixX??@`͕?Fs??ɨnXْ@n։;ly~ՁB~IMb@Mb@Mb@ )Yv?+?!! %G٣-7Gy-Ѻ 5> =Nusing accuracyPremultiplier from config1E495O?E4Y5z, i5ZBE":?E:EE@5D5 ;5;54Q U AQZjyFNOT Ignoring new targets: 321.20 m.Bjj%;Jjj%; ProNav: ac range: 321.200012 m, nav range: 231.066727 m, bearing: 332.090936 deg, approach rate: -0.477057 m/s, LOS rate: 0.144616 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151879 deg. 2j;:jx;@%HeadingCmd: 4.819759 target range: 321.200012 and range: 321.20 m. j!j)j)j)i)h)h)h1h5UBf1f1f9rf9bf=r@ɛBTo 隵7ľI ɚiIyG*=Ii igWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254435))*F?2F:FBFJFG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506748-uw,0ՍA6+ܒ@Y6@696BV>y6H ??UO&o?Ի? ??@?ɨ6+ܒ@6A;68Cy>BBIIJIJm5٢> ^=9l9Q >!) 5G٣1yMq: U> eNusing accuracyPremultiplier from configYe49]҆?e4Y], i]eBimm@] D]7:]:]4q u AyZjFNOT Ignoring new targets: 321.20 m.Bj;Jj; ProNav: ac range: 321.200012 m, nav range: 230.894775 m, bearing: 332.143142 deg, approach rate: -0.459139 m/s, LOS rate: 0.139504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131923 deg. 2j{;:j8@HeadingCmd: 4.819411 target range: 321.200012 and range: 321.20 m. jjjjihhhhfffrfbf @ɛ B x  WI  zɚ I!iI%m*=I-i-UFi-))))*FM?2FI:FIBFMn0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758222zKKK9KKiG5;3KG B O5 >J pJ lJ J J A:J 9J J W{w,A6ߒ@Y6b@6o596y>y6H 7?Ó?'$?S?F?oV?+?ɨ6ߒ@6V;4yJBJIIfIfT_5٢R= K=9 9Q  >   G٣y9: > %Nusing accuracyPremultiplier from config%49?%4Y, irB)--@D: ;49 =y AAZjaeFNOT Ignoring new targets: 321.20 m.BjmG;JjmG;} ProNav: ac range: 321.200012 m, nav range: 230.713486 m, bearing: 332.198296 deg, approach rate: -0.457368 m/s, LOS rate: 0.139254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140777 deg. 2j}#;:j}9@HeadingCmd: 4.819566 target range: 321.200012 and range: 321.20 m. jjjjihhhhfffrfbf-@ɛMBM_C IMII U ɚQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010476iqIu*=I}i}i}D)y)HI I! II1BI&I.I6I<<:I~ FBIJIRIZIbIjI]4*F ?2F:FBF0JF I hiGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:04:06.9629  TRx dataTimestamp_ set to:1736366648.074059% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264808aBw,y AyB IMb@Mb@Mb@ )YK7A`?V-?X9v?y+?h=< )AI;AyII[W5٢> >=9%Q %>!! -G٣-7Gy- -> =Nusing accuracyPremultiplier from config1=495y?E4Y5, i5~BE',?E:E˯E@5D5H;5w;5G4Q U AUEZjy}FNOT Ignoring new targets: 321.20 m.Bj;Jj; ProNav: ac range: 321.200012 m, nav range: 230.527283 m, bearing: 332.255252 deg, approach rate: -0.422935 m/s, LOS rate: 0.129472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146192 deg. 2j;:j:@HeadingCmd: 4.819660 target range: 321.200012 and range: 321.20 m. jjjjihhhhBfffrfbf@t @ɛB$ [I EɚiIi*=IiFir))*F?2F:FBF1JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515344 IGG B O >>jw,K#ARG@YR@R9Rq>yRHa?t??RP|?ZÔ? ?h?ɨRG@RW4;R6Cy^#BbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766418^ IInIn7`5٢vs= vZ=9v;Q v>|| G٣y); >  Nusing accuracyPremultiplier from config 49 ?4Y , i B@ &D \ ; ; 4! -= A)ZjIMFNOT Ignoring new targets: 321.20 m.BjU-;JjU-;e ProNav: ac range: 321.200012 m, nav range: 230.372757 m, bearing: 332.302492 deg, approach rate: -0.423475 m/s, LOS rate: 0.129547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117002 deg. 2jmб;:jm|6@mHeadingCmd: 4.819151 target range: 321.200012 and range: 321.20 m. jqjqjqjyiyhyhhhfffrfbfs@zK}\KK+9KKjK$3AGMW_gɛBO yI }"ɚiIB*=IiTi3))El>E>*F?2F:FBF_5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 323.4 m (Round-trip 431.2 ms) speed -0.4 m/s ,DAT read: user:1094> BDAT read: Tx time:20:04:08.0776 $Ping request sent.ii mG٣iyu u> }bBottom track data is 0.5 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configy49}?4Y}- i}B+::@}/D}t;}i>}4  AB*** querying acoustic contact ***jj5 addTargetRange:: Added new target pos. range: 323.399994 m, deltaT: 4.032487 s, deltaX: 2.199982 m, approachRate: 0.545564 m/s, rangeRepo size: 4 Zj15FNOT Ignoring new targets: 321.20 m.Bj=;Jj=;M ProNav: ac range: 321.200012 m, nav range: 230.181717 m, bearing: 332.361048 deg, approach rate: -0.409620 m/s, LOS rate: 0.125658 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151001 deg. 2jUy;:jUX;@HeadingCmd: 4.819744 target range: 321.200012 and range: 323.40 m. jjjjihhhhfffrf`f6t@bf`}u?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:04:08.0769 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛEBE, IMRWII M%ɚIiIIMY*=IUi]li1))*FQ2FQ:FQBFUQ5JFQJrJJJJG:JJJJaJ_;aJ(:aJ):aG} TGQ BY u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499067O >}w, WAjْ@Yj&@j<9j>yjH`޸?૕?^^e\?ǁ?`?-?m?ɨjْ@j䵈;hyr@Br5 IIzIzL5٢Z=  d=9 /Q  > G٣ 7Gy > -bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%?54Y% - i%B= :9EO:E⯿E@%7D%;%P?%.4I MX AQ $?IZjqFNOT Ignoring new targets: 321.20 m.Bj;Jj; ProNav: ac range: 321.200012 m, nav range: 230.030640 m, bearing: 332.407691 deg, approach rate: -0.435357 m/s, LOS rate: 0.134499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115207 deg. 2j;:j:6@HeadingCmd: 4.819119 target range: 321.200012 and range: 323.40 m. jjjjihhhhfffrfbf?ɛmBJ˼ 隝fFI (ɚiI*=IiBia))*FM?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750164zK $0MK h9K K kK nsyvrsttpopomlgeefeegghhkrz}zyzwtrrtqmdVPMJGHIFFHGHGmGI BY O} >䧛w,XpA6@Y6F@6e96ķ>y6HD?`?Y{@@2?"y?`M̕?J??ɨ6@6;65Cy>MB>D IIFIF=5٢N= NQ=9RQ R>PT VG٣TyV; V> ^bBottom track data is 1.2 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb49Z㡜?b4YZ- iZBf9df':fǯf@Z?DZ:;Z?Z͹4jB j AjEZj)FNOT Ignoring new targets: 321.20 m.Bj;Jj; ProNav: ac range: 321.200012 m, nav range: 229.866562 m, bearing: 332.458385 deg, approach rate: -0.415833 m/s, LOS rate: 0.128568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127377 deg. 2jx;:j7@HeadingCmd: 4.819332 target range: 321.200012 and range: 323.40 m. jjjjihhhhfffrfbf`n?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002026ɛ}BD 隝&0I P*ɚiI]*=HI I IIBI&I.I6I4<:Ix FIii))Q qIuii*F-?2F1:F1BF9JF9G w G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253968GY Bi O >Cw,,AJ0J2kJ0J0J0J29J0J0J0J0J2:J2:Z@YZ@ZMި9Z>yZH`c*?t?#?q?g?u? ;?ɨZ@Z ;Z6CyfLBfC I ] ] ]] ee  e e eMb@Mb@Mb@aaa a)aYe|?5^?Mb? G٣y0: > Nusing accuracyPremultiplier from config49?4Y#- iBT:?:@GD*;);d4  AZjFNOT Ignoring new targets: 321.20 m.Bj;Jj; ProNav: ac range: 321.200012 m, nav range: 229.714172 m, bearing: 332.507763 deg, approach rate: -0.355524 m/s, LOS rate: 0.115274 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123418 deg. 2j9;:jg7@HeadingCmd: 4.819263 target range: 321.200012 and range: 323.40 m. jjjjihhhhւBfffrfbf?ɛBHѸ !%5I! %,ɚ!i!I%K*=IMiMRiUN)Q)Q*F ?2F :F BF`0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506229 YIYG- ;3G B O= >+w,dA6@Y67@6rw96>y6H?@ю??@I&v?@N?`?ι?ɨ6@61;4yBYBBT IIJIJZ5RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757935٢Vߐ= ZZ=9Zb;Q Z>\\ ^G٣^ 7Gyb"< b> fNusing accuracyPremultiplier from configdj49fϨ?j4Yf- ifBlrr@fNDf|S;f4T;f4t v AtZjFNOT Ignoring new targets: 321.20 m.BjJ:JjJ:zKNKKKlKA@@>;;<;9::9:<;;:::9777468544438410-*-*,*)'&&&&$! ProNav: ac range: 321.200012 m, nav range: 229.581940 m, bearing: 332.550381 deg, approach rate: -0.333853 m/s, LOS rate: 0.107662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103115 deg. 2jƓ;:j4@HeadingCmd: 4.818908 target range: 321.200012 and range: 323.40 m. j!j!j!j!i!h!h!h)h)f)f)f1rfQbfU@?ɛB: !% I! %V.ɚ)i)I-*=I=i=i=^)9)A*F?2F:FBFJF UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009870H>I I IIBI =&I.I6I<:Ia FG- UG! B1 I II OU >宣w,J{Ay ZB U I p==Mb@Mb@Mb@ )Ym?V-? G٣y > Nusing accuracyPremultiplier from config49/?4Y%- iB?:@WD; ;C4   A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 321.20 m.BjM;JjM;] ProNav: ac range: 321.200012 m, nav range: 229.425766 m, bearing: 332.603816 deg, approach rate: -0.343578 m/s, LOS rate: 0.117636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135600 deg. 2j]v;:j]$9@eHeadingCmd: 4.819475 target range: 321.200012 and range: 323.40 m. jaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261818jajjihhhhBfffrfbfa7@ɛEBEg IMIQ U 1ɚQiQIU}*=I]i]Ii])y)EErA*F?2F:FBFo0JFJkـ3Kkـ3 KkKcKc"KcJsJpJJJK:J^9JJJe;Je;J}:J~:G ?bG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513852ʵw,J؎A6j-@Y6<@6B96)>y6Hz??||λ?|h?'h?Y??ɨ6j-@6켇;68CyRTBRM IIZIZ Y5٢f fs=9f;Q f?hh jG٣hyjR< n? pIp zNusing accuracyPremultiplier from configtz49v?z4Yv*- ivBqu󴿑u@v]Dv/+=I5i5ci={:)9)9*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766637G-g{zKNK9KKmK      %')&%$"$ RK ?JK?G) B9 O] >Fw,#AyKBB II)I)٢= ( =C=9EQ E>AA MG٣M 7GyU U> mNusing accuracyPremultiplier from configi49m?4Ym0- imƨB@mdDmJw£w,. AJ"uJ"qJ"1J J"[Q:J"q9J"3J J"o;J"o;J":J":yMGBM= IMb@Mb@Mb@ )Y&1?Q?y?< @)QAI$AyAII^5٢ $  >=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-49%?54Y%6- i%ɨB5?5:5=@%lD%;%;%4A E AAZjquFNOT Ignoring new targets: 321.20 m.Bj} ;Jj} ; ProNav: ac range: 321.200012 m, nav range: 229.031372 m, bearing: 332.737550 deg, approach rate: -0.357946 m/s, LOS rate: 0.121227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121769 deg. 2jd;:j*7@HeadingCmd: 4.819234 target range: 321.200012 and range: 323.40 m. jjjjihhhhBfffrfbf @ɛBϼ 隝PI V~8ɚiI;+=Iii))EC>E>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai1=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523658*Fa2Fi:FiBFm+5JFiG}sA G}sA IjiG 9G B O ɣw,M%A6`@Y6_p@6,96\>y6H ??N@Z?J?`p%???ɨ6`@6;;67CBWill construct direction to contact in vehicle frame from tetrahedron phase data.FDAT read: Range 10 to 50 : 325.2 m (Round-trip 433.6 ms) speed -0.9 m/s J,DAT read: user:1095> -JX#Rx 1: Read range message, but no direction.@yBC@NT****** received valid address query ******NR****** received valid ping request ******RQuerying Benthos address 50 with one ping in standard two-way mode.yZ:BZ- IIfIfa5٢ M=9aJ;Q > G٣y%A~< %> ]Nusing accuracyPremultiplier from config1e4956?m4Y5<- i5˨BizKuMKu9KqKunKu "&&&&&$!    mij@5sD5^<5 <54  AJIJM?A] addTargetRange:: Added new target pos. range: 325.200012 m, deltaT: 3.779240 s, deltaX: 1.800018 m, approachRate: 0.476291 m/s, rangeRepo size: 4 ZjYeFNOT Ignoring new targets: 321.20 m.Bje:Jjm: ProNav: ac range: 321.200012 m, nav range: 228.893936 m, bearing: 332.783572 deg, approach rate: -0.321071 m/s, LOS rate: 0.107579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113336 deg. 2j;:j5@HeadingCmd: 4.819087 target range: 321.200012 and range: 325.20 m. jjjjihhhhfffrf@3St@bf?ɛ%B%N !m0oIi m;ɚiiqIud+=Ii-i;))*F?2F:FBFP4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Tx time:20:04:12.0277 =$Ping request sent.=9ϣw,'?A*c@Yr@׃9>yH@%?@A?Ro?o.R?@z???ɨ*c@S-;4Cy7B) IMb@Mb@Mb@ )Y9v?/$? G٣ 7Gy,$: > Nusing accuracyPremultiplier from config49?4YC- įB?:@|D;b;4  A=B*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 321.20 m.Bju ;Jju ; ProNav: ac range: 321.200012 m, nav range: 228.737457 m, bearing: 332.837717 deg, approach rate: -0.353172 m/s, LOS rate: 0.122288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137732 deg. 2j٧;:js9@HeadingCmd: 4.819513 target range: 321.200012 and range: 325.20 m. jjjjihhhh˂Bfffrfbf*?ɛUBU, Y]LzIY ]B?ɚYiYI]+=Ieieim̺;)i)i*F?2F:FBF _0JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503163G5 ;G B O- >C֣w,wjYA .$?I,jyR@Yj b@jR9j=yjH??P [?_n?@??@l?ɨjyR@j҇;j5Cyz%Bz I ~=~=@AII\5٢ =9%Q % ?!) -G٣)y-ӻ 5 ? =Nusing accuracyPremultiplier from config1=495?E4Y5H- i5ͨBAE䵿E@5D5:5L:54Q U* AQZjq}FNOT Ignoring new targets: 321.20 m.Bj ;Jj ; ProNav: ac range: 321.200012 m, nav range: 228.630157 m, bearing: 332.875092 deg, approach rate: -0.349993 m/s, LOS rate: 0.121970 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087367 deg. 2jj;:j?2@HeadingCmd: 4.818634 target range: 321.200012 and range: 325.20 m. jjjjihhhhfffrfbf?ɛeBD 隍ݐI AɚiI+=Ii=)iu/t;))*F=?2F9:F9BFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755820GeO;zKMKKKoKG9 BI Oe >J rJ zJ 0J J G:J 9J ـ3J a @a @a @a @52ܣw,|'sABR@YBLb@BK*9BH=yBH?݋?`BM?o?e?ಿ??ɨBR@B ;B4CyJ BN IIVIVS5٢^ ^R=9b̝Q b>`` bG٣dyf8 j> vNusing accuracyPremultiplier from configp~49r?~4YrN- ip|⵿@rDri;rb;rk4 L AZj9=FNOT Ignoring new targets: 321.20 m.BjE;JjE;U ProNav: ac range: 321.200012 m, nav range: 228.497131 m, bearing: 332.921525 deg, approach rate: -0.337478 m/s, LOS rate: 0.117865 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114566 deg. 2jUǡ;:jU#6@]HeadingCmd: 4.819108 target range: 321.200012 and range: 325.20 m. jajajajaiahahahihifififqrfqbfuj?H1I1 I5 II5BI1&I1.I16I5a<:I5 FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014682ɛB6 隽,I ( FɚiI+=IiSiN;)) YIY)A E1C~GvAA YvAyB*F?2F!:F!BF%n0JF!G- g;G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267884B O= >w,A:qK@Y:[@:梠9:s>y:H|h?? Sм?\u?`?%??ɨ:qK@:߉;:7CyN BNI]Mb@Mb@Mb@YYY Y)YY]S?Zd;O? rhy]/?]j<]C]A ]@)YIYYy]AII~N5٢羽 ==9yQ > G٣y' > Nusing accuracyPremultiplier from config49)Ĝ?4YtU- iZ?:@D;;4B  AEZjFNOT Ignoring new targets: 321.20 m.Bj;Jj;  ProNav: ac range: 321.200012 m, nav range: 228.342896 m, bearing: 332.975259 deg, approach rate: -0.360260 m/s, LOS rate: 0.125595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136498 deg. 2jc;:jE9@HeadingCmd: 4.819491 target range: 321.200012 and range: 325.20 m. jjjjih!h!h!h%Bf)f)f)rf)bf-~?ɛ]B]# Y]Ia e"yJɚaiaIeS%,=Iuiu i}W;)y)y*F ?2F :F BF 0JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.520362 AIAG)G B O5 >Dw,ߦA6rg@Y6w@6[96>y6H :G?`؅?@s?l?4˒?@1J??ɨ6rg@6;64CyFBFIHJAININ`5٢VY VZ=9Zc[;Q Z>XX ^G٣^ 7GfWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771987yj< j> rNusing accuracyPremultiplier from configlr49n.ǜ?r4Yn}[- in̨Btv/v@nDn;n:n4x z: A|ZjFNOT Ignoring new targets: 321.20 m.Bj%;Jj%;E ProNav: ac range: 321.200012 m, nav range: 228.206924 m, bearing: 333.022407 deg, approach rate: -0.361610 m/s, LOS rate: 0.125463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116715 deg. 2jM5;:jMq6@UHeadingCmd: 4.819146 target range: 321.200012 and range: 325.20 m. jQjQjQjQiQhhhhfffrfbfX@ɛB# 隭ùI 5dOɚiI9h,=Iiz i;))zKLK9KKpK/NWWPOHD?:30*%&# JUvJUlJU1JQJU{T:JU9JU3JQ*FU?2FQ:FQBFU2JFQH%>I! I%y II%xBI!&I!.I!6I%S<:I% FGY}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024957 9 I= kiGi By O >:0w,GAo@Y~@Д9>yH >?@#?Œ`޽?i? Ι?c?`2?ɨo@c;騭6CyBIMb@Mb@Mb@ )Yx&?{Gz?:vy7)?ף<TA @)I$AyzAIIl5٢N *=99Q > G٣y; > 5Nusing accuracyPremultiplier from config)=49-#˜?=4Y-c- i-ͨB=S)?E:EE@-D-,3;-(;-4I M AQZjquFNOT Ignoring new targets: 321.20 m.Bj};Jj}; ProNav: ac range: 321.200012 m, nav range: 228.022446 m, bearing: 333.087534 deg, approach rate: -0.382882 m/s, LOS rate: 0.135278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170723 deg. 2j;:j*>@HeadingCmd: 4.820088 target range: 321.200012 and range: 325.20 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275117hh!h%kBf)f)f1rf1bf=V@ɛB"* 隭-ȾI ]UɚiI]A,=Ieiec ie2;)a)i*F2F:FBF1JFG5 o;} Will construct direction to contact in vehicle frame from tetrahedron phase data.} Aiy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527432  I G B) OE >@Rw,oڏArt@YrE@r<(9r9>yrH?ໂ?Z2 ?Zh?Ĥ?z?s?ɨrt@rc;r4CyzB~II I Ho5٢%W -n=9-Q -?11 5G٣1y5O; 5? ENusing accuracyPremultiplier from config9M49=͜?M4Y=i- i9QUU@=D=94;=4;=4Y ] AY}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 321.20 m.Bj;Jj; ProNav: ac range: 321.200012 m, nav range: 227.892685 m, bearing: 333.133403 deg, approach rate: -0.382627 m/s, LOS rate: 0.135332 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112873 deg. 2j;:j5@HeadingCmd: 4.819079 target range: 321.200012 and range: 325.20 m. jjjjiahihihqhyfffrfbf0@ɛuBuz5 隝ؾI mtZɚiI-=Ii i5;))*FI2FI:FIBFU5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779127J} tJy J} 0Jy J} ;N:Jy J} ـ3Jy G zK WMK ]9K K qK  Ts0yl_PG@0  Nb`ZYnGi By O >:qw,/A2p@Y2@292XR>y2H0??Q@ ?!l??}?I?ɨ2p@2;25Cy:B:I B=Bp=IFIFj5٢R; RU=9V,Q V>XX ^G٣b7Gyfz f> jNusing accuracyPremultiplier from confighn49j ќ?n4YjJp- ijΨBprr@jDjp;j;j#4t v AvEZjFNOT Ignoring new targets: 321.20 m.Bjo;Jjo;H>IC IS IIYBI =&I.I6I<:I F ProNav: ac range: 321.200012 m, nav range: 227.744507 m, bearing: 333.185967 deg, approach rate: -0.363132 m/s, LOS rate: 0.128898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132980 deg. 2j;:j8@HeadingCmd: 4.819430 target range: 321.200012 and range: 325.20 m. jjjjih h h h fff1rf1bf=P= @eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.033240 IliɛUBU2 Y]<پIY ]\_ɚYiYI]Y-=Ieieie8;)i)*Fa2Fa:FaBFe]0JFaG &;G G tA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:04:14.8683  TRx dataTimestamp_ set to:1736366656.144634 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284181G B O >Zw,MAy=ہB=IMb@Mb@Mb@ )YGz?/$?~jtxy0?<Ļ3A @)$AI;AyAI I ٢?W 4=9%Q %>!! %G٣)y- -> =Nusing accuracyPremultiplier from config1=495Ԝ?E4Y5dx- i5ШBE0?E:E=E@5D5;5;5y+4Q Un AQZjFNOT Ignoring new targets: 321.20 m.Bj\*;Jj\*; ProNav: ac range: 321.200012 m, nav range: 227.565353 m, bearing: 333.249867 deg, approach rate: -0.417249 m/s, LOS rate: 0.148942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167039 deg. 2jo;:j=@HeadingCmd: 4.820024 target range: 321.200012 and range: 325.20 m. jjjjihhhh`Bfffrfbf @ɛ‚B@y; I eɚiI-=Iii;))*F?2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536075 IG-;G B O > w,'AbWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:04:14.8683 LVL= 26320, 24753, 18402, 31891, AGC= 69, IDX= 450,-0.19, 0.476, 2.892, 1.258, 0.909, PHS=-0.345, 2.030, 0.346, RAW= 313.6, -18.7, CAL= 317.0, -26.9, ROT= 193.0, 26.9 -Ygot valid direction response: 20:04:14.8683 LVL= 26320, 24753, 18402, 31891, AGC= 69, IDX= 450,-0.19, 0.476, 2.892, 1.258, 0.909, PHS=-0.345, 2.030, 0.346, RAW= 313.6, -18.7, CAL= 317.0, -26.9, ROT= 193.0, 26.9 5PDAT read: Bearing 193.0, 26.9 (Local) =~Local bearing/azimuth received: Bearing 193.0, 26.9 (Local) MDAT read: Range 10 to 50 : 327.3 m (Round-trip 436.5 ms) speed -0.4 m/s ,DAT read: user:1096> BDAT read: Tx time:20:04:15.9777 $Ping request sent.f%@f f @)fvaIfDW@ifva>ddft0/?q̿EGԿ)f9If4>ifx_?f{A?dd:publishing transmit ping timeFpublishing direction and range infod9fjR?E?|dyddd5W@Y5g@5U95>y5H˼?`?`3x 0?Vt?gʓ?Q??ɨ5W@5#;58Cd d)dIdiddddd d)dIdidddft0/?q̿EGԿ)dIdiddddy=B=IJ]pJ]pJYJYJ]A:J]^9JYJYIu#Iubr5٢ĸ<zK@xOKh9KKrKyi\M>-~wqplhfb[XURMHFC?;748655652  5=9 ׸Q > G٣y&һ > %Nusing accuracyPremultiplier from config!-49%؜?-4Y%΀- i%ҨB155@%ǍD%7:%:%349 =E A9kfC?kf+; kd kf)A:kfCBkfCZkf@"fI I: IIEBI&I.I6I4<:Ix FmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:20:04:15.9769 *F}?2Fy:FyBFyJFy IG *;GQ B O >,0w,DA}1F@Y}U@}ኡ9}=y}H>??`< b?@fw?`1??1?ɨ}1F@};}7Cy޵B޵I) EWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5d;O??{Gzt?y54?5<5ף;5A 5@)5AI11y5(AIIJ5٢&\; /=9eQ > G٣7Gy_ > Nusing accuracyPremultiplier from config%49ܜ?%4Y!- iרB%4?-:--@эDr;;;4a e> AaZjFNOT Ignoring new targets: 327.30 m.Bj\&;Jj\&; ProNav: ac range: 327.299988 m, nav range: 234.476776 m, bearing: 333.931888 deg, approach rate: -0.407398 m/s, LOS rate: 0.145445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168438 deg. 2j;:j=@HeadingCmd: 4.820048 target range: 327.299988 and range: 327.30 m. j!j!j)jIiQhQhQhQh]MBfYfYfYrfYbfe`T?ɛłB7 I  sɚiIrp.=IiiX4;))*F?2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G s;Ga Bq O >xw,S_A6A)@Y68@6骼96b=y6H }X?~? Vɻ?=?`\??X?s?ɨ6A)@6ˆ;64CyBׁBBIIJIJi5٢R R=9VKuQ V?TX ZG٣XyZ5= Z? bNusing accuracyPremultiplier from config\b49^Gߜ?b4Y^- i^ۨBdfj@^؍D^+;^B.;^@4l n ApB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 327.30 m.Bj;Jj;  ProNav: ac range: 327.299988 m, nav range: 234.357300 m, bearing: 333.974940 deg, approach rate: -0.382047 m/s, LOS rate: 0.137737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104409 deg. 2j;:j4@HeadingCmd: 4.818931 target range: 327.299988 and range: 327.30 m. jjjjihhh!hAfAfIfIrfIbfM@G?ɛƂBjU EI [xɚiIr.=IiKiXHչ))*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.zKE 3OKAKAKEsKE4Wvc^TMHDDIHC<5/++015678@BCDFFDB>9440..+%$# G= $;G! BI Om >H I C I . II ;BI  =&I .I 6I <:I c FBIJIRIZIbIjIˆ4˚w,yA B$?IBmiFWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.224601R@YRN@RhJ9RH=yRH v?t?l﾿?`m?(??@?ɨR@RZĈ;R8CyZہBZIIbIb&Q5٢jޜ< jH=9nQ n>pp rG٣pyr v> zNusing accuracyPremultiplier from configtz49v✜?~4Yv5- ivB]@vDvG B O >J qJ mJ J J D:J &9J J J IZ;a J KZ;a J :a J :a $w,蒐A6@Y6 @6-96=y6H ?@? ۾ ~|??9e? 6k?@?ɨ6@6;4yRBRIeMb@Mb@Mb@aaa a)aYe +?:v? G٣7Gyخ > Nusing accuracyPremultiplier from config49朜?4Y+- iB6?:@D.';%;kO4  AZjFNOT Ignoring new targets: 327.30 m.Bj.;Jj.; ProNav: ac range: 327.299988 m, nav range: 234.026917 m, bearing: 334.095547 deg, approach rate: -0.416610 m/s, LOS rate: 0.152726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161592 deg. 2j;:j <@ HeadingCmd: 4.819929 target range: 327.299988 and range: 327.30 m. jjjjihhhhEBf!f!f)rf)bf-@w?ɛ]ȂB]7? Y]߾IY ] ɚaiaIe)i/=Ieimhim)i)i IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.727403*F?2F:FBF82JFG*G B O E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980267N*w,ЬAV@YVe@V9V=yVH?`s? %`?Ͱ?`!?@??ɨV@V0ڈ;TybBbIIj!Ijq5٢r = rU=9ra/:Q v>tt vG٣tyz: z> Nusing accuracyPremultiplier from config 49F霜? 4YT- iB@DB;;!V4 % A!ZjAMFNOT Ignoring new targets: 327.30 m.BjM&;JjM&;e ProNav: ac range: 327.299988 m, nav range: 233.874649 m, bearing: 334.151417 deg, approach rate: -0.396964 m/s, LOS rate: 0.145748 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142904 deg. 2je ;:jm0:@mHeadingCmd: 4.819603 target range: 327.299988 and range: 327.30 m. jijqJqJu@Ajyjyiyhhhhfffrfbf@ɛɂBp> nپI طɚiId/=Iiliel))zKCNKKKtK  BK:KsA*Fm?2Fi:FiBFm4JFiHI I4 II@BI&I.I6I<:I" F aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232392GԑGG%`wA=ZA uYu`wAyuBGBO>1w,ƐA} @Y}:@}v9}=y}H]?? f` ܺ?ʃ?sЖ?e??ɨ} @}ш;}6CyލBޕIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483167Mb@Mb@Mb@ )Yn? G٣y; > Nusing accuracyPremultiplier from config49{휜?4Y- iBK6?:õ@D3;;L^4   AZj1=FNOT Ignoring new targets: 327.30 m.Bj=p$;Jj=p$;M ProNav: ac range: 327.299988 m, nav range: 233.686615 m, bearing: 334.218585 deg, approach rate: -0.402135 m/s, LOS rate: 0.143764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176853 deg. 2jUS;:jU ?@]HeadingCmd: 4.820195 target range: 327.299988 and range: 327.30 m. jYjYjYjYiYhYhYhahmUBfififqrfqbfu`@ɛuʂBu}0 qu־Iq uɚyiyI}; 0=JrJpJ1JJG:J^9J3JJ_;J_;J}:J~:Ii'i8))*F5?2F9:F9BF=O5JF9GErA GEtA I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735100G} yG ?G ?GA BQ Om >7w,yA2@Y2@2:92;=y2HLG? &?mȺ?`σ? ??^?ɨ2@2x;25CyZBZIIfIfl5٢n< nr=9n۹Q r?pp rG٣r7Gyv䀺 v? zNusing accuracyPremultiplier from configx~49z?4Yz<- izBϵ@zDz9;zf9;z1d4 | AE-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 327.30 m.BjEk$;JjMk$;e ProNav: ac range: 327.299988 m, nav range: 233.551147 m, bearing: 334.267156 deg, approach rate: -0.400686 m/s, LOS rate: 0.143748 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120985 deg. 2jeN;:je7@mHeadingCmd: 4.819221 target range: 327.299988 and range: 327.30 m. jijijijiiqhqhqhqhyfyfyfyrfbfXA@ɛ˂BJ 隭ҾI e5ɚiI0S0=IiEihT))*FE?2FA:FIBFU_0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988270G5*GBO5>zKtLKs9KKuKH I  I G II OBI &I .I 6I <:I R F A IE niw=w,UA2Will construct direction to contact in vehicle frame from tetrahedron phase data.4i4:BDAT read: Rx Time:20:04:18.8214 >TRx dataTimestamp_ set to:1736366659.925894Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.242876r @Yr9@r{9r=yrH|??׿@s?`‚??k?` ?ɨr @r;r6Cy BIIuIu\5٢Q= 9=9v :Q > G٣y :  > Nusing accuracyPremultiplier from config 549 |?U4Y f- i BY]]@ D < #< k4q } AyZjFNOT Ignoring new targets: 327.30 m.Bj ;Jj ;M ProNav: ac range: 327.299988 m, nav range: 233.374268 m, bearing: 334.330641 deg, approach rate: -0.389659 m/s, LOS rate: 0.139961 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165786 deg. 2jM;:jmu=@}HeadingCmd: 4.820002 target range: 327.299988 and range: 327.30 m. jjjjihhhhfffrfbfz @ɛ̂B '  vI  <ɚ iIn0=I5i=Zi]$ )Y)i*F ?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491122J tJ kJ 0J J ;N:J 9J ـ3J J {j;J ~j;J :J :G] ]UGa Ge rAG9 BA Oe >FDw,RAJ[ @YJ@J~9J=yJH`xj?`?@ :?=҂?Dϖ?_?ʾ?ɨJ[ @JbJ;HyRBRI=Mb@Mb@Mb@999 9)9Y=?~jt?Mb?y=,?==99 9)=AI99y=AIIU5٢hO< L=9Q > G٣y7 > Nusing accuracyPremultiplier from config49 ?4Yu- i B-?: @D9O;=N;r4   AZj1=FNOT Ignoring new targets: 327.30 m.Bj=!;Jj=!;U ProNav: ac range: 327.299988 m, nav range: 233.220230 m, bearing: 334.385479 deg, approach rate: -0.396575 m/s, LOS rate: 0.141275 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139808 deg. 2jU;:jU9@]HeadingCmd: 4.819549 target range: 327.299988 and range: 327.30 m. jYjYjYjYiYhahahihmuBfififirfqbfu@, @ Iɛ8 oIeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.743269 ^ɚyiyI}0=Iioi9`7))*FU?2FQ:FQBFQJFQG} pGQ Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: Range 10 to 50 : 329.7 m (Round-trip 439.6 ms) speed -0.4 m/s 5 ,DAT read: user:1097> = BDAT read: Tx time:20:04:19.9277 = $Ping request sent.=  G٣7Gy > Nusing accuracyPremultiplier from config49?4Ym- iB@!D::y4 ~ A  addTargetRange:: Added new target pos. range: 329.700012 m, deltaT: 4.031061 s, deltaX: 2.400024 m, approachRate: 0.595383 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 327.30 m.Bj;Jj;% ProNav: ac range: 327.299988 m, nav range: 233.068375 m, bearing: 334.439685 deg, approach rate: -0.383128 m/s, LOS rate: 0.136850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137911 deg. 2j%ֻ;:j%y9@5HeadingCmd: 4.819516 target range: 327.299988 and range: 329.70 m. j1j1j1j1i9h9h9h9h9fAfAfArfE@3t@bfM`g?zKQJK+9KKvKɛ͂B- I ߾ɚi I (1=I-i-i-15))))*F?2F:FBFn0JFHiImC Im` IImdBIm =&Ii.Ii6Im<:Im F IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:20:04:19.9269 G OPG B O >Qw,GAWill construct direction to contact in vehicle frame from tetrahedron phase data.yB IMb@Mb@Mb@ )YK7?{Gz?~jt?y)?#=<A @)IAyQAII75٢ _<  6=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%?-4Y%/- i%B-*?5:55@%+D%B;%;%4=B =D A=EZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 232.898682 m, bearing: 334.499993 deg, approach rate: -0.364054 m/s, LOS rate: 0.129477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156242 deg. 2j5;:j5<@=HeadingCmd: 4.819836 target range: 327.299988 and range: 329.70 m. j9j9j9j9i9JiJmjJiJiJiJm9JiJiJiJiJm:Jm:h9hhhBfffrfbf@?ɛ΂Bn$ _I _ɚiI:o1=I%i%i!)!))*F2F:FBFJF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G *G ?G ?G B O > Xw,aA66@Y6@6965>y6H:?\?`K5?y?@?7?B?w?ɨ66@6?;67Cy>,B> IIFIFM5٢N= N|=9RQ R ?TT VG٣XyZ Z ? Nusing accuracyPremultiplier from config49{?%4Y- i!B!% %@2Dx;x;41 5 A1UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 327.30 m.Bjmc!;Jjmc!;} ProNav: ac range: 327.299988 m, nav range: 232.772690 m, bearing: 334.545210 deg, approach rate: -0.392936 m/s, LOS rate: 0.141096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110910 deg. 2j;:j5@HeadingCmd: 4.819045 target range: 327.299988 and range: 329.70 m. jjjjihhhhfffrfbf U?ɛ2 I ɚiIB1=I i Iic))*F?2F:FBF\5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GGBO>zK KK 9K K wK     ZHa RHe @AHy I} C I}  II} }BI}  =&Iy .Iy 6I} <:I} V F $?I oi`6^w,s{A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256194-@Y-X@-NǼ9-N>y-H?@ ?@?:F?ņ??|? M?ɨ-@-;-8CyE-BE IMAMAIUIUD5٢mޔ; m>=9mݺQ m>qq uG٣u7Gy}9 }> Nusing accuracyPremultiplier from config49,?4YK- i)B@;D ;6;4  AZjFNOT Ignoring new targets: 327.30 m.BjL;JjL; ProNav: ac range: 327.299988 m, nav range: 232.613998 m, bearing: 334.602266 deg, approach rate: -0.372512 m/s, LOS rate: 0.134024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146470 deg. 2j;:j:@HeadingCmd: 4.819665 target range: 327.299988 and range: 329.70 m. jjjjihhhhfffrfbf ?ɛY]! ae Ia e/EɚaiaIe1=Iidi))PExceeded connect timeout, disconnecting.*FE?2FA:FABFE_5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510268GM ҸGA BY O >JK(3 K(.KK"KJi Jm lJm 1Ji Ji Jm 9Jm 3Ji Ji Ji Jm (:Jm ):ew,xA2@Y2@23Ƽ92B>y2HԹ??@Zj?@ B?Ř?S{?c?ɨ2@23;26Cy3B% IMb@Mb@Mb@ )Y%C?Mb? G٣yJ: > Nusing accuracyPremultiplier from config 49 ? 4Y4- i2B;%?:󯿑@CD;;94  A! 9I9Zj FNOT Ignoring new targets: 327.30 m.Bj  ;Jj ;% ProNav: ac range: 327.299988 m, nav range: 232.454468 m, bearing: 334.655172 deg, approach rate: -0.366409 m/s, LOS rate: 0.121597 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134013 deg. 2j%;:j%8@-HeadingCmd: 4.819448 target range: 327.299988 and range: 329.70 m. j)j)j)j)i1h1h1h1h5Bf9f9f9rf9bfE,?UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759450ɛ}ςB*# 隅I *KɚiII2=Iii"))*F 2F :F BF 4JF G) G1 G1 G B Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011346iHkw,RA6@Y6@6⺼96V(>y6H;??e@? ~ɂ?[?6x?`?ɨ6@6,;68CyR9BR- IIZIZ`5٢b = b_=9bv;Q b>dd jG٣hyj?; n> rNusing accuracyPremultiplier from configpv49r?v4YrN- ir:B|  @rKDr;rq;r4 j AZjFNOT Ignoring new targets: 327.30 m.Bjm;Jjm; ProNav: ac range: 327.299988 m, nav range: 232.313232 m, bearing: 334.701867 deg, approach rate: -0.384324 m/s, LOS rate: 0.127143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115358 deg. 2j;:j@6@ HeadingCmd: 4.819122 target range: 327.299988 and range: 329.70 m. j j j j i hhhhfff!rf!bf%`@ɛIMt% IM:IQ ] ɚYiYI],F2=IeieieS )a)azK5LK5s9K1K5xK5  *F?2F:FBF_0JF 9IEpiHI I IIBI&I.I6I4<:Ix FBIJIRIZIbIjI4]Will construct direction to contact in vehicle frame from tetrahedron phase data.aiaechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263529GԑGBO >  nManaging dock network, ignoring radio surface power off9rw,\VɑAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516616y;B/ I a=}Mb@Mb@Mb@yyy y)yY}RQ?x&?:v?y}"?}7=}T<}A y)}AI}$Ayy}zAIIY5٢< .=9Q > G٣7Gy > Nusing accuracyPremultiplier from config49?4Y- iCB#?:®@UD;K;Ӥ4 Z AEZj  FNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 232.133087 m, bearing: 334.760757 deg, approach rate: -0.406125 m/s, LOS rate: 0.132866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151993 deg. 2j^;:j};@HeadingCmd: 4.819762 target range: 327.299988 and range: 329.70 m. jjjjihhhhBfffrfbfO@ɛqu y}MIy }DɚyiyI}ʁ2=Iini$))*FM?2FI:FIBFIJFI )I1] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767326GU pG) B9 O] > [xw, 㑶AJ (@YJ7@J۬9J O>yJHO??)`j`ǻ?|? ?`+}??ɨJ (@JWLJ;J4CyV@BV5 IIrIrT_5٢z}< zl=9~;Q ~? G٣y< ? Nusing accuracyPremultiplier from config 49 z?%4Y - i IB!%Z%@ \D .'; ; ڪ4) -2 A1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 327.30 m.Bje;Jje;u ProNav: ac range: 327.299988 m, nav range: 232.000214 m, bearing: 334.804021 deg, approach rate: -0.383595 m/s, LOS rate: 0.124971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105052 deg. 2ju;:ju4@}HeadingCmd: 4.818942 target range: 327.299988 and range: 329.70 m. jyjyjjihhhhfffrfbf[@ɛ&) LI ٷɚiI·2=Iii"6:))*F?2F:FBFh0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019495J]qJYJYJYJ]D:JYJYJYae@ae@ae@ae@G*G ?G?GBO>zK LK h9K K yK    qp)H I  I II BI &I .I 6I <:I c F ! I! )! % &C~w,AWill construct direction to contact in vehicle frame from tetrahedron phase data."BDAT read: Rx Time:20:04:22.7746 "TRx dataTimestamp_ set to:1736366663.960159&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275886nGx  -Y1y5B/@Yk?@h9{>yH@??q c?@z?,? Ƃ?˹?ɨ/@Ç;6Cy;B/ II%I%Z5٢5 =7=9Ew:Q E>IQ UG٣Qy] ; ]> Nusing accuracyPremultiplier from config49?4Y. iQB<@eD ;);4 ^ AZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 231.825912 m, bearing: 334.860799 deg, approach rate: -0.383763 m/s, LOS rate: 0.125103 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145647 deg. 2j;:j:@ HeadingCmd: 4.819651 target range: 327.299988 and range: 329.70 m. j j j j i hhhhfffrfbf @ɛIM QUIQ U ܡɚQiQI]W2=I]i]o7iepj:)a)a*F2F:F!BF%n0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526549G% }:G! B) OE >mw,vA6.@Y6>@696>y6HP?d? i` (?Pz?A? ˶?`?ɨ6.@6c;62Cy>AB>6 IFAFAEMb@Mb@Mb@AAA A)AYE)\(?+?{Gzt?yEG!?E=Eף;EA E@)EAIAAyAI]I]Qc5٢m= mX=9uaQ u>yy }G٣}7Gy} > Nusing accuracyPremultiplier from config49 !?4Y*. iVB"?:ë@lD0:;Z8;?4 * A IZjFNOT Ignoring new targets: 327.30 m.Bj ;Jj ;% ProNav: ac range: 327.299988 m, nav range: 231.680145 m, bearing: 334.906545 deg, approach rate: -0.392828 m/s, LOS rate: 0.123360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112513 deg. 2j%R;:j-5@MHeadingCmd: 4.819072 target range: 327.299988 and range: 329.70 m. jIjjjihhhhBfffrfbf t)@5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=DAT read: Range 10 to 50 : 331.9 m (Round-trip 442.6 ms) speed -0.7 m/s E,DAT read: user:1098> -MX#Rx 1: Read range message, but no direction.1y5C1MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.ɛu΂Bu y}I LɚiI|:3=IiiT(:))*Fm?2Fi:FiBFu0JFqG Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:20:04:23.8778  $Ping request sent. @:oW9:\>y:HJ?? ?@]y? *??`̶?ɨ:B/@:;:5CybHBb> IIjIje5٢r@= rS=9vq9Q v>tx zG٣xyz^x9 ~> Nusing accuracyPremultiplier from config 49%? 4Yv . i\B   @tDL::4JJJ%rJ%iJ!J!J%G:J%ڈ9J!J!9 = A9m addTargetRange:: Added new target pos. range: 331.899994 m, deltaT: 3.779633 s, deltaX: 2.199982 m, approachRate: 0.582062 m/s, rangeRepo size: 4 ZjiuFNOT Ignoring new targets: 327.30 m.Bj} ;Jj} ; ProNav: ac range: 327.299988 m, nav range: 231.528381 m, bearing: 334.954272 deg, approach rate: -0.390569 m/s, LOS rate: 0.122908 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118461 deg. 2j;:j6@HeadingCmd: 4.819176 target range: 327.299988 and range: 331.90 m. jjjjihhhhfffrf`ft@bf ?ɛ! dI '9ɚiIs3=IiriLE:))*Fm?2Fi:FiBFm_5JFizK MKKKzK 0?Zm|BK:K $?IqiHI I IIBI&I.I6I4<:Ix F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251461GGsAGsAGiBqO>w,JAe)@Ye"@e.$Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5058929e>yeH??`br)?? ?-?H?ɨe)@eII MG٣IyMt M> ]Nusing accuracyPremultiplier from configQ]49Uh+?e4YUl. iUcBe$?e:ee@U~DU;U;Ui4uB u! AuEZjFNOT Ignoring new targets: 327.30 m.BjZ;JjZ; ProNav: ac range: 327.299988 m, nav range: 231.339615 m, bearing: 335.015015 deg, approach rate: -0.391877 m/s, LOS rate: 0.126204 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157563 deg. 2j9;:jH<@HeadingCmd: 4.819859 target range: 327.299988 and range: 331.90 m. jjjjihhhhfffrfbf?ɛAE6 AE,IA MvbɚIiIIMZ3=IUiUciU)Q)Y*F?2F:FBF`5JF IE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755454G5 ':G1 Ba O >Ĩw,QdA2 @Y2n@2 92,>y2Hf?@i?[@>U?A?@?on? #?ɨ2 @2r;25CyRABR6 I Va=Vp=IZIZ R5٢bC b~=9fSQ f ?dd fG٣j7GyjFN j ? rNusing accuracyPremultiplier from configpv49r1/?v4Yr. irhBtv$v@rDr:r:r 4 # AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 327.30 m.Bj ;Jj ; ProNav: ac range: 327.299988 m, nav range: 231.213333 m, bearing: 335.055835 deg, approach rate: -0.373335 m/s, LOS rate: 0.120746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097715 deg. 2j;:j3@HeadingCmd: 4.818814 target range: 327.299988 and range: 331.90 m. jjjjihhhhfffrfbf  ??ɛ5͂B5* 9=I9 =㨼ɚ9i9I=3=IEiEǚiMB)I)Y*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008308G2 GBO@>J=qJ=jJ=0J9J=D:J=9J=ـ3J9zK UMK 9K K {K }}~|wl`XSOJF?950,'#   I H I  I I I &I .I 6I <:I T F] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259700ڞw,+N~A>@Y>@>L9>,>y>H ,?͎?`@?@҄?5?u??ɨ>@>-ڇ;QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYm49]!4?m4Y]!. i]nBimAm@]D]? ;] ;]l4}B }; A}EZjFNOT Ignoring new targets: 327.30 m.Bj;Jj;E ProNav: ac range: 327.299988 m, nav range: 231.048416 m, bearing: 335.109374 deg, approach rate: -0.408110 m/s, LOS rate: 0.132584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135918 deg. 2jE;:jE09@MHeadingCmd: 4.819481 target range: 327.299988 and range: 331.90 m. jIjIjIjQiQhQhQhQhYfYfYfYrfYbfۘ?ɛh 隅tI 媼ɚiI"4=IiGijn))*Fu?2Fq:FqBFu\0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514596G] b(G] ?G] ?Ga Bi O >w,tA6@Y6@6X96>y6H3??`??@J?~j?6?ɨ6@6Ή;66CyR;BR. I !I!uMb@Mb@Mb@qqq q)qYup= ף?{Gz?{Gz?yu%?uף=u# G٣y7`; > Nusing accuracyPremultiplier from config49&9?4Y(. iuBg&?:V@DNi;h;4 _ AZjFNOT Ignoring new targets: 327.30 m.Bj +;Jj +; ProNav: ac range: 327.299988 m, nav range: 230.884598 m, bearing: 335.161915 deg, approach rate: -0.398160 m/s, LOS rate: 0.127792 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132921 deg. 2jg;:j8@%HeadingCmd: 4.819428 target range: 327.299988 and range: 331.90 m. j!j!j!j!i)h)h)h)h5Bf1f1f9rf9bf= ?ɛm̂Bm* iuIq uɚqiqIu^4=I}i}i}Q))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763915*F?2F:FBF`0JFG-V'SG B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015603"櫤w,h豒A^ @Y^,@^b9^>y^H`? ?o gw?@\ʀ?@t?@O? 9?ɨ^ @^ֺ;^8Cyf?Bf3 IlnAIrIre5٢z< zU=JEpJEhJAJAJEA:JEȆ9JAJA9z ;Q U>QQ UG٣]7Gy]I; ]> eNusing accuracyPremultiplier from configam49e=?m4Ye4/. ie|Bquu@eDe:e ;e4y }? AZjFNOT Ignoring new targets: 327.30 m.Bj$;Jj$; ProNav: ac range: 327.299988 m, nav range: 230.727798 m, bearing: 335.212148 deg, approach rate: -0.398548 m/s, LOS rate: 0.127766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125986 deg. 2j^;:j7@HeadingCmd: 4.819308 target range: 327.299988 and range: 331.90 m. jjjjihhhhfffrfbf@ɛ%& !%ڌI) -ygɚ)i)I-4=I5i5i5U)9)9*F?2F:FBFa0JFzK /NKKK|K IriHU>IQ IQIQIQ&IQ.IQ6IU <:IUZ FWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267669GpGBO>̲w,˒A- @Y-)@-h9-.#>y-H`Wߺ?@?`dm k_?;??08??ɨ- @-;-5Cyu;BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522737u/ IIIhj5٢5t =8=9ESVQ M>IQ G٣y,Z > Nusing accuracyPremultiplier from config49C?4Y6. iB)@D;d;n4B S AEZj)-FNOT Ignoring new targets: 327.30 m.Bj5!;Jj5!;E ProNav: ac range: 327.299988 m, nav range: 230.548141 m, bearing: 335.269900 deg, approach rate: -0.397114 m/s, LOS rate: 0.127755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148578 deg. 2jEZ;:jE;@MHeadingCmd: 4.819702 target range: 327.299988 and range: 331.90 m. jIjIjIjQiQhQhQhQhYfYfYfYrfYbfe@ɛ˂B# 隝fI yɚiI$4=Iii4 ))*Fe?2Fa:FaBFen0JFa I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771592G b\G rAG Ga Bi O >]w,t咶A:@Y:i/@:Ȳ9:i>y:H ??u +උ?(?X?@? ?ɨ:@:ɇ;:8CyF6BF) IMb@Mb@Mb@ )Y#~j?Zd;?II MG٣IyU?; U> eNusing accuracyPremultiplier from configYm49]UG?m4Y]<. i]Bm&?m:mͯu@]D]6;]);]4y }} AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 327.30 m.BjF;JjF;m ProNav: ac range: 327.299988 m, nav range: 230.412796 m, bearing: 335.316187 deg, approach rate: -0.381383 m/s, LOS rate: 0.130507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114130 deg. 2jm!;:jm6@HeadingCmd: 4.819101 target range: 327.299988 and range: 331.90 m. jjjjihhhhBfffrfbf @ɛUʂBU>, QUƓIQ ] TɚYiYI]#5=Ieietieˇ-)a)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025064*F%?2F!:F)BF-0JF)GM ݻ I G! HU >IQ  IU IIU BIQ &IQ .IQ 6IU d<:IU FBI JI RI ZI bI jI )4zK ]JK 9K K }K B9 O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:20:04:26.7286 q"w,zATRx dataTimestamp_ set to:1736366667.995808checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283736N!@YN0@N\9N>yNH0? i?{ `?@? &k?`F?@?ɨN!@N ;LyV8BV+ I Z=Z=IbIb]5٢f4< jR=9j?Q j>y G٣y9 > Nusing accuracyPremultiplier from config49K?4YC. iBɯ@D;);4 k AZjFNOT Ignoring new targets: 327.30 m.Bj%;Jj%;] ProNav: ac range: 327.299988 m, nav range: 230.255814 m, bearing: 335.369990 deg, approach rate: -0.379736 m/s, LOS rate: 0.130236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136705 deg. 2j]²;:jeM9@eHeadingCmd: 4.819495 target range: 327.299988 and range: 331.90 m. jajijijiiihihhhfffrfbf @ɛɂB+ I c(ɚiIce5=Ii[Fi=#)!)Q*F%?2F!:F!BF%2JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530780G 'HGi J} sJ} iJy Jy J} K:J} ڈ9Jy Jy J} e;a J} e;a J} h:a J} j:a B O > Ƥw,rPA6!@Y61@696>y6H?@ڊ??? ٢?`x?@?ɨ6!@62b;65C B$?I@yb;Bb/ IMb@Mb@Mb@ )YNbX9?Q?{Gz?y%?u=#< A )AI$AyAIIhj5٢??< <=9,Q > G٣7Gy9 > Nusing accuracyPremultiplier from config49&P?4YJ. iB\&?:@DU;;4B ^ AEZj%FNOT Ignoring new targets: 327.30 m.Bj-!;Jj-!;E ProNav: ac range: 327.299988 m, nav range: 230.098846 m, bearing: 335.424109 deg, approach rate: -0.382965 m/s, LOS rate: 0.132129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137655 deg. 2jE[;:jEp9@MHeadingCmd: 4.819511 target range: 327.299988 and range: 331.90 m. jIjIjIjIiQhQhQhYh]BfYfYfarfabfeW @ɛȂB* 隕I 0ɚiIť5=IiiA))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 334.9 m (Round-trip 446.6 ms) speed -0.5 m/s ,DAT read: user:1099>  BDAT read: Tx time:20:04:27.8278 $Ping request sent.G ?G'?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:04:27.8270 4̤w,s/3A2!$@Y23@2O929_>y2H`/?*? ?I??Ϟ? ?ɨ2!$@2 ;0yR:BV- II^I^7`5٢b㫻 f\=9f9Q f>hh jG٣hyjE`: n> rNusing accuracyPremultiplier from configpv49rT?v4YrP. irBxz򯿑z@rȎDr.:r:r4B ` AE= addTargetRange:: Added new target pos. range: 334.899994 m, deltaT: 4.031816 s, deltaX: 3.000000 m, approachRate: 0.744082 m/s, rangeRepo size: 4 Zj9=FNOT Ignoring new targets: 327.30 m.BjE;JjE;U ProNav: ac range: 327.299988 m, nav range: 229.957321 m, bearing: 335.472997 deg, approach rate: -0.378837 m/s, LOS rate: 0.130945 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121941 deg. 2j];:j]17@eHeadingCmd: 4.819237 target range: 327.299988 and range: 334.90 m. jajajajaiahahihihififqfqrfu`ft@bf}`?ɛǂBzl- 隭I _ɚiI5=Ii4iA&))*FM?2FI:FIBFU_0JFQ IHI III&I.I6I<:I] FzK]gKK]9KYK]~K]GvA-A UYUvAy]BWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAGGBO>JӤw,MAmWill construct direction to contact in vehicle frame from tetrahedron phase data.@YO)@ν9=yH@ܺ?`p?f]?`c?O?P(?z?ɨ@`;騥6Cy7B) IAJ9J=kJ=1J9J9J=9J=3J9J9J9J=:J=:Mb@Mb@Mb@ )Y%C??~jt?yZ$?L=D<zA @)lAIAyI5I5:\5٢E\9 M=9MQ M>QQ UG٣U7GyU U> eNusing accuracyPremultiplier from configam49e{Y?m4YeY. ieBm$?m:mu@eӎDe7;e6;e*4 y AZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 229.754868 m, bearing: 335.545543 deg, approach rate: -0.367591 m/s, LOS rate: 0.131836 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193015 deg. 2j;:jZA@HeadingCmd: 4.820477 target range: 327.299988 and range: 334.90 m. jjjjihhhhBfffrfbf?ɛƂB8:! I ; ɚiI%$06=I%i%?i-p)))) aIesi*F?2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G !G B O >٤w,@hA6@Y6=$@6)96=y6H@m?? T%@ s9???h??ɨ6@6ݡ;64Cy>:B>- II~I~JH5٢< =9%܂Q %?)) -G٣)y5 5? ENusing accuracyPremultiplier from configA]49EJ\?]4YE^. iEBaee@EَDE$;E5;E<4y }c AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 229.648590 m, bearing: 335.583786 deg, approach rate: -0.358912 m/s, LOS rate: 0.129210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.089968 deg. 2jY;:j2@HeadingCmd: 4.818679 target range: 327.299988 and range: 334.90 m. jjjjihhhhfffrfbf@{5?ɛłB2K8 !%슾Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I pɚiIte6=IEi]3i]~t)Y)a*F?2F:FBF_0JF IH] >I] C IY IY IY &IY .IY 6I] 1<:I] u FG Z#zK5 JK5 +9K1 K5 K5 G B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508793{w,AJX@YJ @Jx9Jf=yJH? C?@@a ?`a?? 8?p?ɨJX@J;J6CyV;BV/ II^I^C5٢f< fP=9jȸQ j>hh nG٣lyn r> vNusing accuracyPremultiplier from configpv49r`?z4YrTe. irBxz z@rDr:rC:r4 T AZjFNOT Ignoring new targets: 327.30 m.BjH;JjH; ProNav: ac range: 327.299988 m, nav range: 229.505569 m, bearing: 335.635415 deg, approach rate: -0.361315 m/s, LOS rate: 0.130512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130170 deg. 2j#;:j^8@HeadingCmd: 4.819381 target range: 327.299988 and range: 334.90 m. jjjjihhhhfffrfbf@,?ɛMÂBu,) qu‡Iq u6ɚyiyI}6=I}iܾio))*F-?2F1:F1BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764296G=pG) B9 O] >J J lJ 0J J J 9J ـ3J J J J (:J ): I "w,ߛAy7B* I -=-=Mb@Mb@Mb@ )Y%C?~jt?Mb?y<< C@)AIAy AIIkf5٢ 9=9Q > G٣y   > Nusing accuracyPremultiplier from config497c?4Yl. iBo$?%:%(%@DN;;#4) -v A)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013022ZjYeFNOT Ignoring new targets: 327.30 m.BjmR;JjmR; ProNav: ac range: 327.299988 m, nav range: 229.355713 m, bearing: 335.695539 deg, approach rate: -0.346950 m/s, LOS rate: 0.139290 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155675 deg. 2j/;:j<@HeadingCmd: 4.819826 target range: 327.299988 and range: 334.90 m. jjjjihhhhBfffrfbf`<@ɛ‚B7+ xI *ɚiI6=IiIi}))*FM?2FQ:FQBFUo0JFQGb(G?G>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264815w,4A6@@Y6%@6D96U=y6H?`u? ! E?`S? H? tӿ?@P?ɨ6@@6 ;63CybFBb< IInInb5٢v= v]=9vp;Q v>xx zG٣z7Gy~: ~> Nusing accuracyPremultiplier from config 49e? 4Yr. iB@D:e:?*4B  AEZjAEFNOT Ignoring new targets: 327.30 m.BjM;JjM;m ProNav: ac range: 327.299988 m, nav range: 229.230453 m, bearing: 335.745872 deg, approach rate: -0.340901 m/s, LOS rate: 0.137061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126270 deg. 2jm ;:jm7@uHeadingCmd: 4.819313 target range: 327.299988 and range: 334.90 m. jqjqjqjqiqhyhyhyhfffrfbfh-@ɛB' 隵duI ɚiI7=IihiҺ)) 9I9HI I IIBI =&I.I6I@<:I F*F=?2F9:F9BF=K1JF9zK JK 9K K K  EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516855G5<GBO5>Mw,=ϓAVWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771905M@YM:'@MR9M>yMHS̺?@ێ?mQ? #?)?6?`?ɨM@M;M5Cyޝ;Bޝ/ I-Mb@Mb@Mb@))) )))Y-'1Z?Q?Mb`?y-"?-<-;- A -@)-AI))y-AIUIU7`5٢e. e(=9e\y9Q m>JuqJqJu1JqJuD:JqJu3JqJuIZ;JuKZ;JqJq G٣y"9 > Nusing accuracyPremultiplier from config49i?4Y{. iB"?:@DV;QU;24 P AZjFNOT Ignoring new targets: 327.30 m.Bj;Jj;- ProNav: ac range: 327.299988 m, nav range: 229.060303 m, bearing: 335.811661 deg, approach rate: -0.344792 m/s, LOS rate: 0.133413 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172700 deg. 2j-;:j5r>@5HeadingCmd: 4.820123 target range: 327.299988 and range: 334.90 m. j1j9j9j9iAhIhIhIhMBfQfQfQrfQbfU%@ɛBO# 隍QI ¼ɚiIc7=IiiչȺ)) )I5ti*F?2F:FBF0JF UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021565G ˴G B O >w,5z银AVG#@YV2@Vߴ9V >yVH(??k``?`?`j?6?`?ɨVG#@V;V4CyfABf5 IIvIvi5٢) =  z=9:Q ? G٣y;  ? -Nusing accuracyPremultiplier from config!-49%sl?54Y%h. 5tIi%ĩB1==@%D%$;%$;%t84A E# AAeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 327.30 m.Bj};Jj}; ProNav: ac range: 327.299988 m, nav range: 228.949402 m, bearing: 335.854526 deg, approach rate: -0.345598 m/s, LOS rate: 0.133642 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103842 deg. 2jo;:j4@HeadingCmd: 4.818921 target range: 327.299988 and range: 334.90 m. jjjjihhhhfffrfbf`% @ɛBQ0 xI üɚiIp7=IixiiH))EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273895*F%?2F):F)BF-E5JF)"G5=G5= $?IGMïGUsAGUtAHIC I IIBI =&I.I6I<:IF FG! B1 OU >zK RKK K K K ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] AiY e BDAT read: Rx Time:20:04:30.6810 e TRx dataTimestamp_ set to:1736366672.020872m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526095w,{JArt#@Yr3@rQO9r>yrH-*? 5?y̫?HR?nɖ?C??ɨrt#@rP;r7Cyޝ6Bޝ) IIIn5٢@ ==9չQ > G٣7GyFQ8 > %Nusing accuracyPremultiplier from configU49o?U4Y. iɩBY]]@ D;Z; @4a ev AaZjFNOT Ignoring new targets: 327.30 m.Bj ;Jj ; ProNav: ac range: 327.299988 m, nav range: 228.799240 m, bearing: 335.912702 deg, approach rate: -0.338551 m/s, LOS rate: 0.131249 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149830 deg. 2j&;:j-;@%HeadingCmd: 4.819724 target range: 327.299988 and range: 334.90 m. j!j!j!j!i!h!h)h)hQfQfQfYrfYbf]@Y @ɛB % I ƼɚiI7=IiN0it˹))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777730*Fa2Fa:FiBFm`5JFq I IQ G zQGq B O >w,A6*@Y6:@6a96>y6Hf?? ? H?ċ?,r?@?ɨ6*@6;66CyBCBB8 IMb@Mb@Mb@ )Y%C?:v?Mb`?yZ$?<d A @)AI$AyI I1h5٢%w= H=98:Q > G٣y; >Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 336.8 m (Round-trip 449.1 ms) speed -0.3 m/s ,DAT read: user:1100> BDAT read: Tx time:20:04:31.7778 $Ping request sent.@DE;D;6G4%B % A%EU addTargetRange:: Added new target pos. range: 336.799988 m, deltaT: 4.032164 s, deltaX: 1.899994 m, approachRate: 0.471209 m/s, rangeRepo size: 4 ZjQUFNOT Ignoring new targets: 327.30 m.Bj];Jj];u ProNav: ac range: 327.299988 m, nav range: 228.657867 m, bearing: 335.968326 deg, approach rate: -0.352635 m/s, LOS rate: 0.138833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142162 deg. 2ju;:ju:@}HeadingCmd: 4.819590 target range: 327.299988 and range: 336.80 m. jyjyjyjyiyhyhhhBfffrf u@bfE?ɛB+ lI MǼɚiI 8=I i ni HQ9) )*F2F:FBFf2JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:04:31.7770 G G B O >; w,7AJrJJJJG:JJJa@a@a@a@Z+.@YZ=@Zn9Z>yZH@l? i?``:?)?_?`yv?@?ɨZ+.@ZΊ;Z4Cyb=Bb1 I jp=jp=hhInIn~N5٢v vY=9zQ z>xx ~G٣yÆ: >  Nusing accuracyPremultiplier from config 49 3v?4Y . i ѩB1%@ D 8; 8; M4-B -D A-EZjQUFNOT Ignoring new targets: 327.30 m.Bj];Jj];m ProNav: ac range: 327.299988 m, nav range: 228.529922 m, bearing: 336.018758 deg, approach rate: -0.345032 m/s, LOS rate: 0.136077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126567 deg. 2jmƺ;:ju7@uHeadingCmd: 4.819318 target range: 327.299988 and range: 336.80 m. jqjyjjihhhhfffrfbf;? IuiɛB=+ uI @ȼɚiI^8=Iiǝi;:))H]>IY I] II]BIY&IY.IY6I]<:I]A FBI)JI)RI)ZI)bI)jI-"4*Fe?2Fa:FaBFm_0JFizKJK9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>/$w,^QA:Will construct direction to contact in vehicle frame from tetrahedron phase data.D@Y@ļ9kK>yH`T?b?x`}0? ?Y?YY ]G٣]7Gy] e> ubBottom track data is 0.5 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}49m0z?}4YmM. im֩B}+::@m&D Im*;m?mT4 * AZj FNOT Ignoring new targets: 327.30 m.Bj W;JjW; ProNav: ac range: 327.299988 m, nav range: 228.353912 m, bearing: 336.088921 deg, approach rate: -0.338235 m/s, LOS rate: 0.134935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185837 deg. 2j%5;:j%S@@-HeadingCmd: 4.820352 target range: 327.299988 and range: 336.80 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bf=d?ɛmBmh quiIq uʼɚyiyI}8=Ii<iP2))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G} 7:GY Bi O >ow,kA2@Y2!@2ż92>y2H`?ю? 0\1?浅?X?@NE? #?ɨ2@2 @;22Cy<>5 IIFIFdK5٢N.; N=9R͹Q R?PT VG٣TyVt: V? ^bBottom track data is 0.8 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb49Zq|?b4YZ+. iZ٩Bf :dfX:ff@Z,DZK;ZN?ZQX4h n' AluB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 228.254578 m, bearing: 336.128594 deg, approach rate: -0.327373 m/s, LOS rate: 0.130805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094257 deg. 2j;:j;3@HeadingCmd: 4.818754 target range: 327.299988 and range: 336.80 m. jjjjihhhhfffrf bf @ޝ?ɛuBuc. queIy }˼ɚyiyI}8=IiiB))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.*Fm?2Fi:FiBFmj0JFiGEpGB O%M>J;3K;3 K;/.K3K3"K3J1J1J50J1J1J1J5ـ3J1 9I9HIC III =&I.I6I!<:Ii F)9 9`wAZA - Y- `wAy5 BzK KK h9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514064V!w,A>;@Y>@>oȼ9>ae>y>H`?3?`@hF? WD?I?@_?7?ɨ>;@>AS;>4CyIB@ I)-AI5I5#U5٢e#= m>=9mCQ m>iq uG٣qyu|I }> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}?4Y}]. i}ީB9/:@}5D}%);}?}N\4  AZjFNOT Ignoring new targets: 327.30 m.Bj/#;Jj/#; ProNav: ac range: 327.299988 m, nav range: 228.108093 m, bearing: 336.187293 deg, approach rate: -0.355798 m/s, LOS rate: 0.142666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151395 deg. 2j;:jg;@HeadingCmd: 4.819751 target range: 327.299988 and range: 336.80 m. jjjjihhhhf f frfbf ?ɛMBM IMRPIQ U4ͼɚQiQIUi9=I]i],i]$)a)aEi*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767575G5b(G B O= > ) I) 'w,GsA6k'@Y66@6x)96ce>y6HI?@‹??!һ?,?@?`?@|?ɨ6k'@6g!;4yBDBB9 I M M MM MM  M M MMb@Mb@Mb@III I)IYMx&?Mb?~jth?yM7)?Myy G٣7Gyn; > Nusing accuracyPremultiplier from config49o?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0167994Y`. iBT::)?:@=DY;;dc4B  AEZjFNOT Ignoring new targets: 327.30 m.Bj";Jj"; ProNav: ac range: 327.299988 m, nav range: 227.971863 m, bearing: 336.245262 deg, approach rate: -0.334292 m/s, LOS rate: 0.142335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149199 deg. 2j];:j;@ HeadingCmd: 4.819713 target range: 327.299988 and range: 336.80 m. j j j j ihhhhBfff!rf!bf%@K@ɛUBU# Y]VIY ]:μɚYiYI]:9=IeieAtim9)i)i*F?2F:FBF;1JFGU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268988G B O >J9 J= kJ= 1J9 J9 J= 9J= 3J9 -w,OAF,@YFr<@F2W9F>yFH u? ?@ @J?;?`j?'G?S?ɨF,@Fm;DyRIBR@ IIZIZkf5 `Ibvi٢j< jU=9j:Q n>lp rG٣pyr: r> zNusing accuracyPremultiplier from configtz49v?z4Yv. ivB׹@vEDv4;vJ4;vj4   A Zj9=FNOT Ignoring new targets: 327.30 m.BjEp$;JjEp$;U ProNav: ac range: 327.299988 m, nav range: 227.843018 m, bearing: 336.300164 deg, approach rate: -0.337196 m/s, LOS rate: 0.143762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139985 deg. 2jUS;:j]9@]HeadingCmd: 4.819552 target range: 327.299988 and range: 336.80 m. jajajajaiahahahihifififqrfqbfuX@ɛBa! 隭dHI 'ϼɚiIn9=H>IC I IIBI =&I.I6Ie<:I FIi8"iW%:))*FI2FI:FIBFMR5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520777zKJK9KKKBK:KrAGuzQGI BY Ou >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7737294w,uWӔA~O3@Y~B@~Ya9~"E>y~H3??@_,? f?+?\? ?ɨ~O3@~R;|yYB T I ==eMb@Mb@Mb@aaa a)aYe?~jt?~jtx?ye,?e G٣yq: > Nusing accuracyPremultiplier from config49?4Yɿ. iB,?:ն@PD#;M;r4 V AZj FNOT Ignoring new targets: 327.30 m.Bja%;Jja%;% ProNav: ac range: 327.299988 m, nav range: 227.665512 m, bearing: 336.372116 deg, approach rate: -0.356416 m/s, LOS rate: 0.144585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191209 deg. 2j%t;:j%A@-HeadingCmd: 4.820446 target range: 327.299988 and range: 336.80 m. j)j)j)j)i1h1h1h9h=Bf9f9f9rfAbfE?V@ɛ%B%< )-!I) -`+Ѽɚ1i1I59=IUiUiUQ:)Q)YEaEa*FA2FA:FABFE4JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024786Ge :GA BI Om >:w,[픶A65@Y6D@6F96>y6H A?`?؊ ;?(?OH?SR?@?ɨ65@6ڬ;66Cy>VB>P IIJIJ^5٢R^ R=9RQ R?TT VG٣V7GyZ7: Z? bNusing accuracyPremultiplier from config`f49b~?f4Yb9. ibBdfζj@bWDb9izK JK 9K K K "j?\DW{eN=1+#  Aw, A:6@Y:JF@:к9:e>y:HQû?? H?!?@Y?`?@?ɨ:6@:~;:4CyB`BB\ IIJIJb5٢r:= rG=9v'Q z>| G٣y U9  > Nusing accuracyPremultiplier from config49֎?%4Y}. iB!%Ƕ%@`D6;7;l41 =% A9ZjquFNOT Ignoring new targets: 327.30 m.Bj}+;Jj}+; ProNav: ac range: 327.299988 m, nav range: 227.409164 m, bearing: 336.476410 deg, approach rate: -0.368843 m/s, LOS rate: 0.150301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154353 deg. 2jL;:j;@HeadingCmd: 4.819803 target range: 327.299988 and range: 336.80 m. jjjjihhhhfffrfbf! @ɛUB]- Y]bIY ]ҼɚaiaIe9=Ieimzim:)i)*FM?2FI:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 338.5 m (Round-trip 451.4 ms) speed -0.4 m/s %,DAT read: user:1101> -%X#Rx 1: Read range message, but no direction.y@C-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode. q Iq Gu :GA BQ Ou > Gw, !AFj3@YFB@FF9Fb>yFH?@ ?Z2? ?`P?`??ɨFj3@F_;F5CyN]BNY IVAVA=Mb@Mb@Mb@999 9)9Y=K7?+?y&1?y=)?===`e<=d A 9)9I=$A9y= AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Tx time:20:04:35.7279 ]$Ping request sent.eaa eG٣aym3k > Nusing accuracyPremultiplier from config49?4YU. iB*?:@iD;;^4 9 AEu addTargetRange:: Added new target pos. range: 338.500000 m, deltaT: 3.784125 s, deltaX: 1.700012 m, approachRate: 0.449248 m/s, rangeRepo size: 4 Zjq}FNOT Ignoring new targets: 327.30 m.Bj};Jj; ProNav: ac range: 327.299988 m, nav range: 227.245331 m, bearing: 336.540282 deg, approach rate: -0.348982 m/s, LOS rate: 0.136153 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166941 deg. 2j;:j=@HeadingCmd: 4.820023 target range: 327.299988 and range: 338.50 m. jjjjihhh h Bfffrf(u@bf%?ɛB I ԼɚiIX):=IiBi p:) ) *F?2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251547G g:G G G B O > U $?I] wiNw,]:A.@Y>@K9)s>yH $?`׉?`L?@? ?l?T?ɨ.@\̇;6Cy%dB%a IH1I1 I5 II5BI1&I1.I16I5<:I5J FIUIU=5٢m$= mZ=9uՀQ u>qq }G٣}7Gy}Ϻ }> Nusing accuracyPremultiplier from config49Y?4Y. iB(@qDQ;:׍4  AZjFNOT Ignoring new targets: 327.30 m.Bj);Jj); ProNav: ac range: 327.299988 m, nav range: 227.112305 m, bearing: 336.592361 deg, approach rate: -0.378945 m/s, LOS rate: 0.148443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131516 deg. 2j;:j8@HeadingCmd: 4.819404 target range: 327.299988 and range: 338.50 m. jjjjihhhhfffrfbf`ka?ɛB '+ I ԼɚiIK:=Ii;i%]-:)!)!eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505099*F?2F:FBF`0JFzK5NK1K1K5K5 BK=sA:K=sAGG:G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755832Tw,TAE@YE@E˼9E=yEH}?@|?Vk`K`t?x?fv?l?R?ɨE@E_;E4CyލnBޕm IJsJmJJJK:J&9JJJe;aJe;aJ:aJ:a IeMb@Mb@Mb@aaa a)aYe rh?V-? G٣yQ > %Nusing accuracyPremultiplier from config%49M?-4Y. i B-+?-:-'-@{D;<U;41 =A9ZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 226.935028 m, bearing: 336.658499 deg, approach rate: -0.359515 m/s, LOS rate: 0.134231 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173754 deg. 2j>;:j>@HeadingCmd: 4.820141 target range: 327.299988 and range: 338.50 m. jjjjihhhhBfffrfbfN?ɛB- 隕̽I 5ʆռɚ9i9I=j:=IEiEiE0)A)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008338*F ?2F :F BF _0JF GM }:G) B1 OM >՚[w,pAJ@YJi@JTyӼ9J=yJH>?@?@)pٺ?? jn?`?]?ɨJ@J;J3CyVxBVy I ^=^=IbIbB5٢na= nk=9n32Q n?pp rG٣pyv0_ v? zNusing accuracyPremultiplier from configx~49z힝?~4Yz. izB|Q@zDz:zz:z+4  dA %B*** querying acoustic contact ***j!j!Zj9EFNOT Ignoring new targets: 327.30 m.BjEU*;JjEU*;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259304 ProNav: ac range: 327.299988 m, nav range: 226.804718 m, bearing: 336.707391 deg, approach rate: -0.396671 m/s, LOS rate: 0.148916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121947 deg. 2jf;:j17@HeadingCmd: 4.819237 target range: 327.299988 and range: 338.50 m. jjjjihh!h!h!f!f)fIrfQbfU@nq?ɛB>P 隝 I ռɚiI^|:=Ii`"i/_))*F?2F:FBF0JF IG]BͺGB!H9I9 I= II=ɂBI= =&I9.I96I=<:I=_ FBIŬCJIŬCRIZIbIjI/4O}Y> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512447zK vKK ]9K K K }y mL2RK >JK ?Ybw,Af@Yf!@fk1ʼ9f=yfH? ֓?3ʿ32? %ׇ?@E?CL?`?ɨf@f.;f4CynuBrv IIzIzX[5٢J G=9S5;Q >    G٣  7Gy]l; > Nusing accuracyPremultiplier from config%49:?%4Y. iB!-$-@D::T41 =rA=EZjYeFNOT Ignoring new targets: 327.30 m.BjeH!;JjeH!;u ProNav: ac range: 327.299988 m, nav range: 226.651199 m, bearing: 336.764966 deg, approach rate: -0.375719 m/s, LOS rate: 0.141003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148027 deg. 2j};:j}:@HeadingCmd: 4.819692 target range: 327.299988 and range: 338.50 m. jjjjihhhhfffrfbf?ɛB ȤI vּɚiI:=Ii$i{))*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763678 IJ qJ iJ J J D:J ڈ9J J J IZ;J KZ;J h:J i:GeOPGmrAGmrAG B1 OU >hw,2UA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015472B#@YB2@B39B)=yBH&??@(?@ڛ?@%?Kڿ?@ ?ɨB#@Bdɋ;B2CyHJu IMb@Mb@Mb@ )YS㥛?(\µ?{Gz?y$&?=ף<d A @)AIyIIM5٢S3 >=9x';Q > G٣y; > Nusing accuracyPremultiplier from config49?4YA. i(B'?:`@D*^;];Ԫ4  wAZjAMFNOT Ignoring new targets: 327.30 m.BjM;JjU;e ProNav: ac range: 327.299988 m, nav range: 226.484406 m, bearing: 336.821982 deg, approach rate: -0.385697 m/s, LOS rate: 0.131942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146361 deg. 2je;:jm:@HeadingCmd: 4.819663 target range: 327.299988 and range: 338.50 m. jjjjihhh!h%BfIfQfQrfQbf]@@ɛBb~ ĠI f׼ɚiI:=Ii#i))EErA*F?2F:FBFJF"G=Gp=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267362G% i" I xiG) B9 OU >HE >IE C IE IIE ؂BIE  =&IA .IA 6IE <:IE ] F4nw,<.A08D Z YXyZeBy޽{B޽~ I) IIW5٢x= I=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 ҭ?%4Y . i 1B!!-@ D ; ; 41 5AA1ZjYeFNOT Ignoring new targets: 327.30 m.Bjm;Jjm;} ProNav: ac range: 327.299988 m, nav range: 226.326126 m, bearing: 336.876234 deg, approach rate: -0.389267 m/s, LOS rate: 0.133518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138055 deg. 2jC;:j~9@HeadingCmd: 4.819518 target range: 327.299988 and range: 338.50 m. jjjjihhhhfffrfbf@ɛBԦ I &q׼ɚiI:=Ii`iƹ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532508*F?2F:FBFR0JFzKx3OK9KKKu`jU>{yvog^\XUOFEB>=:8530,,+,*&&%""!! GɳG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783379Buw,ؕA IJJBAJtJmJJJ;N:J&9JJJ{j;J~j;J:J:y|BMb@Mb@Mb@ )Y#~j?K?I +?y%?^=9< A )IAyAIIU5٢v`: 0=9Q > G٣!7Gy > Nusing accuracyPremultiplier from config49鳝?4Y/ i=B'?:=@D;[;4B GAEZjFNOT Ignoring new targets: 327.30 m.Bj;Jj;- ProNav: ac range: 327.299988 m, nav range: 226.144287 m, bearing: 336.937587 deg, approach rate: -0.393780 m/s, LOS rate: 0.132971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159396 deg. 2j-;:j5<@5HeadingCmd: 4.819890 target range: 327.299988 and range: 338.50 m. j1j9j9j9iAhAhAhIhMBfIfIfQrfQbfU @ɛ]B] aesIa ek׼ɚaiaIe=:=Imimriq)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036628*F-?2F1:F1BF54JF1Gu 9GI BY O} >e{w,IA2<@Y2%L@292z>y2H ?a?ȹ@ bt?j?? q??ɨ2<@2);26Cy>{B@IJIJr^5٢R R=9RHv;Q R?TT VG٣TyZK&< Z? ^Nusing accuracyPremultiplier from config\b49^?b4Y^ / i^DB`fߩf@^D^~ ;^X;^o4h jIAhuB*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 327.30 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:04:38.5875 TRx dataTimestamp_ set to:1736366679.850027checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289876M ProNav: ac range: 327.299988 m, nav range: 226.023514 m, bearing: 336.978201 deg, approach rate: -0.371730 m/s, LOS rate: 0.125072 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097092 deg. 2jM;:jM3@UHeadingCmd: 4.818803 target range: 327.299988 and range: 338.50 m. jQjQjQjQiYhYhYhYhfffrfbfo @ɛB]< YemIa e;ؼɚaiaIe:=Imimimԭ,;)q) e$?Ia*F?2F:FBF_0JFG%sA G%sAH>IC I II݂BI =&I.I6I'<:Il FG= F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540169G B! OE >zK OK s9K K K  (-,(&%&&$#   /532/,*'ۂw, AF{>@YF N@F]9FƔ>yFH??S@`/? ~?Oޖ?@?@F?ɨF{>@F߮;Dyb~Bb IIjIj7`5٢r[< rG=9v?g9Q v>| G٣y : > Nusing accuracyPremultiplier from config%49z?%4Y/ iNB!%ܩ-@D;;45B 5,A5EZjQ]FNOT Ignoring new targets: 327.30 m.Bje4;Jje4;u ProNav: ac range: 327.299988 m, nav range: 225.861221 m, bearing: 337.032891 deg, approach rate: -0.410150 m/s, LOS rate: 0.138313 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139374 deg. 2juؽ;:ju9@}HeadingCmd: 4.819541 target range: 327.299988 and range: 338.50 m. jyjyjyjihhhhfffrfbf@ɛ5B=K 9=NI9 =ؼɚ9iAIE;=IEiMEniM);)I)i Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 341.6 m (Round-trip 455.5 ms) speed -0.4 m/s ,DAT read: user:1102> %BDAT read: Tx time:20:04:39.6779 %$Ping request sent.%F;G B O >w,%A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6JDAT read: TxSync time:20:04:39.6771 B6F@YBU@B&9Bd>yBH>?`?%O?L|?]?`{??ɨB6F@BE;B5CybBb IMb@Mb@Mb@ )Y%C??{Gz?yZ$?=#<d A @)lAIAyII^5٢=c; =6=9EH:Q E>II MG٣M"7Gy] ; ]> mNusing accuracyPremultiplier from configau49eÝ?}4Ye?/ ieWB}Z&?:@eDe\b;e`;ew4 %Au addTargetRange:: Added new target pos. range: 341.600006 m, deltaT: 4.043848 s, deltaX: 3.100006 m, approachRate: 0.766598 m/s, rangeRepo size: 4 Zjq}FNOT Ignoring new targets: 327.30 m.Bj}!;Jj}!; ProNav: ac range: 327.299988 m, nav range: 225.682968 m, bearing: 337.090908 deg, approach rate: -0.381477 m/s, LOS rate: 0.124260 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149375 deg. 2j;:j;@HeadingCmd: 4.819716 target range: 327.299988 and range: 341.60 m. jjjjihhhIhM‚BfQfQfQrf]Yu@bf]k?ɛB=  `?I  ؼɚ i I 1;=IiUimYQ;))*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. I yiG ;H I  I II BI &I .I 6I C<:I FG B O >0w,t?A>4@Y>C@>\9>>y>H3??I 7?b??}? ?ɨ>4@>1;>3CyJuBJv IIVIVX5٢^\ ^f=9b|Q b>`d fG٣dyf ͻ f> nNusing accuracyPremultiplier from confighn49jȝ?r4Yj/ ij^Bprʧr@jǏDj ;j" ;j4t ztAxZjFNOT Ignoring new targets: 327.30 m.Bj%1;Jj%1;5 ProNav: ac range: 327.299988 m, nav range: 225.542664 m, bearing: 337.136873 deg, approach rate: -0.421890 m/s, LOS rate: 0.138302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113168 deg. 2j=Խ;:j=5@EHeadingCmd: 4.819084 target range: 327.299988 and range: 341.60 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfU@]?ɛ5BU$ QU,IQ ]<ټɚYiYI]F;=Ieieie%U:)a)iEquWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF"G=G=zK[MK9KKK$#!  G-b}S;G B! OE >% Will construct direction to contact in vehicle frame from tetrahedron phase data.w,עYA 9IAEl)@YE8@Eü9E>yEH@mY?Ȍ?@ks@@? Y?@K`?U7? ?ɨEl)@E;E6Cy]wB]y IeAaJmpJmjJiJiJmA:Jm9JiJiJmT;JmT;Jm:Jm:UMb@Mb@Mb@QQQ Q)QYUS㥛??Mb?yU$?QUmQ }> G٣y, > Nusing accuracyPremultiplier from config49ϝ?4YJ'/ igB&?:@яD;;K4 dAZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 225.345749 m, bearing: 337.201760 deg, approach rate: -0.397268 m/s, LOS rate: 0.131020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170015 deg. 2jֳ;:j>@HeadingCmd: 4.820076 target range: 327.299988 and range: 341.60 m. jjjjihhh h Bfffrfbf?ɛBr pI ʹټɚiI+b;=Iii+$9))}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG 7:G B O >Bw,DlsA @:@Y:R*@:4dɼ9:8]>y:H??P}.@^z?U?`+?"????ɨ:@:r;:4CyBmBFl IININR5٢Vх V=9Z#Q Z?XX ZG٣Z#7Gy^G ^? bNusing accuracyPremultiplier from config`f49bԝ?f4Ybp,/ ibmBhj3j@b׏Db:b":b4]B ]A]EB*** querying acoustic contact ***jjZjWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.FNOT Ignoring new targets: 327.30 m.Bj-O ;Jj-O ;] ProNav: ac range: 327.299988 m, nav range: 225.222855 m, bearing: 337.242509 deg, approach rate: -0.369744 m/s, LOS rate: 0.122668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097502 deg. 2j]_;:j]3@eHeadingCmd: 4.818810 target range: 327.299988 and range: 341.60 m. jajijijiiihhhhfffrfbfc?ɛIU QUIQ UY,ڼɚYiYI]Qy;=I]ieie)a)a 9I=zi*F%?2F!:F!BF%V5JF)Hm>Ii Im IIm؂BIi&Ii.Ii6ImI<:Im FGM :GM ?GM ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761926G! B1 OM >zKM MKM h9KI KM KM   #"!!"  ,*w,FAygBe II% I%g5٢5̼ 5B=9=Q =>AA EG٣AyE M> ]Nusing accuracyPremultiplier from configYm49]ٝ?u4Y]t3/ i]uByy}@]D]3;]w;]4B AEZjFNOT Ignoring new targets: 327.30 m.Bj;Jj; ProNav: ac range: 327.299988 m, nav range: 225.055420 m, bearing: 337.298165 deg, approach rate: -0.415474 m/s, LOS rate: 0.138207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142277 deg. 2j;:j:@HeadingCmd: 4.819592 target range: 327.299988 and range: 341.60 m. jjjjihhhhfffrfbfӫ?ɛBb 隵DI ڼɚiIn;=Iiliѯ))*F2F:FBFV0JFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012781 E$?IAGu˴GQ BY O} >hTw,!A&Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265228yfBd IMb@Mb@Mb@ )YE?bX9ȶ?Mb`?y&?E=;d A Z@)IyAIIen5٢͌ 4=9Q > G٣y > Nusing accuracyPremultiplier from config49ߝ?4Y;/ i{B4(?:^@D;Q;4 AZjFNOT Ignoring new targets: 327.30 m.Bj%;Jj%;= ProNav: ac range: 327.299988 m, nav range: 224.878860 m, bearing: 337.359129 deg, approach rate: -0.391235 m/s, LOS rate: 0.135196 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158222 deg. 2j=;:j=a<@EHeadingCmd: 4.819870 target range: 327.299988 and range: 341.60 m. jAjAjAjAiAhIhIhhBfffrfbf@ɛB%X !%I! M_ۼɚIiIIMx;=IUiURSiQ)Q)Y*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516648 ) I) G5 ݻJ sJ nJ 0J J K:J 99J ـ3J a @a @a @a @G B O% >Ha Ie C Ie IIe ΂BIe  =&Ia .Ia 6Ie Q<:Ie FBI)JI)RI)ZI- =bI- =jI-ݫ4N@w, AJ-@YJ=@JǺ9Jw>yJH}?@? <{`F?@6?[X? "??ɨJ-@Je;J7CyV\BVW II^I^i5٢fo fp=9f;Q j?hl nG٣lyn; n? vNusing accuracyPremultiplier from configpv49re䝜?v4Yr@/ irBxzz@rDr ;r;r4 = AZj)-FNOT Ignoring new targets: 327.30 m.Bj5;Jj5;E ProNav: ac range: 327.299988 m, nav range: 224.745834 m, bearing: 337.404957 deg, approach rate: -0.389536 m/s, LOS rate: 0.134277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112753 deg. 2jMN;:jM5@MHeadingCmd: 4.819077 target range: 327.299988 and range: 341.60 m. jjjjihhhhfffrfbf@ɛ ڽI :ۼɚiI;=Ii%$i%r:)!)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769689*F?2F:FBFJFzK=+MK9K9K=K=BKErA:KErAG ïGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020585ew,ږA lIpy޽QBJ I Mb@Mb@Mb@    ) Y MbX?p= ף?~jth?y *? = D; M A ) VAI A y AI%I%p5٢5a3 5*=95Q 5>99 =G٣=$7GyE E> MNusing accuracyPremultiplier from configIU49M靜?U4YMI/ iMB]+?]:]]@MDM4;M1;Mc4eB e AiZj15FNOT Ignoring new targets: 327.30 m.Bj=;Jj=;M ProNav: ac range: 327.299988 m, nav range: 224.564682 m, bearing: 337.472884 deg, approach rate: -0.360870 m/s, LOS rate: 0.135425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179131 deg. 2jM;:jM^?@UHeadingCmd: 4.820235 target range: 327.299988 and range: 341.60 m. jQjQjQjYiYhYhYhahepBfafafirfibfm  @ɛBt= 隝I iܼɚiI<=Ii5i]YD:))*FM?2FI:FIBFQJFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272702"G]=G]p=G G:G B O >$w,A:&+@Y::@:T9:>y:HMg??f?@҉? $t?-? ?ɨ:&+@:Af;:4CyjSBjL IIrIr.l5٢zU< zw=9zQ z?|| G٣yE ?  Nusing accuracyPremultiplier from config 49 흜?4Y N/ i B@ D "; a#; ,4) - A)EB*** querying acoustic contact ***jAjAZjY]FNOT Ignoring new targets: 327.30 m.Bjee,;Jjee,;u ProNav: ac range: 327.299988 m, nav range: 224.440262 m, bearing: 337.519705 deg, approach rate: -0.400298 m/s, LOS rate: 0.150720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115726 deg. 2ju;:juM6@}HeadingCmd: 4.819129 target range: 327.299988 and range: 341.60 m. jyjyjjihhhhfffrfbf@- @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:04:42.5424 TRx dataTimestamp_ set to:1736366683.880685checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525770ɛ& hI  ݼɚiI*<=Iifi 9))*Fu?2Fq:FqBFu0JFq I{i)9 9JuqJqJu1JqJuD:JqJu3Jq}GH >I C I  II ĂBI  =&I .I 6I D<:I  F 5Y1y5 BG?:GQBYO}>m Will construct direction to contact in vehicle frame from tetrahedron phase data.q iu A} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777731zK KK 9K K K RK ?JK ?xåw,AB)@YBY9@BY9B]>yBHh\?]?  ?oW?j?`cF? Z?ɨB)@B!;B6CyNPBRI IIZIZk5٢z > zJ=9z8Q z>|| ~G٣|yXٹ >  Nusing accuracyPremultiplier from config 49 >?4Y U/ i B@  D B; ; : 4! % A%EZjyFNOT Ignoring new targets: 327.30 m.Bj# ;Jj# ; ProNav: ac range: 327.299988 m, nav range: 224.288773 m, bearing: 337.576886 deg, approach rate: -0.370660 m/s, LOS rate: 0.140005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146847 deg. 2j+;:j:@HeadingCmd: 4.819672 target range: 327.299988 and range: 341.60 m. jjjjihhhhfffrfbf |@ɛ5B5 15I1 =M޼ɚ9i9I=Y<=IEiEUiE 9)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 345.3 m (Round-trip 460.4 ms) speed -0.4 m/s ,DAT read: user:1103>  BDAT read: Tx time:20:04:43.6279 $Ping request sent.Xɥw,l(AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:04:43.6271 J!@YJ0@JP9J3>yJH #??%jɠ?~?ɗ?d0??ɨJ!@JX;J4CyrVBrP I-Mb@Mb@Mb@))) )))Y-MbX?/$?y)-,=-- A ))-lAI))y-AIIi5٢M< .=9 nJQ > G٣%7Gy %> -Nusing accuracyPremultiplier from config!U49%?U4Y%^/ i%BU+?U:UU@%D%;%;%4a ew Aa addTargetRange:: Added new target pos. range: 345.299988 m, deltaT: 4.033951 s, deltaX: 3.699982 m, approachRate: 0.917210 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 327.30 m.Bj?#;Jj?#; ProNav: ac range: 327.299988 m, nav range: 224.121033 m, bearing: 337.645372 deg, approach rate: -0.349305 m/s, LOS rate: 0.142723 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180797 deg. 2j;:j?@%HeadingCmd: 4.820264 target range: 327.299988 and range: 345.30 m. jAjAjIjIiIhIhIhQhUzBfQfQfQrf]̔u@bf]?ɛB dI 0]߼ɚiI<=IihPiQk ))*F}?2F:FBF0JFGsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data. I G >Jـ3K(3 K(.KK"KJ pJ J 0J J A:J J ـ3J H I  I II BI &I .I 6I <:I ] FG B O >Хw,EGBA2L@Y2 @2VX̼92S>y2H`C?m?`o''꘺?`? ]?@:??ɨ2L@2?i;25CyBMBBE IIJ IJNg5٢RkU Vx=9VQ V?TX ZG٣XyZ*\ Z ? bNusing accuracyPremultiplier from config`f49b?f4Ybc/ ibBdfj@bDb:b:b/4l n AlZj FNOT Ignoring new targets: 327.30 m.Bj,;Jj,;% ProNav: ac range: 327.299988 m, nav range: 224.006714 m, bearing: 337.692650 deg, approach rate: -0.365354 m/s, LOS rate: 0.151172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117091 deg. 2j%;:j-6@-HeadingCmd: 4.819152 target range: 327.299988 and range: 345.30 m. j)j1j1j1i1h1h1hhfffrfbfu?ɛ B e  I 5/ ɚ1i1I=w<=I=iEؿiE)A)A-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JF'TFailed to parse incomplete device message.G% 'H Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >:֥w,&\A I$J9J9}@Y}w@}&Ҽ9}Y>y}H`4ǹ?`?& Bj?#?D?\??ɨ}@};yy-ZB5U I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y/$?Q?~jth?y,?u<D; p@)VAIAyAIIaO5٢:&= =92Q > G٣&7Gy4 > Nusing accuracyPremultiplier from config49?4Yn/ iB,?:b@*D";;G&4 T AZjFNOT Ignoring new targets: 327.30 m.Bj%+;Jj%+;5 ProNav: ac range: 327.299988 m, nav range: 223.798096 m, bearing: 337.787864 deg, approach rate: -0.328219 m/s, LOS rate: 0.149940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261093 deg. 2j5;:j5K@=HeadingCmd: 4.821666 target range: 327.299988 and range: 345.30 m. j9j9j9jAiAhAhAhIhMyBfQfQfQrfQbfU`9?ɛB ̽I g ɚ i I <=I i ei :) ) *F 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GԑGsAGsA $?IGBO?ޥw,}AJNuJNjJLJLJN[Q:JN9JLJLH>IC I IIBI =&I.I6I@<:I Fy]YB]T IImImm5٢}ǻ }=9}Q  ? G٣y  ? Nusing accuracyPremultiplier from config49Q?4Yvt/ iB@1D:e:+4B V AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 327.30 m.Bj,;Jj,; ProNav: ac range: 327.299988 m, nav range: 223.692688 m, bearing: 337.836154 deg, approach rate: -0.328293 m/s, LOS rate: 0.150471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120125 deg. 2j;:j6@HeadingCmd: 4.819205 target range: 327.299988 and range: 345.30 m. jjjj i h h hhfffrfbf%\?ɛMBM| QUͽIQ U ɚQiQIU<=I]i]gi]lߗ)a)a*F2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GXzK]JKh9GBO>KKKLw,A>@Y> @>ϼ9>>y>Hc??`V N̈́? Q2?@j? /?\?ɨ>@>;>4Cy^]B^Y IIfIfc5٢n< rU=9rE:Q r>tt vG٣tyv: z> ~Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007545x 49z? 4Yz,{/ izBQ@z9Dz4s;zs;z24 %7 A!ZjIUFNOT Ignoring new targets: 327.30 m.Bje6+;Jjm6+; ProNav: ac range: 327.299988 m, nav range: 223.567535 m, bearing: 337.893570 deg, approach rate: -0.326099 m/s, LOS rate: 0.149686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147529 deg. 2jt;:j :@ HeadingCmd: 4.819684 target range: 327.299988 and range: 345.30 m. j jjjih9h9h9h9fAfAfArfAbfM@q@ I|iɛ B % 15I9 Em3ɚIiiIm==Iuiu.iuK)y)y*F%?2F):F)BF-4JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260026G G B O >w,mA6+@Y6 @6μ96v>y6H3? ?A@6?lՈ?@C?? ?ɨ6+@6;4y>fB>d I Mb@Mb@Mb@    ) Y  rh?Mbp?{Gz?y C+? ; #<  A Z@) @I A y GAI- I-h5٢=,= =D=9=:Q =>AA EG٣E'7GyM+: M> ]Nusing accuracyPremultiplier from configIe49Mr?e4YMw/ iMBeI+?e:em@MBDMN;M ;M94q uAqZjFNOT Ignoring new targets: 327.30 m.Bj%';Jj%';5 ProNav: ac range: 327.299988 m, nav range: 223.436295 m, bearing: 337.956486 deg, approach rate: -0.304587 m/s, LOS rate: 0.146105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164048 deg. 2j5;:j56=@=HeadingCmd: 4.819972 target range: 327.299988 and range: 345.30 m. j9j9jAjAiAhAhAhihuvBfyfyfyrfybfٽ@ɛB I ]ɚiI==Ii-il )) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512706*F?2F:FBF_0JFGrA GtA IH>IC I IIBI&I.I6I<:IP FG% G- ?G- >G B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763484Aw,*:˗Ay]dB]a IImIme5٢}  }F=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y/ iB@JD* ; ; A4 AZjFNOT Ignoring new targets: 327.30 m.BjA4;JjA4; ProNav: ac range: 327.299988 m, nav range: 223.306747 m, bearing: 338.018799 deg, approach rate: -0.327443 m/s, LOS rate: 0.157593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162232 deg. 2juO;:ju<@}HeadingCmd: 4.819940 target range: 327.299988 and range: 345.30 m. jyjyjyjihhhhfffrfzKJK9KKK  bfb@ɛB} )5`I1 5!ɚ1i1I5s8==I=i=+i=<)9)A*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016149 IG }J sJ mJ J J K:J &9J J J e;a J e;a J :a- J :a- G B) O >Iw,嗶A6@Y6Z@6oȼ96>y6H E? ?jG@9ܺ?+?Q ?O?`?ɨ6@6d;4yRjBRi I V=Va=Mb@Mb@Mb@ )Y/$?QI +?y,?u94< A )VAIAypAII]5٢< G=9G:Q > G٣yW:; > Nusing accuracyPremultiplier from config49 ?4Y/ iB,?:@SDj;;PH4 B AEZjQ]FNOT Ignoring new targets: 327.30 m.BjeZ/;JjeZ/;}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:04:46.4947 TRx dataTimestamp_ set to:1736366687.661973checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2757485 ProNav: ac range: 327.299988 m, nav range: 223.182297 m, bearing: 338.082988 deg, approach rate: -0.297062 m/s, LOS rate: 0.153304 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167861 deg. 2j=l;:j==@EHeadingCmd: 4.820038 target range: 327.299988 and range: 345.30 m. jAjAjAjAiAhAhAhIhmBfqfqfqrfqbf}@s @ɛB>c gI 'ɚiI=R==Ii~i@A))*F?2F:FBF`0JFG - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519511G B O > I w,9A6 @Y6@6uTƼ96zU>y6Hs?? `i? ;?ɘ?`}?N?ɨ6 @6b;HPIP IR IIRɂBIR =&IP.IP6IR`<:IR FBIJIRIZIbIjI44yfxBfy IIIr^5٢b= U=9%/:Q >!! %G٣!y-E: -> 5Nusing accuracyPremultiplier from config1]495r ?]4Y5/ i5BY]龿]@5\D52;5u;5N4i m^AiB*** querying acoustic contact ***jjZjY]FNOT Ignoring new targets: 327.30 m.Bjen%;Jjen%; ProNav: ac range: 327.299988 m, nav range: 223.068817 m, bearing: 338.141616 deg, approach rate: -0.279808 m/s, LOS rate: 0.144632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151158 deg. 2j;:j^;@HeadingCmd: 4.819747 target range: 327.299988 and range: 345.30 m. jjjjihhhhff frfbf6 @ɛB2 隥I ɚiId==IiCii ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775271*F?2F:FBFJFzKsLKh9KKKG *G G Gy B O >*w,A:Y @Y:@:Ƽ9:>y:H+j?@3?N@?`?`?tm?ֹ?ɨ:Y @:χ;8yBBB IIJIJ7`5٢Vg@= ZQ=9^C8Q ^>`d fG٣f(7Gyj j>nWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:04:46.4947 LVL= 21328, 23281, 14786, 28211, AGC= 69, IDX= 445,-0.01, 2.761,-1.087,-2.698,-3.069, PHS=-0.365, 2.029, 0.368, RAW= 312.6, -18.7, CAL= 316.0, -26.8, ROT= 194.0, 26.8 %Ygot valid direction response: 20:04:46.4947 LVL= 21328, 23281, 14786, 28211, AGC= 69, IDX= 445,-0.01, 2.761,-1.087,-2.698,-3.069, PHS=-0.365, 2.029, 0.368, RAW= 312.6, -18.7, CAL= 316.0, -26.8, ROT= 194.0, 26.8 EPDAT read: Bearing 194.0, 26.8 (Local) U~Local bearing/azimuth received: Bearing 194.0, 26.8 (Local) DAT read: Range 10 to 50 : 346.8 m (Round-trip 462.5 ms) speed -0.4 m/s ,DAT read: user:1104> BDAT read: Tx time:20:04:47.5780 $Ping request sent.r@p r|@)r|Ir8X@54YK/ iĪB155@eD<<tV49 EAAir|>pprHrV b{ʿi3WTԿ)r:Ir >ir\?r=E?pp}:publishing transmit ping timeؑ}Fpublishing direction and range infop9r=@j?*'r?هIypppp p)pIpippppp p)pIpippprHrV b{ʿi3WTԿ)pIpippppkr{?krJ> kp krA:krfCBkr?CZkr~@"r%8d@zg@n51nr=@j?*'r?هIJkr\?Rkr=E?*r)W7Sm@Ca1BijrN ?+zڿ*! "kr}*krjCkrޫF?kr5c> 2kr kr Q?kr 9 krGkrhCkr@  addTargetRange:: Added new target pos. range: 346.799988 m, deltaT: 4.030337 s, deltaX: 1.500000 m, approachRate: 0.372177 m/s, rangeRepo size: 4  Added new target pos. range: 346.799988 m, bearing: 328.548442 deg, lat: 36.907154 deg, lon: -122.123552 deg, deltaT: 31.766935 s, deltaX: 19.500000 m, approachRate: 0.613846 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 346.80 m.BjmJjqJJkJJJJ9JJJJJ:J:  ProNav: ac range: 346.799988 m, nav range: 232.900024 m, bearing: 334.624345 deg, approach rate: 0.000000 m/s, LOS rate: 0.144632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157884 deg. 2j:jT<@UHeadingCmd: 4.819864 target range: 346.799988 and range: 346.80 m. jQjYjjihhhhfffrf=̬u@bf=[v?ɛeBm۩ imIi mɚiiiIuu==IixiN/))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG %G B O> w,_6A:@Y:@:$hѼ9:%N=y:H@װ? ?()(O?C?I,?`ѿ? ƽ?ɨ:@:ri;8yvBv I||-Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ysh|??I +~jtx?y)?94; A -@)IAyIeIe:5٢ui< u=9}.Q }>yy G٣y\ > Nusing accuracyPremultiplier from config49?4Y/ iɪB*?:p@oDu;;^4 AZj15FNOT Ignoring new targets: 346.80 m. AIABj]&;Jj]&;m ProNav: ac range: 346.799988 m, nav range: 232.738541 m, bearing: 334.692911 deg, approach rate: -0.341727 m/s, LOS rate: 0.145198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181026 deg. 2juK;:ju?@uHeadingCmd: 4.820268 target range: 346.799988 and range: 346.80 m. jyjyjjGvA%Aih) MYMvAyMBhQhYh]BfYfYfarfabfer?ɛBHI I II؂BI&I.I6IX<:I F G;I lɚiI|==Ii԰i-) ) *F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G *G B O >Yw,DPA2@Y2o@2DҼ92>y2H4?@? Hl@?@8??Q?` ,?@?ɨ2@2;26CyBBB IIJIJgG5٢R= Vn=9V۹Q V?XX ZG٣XyZ$ ^? bNusing accuracyPremultiplier from config`f49b.?f4Yb/ ibͪBdf}f@bvDb:b2:bd4nB nAnEZj  FNOT Ignoring new targets: 346.80 m.Bj%;Jj%;% ProNav: ac range: 346.799988 m, nav range: 232.626083 m, bearing: 334.740843 deg, approach rate: -0.339473 m/s, LOS rate: 0.144760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119051 deg. 2j-;:j-6@5HeadingCmd: 4.819187 target range: 346.799988 and range: 346.80 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfEI ?zK]XKKYKYK]K]BKa:KenAɛB4м  AIAJpJJJJA:JJJJT;JT;JJw,iAJv@RWill construct direction to contact in vehicle frame from tetrahedron phase data.YJ@Jۼ9J>yJHϓ?q? ???x?V??ɨJv@Jg;J4CybBb IMb@Mb@Mb@ )Yp= ף?~jtx?{Gz?y%?;#< A Z@)AIyAIIjC5٢U= 7=9$Q > G٣)7Gy >  Nusing accuracyPremultiplier from config 49?4Y// iӪB%%?:Q@D;;l4%B %MA%EZjIMFNOT Ignoring new targets: 346.80 m.BjU;JjU;m ProNav: ac range: 346.799988 m, nav range: 232.476379 m, bearing: 334.801309 deg, approach rate: -0.336522 m/s, LOS rate: 0.136011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156702 deg. 2jm;:jm)<@uHeadingCmd: 4.819844 target range: 346.799988 and range: 346.80 m. jqjyjyjyiyhyhyhhÂBfffrfbf@'?ɛBNɼ 隽`>=I GɚiIt==Iii))I*F2F:FBFP5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 GA G! B) OM >H I  I !II BI &I .I 6I Q<:I F w,̓A6@Y6@6!Ѽ96`>y6Hg ?ɏ?E!? ?=? U?N?ɨ6@6y׈;62CyBBB I Ja=HIJIJZ5٢RJw< Vb=9VVY;Q V>XX ZG٣\y8; > Nusing accuracyPremultiplier from config%49?%4Y{/ i٪B!% -@D ;C:*s41 57A1eB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 346.80 m.Bju;Jj}; ProNav: ac range: 346.799988 m, nav range: 232.350937 m, bearing: 334.851878 deg, approach rate: -0.333857 m/s, LOS rate: 0.134659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126975 deg. 2jԸ;:j7@HeadingCmd: 4.819325 target range: 346.799988 and range: 346.80 m. jjjjihhhhfffrfbf~%?ɛcü Z=I {ɚiIn==IiuiW))*Fq2Fq:FqBFu_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GzKKK+9KKK5bzyvspmkb\\XVGiByO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992958 ! I% ~iR'w,йA=@Y=,!@=ɼ9=>y=Hٛ??`"Z3?`yd?o2? j?ܹ?ɨ=@=';=6CyMBU IIeIeX[5٢u_< u>=9u;Q }>yy }G٣yy; > Nusing accuracyPremultiplier from config49?4Y/ iުBͺ@D];;^;z4JqJmJJJD:J&9JJa@a@a@a@  AZjImFNOT Ignoring new targets: 346.80 m.Bju];Jju]; ProNav: ac range: 346.799988 m, nav range: 232.209595 m, bearing: 334.908764 deg, approach rate: -0.326427 m/s, LOS rate: 0.131457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145948 deg. 2jo;:j:@HeadingCmd: 4.819656 target range: 346.799988 and range: 346.80 m. jjjji)h1h9hqhqfyffrfbfoS@ɛBG 4=I iɚiIj==Iiih))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245041G d/XG B O ><-w,τA2>@Y2!@2ȼ92>y2H`?@"?ճ 7?&??v?z?ɨ2>@2&;24Cy<@EMb@Mb@Mb@AAA A)AYEMb?y&1?ii uG٣u*7GyubL9 u> Nusing accuracyPremultiplier from config49?4Y>/ iB>#?:_@D;D";4 ZjFNOT Ignoring new targets: 346.80 m.Bj`;Jj`; ProNav: ac range: 346.799988 m, nav range: 232.068405 m, bearing: 334.961548 deg, approach rate: -0.365476 m/s, LOS rate: 0.136716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133633 deg. 2j;:j8@HeadingCmd: 4.819441 target range: 346.799988 and range: 346.80 m. jjjjihhhh˂Bfff rf bf  #@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497081ɛEBE>o AM =II MɚIiIIMbd==IUi]i])Y)Y I*F2F:FBF_0JFHI I!IIBI =&I.I6I<:I FGmi"GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748911%4w,(eјA6#@Y6'@6$Ƽ96>y6HϺ??`d?`3?՘?N??ɨ6#@6N;4y>B> IDFAIJIJ\5٢Vl< V<9V%:Q V>XX ZG٣Xy^: ^> bNusing accuracyPremultiplier from config`f49b?f4Yb/ ibBdjHj@bDb:b:b(4l rApZj FNOT Ignoring new targets: 346.80 m.Bj#;Jj#;% ProNav: ac range: 346.799988 m, nav range: 231.935257 m, bearing: 335.011378 deg, approach rate: -0.350533 m/s, LOS rate: 0.131262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124764 deg. 2j%*;:j%7@-HeadingCmd: 4.819286 target range: 346.799988 and range: 346.80 m. j)j)j)j)i1h1h1h9h9f9f9f9rfAbfE)+@ɛqu\" y}=Iy }0ɚyiyIE[==IiieƮ))zKrMK9KKKUNG8%*F?2F:FBFg0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002139 IiGGB Oe >N:w,O<똶ABWill construct direction to contact in vehicle frame from tetrahedron phase data.BBDAT read: Rx Time:20:04:50.4477 FTRx dataTimestamp_ set to:1736366691.692605Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253996y}B} IMMb@Mb@Mb@III I)IYMK7A?:v?Mbp?yM "?MT=M;MM A MC@)M@IMAIyMAIeIe:\5٢-; .=9Q > G٣y > Nusing accuracyPremultiplier from config49L#?4YK/ iB"?:R@DD;;f4B AEZjFNOT Ignoring new targets: 346.80 m.Bj%;Jj%;5 ProNav: ac range: 346.799988 m, nav range: 231.761063 m, bearing: 335.071535 deg, approach rate: -0.369531 m/s, LOS rate: 0.127711 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155793 deg. 2j5K;:j5<@=HeadingCmd: 4.819828 target range: 346.799988 and range: 346.80 m. j9j9j9jAiAhAhIhQhUƂBfQfQfQrfYbf] @ɛB / 隍=I ɚiI^Q==IiwiA))*FE?2FA:FABFEo0JFI5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505116 $?IGm ˴GA BI Om >H I  I .!II BI  =&I .I 6I 6<:I x FJ rJ qJ J J G:J q9J J J _;a J _;a J :a J :a L6Aw,{A:=@Y:-@:Ƽ9:>y:Hi??@p`@?Eτ?ט?߯?৷?ɨ:=@:;:3CyVBV IIvIvY5٢< j=9 Q  ?  G٣+7Gy0 ; ? -Nusing accuracyPremultiplier from config!-49%&?54Y%/ i%B15:5@%D%:%:%}4A MAI}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 346.80 m.Bj_;Jj_; ProNav: ac range: 346.799988 m, nav range: 231.632370 m, bearing: 335.116026 deg, approach rate: -0.364900 m/s, LOS rate: 0.126219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108731 deg. 2j>;:jM5@HeadingCmd: 4.819006 target range: 346.799988 and range: 346.80 m. jjjjihhhhfffrfbf @ɛ =I {AɚiID==Ii;i3=))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 349.2 m (Round-trip 465.6 ms) speed -0.7 m/s ,DAT read: user:1105> BDAT read: Tx time:20:04:51.5280 $Ping request sent.E Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:20:04:51.5272 I aGw,Aj}"@Yj2@j|Ǽ9j]>yjH2"?@?xi{?`R?? R?6?ɨj}"@j;j5Cy=BE I ]=]p=IeIe\5٢u }C=9}[Q }> G٣y: > Nusing accuracyPremultiplier from config49*?4Y/ iB(@Da:a:ϝ4 A addTargetRange:: Added new target pos. range: 349.200012 m, deltaT: 3.780064 s, deltaX: 2.400024 m, approachRate: 0.634916 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 231.477798 m, bearing: 335.169534 deg, approach rate: -0.372610 m/s, LOS rate: 0.129073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135819 deg. 2j);:j,9@HeadingCmd: 4.819479 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrf@3u@bfS?ɛ9=ﯼ aeL=Ii m߼ɚiiiIm 9==I}i}RiF))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fy:FyBF0JFG 'HG B O >Mw,9A6~@Y6(@6%Ҽ96>y6HyҺ?@? ,3 s?@ ?C??@и?ɨ6~@6ss;66Cy@B IMb@Mb@Mb@ )Y r?i|?5? G٣y7 > Nusing accuracyPremultiplier from config 49s/?4Y/ iBK$?:'@D;;j4 A!ZjAMFNOT Ignoring new targets: 346.80 m.BjU#;JjU#;m ProNav: ac range: 346.799988 m, nav range: 231.314056 m, bearing: 335.225436 deg, approach rate: -0.376524 m/s, LOS rate: 0.128637 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143010 deg. 2jm;:jm4:@uHeadingCmd: 4.819605 target range: 346.799988 and range: 349.20 m. jqjqjqjqiqhyhyhyh}͂Bfffrfbf`PQ?ɛ~B 隵=I ޼ɚiI8)==IieBimaǺ)i)iHI I4!IIBI&I.I6I<:IR FBIqJIqRIqZIqbIqjIu4JMtJMzJIJIJM;N:JM9JIJIJM{j;JM~j;JMQ:JMR:*F?2F:FBFP5JFUPExceeded connect timeout, disconnecting.G zQ% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B9 OU >ٰTw,SA6_@Y6#@6}ռ96E|>y6H?`X? U? ??G?Ƹ?ɨ6_@6.;61CyBBB IIJIJJ5٢R Vc=9V[Q V>TX ZG٣Z,7GyZȶ Z> bNusing accuracyPremultiplier from config\f49^63?j4Y^/ i^Bhj7j@^ɐD^2;^1;^4Y ]AYzK}DMK}9KyK}K},+'$  ZjFNOT Ignoring new targets: 346.80 m.Bj ;Jj ; ProNav: ac range: 346.799988 m, nav range: 231.178482 m, bearing: 335.271887 deg, approach rate: -0.357020 m/s, LOS rate: 0.122395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114621 deg. 2j;:j%6@HeadingCmd: 4.819109 target range: 346.799988 and range: 349.20 m. jjjjihh!h!h!f!f)f)rf)bf-?ɛ,V 隽=I nz޼ɚiI5==Ii=its)) IiWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙ*F?2F:FBF3JFGi"G B O= >= Will construct direction to contact in vehicle frame from tetrahedron phase data.4Zw,ӈmA6@Y6@6ؼ96a>y6H?? _@Q5?#`?? :K?w?ɨ6@6T;65Cy>B> InAnAeMb@Mb@Mb@aaa a)aYe'1Z?V-?I +?ye"?eh=e94 G٣yG > Nusing accuracyPremultiplier from config49*8?4YH/ iB#?:歿@ҐD;Q;Z4 AZjFNOT Ignoring new targets: 346.80 m.Bj v;Jj v; ProNav: ac range: 346.799988 m, nav range: 231.011063 m, bearing: 335.327254 deg, approach rate: -0.400111 m/s, LOS rate: 0.132417 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141409 deg. 2j;:j9@HeadingCmd: 4.819577 target range: 346.799988 and range: 349.20 m. jjjjihhhhÂBfffrfbf?ɛQU QU=IQ ]ݼɚYiYI]==IeieBFie+)a)i*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.) !CUGuvA ?YvAyBG pH I  I I I  =&I .I 6I u<:I FJm qJm nJi Ji Jm D:Jm 99Ji Ji Jm IZ;Jm KZ;Jm R:Jm T:G B O >aw,jA6&@Y6j6@6)μ96b@>y6H@D? ƌ?`M| `޻?h%?ę?@;?>?ɨ6&@6ګ;63CynBn IIzIzkf5٢ 3?  T=9 Z;Q > G٣yk; > %Nusing accuracyPremultiplier from config!-49% a Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261553Agw,O?A6o/@Y6?@6Pɼ96n>y6H??s`??`=?_4??ɨ6o/@6n;65CyBBB IIJIJQc5٢RO RQ=9R:Q R>TT VG٣V-7GyZb0; Z> jNusing accuracyPremultiplier from configdr49fA?r4Yf 0 ifBtvhv@fDf8;f;f4  AZjAMFNOT Ignoring new targets: 346.80 m.BjM;JjM;e ProNav: ac range: 346.799988 m, nav range: 230.712631 m, bearing: 335.425635 deg, approach rate: -0.377773 m/s, LOS rate: 0.124629 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124256 deg. 2je;:je7@mHeadingCmd: 4.819277 target range: 346.799988 and range: 349.20 m. jijqjqjqiqhqhyhyhyfyffrfbf@@ɛBh QUT=IY ]ܼɚYiYI]P<=IeiePie9:)a)i*F?2F:F!BF%`0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514433G9Gi Bq O >!nw,eA6f;@Y6J@6tļ96f+>y6HT?`?@ cw?L?`?X? ?ɨ6f;@6;64CyRBR I V=Va= IeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766925Mb@Mb@Mb@ )Y{Gz?ʡE?~jtx?y#?=; A C@)IAyGAIIc5٢%3w= %4=9-:Q 5>99 EG٣AyMQ; M> eNusing accuracyPremultiplier from configYm49]F?m4Y] 0 i]%Bm%?m:uu@]D]^V;]=;]4y }AZj!%FNOT Ignoring new targets: 346.80 m.Bj-5;Jj-5;H]>IY IYIYI] =&IY.IY6I]H<:I] F} ProNav: ac range: 346.799988 m, nav range: 230.533981 m, bearing: 335.483373 deg, approach rate: -0.384393 m/s, LOS rate: 0.124329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148535 deg. 2j;:j:@HeadingCmd: 4.819701 target range: 346.799988 and range: 349.20 m. jjjjihhhhBfffrfbf@J5sJ5sJ1J1J5K:J59J1J1J5e;J5e;J5<:J5>:ɛim iu,=Iq u1ܼɚqiqIu<=I}i}#i}R;)y)*F?2F!:F!BF%_0JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017611Ge 7:Gm rAGm tAG9 BI Oe >uw,ՙA6=@Y6(M@6¼96E>y6H?`T? x?@ ? bT?{?u?ɨ6=@6X;4y>B> IIJIJ]5٢R+н Re=9V!:Q V>XX ZG٣Xy^E: ^> bNusing accuracyPremultiplier from config`f49bJ?f4Ybk0 ib+Bdjj@bDb ;b ;b 4l n3AnEZjFNOT Ignoring new targets: 346.80 m.Bj ;Jj ;% ProNav: ac range: 346.799988 m, nav range: 230.395386 m, bearing: 335.528262 deg, approach rate: -0.412423 m/s, LOS rate: 0.133656 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109933 deg. 2j%t;:j%y5@-HeadingCmd: 4.819027 target range: 346.799988 and range: 349.20 m. j1j1j1j1i1h1h1h9h9f9f9fArfAbfEc @ɛquZ qui=Iq } ۼɚyiyI}!<=IiO Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521561'){w,A6?@Y6=O@696n>y6H@Y ??@n?@O?`??M?ɨ6?@6ڇ;62Cy<@Mb@Mb@Mb@ )Y~jt?sh|??y&1|?y$?=`;M A )IlAyI If5٢d ;=9:Q > G٣.7Gyz: > Nusing accuracyPremultiplier from config49P?4Y0 i2B%?:ᪿ@D;t;4B =AEZjFNOT Ignoring new targets: 346.80 m.Bj%`;Jj%`;M ProNav: ac range: 346.799988 m, nav range: 230.221375 m, bearing: 335.583760 deg, approach rate: -0.398204 m/s, LOS rate: 0.127096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141806 deg. 2jMs;:jM:@HeadingCmd: 4.819584 target range: 346.799988 and range: 349.20 m. jjjjihhhhBfffrfbf  @ɛuBuн y}@d=Iy }xۼɚyiyI}<=Iii+$;))*F?2F :F BF 1JF G G"GG I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773968HQ IQ  IU (!IIU BIQ &IQ .IQ 6IU 5<:IU v FG B O >6w,A2F@Y2U@2Ⱦ92>y2H G٣y<; > %Nusing accuracyPremultiplier from config!-49%pU?-4Y%0 i%9B)5Ǫ5@%D%;%;%[49 =3A9UB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 346.80 m.BjmL;JjuL; ProNav: ac range: 346.799988 m, nav range: 230.069397 m, bearing: 335.632277 deg, approach rate: -0.397641 m/s, LOS rate: 0.127028 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120836 deg. 2j[;:j7@HeadingCmd: 4.819218 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrfbf P@ɛ l=I "ۼɚiIT<=Ii/iZ'R;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026512*F?2F:FBF4JFGBO>zKmJKm9KiKmKm  RK}?JK}&? I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277503_;w,"ABC@YBS@Bo9B>yBH,?W?r@P?؁?c?@?tt zG٣xyz # z>JSK[m3 K[S}-KSKS"KSJ|JkJ1JJ;g:J9J3Ja@a@a@a@ -Nusing accuracyPremultiplier from config)=49-Z?E4Y-&0 i-?BIMϪM@- D-;-;-n4 AZj9EFNOT Ignoring new targets: 346.80 m.BjM;JjM; ProNav: ac range: 346.799988 m, nav range: 229.908463 m, bearing: 335.683807 deg, approach rate: -0.372559 m/s, LOS rate: 0.119373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129883 deg. 2j٣;:jS8@HeadingCmd: 4.819376 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrfbf@ɛBYʼ 隕p=I ڼɚiI1<=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530551IiKiZB=;))E!E%tA*F2F:FBF`5JFGBO% >fw,Zgy6H`Q?B?`K@ڼ?`.?n??`?ɨ6H@6*;64C @I@yFBF IMb@Mb@Mb@ )Y(\?l?aa eG٣e/7Gymw: m> uNusing accuracyPremultiplier from configq}49u_?}4Yu-0 iuGB(?:ά@uDu;uF;u4 AZjIFNOT Ignoring new targets: 346.80 m.Bj;Jj;HI I"!IIBI&I.I6I*<:Im FU ProNav: ac range: 346.799988 m, nav range: 229.744736 m, bearing: 335.738096 deg, approach rate: -0.403126 m/s, LOS rate: 0.133766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138171 deg. 2jU;:jU9@HeadingCmd: 4.819520 target range: 346.799988 and range: 349.20 m. jjjjihhhhBfffrfbf @ɛY]Ƽ Y] =IY eeڼɚaiI<=Iii(b;))*F}?2Fy:FyBF}*3JFyGQBaO{>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034646yMw,=VA2J@Y2Z@2ӽ92C>y2H`??`M?J?빗?F??ɨ2J@2ṅ;25CyBBB I Fp=FR=ININKk5٢fJ fT=9f{7Q f>hh jG٣hyn|: n> vNusing accuracyPremultiplier from configpv49rTd?z4Yr?40 irMBxzƬz@rDrn:r:rg4 AEZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 229.592178 m, bearing: 335.788789 deg, approach rate: -0.394209 m/s, LOS rate: 0.131076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127364 deg. 2j;:j7@HeadingCmd: 4.819332 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrfbf"@ɛ=B='˼ 9= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537526ww,pAZWH@YZW@ZԾ9Z7>yZH ZO??  7ټ?K{? ڗ?`o? ?ɨZWH@Zz;Z3CybBb IUMb@Mb@Mb@QQQ Q)QYUQ?㥛 ?Mb?yU(?U=U G٣y" > Nusing accuracyPremultiplier from config49i?4Y;0 iTB*?:@&DD;o;4 AZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 229.423050 m, bearing: 335.845413 deg, approach rate: -0.391246 m/s, LOS rate: 0.131086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145184 deg. 2j;:j:@ HeadingCmd: 4.819643 target range: 346.799988 and range: 349.20 m. j j j j i hhhhBfffrfbf@ɛMB-x:׼ )-;I) -/zڼɚ)i1I5<=I5i=i=3[;)9)9*F?2F:FBFJF m$?Imi]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.789733ZHRHH>I I!IIBI&I.I6I:In FBIJIRIZIbIjIE4GE g;G! B) OU >_w,k򉚶A6J@Y6iZ@696K>y6H@2c?^??`? a?ԗ?? ?ɨ6J@6\;64CyRBV II^I^Ho5٢f= fW=9f\8Q f>hh nG٣n07GyrOQ: r> vNusing accuracyPremultiplier from configtz49v!n?z4YvB0 iv[Bxz z@v.DvX:v":v4 AB*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 346.80 m.Bj5^#;Jj5^#;M ProNav: ac range: 346.799988 m, nav range: 229.271957 m, bearing: 335.896105 deg, approach rate: -0.425434 m/s, LOS rate: 0.142829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127363 deg. 2jM ;:jM7@UHeadingCmd: 4.819332 target range: 346.799988 and range: 349.20 m. jYjYjYjYiahahahahifififirfibfu @ɛBμ 隝zKJK 9KKK Q IQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293671w,ΣA2I@Y2X@2992>y2H@T?8? Ftݼ?x? Ɨ? ?@?ɨ2I@2;23CyRBR IIZIZd5٢f fJ=9j[ 9Q j>hh jG٣hJrrJrpJr0JpJrG:Jr^9Jrـ3Jpyz' z> ~Nusing accuracyPremultiplier from config|49~s?4Y~H0 i~bB  @~7D~":~:~4B AEZj1=FNOT Ignoring new targets: 346.80 m.BjE;JjE;U ProNav: ac range: 346.799988 m, nav range: 229.111252 m, bearing: 335.950184 deg, approach rate: -0.396202 m/s, LOS rate: 0.133419 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137537 deg. 2jU!;:jUk9@]HeadingCmd: 4.819509 target range: 346.799988 and range: 349.20 m. jYjYjajaiahahahihifififirfqbfuౣ@ɛ]Be9)ؼ ae;Ia eVڼɚiiiIm!==Imi]i0a;))*FU?2FQ:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545836Gm!j;GI BQ Ou > 9 IE i~w,;AXf`wArZA ޿Y `wAy LA%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797770y5B= IH>I I !IIBI =&I.I6I <:IY FMb@Mb@Mb@ )Ysh|??y&1?~jtx?y)?`e=; A )IAyAI I1h5٢B +=9Q > %G٣!y- 5> =Nusing accuracyPremultiplier from config1=4953x?E4Y5-Q0 i5iBE*?E:ESE@5AD5+;5j;54UB UAUEZjy}FNOT Ignoring new targets: 346.80 m.Bj;Jj;5 ProNav: ac range: 346.799988 m, nav range: 228.928513 m, bearing: 336.015254 deg, approach rate: -0.382439 m/s, LOS rate: 0.136288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170552 deg. 2j5;:j5$>@=HeadingCmd: 4.820086 target range: 346.799988 and range: 349.20 m. j9j9j9jAiAhAhAhihmBfififqrfqbfu@#@ɛBGڼ tI XڼɚiI?==Iizic;))E1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049481G] g;G1 BA O] >w,pךA6M@Y6B]@6$ 96y>y6Hy?Z? U??}??]?ɨ6M@6;64CyBBB IIJIJ`5٢R= R{=9V~N:Q V ?TX ZG٣Z17GyZn: ^ ? bNusing accuracyPremultiplier from config\b49^{?f4Y^V0 i^mBdf@f@^HD^3:^:^4l nAlZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 228.804428 m, bearing: 336.059505 deg, approach rate: -0.360075 m/s, LOS rate: 0.128480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108011 deg. 2jY;:j35@MHeadingCmd: 4.818994 target range: 346.799988 and range: 349.20 m. jQjQjQjQiQhQhQhYhYfYfYfarfabfe@ɛB-Լ 隽 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553604Żw,`A2&K@Y2Z@2(92[^>y2He?Ԇ?ڷP`?摀?D?~??ɨ2&K@2 ~;0yvBv I}Mb@Mb@Mb@yyy y)yY}x&?&1? G٣y: > Nusing accuracyPremultiplier from config491?4Y8^0 itB)?:E@QD;{;;4 AZjFNOT Ignoring new targets: 346.80 m.Bj #;Jj #; ProNav: ac range: 346.799988 m, nav range: 228.641068 m, bearing: 336.118915 deg, approach rate: -0.393651 m/s, LOS rate: 0.143263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153544 deg. 2j;:j;@HeadingCmd: 4.819788 target range: 346.799988 and range: 349.20 m. jjjjihhhhBfffrfbf`y@ɛBռ ڼɚ i I m*==I=iEiEfp;)A)I*F2F:FBF q4JF  I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805540HI III =&I.I6I<:Id FG ;G B O >_¦w,> A6E@Y6wU@6)96i>y6H ;?ʇ?o?)?S?ds??ɨ6E@67;63CyBBB IIJIJe5٢R  R\=9V Q V>TX ZG٣XyZ ^> fNusing accuracyPremultiplier from configdj49f?j4Yfd0 ifzBhjZn@fYDf@fȦw,b%ABF@YB?V@B<鸼9Bo>yBH6B?? ż?@y?? fu?@?ɨBF@B;B6CybBb IIjIji5٢v; zF=9:Q >  G٣27Gyo9 %> 5Nusing accuracyPremultiplier from config1495Q?4Y5k0 i5BW@5bD5?<5T<5 +4 AZjFNOT Ignoring new targets: 346.80 m.Bj;Jj;U ProNav: ac range: 346.799988 m, nav range: 228.344986 m, bearing: 336.227168 deg, approach rate: -0.352527 m/s, LOS rate: 0.129136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146746 deg. 2jU@;:j]:@]HeadingCmd: 4.819670 target range: 346.799988 and range: 349.20 m. jYjajajaiahahahihifffrfbf!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565300ɛBPݼ I UڼɚiIK==IEiEiEXX;)A)I*F?2F:FBF[0JFG G I iG ;G B O >U;Ϧw,?AJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.815039y B  IHI III&I.I6I<:IF FMb@Mb@Mb@ )Yq= ףp?Q?Mbp?y+?\=; )IAyAII^5٢;< +=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Yt0 iB+?:^@lDc;);L34 AEJaJelJe0JaJaJe9Jeـ3JaJaamJaamJe(:amJe):auZjFNOT Ignoring new targets: 346.80 m.Bj);Jj); ProNav: ac range: 346.799988 m, nav range: 228.172470 m, bearing: 336.293843 deg, approach rate: -0.382035 m/s, LOS rate: 0.147761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175360 deg. 2j;:j>@-HeadingCmd: 4.820169 target range: 346.799988 and range: 349.20 m. j)j)j)j)i)h)h)hQhUBfYfYfYrfYbf]!@ɛBTۼ I -#Yڼɚ)i1I5CY==I5i=oi9)9)9*F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.065680G !j;G B O >֦w,YAF=@YF(M@F9Fa>yFH? P?@{{?w??`C??ɨF=@Fl;F4CyRBR IIZIZQc5٢bt< br=9ft9Q f?dd fG٣hyjW j? nNusing accuracyPremultiplier from configlr49n?r4Yny0 inBtvv@nsDn7:nz:n194x zA|Zj!-FNOT Ignoring new targets: 346.80 m.Bj5P.;Jj5P.;E ProNav: ac range: 346.799988 m, nav range: 228.049667 m, bearing: 336.341555 deg, approach rate: -0.392033 m/s, LOS rate: 0.152397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118399 deg. 2jE-;:jE6@MHeadingCmd: 4.819175 target range: 346.799988 and range: 349.20 m. jIjIjIjIiIhQhQhYhYfYfYfarfabfe *"@ɛB}ؼ 5;I UڼɚiI%c== $?IIUiUiUƯ;)Q)YzKq1OKs9KKKkVH6%~}zyxsrqnmifgdb][\\[YTPJB>::955401321/4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319204*F?2F :F BF o0JF GM;G! Bi O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569747Rܦw,\sAJ3@YJzC@JK9J>yJH??i I0?r? (?0? ?ɨJ3@J;J3CyVBV I]Mb@Mb@Mb@YYY Y)YY]Fx?Q?~jth?y]+?]<]D;] A Y)]~@IYYy]QAIuIud5٢= 8=9 Q > G٣37GyG. > Nusing accuracyPremultiplier from config49y? 4Y0 iB +? :  @}D;{;@4'B AEZj9EFNOT Ignoring new targets: 346.80 m.BjE#;JjM#;e ProNav: ac range: 346.799988 m, nav range: 227.889923 m, bearing: 336.404955 deg, approach rate: -0.360278 m/s, LOS rate: 0.143091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165522 deg. 2jeg;:jel=@mHeadingCmd: 4.819998 target range: 346.799988 and range: 349.20 m. jijijijiiihqhqhyh}Bfyfyfyrfbfb#@ɛBɑѼ 隭 J qJ mJ J J D:J &9J J J IZ;J KZ;J :J :+w,MMA:/@Y:?@:9:>y:H`덻?ঌ?aT`$?@?Q?)?@V?ɨ:/@:-;:4CyNBN I V=V=IZIZi5٢bn< ba=9f9Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49r?v4Yr0 irBxzz@rDr":r:rSG4 jAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.\Tw,!A6)'@Y66@6096.>y6HG??Q?`D˻?@2?%??@Ҽ?ɨ6)'@6%';4ybBf II~I~ob5٢5bV 5D=9=nQ =>AA EG٣AyM( M> eNusing accuracyPremultiplier from configYm49]$?m4Y]]0 i]Bquɵu@]D]x;]Ly;]N4 AZjFNOT Ignoring new targets: 346.80 m.Bj*;Jj*; ProNav: ac range: 346.799988 m, nav range: 227.609772 m, bearing: 336.516891 deg, approach rate: -0.372489 m/s, LOS rate: 0.149289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155185 deg. 2j ;:j ;@HeadingCmd: 4.819817 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrfbf%@ɛ B м qw,QAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received "*response not received",DAT read: user:1106> -"I I!IIBI&I.I6I <:IX FBIJIRIZIbIjIu4J J lJ 1J J J 9J 3J J J J (:J ):MMb@Mb@Mb@III I)IYMZd;O? G٣47Gyi > Nusing accuracyPremultiplier from config49֝?4Y0 iB *? : @ @D#;";pW4&B AEZjAEFNOT Ignoring new targets: 346.80 m.BjM~&;JjM~&;e ProNav: ac range: 346.799988 m, nav range: 227.437424 m, bearing: 336.589197 deg, approach rate: -0.346694 m/s, LOS rate: 0.145561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192269 deg. 2je;:je?A@mHeadingCmd: 4.820465 target range: 346.799988 and range: 349.20 m. jijijijiiihihqhqhuBfqffrfbf %@ɛ%B%ü !%x*=I) -˟ټɚ)i)I-==IEiEi5iMF^Q)I)Y*F-?2F):F)BF-`5JF)G1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:05:02.4781 $Ping request sent.w, ܛA6@Y6f"@6,F96"=y6Hޥ??@`R,??=? ƿ?z?ɨ6@6r;63C TIXyZBZ I`bAI INg5٢%;4< %=9-XQ - ?)1 5G٣1y5 5 ? ENusing accuracyPremultiplier from config9E49=*?M4Y=0 i=BIMkM@=D= ;=\ ;=]4Q ]AYZjFNOT Ignoring new targets: 346.80 m.Bj$;Jj$; ProNav: ac range: 346.799988 m, nav range: 227.328293 m, bearing: 336.635257 deg, approach rate: -0.341516 m/s, LOS rate: 0.144210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113433 deg. 2j;:j5@HeadingCmd: 4.819088 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrfbf&@ɛ/ 6=I gټɚiI==Iis4i))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250959zK%MK!K!K%K%*F}?2Fy:FyBF}_0JFyG >GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505996w,gA>@Y>V @>fjȼ9>=y>H`?? `M?뭈? ?`J??ɨ>@>织;>2Cy^Bb IMMb@Mb@Mb@III I)IYMx&?I +?Mb?yM7)?M94 G٣yջ > Nusing accuracyPremultiplier from config49֢?4Yͤ0 iB@)?:@D;8;2w,A:?@Y:@:͠ʼ9:b=y:H#?`?EϿ`? f?`pS?U??ɨ:?@:ׇ;:4CyPR II^I^J5٢raH rU=9v>8Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~B?4Y~s0 i~B   @~D~:~:~j4 A5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 346.80 m.BjU,;JjU,;e ProNav: ac range: 346.799988 m, nav range: 227.065826 m, bearing: 336.750348 deg, approach rate: -0.342354 m/s, LOS rate: 0.151024 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142126 deg. 2jeK;:je:@mHeadingCmd: 4.819589 target range: 346.799988 and range: 349.20 m. jijijijqiqhqhq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006691hhfffrfbf2(@ɛP겼 ~=I ؼɚiIt==IiTi}))*F?2F:FBF`0JF"G=G=GGYBaOY> I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258522zK LK 9K K K     K w,p)AJ@YJs@J.ͼ9J/>yJH@G??7 `'?sa?@*??Y?ɨJ@J8t;Hy B  II%I%P@5٢5< 5E=9=UEQ =>AA EG٣E57GyE: E> UNusing accuracyPremultiplier from configIU49M⧞?]4YM0 iMBYeye@MDM$;M=;M1r4y }AEZjFNOT Ignoring new targets: 346.80 m.Bj=$;Jj=$; ProNav: ac range: 346.799988 m, nav range: 226.929993 m, bearing: 336.810342 deg, approach rate: -0.324915 m/s, LOS rate: 0.143590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155274 deg. 2j;:j;@HeadingCmd: 4.819819 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrfbf)@ɛB2  =I jؼɚ!i!I%h==I%i-"i-Ļ))))*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514506GmԑGI BQ Om > I i= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762588Lw,MLCAHV>IT IV4!IIVBIV =&IT.IT6IV%<:IVi Ff@YfN@fH;¼9f>yfHu?Ē?mA/?Y?F?@4?»?ɨf@fӇ;f3CyrÂBr I}Mb@Mb@Mb@yyy y)yY}p= ף?~jtx?~jtx?y}%?};};} A y)}h@Iyyy}QAIIr^5٢= C=9_Q;Q > G٣yO; > Nusing accuracyPremultiplier from config49W?4Y0 iB"%?:2@D#;;y4 AZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 226.797729 m, bearing: 336.869703 deg, approach rate: -0.307348 m/s, LOS rate: 0.138023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153375 deg. 2jr;:j;@5HeadingCmd: 4.819786 target range: 346.799988 and range: 349.20 m. j1j1j1j1i1h9h9h9h=BfAfAfArfAbfE|)@JUrJUxJQJQJUG:JU9JQJQJU_;JU_;JU&:JU(:ɛBV 隝=I b׼ɚiIZ==Ii? iP))*Fa2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014908G ҸGa Bi O >w,%]A I:@Y:D@:#c9:#k>y:H`ƹ??@w8@O??k?A??ɨ:@:1d;:2CyF̂BF IININ7`5٢VfN= V\=9Z ;Q Z>XX ^G٣\y^H: ^> fNusing accuracyPremultiplier from config`f49b?j4Yb0 ibBhnn@bɑDbpJ;bK;b4p vAtZjFNOT Ignoring new targets: 346.80 m.Bj);Jj);- ProNav: ac range: 346.799988 m, nav range: 226.680130 m, bearing: 336.922554 deg, approach rate: -0.329702 m/s, LOS rate: 0.148248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133819 deg. 2j-{;:j-8@5HeadingCmd: 4.819444 target range: 346.799988 and range: 349.20 m. j1j1j1j1i9h9h9hAhAfAfAfArfIbfM*@ɛBU Q]=IY egּɚaiaIeK==ImimimKj)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266702)qzKfMKh9KKK  *Fm?2Fq:FqBFuW1JFqGy GyGGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521874!w,IwAyЂB IMb@Mb@Mb@ )Y)\(?Q?I +?yG!?u<94<7 A @)IVAy(AIIe5٢u< 9=9Q > G٣67Gy > Nusing accuracyPremultiplier from config49g?4Y@0 iBY!?:h@ґDl;B;4 AZjFNOT Ignoring new targets: 346.80 m.Bj';Jj'; ProNav: ac range: 346.799988 m, nav range: 226.540634 m, bearing: 336.983510 deg, approach rate: -0.302234 m/s, LOS rate: 0.132150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158168 deg. 2jc;:j_<@HeadingCmd: 4.819870 target range: 346.799988 and range: 349.20 m. jjjjihhhhBfffrf $?Ibf@R+@ɛuBu凖 y}=Iy }ռɚyiyI}:==IiziBG))*F=?2F9:F9BFE`5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771290H>I IG!II BI =&I.I6I.<:Io FGE ԑG! B1 OM >$w,琜Ay=ׂB= I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022498IIII٢m= uQ=9qQ u>yy }G٣yy > Nusing accuracyPremultiplier from config49ﱞ?4Y0 iƫB@ڑDv=;a>;4'B zAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj>&;Jj>&; ProNav: ac range: 346.799988 m, nav range: 226.417480 m, bearing: 337.037480 deg, approach rate: -0.331476 m/s, LOS rate: 0.145342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137184 deg. 2j~;:j^9@HeadingCmd: 4.819503 target range: 346.799988 and range: 349.20 m. jjjjihhhhfffrf bf D,@ɛB̍ >I  ռɚiI&==Ii+i))iEq*F?2F:FBF!5JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:05:05.3596  TRx dataTimestamp_ set to:1736366706.561761% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276861GA zK g3LK 9K K K Gy B O >J J mJ J J J &9J J a% @a% @a% @a% @71*w,׿AJF@YJ @J"ﵼ9J V>yJH? Y?i K??i?}??ɨJF@Jۇ;J5CyRBR IIZIZd5٢b.{= fV=9fX:Q f>hh jG٣hyj ; ]> eNusing accuracyPremultiplier from configam49e?m4YeB0 ie̫BimOu@eDen:e:e4&B AEZjFNOT Ignoring new targets: 346.80 m.Bj;Jj;- ProNav: ac range: 346.799988 m, nav range: 226.291946 m, bearing: 337.092552 deg, approach rate: -0.304231 m/s, LOS rate: 0.133541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140495 deg. 2j-K;:jU9@UHeadingCmd: 4.819561 target range: 346.799988 and range: 349.20 m. jQjYjYjYiYhYhYhahafafafirfibfm-@ɛBo1z T>I  ԼɚiIi==Iiit-x))uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529862*F?2F:FBF3JF"G=G= IGe G9 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: Range 10 to 50 : 358.0 m (Round-trip 477.4 ms) speed -0.5 m/s - ,DAT read: user:1107> -5 X#Rx 1: Read range message, but no direction. y C = T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.1w,ĜAH">I  I"`!II"4BI &I .I 6I"<:I"Z F$@Y @59uW>yH z?`Z?``k~?@$?–?~?@?ɨ$@0Y;騅4Cy-ڂB- I ====Mb@Mb@Mb@ )YV-?!! %G٣%77Gy- -> 5Nusing accuracyPremultiplier from config1=495?=4Y50 i5ҫB=?=:=E@5D5;58;54I MdAI addTargetRange:: Added new target pos. range: 358.000000 m, deltaT: 14.867369 s, deltaX: 8.799988 m, approachRate: 0.591899 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 346.80 m.Bj ;Jj ; ProNav: ac range: 346.799988 m, nav range: 226.146576 m, bearing: 337.155745 deg, approach rate: -0.323005 m/s, LOS rate: 0.140502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164888 deg. 2j;:jU=@ HeadingCmd: 4.819987 target range: 346.799988 and range: 358.00 m. j j j j i hhhhłBfffrf`v@bfE?ɛB!Ӎ 隍B>I aӼɚiI?<=IiYi]*)Y)a*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.@DAT read: Txtime:20:05:06.4781 $Ping request sent.A7w,PpޜA6@Y6o@6L96SC>y6H@F? j?@@Ⱥ?? &i?^?ȸ?ɨ6@6d;61Cy>B>!IIFIF@T5٢NL= R~=9R:Q R ?TT VG٣TyVlq; V ? bNusing accuracyPremultiplier from configXf49Zӹ?f4YZ 0 iZ֫Bdf~f@ZDZW;Z:ZE4l nAlZjFNOT Ignoring new targets: 346.80 m.Bj ;Jj ; ProNav: ac range: 346.799988 m, nav range: 226.045593 m, bearing: 337.199651 deg, approach rate: -0.313418 m/s, LOS rate: 0.136330 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106962 deg. 2j;:j 5@%HeadingCmd: 4.818975 target range: 346.799988 and range: 358.00 m. j!j!j)j)i)h)h)h1h1f1f1f1rfbf5g?ɛBa 隍x>I Y4ҼɚiIW<=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249475I5i5i56)1)9EEzK KK  9K K K fqA+ *FE?2FA:FABFIJFIJJAAJK(3 K(.KK"KJJJ1JJJJ3JGM xG! B) Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501370t=w,CqAnn@Yn@n9n֚>ynH`,? 3?@(? ?鏗?b?A?ɨnn@n;n3CyvBv!I}Mb@Mb@Mb@yyy y)yY}-?L7A`? G٣y7» > Nusing accuracyPremultiplier from config49K?4Y(0 iܫBs?:@D;Y;4 AZj FNOT Ignoring new targets: 346.80 m.Bj;Jj; aImi ProNav: ac range: 346.799988 m, nav range: 225.903152 m, bearing: 337.258722 deg, approach rate: -0.323512 m/s, LOS rate: 0.134248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152512 deg. 2jD;:j;@HeadingCmd: 4.819770 target range: 346.799988 and range: 358.00 m. jjjjihhhhʂBfffrfbf@7?ɛ5B5ɻv 15~>I1 ](ѼɚYiYI]<=Ieie(ie)a)i*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754251H1I1 I5s!II5CBI1&I1.I16I5<:I5M FBIJIRIZI =bIjIň!5G5 *G B OM >[SDw,$A2@Y2F@21z92 >y2H͹?`?@ _?P??R?೶?ɨ2@27;0yRBPIZIZjC5٢b#N; b\=9b᪺Q f>dd fG٣f87Gyj'; j> nNusing accuracyPremultiplier from configlr49n8?r4Yn 0 inBtvv@nDn:n:nx4x zAx=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005264ZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 225.783600 m, bearing: 337.308359 deg, approach rate: -0.304920 m/s, LOS rate: 0.126666 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124175 deg. 2jܭ;:j 7@ HeadingCmd: 4.819276 target range: 346.799988 and range: 358.00 m. j jjjiqhqhqhyhyfyfyfrfbf@?ɛ=B=Qq 9E>IA EмɚAiAIE <=Ii/iH))*F%?2F!:F!BF%s0JF! iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257589Ge XGm ?Gm ?GI Bi O >zK +NK 9K K K J qJ oJ /J J D:J K9J (N3J Jw, ,AyUBU !IIeIeF5٢< >=9Q > G٣y > Nusing accuracyPremultiplier from config49Þ?4Y0 iB@ D::4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj ;Jj ; ProNav: ac range: 346.799988 m, nav range: 225.644531 m, bearing: 337.366255 deg, approach rate: -0.337288 m/s, LOS rate: 0.140503 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148980 deg. 2j;:j;@HeadingCmd: 4.819709 target range: 346.799988 and range: 358.00 m. jj!j!j!i!h!h!h1h1f1f1f9rfAbfE*?ɛB_ 隅%>I ϼɚiI<=Iii())EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510268EuR>Eu>*F]?2Fa:FaBFm0JFi QIQY u `wA ZA aY `wAy BG} PGY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761387?eQw,fEAH*>I( I*!II*MBI* =&I(.I(6I*ܯ<:I*2 Fj @Yjt@j9jU>yjHv??!@? ^?.?@?@?ɨj @j;j5CyttMb@Mb@Mb@ )Yrh|?{Gz?Mb?y?#=< A @)~@IVAy(AII]5٢m: G=9 :Q > G٣y; > Nusing accuracyPremultiplier from config49!Ǟ?4Y0 iB@?:@D;N;/4 AZj)-FNOT Ignoring new targets: 346.80 m.Bj=N;Jj=N;U ProNav: ac range: 346.799988 m, nav range: 225.511322 m, bearing: 337.420037 deg, approach rate: -0.325281 m/s, LOS rate: 0.131408 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136629 deg. 2jU^;:jUJ9@]HeadingCmd: 4.819493 target range: 346.799988 and range: 358.00 m. jYjYjYjYiahahahahe܂Bfififirfibfu"@ɛBzf 隥>#>I μɚiIjm<=Ii i/))*FM?2FI:FIBFMP5JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014045GԑG B O > A IA Ww,J_AyB!I =II Y5٢5D =T=9=Q =>AA EG٣E97GyE M> UNusing accuracyPremultiplier from configI]49Mkʞ?]4YM1 iMBYY]@MDMT ;M ;M4i mAiZjFNOT Ignoring new targets: 346.80 m.Bjy;Jjy; ProNav: ac range: 346.799988 m, nav range: 225.386551 m, bearing: 337.470553 deg, approach rate: -0.324754 m/s, LOS rate: 0.131555 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126817 deg. 2j;:j7@HeadingCmd: 4.819322 target range: 346.799988 and range: 358.00 m. jjjjihhhhfffrfbf@@ɛBrl >I  ͼɚ i I Q<=Ii6.iX))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266437*F?2F:FBF]0JFzKM+KKM9KIKMKM WJJBAJrJmJ0JJG:J&9Jـ3JGu%GIBYO}>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517340 ]w,yA="@Y=2@=v9=>y=Hv&?`? 6?@+~?hN?(?\?ɨ="@=;=4CyMBM !I IMb@Mb@Mb@ )Y-?!! %G٣)y-Q; -> 5Nusing accuracyPremultiplier from config1=495cϞ?=4Y51 i5BEI?E:E嬿E@5"D5;5;54Q UAQZjy}FNOT Ignoring new targets: 346.80 m.Bj ;Jj ; ProNav: ac range: 346.799988 m, nav range: 225.231186 m, bearing: 337.526746 deg, approach rate: -0.357129 m/s, LOS rate: 0.129257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143882 deg. 2jj;:jT:@EHeadingCmd: 4.819620 target range: 346.799988 and range: 358.00 m. jAjAjAjIiIhIhIhQhUԂBfQfQfQrfYbf]@ɛBB{ *>I e˼ɚiI8<=Ii iTr8)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769441*F?2F:FBF0JFHAIA IE!IIERBIE =&IA.IA6IEA<:IE| FG G B O >dw,?nA6.@Y6G>@6|96>y6Hك??5f?k{?@/ϕ??o?ɨ6.@6ǔ;4yBBB!IIJIJ=X5٢R/ Rf=9Ve:Q V>TT VG٣XyZp; Z> bNusing accuracyPremultiplier from config\f49^xӞ?f4Y^K1 i^Bdff@^)D^];^+;^4j'B n AnEZj  FNOT Ignoring new targets: 346.80 m.Bj;Jj;%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0216795 ProNav: ac range: 346.799988 m, nav range: 225.104233 m, bearing: 337.572641 deg, approach rate: -0.356959 m/s, LOS rate: 0.129116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112948 deg. 2j59;:j55@=HeadingCmd: 4.819080 target range: 346.799988 and range: 358.00 m. j9jAjAjAiAhAhAhIhIfIfIfIrfQbfUB @ɛ%B%vx !%J>I) -A˼ɚ)i)I-$'<=IUiUiU:)Y)Y*F ?2F :F BF _0JF GrA GtA $?IiGM 3t9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:05:09.3630 TRx dataTimestamp_ set to:1736366710.593513checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275644GI B O >zK hMK 9K K K {id[UNJH?=84/-)'&% =0}jw,FAy=B= IIMIM^5٢]~` ]?=9eQ e>ai mG٣m:7Gym m> Nusing accuracyPremultiplier from configq49ub؞?4Yu1 iuB@u2Du Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 360.5 m (Round-trip 480.7 ms) speed -0.3 m/s  ,DAT read: user:1108>  BDAT read: Tx time:20:05:10.4782  $Ping request sent. IA  IE !IIE MBIA &IA .IA 6IE <:IE ] Fqw,"ǝAy=ۂB= I-]only read 2 of 4 data items for bottom velocity. Device response is::BS, +7, +6,A  ]@] e@e e@e  e@e J}sJyJyJyJ}K:JyJyJyJ}e;aJ}e;aJ}:aJ}:aII Y5٢ 3=9Q > G٣ y  5> EbBottom track data is 0.5 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E49=ݞ?M4Y=1 i= B+::@=;D=,3<=A>=4 ZA  addTargetRange:: Added new target pos. range: 360.500000 m, deltaT: 4.031998 s, deltaX: 2.500000 m, approachRate: 0.620040 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 346.80 m.Bj;Jj;% ProNav: ac range: 346.799988 m, nav range: 224.786697 m, bearing: 337.687888 deg, approach rate: -0.364945 m/s, LOS rate: 0.132739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155122 deg. 2jM2;:jM;@UHeadingCmd: 4.819816 target range: 346.799988 and range: 360.50 m. jQjQjQjQiYhYhYhYhafafafirfmv@bfu`?ɛB) =I ɼɚ!i!I%F <=I-i-qi))))1*F?2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:20:05:10.4774 I G 7:G B O5 >ww,᝶A2<-@Y2<@2孼92X9>y2H.x?O? @?{?N?`?ض?ɨ2<-@2I߇;23CyN؂BN ITV@AIZIZ-I5٢bb bw=9bd9Q b?dd fG٣dyf j? nbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlr49nsវ?r4Yn!1 inBv :tv_:vv@nBDnm(;nJ?ns4x ~vA|Zj!-FNOT Ignoring new targets: 346.80 m.Bj-;Jj-;E ProNav: ac range: 346.799988 m, nav range: 224.670547 m, bearing: 337.730222 deg, approach rate: -0.368855 m/s, LOS rate: 0.134508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102254 deg. 2jE;:jE`4@MHeadingCmd: 4.818893 target range: 346.799988 and range: 360.50 m. jIjIjIjIiIhIhQhQhQfffrfbf?ɛMBM: IM=Iq ux/ɼɚqiqIuS<=I}i}i}~$H:)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF-0JF1"G==G==zKNK9KKK      Gu/:GA BQ Om >M Will construct direction to contact in vehicle frame from tetrahedron phase data.V ~w, A 9I9E@YE*%@E9E`>yEH?Ȏ?@v`+A?Jv?`4 ????ɨE@E;AyޅقBށ        Mb@Mb@Mb@ )Y{Gz?AA EG٣E;7GyMл M> ]Nusing accuracyPremultiplier from configQ]49U果?]4YU9)1 iUBeT:e$?e:ee@UKDU;U;Ua4q uqAqZjFNOT Ignoring new targets: 346.80 m.Bj";Jj"; ProNav: ac range: 346.799988 m, nav range: 224.505051 m, bearing: 337.791556 deg, approach rate: -0.365696 m/s, LOS rate: 0.135628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159323 deg. 2j);:j<@HeadingCmd: 4.819890 target range: 346.799988 and range: 360.50 m. jjjjihhhhBfffrfbf@ X?ɛBؙ 隽D=I lȼɚiI;=IiiV))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFHI Is!IICBI&I.I6Iԯ<:I- FJqJJJJD:JJJJIZ;JKZ;JJG- }:G B O >\w,A6^@Y6@6%96>y6H2?? ?%A?3? ? ?ɨ6^@6{;62Cy>ЂB> IIJIJF5٢R? Ri=9RюQ R>TT VG٣TyZĻ Z> ^Nusing accuracyPremultiplier from config\b49^Ꞝ?b4Y^/1 i^B`bۭf@^RD^ ;^ ;^~4h nA~Will construct direction to contact in vehicle frame from tetrahedron phase data.lZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 224.377991 m, bearing: 337.838994 deg, approach rate: -0.343044 m/s, LOS rate: 0.128150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117583 deg. 2j;:j6@HeadingCmd: 4.819161 target range: 346.799988 and range: 360.50 m. jjjjihhhhfffrf1bf5?ɛB 隍=I %ȼɚ)i1I5o;=I5i=Y*i=e)9)9 1I9*F?2F:FBFX5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G- ˴G! B9 Oe >zK= :LK= ]9K9 K= K= jw,.A>5@Y> @>9>I>y>H? m?tz?o???@u?ɨ>5@>p;hh nG٣lyr2 r> Nusing accuracyPremultiplier from config| 49~b? 4Y~51 i~#B@~[D~,;~,;~4 AEZjaeFNOT Ignoring new targets: 346.80 m.Bjm!;Jjm!;} ProNav: ac range: 346.799988 m, nav range: 224.228729 m, bearing: 337.895001 deg, approach rate: -0.376850 m/s, LOS rate: 0.141498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143318 deg. 2j}7;:j}?:@HeadingCmd: 4.819610 target range: 346.799988 and range: 360.50 m. jjjjihhhhfffrfbf@U?ɛBg 0a=I `ǼɚiI;=Iii4ي))*F?2F:FBF_0JFGsA GrA%Will construct direction to contact in vehicle frame from tetrahedron phase data. I%iGV'SGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ H I  I m!II >BI  =&I .I 6I <<:I z FBIJIRIZIbI =jI˼4w,pHAy}ɂB} IA%Mb@Mb@Mb@!!! !)!Y%L7A`?ʡE?I +?y%+'?%=%94<% A %@)%Q@I%@!y%@IEIE[5JYJ]kJYJYJYJ]9JYJYJYJYJ]:J]:٢mP u1=9uQ u>yy }G٣}<7Gy} }> Nusing accuracyPremultiplier from config49?4Y=1 i+BY(?:q@dDd;~b;4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 224.059692 m, bearing: 337.958020 deg, approach rate: -0.373879 m/s, LOS rate: 0.139492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164386 deg. 2jv;:jB=@HeadingCmd: 4.819978 target range: 346.799988 and range: 360.50 m. jjjjihhhhBff f rf bf@2@ɛEBE'+ IM8=II UdxǼɚQiQIU;=I]i]Vbi])Y)a*F?2F:FBFV0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G ?  I G B O >~,w,HbA2e@Y2@292>y2H Ԃ?3?@?`\?O2??^?ɨ2e@2@;26CyR˂BR IIZIZob5٢ U< c=9%;Q %>!! -G٣)y-; -> =Nusing accuracyPremultiplier from config1=495?E4Y5C1 i52BAE$E@5lD5;5;5 4I UAQZjFNOT Ignoring new targets: 346.80 m.Bjy;Jjy; ProNav: ac range: 346.799988 m, nav range: 223.925507 m, bearing: 338.007928 deg, approach rate: -0.372291 m/s, LOS rate: 0.138550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125000 deg. 2j+;:j7@HeadingCmd: 4.819291 target range: 346.799988 and range: 360.50 m. jjjjihhhhfffrfbf@ɛB֪ ?=I 1ǼɚiI&;=IiJ{i%))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516915*Fu?2Fq:FqBF}_0JFyzKe>KKe9KaKeKe !*4:9<<:8952/-*,FddRB5+! G GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768045Yw,0|A v$?It)uſ= }C}G  =G Y9y=ByޕBޕ IMb@Mb@Mb@ )YQ?x&?IQ UG٣Yy] ]> mNusing accuracyPremultiplier from configam49er?u4YeK1 ie:Bu)?u:u&u@evDe ;e8;eH4y }1AZjFNOT Ignoring new targets: 346.80 m.Bjl";Jjl"; ProNav: ac range: 346.799988 m, nav range: 223.750900 m, bearing: 338.075307 deg, approach rate: -0.367699 m/s, LOS rate: 0.142003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177481 deg. 2j;:j!?@HeadingCmd: 4.820206 target range: 346.799988 and range: 360.50 m. jjjjihhhhBfffrfbf ~@ɛB]9 0r=w,nA6@Y6<#@6W96w>y6HĬ?`Ύ?4| @'?@!?ӕ?@I??ɨ6@6;61CyRBR I Va=Va=I^I^uZ5٢f>) f~=9fݒ:Q j ?hh jG٣j=7GynR;rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272178 v ? zNusing accuracyPremultiplier from configx~49z?~4YzMQ1 iz?B@z}Dz8;z;z4  fA EZj9EFNOT Ignoring new targets: 346.80 m.BjE ;JjM ;U ProNav: ac range: 346.799988 m, nav range: 223.632858 m, bearing: 338.120919 deg, approach rate: -0.364056 m/s, LOS rate: 0.140746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112094 deg. 2j/;:j5@HeadingCmd: 4.819065 target range: 346.799988 and range: 360.50 m. jjjjihhhhfffrfbf @ɛeBeY¼ ae@;Ia mƼɚiiiIm;=IuiiLԺ)) I*FU?2FQ:FQBFUo0JFQGupWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:05:13.3661 TRx dataTimestamp_ set to:1736366714.626429checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527076GI Ba O >zK MK 9K K K  gw,կA>@Y>$@>9>>y>H|?`B?id 2? ? )ו?@Q7??ɨ>@>؆;tt vG٣tyv9 z> ~Nusing accuracyPremultiplier from configx49z?4Yz:X1 izEB  @zDz~ ;z;z4 9AZjyFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 223.484772 m, bearing: 338.178262 deg, approach rate: -0.359952 m/s, LOS rate: 0.139477 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147331 deg. 2jq;:j:@HeadingCmd: 4.819680 target range: 346.799988 and range: 360.50 m. jjjjihhhhfffrfbfK @ɛBL |H I  I M!II %BI &I .I 6I +<:I m F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 362.7 m (Round-trip 483.7 ms) speed -0.5 m/s  ,DAT read: user:1109>  BDAT read: Tx time:20:05:14.4782  $Ping request sent. y2Hϋ?x?!u ?`$р? 2?A??ɨ2@2=8;24Cy=B= IMb@Mb@Mb@ )YHzG?~jt?Q =>9A EG٣AyE E> uNusing accuracyPremultiplier from configiu49mz ?}4Ym`1 imMB}]+?:@mDmfTic))Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:05:14.4774 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG GsA I G ˴G B O >Ǯw,k䞶A2@Y2>!@2492>y2H ??.??"&?`V? ?ɨ2@2j[;23CyNBR ITVAIZIZ<5٢b~< br=9f:9Q f?dh jG٣j>7Gyj6K: j? rNusing accuracyPremultiplier from configlr49n~?v4YnOf1 inSBtz|z@nDn1.;n.;nJ-4~)B ~}A~EZj!%FNOT Ignoring new targets: 346.80 m.Bj-6;Jj-6;= ProNav: ac range: 346.799988 m, nav range: 223.178024 m, bearing: 338.294496 deg, approach rate: -0.419159 m/s, LOS rate: 0.159129 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117447 deg. 2jEj;:jE6@EHeadingCmd: 4.819159 target range: 346.799988 and range: 362.70 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf]`w?ɛBȼ 隕7I ƼɚiI;=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501692*F%?2F):F)BF- 5JF)JJAAJsJkJ0JJK:J9Jـ3Ja@a@a@a@zK5"LK5h9K1K5K5GMWqG)B1OM> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753791Y־w,m;A ,I,@YM@z_9lo=yHY?E? FH?`k5? e?`Զ??ɨ@;騅5CyޝBޝ I-Mb@Mb@Mb@))) )))Y- rh?:v?I +?y-,?-T=-94<) -@))I-@)y-@IEIEJ5٢U U4=9]UQ e>ai mG٣iym= u> }Nusing accuracyPremultiplier from configq49u?4YuKn1 iu[B-?:@uDu;u*;uA54 AZjFNOT Ignoring new targets: 346.80 m.Bj';Jj'; ProNav: ac range: 346.799988 m, nav range: 223.016251 m, bearing: 338.361733 deg, approach rate: -0.351095 m/s, LOS rate: 0.146030 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177045 deg. 2jp;:j?@HeadingCmd: 4.820199 target range: 346.799988 and range: 362.70 m. jjjjihhhh|Bfffrfbf ?ɛ B sϼ  pI  ǼɚiI<=Iii))!HI IG!II BI&I.I6I<:Ic F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006418*F?2F:FBFJ5JFG i"G B O >%ŧw, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257016B@YB5@B9Bu\=yBH<6??G`?Ź?G͆? a3? a??ɨB@B;B4CybBf IIID5٢4 a=9%~Q %>)) 5G٣1y= E> UNusing accuracyPremultiplier from configQe49U?m4YUt1 iUaBqu沿u@UDU;U;U;4 AEZjmFNOT Ignoring new targets: 346.80 m.Bj(;Jj(; ProNav: ac range: 346.799988 m, nav range: 222.887146 m, bearing: 338.415814 deg, approach rate: -0.350600 m/s, LOS rate: 0.146948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137522 deg. 2j;:jk9@HeadingCmd: 4.819509 target range: 346.799988 and range: 362.70 m. jjjjihhhhfffrfbfy? QIQɛ]Be)mۼ aeh Ia eIBǼɚaiaIm <=Iuiuiu%ػ)q)y*F%?2F!:F!BF%_0JF!"G)G-=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508705G QpG B O J tJ vJ J J ;N:J ϣ9J J zK cKK 9K K K  ˧w,1A2ʒ@Y2Bڙ@2`ϼ929>y2H lg?Y?P8`?`Ί?Z?\? A?ɨ2ʒ@2<;22Cy:B: IIFIFaO5٢J)= NS=9NOQ R>PP RG٣PyV V> ZNusing accuracyPremultiplier from configX^49ZI?^4YZl{1 iZhB`bOb@ZDZB;Z;ZWB4d fAdZjxzFNOT Ignoring new targets: 346.80 m.Bj~-;Jj}-; ProNav: ac range: 346.799988 m, nav range: 222.752716 m, bearing: 338.472679 deg, approach rate: -0.358552 m/s, LOS rate: 0.151761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145883 deg. 2jM;:j:@HeadingCmd: 4.819655 target range: 346.799988 and range: 362.70 m. jjjjihhhhfffrfbf2t?ɛuB}RӼ y}PIy }bǼɚyiyI <=Ii5ci()))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763358*Fm?2Fi:FiBFiJFi e$?IeiG4λG B O >H I  I ;!II BI &I .I 6I P<:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012887ҧw, LAyUBU I%Mb@Mb@Mb@!!! !)!Y%(\? ףp= ?{Gzt?y%.?%Q8=%ף;%~A !)%$@I%Q@!y%z@I= I=Ng5٢M M0=9UQ U>QY ]G٣]?7Gy] e> mNusing accuracyPremultiplier from configiu49m ?u4Ym1 imnB}w.?}:}}@mDm ;m;mxJ4 AZjFNOT Ignoring new targets: 346.80 m.BjL,;JjL,; ProNav: ac range: 346.799988 m, nav range: 222.591095 m, bearing: 338.542797 deg, approach rate: -0.346957 m/s, LOS rate: 0.150635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185694 deg. 2j;:jN@@HeadingCmd: 4.820350 target range: 346.799988 and range: 362.70 m. jjjjihhhh[Bfffrfbf`A@ɛB]Iۼ 隥I ֦ǼɚiI<=Iiviì))*F?2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265585 ) I) G ZG B O% >٧w,eA6@Y6`@6¼96>y6H???`l{ѹ?s?JT?``3?ɻ?ɨ6@6;64CyBBB IIJIJb5٢R< Rj=9R;Q R?TT VG٣TyZ< Z? bNusing accuracyPremultiplier from config\f49^#?f4Y^щ1 i^sBdj"j@^’D^N;^!;^P4l rAp~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 346.80 m.Bj+;Jj+;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518116 ProNav: ac range: 346.799988 m, nav range: 222.469818 m, bearing: 338.595180 deg, approach rate: -0.346998 m/s, LOS rate: 0.149960 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132420 deg. 2j;:j8@HeadingCmd: 4.819420 target range: 346.799988 and range: 362.70 m. jjj1j9i9h9hAhAhIfIfIfQrfqbf}FZ@ɛBؼ MIQ UǼɚQiQIU<=I]i]'i]#L)Y)aJuJlJJJ[Q:J9JJ*FE?2FA:FABFE`0JFAGMrA GMtAzK;LK 9KKKm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768878Gq Ga Bi O > 9 I= iY4ߧw,AyMBM IMb@Mb@Mb@ )Yn?Q?MbP?yV.?<: A @)I~@y@II]5٢ɑ<  )=9 Q  > G٣@7Gy > %Nusing accuracyPremultiplier from config-49'?54Yh1 ixB5.?5:5ض5@͒DI;\G;X49 EAEEZjamFNOT Ignoring new targets: 346.80 m.BjmD/;JjuD/; ProNav: ac range: 346.799988 m, nav range: 222.307526 m, bearing: 338.669016 deg, approach rate: -0.336553 m/s, LOS rate: 0.153229 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196855 deg. 2jQ;:jA@HeadingCmd: 4.820545 target range: 346.799988 and range: 362.70 m. jjjjihhhhnBfffrfbf`@HM>II IIIIIM =&II.II6IMm<:IM FBIJIRIZI =bI =jI4ɛBӼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020962 I ȼɚiI"<=Iii2ͻ))*FU?2FQ:FQBFU_0JFQG G G 1?u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273076G B O >[Tw,CAr@YrZ@rż9rź>yrH?Ď? c )) -G٣)y5; 5> =Nusing accuracyPremultiplier from config949=*?4Y=1 i=|B@=ՒD=*<=*<=9_4 AZjFNOT Ignoring new targets: 346.80 m.Bjk';Jjk';= ProNav: ac range: 346.799988 m, nav range: 222.187775 m, bearing: 338.723474 deg, approach rate: -0.321686 m/s, LOS rate: 0.146368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138648 deg. 2j=;:jE9@EHeadingCmd: 4.819529 target range: 346.799988 and range: 362.70 m. jAjIjIjIiIhIhIhQhQfQ aIafQfyrfybf}u @ɛ-‚B5 oټ QUIY ],ȼɚYiYI]*<=Ieie,ie)a)iEEsA*FE?2FI:FIBFM0JFIeWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:20:05:17.3693 TRx dataTimestamp_ set to:1736366718.659606checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530290Gu ̻G) BA JK cw3 K .-KK"KJU tJQ JQ JQ JU ;N:JQ JQ JQ O} >zK} FJK} h9Ky K} K}     5qw,/AF@YF@F_ż9F>yFH ع?)?pRp? d??4?`?ɨF@F;F4CyNBN IIVIVk5٢^ќ< bS=9bQ b>dd fG٣dyf; j> nNusing accuracyPremultiplier from confighr49j-?r4Yj1 ijBprr@jݒDj ;jq ;jf4t zAxZjFNOT Ignoring new targets: 346.80 m.Bj,;Jj,; ProNav: ac range: 346.799988 m, nav range: 222.057541 m, bearing: 338.782772 deg, approach rate: -0.331127 m/s, LOS rate: 0.150857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153185 deg. 2j;:j;@HeadingCmd: 4.819782 target range: 346.799988 and range: 362.70 m. jjjj!i!h!h!h!h)f)f)f)rf)bf5@ɛռ 隝I cPȼɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777301I0<=IiKJi))*F ?2F:FBF 5JF I~GAY XYybBH I  I I I  =&I .I 6I /<:I o F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to5.2 m (Round-trip 487.0 ms) speed -0.6 m/s  unknown deviceResponse_: Range 10 to5.2 m (Round-trip 487.0 ms) speed -0.6 m/s  ,DAT read: user:1110>  BDAT read: Tx time:20:05:18.4782  $Ping request sent. Jaw,I-ΟAr@Yr @rǼ9r>yrH@??BL?@h?`?`??ɨr@r;̇;r3CyuÂBu I }@} }@} }@}  }@} II7`5٢O= .=9ԹQ > G٣A7Gy: > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config491?%4Y1 iB%+:!%|:%|%@D;>l4-*B 54A5EZjFNOT Ignoring new targets: 346.80 m.Bj4;Jj4; ProNav: ac range: 346.799988 m, nav range: 221.898163 m, bearing: 338.855488 deg, approach rate: -0.344823 m/s, LOS rate: 0.157439 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193491 deg. 2j;:jkA@HeadingCmd: 4.820486 target range: 346.799988 and range: 362.70 m. jjjjihhhhfffrfbf .@ɛÂBYȼ 隅I PȼɚiIb1<=Iiip))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:05:18.4774 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252565*Fi2Fi:FiBFmQ5JFi aIaG5 ?G= sAG= sAG) B9 OU >Sw,}矶AB@YBa@Bϼ9B >yBHҖ?@h?@AMQ;??}?O?@@?ɨB@BpH;B5CyJȂBJ IIVIVM5٢^< br=9bQQ f?hh jG٣hyn n? zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt49v4?4Yv1 ivB  :  L: @vDv;vP?vp4! % A!EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501983mB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 346.80 m.Bjz.;Jjz.; ProNav: ac range: 346.799988 m, nav range: 221.786179 m, bearing: 338.906931 deg, approach rate: -0.331893 m/s, LOS rate: 0.152541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129593 deg. 2j_;:jI8@]HeadingCmd: 4.819371 target range: 346.799988 and range: 362.70 m. jYjYjajaiahahahihifififirfqbfHQ@ɛĂB|A¼ 隽*F?2F:FBF_0JFzKa MKKKK  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753210G}G B O > i Im iZnw,Am@Ymq @mkӼ9m3>ymH@?I?nj¿ 8@?@Y?l?@,?D?ɨm@ml ;m2CyޝςBޝ I % % %% %%  % % -Mb@Mb@Mb@))) )))Y- rh?~jt?Mb`?y-C+?-D<-;-~A -@)-@I-h@)y-@IEIEV5٢U< U3=9]aqQ ]>Ya eG٣aye0; e> uNusing accuracyPremultiplier from configiu49m7?}4Ym1 imB}T:}J+?}:}ݹ}@mDmP;m;mx4)B A EZjIUFNOT Ignoring new targets: 346.80 m.BjU+;JjU+;HI IG!II BI =&I.I6IQ<:I F ProNav: ac range: 346.799988 m, nav range: 221.644073 m, bearing: 338.976402 deg, approach rate: -0.306626 m/s, LOS rate: 0.149996 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183732 deg. 2j;:j@@HeadingCmd: 4.820315 target range: 346.799988 and range: 362.70 m. jjjjihhhhsBfffrfbf%`)$@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005352ɛqu似 qu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257064jw,qAy]܂B] IImImjC5٢4= U=9Q > G٣y > Nusing accuracyPremultiplier from config49*:?4Y1 iB@DC ; ;44 hA IZjFNOT Ignoring new targets: 346.80 m.Bj l7;Jj l7; ProNav: ac range: 346.799988 m, nav range: 221.524704 m, bearing: 339.034951 deg, approach rate: -0.326765 m/s, LOS rate: 0.160360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150928 deg. 2j%;:j%V;@-HeadingCmd: 4.819743 target range: 346.799988 and range: 362.70 m. j)j)j)j)i)h)h)h1h1f1f9f9rf9bf=@ɛamF[ imXB=Ii u)ǼɚyiyI}<=IiiĊ))*FA2FI:FIBFM_0JFI=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510126Gg{G B O >zK zLK 9K K K     !(.2200-,(,-*'&)HuaWZ;_ w,5A2!@Y2@2Fۼ92 >y2H ]0?@?@?ZM?g?ۆ??ɨ2!@2;23Cy:B: !IIFIF_5٢Jװ= J\=9N)Q N>PP RG٣RB7GyRG; V> ZNusing accuracyPremultiplier from configTZ49VIq  Iu `!IIu 4BIq &Iq .Iq 6Iu j<:Iu FG B O- >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013140޶w,:OA>! @Y>@>Kۼ9>L_ >y>H h??`ـ@U@?@??`! @>]; G٣yw; > Nusing accuracyPremultiplier from config49z??4Y1 iB*?:/@Dz@;+?;>4 AZjYeFNOT Ignoring new targets: 346.80 m.Bje 0;Jjm 0; ProNav: ac range: 346.799988 m, nav range: 221.275848 m, bearing: 339.157814 deg, approach rate: -0.309828 m/s, LOS rate: 0.153909 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173522 deg. 2j@;:j>@HeadingCmd: 4.820137 target range: 346.799988 and range: 362.70 m. jjjjihhhhBfffrfbff@ɛ%łB%A !%=I! -gƼɚ)i)I-;=IUiUxiU?')Q)Y*F ?2F :F BF o0JF "G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265962 $?IG- OPG B O= >w,1ziAR5 @YR@Rs5޼9R >yRHp?? l) "?b? ś? &??ɨR5 @R;R2CybBb%!IIrIr_5Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518102٢= I=9r-Q > G٣y9 > Nusing accuracyPremultiplier from config49#B?4Y1 iB*@D;p;b4 -AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj6;Jj6;  ProNav: ac range: 346.799988 m, nav range: 221.150421 m, bearing: 339.220276 deg, approach rate: -0.320853 m/s, LOS rate: 0.159875 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162680 deg. 2j p;:j =@HeadingCmd: 4.819948 target range: 346.799988 and range: 362.70 m. jjj!j!i!h!h!h)h)f)f)f1rf1bf5T^@ɛYe9z ae\=Ia e3żɚaiaIm;=Imiuiu%)q)q*F?2F:FBF1JFzKOKػ9KKKF830&kM8'|rlhb]YWSNHF@==<888:BIOYacfhG*Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769965GBO > I i w,[A @YM@r9>yH |?7?`6/?@?] ? J?ڴ?ɨ @;;騝3CyBB!IMb@Mb@Mb@ )Yx&1? G٣C7GyU9 > Nusing accuracyPremultiplier from config49)E?4Y1 iB!?:v@$DQ;;4 qAHI I!IIRBI =&I.I6Ig<:I FZj)5FNOT Ignoring new targets: 346.80 m.Bj=#;Jj=#;M ProNav: ac range: 346.799988 m, nav range: 221.019333 m, bearing: 339.283692 deg, approach rate: -0.294577 m/s, LOS rate: 0.142590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165546 deg. 2jM;:jMm=@UHeadingCmd: 4.819998 target range: 346.799988 and range: 362.70 m. jQjQjQjQiYhYhYhYheӂBfafafirfibfm$@ɛQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021638 =,>IA E_ļɚAiAIE{;=IMiMiMI)I)Q*F?2F:FBFl1JFJrJmJ0JJG:J&9Jـ3JJ_;J_;J:J:G b(G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273241&w,%ArN @Yr@r9r5>yrHGi?ى? +`! ??W?@4?0?ɨrN @rl<;pyz*BzU!II I =X5٢Ϫ= i=9SQ %>!! %G٣!y-\ -> 5Nusing accuracyPremultiplier from config1=495G?=4Y51 i5BAEE@5+D5 ;5 ;574I M@I aIaZjFNOT Ignoring new targets: 346.80 m.Bjc&;Jjc&; ProNav: ac range: 346.799988 m, nav range: 220.914917 m, bearing: 339.334392 deg, approach rate: -0.299443 m/s, LOS rate: 0.145466 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127359 deg. 2j;:j7@HeadingCmd: 4.819332 target range: 346.799988 and range: 362.70 m. jjjjihhhhfffrfbf%*@ɛq- 隕DJ>I ctüɚiIC;=IiiΕ/))*F-?2F):F)BF-4JF)G5sA G5sAWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:20:05:21.3719 %TRx dataTimestamp_ set to:1736366722.688610%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526196GmZ#GI BQ Ou >-w,AzK/OK]9KKKfb[TNJA=:862,+($#      :D @Y:@:G9:jV>y:Hx??@#-?ً?@H??`u?ɨ:D @:u;:2CyB7BFd!IININ\5٢V3= VQ=9V{ 9Q V>XX ZG٣Xy^ : ^> bNusing accuracyPremultiplier from config`f49bAJ?f4YbI1 ibBdfxj@b3Db*:b:b 4l n*@lZjFNOT Ignoring new targets: 346.80 m.Bj i&;Jj i&; ProNav: ac range: 346.799988 m, nav range: 220.799164 m, bearing: 339.390712 deg, approach rate: -0.298859 m/s, LOS rate: 0.145487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144235 deg. 2j;:ja:@%HeadingCmd: 4.819626 target range: 346.799988 and range: 362.70 m. j!j!j!j!i)h)h)h)h1f1f1f1rf9bf=2@ɛ1 %b>I! %v ¼ɚ!i!I%;=I-i-i-U)Q)YuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777237*F-?2F):F)BF-^0JF1 YIYG-*G H I  I !II vBI &I .I 6I <:I a FBIJIRIZIbI =jIȑ{4Bi O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: Range 10 to 50 : 367.1 m (Round-trip 489.5 ms) speed -0.4 m/s M ,DAT read: user:1111> e BDAT read: Tx time:20:05:22.4783 e $Ping request sent.e yVHf?@z?&? 9? ,f?F?Ƶ?ɨV @Vć;V3CJbsJbkJb1J`JbK:Jb9Jb3J`Jbe;Jbe;Jb:Jb:ynEBrv!IuMb@Mb@Mb@qqq q)qYu-? rh?~jt?yu5?uC =u G٣D7Gy% > Nusing accuracyPremultiplier from config49M?4YJ1 iB?:]@;D;I;4 =@ addTargetRange:: Added new target pos. range: 367.100006 m, deltaT: 8.065059 s, deltaX: 4.399994 m, approachRate: 0.545563 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 346.80 m.Bj ;Jj ;- ProNav: ac range: 346.799988 m, nav range: 220.667053 m, bearing: 339.451578 deg, approach rate: -0.303222 m/s, LOS rate: 0.139784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157893 deg. 2j-ݿ;:j-T<@5HeadingCmd: 4.819864 target range: 346.799988 and range: 367.10 m. j1jjjihhhh Bfffrfv@bfՐ?ɛ ƂB0޻ >I ?ɚiIF:=I5i5Gi50)9)9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:05:22.4775 AIAG G B O >V1:w,Y꠶AR(@YR@RG9R>yRH;8?]?`?֍?? ??ɨR(@R,;PyZ[BZ!I`bAAIfIfv35nWill construct direction to contact in vehicle frame from tetrahedron phase data.٢r:= rX=9rQ v>tt vG٣tyzj ~> Nusing accuracyPremultiplier from config 49P? 4Yi1 iǬB  t @CD:L:K4*B @EZjAEFNOT Ignoring new targets: 346.80 m.BjM ;JjM ;] ProNav: ac range: 346.799988 m, nav range: 220.552017 m, bearing: 339.504822 deg, approach rate: -0.302270 m/s, LOS rate: 0.139977 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135002 deg. 2j]!;:j]9@eHeadingCmd: 4.819465 target range: 346.799988 and range: 367.10 m. jajajajaiihihihihqfqfqfyrfybf]?ɛ 隭>I ɚiIe:=Ii,iΫZ))*FM?2FI:FIBFIJFQ"GQGQzK}MK}9KyK}K}Gub(GIBaO>Will construct direction to contact in vehicle frame from tetrahedron phase data.) ) I1 ] Gu vA A Y vAy `BAw,A@Y@}9=yHo?G?/@V?l?@.? >??HI I!IIBI&I.I6I<:IH Fɨ@%C;騵4Cy]dB]!IWill construct direction to contact in vehicle frame from tetrahedron phase data.]Mb@Mb@Mb@YYY Y)YY]V-?)\(??y]h?]Ga=]<] A Y)YI]~@YyYI}I}GL5٢= =9?Q > G٣y > 5Nusing accuracyPremultiplier from config1=495U?E4Y5d1 i5ԬBE:?E:EE@5MD5y;5;54I Uc@QuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 220.391312 m, bearing: 339.573241 deg, approach rate: -0.295746 m/s, LOS rate: 0.126003 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180593 deg. 2j;:j?@HeadingCmd: 4.820261 target range: 346.799988 and range: 367.10 m. jjjjihhhh,Bfffrfbf r?ɛǂBh >I λɚiI9=Iii߮))E ]PExceeded connect timeout, disconnecting.*Fm?2Fi:FiBFiJFqJJpJ0JJJ^9Jـ3JJJJ}:J~: Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G i"G G rAG B  I iOU >ZGw,] AB'@YB@B9B>yBH`??q`cb?`ŏ?`5;?`'? ?ɨB'@B;B3CyNoBN!IIVIV"25٢b= b=9b!Q f?dd fG٣fE7Gyj9 ? %Nusing accuracyPremultiplier from config!-49%qX?-4Y%1 i%۬B)55@%RD% ;%h;%49 =@AZjimFNOT Ignoring new targets: 346.80 m.Bju;Jju; ProNav: ac range: 346.799988 m, nav range: 220.301620 m, bearing: 339.611533 deg, approach rate: -0.296629 m/s, LOS rate: 0.126692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.090109 deg. 2j;:j2@HeadingCmd: 4.818681 target range: 346.799988 and range: 367.10 m. jjjjihhhhfffrfbf?ɛH o; >I -ɚiIצ9=IiSi))*Fm?2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504544GXGaBqO>zK RKK 9K K K LMw,T:A2@Y2@2b92>y2H@?.? ;@Ⱥ?ñ??`Ze?`g?ɨ2@2ꕈ;0y:sB:!IIBIBR5٢JШ< JN=9N5;Q N>PP RG٣PyR?; V> ZNusing accuracyPremultiplier from configTZ49V\?^4YV2 iVB\^m^@VYDV ;V;V4d fj@dZjtzFNOT Ignoring new targets: 346.80 m.Bjz;Jjz;  ProNav: ac range: 346.799988 m, nav range: 220.186523 m, bearing: 339.660602 deg, approach rate: -0.297361 m/s, LOS rate: 0.126838 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122469 deg. 2j ;:j D7@HeadingCmd: 4.819246 target range: 346.799988 and range: 367.10 m. jjjjihhhhf!f!f!rf!bf%`9?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764429ɛȂBM: l>I ɚiI~F9=I%i%i%a)!)) I*F ?2F:FBF0JFH>I I"IIƒBI&I.I6I<:IN FGGBO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017013 ] nManaging dock network, ignoring radio surface power offsTw,NTA6\@Y6+@6;Լ96D>y6H@??׊?1?`\?`?^?&?ɨ6\@6;64CyRBR!I5Mb@Mb@Mb@111 1)1Y5K7?Q?~jt?y5I ?5u=5<1 1)5Q@I5Q@1y5@IMIMaO5٢]>= ]==9e=j;Q e>aa mG٣iym; m> }Nusing accuracyPremultiplier from configq49u(`?4Yu 2 iuB5 ?:D@uaDuQY;uX;u`4 P@ZjFNOT Ignoring new targets: 346.80 m.Bj ;Jj ; ProNav: ac range: 346.799988 m, nav range: 220.059723 m, bearing: 339.712795 deg, approach rate: -0.293192 m/s, LOS rate: 0.120752 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131856 deg. 2j;:j8@HeadingCmd: 4.819410 target range: 346.799988 and range: 367.10 m. jjjjihhhhHBfffrfbf k@ɛɂB@.; 隵(>I @[ɚiI\8=Iii))EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268775*F?2F:FBFe3JF IGV'SG ?G?G B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520259A[w,k(nA6F1@Y6@@6]ʼ96>y6H?? /?T6?!Z?@??ɨ6F1@6C;63Cy>}B>!IIJIJ N5٢R0 RW=9RE;Q V>TX ZG٣ZF7GyZ; ^> bNusing accuracyPremultiplier from config\b49^c?f4Y^2 i^Bdf񭿑-@^gD^h<^h<^4Q U@UEZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 219.947556 m, bearing: 339.758816 deg, approach rate: -0.280688 m/s, LOS rate: 0.115223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113322 deg. 2j';:j5@HeadingCmd: 4.819087 target range: 346.799988 and range: 367.10 m. j j j jihhhhfffrfbf%@@ɛ}ʂB}.;JtJJJJ;N:JJJa@a@a@a@ 隽>I ɚiI8=Iii:))*Fy2Fy:FyBF}P5JFyzKLKػ9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773687 $?IG >Gy B O >aw,AHaIa Ie."IIe܃BIa&Ia.Ia6Ies<:Ie FA@YOQ@fü9hU>yH?? @?`Ղ?{?!?J?ɨA@W;騍5Cyޥ{Bޥ!I-Mb@Mb@Mb@))) )))Y-x&?Q?Mb?y-7 ?-\=-<) -@)-h@I-~@)y-@IEIER5٢] ]2=9]/:Q e>aa eG٣aym; m> Nusing accuracyPremultiplier from config49h?4Y2 iBq ?:@pDr;;R4 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024442) -@)ZjquFNOT Ignoring new targets: 346.80 m.Bj}Z ;Jj}Z ; ProNav: ac range: 346.799988 m, nav range: 219.805481 m, bearing: 339.814362 deg, approach rate: -0.306952 m/s, LOS rate: 0.120083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141930 deg. 2jӤ;:j :@HeadingCmd: 4.819586 target range: 346.799988 and range: 367.10 m. jjjjihhhhMBfffrfbfx@ɛ5˂B5: 9=>I9 =}|ɚ9i9IE#8=IiYiI=;))*F)2F):F)BF-@5JF)"GE=GE=G] : Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276290G9 BA I O >t hw,+¡AyB!II-I-U5٢M < U^=9UQ U>ii mG٣iyu u> Nusing accuracyPremultiplier from config49l?4Y2 iB@vD$o;;4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bjz;Jjz; ProNav: ac range: 346.799988 m, nav range: 219.698761 m, bearing: 339.856184 deg, approach rate: -0.302099 m/s, LOS rate: 0.118445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100713 deg. 2j;:j(4@ HeadingCmd: 4.818867 target range: 346.799988 and range: 367.10 m. j j j j i hhhhfff!rf!bf%O; @ɛ̂B贗; h>I &nɚiI:7=IiGi F/;) ))EEY>EA*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A-BDAT read: Rx Time:20:05:25.3746 -TRx dataTimestamp_ set to:1736366726.7289585checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529710JvJrJ1JJ{T:J9J3JGM !j;G! B1 OM >zKU KKU 9KQ KU KU     yBH=3?@Y? |!@@l?@dPz?^?`?!?ɨBd@BqX;B2CyNnBN!IIVIV N5٢^ ^S=9^R;Q b>`` bG٣bG7Gyf7< f> jNusing accuracyPremultiplier from confighn49jp?n4Yj 2 ij Bprlr@j|Dj*:jL:j>4v+B v@vEZjFNOT Ignoring new targets: 346.80 m.Bj`;Jj`;- ProNav: ac range: 346.799988 m, nav range: 219.583908 m, bearing: 339.900878 deg, approach rate: -0.303981 m/s, LOS rate: 0.118354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109340 deg. 2j-s;:j-c5@5HeadingCmd: 4.819017 target range: 346.799988 and range: 367.10 m. j1j1j1j9i9h9h9h9hAfAfAfArfAbfM@g@@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780432ɛ}͂B ; 隅0>I 撬ɚiI7=Iiai;)) !I%i*F?2F:FBFJFHU>IQ IU;"IIUBIU =&IQ.IQ6IUu<:IQG.A;% Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: Range 10 to 50 : 369.0 m (Round-trip 492.1 ms) speed -0.5 m/s E ,DAT read: user:1112> U BDAT read: Tx time:20:05:26.4783 U $Ping request sent.U uw,xաAy-cB-!IMb@Mb@Mb@ )YHzG?sh|??~jtx?y= ?=; A )Q@Iy@IIdK5٢?@ 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 v?4Y &2 i B ?:=@ D k8; 5; 4) -w@)] addTargetRange:: Added new target pos. range: 369.000000 m, deltaT: 4.039542 s, deltaX: 1.899994 m, approachRate: 0.470349 m/s, rangeRepo size: 4 ZjY]FNOT Ignoring new targets: 346.80 m.Bje;Jje; ProNav: ac range: 346.799988 m, nav range: 219.444702 m, bearing: 339.952356 deg, approach rate: -0.314025 m/s, LOS rate: 0.116200 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129718 deg. 2j~;:jM8@HeadingCmd: 4.819373 target range: 346.799988 and range: 369.00 m. jjjjihhhh+Bfffrfw@bf` 2?ɛM΂Bmp iu+>Iq u\ɚqiqIu87=Iii7;))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:05:26.4775 III*Fe?2Fa:FaBFaJFaGi GmtAGM O;G! B1 O] >= Will construct direction to contact in vehicle frame from tetrahedron phase data.fI{w,WA6nn@Y6~@6396>y6H`d~?|?T ?=y? ??[?ɨ6nn@6K;4yB[BB!IDDIJIJK5٢V8 Va=9VH:Q V>XX ZG٣XyZP; ^> ENusing accuracyPremultiplier from config9E49=z?E4Y=;,2 i=BIMM@=D=:=;=4a e@aZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 219.325729 m, bearing: 339.996344 deg, approach rate: -0.313867 m/s, LOS rate: 0.116109 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107222 deg. 2j^;:j5@HeadingCmd: 4.818980 target range: 346.799988 and range: 369.00 m. jjjjihhhhfffrfbf :?ɛςBr >I hɚiI6=I i i N;) ) EJqJmJJJD:J&9JJ*F?2F:FBF0JFzK=żLK=+9K9K=K= (Y 6ZsyhJ1yskfbXRJHEB@;:6/(# Will construct direction to contact in vehicle frame from tetrahedron phase data.G IIMiGBO>'4w,:> A @@HI I("IIփBI&I.I6IS<:I FBIJIRIZIbIjIH4d@Y+t@޴9 =yH0?9?cu?;=?`?? վ?ɨd@9;y @B o!IMb@Mb@Mb@ )YtV?ʡE?~jtxy?-=Ļ~A @)I@yp@II95٢Q ,=9Q > G٣H7Gy% > Nusing accuracyPremultiplier from config-Will construct direction to contact in vehicle frame from tetrahedron phase data.M49?M4Y22 iBM`?M:UU@D|j<=j<4Y ]@]EZjFNOT Ignoring new targets: 346.80 m.Bjc ;Jjc ; ProNav: ac range: 346.799988 m, nav range: 219.172729 m, bearing: 340.053088 deg, approach rate: -0.323633 m/s, LOS rate: 0.120112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145538 deg. 2jݤ;:j:@HeadingCmd: 4.819649 target range: 346.799988 and range: 369.00 m. j j j j i h h hhBfffrfbfY?ɛтBWڻ ]>I  ɚiI+6=Ii(>i;))*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G &; 9 I9 G B O >Yw,#A6:\@Y6k@6H96>=y6H`??)q2l?1?@?? &?ɨ6:\@6 V;63CyB/BB[!IININ@5٢r( ro=9vPQ v?tt vG٣xyzmD z? ~Nusing accuracyPremultiplier from config|49~?4Y~82 i~ B  @ @~D~":~:~ 4 @ZjAEFNOT Ignoring new targets: 346.80 m.BjMd;JjMd;] ProNav: ac range: 346.799988 m, nav range: 219.059387 m, bearing: 340.095322 deg, approach rate: -0.347980 m/s, LOS rate: 0.129733 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101954 deg. 2je;:jeU4@eHeadingCmd: 4.818888 target range: 346.799988 and range: 369.00 m. jijijijiiihihihqhqfqfqfyrfybf}@?ɛ҂B 隭9>I ɚiI6=IiiVf;))*Fu?2Fy:FyBF}X5JFy"G=G=EWill construct direction to contact in vehicle frame from tetrahedron phase data.GU;G9BQO}>J- vJ- qJ- 0J) J- {T:J- q9J- ـ3J) w,Ic@Y>r@>_~9>>y>H`%? ?B@?@z|?\? ?s?ɨ>Ic@>ƈ;`` bG٣`yb ; f> jNusing accuracyPremultiplier from configdj49f?n4Yf=2 if$Bln$n@fDf ;f ;f4t v2At B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 346.80 m.Bj;Jj%;- ProNav: ac range: 346.799988 m, nav range: 218.926712 m, bearing: 340.144777 deg, approach rate: -0.333106 m/s, LOS rate: 0.124241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123641 deg. 2j5;:j5o7@=HeadingCmd: 4.819267 target range: 346.799988 and range: 369.00 m. j9j9j9j9i9hAhAhAhAfAfIfIrfIbfM?.?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?IUGm`wAZA Y`wAyBɛԂBB  >I 8ɚ i Ipb6=Iii;))E)E)*F2F:FBFP5JFHI I"IIBI&I.I6Iy<:I FG CQ;M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018543G B O >Wlw,VA>r@Y>@>EȦ9>s>y>H@??4D ?v?@ؔ??`?ɨ>r@>P;>2Cyb Bb0!IMb@Mb@Mb@ )Y}?5^I?{Gz?QyM"?ף=uA @);@IQ@y@IIa5٢Vڽ ;=9,2;Q > G٣I7Gy; > Nusing accuracyPremultiplier from config49?4YE2 i&B#?:橿@DD;C; 4 AZjFNOT Ignoring new targets: 346.80 m.Bj%;Jj%;- ProNav: ac range: 346.799988 m, nav range: 218.771805 m, bearing: 340.205417 deg, approach rate: -0.355179 m/s, LOS rate: 0.139136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157233 deg. 2j-;:j-<<@5HeadingCmd: 4.819853 target range: 346.799988 and range: 369.00 m. j1j9j9j9i9h9h9hAhEBfAfAfIrfIbfMg@ɛւBN =I y>ɚiIG6=I i- i5;)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270653*F?2F:FBFT3JF IG;Gi B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522349蜛w,FpA6|@Y6R@696>y6H@]?G?8@1 U?1Js? ?9 ?ܽ?ɨ6|@6 D;64CynBn!IIvIv4d5٢~ ~V=9:Q >  G٣ y $V; > Nusing accuracyPremultiplier from config%49?%4YAK2 i'B!%%@D::!4=,B =A=EZjaeFNOT Ignoring new targets: 346.80 m.Bjm;Jju; ProNav: ac range: 346.799988 m, nav range: 218.635727 m, bearing: 340.258694 deg, approach rate: -0.354870 m/s, LOS rate: 0.139025 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135117 deg. 2jҾ;:j9@HeadingCmd: 4.819467 target range: 346.799988 and range: 369.00 m. jjjjihhhhfffrfbf @ɛׂBܟ c=I 裼ɚiIs<6=Iii]D<))*F?2F:FBF_0JFG GzKs$LK9KKKGm; IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776021GABYO>w,AHZ>IZC IZ!IIZBIX&IX.IZ@D6IZV<:IZ Fft@Y@S9=yH ??$ 9?{Zu?o?2?@z?ɨft@g;y5B5 IMb@Mb@Mb@ )Yi|?5?MbX9?y&1y1?ʡ=`eA @)$@I$@y@IIkf5٢p /=9G*Q > G٣y  > Nusing accuracyPremultiplier from config Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026455-49ꚟ?54YS2 i)BE2?E:ExE@D<x<)4I USAUEZjq}FNOT Ignoring new targets: 346.80 m.Bj}-;Jj}-; ProNav: ac range: 346.799988 m, nav range: 218.458725 m, bearing: 340.330280 deg, approach rate: -0.375753 m/s, LOS rate: 0.152092 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190119 deg. 2j;:j@@HeadingCmd: 4.820427 target range: 346.799988 and range: 369.00 m. jjjAjAiAhIhIhIhMqBfQfQfQrfQbfU@ɛ؂B`К E >JSK[(3 K[(.KSKS"KSJJtJJJJ9JJJGu;aJJu;aJ:aJ:a*Fu?2Fq:FqBF}^0JFy I iG 2< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281042Gq B O >w,vQA>u@Y>@>)@9>|=y>H`u?@և?``?h(u?@G?'? }?ɨ>u@>;>2CyJӂBJ II]I]j5٢̘ b=99Q > G٣J7Gyp9 >  Nusing accuracyPremultiplier from config 49 ퟟ?4Y BZ2 i +Bu@ ēD  2; 12; r04) -A)ZjIUFNOT Ignoring new targets: 346.80 m.Bj]93;Jj]93;m ProNav: ac range: 346.799988 m, nav range: 218.317764 m, bearing: 340.387462 deg, approach rate: -0.386015 m/s, LOS rate: 0.156690 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146842 deg. 2ju;:ju:@HeadingCmd: 4.819672 target range: 346.799988 and range: 369.00 m. jjjjihhhhfffrfbfB^ @ɛقB @I ֣ɚi!I%>;6=I-i57i5v.<)1)9*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:20:05:29.3778 -TRx dataTimestamp_ set to:1736366730.7687625checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531831G G B O >Үw,+A6j@Y6\z@6^96e=y6H@a? -?@L%ͽ?kx? u?䛿??ɨ6j@6,h;64CzKNKKN9KLKNKNRKn>JKn ?yrȂBr IIzIzc5٢q  U=9 KպQ  >  G٣yV > %Nusing accuracyPremultiplier from config-49򤟜?-4Y`2 i-B)--@͓DT::641 AIA EAIeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 346.80 m.Bju/;}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782504Jju/; ProNav: ac range: 346.799988 m, nav range: 218.176407 m, bearing: 340.445127 deg, approach rate: -0.376515 m/s, LOS rate: 0.153694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148293 deg. 2j;:j:@HeadingCmd: 4.819697 target range: 346.799988 and range: 369.00 m. jjjjihhh h f f frfbfZs@ɛۂB I ɚiINB6=I=iE8iE^?;)I)q*F?2F:F BF n0JF G  G "GGH>I I!IIRBI =&I.I6ID<:Iz F= Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: Range 10 to 50 : 371.5 m (Round-trip 495.4 ms) speed -1.1 m/s e ,DAT read: user:1113> m BDAT read: Tx time:20:05:30.4783 m $Ping request sent.m J uJ pJ J J [Q:J ^9J J J o;J o;J |:J ~:Qw,_ آA2e@Y2wu@2"92_=y2H:?O? `@?y?A3? S?@&?ɨ2e@2q;23CyfBj I}Mb@Mb@Mb@yyy y)yY}V-?Zd;? G٣y޸ > Nusing accuracyPremultiplier from config490?4Y0i2 i0B#@?:⯿@דD ;;f>4 A  addTargetRange:: Added new target pos. range: 371.500000 m, deltaT: 4.041197 s, deltaX: 2.500000 m, approachRate: 0.618629 m/s, rangeRepo size: 4 Zj  FNOT Ignoring new targets: 346.80 m.BjpB;JjpB; ProNav: ac range: 346.799988 m, nav range: 218.013397 m, bearing: 340.516996 deg, approach rate: -0.385274 m/s, LOS rate: 0.169991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190955 deg. 2jS;:jA@HeadingCmd: 4.820442 target range: 346.799988 and range: 371.50 m. jjjjihhhh.Bfffrf8w@bf:?ɛU܂BU( ˼ QUdIY ]ɚYiYI]7Q6=Ieieߺiev.;)a) E E$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF~0JFGBOj>= Will construct direction to contact in vehicle frame from tetrahedron phase data.廨w,A6Q@Y6Ra@6 96.7=y6H_??W`8?~?@@? Ͽ??ɨ6Q@6;62CyRBR IIZIZ[5٢b< bY=9f53Q f>dd jG٣jK7Gyj&ֻ j> rNusing accuracyPremultiplier from configlr49nŮ?v4Ynxp2 in3Btv3v@nDn:n:nD4x zyA~EZj!-FNOT Ignoring new targets: 346.80 m.Bj-1B;Jj-1B; ProNav: ac range: 346.799988 m, nav range: 217.870056 m, bearing: 340.580766 deg, approach rate: -0.381368 m/s, LOS rate: 0.169776 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166622 deg. 2j;:j=@HeadingCmd: 4.820017 target range: 346.799988 and range: 371.50 m. jjjjihhhhff f1rf1bf5&~?ɛ}݂B}Xɼ 隅I  ɚiIZ6=Ii_9޺i泇;))*Fe?2Fa:FiBFm`5JFiGaBiO9>zKJK9KKK 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.¨w, AH,I, I.Z!II./BI,&I,.I,6I.Z<:I. FWill construct direction to contact in vehicle frame from tetrahedron phase data.yB I}Mb@Mb@Mb@yyy y)yY}K7?i|?5?Mbp?y}I?}q=};}~A y)}@Iyyy}@II)M5٢Y< #=9Q > G٣y > Nusing accuracyPremultiplier from config49负?4Yz2 i:BKJ?:O@D;8;M4-B eAEZjFNOT Ignoring new targets: 346.80 m.BjD;JjD; ProNav: ac range: 346.799988 m, nav range: 217.672668 m, bearing: 340.670691 deg, approach rate: -0.376954 m/s, LOS rate: 0.171887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.245205 deg. 2j;:jH@HeadingCmd: 4.821388 target range: 346.799988 and range: 371.50 m. jjjjihhh9h=EBf9fAfArfAbfE@T?JevJemJe1JaJe{T:Je&9Je3JaJeGu;JeJu;Je:Je:ɛނBeü 隵oI qɚiIlc6=Ii!ܺi;)) *F}?2Fy:FyBF}0JFyGBO> ) I- i Will construct direction to contact in vehicle frame from tetrahedron phase data.Ȩw,%AyB IIIY5٢%. %=9)Q - ?)) 5G٣1y1 5 ? Nusing accuracyPremultiplier from config49?4Y2 i?B@D:;:S4 AZjFNOT Ignoring new targets: 346.80 m.Bj j\;Jj j\;5 ProNav: ac range: 346.799988 m, nav range: 217.541321 m, bearing: 340.730758 deg, approach rate: -0.421120 m/s, LOS rate: 0.192701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155497 deg. 2j5?<:j=;@EHeadingCmd: 4.819823 target range: 346.799988 and range: 371.50 m. jAjAjAjIiIhIhIhYhYfYfafarfabfm@G?ɛռ 隽I $ϥɚiIn6=IiMںiQ)Q)Q*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G;G ?G,?G B O >l!Ϩw,Ov?A:O@Y:'@:J9:H=y:HrѺ?!?@]z@@BT?`? ?`@??ɨ:O@:0;:3CyBƂBB IIJIJj5٢V= VS=9VQ V>XX ZG٣XyZ ^> dId nNusing accuracyPremultiplier from confighr49jx?r4Yj>2 ijEBpr0r@jDj;j;jZ4x z2Ax B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 346.80 m.zK=KK=+9K9K=K=]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.Bj5Q;JjuQ; ProNav: ac range: 346.799988 m, nav range: 217.394547 m, bearing: 340.799177 deg, approach rate: -0.391749 m/s, LOS rate: 0.182737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180581 deg. 2j;:j?@HeadingCmd: 4.820261 target range: 346.799988 and range: 371.50 m. jjjjihhhhfffrfbfW?ɛU߂BUJ*¼ QUFIQ ]ɚYiYI]uo6=Ieiefںie8)a)i*F?2F:FBF_0JFHaIa IeA!IIeBIa&Ia.Ia6Ieð<:Ie FBIƫCJIƫCRIZI =bI =jI5G;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008316J wJ rJ 0J J W:J 9J ـ3J J z;J z;J :J :֨w,YA:@Y:4@:Ƽ9:f=y:H G٣L7Gy٦ > Nusing accuracyPremultiplier from config49*Ÿ?4Yr2 iNB K? : Ѵ @ D;;:;a4 AEZjIMFNOT Ignoring new targets: 346.80 m.BjUER;JjUER;e ProNav: ac range: 346.799988 m, nav range: 217.227264 m, bearing: 340.881354 deg, approach rate: -0.373930 m/s, LOS rate: 0.183832 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221904 deg. 2jeS;:je{E@mHeadingCmd: 4.820982 target range: 346.799988 and range: 371.50 m. jqjqjqjqiqhqhqhyhyfyfyfrfbf@C@ɛB~ 隽PI )WɚiIxi6=Ii#ۺi~xQ))EY>E> IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260622*Fm?2Fi:FiBFiJFiGEw*GB O%M> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5123795ܨw,L7sA2@Y2@2-μ92*9=y2HpX? o?`/%@z??ę?@?`J?ɨ2@2֥;21CyNBR I ==I%I%d5٢5= =X=9=Q,Q =>AA EG٣AyEB E> UNusing accuracyPremultiplier from configIu49MƟ?}4YMG2 iMUBy}F@MDM%;M;Mh4 @AZjFNOT Ignoring new targets: 346.80 m.BjN;JjN;= ProNav: ac range: 346.799988 m, nav range: 217.086243 m, bearing: 340.951502 deg, approach rate: -0.361954 m/s, LOS rate: 0.180165 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185769 deg. 2j=J;:j=Q@@EHeadingCmd: 4.820351 target range: 346.799988 and range: 371.50 m. jAjAjAjAiAhIhIhqhqfqfyfyrfybf}Z@ɛ15 15`HE >IA  IE M!IIE %BIA &IA .IA 6IE ><:IE v F+w,LAyޕBޕ!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016385Mb@Mb@Mb@ )Y)\(?Mb?:v?yGA?=<hA )I;@y@IIm5٢P= '=9Q > G٣M7Gy > Nusing accuracyPremultiplier from config49Pʟ?4Y2 iaBA?:@DR;6; q4 AZjFNOT Ignoring new targets: 346.80 m.BjTP;JjTP;- ProNav: ac range: 346.799988 m, nav range: 216.919769 m, bearing: 341.038273 deg, approach rate: -0.349167 m/s, LOS rate: 0.182134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.235695 deg. 2j-;:j5tG@5HeadingCmd: 4.821222 target range: 346.799988 and range: 371.50 m. j1j9j9j9i9h9h9hAhEBfAfIfIrfIbfM[@ɛB Y=I! %:᥼ɚ!i)I-56=I-i5ݺi5U)1)1*F?2F:FBFJF q Iq e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:20:05:33.3821 u TRx dataTimestamp_ set to:1736366734.548872u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270199G= ҸG B! Oe >\w,CA^$@Y^Ǚ@^Yڼ9^R>y^Hӷ? ? I?L? fJ? ??ɨ^$@^U;^4CyfBf?!IInInob5٢v3> z=9z 150=I1 5|Sɚ1i1I=h6=I=i=KKߺiE<))E*F}?2Fy:FyBF}0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520862J-uJ-sJ)J)J-[Q:J-9J)J)a5@a5@a5@a5@GڽGy B O > U $?IQ Dw,ANd@YN@N?޼9NKS>yNHm? ?`^`@g?`C? Ǜ?`?û?ɨNd@N6;N3Cyr2Bv^!IxxI Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 374.7 m (Round-trip 499.7 ms) speed -0.6 m/s %,DAT read: user:1114> -%X#Rx 1: Read range message, but no direction.yYC-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.zK5QJK5 9K1K5K5  IX5٢]= ]C=9eQ e>ii mG٣iym t u> }Nusing accuracyPremultiplier from configq}49u_П?4Yu^2 iutB~@u1Du ;uh;u}4.B @EB*** querying acoustic contact ***jj  addTargetRange:: Added new target pos. range: 374.700012 m, deltaT: 3.778238 s, deltaX: 3.200012 m, approachRate: 0.846959 m/s, rangeRepo size: 4 ZjEFNOT Ignoring new targets: 346.80 m.BjM@;JjU@; ProNav: ac range: 346.799988 m, nav range: 216.673859 m, bearing: 341.169471 deg, approach rate: -0.313577 m/s, LOS rate: 0.167938 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198965 deg. 2j;:j4B@HeadingCmd: 4.820581 target range: 346.799988 and range: 374.70 m. jjjjihhhhfffrf@3kw@bf ˂?ɛeBeL# aeJ >Ii mɚiiiIm5=IuipiD))H>I I!IIMBI&I.I6I<:I F*F]?2Fa:FaBF0JF"Gp=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:05:34.4783 $Ping request sent.fw,8ڣAFu@YF @FK޼9FH>yFH`f? ??@g?@ț?\?@ƹ?ɨFu@FqԊ;F4CynJBn|!IMb@Mb@Mb@ )YtV?Q? rh?y2?<C =QA )IyG@IIT5٢h= F=9WQ %>!! %G٣!y-N -> =Nusing accuracyPremultiplier from config1=495ӟ?=4Y5 2 i5BE3?E:EE@5;D5;5D;5R4I M0@QZjy}FNOT Ignoring new targets: 346.80 m.BjL;JjL; ProNav: ac range: 346.799988 m, nav range: 216.543106 m, bearing: 341.239974 deg, approach rate: -0.331989 m/s, LOS rate: 0.179119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186822 deg. 2j;:jw@@HeadingCmd: 4.820369 target range: 346.799988 and range: 374.70 m. jjjjihhhhłBfffrfbf)?ɛŗ Q>I l뢼ɚiI@5= IiIiiZC) ) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252317*Fu?2Fq:FqBFuA5JFyGmf AG) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503206w,}A6+@Y6@6 &96<=y6Hg??@b Oȷ? V?#?@??ɨ6+@6aM;61CyBnBB!IIJIJG5٢RA> R]=9RsQ V>TT VG٣VN7GyZRg Z> ^Nusing accuracyPremultiplier from config\b49^8֟?b4Y^2 i^Bdjøj@^BD^5L;^J4;^4l n@pZjFNOT Ignoring new targets: 346.80 m.Bj =;Jj =; ProNav: ac range: 346.799988 m, nav range: 216.434265 m, bearing: 341.298967 deg, approach rate: -0.305661 m/s, LOS rate: 0.165754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152253 deg. 2j%;:j%;@-HeadingCmd: 4.819766 target range: 346.799988 and range: 374.70 m. j)j)j)j)i)h)h)h1h1f1f1f9rf9bf=@[?ɛ`\9 =j>I >ɚJvJtJJJ{T:J9JJiI-5=IiiNV))!E)E-sA*F?2F:FBF^0JF IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756455zKLK9KKKBK:KqAGa'?GBO >H I  I !II BI &I .I 6I 3<:I l F^xw,AJ6@YJʬ@J:9Jc =yJH@?x?`q\ ټ?E? l?,?`y?ɨJ6@Jj;HyޅBޅ!I =p=IIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010698٢= *=9Q > G٣y%E > 5Nusing accuracyPremultiplier from config 549 ٟ?=4Y Z2 i B9EָE@ MD ; %; 4I m@iZjFNOT Ignoring new targets: 346.80 m.Bjk9;Jjk9; ProNav: ac range: 346.799988 m, nav range: 216.287994 m, bearing: 341.378653 deg, approach rate: -0.297354 m/s, LOS rate: 0.162105 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214407 deg. 2j;:jiD@HeadingCmd: 4.820851 target range: 346.799988 and range: 374.70 m. jjjjihh)h)h)f1f1f1rf1bf5?ɛ8 隭>I ƞɚiI4=Ii:iY))!*F?2F:FBF4JF IE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259007Ge \LGa Ge oAG9 BA Oe > w,(AN@YN@N9N >yNH`Y? K?ki`P? ?@_?f#?:?ɨN@N";N2Cy^B^!IMb@Mb@Mb@ )YV-??L7A`?y?<+=A @)$@I$@y@II35٢#>  Y=9 V:Q  > G٣yf; %> MNusing accuracyPremultiplier from config1]495=ܟ?e4Y5j2 i5BmI?m:m𸿑m@5UD5;5|;54 @ZjFNOT Ignoring new targets: 346.80 m.Bj`';Jj`'; ProNav: ac range: 346.799988 m, nav range: 216.186981 m, bearing: 341.433992 deg, approach rate: -0.266981 m/s, LOS rate: 0.146331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141281 deg. 2j%;:j%9@-HeadingCmd: 4.819574 target range: 346.799988 and range: 374.70 m. j)j)j)j)i)h1h1h1h5.Bf9ffrfbf`fC?ɛ!-; )-m>I) -eɚ1i1I5?4=I=i=i=6)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512451*F?2F:FBF_0JFJwJJJJW:JJJG5 *UG B O= > I iw,[BBAB’@YBTҙ@B9BMD>yBH`'?? X޸?,p? . ???ɨB’@B;B0CyJBJ"IIVIVG5٢^O= ^d=9^^;Q b>`` bG٣bO7Gyf; f> jNusing accuracyPremultiplier from confighn49jޟ?n4Yj2 ijBprr@j\Dj;j;jĠ4t v@vEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763119Zj)-FNOT Ignoring new targets: 346.80 m.Bj5+;Jj5+;E ProNav: ac range: 346.799988 m, nav range: 216.091919 m, bearing: 341.485938 deg, approach rate: -0.274394 m/s, LOS rate: 0.150005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131091 deg. 2jE;:jE8@MHeadingCmd: 4.819396 target range: 346.799988 and range: 374.70 m. jIjIjIjIiQhQhQhQhQfYfYfarfabfe9@ɛ$_^< 隝>I TAɚiI3=IiPi{))zK"KK+9KKKHiIi Im""IImуBIm =&Ii.Ii6ImH<:Im| FE}C;=EG>E>*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.յAiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016053G= -,G B O= >'w,^A>@Y>u@>US׼9>kO >y>H?@j? f[͹?4?? B?@?ɨ>@>5;>1CyFǃBJ"I)L LLL=Mb@Mb@Mb@999 9)9Y=m?~jt?S㥛?y=?=<=/<= A =@)9I=Q@9y=z@ qIqIMIME5٢= %=98;Q > G٣y2; > Nusing accuracyPremultiplier from config49ៜ?4YH2 iB?:շ@dD;';f4 f@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj8;Jj8; ProNav: ac range: 346.799988 m, nav range: 215.970596 m, bearing: 341.551347 deg, approach rate: -0.246702 m/s, LOS rate: 0.133080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171524 deg. 2j;:jG>@HeadingCmd: 4.820102 target range: 346.799988 and range: 374.70 m. jjjji!-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267498h1h1h9h=uBf9f9f9rfAbfE/@ɛmBmV< qu>Iq uǤɚqiqIu<3=I=iE/iE<˻)A)AE/=*F?2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520250G B O5 >>Lw,mwABs@YB@BSм9Bp >yBH@T?%?}? $? ?`5???ɨBs@BF;B4CyNۃBN."IIVIVdK5٢^H= ^o=9bP);Q b?`` fG٣dyf_2< f? jNusing accuracyPremultiplier from confighr49j㟜?r4YjA2 ijBpv\v@jjDj(4;j4;jb4x z)@xJuJrJJJ[Q:J9JJZjFNOT Ignoring new targets: 346.80 m.Bj;Jj; ProNav: ac range: 346.799988 m, nav range: 215.886017 m, bearing: 341.596659 deg, approach rate: -0.234187 m/s, LOS rate: 0.125511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111176 deg. 2jF;:j5@HeadingCmd: 4.819049 target range: 346.799988 and range: 374.70 m. jjjjihhhhfffrfbf`k@ɛ!%< !%>I! -Ɔɚ)i)I-2=IUiU`QiUSI)Q)YEaEa*Ea"Ea qIq=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771043zKUKKU9KQKUKU  *F?2F:FBFJFZH RH AAH I  I m"II BI &I .I 6I <:I 9 FBIIJIIRIIZIIbIM =jIMʇ4G XG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025615B1O>2n%w,ƖAJ@YJ-@Jȼ9J: >yJHI?`?@?,??nP?:?ɨJ@Jw;J0CyZBZ="IuMb@Mb@Mb@qqq q)qYuT㥛 ?Q? rh?yu?u\=uC G٣P7Gy; > Nusing accuracyPremultiplier from config49矜?4Y2 iɭBh?:O@sD ;m ;]4 f@ZjFNOT Ignoring new targets: 346.80 m.Bj 6 ;Jj 6 ; ProNav: ac range: 346.799988 m, nav range: 215.763916 m, bearing: 341.657347 deg, approach rate: -0.246493 m/s, LOS rate: 0.122584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157354 deg. 2jA;:jA<@%HeadingCmd: 4.819855 target range: 346.799988 and range: 374.70 m. j!j!j!j)i)h)h)h1h5Bf1f1f9rf9bf= @ɛmBmHF~< iu?Iq ulɚqiqIu2=I}i}i}*)y)E*F!2F):F)BF-0JF) IG ԑGBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:05:37.3857 TRx dataTimestamp_ set to:1736366738.580680checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276136+w,A6!8@Y6G@6i96, >y6Hλ??ьY@Y?@@?@?T?_?ɨ6!8@6;66CyjBjA"I na=nR=ItIt٢zo< ~V=9~G;Q ~> G٣y N<  > Nusing accuracyPremultiplier from config 49 eꟜ?4Y 2 i ЭB!%粿%@ yD h-; -; 4) -0@)ZjYeFNOT Ignoring new targets: 346.80 m.Bje;Jje;u ProNav: ac range: 346.799988 m, nav range: 215.672806 m, bearing: 341.702402 deg, approach rate: -0.238215 m/s, LOS rate: 0.117850 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110409 deg. 2ju¡;:j}5@}HeadingCmd: 4.819036 target range: 346.799988 and range: 374.70 m. jjjjihhhhfffrfbf @ɛ< <?I ~ɚiI1=Iii6;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540500*FQ2FQ:FQBFUz2JFQG]sA G]sAG}HN I9 Yy BGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: Range 10 to 50 : 377.4 m (Round-trip 503.2 ms) speed -0.9 m/s ] ,DAT read: user:1115> m BDAT read: Tx time:20:05:38.4784 u $Ping request sent.u !) -G٣)y= => MNusing accuracyPremultiplier from configIU49Mhퟜ?U4YM^2 iM׭BQY]@MDMB;M;M94a e@eEHI I"II8w,Q䤶AyrBr;"IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YbX9?/$?y&1|?yE>,=`; @)Q@I@yp@II/5٢s[ >=9Q > G٣Q7Gy >  Nusing accuracyPremultiplier from config 49 ?4Y 2 i ܭB<>:R@ D ; 5; 4! %@-EEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 346.80 m.Bj]:Jj]:u ProNav: ac range: 346.799988 m, nav range: 215.473633 m, bearing: 341.798918 deg, approach rate: -0.235834 m/s, LOS rate: 0.111775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118944 deg. 2juk;:j}6@HeadingCmd: 4.819185 target range: 346.799988 and range: 377.40 m. jjjjihhhhBfffrfbf?ɛ]< 隝?I #`ɚiIj0=Iii))*Fm?2Fi:FiBFmQ5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G B O >>w,,A>$C@Y>R@>Q%9>=y>H@N&? A?[ `Z? c? 7D? K??ɨ>$C@>*;>4CyJBJ9"IPPIVIV<55٢^E ^_=9b`;Q b>`` fG٣dyfHp; f> jNusing accuracyPremultiplier from confighv49j?v4YjA2 ijBxzz@jDj};j};j4 @Zj!-FNOT Ignoring new targets: 346.80 m.Bj-:Jj-:E ProNav: ac range: 346.799988 m, nav range: 215.387451 m, bearing: 341.839674 deg, approach rate: -0.235416 m/s, LOS rate: 0.111372 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097501 deg. 2jEޘ;:jE3@MHeadingCmd: 4.818810 target range: 346.799988 and range: 377.40 m. jIjIjIjQiQhQhQ u$?IqhQhqfyfyfyrfybfh?ɛB< 隭>I oɚiI./=IiiL;))*Fu?2Fy:FyBF}^0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004871zKeI NKe9KaKeKexrkfc[USUn| |S jO:rz`$8+H@"2 H>I I"IIPBI&I.I6I <:IN FGt:GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258590Ew,AnM@Yn\@nzA9n=ynHt? O?^?w~?Ǖ?'?=?ɨnM@n5׏;n2CyvӃBv$"IJ}uJ}tJ}0JyJ}[Q:J}9J}ـ3JyJ}o;J}o;J}:J}:Mb@Mb@Mb@ )Y+?S㥫?{Gztyv>/]=ף A @)@I~@yz@II/5٢P 9=9!:Q > G٣y#3; > MNusing accuracyPremultiplier from configIU49M?U4YM3 iMB]>]:]䬿]@MDM;M#;M4a e@aZjFNOT Ignoring new targets: 346.80 m.Bj0;Jj0; ProNav: ac range: 346.799988 m, nav range: 215.271652 m, bearing: 341.891472 deg, approach rate: -0.254311 m/s, LOS rate: 0.113819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130667 deg. 2j9;:jp8@HeadingCmd: 4.819389 target range: 346.799988 and range: 377.40 m. jjjjihhh)h-Bf)f)f)rf1bf5@'?ɛBxk< 隭>I L}ɚiI_/=IiN+i;))EY>E QIQ*FE?2FA:FABFAJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507333G 7eD;Gy B O >Kw, 1A6U@Y6e@6~96r=y6HǸ?l?!?@g9w?`kO? ݬ?@m?ɨ6U@6OΑ;61CyBʃBB"IIJIJGL5٢ZD Z_=9^;Q ^>`` bG٣bR7Gyb9; f> jNusing accuracyPremultiplier from configdj49f?n4Yf3 ifBY]¬]@fDfI xɚ i I .=IiaiS;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772321*F?2F:FBF`0JF IIIGg;GBO% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023210zK PK +9K K K  _ Or w3j3hQ:#~yxtrttnkkljgeeRw,KAyB"I -=-=IMHqIq Iu"IIuFBIq&Iq.Iq6Iu<:IuZ FIMdK5٢ V  6=9Q > G٣y > -Nusing accuracyPremultiplier from config!-49%2?-4Y%b 3 i%B115@%D%B;%;%49 EB@AZjamFNOT Ignoring new targets: 346.80 m.Bjm;Jjm;} ProNav: ac range: 346.799988 m, nav range: 215.066818 m, bearing: 341.983215 deg, approach rate: -0.265102 m/s, LOS rate: 0.118917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129027 deg. 2j9;:j48@HeadingCmd: 4.819361 target range: 346.799988 and range: 377.40 m. jjjjihhhhfffrfbf@d@ɛBO< >I JrɚiIy.=Ii(i#;))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278724JK3 K.-KK"KJwJrJJJW:J9JJJz;Jz;J:J:GCQ;G B O > 1 I1 Xw,VeAyfBf!I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527359Mb@Mb@Mb@ )YuV?x&?I +yr?7=94 @)@Ih@y@II N5٢C Q=9Q > G٣y > Nusing accuracyPremultiplier from config49f?4Y3 iB ?:u@D;P;4/B @E-B*** querying acoustic contact ***j)j)ZjAEFNOT Ignoring new targets: 346.80 m.BjM;JjM; ProNav: ac range: 346.799988 m, nav range: 214.956192 m, bearing: 342.030961 deg, approach rate: -0.277050 m/s, LOS rate: 0.119638 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118501 deg. 2j6;:j%6@%HeadingCmd: 4.819177 target range: 346.799988 and range: 377.40 m. j!j)j)j)i)hYhYhahe@Bfafafarfibf@ɛB< 5>I -Rmɚ)i)I-.=I5i5i1)1)9EA*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779221G G B O >m!_w,SvAB@YB@Btd9Bѕ>yBH_?|?`4?``?2? ?ɨB@B;B4CyJBJ!IIVIVGL5٢Z.н ^[= dId9jnll nG٣nS7Gyr< r> vNusing accuracyPremultiplier from configtz49v?z4Yv3 ivBxzOz@vDv`+;vy-;vl4 @ Zj)-FNOT Ignoring new targets: 346.80 m.Bj5Y ;Jj5Y ;U ProNav: ac range: 346.799988 m, nav range: 214.848770 m, bearing: 342.076514 deg, approach rate: -0.291274 m/s, LOS rate: 0.123577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111912 deg. 2jU;:jU5@]HeadingCmd: 4.819062 target range: 346.799988 and range: 377.40 m. jYjYjYjaiahahahahifififirfibfu@ɛB\)< 隥Ѣ>I djɚiI-=Iii}W<))*F?2F:FBF1JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033010zK@ PK9KKKdcbba`]\YUQNILJHIEFC@>??=:=<9854100/.-***)*)''(%'((%"! "! ZHQRHU@AHe>Ia Ie"IIe#BIe =&Ia.Ia6Ie<:IeH FGm@;GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286873_ fw,bAZ@YZ @Z\XL9Zbg>yZH`?y?@ չ? o ?@@??ɨZ@Zˌ;Z1Cyf}Bf!IhhJ]uJ]yJYJYJ][Q:J]9JYJYJ]o;J]o;J]:J]:-Mb@Mb@Mb@))) )))Y- ףp= ?~jt?y&1y-Q?-=-`e-hA )))I-~@)y-@IEIE^5٢U䙽 U3=9U2T;Q U>YY ]G٣Yye&; e> mNusing accuracyPremultiplier from configiu49mQ ?u4Ym3 imBu?}:}}@mDma;m;m]4 @Zj  FNOT Ignoring new targets: 346.80 m.Bj;Jj;% ProNav: ac range: 346.799988 m, nav range: 214.702820 m, bearing: 342.137933 deg, approach rate: -0.313191 m/s, LOS rate: 0.131888 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159570 deg. 2jm;:jm<@uHeadingCmd: 4.819894 target range: 346.799988 and range: 377.40 m. jqjqjqjqiqhqhyhyh}Bfy Iiffrfbf ` @ɛeBebp; am>Ii meɚiiiIm-=Iuiu%ݺiuIf<)q)y*F=?2F9:F9BF=0JF9G iG<G?G>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:20:05:41.3869 ]TRx dataTimestamp_ set to:1736366742.636713]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536431GB)O>7lw,>AyzeBz!II I uZ5٢ `=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=495?E4Y5v#3 i5BAAE@5D5e:5P:54I U@UEZjq}FNOT Ignoring new targets: 346.80 m.Bj" ;Jj" ;= ProNav: ac range: 346.799988 m, nav range: 214.585861 m, bearing: 342.187290 deg, approach rate: -0.331568 m/s, LOS rate: 0.139998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123337 deg. 2j=(;:j=d7@EHeadingCmd: 4.819262 target range: 346.799988 and range: 377.40 m. jAjAjjihhhhfffrfbf Q@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787445ɛBKA; 隕0n>I cɚiIcX-=IiU&ںic<))EsAEtA*F]?2FY:FYBF]R5JFY IGA G B) OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: Range 10 to 50 : 378.2 m (Round-trip 504.3 ms) speed -0.4 m/s m ,DAT read: user:1116> u BDAT read: Tx time:20:05:42.4784 } $Ping request sent.} y2H@ο?x? d? v`? y??ɨ2׸@20;24CyBNBB!IIJIJ7`5٢r rO=9rV;Q r>tt vG٣vT7Gyz; z>HI IG"IIBI =&I.I6I<<:Iq FBIJIRIZIbIjI5 %Nusing accuracyPremultiplier from config|-49~?-4Y~)3 i|)-5@~ĔD~:~:~ 49 =@9 addTargetRange:: Added new target pos. range: 378.200012 m, deltaT: 4.043713 s, deltaX: 0.800018 m, approachRate: 0.197843 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 346.80 m.Bj";Jj";e ProNav: ac range: 346.799988 m, nav range: 214.459198 m, bearing: 342.240771 deg, approach rate: -0.304477 m/s, LOS rate: 0.128635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135723 deg. 2je;:je)9@mHeadingCmd: 4.819478 target range: 346.799988 and range: 378.20 m. jijijijiihhhhfffrf@3w@bf[ ?ɛ-BmW qu<>Iq u#`ɚqiqI}5-=I}i}պi q<))*F%?2F):F)BF53JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:05:42.4776 Gm -Y< $?I GA BI Om >dEyw,楶A6@Y6@6\1967>y6H?1{?`#@?uo1???ɨ6@6;63CyV>BVm!IWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUNbX9?ˡE? G٣y% > Nusing accuracyPremultiplier from config49?4Y03 iB&?:@͔D];;&40B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bje';Jje'; ProNav: ac range: 346.799988 m, nav range: 214.310318 m, bearing: 342.304279 deg, approach rate: -0.342840 m/s, LOS rate: 0.146349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165844 deg. 2j;:jw=@-HeadingCmd: 4.820003 target range: 346.799988 and range: 378.20 m. j1j1j1j1i1h1h1h9h=ȂBf9f9fArfAbfE`?ɛB;n >I ^ɚiIO-=I%i%Ѻi%On_<)a)i*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GE l o<GI GM rAJ yJ vJ J J ]:J ϣ9J J a @a @a @a @G9 BA Oe >)Q Q 0w,A IyHg?|??Xp??`?ɨh@v@;2Cy52B=^!IIMIMX5٢]q ]N=9]DQ ]>aa eG٣aymX m> Nusing accuracyPremultiplier from config49>"?4Yp73 iB|@֔D::A4 @ZjamFNOT Ignoring new targets: 346.80 m.Bj/;Jj/; ProNav: ac range: 346.799988 m, nav range: 214.170609 m, bearing: 342.364537 deg, approach rate: -0.356392 m/s, LOS rate: 0.153815 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156077 deg. 2j;:j<@HeadingCmd: 4.819833 target range: 346.799988 and range: 378.20 m. jjjjihhhhfffrfbf?ɛBQ 隵L=I 6\ɚiIw-=Iijκi.+<))Ee>E>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005374*F}?2Fy:FyBFyJFyzK]iMK 9KKK  HI I"IIƒBI&I.I6I<:I FG 2HZ<Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262435xlw,gAy#BL!IeMb@Mb@Mb@aaa a)aYeQ?(\µ?MbP?ye5?e=e:eQA ex@)e@Ie$@aye@I}I}GL5٢\ 6=9Q > G٣U7Gy > Nusing accuracyPremultiplier from config49q(?4Yn?3 iB7?:@D;I;"4 bA IiZjFNOT Ignoring new targets: 346.80 m.Bj>;Jj>; ProNav: ac range: 346.799988 m, nav range: 214.008728 m, bearing: 342.435993 deg, approach rate: -0.377744 m/s, LOS rate: 0.166867 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189717 deg. 2j ;:j@@HeadingCmd: 4.820420 target range: 346.799988 and range: 378.20 m. jjjjihhhhBff9f9rfAbfE?ɛB P=I +[ɚiI,=I=i=ʺi=3<)9)A*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510077G )<G B O >Yw,4AyzBz@!I)| |I I en5٢a g=9!Q %>!! -G٣)y) -> 5Nusing accuracyPremultiplier from config1=495y-?=4Y5E3 i5BAAE@5D5 ;5 ;5)4I UAQZjFNOT Ignoring new targets: 346.80 m.Bjn9;Jjn9; ProNav: ac range: 346.799988 m, nav range: 213.877670 m, bearing: 342.494032 deg, approach rate: -0.365853 m/s, LOS rate: 0.162115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149407 deg. 2j;:j;@HeadingCmd: 4.819716 target range: 346.799988 and range: 378.20 m. jjjjihhhhfffrfbf[?ɛBw =I ZɚiIf,=I%i%;7Ⱥi-l3<))))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760938*F?2F:FBF0JF"G=G=J5|J5zJ51J1J5;g:J59J53J1 IG2<GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012996gxw,;NAzK"LK"9K K"K" $'))+-0--121242220/110-**(-)'&%'($!HF>ID IF!IIFBID&ID.ID6IFt<:IF FZT@YZmd@ZvI9Z=yZH tx zG٣xyz! z> Nusing accuracyPremultiplier from config 492? 4Y4M3 iB @Dz:":04 A%EZjimFNOT Ignoring new targets: 346.80 m.BjuM=;JjuM=; ProNav: ac range: 346.799988 m, nav range: 213.732681 m, bearing: 342.559525 deg, approach rate: -0.366132 m/s, LOS rate: 0.165499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171800 deg. 2j);:jQ>@HeadingCmd: 4.820107 target range: 346.799988 and range: 378.20 m. jjjjihhhhfffrfbfC @ɛuB} y}=Iy }YɚyiI,=Iisƺi@;))E*F5?2F1:F1BF5/1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272069Gi IiGI BY Ou >w,jhAVTC@YVR@VA9V=yVH )? "? 5Q?iA_ "?@-}?7?ɨVTC@V;V2CyjBj9!I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522166Mb@Mb@Mb@ )YʡE?+?Mb`?y=?=;;A )@I@y@IIa5٢  :=9:Q > G٣V7Gy >  Nusing accuracyPremultiplier from config 49 8?4Y U3 i B%>?%:%%@ D K; J; 74-1B -A-E%B*** querying acoustic contact ***j!j!ZjYeFNOT Ignoring new targets: 346.80 m.Bjm9;Jj9; ProNav: ac range: 346.799988 m, nav range: 213.571289 m, bearing: 342.635517 deg, approach rate: -0.344877 m/s, LOS rate: 0.162508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203332 deg. 2j;:jB@HeadingCmd: 4.820658 target range: 346.799988 and range: 378.20 m. jj)j)j)i)h1h1h1h5uBf9f9f9rf9bf= @ɛB 隵a=I YɚiI,=IeieĺieAAE;)a)i*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774441JQ JQ Ju {Ju yJu 0Jq Ju d:Ju 9Ju ـ3Jq G= !j; $?I G1 BY O} >w,흂AV@YV%@V-N99VP=yVH`?6?`%`? X@)?`%?V?ɨV@Vt);V0Cy^B^3!IInInd5٢vü vY=9z:Q z>x| ~G٣|y~s ~>  Nusing accuracyPremultiplier from config 49=?4Y\3 iBa@D ; ;>>4 %A!ZjIFNOT Ignoring new targets: 346.80 m.Bj\;Jj\;  ProNav: ac range: 346.799988 m, nav range: 213.434357 m, bearing: 342.701063 deg, approach rate: -0.401674 m/s, LOS rate: 0.192395 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171951 deg. 2j  <:jW>@HeadingCmd: 4.820110 target range: 346.799988 and range: 378.20 m. jjjjihhh!h!f!f!firfibfm`@ɛ=B=|# ae@6=Ia mb{XɚiiiIm^,=Iuiuĺiud)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026207*F]?2FY:FaBFeS5JFazK6MK9KKK   "<Yr}rkc^\\ZH]>I]C I]!II]vBI] =&IY.IY6I]<:I] FG] .A;G B! O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280774ͦw,순AyB5!I 1I1Mb@Mb@Mb@ )Yx&1?Dl? G٣y > 5Nusing accuracyPremultiplier from config=49hC?=4Ye3 i BEA?E:E4E@D<-/;pF4I MAQZjquFNOT Ignoring new targets: 346.80 m.Bj}H;Jj}H; ProNav: ac range: 346.799988 m, nav range: 213.266342 m, bearing: 342.784566 deg, approach rate: -0.352798 m/s, LOS rate: 0.175479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225892 deg. 2j;:j F@HeadingCmd: 4.821051 target range: 346.799988 and range: 378.20 m. jjjjihhhhlBfffrfbf}i @ɛB޻$ H<=I CWɚiI,=Iiĺi ))EEsA*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:05:45.3917 TRx dataTimestamp_ set to:1736366746.673879checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531479G 4ȺGi By O >Ow,UAfe@Yf@fr79f =yfH`Թ?@ߘ?. ?KfS@??_ ??ɨfe@f;f2Cy= B=H!IIMIMb5٢]= ]g=9e:9Q e>aa eG٣eW7Gym$ m> uNusing accuracyPremultiplier from configq}49uG?}4Yul3 iuB@uDu :uL:uL4 AZjFNOT Ignoring new targets: 346.80 m.Bj6P;Jj6P; ProNav: ac range: 346.799988 m, nav range: 213.140854 m, bearing: 342.847711 deg, approach rate: -0.361542 m/s, LOS rate: 0.182033 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164733 deg. 2j;:jO=@HeadingCmd: 4.819984 target range: 346.799988 and range: 378.20 m. jjjjihhhhfffrfbf@T/@ɛ)- )-К=I1 5Vɚ1i1I5,=I=i=fźi=Sĕ)9)AMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780963*F?2F:FBF_0JFJ~JJJJ{m:J9JJ )I-iGi"GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 381.9 m (Round-trip 509.2 ms) speed -0.3 m/s  ,DAT read: user:1117>  BDAT read: Tx time:20:05:46.4784  $Ping request sent. IQ  IU !IIU qBIU =&IQ .IU ?D6IU <:IU F泩w,)ZЦAzKYNK 9KKKYVSQJ?;9674321.-,++*)**(%"  >@Y>d@> 39>d=y>H`P?%?ȿ@Zw?՟W7a?? ?ɨ>@>x;)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E49=kL?M4Y=t3 i=BIMM@="D=:=:=S4Q }UA}EU addTargetRange:: Added new target pos. range: 381.899994 m, deltaT: 4.036260 s, deltaX: 3.699982 m, approachRate: 0.916686 m/s, rangeRepo size: 4 ZjY}FNOT Ignoring new targets: 346.80 m.Bj1G;Jj1G; ProNav: ac range: 346.799988 m, nav range: 212.999817 m, bearing: 342.919283 deg, approach rate: -0.342945 m/s, LOS rate: 0.174148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190042 deg. 2j;:j@@HeadingCmd: 4.820426 target range: 346.799988 and range: 381.90 m. jjjjihhhhfffrf`fw@bf@=(?ɛB =I -)Uɚ)i)I-y,=I5i=Cƺi=»)A)quWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:05:46.4776 *F?2F:FBFJF IG g{Gy B O >w,6;ꦶA^Will construct direction to contact in vehicle frame from tetrahedron phase data.fǒ@YfZי@f??9f!>yfHQ? ? *c?;??f?ɨfǒ@fa;f1Cyn1Bn]!IuMb@Mb@Mb@qqq q)qYuGz?y&1?{Gz?yup=?u`e=uף=9(Q > G٣y >  Nusing accuracyPremultiplier from config 49P?4Y|3 iB >?:@,DS;;[4%/B %@%EEB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 346.80 m.Bj]yQ;Jj]yQ;m ProNav: ac range: 346.799988 m, nav range: 212.857101 m, bearing: 342.995977 deg, approach rate: -0.340558 m/s, LOS rate: 0.183137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205424 deg. 2ju^;:ju C@uHeadingCmd: 4.820694 target range: 346.799988 and range: 381.90 m. jyjyjyjyiyhyhyhhBfffrfbf"?ɛB =I &fTɚiIt,=IiUiȺiHD))*FM?2FI:FIBFIJFImWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.GTGa B O > I J J ~J 1J J s:J f9J 3J w,$Ay>Bm!II-I-V5٢E"= EV=9EQ E>II MG٣MX7GyM U> ]Nusing accuracyPremultiplier from configQe49UT?e4YUD3 iU$Baae@U5DU^;U\:Ua4q u@qZjFNOT Ignoring new targets: 346.80 m.BjM;JjM; ProNav: ac range: 346.799988 m, nav range: 212.730865 m, bearing: 343.064080 deg, approach rate: -0.332994 m/s, LOS rate: 0.179752 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179615 deg. 2j;:jp?@HeadingCmd: 4.820244 target range: 346.799988 and range: 381.90 m. jjjjihhhhfffrfbfO?ɛ$f 6>I FRɚ i I w,=Ii:ʺi ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009716*F ?2F :FBFp0JFHI I!II{BI =&I.I@D6IS<:I FBIŪCJIŪCRIZI =bI =jIů5zK}qMK}9KyK}K}      G5ZG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264457+ǩw,A qIqyLB!I ==Mb@Mb@Mb@ )Yx?Zd;? G٣y > Nusing accuracyPremultiplier from config49Y?4Y3 i,B8?:|@@D ; ;i4 %@ZjFNOT Ignoring new targets: 346.80 m.Bj%D;Jj%D;5 ProNav: ac range: 346.799988 m, nav range: 212.583099 m, bearing: 343.142213 deg, approach rate: -0.323988 m/s, LOS rate: 0.171431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209747 deg. 2j5M;:j5C@=HeadingCmd: 4.820769 target range: 346.799988 and range: 381.90 m. j9jAjAjAiAhAhAhIhM‚BfIfIfQrfQbfU@o?ɛB%A( !%!>I! %OPɚ)i)I-],=I-i5H̺i1)1)9*F?2F:FBFz0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512798G G rAG sAG B O >Kͩw,]7A62@Y6Ι@6:>96m>y6H ?ƒ?5;?CP`$‡?@?@V?ɨ62@6{k;60Cy^]B^!IIjIjY5٢r= rn=9v[9Q v?tt zG٣xyzG z? Nusing accuracyPremultiplier from config|49~B]? 4Y~3 i~2B   @~GD~;~;~o4.B @EZjFNOT Ignoring new targets: 346.80 m.Bjp<;Jjp<; ProNav: ac range: 346.799988 m, nav range: 212.471756 m, bearing: 343.201478 deg, approach rate: -0.309347 m/s, LOS rate: 0.164745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153076 deg. 2j ;:j;@HeadingCmd: 4.819780 target range: 346.799988 and range: 381.90 m. jjjjih h h h fffrfbf@7?=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764903ɛIMO: QUB>IQ ]-NɚYiYI]6,=IeimVκimR!)i)i*F-?2F):F)BF-`5JF) }$?I}i`wA-ZA ]zY]`wAy] BG׹Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016709H >I C I !II BI =&I .I ?D6I <:I F4ԩw,ףQAzK.LK.h9K,K.K.B1Ԓ@YB@B̼$9B? >yBHസ?g? eXӸ?i?`Z??ɨB1Ԓ@Bn;B3Cy^cB^!IIfIfZ5٢n < nK=9rC{;Q r>pt vG٣tyv=; v> zNusing accuracyPremultiplier from configx~49za?4Yz3 iz9BV@zQDzl;z;zv4  @ZjFNOT Ignoring new targets: 346.80 m.Bj7E;Jj7E;  ProNav: ac range: 346.799988 m, nav range: 212.340652 m, bearing: 343.271075 deg, approach rate: -0.324593 m/s, LOS rate: 0.172418 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184105 deg. 2j ;:j @@HeadingCmd: 4.820322 target range: 346.799988 and range: 381.90 m. jjjjihhh!h!f!f!f)rf)bf-P\@ɛ: 隕N>I g{KɚiI,=IiϺi\^))*F)2F):F1BF5T5JF1UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271812JJJJJv:Jy9JJJU;aJV;aJ::aJ;:a aIaGE EG) BI Om >xbکw,mkABߒ@YBG@B9BA >yBH ?@{?˜ N$?lr?z?"?ɨBߒ@Bx;B2CNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521083yj{Bj!IeMb@Mb@Mb@aaa a)aYeq= ףp?I +?/$?ye+?e94=e11 5G٣5Y7Gy=M; => ENusing accuracyPremultiplier from configAm49Ee?m4YEl3 utIiE@Bu+?u:uu@EZDE;EN;E~4y }/@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.BjM?;JjM?;] ProNav: ac range: 346.799988 m, nav range: 212.209961 m, bearing: 343.344086 deg, approach rate: -0.299533 m/s, LOS rate: 0.167436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194351 deg. 2j];:j]A@eHeadingCmd: 4.820501 target range: 346.799988 and range: 381.90 m. jjjjihhhhBfffrfbf0@ɛ*!; ~>I {GɚiI+=Ii.ѺiX8һ))*F?2F:FBFP5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772666 I II G >uG ?G >G B O >Fw,WA6@Y6@6X96>y6H@F??ɸ "Q?w`k???ɨ6@6g;4yVBV!IIbIbV5٢f}= jX=9j9;Q j>ll nG٣lyr; r> vNusing accuracyPremultiplier from configtz49vh?z4Yv3 ivFBxzz@vbDvP:v:vф4  o@ Zj)5FNOT Ignoring new targets: 346.80 m.Bj5>;Jj=>;M ProNav: ac range: 346.799988 m, nav range: 212.105377 m, bearing: 343.402587 deg, approach rate: -0.298200 m/s, LOS rate: 0.166887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150777 deg. 2jM;:jMP;@UHeadingCmd: 4.819740 target range: 346.799988 and range: 381.90 m. jQjQjQjQiQhYhYhahafafafarfibfm7@ɛ< 隝A>I DɚiI+=IibҺi))EE*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025817HI I"IIBI =&I.I6IX<:I~ FzK"KK9KKKG54λGBO5>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276789rw,y>AJV}JV~JV0JTJV[j:JVf9JVـ3JT |IJV;JV;JV:JV: v@Y  @  9 h>y H`Jn?@?D@p?`T{@}?8? ?ɨ v@ DV; 1Cy%B%!IMb@Mb@Mb@ )YRQ? ףp= ?    G٣ Z7GyV: > Nusing accuracyPremultiplier from config%49m?%4Y3 iMB%#?%:ڳ@lDH<(<%4 ,@EZj%FNOT Ignoring new targets: 346.80 m.Bj-~);Jj-~);= ProNav: ac range: 346.799988 m, nav range: 211.972244 m, bearing: 343.476171 deg, approach rate: -0.267932 m/s, LOS rate: 0.148181 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196075 deg. 2j=d;:j=A@HeadingCmd: 4.820531 target range: 346.799988 and range: 381.90 m. jjjjihhhh&Bfffrfbf @ɛ; О>I d?ɚiIm+=IiӺi-))!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:05:49.3951 TRx dataTimestamp_ set to:1736366750.709836checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531429*F?2F:FBFJFG GtAG VG B O >Mw,iA6E@Y6@6gڻ96>y6H@L?‡?`lJ? }@{? ? ?ɨ6E@6ŷ;60Cy>B>!IIFIFT5٢R = Rh=9V:Q V>TX ZG٣XyZ ^? bNusing accuracyPremultiplier from config\b49^p?f4Y^N3 i^RBdf쳿f@^sD^:^7:^74n/B n@nEZj|FNOT Ignoring new targets: 346.80 m.Bj <;Jj <;uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780846 ProNav: ac range: 346.799988 m, nav range: 211.875443 m, bearing: 343.529923 deg, approach rate: -0.296667 m/s, LOS rate: 0.164810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136518 deg. 2j7;:jF9@HeadingCmd: 4.819491 target range: 346.799988 and range: 381.90 m. jjjjihhhhfffrfbfh_@ɛ%B]h< Y]Ԥ>IY e%<ɚaiaIe7+=IiЛԺi7L»)) QI]i*F]?2Fa:FaBFaJFaGf% Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: Range 10 to 50 : 384.3 m (Round-trip 512.5 ms) speed -0.3 m/s M ,DAT read: user:1118> U BDAT read: Tx time:20:05:50.4785 U $Ping request sent.] H >I C I ."II ܃BI =&I .I 6I z<:I Fw,/ԧA6@Y6&@6Ļ96"@>y6H.o? '?QMf?@`x?@?@ӯ?ɨ6@6-;64CyRBR!IIZIZ#U5zK^JK^ػ9K\K^K^%&$""!!  ٢j= jH=9n:Q n>lp rG٣pyr>: r> zNusing accuracyPremultiplier from configtz49vs?z4Yv3 ivXB|~۳~@v{DvX;v;v[4 @ 5 addTargetRange:: Added new target pos. range: 384.299988 m, deltaT: 4.036441 s, deltaX: 2.399994 m, approachRate: 0.594582 m/s, rangeRepo size: 4 Zj9=FNOT Ignoring new targets: 346.80 m.BjE!1;JjE!1;U ProNav: ac range: 346.799988 m, nav range: 211.761765 m, bearing: 343.593164 deg, approach rate: -0.278217 m/s, LOS rate: 0.154860 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165011 deg. 2jU;:jUY=@]HeadingCmd: 4.819989 target range: 346.799988 and range: 384.30 m. jYjYjYjaiahahahahifififirfmx@bfu'?ɛ(-a< >I `7ɚiI1*=IiOպiF)) Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:05:50.4777 *F ?2F :FBFd0JF YIaJ-yJ-J)J)J-]:J-9J)J)J-;J-;J-';J-';G ҸGI BY O} >E Will construct direction to contact in vehicle frame from tetrahedron phase data.w, A2Ԓ@Y2|@2M92=>y2H?E?S }?z`|?@?ȯ?ɨ2Ԓ@2;22CyNBR"IMb@Mb@Mb@ )Y\(\? rh? rh?y?C =C< )Q@Iy@IIv35٢< ;=9Q > G٣yOϻ > Nusing accuracyPremultiplier from config49v? 4Y3 i^B /? :  @D/;j;4 @=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 346.80 m.BjM);JjM); ProNav: ac range: 346.799988 m, nav range: 211.649887 m, bearing: 343.658453 deg, approach rate: -0.254388 m/s, LOS rate: 0.148533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171156 deg. 2j;:j:>@HeadingCmd: 4.820096 target range: 346.799988 and range: 384.30 m. jjjjihhhhEBfffrfbfw?ɛi+N< 隕ط>I ]A2ɚiI٫*=Iic׺iX))*FA2FA:FABFM~0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Y IY G G G >G B O >w,A6Ւ@Y6N@696jF>y6H6?ن? ¿`Ƹ?y@&~?? x?ɨ6Ւ@6j;60CyBB@ININ75٢V ; V`=9VQ V>XX ZG٣Z[7GyZُ9 ^> bNusing accuracyPremultiplier from config`j49by?j4Yb3 ibcBlnn@bDbfs;bt;bb4t v@tZj FNOT Ignoring new targets: 346.80 m.Bj);Jj); ProNav: ac range: 346.799988 m, nav range: 211.557449 m, bearing: 343.712563 deg, approach rate: -0.253659 m/s, LOS rate: 0.148549 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137588 deg. 2j;:jm9@HeadingCmd: 4.819510 target range: 346.799988 and range: 384.30 m. jjjjihhhhfffrfbfo(?ɛB~< 隽ʷ>I -ɚiId*=IiIغin)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002350)H>I IT"IIBI =&I.I6I<:I5 F*F?2F:FBF32JFGgGYBqO[>zKLK9KKKwl}LNxU/ UnG,}k\J<2-"  Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iձ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257583 y I J7w,u"AJK3 K.KK"KJ:~J:|J8J8J:{m:J:@9J8J8J:<;J:=;J:{:J:|:=;Ւ@Y=@= 9=)>y=H=? ?=[͸?u@~???ɨ=;Ւ@=q;=2Cy}B}"IMb@Mb@Mb@ )Yi|?5?{Gz?{Gz?y?#=#< A )I@y@II65٢=; *=9 Q > G٣y > Nusing accuracyPremultiplier from config49}?4Y3 ihB ?:@DU;;ǰ4 t@EZjFNOT Ignoring new targets: 346.80 m.Bj[;Jj[;- ProNav: ac range: 346.799988 m, nav range: 211.438889 m, bearing: 343.779476 deg, approach rate: -0.246720 m/s, LOS rate: 0.139319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176035 deg. 2j-:;:j->@5HeadingCmd: 4.820181 target range: 346.799988 and range: 384.30 m. j1j1j1j9i9h9h9hAhELBfAfAfArfIbfM ?ɛB5N[< 隥>I (ɚiI*=IiؚںiP))E*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508236G G G rAG B O >Uw,y:HR?@~?@@`UU?_{}???ɨ:@:;8yRBR "IIZIZ N5٢J= l=9l;Q  ?    G٣ yY; ? %Nusing accuracyPremultiplier from config-49C?-4Y3 ikB)-˳-@D::ٶ41=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762139 E@IZjq}FNOT Ignoring new targets: 346.80 m.Bj};Jj}; ProNav: ac range: 346.799988 m, nav range: 211.352997 m, bearing: 343.827813 deg, approach rate: -0.246634 m/s, LOS rate: 0.138854 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120257 deg. 2j;:j6@HeadingCmd: 4.819208 target range: 346.799988 and range: 384.30 m. jjjjihhhhfffrfbf}?ɛՖ< >I ]H$ɚiI)=Iiۺi;)) $?I*Fu?2Fq:FqBFu_0JFqGGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015058Hi Ii  Im m"IIm BIi &Ii .Im @D6Im j<:Im FBIJIRIZI =bI =jIΒ5=w,UAzK2PK29K0K2K2}zxumhd_^]XWWUSQNKMIGEBBB>;==975520/,(&#$&%$"B@YBs @B99Bl>yBH`?+?] ?@+v???ɨB@Bȇ;B1Cy^ÃB^"IIjIjN5٢r < rL=9rb;Q r>tt vG٣v\7Gyz%; z> ~Nusing accuracyPremultiplier from configx49z|?4Yz3 izoB  s @zDzv&;z&;zѽ4 @ZjFNOT Ignoring new targets: 346.80 m.Bjs;Jjs; ProNav: ac range: 346.799988 m, nav range: 211.253937 m, bearing: 343.883331 deg, approach rate: -0.237700 m/s, LOS rate: 0.133281 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141819 deg. 2j;:j:@HeadingCmd: 4.819584 target range: 346.799988 and range: 384.30 m. jjjjihhhhf f f rf bf S@ɛ=BEo*< IM>IQ UɚYiYI]^y)=Imimܺiue])q)*F-?2F):F)BF)JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268003 IiG5ҸG B! O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518116gw,oAy}B} "I-Mb@Mb@Mb@))) )))Y-@5^I ?I +?y-b?-94=--~A -@)-~@I))y-@IEIE^S5٢Mf M5=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49mO?u4Ym3 imqBu?}:}+}@mDm;m;m4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj$;Jj$; ProNav: ac range: 346.799988 m, nav range: 211.140717 m, bearing: 343.945389 deg, approach rate: -0.261598 m/s, LOS rate: 0.143463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161460 deg. 2j;:j<@HeadingCmd: 4.819927 target range: 346.799988 and range: 384.30 m. jjjjihhhhdBfffrfbf~@ɛ=B=k< 9=>I9 =yɚAiAIE+)=IEiMlܺiM,s)I)*Fe?2Fa:FaBFiJFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770150)A EC}G IJ- J- J) J) J- y:J- 9J) J) a5 @a5 @a5 @a5 @ ] rYY y] rBGm OPGu ?Gu >GA BQ Om >O"w,Av@Yv&@vt9v,>yvH@ɺ?.? {?&n??@?ɨv@v;v2Cy B !III R5٢-ʽ -_=95;Q 5>11 =G٣9yE < E> MNusing accuracyPremultiplier from configIU49My?U4YM3 iMsBQUűU@MDM:M;M4a e@aZj FNOT Ignoring new targets: 346.80 m.Bj$;Jj$;- ProNav: ac range: 346.799988 m, nav range: 211.048264 m, bearing: 343.995823 deg, approach rate: -0.242122 m/s, LOS rate: 0.132137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126554 deg. 2j-^;:j-7@5HeadingCmd: 4.819317 target range: 346.799988 and range: 384.30 m. j1j1jYjYiYhYhYhahafafafirfibfm#@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022221ɛBLRq< >I xzɚiI(=Iiܺi+W))H>I Is"IIBI&I.I?D6I><:In F*F ?2F :F BFJF"G=G=zKNKh9KKK!!  G- QpG B O- >} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276303 I ,~(w,#Am#@Ym&3@m*>9mw>ymH,?? ? Hcg?@G?ΰ?ɨm#@my;m3CyޅBޅ!IMb@Mb@Mb@ )YʡE?+?MbPy-?= A );@I@y@I-I-U5٢=Ӯ< =:=9=:Q E>AA EG٣E]7GyMb; M> ]Nusing accuracyPremultiplier from configYe49]'?e4Y]n3 i]tBe?m:mŲm@]D]V;];]4q u@qZjFNOT Ignoring new targets: 346.80 m.BjJ&;JjJ&; ProNav: ac range: 346.799988 m, nav range: 210.937988 m, bearing: 344.057349 deg, approach rate: -0.260437 m/s, LOS rate: 0.145383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159862 deg. 2j;:j<@HeadingCmd: 4.819899 target range: 346.799988 and range: 384.30 m. jjajajiiihihqhqhuQBfyfyfrfbfz @ɛBb< !%J>I! %6vɚ!i!I%(=I-i-ܺi-9)1)1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:05:53.3983 %TRx dataTimestamp_ set to:1736366754.754280-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539986G >G B O >.w,fA:+@Y:;@:\9:N~ >y:Ho? ?ɏ @B? !^@c?`a?`?ɨ:+@:;8yFBF!IININ)M5٢Vý Vh=9V:Q Z>XX ^G٣\ybU?; b> fNusing accuracyPremultiplier from configdj49f?j4Yf3 ifuBhjn@fDf:f:f4p r@rEZj  FNOT Ignoring new targets: 346.80 m.Bj;Jj;]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.786092 ProNav: ac range: 346.799988 m, nav range: 210.849930 m, bearing: 344.106500 deg, approach rate: -0.250431 m/s, LOS rate: 0.139841 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122702 deg. 2j;:jL7@HeadingCmd: 4.819250 target range: 346.799988 and range: 384.30 m. jjjjihhhhfffrfbfv@ɛMBU}l< qu'>Iq }j ɚyiyI}(=Iîۺiux:)) IiJ~JJJJ{m:J9JJ*F 2F :F BF 0JFG- #9G5sAG5tAG  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: Range 10 to 50 : 386.7 m (Round-trip 515.7 ms) speed -0.4 m/s % ,DAT read: user:1119> - BDAT read: Tx time:20:05:54.4785 5 $Ping request sent.5 H >I  I m"II BI =&I .I 6I <:I Q F5w,CרA64@Y6C@6I696 >y6H W?r?@}?OǦ_?̳?`C?ɨ64@6;62CzKnMKn9KlKnKnRKv ?JKv>yzBz!III&Q5٢l D=9:Q > G٣!y%k; %> -Nusing accuracyPremultiplier from config)549-?54Y-3 i-vB9==@-ƕD-;-;-;4A Ea@Iu addTargetRange:: Added new target pos. range: 386.700012 m, deltaT: 4.044070 s, deltaX: 2.400024 m, approachRate: 0.593468 m/s, rangeRepo size: 4 Zjq}FNOT Ignoring new targets: 346.80 m.Bj} ;Jj ; ProNav: ac range: 346.799988 m, nav range: 210.745575 m, bearing: 344.164764 deg, approach rate: -0.250590 m/s, LOS rate: 0.139979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150064 deg. 2j";:j6;@HeadingCmd: 4.819728 target range: 346.799988 and range: 386.70 m. jjjjihhhhfffrf@3+x@bf૫?ɛBGG< <>I 3F ɚiIQ(=IiںiR::))PExceeded connect timeout, disconnecting.*F?2F:FBF`5JFG GsAuWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:20:05:54.4777 IG7:GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,y"AyzBz!IMb@Mb@Mb@ )Yx?~jt?MbpyK?D=~A )I@y@IIjC5٢5p @=9Q > G٣^7Gy > Nusing accuracyPremultiplier from config49?4Yb4 iwB?:̰@ΕD;';4 .@B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 346.80 m.Bj-k$;Jj-k$;E ProNav: ac range: 346.799988 m, nav range: 210.632019 m, bearing: 344.226247 deg, approach rate: -0.265347 m/s, LOS rate: 0.143746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159736 deg. 2jEM;:jE<@MHeadingCmd: 4.819897 target range: 346.799988 and range: 386.70 m. jIjIjIjIiIhIhQhQhU!BfYfYfYrfYbfeu?ɛB< 隕>I TɚiIk((=IiPٺiK:))*F-?2F):F1BF5A5JF1uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.GU: IJJzJ1JJ=:J9J3JG B O= >WBw, A6%@Y64@6L96>y6H{8?F{?y¿ ?>@i?? ?ɨ6%@6!;4yR}BR!IIZIZ<5٢b5 f\=9fRQ f>dh jG٣hyj j> rNusing accuracyPremultiplier from configpv49r?v4Yr4 irxBtz z@rՕDrz:r":r04| ~@Zj!%FNOT Ignoring new targets: 346.80 m.Bj-%;Jj-%;E ProNav: ac range: 346.799988 m, nav range: 210.533554 m, bearing: 344.279977 deg, approach rate: -0.265341 m/s, LOS rate: 0.144858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136451 deg. 2jE;:jED9@MHeadingCmd: 4.819490 target range: 346.799988 and range: 386.70 m. jIjIjIjIiIhQhQhQhYfafafarfabfm5?ɛB< 隝(l>I ɚiI[(=IidUٺi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005362*F?2F:FBF_0JFH>IC IT"IIBI =&I.I6IY<:I FzK5< LK5+9K1K5K5G=g:BKA:KErAG BO5> nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256225 I Hw,$Ae/&@Ye5@eOq9e>yeHA?~?¿a@I? })n?b%?4?ɨe/&@eQ;e0CyޝtBޝ!I-Mb@Mb@Mb@))) )))Y-X9v?Zd;O?Mbpy-?-j<=)) )))I))y)IUIUV85٢e' m2=9uwQ u>yy }G٣yy9 > Nusing accuracyPremultiplier from config49p?4Yw 4 iyBd?:ܱ@ޕDv;9j;94 @ZjFNOT Ignoring new targets: 346.80 m.Bj+;Jj+; ProNav: ac range: 346.799988 m, nav range: 210.408524 m, bearing: 344.349546 deg, approach rate: -0.268535 m/s, LOS rate: 0.149505 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184015 deg. 2j5;:j@@HeadingCmd: 4.820321 target range: 346.799988 and range: 386.70 m. jjjjihhhhBfffrfbf1?ɛ B]Km; YeU>Ia e)xɚaiaIe>'=Imimغimmێ9)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508274*F5?2F1:F1BF55JF1"GQGU=G zQG B O >Nw,>A6/@Y6t?@6!Q968>y6HÎ?@$?˵Z@xg?'% ?j??`?ɨ6/@6|;62CyBhBB!IIJIJT5٢V  Vl=9VG:Q Z?XX ZG٣Z_7Gy^`; ^? fNusing accuracyPremultiplier from config`MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761649}49b?}4Yb4 ibzB@bDblI sɚiI''=I%iM~غiM̴:)Q)Q*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013041G- 9H >I C I 5"II BI =&I .I 6I \<:I FG B O- >.Uw,ҋXA6=@Y6CM@6Y,96x >y6H ?@ ?cp˻?iz``?? ?ɨ6=@6`;60Cy^bB^!IIjIj:\5٢rk rG=9r6;Q r>tt vG٣tyvc; z> ~Nusing accuracyPremultiplier from configx 49z? 4Yz4 iz{B }@zDz"`;z`;zi4 @ZjAEFNOT Ignoring new targets: 346.80 m.BjMD<;JjMD<;zK]rKK]h9KYK]K]RKe ?JKe?m ProNav: ac range: 346.799988 m, nav range: 210.203110 m, bearing: 344.463780 deg, approach rate: -0.295972 m/s, LOS rate: 0.164595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161811 deg. 2ju;:ju<@}HeadingCmd: 4.819933 target range: 346.799988 and range: 386.70 m. jyjyjyjyiyhhhhfffrfbfuk@ɛ B$|; 隽->I diɚiI׬'=Ii׺iv5;))*F5?2F9:F9BF9JFAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264266 IIIGu:G1BAOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5165704\w,frA6D@Y6JT@6rᱺ96r >y6H`}4????@Dҋ-=9:Q > G٣y; > Nusing accuracyPremultiplier from config49A?4Y 4 i|B&?:@Dr#;"; 4 l@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.80 m.Bj5;Jj5;- ProNav: ac range: 346.799988 m, nav range: 210.076614 m, bearing: 344.531919 deg, approach rate: -0.293739 m/s, LOS rate: 0.158324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179728 deg. 2j-P;:j-t?@=HeadingCmd: 4.820246 target range: 346.799988 and range: 386.70 m. j9j9j9j9i9h9hAhAhEBfAfIfIrfIbfM@ɛ} B|-; 隅F>I 9ɚiId'=Ii-պi5D7\;)1)1*F?2F:FBFn0JFG GtAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768164 1I9GM g;G! B) OM >bw,(DA6UB@Y6Q@6f964 >y6H`!?4?@o"@b`?RR?9??ɨ6UB@6:;62CybHBfy!IInInob5٢v vX=9v:Q v>xx zG٣z`7Gy~H ~> Nusing accuracyPremultiplier from config 49V? 4Y+'4 i}B¯@D:a:40B }@EZjIMFNOT Ignoring new targets: 346.80 m.BjU5;JjU5;e ProNav: ac range: 346.799988 m, nav range: 209.965561 m, bearing: 344.591992 deg, approach rate: -0.293694 m/s, LOS rate: 0.158953 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155499 deg. 2je-;:jm;@mHeadingCmd: 4.819823 target range: 346.799988 and range: 386.70 m. jijqjqjqiqhqhqhyhyfyfyfrfbf@ɛ BԸ: 隵T=I c_ɚiI'=Ii|Ժi#D;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021357H]>IY I]"II]ǃBI] =&IY.I]@D6I]I<:I]x FBIJIRIZI =bIjI5*F2F:FBFO1JFGQzKKK9KKK   BK:KsAG)B9OU>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:20:05:57.4019 m TRx dataTimestamp_ set to:1736366758.532685u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273307 1 I1 J yJ xJ J J ]:J 9J J J ;a% J ;a- J &:a5 J ':a= iw,I+AmE@YmU@mhD9mw" >ymH>?@? -m?`H?3??ɨmE@mB{;iyލFBލw!IMb@Mb@Mb@ )YHzG?T㥛 ?y=*?= A @)Iy(@I I V5٢  =9EiD:Q E>II MG٣IyMTc: U> ]Nusing accuracyPremultiplier from configQ49U3?4YU04 iUB+?:@U DU;U-;U4/B @EZjFNOT Ignoring new targets: 346.80 m.Bj7;Jj7;  ProNav: ac range: 346.799988 m, nav range: 209.809464 m, bearing: 344.675387 deg, approach rate: -0.299416 m/s, LOS rate: 0.160082 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225556 deg. 2j;:jF@HeadingCmd: 4.821045 target range: 346.799988 and range: 386.70 m. j9j9j9j9i9h9hAhAhEBfIfIfIrfIbfM@ @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524513ɛBp. =I  ɚiI'=IiRҺi,b;))*F-?2F):F)BF-o0JF)GU ']?;G1 m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776277Ba G O > !I!Vpw >YB,/éAy}?B}o!IIIob5٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config49%?4Y}74 iB@D::#4 @ZjFNOT Ignoring new targets: 346.80 m.Bj=;Jj=; ProNav: ac range: 346.799988 m, nav range: 209.678101 m, bearing: 344.745853 deg, approach rate: -0.308884 m/s, LOS rate: 0.165796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186717 deg. 2j;:js@@%HeadingCmd: 4.820367 target range: 346.799988 and range: 386.70 m. j!j!j!j)i)h)h)h)h1f1ffrfbf\@ɛ}B}(S 隅=I $ɚiI'=IiNѺi `;))MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFp0JFHI I!IIBI&I.I?D6IW<:I F-DAT read: 20:05:57.4019 LVL= 29536, 23777, 19794, 32755, AGC= 72, IDX= 455,-0.11, 2.608,-1.257,-2.736,-3.036, PHS=-0.551, 1.826, 0.296, RAW= 309.4, -14.9, CAL= 314.8, -20.4, ROT= 195.2, 20.4 =Ygot valid direction response: 20:05:57.4019 LVL= 29536, 23777, 19794, 32755, AGC= 72, IDX= 455,-0.11, 2.608,-1.257,-2.736,-3.036, PHS=-0.551, 1.826, 0.296, RAW= 309.4, -14.9, CAL= 314.8, -20.4, ROT= 195.2, 20.4 EPDAT read: Bearing 195.2, 20.4 (Local) M~Local bearing/azimuth received: Bearing 195.2, 20.4 (Local) U\DAT read: Range 10 to 50 : 389.4 m (Round-5 JDAT read: TxSync time:20:05:58.5277 R#Rx 1: Read range and direction messages.^direction in FSK: [0.401908,0.519534,-0.754025]Fpublishing direction and range infoI9M^ܸ?-?#+ yMCIM`sM\ MRM)MIMHiMV M^?MP>M3ͬ@M% MFѯ@)MKIM^ Z@iMK>IIM^u[fG>ĿFTC[vп)M`>IM*2>iMӐi?M˪Z?IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G g;zKe +LKa Ka Ke Ke G B O >n%ww,/ݩAF.@YFQ>@F˸9F8 >yFH?C?`$%\R?W?9?y?ɨF.@F[;DyN9BRg!ITVAIZIZT_5٢b b|=9b Q b ?dd fG٣fa7Gyj] j ? nNusing accuracyPremultiplier from configlr49n̾?r4Yn=4 inBtvJv@nDnL:n:n(4x zh@|k wE?k ΋A k  k {ҩA:k CBk fCZk @" (c@_Ii@ {Yr ^ܸ?-?#+ Jk Ӑi?Rk ˪Z?* -o@} E`owp  5!?ɴueտ%F"k ,*k tCk qr?k $A 2k Ek ay?k X; k k _Ck Y@M addTargetRange:: Added new target pos. range: 389.399994 m, deltaT: 4.032222 s, deltaX: 2.699982 m, approachRate: 0.669601 m/s, rangeRepo size: 4 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280277 Added new target pos. range: 389.399994 m, bearing: 332.997430 deg, lat: 36.907257 deg, lon: -122.123687 deg, deltaT: 70.872385 s, deltaX: 42.600006 m, approachRate: 0.601080 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 389.40 m.BjJj Ii ProNav: ac range: 389.399994 m, nav range: 223.887787 m, bearing: 342.610743 deg, approach rate: 0.000000 m/s, LOS rate: 0.165796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138949 deg. 2j:j9@5HeadingCmd: 4.819534 target range: 389.399994 and range: 389.40 m. j9jAjIjIiIhIhIhQhQfQfQfQrf]`fVx@bf]@g}?JJ{JJJJ-9JJJJJ:J:ɛYepﱺ iut=I חɚiI'=Iiԋкi;:))*Fu?2Fq:FqBFu0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532208G1 G B OU >T}w,pAB@YB'@BNB9B>yBH@Ѻ?@? ?@愿`'_h?B?C?ɨB@BZ;@yN6BNd!I-Mb@Mb@Mb@))) )))Y-|?5^?X9v?{Gzt?y--?-}=-ף;-hA -@))I))y-@AEAAIEIEQ5٢]yC ]@=9elkQ e>qq }G٣yy}ӻ }> Nusing accuracyPremultiplier from config49à?4YD4 iB.?:.@#DQ;{;=04 @B*** querying acoustic contact ***jjZjIMFNOT Ignoring new targets: 389.40 m.BjU*;JjU*;m ProNav: ac range: 389.399994 m, nav range: 223.748947 m, bearing: 342.676214 deg, approach rate: -0.316276 m/s, LOS rate: 0.149235 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171721 deg. 2jm;:juO>@uHeadingCmd: 4.820106 target range: 389.399994 and range: 389.40 m. jqjyjyjyiyhyhyhhƂBfffrfbfʄ?ɛBu !%4=I! %7ɚ!i!I%Ñ'=I-i-nкi-g)1)1*F2F:FBF4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784270 IG :GJJBOh>Q3w,4A:@Y:!@:]Z9:>y:H<?@?`e@J@?@Hkp? m?@.?ɨ:@:Ne;8yB8BBe!IININI5RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.036480٢Z^; ^W=9^2Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighHI I!IIBI =&I.I@D6I<:I; F49jǠ?4YjKK4 ijB@j+Dj;@}HeadingCmd: 4.819732 target range: 389.399994 and range: 389.40 m. jyjyjyjyiyhyhhhfffrfbf@H?ɛɺ =I AɚiIo'=I5i=кi=u)9)A*F?2F:FBFQ0JFzKJK9KKK  &(# '4HX\ZYWSSSQT^rUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288210 $?IJ zJ sJ J J `:J 9J J J p;J q;J <:J =:GI G! BY O >^w,~+Ay2B_!I -=-a=Mb@Mb@Mb@ )Ykt?L7A`?~jt?y 0?+=D<A @)Q@I@y=@I I @5٢ 6=9Q >!) -G٣-b7Gy5 5> =Nusing accuracyPremultiplier from config9E49=̠?E4Y=TS4 i=BE0?M:M#M@=5D=;=;=>4Q U@UEZjy}FNOT Ignoring new targets: 389.40 m.Bj?;Jj?; ProNav: ac range: 389.399994 m, nav range: 223.478699 m, bearing: 342.804645 deg, approach rate: -0.353244 m/s, LOS rate: 0.167636 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185624 deg. 2j;:jK@@HeadingCmd: 4.820348 target range: 389.399994 and range: 389.40 m. jjjjihhhhBfffrfbf?ɛB{ =I ]$ɚiI'=Iid[Ѻi^\))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541129*F?2F:FBF_0JFGxGABIOeU>] Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793531 I AGw,\EA2@Y2@26m_92`[>y2H !??@@)@?&@k?`? }?ɨ2@2K׈;0y^5B^b!IIfIf]5٢%q< \=9^:Q %>!! %G٣!y-9 -> 5Nusing accuracyPremultiplier from config1=495Р?=4Y5Y4 i5BAE E@5=D5;5;53E4M0B M@MEZjqFNOT Ignoring new targets: 389.40 m.Bjm2;Jjm2; ProNav: ac range: 389.399994 m, nav range: 223.357346 m, bearing: 342.862376 deg, approach rate: -0.327727 m/s, LOS rate: 0.155993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148473 deg. 2j;:j:@%HeadingCmd: 4.819700 target range: 389.399994 and range: 389.40 m. j!j!j!j)i)h)h)h)hqfqfqfqrfybf}|?ɛT =I E߻ɚiI=~'=I%i%Ѻi%FQ)))i*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044447H>I I!IIBI&I.I6I-<:Ie FG g{G B O >ow,/_A6h@Y6@6F196k >y6H-?}?`:x?މg;f?. ?P?ɨ6h@6Q_;63Cy>6B>c!IzKBNKBh9K@KBKBytolc^^YYRLHIDEC>9-&$#!    InInr^5٢z: ~M=9:Q > G٣y%9 %> 5Nusing accuracyPremultiplier from config1M495yՠ?M4Y5&a4 i5BQU]@5FD5|;5Ǵ;5AL4i m@iZjFNOT Ignoring new targets: 389.40 m.Bje-;Jje-;%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297763 YI]i ProNav: ac range: 389.399994 m, nav range: 223.225250 m, bearing: 342.925395 deg, approach rate: -0.317576 m/s, LOS rate: 0.151595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164353 deg. 2j;:jA=@HeadingCmd: 4.819977 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbfd@ɛiJyJwJJJ]:J9JJJ;J;J:J:-( 15D=I9 EJݻɚiIS{'=Ii=Һi!I))*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548177G @KG B O >w,uzA6@Y6@6kZ96ļ >y6H!1?"?!N ?\P Lkc?N*? ?ɨ6@6;60CyJ@BJo!IPP]Mb@Mb@Mb@YYY Y)YY]kt?Zd;?:v?yY]y=]T<]~A ]x@)YI]@Yy]@IuIuZ5٢}7= 8=9ZK:Q > G٣c7Gy 9  > Nusing accuracyPremultiplier from config49hڠ?4YFi4 iB-0?-:- -@PD[;]Z;2T41 5@1UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 389.40 m.Bje7;Jjm7;u ProNav: ac range: 389.399994 m, nav range: 223.078888 m, bearing: 342.996699 deg, approach rate: -0.329758 m/s, LOS rate: 0.160757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189241 deg. 2j};:j}@@}HeadingCmd: 4.820412 target range: 389.399994 and range: 389.40 m. jjjjihhhhԂBfffrfbf@ɛr =I [ڻɚiIpt'=IiҺiF))*F]?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802829 IG}OPGY Ba O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057208ڤw,uYAH>I  I!IIBI =&I .I?D6I<:I? FF@YFo@F߫9FL >yFH?Ŋ?J5]?@dzc?D??ɨF@F_;DyRCBRs!IIZIZ^5٢bO|< bW=9fJ8Q f>hh jG٣hyj޺ n> rNusing accuracyPremultiplier from configlM49n[ޠ?U4Yno4 inBQU!U@nXDnwhw, AyrKBv}!IMb@Mb@Mb@ )Y(\?S㥫?~jt?y.?/]=D< A @);@I@y@II:\5٢p= <=9Q > G٣y > Nusing accuracyPremultiplier from config49⠜?4Yw4 iB.?:E@aD=N;K;/b4 [@ EZj)-FNOT Ignoring new targets: 389.40 m.Bj59;Jj59;E ProNav: ac range: 389.399994 m, nav range: 222.826492 m, bearing: 343.121956 deg, approach rate: -0.323663 m/s, LOS rate: 0.162590 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178971 deg. 2jE*;:jMX?@MHeadingCmd: 4.820232 target range: 389.399994 and range: 389.40 m. jIjQjQjQiQhQhYhYh]BfYfafarfabfe @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:06:01.4537 TRx dataTimestamp_ set to:1736366762.820731%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561332ɛ1=: 9==I9 =#Iջɚ9iAIE_'=IEiM+ӺiMYh)I)I*F?2F:FBF`5JFG- xG B O- > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812422J= {J= xJ9 J9 J= d:J= 9J9 J9 ae @am @am @am @䱪w,VǪAE3@YE@Eں9E: >yEH ?e?$9G?@eوR[?@J??ɨE3@E<χ;E2Cy]CBet!I mp=m=IuIuuZ5٢k ?=9:Q > G٣d7Gy/: > Nusing accuracyPremultiplier from config49&砜?4Y4 iB<@kD;s;i4 @ZjFNOT Ignoring new targets: 389.40 m.Bj2;Jj2; ProNav: ac range: 389.399994 m, nav range: 222.693710 m, bearing: 343.188803 deg, approach rate: -0.310186 m/s, LOS rate: 0.156253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175848 deg. 2jx;:j>@HeadingCmd: 4.820178 target range: 389.399994 and range: 389.40 m. jjj j i h hhhfffrfbf~@ɛAM`9 IMd=II MuһɚQiQIUX'=IeieԺie[W)a)*F}?2F:FBFP5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 20:06:01.4537 LVL= 30496, 32753, 20850, 32755, AGC= 68, IDX= 451,-0.42,-1.410, 1.057,-0.592,-0.803, PHS=-0.519, 1.907, 0.208, RAW= 313.0, -14.7, CAL= 318.4, -19.9, ROT= 191.6, 19.9 mYgot valid direction response: 20:06:01.4537 LVL= 30496, 32753, 20850, 32755, AGC= 68, IDX= 451,-0.42,-1.410, 1.057,-0.592,-0.803, PHS=-0.519, 1.907, 0.208, RAW= 313.0, -14.7, CAL= 318.4, -19.9, ROT= 191.6, 19.9 u8DAT read: $Error in header }*Received a bad headerH>I I!IIBI&I.I6Iʯ<:I FBIJIRIZI =bI =jI*4X#Rx 1: Read direction message, but no range.^direction in FSK: [0.398446,0.571118,-0.717680]!9%q佈#?f;F?kde<!% w% %rQ)!I%Di%/%?%T>%Ϯ@%G\ %ӱ@)%ӱI%V@i%ӱ>!%iI)a˿n3п)%g:I%>i%<.v?%KL?T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG V'SGa Bi O > w,z᪶AzKgAMK9KKK )-(&  RK?JK?:C@Y:@:mѺ9: >y:H ?o?@=yܹ? -Z?@O? ?ɨ:C@:·;:1CyFWBF!IININY5٢V= Vn=9VT9Q V?XX ZG٣Xy^4 ^? bNusing accuracyPremultiplier from config`f49bꠜ?f4Yb"4 ibBhjDj@brDb:b:bo4l n@p %$?I%iZjIMFNOT Ignoring new targets: 389.40 m.BjU.;JjU.;e ProNav: ac range: 389.399994 m, nav range: 222.587448 m, bearing: 343.242500 deg, approach rate: -0.302363 m/s, LOS rate: 0.152864 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136353 deg. 2je;:je@9@mHeadingCmd: 4.819489 target range: 389.399994 and range: 389.40 m. jijijijqiqhq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapsehhhfffrfbf`(@ɛYeq; ae >Ia exQϻɚaiiImrH'=Ii܈ԺiZjh))*FE?2FI:FQBFU]0JFQG- Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapseG B O- >T6w,AA>@Y>C@>غ9>iZ >y>Hl??@n,`;ٹ?[?=?T?ɨ>@>F;>2CyRQBR!IMb@Mb@Mb@ )Y!rh?V-?y&1?yl'?m=`e< )I@y@IIX5٢ڼ :=9Q > G٣y* > Nusing accuracyPremultiplier from config49&?4Y4 iB(?:+@|Df;;Vw4 @ B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 389.40 m.Bj-.;Jj-.;= ProNav: ac range: 389.399994 m, nav range: 222.454712 m, bearing: 343.308384 deg, approach rate: -0.307812 m/s, LOS rate: 0.152875 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172956 deg. 2j=;:jE|>@EHeadingCmd: 4.820127 target range: 389.399994 and range: 389.40 m. jAjIjIjIiIhIhIhhB)F= fff MGrfAbf]@ay ?Yy8B@ Ii BɛAEdb: imX>Ii msk˻ɚiiiIu>:'=Iui}x"պi}2j)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJSK[m3 K[S}-KSKS"KSJJJJJ:JJJ*F?2F:FBF_0JFGE g{G B) OM >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse$Ūw,S{AHI I!IIBI&I.I6I<:I5 FF@YF)@FnȺ9F6| >yFH`??00<׹?` -Y?`B?0?ɨF@F;F1CyޝXBޝ!IAII Y5٢ = J=99Q > G٣e7Gy > Nusing accuracyPremultiplier from config49K?4Yu4 iB,@D:L:d~41B @Zj%FNOT Ignoring new targets: 389.40 m.Bj%+;Jj-+; ProNav: ac range: 389.399994 m, nav range: 222.332916 m, bearing: 343.369031 deg, approach rate: -0.301568 m/s, LOS rate: 0.150246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157228 deg. 2j9;:j<<@HeadingCmd: 4.819853 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbfϊ@ɛ B ; )->I1 5Ȼɚ1i1I5('=I=i=պi9)9)A*FE?2FA:FABFAJFAzK}]LKyKyK}K} IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG- V'SG B O] >H˪w,7Q/A:@Y:S@:9: >y:H?@?`N6 T ?@@3U?I??ɨ:@:;:2CyF\BF!I]Mb@Mb@Mb@YYY Y)YY]%C?&1?~jt?y]Z$?]P=]D<]~A Y)]Q@I]$@YyYIuIu]5٢< N=9`:Q > G٣y.: > Nusing accuracyPremultiplier from config49?4Y4 iB$?:B@Dw;;O4 M@ZjyFNOT Ignoring new targets: 389.40 m.Bjh!;Jjh!; ProNav: ac range: 389.399994 m, nav range: 222.217987 m, bearing: 343.427659 deg, approach rate: -0.276485 m/s, LOS rate: 0.141113 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151159 deg. 2j;:j^;@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 4.819747 target range: 389.399994 and range: 389.40 m. jjjjih h hhBfffrfbfM@ɛ!M%; IM>II MûɚIiQIU*'=IUi]ֺi]1U[)Y)Y*F?2F:FBFJF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG g{G B J {J J J J d:J 9J J O >LҪw,IA2@Y2#@2M92K >y2H@n?@4?e) չ?To@U?aB>!IIJIJuZ5٢NN< RV=9z7Q z>x| ~G٣y1  > Nusing accuracyPremultiplier from config 49 ?4Y 4 i BJ@ D :  ; /4) -@)ZjIUFNOT Ignoring new targets: 389.40 m.BjU.3;Jj].3;m ProNav: ac range: 389.399994 m, nav range: 222.104004 m, bearing: 343.486016 deg, approach rate: -0.305814 m/s, LOS rate: 0.156653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150349 deg. 2jm;:jm@;@uHeadingCmd: 4.819733 target range: 389.399994 and range: 389.40 m. jqjqjqjqiqhyhyhhfffrfbf@ɛBL; 隽">I FMɚiI&=IiֺiJm))*Fu?2Fq:FqBFu0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.Ajتw,KcAzK" KK"h9K K"K" 4I4B@YB2@Boe9B)D >yBH&? ߊ?&@$|?emL? ;?n?ɨB@BI;B1Cy\\ f=f=IjIj&Q5٢ p: E=9:Q > %G٣%f7Gy%}: %> -Nusing accuracyPremultiplier from config)549-?54Y-d4 =Will construct direction to contact in vehicle frame from tetrahedron phase data.EIQ {ɚiI&=Ii|׺i"N))*F12F1:F1BF5`0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.ߪw,1A6@Y6i@6wu96 >y6H? ?Թ?`N? -??ɨ6@6];62Cy>bBB!IMb@Mb@Mb@ )Yx&1?{Gz?Mb?yA ?#=< A )~@Iy@I-I-[W5٢; 2=9 Q > G٣yi  > =Nusing accuracyPremultiplier from config9E49=?M4Y=4 i=ǮBM ?M:M%M@=D=$5;=%);=d4 YI]iy @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj#5;Jj#5; ProNav: ac range: 389.399994 m, nav range: 221.859940 m, bearing: 343.613936 deg, approach rate: -0.296149 m/s, LOS rate: 0.158363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178921 deg. 2j];:jV?@ HeadingCmd: 4.820231 target range: 389.399994 and range: 389.40 m. j j j jihhhhBf!f!f!rf!bf%4@UWill construct direction to contact in vehicle frame from tetrahedron phase data.U(>II M(ɚIiIIMM&=IUiUO׺iUm)Q)YJJBAJ}J}JJJ[j:JS9JJ*FE?2FA:FABFE0JFAGe OP Will construct direction to contact in vehicle frame from tetrahedron phase data. I9  I= !II= BI9 &I9 .I9 6I= <:I= J FGQ BY Ou >w,Ay}jB}!IIIY5٢= M=9Q > G٣y > Nusing accuracyPremultiplier from config49%?4Y^4 iɮB@Dq+;:,;<4 o@EZjFNOT Ignoring new targets: 389.40 m.Bj ,;Jj ,; ProNav: ac range: 389.399994 m, nav range: 221.753296 m, bearing: 343.671128 deg, approach rate: -0.280461 m/s, LOS rate: 0.150481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146845 deg. 2j;:j:@%HeadingCmd: 4.819672 target range: 389.399994 and range: 389.40 m. j!j!j!j)i)h)h)h)h1f1f1f9rf9bf=@@ɛiuo< qu8>Iq }.mɚyiyI}&=Ii ׺ij))*F?2F:FBF?5JF IIIzKV$KK9KKKG- 0.<<)[&}>f(g:]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJ#w,貫A6@Y6S@6l96t >y6H@/??@ 0?ۋ #?5??ɨ6@6;4yRgBR!IZAZAEMb@Mb@Mb@AAA A)AYE?qq uG٣ug7Gyu: }> Nusing accuracyPremultiplier from config49p ?4Y׻4 i̮BG ?:޴@D;j;.4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.I ɚiI&=Iieeغi%j|F)!)!E1*F2F:FBFH4JF 9I9G sm Will construct direction to contact in vehicle frame from tetrahedron phase data.m y w,̫AN@YN\@N9N=c >yNH ?? %(U۹?`C?>?N?ɨN@N;N0Cy=fB=!IIMIM{R5٢] eK=9ek9Q e>ai mG٣iymAk m> Nusing accuracyPremultiplier from config49 ?4Y4 iϮB괿@D::]4 @ZjFNOT Ignoring new targets: 389.40 m.Bj (;Jj (;- ProNav: ac range: 389.399994 m, nav range: 221.537018 m, bearing: 343.789404 deg, approach rate: -0.267983 m/s, LOS rate: 0.146917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155828 deg. 2j-;:j- <@UHeadingCmd: 4.819829 target range: 389.399994 and range: 389.40 m. jYjYjYjYiYhYhYhahafafafirfibfm@ɛq}; y}2>Iy }qèɚyiIw&=Iiغi 3a) )Will construct direction to contact in vehicle frame from tetrahedron phase data.I I"IIBI&I.I6IL<:Ix F*F%?2F!:F!BF%0JF!Ge 9I ! I! G9 BI Om >zK oOK 9K K K {le\XUQJGE?<:71-.*)&%$#!   RK JK "?,5w,櫶AWill construct direction to contact in vehicle frame from tetrahedron phase data.yRH,?Ή?`C@s?@53\?O?ɨRd@R;R2CJ{JxJ1JJd:J9J3JJ#;aJ$;aJ&:aJ':ayeBIEIE^5٢m/ ;=9Q:Q > G٣yU<: > Nusing accuracyPremultiplier from config49v?4Y4 iҮBി@ǖD:.:4 2B 5@=EZjqFNOT Ignoring new targets: 389.40 m.Bj;;Jj;;= ProNav: ac range: 389.399994 m, nav range: 221.420410 m, bearing: 343.853469 deg, approach rate: -0.242119 m/s, LOS rate: 0.133093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167484 deg. 2j=;:je=@mHeadingCmd: 4.820032 target range: 389.399994 and range: 389.40 m. jijqjqjqiqhqhqhhfffrfbf @ɛ; 1>I |=ɚiI%p&=I%i-Yٺi-K))))Will construct direction to contact in vehicle frame from tetrahedron phase data.w,B!A z $?IxylB!I %=%p=Mb@Mb@Mb@ )YV-? G٣h7Gy > Nusing accuracyPremultiplier from config49?4Y4 iӮB3?:@ϖD;';4  ]@E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 389.40 m.BjE0:;JjE0:;U ProNav: ac range: 389.399994 m, nav range: 221.314575 m, bearing: 343.911510 deg, approach rate: -0.296678 m/s, LOS rate: 0.162779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149392 deg. 2jUm;:j];@]HeadingCmd: 4.819716 target range: 389.399994 and range: 389.40 m. jYjajamWill construct direction to contact in vehicle frame from tetrahedron phase data.m>I ɚiI=W&=Iiٺi%PN))*F?2F:FBF_0JFH I  I "II BI =&I .I 6I J<:I v FBI Will construct direction to contact in vehicle frame from tetrahedron phase data. w,A2@Y2E@2a:92 >y2H'G?Έ?V? b`9L`oq?@?ɨ2@2o;24CyBhBB!IIJIJuZ5٢Ro Va=9V:Q V>TX ZG٣XyZ: ^> bNusing accuracyPremultiplier from config`f49b?f4Yb4 ibծBdfj@b֖Db:b0;bk4l n@lZjFNOT Ignoring new targets: 389.40 m.Bj9$;Jj9$;- ProNav: ac range: 389.399994 m, nav range: 221.219345 m, bearing: 343.963834 deg, approach rate: -0.261197 m/s, LOS rate: 0.143574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132224 deg. 2j-;:j-8@5HeadingCmd: 4.819417 target range: 389.399994 and range: 389.40 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM`"@ɛ.< 隍*7>I I ɚiIv@&=IiٺiC5))*F?2F:FBFo0JF I izKNK9KKK   Q}R-~xdQ?BK):K-qAWill construct direction to contact in vehicle frame from tetrahedron phase data. w,5A6 @Y6e@6U:963 >y6Hg?E? = L ? S`X?k?ɨ6 @6 ߆;6/Cy>iB>!IrWill construct direction to contact in vehicle frame from tetrahedron phase data.r G٣y6: > Nusing accuracyPremultiplier from config 49? 4Y%4 i׮B ?:@ߖD;;14 %@!ZjAMFNOT Ignoring new targets: 389.40 m.BjM';JjM';e ProNav: ac range: 389.399994 m, nav range: 221.099121 m, bearing: 344.028807 deg, approach rate: -0.271481 m/s, LOS rate: 0.146798 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170213 deg. 2je~;:je>@mHeadingCmd: 4.820079 target range: 389.399994 and range: 389.40 m. jijijqjqiqhqhqhyh}!BfyfyfrfbfC#@ɛ15; 158>I1 =^ʕɚ9i9I=^)&=IEiE,ںiE_)A)q*F ?2F :F BF JF E}GYq YytA IWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխA0w,ęOA64 @Y6@6d:96D >y6H{??)> /?LWZ?W?ɨ64 @6i;61CybZBf!IhjAInIn@T5٢v0 v\=9v7%:Q v>xx zG٣xy~cN: ~> Nusing accuracyPremultiplier from config 49? 4Y-4 iخB @D::4 t@!ZjIMFNOT Ignoring new targets: 389.40 m.BjU&;JjU&;e ProNav: ac range: 389.399994 m, nav range: 220.998901 m, bearing: 344.083094 deg, approach rate: -0.269147 m/s, LOS rate: 0.145857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138121 deg. 2je3;:je9@mHeadingCmd: 4.819520 target range: 389.399994 and range: 389.40 m. jijijijqiqhqhyhyhyfyffrfbf+$@ɛ 0; 隵>I SɚiIX&=IiHLںi< ))*F5?2F1:F1BF5_5JF1H>I I"IIBI =&I.I6I0<:Ic FWill construct direction to contact in vehicle frame from tetrahedron phase data. I  Will construct direction to contact in vehicle frame from tetrahedron phase data. y-H}?ਉ?# A?@͏Y`:@? @?ɨ-@-Y;)y^B!III\5٢=6< =7=9=X9Q E>AA EG٣Ei7GyM5&: M> Nusing accuracyPremultiplier from config49!?4Y4 iڮB@D<<4a 7@ZjFNOT Ignoring new targets: 389.40 m.Bj;Jj;  ProNav: ac range: 389.399994 m, nav range: 220.876221 m, bearing: 344.149725 deg, approach rate: -0.238994 m/s, LOS rate: 0.129876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175189 deg. 2jC;:j>@HeadingCmd: 4.820167 target range: 389.399994 and range: 389.40 m. jjjjihhhAhIfIfIfIrfQbfU%@ɛ B; ">I ƊɚiIl&=Iizgںi))Will construct direction to contact in vehicle frame from tetrahedron phase data.J4!w, Ay%dB-!IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1122> BDAT read: Tx time:20:06:09.4786 $Ping request sent. G٣y > Nusing accuracyPremultiplier from config 49 &?4Y ]4 i ݮB ?:=@ D +; ; 4%1B -@-EUB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 389.40 m.Bje>;Jje>;} ProNav: ac range: 389.399994 m, nav range: 220.748856 m, bearing: 344.220153 deg, approach rate: -0.301328 m/s, LOS rate: 0.166720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186593 deg. 2j};:j}o@@HeadingCmd: 4.820365 target range: 389.399994 and range: 389.40 m. jjjjihhhh+Bfffrfbfp%@ɛw; ~->I ɚiI%=Ii{ںi&))*F?2F:FBF2JFZHRHH|>IC III =&I.I6IN<:Iv F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:20:06:09.4778 = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250364G G B O >P'w,uA: @Y:@: :9:: >y:HAi?? N H ?o뎿!QGj?ѳ?ɨ: @:Iچ;:3CyBXBB!I Jp=Ja=ININ:5٢V Z=9ZݺQ Z?\\ ^G٣\yb_ b? fNusing accuracyPremultiplier from configdj49f(?j4Yf!4 ifޮBhjPj@fDf:f:f$4Y e@aZjFNOT Ignoring new targets: 389.40 m.Bj;Jj;M ProNav: ac range: 389.399994 m, nav range: 220.671280 m, bearing: 344.263257 deg, approach rate: -0.244860 m/s, LOS rate: 0.136099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104542 deg. 2jMκ;:jU4@ IiHeadingCmd: 4.818933 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrf bf `G&@ɛY]; Y]>Ia eɚaiaIe%=ImiںiD$))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503171zK~KK]9KKK^_6E\i1zeTH<2+# BKsA:KsA*F-?2F):F)BF-4JF)G5 G5"G=G=J{JwJJJd:J9JJJ";J$;J:J:G?G?G B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753717-w,TA2A@Y2 @25@9925 >y2H=?@?.a?㤌F(`x?S?ɨ2A@2̒;22Cy>[B>!I Mb@Mb@Mb@    ) Y ʡE?/$?y&1|?y ? ,=   @) I $@ y IMIMB5٢]o< ]?=9]Q ]>aa eG٣ej7Gymr  > Nusing accuracyPremultiplier from config49r,?4YP4 iB?:%@DQ;;4) -]@)ZjquFNOT Ignoring new targets: 389.40 m.Bj}Q.;Jj}Q.; ProNav: ac range: 389.399994 m, nav range: 220.553192 m, bearing: 344.328181 deg, approach rate: -0.277043 m/s, LOS rate: 0.152399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170063 deg. 2j.;:j>@HeadingCmd: 4.820077 target range: 389.399994 and range: 389.40 m. jjjjihhhh#Bfffrfbf`'@ɛ=Be; ae>Ia eɚaiaIm%=Imiu?Jۺiu)q)q*F5?2F1:F1BF=_0JF9 IG BOEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005675b4w,fҬA:R@Y:@:p`t9: >y:H?`?n?m N?:??ɨ:R@:LՇ;:1CyBYBF!IININF5٢V( VW=9V@Q Z>XX ZG٣Xy^' ^> bNusing accuracyPremultiplier from config`f49b/?f4Yb5 ibBhjɳj@bDbX:b:b@4 }@Zj)-FNOT Ignoring new targets: 389.40 m.Bj5%;Jj5%;E ProNav: ac range: 389.399994 m, nav range: 220.458786 m, bearing: 344.380378 deg, approach rate: -0.261773 m/s, LOS rate: 0.144797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131845 deg. 2jE;:jM8@MHeadingCmd: 4.819410 target range: 389.399994 and range: 389.40 m. jIjQjQjQiQhQhQhYhYfYfafarfibfm(@ɛ; 隝>I qzɚiI%=Ii&ܺiO))H>IC I!IIBI =&I.I6I@<:Io FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258443*F5?2F1:F1BF5`0JF1GBO$> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509557zK= uzOK= h9K9 K= K=  RKU ?JKU !?T:w,R쬶AJ:J:J:1J8J:y:J:9J:3J8J:;J: ;J:2;J:3;yޥZBޡII65٢g: 9=9Q > G٣y > Nusing accuracyPremultiplier from config49W3?4Y) 5 iB@D;o;42B @EZjFNOT Ignoring new targets: 389.40 m.Bj5;Jj=; ProNav: ac range: 389.399994 m, nav range: 220.343124 m, bearing: 344.444535 deg, approach rate: -0.249799 m/s, LOS rate: 0.138635 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167757 deg. 2jI;:j=@HeadingCmd: 4.820037 target range: 389.399994 and range: 389.40 m. jj!j)j)i1h1h9hihifqfqfrfbf)@ɛBw; >I pɚiI%=Iiݺii))!Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762730*F?2F:FBF^0JFGsAGGBO> } $?Iy tAw,vAN@YN'@N:9N >yNH@??yx&?QމQR?m? ?ɨN@N!;LybPBb!IMMb@Mb@Mb@III I)IYM+?+?y&1|?yMv?M=II I)MVAIM@IyIIeIeJ5٢uK uP=}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0139839$Q > G٣k7Gy26: > Nusing accuracyPremultiplier from config496?4Y5 iB?:f@D9; ;4 %@EZjFNOT Ignoring new targets: 389.40 m.Bj/3;Jj/3;% ProNav: ac range: 389.399994 m, nav range: 220.240417 m, bearing: 344.502413 deg, approach rate: -0.277860 m/s, LOS rate: 0.156654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148902 deg. 2j%;:j% ;@-HeadingCmd: 4.819707 target range: 389.399994 and range: 389.40 m. j)jIjIjQiQhQhQhQh]BfYfYfYrfabfem)@ɛB; L>I I I!IIBI =&I.I6IK<:Ix F- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265643G Ga Bq O >#Gw, AFH@YF@Fňv9F >yFH*?@^?sG`4߹?&.??@?ɨFH@Ff<;F3CyRUBR!IIZIZ:\5٢b< bV=9bj;Q b>dd fG٣dyj؅; j> nNusing accuracyPremultiplier from configlr49n9?r4Yn5 inBpv4v@n'Dn*:n:n 4x z@xB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 389.40 m.Bj51';Jj51';E ProNav: ac range: 389.399994 m, nav range: 220.141678 m, bearing: 344.558003 deg, approach rate: -0.259517 m/s, LOS rate: 0.146172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142030 deg. 2jE;:jE:@MHeadingCmd: 4.819588 target range: 389.399994 and range: 389.40 m. jQjQjQjQiQhQhQhYhYfYfYfarfabfe*@ɛ %; 隝 >I qdɚiIFq%=Ii7#޺iܦP)) I*F-?2F):F)BF-,2JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518659zK]LK]9KYK]K]BKmrA:KmrAGmGIBiO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770078Mw,9A2@Y2@2692D >y2HA?z? b ?`Q۾`z?C?ɨ2@2?ׇ;21Cy>SB>!I}Mb@Mb@Mb@yyy y)yY}V-??{Gzt?y}|?}L=}ף;y y)}~@I};@yyyIIJ5٢@ ==9:Q > G٣y: > Nusing accuracyPremultiplier from config49=?4Y5 iB ?:屿@/D;; 4 @ZjFNOT Ignoring new targets: 389.40 m.Bj (;Jj (; ProNav: ac range: 389.399994 m, nav range: 220.024384 m, bearing: 344.621222 deg, approach rate: -0.272491 m/s, LOS rate: 0.146946 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164946 deg. 2j;:j%W=@%HeadingCmd: 4.819988 target range: 389.399994 and range: 389.40 m. j!j)j)j)i)h)h)h1h5Bfffrfbf-h+@ɛB(;  >I  J>]ɚ iIIU ^%=IUi]޺i]T<)Y)YEiEm> Ii*FE?2FA:FIBFM1JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021598JJJ0JJs:J9Jـ3Ja@a@a@a@G OPGa Bi O >Tw,SA68@Y6@6e`E696 >y6H 3?Q? li?ʰ Ⱦ 6?`?ɨ68@6/;60CyBMBB!IIJIJ^5٢R] R\=9Vg!Q V>TT VG٣Zl7GyZ Z> ^Nusing accuracyPremultiplier from config\b49^{A?f4Y^$5 i^Bdj챿j@^7D^2;^c2;^4l rL@pZjFNOT Ignoring new targets: 389.40 m.Bj ';Jj '; ProNav: ac range: 389.399994 m, nav range: 219.923798 m, bearing: 344.675638 deg, approach rate: -0.270839 m/s, LOS rate: 0.146587 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138507 deg. 2j3;:j%9@%HeadingCmd: 4.819526 target range: 389.399994 and range: 389.40 m. j)j)j)j)i)h)h)h1h1f1f1f9rf9bf=",@ɛmBm; quh=Iq uWɚqiqI=N%=I%i%޺i-hM))H=|>I=C I9I9I= =&I9.I96I=<:I= FBI JI RI ZI =bI =jI H5)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274136*F-?2F):F)BF-5JF) IG5b(G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526892zK :KK 9K K K ,7RK ?JK ?%Zw,mA2 @Y2V@2<:92EO >y2H@nw?ʇ?.bf3?@] @@{?7?ɨ2 @2;ԇ;21Cy:GB:y!IIFIFDP5٢J NK=9N:Q N>PP RG٣PyV); V> ZNusing accuracyPremultiplier from configT^49VPE?^4YV,+5 iVB\^ʱb@V?DV ;Vm ;V!4d f@dZjtzFNOT Ignoring new targets: 389.40 m.Bjzu(;Jjzu(;  ProNav: ac range: 389.399994 m, nav range: 219.814636 m, bearing: 344.734706 deg, approach rate: -0.272043 m/s, LOS rate: 0.147278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152479 deg. 2j &;:j ;@HeadingCmd: 4.819770 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbf,@ɛ B t;  $=I  8RɚiI5B%=I=i=޺i=$ )9)A*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777661GUOPG) B1 Oe >) = bGI i `Y y B I i{aw,eA:,@Y:@:jL:9: >y:H`?b?i;?XIa?@?ɨ:,@:)E;:3CyJIBJ{!I%Mb@Mb@Mb@!!! !)!Y%ʡE?S㥫?I +?y%?%/]=%94<% A !)!I%Q@!y%f@I=I=X5٢E.%< M?=9M&:Q M>QQ UG٣Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029810yeZ9 m> uNusing accuracyPremultiplier from configi}49m|I?}4Ym25 imB}S?}:}@mGDm;mp;m )4 @EZj1=FNOT Ignoring new targets: 389.40 m.Bj=j%;Jj=j%;M ProNav: ac range: 389.399994 m, nav range: 219.698486 m, bearing: 344.796790 deg, approach rate: -0.270415 m/s, LOS rate: 0.144617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161535 deg. 2jM;:jM<@]HeadingCmd: 4.819928 target range: 389.399994 and range: 389.40 m. jYjYjYjYiYhYhahaheBfafifirfibfm -@JJJ1JJ:J9J3JɛBƀ; =I #RLɚiI`7%=Iiߺi ))E!*F?2F:FBFJFZH1RH5=AH9I9 I=!II=BI= =&I9.I96I=<:I= FGp Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281542G B O >gw,Oy2Ho?4?`qG^?T@|?/?ɨ2 @2;20CyBFBBw!IIJIJZ5٢ %M=9%:Q %>)) -G٣-m7Gy-2: 5> =Nusing accuracyPremultiplier from config1E495[M?E4Y5_85 i5BAEE@5OD5u ;5 ;5/4Q U@QmB*** querying acoustic contact ***jqjq IZjFNOT Ignoring new targets: 389.40 m.Bj$;Jj$; ProNav: ac range: 389.399994 m, nav range: 219.591095 m, bearing: 344.854280 deg, approach rate: -0.268987 m/s, LOS rate: 0.144069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147743 deg. 2j;:j:@HeadingCmd: 4.819687 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbf@ӓ.@ɛB;  =I GɚiI.%=I i kߺiк))*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534567zKuLK59KKK;@EEB@98654/'#!    BK:KGw*GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786236nw, Ay=IB=z!IMb@Mb@Mb@ )Yjt?S㥫?~jtx?y ?;7 A @)@I;@y\@II[W5٢ ?<  <=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-49%Q?54Y%w?5 i%B5^!?5:==@%XD%;%;%74E3B E@EEZjimFNOT Ignoring new targets: 389.40 m.Bjuz*;Jjuz*; ProNav: ac range: 389.399994 m, nav range: 219.471436 m, bearing: 344.918635 deg, approach rate: -0.276977 m/s, LOS rate: 0.149044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168357 deg. 2j;:j=@HeadingCmd: 4.820047 target range: 389.399994 and range: 389.40 m. jjjjihhhh%Bfffrfbf@q/@ɛBVv; p=I AɚiI%%=Iizߺiٺ))*FU?2FQ:FQBFU`0JFQ qIy}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037720G%úJ 3K 3 K /.KK"KJJ~JJJs:Jf9JJGi By O >tw,ԭA2@Y2r-@2H 6;92ei >y2H?.?\H`? f?`?ɨ2@2;0yR9BRg!II^I^uZ5٢f fa=9j;Q j>hl nG٣lynn; r> vNusing accuracyPremultiplier from configpv49rMU?z4YrcE5 irBxzӰz@r_DrH:rv:r=4 @Zj!-FNOT Ignoring new targets: 389.40 m.Bj5);Jj5);M ProNav: ac range: 389.399994 m, nav range: 219.371490 m, bearing: 344.972376 deg, approach rate: -0.275724 m/s, LOS rate: 0.148324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136481 deg. 2jM;:jME9@UHeadingCmd: 4.819491 target range: 389.399994 and range: 389.40 m. jQjQjQjQiQhQhYhYhafafafarfabfm0@ɛB6; 隝=I f>ɚiIK(%=Ii޺ixܹ))EEH}>I I!IIBI&I.I6Id<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290599*FU?2FQ:FQBFU0JFQ e $?IaGi"GqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542066zK ZMK 9K K K S){w,}A2@Y2,@2V;929 >y2HO?)?B@^ >?  jf?@?ɨ2@2;0yPPIZIZV59b:Q f>dd fG٣fn7Gyj( j> nNusing accuracyPremultiplier from configlr49nRY?r4YnK5 inBtvְv@ngDn:n:nD4x xxZjFNOT Ignoring new targets: 389.40 m.Bj%);Jj%);5 ProNav: ac range: 389.399994 m, nav range: 219.260986 m, bearing: 345.031988 deg, approach rate: -0.274752 m/s, LOS rate: 0.148292 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154113 deg. 2j5;:j5;@=HeadingCmd: 4.819798 target range: 389.399994 and range: 389.40 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfUK|0@ɛB<@: =I a;ɚiI-%=I i ޺i 28) )*F?2F:FBF=1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793683G-u4G B O5 > I II ?w,ҫA2$@Y23@2F~;92 >y2H0?@`?h&M̺?@ߒpM?`?ɨ2$@2;22CyR>BRm!I5Mb@Mb@Mb@11=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.0456751 1)1Y5K7A?p= ף?~jtx?y5 "?5=15 A 5@)1I5Q@1y5f@IIZ5٢mKP< m<9m:Q m>J}JyJ0JJ[j:J9Jـ3J G٣yZ: > Nusing accuracyPremultiplier from config49|^?4YS5 iB"?:@qD{; ;(M4 F@EZjAEFNOT Ignoring new targets: 389.40 m.BjM"(;JjM"(;} ProNav: ac range: 389.399994 m, nav range: 219.126465 m, bearing: 345.101699 deg, approach rate: -0.283485 m/s, LOS rate: 0.146995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184446 deg. 2j};:j @@HeadingCmd: 4.820328 target range: 389.399994 and range: 389.40 m. jjjjihhhh Bfffrfbf0@ɛ-B-: 15<=I1 56ɚ1i1I5<7%=I=i=L޺i={k8)A)A*F2F:FBF 1JFG G"GGjHbH4=H>I I!IIBI =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297516Ga Bi O >;w,7"A6Y(@Y67@6Kq;96s >y6HR?l?S{? $ns @?$?ɨ6Y(@6!;4yB8BBf!IIJIJ[5 pIri٢n vh=9v:Q z>xx zG٣xy~g: ~? Nusing accuracyPremultiplier from config 49Gb? 4YKY5 iB@xD:z:+S4 @!=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 389.40 m.BjUI,;JjUI,;e ProNav: ac range: 389.399994 m, nav range: 219.027969 m, bearing: 345.152832 deg, approach rate: -0.290012 m/s, LOS rate: 0.150626 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128656 deg. 2jm;:jm&8@uHeadingCmd: 4.819354 target range: 389.399994 and range: 389.40 m. jqjqjqjqiqhyhyhyhyfffrfbfL1@ɛB": 隵@q=I %24ɚiIJ?%=IiXݺi4:))ER>E >*Fq2Fq:FqBFu74JFqUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551169GaBqO>zK].KK]]9KYK]K]AP&  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801982Few,(ayVHF?@4?"@Dں?Bɓ`1ut`'M??ɨV&@V6;Tyf+BfU!I]Mb@Mb@Mb@YYY Y)YY]y&1?X9v?~jth?y]`%?]}=]D;]7 A Y)YI]h@Yy] @IuIu_5٢.x @=9f:Q > G٣o7Gy > Nusing accuracyPremultiplier from config49f?4Yb`5 iB#&?:W@DY;;Z4 @AZjFNOT Ignoring new targets: 389.40 m.Bj&.;Jj&.;u ProNav: ac range: 389.399994 m, nav range: 218.906174 m, bearing: 345.217232 deg, approach rate: -0.287790 m/s, LOS rate: 0.152255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168493 deg. 2j};:j}=@HeadingCmd: 4.820049 target range: 389.399994 and range: 389.40 m. jjjjihhhhBfffrfbf:1@ɛBX&*  @=I   \2ɚ iIIUxT%=IUi]ܺi]f9)Y)Y I*F2F:FBFB3JF GB)OEQ>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053561Nw,BVA2.@Y2=@2-C;92 >y2H? ?t#?@]hw*?@?ɨ2.@2];2/CyN1BN]!IIVIV]5٢b= bW=9bv:Q f>dd fG٣dyj{; j> rNusing accuracyPremultiplier from configlr49nk?v4Ynf5 in Btv:v@nDn:n:n5a4x ~ A|Zj)-FNOT Ignoring new targets: 389.40 m.Bj5-;Jj5-;E ProNav: ac range: 389.399994 m, nav range: 218.796768 m, bearing: 345.275140 deg, approach rate: -0.287086 m/s, LOS rate: 0.152029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148997 deg. 2jE;:jE;@MHeadingCmd: 4.819709 target range: 389.399994 and range: 389.40 m. jIjIjIjIiQhQhQhYhYfYfYfarfabfe2@H>IC I!IIBI =&I.I6Iq<:I Fɛam9 im-=IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305849 f90ɚiIe%=IiPܺi:))*Fe?2Fi:FiBFm_0JFiGABIOe4> Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557608J J J J J v:J ľ9J J J U;a J V;a J ;a J ;a ww,pA2.@Y2,>@2Mi;92~ >y2H`z?{?bH?@` yd0??ɨ2.@2sr;21CzK>MK>9K<K>K>RKF?JKF?yJ%BJN!IIRIRa5٢ h  F=9 ~:Q  > G٣y9 > -Nusing accuracyPremultiplier from config!-49%o?-4Y%m5 i% B1585@%D%z:%:%lh4A EmAAZjamFNOT Ignoring new targets: 389.40 m.Bju.;Jju.; ProNav: ac range: 389.399994 m, nav range: 218.678253 m, bearing: 345.338063 deg, approach rate: -0.287854 m/s, LOS rate: 0.152911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164055 deg. 2j;:j6=@HeadingCmd: 4.819972 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbf2@ɛB  I _w,s򉮶A:*@Y::@:BW;9:6 >y:HCg?`? `c?V y?9?U?ɨ:*@:N;:0CyN$BNM!IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061594=Mb@Mb@Mb@999 9)9Y=uV?Q?Mbp?y=r(?=u==;= A =@)=AI=Q@9y=AIMIM\5٢eiv mD=9m9Q m>qq uG٣up7Gyu; }> Nusing accuracyPremultiplier from config49t?4Yt5 i B&)?:篿@DD;;o4 yAEZjamFNOT Ignoring new targets: 389.40 m.Bjm);Jju); ProNav: ac range: 389.399994 m, nav range: 218.558228 m, bearing: 345.402863 deg, approach rate: -0.274938 m/s, LOS rate: 0.148518 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169695 deg. 2j;:j>@HeadingCmd: 4.820070 target range: 389.399994 and range: 389.40 m. jjjjihhhh Bfffrfbf2@ɛuBuܺ qusIC I!IIBI&I.I6IV<:I~ FBIEǩCJIEǩCRIAZIAbIAjIE~5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314706G% 7:G B O% >w,>ˣA $I&iy&BP!II-I-r^5٢E?0< EM=9MQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]sx?e4Y]{5 i]Biim@]D]:]P:]v4q uhAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj;;Jj;; ProNav: ac range: 389.399994 m, nav range: 218.443451 m, bearing: 345.465048 deg, approach rate: -0.302997 m/s, LOS rate: 0.164248 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161840 deg. 2jq;:j<@HeadingCmd: 4.819933 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbf?U3@ɛQU@ Y]KK]59KYK]K]BKi:KiG }:G B! Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819820zw,*A^@Y^<,@^;9^ >y^H`?W? I`怺?Ô}yI1??ɨ^@^‡;^1Cyn'BnQ!I)p pppmMb@Mb@Mb@iii i)iYmFx?p= ף?Mbp?ym+?m=im A m@)mVAIm;@iym@I}I}a5٢: F=9:Q > G٣yo > Nusing accuracyPremultiplier from config49$}?4Y͂5 iB,?:h@Dr;;}4 dAG g߿YyAZj) = $?I9UFNOT Ignoring new targets: 389.40 m.BjU-&;JjU-&;e ProNav: ac range: 389.399994 m, nav range: 218.320892 m, bearing: 345.531018 deg, approach rate: -0.269755 m/s, LOS rate: 0.145283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173206 deg. 2jei;:je>@HeadingCmd: 4.820132 target range: 389.399994 and range: 389.40 m. jjjjihhhhBfffrfbf@L3@ɛB fw,׮A2@Y2!'@2;92 >y2H,ͺ?@? EY?@3 vRy *?ӵ?ɨ2@2P;23CyBBFG!IHJ@AIf Ifg5٢n\ nV=9nQ r>pp rG٣rq7Gyvֺ v> zNusing accuracyPremultiplier from configx49zm? 4Yzj5 izB  } @zDz@t;zst;z4H!I! I%!II%{BI% =&I!.I!6I%<:I% F9 =A9ZjaeFNOT Ignoring new targets: 389.40 m.BjmKH;JjmKH; ProNav: ac range: 389.399994 m, nav range: 218.209030 m, bearing: 345.591526 deg, approach rate: -0.323567 m/s, LOS rate: 0.175112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156803 deg. 2jZ;:j-<@HeadingCmd: 4.819846 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbf!4@ɛ 4;I X,ɚiI%=Ii;ٺi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322052*Fm?2Fi:FiBFuT5JFq 1I1Gu'HGIBQOu>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573588J J J 0J J v:J 9J ـ3J J U;J V;J 2;J 3;ջw,jAzK.JK.]9K,K.K.Hr'nA&RK6 ?JK4N@YN@Nl;9NN >yNH`?R?`?@[:`dx`Z| G٣y&$ > Nusing accuracyPremultiplier from config 49  ?=4Y 5 i B9==@ D  ; >; 4A MzAMEZjFNOT Ignoring new targets: 389.40 m.Bj{5;Jj{5; ProNav: ac range: 389.399994 m, nav range: 218.088547 m, bearing: 345.657095 deg, approach rate: -0.291388 m/s, LOS rate: 0.158664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172000 deg. 2j;:jY>@HeadingCmd: 4.820111 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbf 4@ɛ >«w,˂ A>@Y>%@>Ƕ;9> >y>H@N?{?`R? v@/?`?ɨ>@>~; G٣y   > Nusing accuracyPremultiplier from config49?%4YE5 iB--?-:--@ƗDE9;7;d49 =A9ZjaeFNOT Ignoring new targets: 389.40 m.Bjm?<;Jjm?<;} ProNav: ac range: 389.399994 m, nav range: 217.964630 m, bearing: 345.728012 deg, approach rate: -0.287414 m/s, LOS rate: 0.164579 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188057 deg. 2j};:j}@@HeadingCmd: 4.820391 target range: 389.399994 and range: 389.40 m. jjjjihhh hBfffrfbf4@ɛaڙ 隭;I c+ɚiI"&=IiXVںi$:))EE>*Fa2Fa:FaBFe4JFajHbH4<H>IC I!IIvBI =&I.I6IL<:Ix FWill construct direction to contact in vehicle frame from tetrahedron phase data. I i"ȫw,_%A2@Y2A@2N;92 >y2HH??,`q@?@ Ġt@'??ɨ2@2P;22Cyb#BbL!IIj Ijg5٢r>< r^=9vQ v>tx zG٣zr7Gyz@ ~>  Nusing accuracyPremultiplier from config 49 P?4Y Ş5 i B@ ΗD >; ?; ٙ4) -A)EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 389.40 m.Bj]9;Jj]9;m ProNav: ac range: 389.399994 m, nav range: 217.860535 m, bearing: 345.787975 deg, approach rate: -0.281759 m/s, LOS rate: 0.162384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155163 deg. 2jm;:jm;@uHeadingCmd: 4.819817 target range: 389.399994 and range: 389.40 m. jqjyjyjyiyhhhhfffrfbfX5@ɛZ @ Will construct direction to contact in vehicle frame from tetrahedron phase data. @~;9~~ >y~H` G٣y%b %> -Nusing accuracyPremultiplier from config)549-k?54Y-y5 i-B5',?=:=鳿=@-חD-;-};-4E4B EiAEEZjquFNOT Ignoring new targets: 389.40 m.Bj}O9;Jj}O9; ProNav: ac range: 389.399994 m, nav range: 217.741653 m, bearing: 345.859409 deg, approach rate: -0.269473 m/s, LOS rate: 0.162011 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189605 deg. I2j_;:j@@HeadingCmd: 4.820418 target range: 389.399994 and range: 389.40 m. jjjjihhhhBfffrfbf`5@ɛ  -BDAT read: Tx time:20:06:20.4288 =$Ping request sent.Eիw, YA6v@Y6 @6U;96+ >y6H@Ź?@=? K`b?@e`r@*??ɨ6v@6g;61CHPIP IR!IIRqBIR =&IP.IP6IR<:IR Fy`bP!IhhInIn^5٢v?  v_=9vxx zG٣xy~~ ~> Nusing accuracyPremultiplier from config 49ϕ? 4Yݬ5 iB  @ߗDP:q:4 lAZjFNOT Ignoring new targets: 389.40 m.Bj0;Jj0; ProNav: ac range: 389.399994 m, nav range: 217.643478 m, bearing: 345.918755 deg, approach rate: -0.255275 m/s, LOS rate: 0.154381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153304 deg. 2j;:j;@%HeadingCmd: 4.819784 target range: 389.399994 and range: 389.40 m. j!j!j!j!i)h)h)h)h1f1f9f9rf9bfE@ -6@]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:20:06:20.4280 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.244632ɛ15h佺 9=#ܫw,rA6@Y6@6[;96 >y6H 8R?@?`0`@?`\zk Q?@?ɨ6@6=;4y>4B>a!IIJIJX5٢R= VO=9VBQ Z>XX ZG٣Zs7GzKbMKb9K`KbKb      RKn?JKn#?yvl z> eNusing accuracyPremultiplier from configYu49]?u4Y]"5 i]BqA@]D];];]64 AEZjFNOT Ignoring new targets: 389.40 m.Bje>;Jje>;- ProNav: ac range: 389.399994 m, nav range: 217.532608 m, bearing: 345.986346 deg, approach rate: -0.272905 m/s, LOS rate: 0.166458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178062 deg. 2j-z;:j-7?@UHeadingCmd: 4.820217 target range: 389.399994 and range: 389.40 m. jYjYjYjYiYhYhYhahafafafirfibfm6@ɛd9 /=IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755372 ɣ&ɚiIm&=Iipݺi[=ǻ))*FU?2FY:FYBFYJFY qIqG} GY Ba O} >$!w,: A2Ԓ@Y2g@2 ;92 >y2H0??vj?Yb?i?ɨ2Ԓ@2Dp;24Cy>+B>V!IjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0078865Mb@Mb@Mb@111 1)1Y5 rh?I +?99 =G٣9y= E> mNusing accuracyPremultiplier from configiu49m?u4Ym5 im!B}+?}:}}@mDmz;m;m4 GAZjFNOT Ignoring new targets: 389.40 m.Bj:;Jj:;- ProNav: ac range: 389.399994 m, nav range: 217.415558 m, bearing: 346.058490 deg, approach rate: -0.264748 m/s, LOS rate: 0.163264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191733 deg. 2j-;:j-+A@5HeadingCmd: 4.820455 target range: 389.399994 and range: 389.40 m. j1j1j1j1i9h9h9haheBfififirfibfuI7@ɛAE88 AEIC I!IIvBI =&I.I>D6IY<:I} FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259544GU 4λ = $?I9 G9 BI Oe >Dw,ߦAF⻒@YFy˙@FVn99F_T >yFH??`-h(?@Ѣ -|?`2?ɨF⻒@FGT;F1Cy^6Bbc!IIjIjB5٢vf= vc=9v.Q v>xx zG٣xyz[ ~> Nusing accuracyPremultiplier from config 49à? 4Y5 i$B  @D;+;14 @EB*** querying acoustic contact ***jAjAZjYeFNOT Ignoring new targets: 389.40 m.BjmU=;JjmU=; ProNav: ac range: 389.399994 m, nav range: 217.322723 m, bearing: 346.116412 deg, approach rate: -0.265185 m/s, LOS rate: 0.165528 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149028 deg. 2j3;:j;@HeadingCmd: 4.819710 target range: 389.399994 and range: 389.40 m. jjjjihhhhfffrfbf`7@ɛy}*: y}@=I #ɚiI,u&=Iii{-))EEWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513289*F-?2F):F)BF-_5JF1G>uGBO J>zK2MK9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766267.w,]AR̒@YR7ܙ@R':9R >yRHy?y?`[y`2?WUs??ɨR̒@R;R/Cy%=B%l!IMb@Mb@Mb@ )Y!rh?~jt?~jt?yl'?=D<M A -@)lAIh@yA IIIX[5٢ = :=95";Q > G٣t7Gy; >  Nusing accuracyPremultiplier from config 49 e?4Y 5 i (B'?:ĵ@ D ; ; 4! %n@!ZjQUFNOT Ignoring new targets: 389.40 m.Bj]57;Jj]57;m ProNav: ac range: 389.399994 m, nav range: 217.212952 m, bearing: 346.186339 deg, approach rate: -0.251314 m/s, LOS rate: 0.160174 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185073 deg. 2jm;:ju7@@uHeadingCmd: 4.820339 target range: 389.399994 and range: 389.40 m. jqjyjyjyiyhyhyhhBBfffrfbf`S7@ɛ=BE: AE=IA E;ɚiiiImzs&=Iuiuliu)q)y*F!2F!:F!BF%P5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015480JJJ1JJJJ3JG% ;3G B O >Xw,گAHz>I I!IIBI =&I.I6I<:I FBIiJIiRIiZIibIijIm5NbҒ@YN@N;9N >yNHئ?7?oY?`d0`? ?ɨNbҒ@N;N1Cy5Bb!II)I)٢=' =V=9Eu:Q E>AA MG٣IyM: M> ]Nusing accuracyPremultiplier from configQ]49U?e4YU5 iU+Baee@U DU:U:U4i u@uEZjFNOT Ignoring new targets: 389.40 m.Bj4;Jj4; ProNav: ac range: 389.399994 m, nav range: 217.117584 m, bearing: 346.247212 deg, approach rate: -0.247643 m/s, LOS rate: 0.158140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157885 deg. 2j;:jT<@HeadingCmd: 4.819864 target range: 389.399994 and range: 389.40 m. jjjjih h1h1h1f1f9f9rf9bf=738@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271765ɛpr: A=I %ɚ!i!I%v&=IMiM YiM)I)Q Ii*F2F:FBF)3JF"G =G =G% G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523596OE >w,\tA:ݒ@Y:@:B5;9: >y:H w?@"?p@P?@8`f@??ɨ:ݒ@:W;:3CyRABRq!IIZIZuZ5٢bF{= bR=9f;Q f>dh jG٣hyjZ; j> rNusing accuracyPremultiplier from configlr49nԪ?v4Yn5 in.Bxz~@nDnws;n/t;nK4 )@zKLLK9KKK   0N^abb^Z]bc_ZUPKGD?:400-('%Zj9EFNOT Ignoring new targets: 389.40 m.BjE7;JjE7;U ProNav: ac range: 389.399994 m, nav range: 217.020325 m, bearing: 346.309267 deg, approach rate: -0.251385 m/s, LOS rate: 0.160464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161434 deg. 2jU@;:j]<@eHeadingCmd: 4.819926 target range: 389.399994 and range: 389.40 m. jajajajaiahahihihififqfqrfqbfu`8@lJTimed out from 2025-01-08T19:56:23.6Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛI=; 隭=I BɚiIv&=Iiis߻))EE*Fm?2Fq:FqBFu_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778957)  CmG IGJ  Yy~BGBO>iw,NAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027377yttJJJ0JJy:J9Jـ3JMb@Mb@Mb@ )Yjt?+?Q?y ?=u< @)AI~@yII=X5٢%8c %6=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E49=?M4Y= 5 i=2BM!?M:MM@=D=;=;=#4Y ],@YZjFNOT Ignoring new targets: 389.40 m.Bj0;Jj0; ProNav: ac range: 389.399994 m, nav range: 216.911850 m, bearing: 346.378118 deg, approach rate: -0.243399 m/s, LOS rate: 0.154568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181843 deg. 2j(;:j?@HeadingCmd: 4.820282 target range: 389.399994 and range: 389.40 m. jjjjihhhhFBfffrfbf)9@5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6ɛquƏ; quԐ=Iq }ɚyiyI}w&=Ii(iR))*FE?2FA:FABFAJFAH-|>I) I-!II-BI- =&I).I)6I-_<:I- FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279626G vϻGa Bi I EWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:20:06:23.3729 MTRx dataTimestamp_ set to:1736366784.756647Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532600O-? w,4A:@Y:g@:|;9:q >y:HdY?? ]?`B‘Uo??ɨ:@:;:1CyF?BFn!IININJ5٢V  V=9V;Q Z>XX ^G٣^u7Gy^,; ^> bNusing accuracyPremultiplier from config`f49b?f4Yb5 ib7Bhj봿j@b'Db;b;b4n5B rb@rEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 389.40 m.Bjg/;Jjg/;- ProNav: ac range: 389.399994 m, nav range: 216.779266 m, bearing: 346.462297 deg, approach rate: -0.241381 m/s, LOS rate: 0.153350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227877 deg. 2j-|;:j-VF@=HeadingCmd: 4.821086 target range: 389.399994 and range: 389.40 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM9@ɛ: 隅=I ɚiIс&=zKA NK 9KKK#!    I iuiۜ))E!*F?2F:FBF^0JFGrA GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787341 IG-UG B O- >cjw,rSNAN]@YN@Nf;9N| >yNH`??\(?@r#r@v??ɨN]@N!;LyVGBVx!IWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: Range 10 to 50 : 405.0 m (Round-trip 540.0 ms) speed -0.3 m/s -,DAT read: user:1124> =BDAT read: Tx time:20:06:24.4788 =$Ping request sent.= G٣yg: > Nusing accuracyPremultiplier from config49޶?4Y;5 i:B ?:<@0D;;p4 @ Je~JeJaJaJe{m:Je"9JaJa addTargetRange:: Added new target pos. range: 405.000000 m, deltaT: 25.971128 s, deltaX: 15.600006 m, approachRate: 0.600667 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 389.40 m.Bjt";Jjt"; ProNav: ac range: 389.399994 m, nav range: 216.671661 m, bearing: 346.529882 deg, approach rate: -0.226018 m/s, LOS rate: 0.142029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178041 deg. 2j;:j6?@HeadingCmd: 4.820216 target range: 389.399994 and range: 405.00 m. jjjji!h)h)h)h-QBf1f1f1rf5Py@bf5?ɛBA; 隍H=I  ɚiI &=Iizi'E))*F%?2F!:F!BF%$4JF!HU~>IQ IU!IIUBIU =&IQ.IU?D6IUG<:IUq FWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:06:24.4780 GE p® I G9 BA Oe >w,(hA6@Y6>@6;96 >y6H?*?`Iez"R?/_r@Z??ɨ6@6U;4yRABRp!II^I^?5٢j  n\=9r?#Q r>tt vG٣vv7Gyz6: z> Nusing accuracyPremultiplier from config49>?4Y5 i Will construct direction to contact in vehicle frame from tetrahedron phase data.j w,"QA:C@Y:@:Q;9:P>y:H`\?? ?Fo 2;jE?S?ɨ:C@:n=;8yR=BRk!I !I-iMb@Mb@Mb@ )Y/$?? G٣yM > Nusing accuracyPremultiplier from config 49 ?4Y_5 i?B5?:A@@D9;;4 %@!ZjAMFNOT Ignoring new targets: 389.40 m.BjMW+;JjMW+;] ProNav: ac range: 389.399994 m, nav range: 216.472229 m, bearing: 346.652956 deg, approach rate: -0.247063 m/s, LOS rate: 0.149799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164309 deg. 2je;:je?=@eHeadingCmd: 4.819976 target range: 389.399994 and range: 405.00 m. jijijijiiihqhqhyh}GBfyfyfrfbf@v?ɛa; 隵Ht=I FɚiI&=IiZwi1XĻ))*Fe?2Fa:FaBFaJFa"Gm=Gmp=Will construct direction to contact in vehicle frame from tetrahedron phase data.G-ԑG1G5nAG) BI O} >H >I C I I I =&I .I 6I =<:I m F&w,7⛰A6@Y6@6?e3;96ۼ>y6H? B?`@| h?zwlf ? ?ɨ6@6[;4yB0BB\!IININ<5٢VÎ Vd=9VөQ V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config`f49bo?f4Yb6 ibABdfj@bGDb:b:b4l n(AlZj  FNOT Ignoring new targets: 389.40 m.Bj*;Jj*; ProNav: ac range: 389.399994 m, nav range: 216.384171 m, bearing: 346.706300 deg, approach rate: -0.245256 m/s, LOS rate: 0.148632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135284 deg. 2j;:j9@HeadingCmd: 4.819470 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf5?ɛ]B]9 aeX =Ia eߌɚaiaImS&=Imi3i)Will construct direction to contact in vehicle frame from tetrahedron phase data.)I =$?I9*F?2F:F BF e0JF -PExceeded connect timeout, disconnecting.GE 4λG! B) E Will construct direction to contact in vehicle frame from tetrahedron phase data.OU >Jـ3K|3 KL.KK"KJ J xJ J J p:J 9J J J ;a J ;a J &:a J ':a ,w,$AV2@YV@V˕e;9V` >yVH N;? ?/;`@޹?ől`7^?/?ɨV2@V5;Ty8Bf!IIIxV5٢%#= %C=9-":Q ->)1 5G٣5w7Gy5; 5> ENusing accuracyPremultiplier from configAM49E[š?M4YE6 iEDBQUֱ]@EODEZ;E'[;EI4a e@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj3*;Jj3*; ProNav: ac range: 389.399994 m, nav range: 216.280624 m, bearing: 346.768899 deg, approach rate: -0.246019 m/s, LOS rate: 0.148802 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163072 deg. 2j>;:j=@HeadingCmd: 4.819955 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbfR3?zKLKKKKBK!:K%qAɛY]: Y]J=IY eɚaiaIe&=Iui}i}?<)y)y*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. !I!G=ԑG B O5 >ж3w,ϰA6U@Y6+@6^";96a >y6HY??Cs^ƒ?#Eu˝??ɨ6U@6a_;60Cy>'B>Q!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012292Mb@Mb@Mb@ )Y$C?i|?5?~jth?y?q=D; A @)AI@yAIIY5٢ B=9^};Q > G٣yk; > Nusing accuracyPremultiplier from config49ɡ?4YU6 iFB?:C@WDo;;4 kAZj  FNOT Ignoring new targets: 389.40 m.Bj"';Jj"';E ProNav: ac range: 389.399994 m, nav range: 216.174011 m, bearing: 346.830177 deg, approach rate: -0.254096 m/s, LOS rate: 0.146119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159111 deg. 2jE;:jE<@MHeadingCmd: 4.819886 target range: 389.399994 and range: 405.00 m. jIjIjIjQiQhQhQhYh]FBfYfYfarfabfe}@ɛ Bs 隕vI III =&I.I@D6Iw<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265033G- OPG5 ?G5 ? I G B O= >  nManaging dock network, ignoring radio surface power off9w,{鰶AZ-@YZ\=@Z^;9Z >yZH@~?q?Uz@vp?+ǫy>?r?ɨZ-@Z;Z2Cyn#BnL!II~I~[W5٢ T=9%c@;Q %>)) -G٣)y5x; 5> =Nusing accuracyPremultiplier from config9E49=͡?E4Y=^6 i=HBAMM@=_D=:=z:=g4Y ]A]EZjFNOT Ignoring new targets: 389.40 m.Bj&;Jj&; ProNav: ac range: 389.399994 m, nav range: 216.075851 m, bearing: 346.886466 deg, approach rate: -0.253105 m/s, LOS rate: 0.145207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144130 deg. 2jO;:j]:@HeadingCmd: 4.819624 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf@ɛYȺ @;I _ɚiIx&=Ii ;i :) )  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517326*F?2F:FBFD5JFJUyJUqJQJQJU]:JUq9JQJQJU;JU;JU:JU:zKqkKKKKK'B$ 4 { O   K G`%RK?JK&?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770640 @w,WA PIRi%u8@Y% H@%@;9%>y%Hһ??HD@O?$r|ಳ?`?ɨ%u8@%[;!y=)B=S!I]Mb@Mb@Mb@YYY Y)YY]V-?X9v?Mb`?y]|?]}=];Y ]C@)YI]h@YyYIuIuX[5٢Ŀ< 5=9+:Q > G٣x7Gy=; > Nusing accuracyPremultiplier from config49ҡ?4Y6 iIBF ?: @hD};`;C46B gAEZjFNOT Ignoring new targets: 389.40 m.Bj,;Jj,; ProNav: ac range: 389.399994 m, nav range: 215.957169 m, bearing: 346.954210 deg, approach rate: -0.264520 m/s, LOS rate: 0.151070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178529 deg. 2j[;:jH?@HeadingCmd: 4.820225 target range: 389.399994 and range: 405.00 m. jjjjihhhhHBfffrfbfeH@ɛ%!B-ƅ )-@pjH bH <H >I C I !II BI  =&I .I 6I #<:I _ FBI˪CJI˪CRIZI =bI =jI?6Fw,%A6{?@Y6O@6@;96\>y6H ?^?`G~{ ?K'~??ɨ6{?@6V;64Cy^B^;!IIjIj_5٢MWڽ Ma=9Ug:Q U>QQ eG٣ayey; e> mNusing accuracyPremultiplier from configiu49mw֡?}4Ym!6 imJBy~ @moDm0;m0;m#4 AZjFNOT Ignoring new targets: 389.40 m.Bj0,;Jj0,; ProNav: ac range: 389.399994 m, nav range: 215.861252 m, bearing: 347.009018 deg, approach rate: -0.263331 m/s, LOS rate: 0.150538 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139684 deg. 2j;:j9@HeadingCmd: 4.819547 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbfq @ɛ"B%~ !%мI! % ɚ!i!I-= '=I-i-i5>2;)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289275 I*F?2F:FBF_0JF"G=G=G;GrAGrAGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.i im Am checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532643Je |Je }Ja Ja Je ;g:Je S9Ja Ja Je ֊;Je ׊;Je :Je :+Mw,7A6=@Y6?M@6b;96<>y6HM? `?`@u?bז}ո? ?ɨ6=@6o;61CynBn:!IIzIza5٢恻 O=9RQ  >    G٣ yo > Nusing accuracyPremultiplier from config%49ڡ?%4Y'6 iKB!-- @wDC::}*41 5 A1UB*** querying acoustic contact ***jQjQZjimFNOT Ignoring new targets: 389.40 m.Bju+;Jju+; ProNav: ac range: 389.399994 m, nav range: 215.757828 m, bearing: 347.068330 deg, approach rate: -0.261685 m/s, LOS rate: 0.150144 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153208 deg. 2j;:j;@HeadingCmd: 4.819783 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf8 @ɛ#Bb pI ǟɚiI1'=IiFkid;))zK}/PKyKyK}K}HP "#$*Fu?2Fq:FqBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787625 Iq A ]YYy] BGe;GBO>Tw,wPAy~B~9!I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037012-only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768,  @ @ @  @ II]5٢n >=9Q > G٣y7Gy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49hߡ?4Y.6 iMB+:: @D0:;p>04 AZj9=FNOT Ignoring new targets: 389.40 m.BjE,;JjE,;U ProNav: ac range: 389.399994 m, nav range: 215.645020 m, bearing: 347.133243 deg, approach rate: -0.262242 m/s, LOS rate: 0.150979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170025 deg. 2jU;;:jU>@]HeadingCmd: 4.820076 target range: 389.399994 and range: 405.00 m. jYjYjYjYiYhahahahafififirfibfmT@ɛ$B I zɚiIt['=Ii9i;))*Fm?2Fi:FiBFm`0JFiHI I!IIvBI&I.I6I1<:Ii FG;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288172Gi Bq I O >d2Zw,jAyE BE.!IIUIUe5٢e+ eQ=9aQ m>qy }G٣y > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49㡜?4Y856 iNB :^: @Dl;CU?%54 UAEZj9EFNOT Ignoring new targets: 389.40 m.BjU *;JjU *;u ProNav: ac range: 389.399994 m, nav range: 215.540710 m, bearing: 347.193468 deg, approach rate: -0.257366 m/s, LOS rate: 0.148669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155950 deg. 2ju;:ju <@}HeadingCmd: 4.819830 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf@ɛ%B&ݷ QI 2ɚiIJ'=Ii i))-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540565J-}J-|J)J)J-[j:J-@9J)J)J-;J-;J-{:J-|:*F?2F:FBFJFGtA GtAzK MK 9K K K !    G G ?G ?G B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794545 I Oaw,ЀA ?@Y `O@ B;9 I >y H6 ?N?E`n@?`@{??ɨ ?@ =; 0CyB7!I 5 5 55 55  5 5 5Mb@Mb@Mb@111 1)1Y5"~j?x&?~jth?y5S#?57=5D;5 A 5-@)5AI5@1y5pAIMIMa5٢]*= ]6=9e7J:Q e>aa mG٣iymi: m> Nusing accuracyPremultiplier from configy49}衜?4Y}<6 i}PBT::$?:ҭ @}D};};}<4 AZj9EFNOT Ignoring new targets: 389.40 m.BjEZ.;JjEZ.;U ProNav: ac range: 389.399994 m, nav range: 215.420502 m, bearing: 347.262119 deg, approach rate: -0.266761 m/s, LOS rate: 0.152431 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181253 deg. 2jU9;:j}?@HeadingCmd: 4.820272 target range: 389.399994 and range: 405.00 m. jjjjihhhh'Bfffrfbf@@ɛ &BS !I ؔɚiIĶ'=IEiEjiM0;)I)I*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044619G G B H >I C I !II gBI &I .I ?D6I O<:I | FO= >Fpgw,3A64:@Y6I@6J;96+ >y6H??TB @t[?˖=~^w?#?ɨ64:@6f;4y@@IJ IJg5٢R_ Rm=9R.Q V?TT VG٣TyZz Z? Nusing accuracyPremultiplier from config\49^졜?4Y^;B6 i^QB%譿% @^D^{Z<^d;^B4) - A)ZjQUFNOT Ignoring new targets: 389.40 m.Bj]3;Jje3;u ProNav: ac range: 389.399994 m, nav range: 215.327850 m, bearing: 347.315300 deg, approach rate: -0.273744 m/s, LOS rate: 0.157194 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134798 deg. 2j};:j}9@HeadingCmd: 4.819461 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf@ɛ'BPk ,I a ɚiI'=Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548160J |J zJ J J ;g:J 9J J J ֊;J ׊;J Q:J R:1mw,_ ABI6@YBE@B҆;9B >yBH??@x    G٣ z7Gy > Nusing accuracyPremultiplier from config%49o?%4YI6 iRB)-- @D::-J457B 5BA5EUB*** querying acoustic contact ***jQjQZjimFNOT Ignoring new targets: 389.40 m.Bju?5;Jju?5; ProNav: ac range: 389.399994 m, nav range: 215.215988 m, bearing: 347.379794 deg, approach rate: -0.274696 m/s, LOS rate: 0.158458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168769 deg. 2j;:j=@HeadingCmd: 4.820055 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbfC@ɛ(Bʺ qupMIq } ɚyiyI}(=zK]MKh9KKK  Ii/i:))*F-?2F):F)BF-P5JF)"G5=G5=UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.803328 IiG:GsAGtAGBO >tw,ұA621@Y6@@6":<96&p >y6H+?? ?喿9Ge@??ɨ621@6c;6/Cy>B>6!IVWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.053150Mb@Mb@Mb@ )Y(\?㥛 ?Mb?y'?=< A )AI~@yAI=I=.l5٢M!I< MF=9Mf:Q U>QQ UG٣Qyػ > Nusing accuracyPremultiplier from config 49? 4YuP6 iUB (? : ^ @D;8;Q4 -AEZjamFNOT Ignoring new targets: 389.40 m.Bjm4;Jjm4; ProNav: ac range: 389.399994 m, nav range: 215.095291 m, bearing: 347.448774 deg, approach rate: -0.276624 m/s, LOS rate: 0.158184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182244 deg. 2j;:j?@HeadingCmd: 4.820290 target range: 389.399994 and range: 405.00 m. jjjjihhhh0Bfffrfbf3@ɛe)Beye imAIi ɚiI9(=IiQi:))H}>IC I!II\BI =&I.I6I?<:Ik F*F2F:FBF55JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304163 IG :G B O >zw,W챶A2)@Y28@2M<92 >y2H X??`Һ?:`nD?۴?ɨ2)@2V;23CyNBN2!IIV IVg5٢^ ^S=9bnQ b>`` bG٣dyf2 f> nNusing accuracyPremultiplier from confighn49j?r4YjV6 ijXBprr @jDj;j_;j&X4t vHAxZjFNOT Ignoring new targets: 389.40 m.Bj.;Jj.; ProNav: ac range: 389.399994 m, nav range: 214.993851 m, bearing: 347.507103 deg, approach rate: -0.265932 m/s, LOS rate: 0.152983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150254 deg. 2j;:j=;@HeadingCmd: 4.819731 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf@ɛ%*B%6fϻ !%@dI! -ɚ)i)I-e(=I5i5i5~9)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556435*F?2F:FBF_0JFG':GBzKLK9KKKO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811354 I ߘw,A]$@Y]G4@]<9] >y]H5?@?S'?ǖ k&?@ٵ?ɨ]$@]J;]0Cym Bu/!IuMb@Mb@Mb@qqq q)qYuMbX9?i|?5? rh?yu!?uq=uC G٣{7Gy > Nusing accuracyPremultiplier from config49?4YN^6 i\B"?: @D;f;I`4 VAZjFNOT Ignoring new targets: 389.40 m.Bj79;Jj79;  ProNav: ac range: 389.399994 m, nav range: 214.875397 m, bearing: 347.579249 deg, approach rate: -0.265719 m/s, LOS rate: 0.161930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191744 deg. 2j C;:j+A@HeadingCmd: 4.820455 target range: 389.399994 and range: 405.00 m. jjjjihhh!h%+Bf!f)f)rf)bf- @ɛU+BUл Y]{IY ]ɚYiYI](=IiiQ))*F}?2Fy:FyBFyJFyGsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060327JJJJJp:J9JJa@a@a@a@G} }:G ?G >GY Ba O >H ~>I  I !II WBI &I .I 6I +<:I ] Fw,[} A6@Y6m-@6N7 <96' >y6H )? R?@@x?oߖ&?W?ɨ6@6=;62Cy>B>8!IIF IFNg5٢N= Rq=9RC:Q R?TT VG٣TyV! V? ^Nusing accuracyPremultiplier from configXb49ZE?b4YZc6 iZ`Bdf0f @Z˜DZI;Z-J;Z2f4h n!AlZj|FNOT Ignoring new targets: 389.40 m.Bj=1;Jj=1; ProNav: ac range: 389.399994 m, nav range: 214.789688 m, bearing: 347.631745 deg, approach rate: -0.252893 m/s, LOS rate: 0.154955 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132736 deg. 2j;:j8@%HeadingCmd: 4.819426 target range: 389.399994 and range: 405.00 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf=<&@ɛm,Bm|"Ȼ quHLIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312343 %yRɚ!i!I%u(=I-i-5i-B)))1 I*F 2F :F BF JF G5!G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564226鍬w,\:A6a@Y6,@6<96>y6H }? ? 1p?p@f^`?@?ɨ6a@6;60CybBb5!IInInQc5٢r** vF=9vU:Q v>xx zG٣xy~t ~> Nusing accuracyPremultiplier from config 49? 4Yj6 idB 1 @ʘD:X:nm4 3AEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 389.40 m.Bj]1;Jj]1;m ProNav: ac range: 389.399994 m, nav range: 214.685028 m, bearing: 347.696065 deg, approach rate: -0.252677 m/s, LOS rate: 0.155362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168242 deg. 2ju?;:ju=@}HeadingCmd: 4.820045 target range: 389.399994 and range: 405.00 m. jyjyjyjyiyhyhhhfffrfbf3@ɛ-BU˻ xdI ZɚiI>(=IiiT/))zK>BKK 9KKKBK:KsA*Fu?2Fy:FBF|0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816574 IG}u4GQByO>!Дw,/TA6L@Y6!@6d<961x>y6H@T? I?@r4@.?@j 1? ?ɨ6L@6S;62CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.068083yHJ4!IJJJJJs:J9JJMb@Mb@Mb@ )YZd;?Mb?Mb?y?@=< A Z@)IlAyAIIxV5٢1 <=9IMQ > G٣|7GyDL > Nusing accuracyPremultiplier from config49 ?4Yq6 igB{?: @ӘD9; ;u4 8A EZj9=FNOT Ignoring new targets: 389.40 m.BjE/;JjE/;U ProNav: ac range: 389.399994 m, nav range: 214.582428 m, bearing: 347.762724 deg, approach rate: -0.236556 m/s, LOS rate: 0.153763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175259 deg. 2jU ;:jU>@]HeadingCmd: 4.820168 target range: 389.399994 and range: 405.00 m. jYjYjYjYiYhahahaheMBfififirfibfmD @ɛ.BNFѻ 隥pI ɚiI{0)=Ii2i5 )1)IHyIy I}!II}\BI} =&Iy.Iy6I}8<:I}g FBI5ĩCJI1RI1ZI5 =bI1jI5}"6*F-?2F):F)BF-0JF)"G5=G5p=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320403 u$?I}iGM >GQ GU sAG! B9 O >0w,+nA2@Y2$@2 <925%>y2H?p?` `<)?@ؗJ?@T?ɨ2@2;0y>B>@!IIJIJU5٢RZ= R`=9R:Q R>TT VG٣TyVe: Z> bNusing accuracyPremultiplier from configXb49Z?f4YZw6 iZjBdff @ZژDZ:Z:Za{4h nAlZj FNOT Ignoring new targets: 389.40 m.Bj /;Jj /; ProNav: ac range: 389.399994 m, nav range: 214.496231 m, bearing: 347.818865 deg, approach rate: -0.236076 m/s, LOS rate: 0.153820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143676 deg. 2j!;:jL:@HeadingCmd: 4.819616 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf~!@ɛe/BeV ae(Ia m ɚiiiImDb)=IiiY))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573309*F ?2F :F BF J3JFG-4G B O= >zK KK 9K K K CI 1w@'RK ?JK >)) 1 }G  Y y )AE Will construct direction to contact in vehicle frame from tetrahedron phase data. I  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826992塬w,A@Y@њ!<9>yH?7?`z ? D3x? r?ɨ@R;騭/CyB7!IMb@Mb@Mb@ )YK?+?~jt?y^?=D<A p@)AIAyAII:\5٢   )=9 :Q  > G٣yź > 5Nusing accuracyPremultiplier from config)E49-?M4Y-)6 i-mBU?]:]곿] @-D-;-;-ۃ4m8B u+AuEZjFNOT Ignoring new targets: 389.40 m.Bj(;Jj(; ProNav: ac range: 389.399994 m, nav range: 214.388290 m, bearing: 347.891658 deg, approach rate: -0.218614 m/s, LOS rate: 0.147502 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193673 deg. 2ju;:jrA@HeadingCmd: 4.820489 target range: 389.399994 and range: 405.00 m. jjjjihhhhiBfffrfbf@ "@ɛ=0B=]mʻ 9EPnIA ER$ɚAiAIE)=IMiMמiM, )I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077226*F?2F:FBF0JFJJ}JJJp:JS9JJZHY RH] AAHa Ia  Ie !IIe bBIa &Ia .Ia 6Ie <:Ie @ FGU ïG] ?G] ?G1 B9 OU >]w,֡A6T@Y6!@6 .<967>y6H`u?`?`y@] ?瘿@Fم ?)?ɨ6T@6qQ;60CyJBJ4!IIVIVW5٢^| bx=9b8 ;Q b?`d fG٣f}7Gyf: f? =Nusing accuracyPremultiplier from config1=495?E4Y56 i5oBAEܳE @5D5:5:5̉4Q U?AYZjyFNOT Ignoring new targets: 389.40 m.Bj0;Jj0; ProNav: ac range: 389.399994 m, nav range: 214.312714 m, bearing: 347.942752 deg, approach rate: -0.228473 m/s, LOS rate: 0.154515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128523 deg. 2j;:j!8@HeadingCmd: 4.819352 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbfߦ"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328302ɛ1B <==I #'ɚiI+)= II i>i ܺ))*F2F:FBF]0JFGpGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580444 8w,wA6@Y6z"@6L6<96B >y6H@ާ? ?`6 ?@^І7?@O?ɨ6@6;62CyN BN,!IIVIV[5٢= =C=9=Ǔ:Q E>AA EG٣AyM*9 M> UNusing accuracyPremultiplier from configQe49U5?e4YU6 iUqBaeڳe @UDU0;U1;U4i uvAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj+;Jj+; ProNav: ac range: 389.399994 m, nav range: 214.222580 m, bearing: 348.003875 deg, approach rate: -0.221196 m/s, LOS rate: 0.150064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158632 deg. 2j;:jo<@HeadingCmd: 4.819877 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf`[w#@ɛ52B5S 1=I9 =u+ɚ9i9I=}*=IEiEkiA)A)IzK˂MK9KKK*F?2F:FBF_0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833942GGBO>fw,6xղA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2<9^>y^H ??E]?ᙿƇ ??ɨ^(@^k.;^/CyލBލ'!IJJzJJJv:J9JJMb@Mb@Mb@ )Yl?X9v?~jtx?y?<; );AIVAyIIV5٢z 2=9:Q > G٣yJ  > Nusing accuracyPremultiplier from config49?4Y6 irB?:A% @D;8;4) -A-EZjQUFNOT Ignoring new targets: 389.40 m.Bj]d*;Jj]d*;m ProNav: ac range: 389.399994 m, nav range: 214.125427 m, bearing: 348.072193 deg, approach rate: -0.211744 m/s, LOS rate: 0.148967 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180233 deg. 2jmx;:jm?@uHeadingCmd: 4.820254 target range: 389.399994 and range: 405.00 m. jqjqjqjqiyhyhhh\Bfffrfbfh$@H>I III&I.I6I<:I= Fɛ4B{N 隕̹I )1ɚiIif*=Ii i#))*F}?2Fy:FyBFyJF IiWill construct direction to contact in vehicle frame from tetrahedron phase data.%Iw,UﲶA6@Y61&@6I<96Ŵ>y6H@Tź?? v&?c@0H ?}?ɨ6@6;61CyBBB !IIJIJ R5٢R Rx=9R ;Q V?TT VG٣V~7GyZ: Z? Nusing accuracyPremultiplier from config%49J?%4Y 6 i!%/- @D:.:45B 5A1ZjimFNOT Ignoring new targets: 389.40 m.Bju";Jj}"; ProNav: ac range: 389.399994 m, nav range: 214.056488 m, bearing: 348.120760 deg, approach rate: -0.201811 m/s, LOS rate: 0.142219 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120934 deg. 2j5;:j 7@HeadingCmd: 4.819220 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf K%@ɛ5B(2 DֽI O5ɚiI*=I i /i ) )uWill construct direction to contact in vehicle frame from tetrahedron phase data.u;664221/,+&#$!  I - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Response Not Received 5 *response not received= ,DAT read: user:1125> E BDAT read: Tx time:20:06:35.4289 E $Ping request sent.E "¬w,$ AyޥBޥ!IMb@Mb@Mb@ )Y\(\?y&1?~jth?y?`<D;A @)I@yIIJ5٢d =9Q > G٣y > Nusing accuracyPremultiplier from config49{#?4Y6 i ?:޵ @ D;;K4B AZj FNOT Ignoring new targets: 389.40 m.Bj02;Jj02;- ProNav: ac range: 389.399994 m, nav range: 213.940201 m, bearing: 348.204352 deg, approach rate: -0.216598 m/s, LOS rate: 0.155785 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226099 deg. 2j-;:j-F@5HeadingCmd: 4.821055 target range: 389.399994 and range: 405.00 m. j1j1j1j1i1h9h9h9h=LBfAfAfArfAbfE@#&@ɛu7Bu,i/ y}zIy }">ɚyiyI +=Ii~jid))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:20:06:35.4281 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261525H>IC I!IIWBI =&I.I6I<:IV FE`>=*FU ?2FQ :FQ BFU 4JFQ i Ii % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.512756GqGQBYO}?)ʬw,_,A6@Y6O@6 B<96^ >y6H??D?s? [X#?@?ɨ6@6Oy;4y>B> IIFIFB5٢Rѽ VH=9V̄Q V>XX ZG٣Xy^ֻ ^> bNusing accuracyPremultiplier from config`f49b&?f4Yb+6 i`df6f @bDb:b2 ;bk4l nAlZjFNOT Ignoring new targets: 389.40 m.Bj&;Jj&; ProNav: ac range: 389.399994 m, nav range: 213.854919 m, bearing: 348.266431 deg, approach rate: -0.199959 m/s, LOS rate: 0.145613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161496 deg. 2j;:j<@HeadingCmd: 4.819927 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf&@ɛ9B  r  1I EHɚiIk+=Iii`vx))!E)E)*E1"E1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.764138J-J-~J)J)J-p:J-f9J)J)J-;a=J-;a=J-:aEJ-:aE*F?2F:FBF_0JFzK MK +9K K K  G ï 9 I G B O >)Ѭw,uGAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016207>@Y> @> 6<9> >y>HW??`VC?I4 9K?@`?ɨ>@>a;>0Cy^ڂB^ IIIGL5٢ż (=9κQ > G٣%7GyMX׺ M> UNusing accuracyPremultiplier from configQ]49UJ*?]4YU6 iQY]Q] @UDU :U:U94 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj`2;Jj`2;M ProNav: ac range: 389.399994 m, nav range: 213.750107 m, bearing: 348.343241 deg, approach rate: -0.212700 m/s, LOS rate: 0.155950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205729 deg. 2jM ;:jM+C@UHeadingCmd: 4.820699 target range: 389.399994 and range: 405.00 m. jQjQjQjQiQhYhYhhfffrfbf`(@ɛ5;B54Ts 15BI1 uEUɚyiyI}+=IiiY))EEoA*FM?2FI:FIBFQJFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269289H ~>I  I y!II HBI =&I .I 6I <:I = FG xGy B O >^جw,aA6O@Y6 @6p<96x2 >y6HZ?ی? o{[?ڶ̓8?`!?ɨ6O@6g;6/Cy>B> I Mb@Mb@Mb@    ) Y Mb?Q? G٣y9 > Nusing accuracyPremultiplier from config49.-?4Y6 ipB ?:ĵ @$D3A;?;4 AEZjFNOT Ignoring new targets: 389.40 m.Bj8;Jj%8;5 ProNav: ac range: 389.399994 m, nav range: 213.670929 m, bearing: 348.400738 deg, approach rate: -0.222149 m/s, LOS rate: 0.161381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147743 deg. 2j5;:j5:@=HeadingCmd: 4.819687 target range: 389.399994 and range: 405.00 m. j9jAjAjAiAhAhAhIhMBfIfIfQrfQbfU#(@ e$?Imiɛ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772169J#K+ـ3 K+K#K#"K#Ji Jm }Ji Ji Ji Jm S9Ji Ji Ji Ji Jm :Jm :6ެw,N{Af:@Yf@fO3<9f/ >yfH`͂? ? u /?PZ@~58??ɨf:@f;f1Cy~B IIIKk5٢%P -M=9-X;Q ->11 5G٣1y5; 5> ENusing accuracyPremultiplier from configAM49EE0?M4YEV6 iEnBIMxU @E,DE:E:EH4]B ]A]EZjFNOT Ignoring new targets: 389.40 m.Bjr/;Jjr/; ProNav: ac range: 389.399994 m, nav range: 213.587341 m, bearing: 348.461210 deg, approach rate: -0.211940 m/s, LOS rate: 0.153389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156672 deg. 2j;:j(<@HeadingCmd: 4.819843 target range: 389.399994 and range: 405.00 m. jjjjih h h h fff1rf9bf=|)@ɛ>BG 隍∾I þmɚiIT,=Ii_i))*Fm?2Fi:FiBFm0JFizK.SLK9KKK iIi-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.027378Gg{Gi Bq O >pw,`xAy~B~ I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276403Mb@Mb@Mb@ )Y(\?{Gz?{Gzy'?#=#A @)AIAyIIQc5٢ @=9Q > G٣7Gy > Nusing accuracyPremultiplier from config49*4?4Y6 ikB(?:ȳ @5D4;t2;4 {A Zj)5FNOT Ignoring new targets: 389.40 m.Bj=CA;Jj=CA;M ProNav: ac range: 389.399994 m, nav range: 213.487152 m, bearing: 348.531136 deg, approach rate: -0.241977 m/s, LOS rate: 0.168964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185062 deg. 2jM;:jM7@@UHeadingCmd: 4.820339 target range: 389.399994 and range: 405.00 m. jQjYjYjYiYhYhYhaheBfafafirfibfmO*@ɛ?Beʼ 隥ęI }ɚiIC-=Ii5|iU ))E]>E>*F)2F):F)BF-3JF)Huz>IuC IuT!IIu*BIu =&Iq.Iu>D6IuT<:Iuz FBI9JI=ĩCRI9ZI9bI= =jI=~5Gp YIYGBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528124Pw,uAnE@Yn"@n=<9n >ynH᪺?U?@  ?ಠ@$?ॵ?ɨnE@n[;n0Cy~B~ II I i5٢q/ U=9Y:Q %>!! %G٣!y-: -> 5Nusing accuracyPremultiplier from config1=4957?=4Y56 i5iBAEE @5=D5Y;5+?;5h4Q UAQZjy}FNOT Ignoring new targets: 389.40 m.Bj<;Jj<; ProNav: ac range: 389.399994 m, nav range: 213.397110 m, bearing: 348.594112 deg, approach rate: -0.234993 m/s, LOS rate: 0.164424 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164193 deg. 2j;:j;=@HeadingCmd: 4.819974 target range: 389.399994 and range: 405.00 m. jjjjihhhhfffrfbf +@ɛ@B ݼ aeyIa enɚiiiIm-=IuiuwiuDϺ)q)q*F2F:FBFF5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780312J=J=J9J9J=s:J=9J9J9J=;J=;J=g;J=h;G=i"G B! OE > G 1 e Ya ye !A 1 I1 zKM QJKM ]9KI KM KM BKa :Ka - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032320/w,+ɳA @Y@j2<9<{ >yH`"i?0?2 b͹?* ^!?@˵?ɨ @L;騵1Cy]B] IMb@Mb@Mb@ )Y|?5^?:v?y&1|y2?T=` p@)AIVAyAI I1h5٢ᙼ $=9%Q ->99 =G٣9yMs M> uNusing accuracyPremultiplier from configa}49eQ-w,}泶A IMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:20:06:38.3844 ]TRx dataTimestamp_ set to:1736366799.644741]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537336yލBޕ I ==IIk5٢ǟ B=9Q > G٣7Gy >  Nusing accuracyPremultiplier from config 49 RA?4Y 6 i eB @ RD : ; }4! %jA)ZjFNOT Ignoring new targets: 389.40 m.Bj/N;Jj/N; ProNav: ac range: 389.399994 m, nav range: 213.160248 m, bearing: 348.755308 deg, approach rate: -0.264073 m/s, LOS rate: 0.180262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193109 deg. 2jl;:j]A@HeadingCmd: 4.820479 target range: 389.399994 and range: 405.00 m. jjjjihhhhfff rfbf]@y,@ɛCBx? 隭I uɚiI.=IUiUiUC3")Q)Y*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789205J }J J J J [j:J "9J J J ;J ;J ;J ;G *G B O > w,:A6@Y6!@6n<96 >y6H?A? ?:閿m/J?@?ɨ6@6;60Cy>BB IIJ IJ1h5٢R~ Rz=9RQ R?TT VG٣TyZn" Z ? ^Nusing accuracyPremultiplier from configXb49ZD?b4YZ6 iZdBdff @ZYDZ;Z;Z.4h jAhZjFNOT Ignoring new targets: 389.40 m.BjA;JjA; ProNav: ac range: 389.399994 m, nav range: 213.077515 m, bearing: 348.812514 deg, approach rate: -0.244681 m/s, LOS rate: 0.169251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146871 deg. 2jO;:j:@HeadingCmd: 4.819672 target range: 389.399994 and range: 405.00 m. jjjjihhhhf f f rf bf-@ɛDB" I äɚiI@/=I iȮi5)) IIMizKK+9KKKRK>JK>uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 413.5 m (Round-trip 551.4 ms) speed -0.4 m/s ,DAT read: user:1126> BDAT read: Tx time:20:06:39.4789 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:20:06:39.4781 7w,#AJ@YJ@JM<9Jso >yJH >? y?41@X?)``? ?ɨJ@J文;Hy~zB~| IHyIy I}!II}BI} =&Iy.Iy6I}<:I} FMMb@Mb@Mb@III I)IYMOn?p= ף?Mb`?yM8?M=M;MzA M@)M$AIMAIyMAImImj5٢u }=9}Q }> G٣y& > Nusing accuracyPremultiplier from config49J?4Y6 ieBS9?: @eD;Y;q4 A addTargetRange:: Added new target pos. range: 413.500000 m, deltaT: 14.888906 s, deltaX: 8.500000 m, approachRate: 0.570895 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 389.40 m.BjX;JjX; ProNav: ac range: 389.399994 m, nav range: 212.934525 m, bearing: 348.908279 deg, approach rate: -0.282891 m/s, LOS rate: 0.189588 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.262672 deg. 2j<:jPK@ HeadingCmd: 4.821693 target range: 389.399994 and range: 413.50 m. j j j j i hhhhfffrfy@bfh??ɛEB~+ /˾I ౻ɚiI/=Iii`ͻ))E E tA AII}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG G B O >9 w, 5A6ג@Y6@6~;96 >y6H ˸?.?(Q }Y?yГy Q??ɨ6ג@6;4y>xB>y IIFIF`5٢RЌ R=9VrQ V?TX ZG٣Z7Gy^~û ^? bNusing accuracyPremultiplier from config`f49b N?f4YbA6 ibfBdfJf @blDb:b ;b4l nAlZjFNOT Ignoring new targets: 389.40 m.BjB;JjB; ProNav: ac range: 389.399994 m, nav range: 212.855225 m, bearing: 348.961898 deg, approach rate: -0.250848 m/s, LOS rate: 0.169675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136103 deg. 2j;:j79@HeadingCmd: 4.819484 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf ?ɛFBV  }ξI  6ĹɚiIQ0=Ii@i- ))UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG̻ IiGBO>zK} ]JK} 9Ky K} K}  Will construct direction to contact in vehicle frame from tetrahedron phase data.$w,NAmfŒ@Ymԙ@mJ;9mע>ymHg??)?k>?`4V q?+?ɨmfŒ@me;m1CyޝBޝ I%Mb@Mb@Mb@!!! !)!Y%1Zd?QY ]G٣Yye m> Nusing accuracyPremultiplier from config49uS?4Y6 ikBI I IIӂBI =&I.I6I\<:I FGu >u $?I GI BY Ou >w,GiAFܲ@NWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508176YFt™@Fa):9Fl >yFHӫ??@j?ŋ+S%?,?ɨFܲ@F%9;F2CyjBj IIzIzF5٢ =  ^=9Q > G٣y > Nusing accuracyPremultiplier from config49W?4YM6 inB @Dj[;\;`4 tAZjAEFNOT Ignoring new targets: 389.40 m.BjuP;JjuP; ProNav: ac range: 389.399994 m, nav range: 212.624908 m, bearing: 349.116983 deg, approach rate: -0.268360 m/s, LOS rate: 0.181903 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185374 deg. 2j;:jB@@HeadingCmd: 4.820344 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf$^?ɛ]HB] Y]IY e;ϻɚaiIK1=Iii`;))9*F?2F:FBFn0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759354G ׹G B O% > w,CǂAB@YBB@BNl99Bk >yBHb?? 5 )?궉 ۉ-?H??ɨB@Bp؇;B/CyJBJ I Ra=Ra=IVIVc5٢f< fO=9f|'Q f>hh jG٣j7GynD n> rNusing accuracyPremultiplier from configpv49r*\?v4Yrl7 irrBtz(z @rDrX:r":r 4| ~GAZj!%FNOT Ignoring new targets: 389.40 m.Bj-W;Jj-W;E ProNav: ac range: 389.399994 m, nav range: 212.523880 m, bearing: 349.185941 deg, approach rate: -0.276202 m/s, LOS rate: 0.188612 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182156 deg. 2jEq<:jE?@MHeadingCmd: 4.820288 target range: 389.399994 and range: 413.50 m. jIjIjQjQiQhQhQhYhYfYfafarfabfe ?ɛhV 隕I ׻ɚiI1=Ii2iH)) I!*F?2F:FBF`5JFzKma3JKm9KiKmKm Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012503G=.-GBO%>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264051J% |J% wJ! J! J% ;g:J% 9J! J! &w,A6y@Y6@6696$ >y6H@)?'?`F g@?4!y??V?|?ɨ6y@6M;61Cy>B> IH>IC I II΂BI =&I.I?D6I<:I FMb@Mb@Mb@ )Y5^I ?(\µ?Zd;O?y8?=j<A )AIAyAIIb5٢o= 9=9fѺQ > G٣y@ >  Nusing accuracyPremultiplier from config 49 a?4Y  7 i zBUp9?U:]] @ D (< (< 4a eAaZjFNOT Ignoring new targets: 389.40 m.BjH;JjH; ProNav: ac range: 389.399994 m, nav range: 212.402100 m, bearing: 349.265614 deg, approach rate: -0.267951 m/s, LOS rate: 0.175404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214343 deg. 2j;:jgD@HeadingCmd: 4.820850 target range: 389.399994 and range: 413.50 m. jjjjihhhh Bf f fIrfIbfUA@ɛIBڴ 隝I bɚiIx 2=Iii'S)) I i*F=?2FA:FABFE2JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516152G ei@GY Bi O >,w,oA2@Y2@2Š92D >y2H?@?9LU?T?Z?`Y?ɨ2@2;0y>B> IIF"IFq5٢N,= Rb=9RwQ R>TT VG٣TyV V> ^Nusing accuracyPremultiplier from configXb49Zf?b4YZh7 iZB`bf @ZDZ;Zk;Z4h jAjôEZjFNOT Ignoring new targets: 389.40 m.BjK;JjK; ProNav: ac range: 389.399994 m, nav range: 212.302979 m, bearing: 349.330768 deg, approach rate: -0.270926 m/s, LOS rate: 0.178168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170740 deg. 2j;:j+>@HeadingCmd: 4.820089 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf U@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767458ɛuJBu qu2Iy }iɚiI={2=Ii>iT))1*F?2F:FBF4JF IGhA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019256G B O >zK KK ]9K K K  3w,PnдAyMBM IQUAMb@Mb@Mb@ )Ykt?ʡE?:v?y 0?=< @)Iy(AI-I-r^5٢=(= =&=9EQ E>II MG٣M7GyM U> ]Nusing accuracyPremultiplier from configYe49]k?m4Y]17 i]BmZ1?m:mm @]D].;];]#4q }AyB*** querying acoustic contact ***jjZjEFNOT Ignoring new targets: 389.40 m.BjEM;JjEM;U ProNav: ac range: 389.399994 m, nav range: 212.176468 m, bearing: 349.415959 deg, approach rate: -0.266731 m/s, LOS rate: 0.179721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230910 deg. 2jU;:jUF@HeadingCmd: 4.821139 target range: 389.399994 and range: 413.50 m. jjjjihhhhBfffrfbf [ @Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271490ɛ)-ռ )-I1 5Paɚ1i1I52=I]i]ia)a)iJJzJJJJ9JJH}>Iy I} II}؂BI} =&Iy.Iy6I}r<:I} FBI9JI9RI9ZI= =bI9jI=l5*F2F:FBFO5JF I G KG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524379O >l:w,8봶A:x@Y:@:+9:r >y:Ha??\@ 7T?<~r?``??ɨ:x@:};8yJĂBJ IIRIR`5٢Z= Zn=9^|Q ^?`` bG٣`yb f? jNusing accuracyPremultiplier from configdj49foo?n4YfU#7 ifBln]n @fDf ;f ;f)4t vAtZjFNOT Ignoring new targets: 389.40 m.BjF;JjF; ProNav: ac range: 389.399994 m, nav range: 212.089005 m, bearing: 349.475602 deg, approach rate: -0.254386 m/s, LOS rate: 0.173541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154188 deg. 2j]3;:j];@eHeadingCmd: 4.819800 target range: 389.399994 and range: 413.50 m. jajajajaiahahihihififqfrfbf@ @ɛKBXۼ pI  mɚqiqIu&3=Iui}i}l€)y)y*FE?2FA:FABFE^0JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775233Gi GA BQ Om >) G fHAw,gaA *Y(y*B pIpy5тB= IIMIM^5٢]r= ]B=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configi}49m$t?}4Ym*7 imBy @mDm`J;mZ;m04B *AEZjFNOT Ignoring new targets: 389.40 m.BjF;JjF; ProNav: ac range: 389.399994 m, nav range: 211.981979 m, bearing: 349.548855 deg, approach rate: -0.253638 m/s, LOS rate: 0.173689 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195056 deg. 2jg;:jA@HeadingCmd: 4.820513 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf@y@ɛ)5G#ͼ 15sI1 5Հɚ9i9I=eg3=I=iE;iE[{)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027598zKmiLKm9KiKmKm Kb%+  .EQVYZZWSPMLKHC@><:861*F5?2F9:F9BFE_0JFAG s Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279314G B O >J] xJ] uJY JY J] Z:J] 9JY JY oGw,0AHDID IF!IIFBID&ID.ID6IF<:IF F>@Y>A@>(ƻ9>] >y>HS?`?}"T?'Kxx? }??ɨ>@>5<;>2CyVBZ I ^=^=Mb@Mb@Mb@ )Yy&1?{Gz?V-?y`%?ף=< )IAyzAII\5٢Ժ= E=9iQ > G٣7GyE > Nusing accuracyPremultiplier from config49x?4Y17 iB&?: @DS;;(84 AôEZjFNOT Ignoring new targets: 389.40 m.Bj%:;Jj%:;5 ProNav: ac range: 389.399994 m, nav range: 211.880463 m, bearing: 349.616539 deg, approach rate: -0.244527 m/s, LOS rate: 0.163113 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178337 deg. 2j5;:j5A?@=HeadingCmd: 4.820221 target range: 389.399994 and range: 413.50 m. j9j9jAjAiAhAhAhIhMZBfIfIfIrfQbf] @ɛT 隍MI |ɚiI3=IiZvix~)) $?Ii*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531569Gk}G B O >Mw, 9A6@Y6@6XCۻ96 >y6Ho? ?@Lt? v]h{?@!?@?ɨ6@6;6/Cy>BB!IIJIJV5٢Rc> R^=9Rs޺Q V>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from config\f49^|?f4Y^87 i^Bdfj @^ǙD^A;^aB;^>4l nA9]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.783510ZjFNOT Ignoring new targets: 389.40 m.Bjn0;Jjn0; ProNav: ac range: 389.399994 m, nav range: 211.790634 m, bearing: 349.676588 deg, approach rate: -0.230646 m/s, LOS rate: 0.154247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155408 deg. 2j%;:j%;@%HeadingCmd: 4.819821 target range: 389.399994 and range: 413.50 m. j)j)j)j)i)h)h)h1hQfQfYfYrfYbf] HG@ɛLB I ӌɚiI|3=IiEimx)) *F?2F:FBFo0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035162G  ~zK NK 9K K K 0-***&$"" G B O >Tw,+RA]@Y]+@]ފ9](J >y]H t??( Ҵ?`yvtJ}?@њ??ɨ]@]U5;]2Cy}Bޅ*!IMb@Mb@Mb@ )YK?{Gz? rh?y^?C =A @)AIyGAI5I5V5٢E8= E2=9E7Q E>II MG٣IyU; U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]2?7 i]Bm?u:uu @]ЙD]s;]A;]F4 wAmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 389.40 m.Bj}+;Jj+; ProNav: ac range: 389.399994 m, nav range: 211.684387 m, bearing: 349.746264 deg, approach rate: -0.228745 m/s, LOS rate: 0.150085 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184320 deg. 2j;:j@@HeadingCmd: 4.820326 target range: 389.399994 and range: 413.50 m. jjjjihhhhBfffrfbf`@eWill construct direction to contact in vehicle frame from tetrahedron phase data.eAieAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.287598ɛq} y隽 I ɚiI'3=IiK+iFl))HI IG!II BI&I.I6Ḭ<:I F*F?2F:FBFJF I G yG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539363Zw,lAb&@Yb@b9b*>ybHζ??L+oݶ?/r???ɨb&@b+;`ynBnB!IprAIvIvDP5٢~= b=9  Q  >    G٣7Gy: > %Nusing accuracyPremultiplier from config%49?%4YD7 iB)-䭿- @יD::L49 =@9ZjYeFNOT Ignoring new targets: 389.40 m.Bje<;Jje<;} ProNav: ac range: 389.399994 m, nav range: 211.600433 m, bearing: 349.801441 deg, approach rate: -0.250719 m/s, LOS rate: 0.164844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140782 deg. 2j}B;:j}9@HeadingCmd: 4.819566 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbfj@ɛMB ŽI ȗɚiI4=IibiĠe))*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794068GrJEzJE~JAJAJE`:JEf9JAJAJEp;aUJEq;aUJE:aUJE:aUG! B1 OU >yBH`'?/?@* ;6?Cs@`?? ?ɨB9@Blq;B3CyNBNG!IIZIZX5٢b< bO=9bQ f>dd fG٣dyj`; j> nNusing accuracyPremultiplier from configlr49n󉢜?v4Yn K7 inʯBxzz @nߙDn;;n;;nS4| ~u@Zj!-FNOT Ignoring new targets: 389.40 m.Bj-l-;Jj-l-;= ProNav: ac range: 389.399994 m, nav range: 211.509109 m, bearing: 349.861429 deg, approach rate: -0.230718 m/s, LOS rate: 0.151617 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155228 deg. 2jE;:jE;@EHeadingCmd: 4.819818 target range: 389.399994 and range: 413.50 m. jIjIjIjIiIhIhIhQhQfQfQfYrfYbf] @ɛ oq 隕칽I 8ɚiI4=Ii iϷR))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044782*FM?2FQ:FQBFUS0JFQzK&MK9KKK     RK?JK?Gu_G1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297593#gw,yAH>I I!IIMBI =&I.I6I<:I FB߮@YBw@BI9BK>yBH ܋??@?@'%t ]???ɨB߮@B;B0Cy^.BbZ!I-5only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 242.37  5@5 5@5 5@5  5@5 I=I=Q5٢U= UA=9UQ ]>YY eG٣ayeco; e> ubBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi49m?4YmQ7 imԯB+:: @mDmmY4! -~@-ŴEZjiFNOT Ignoring new targets: 389.40 m.Bj$;Jj$; ProNav: ac range: 389.399994 m, nav range: 211.411209 m, bearing: 349.925709 deg, approach rate: -0.219328 m/s, LOS rate: 0.144076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168117 deg. 2j;:j=@HeadingCmd: 4.820043 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf@ 9I9ɛ=NBE5K AEI  ɚiI.*4=Iiwrit>)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547958*F?2F:FBFP5JFG KG B O >mw,WA6@Y6wЙ@696'>y6H =??`M¿W@&?pv>?|?`?ɨ6@6u;4y>8B>f!IIFIF#U5٢n5E= rR=9r 9Q r>tt vG٣v7Gyz; z> ~bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx49zے?4YzW7 izޯB  :  d: D  @zDzh-;zP?zK^4B @´E=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.799717ZjQ]FNOT Ignoring new targets: 389.40 m.Bje7;Jje7;u ProNav: ac range: 389.399994 m, nav range: 211.320816 m, bearing: 349.984900 deg, approach rate: -0.245532 m/s, LOS rate: 0.160846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152833 deg. 2ju;:j};@HeadingCmd: 4.819776 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbfB@ɛOBB 9I @ ɚiIQ54=Ii< ibx ))JyJtJJJ]:J9JJJ;J;J:J:*FU?2FQ:FYBF]_0JFY !I%iGuhAGQBYO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051420zKU 9MKQ KQ KU KU tw,>ԵA}Gϒ@Y}ޙ@}9}8>y}H@?`?`6¿`F?Sw.y?]??ɨ}Gϒ@}{;}1Cyޭ G٣y%q; M> UNusing accuracyPremultiplier from configQ]49U3?]4YU9^7 iUB]T:]#?]:]e @UDU;U;Uf4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj;Jj; ProNav: ac range: 389.399994 m, nav range: 211.227325 m, bearing: 350.048311 deg, approach rate: -0.191822 m/s, LOS rate: 0.130163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165504 deg. 2j;:jk=@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.303535UHeadingCmd: 4.819997 target range: 389.399994 and range: 413.50 m. jQjQjQjQiYhYhYhhՃBfffrfbfYC@ɛPB}*3 y}@$Iy } ɚiIA4=Ii^ i&P ))H%>I! I%!II%qBI% =&I!.I!6I%ǰ<:I% F*FU?2FQ:FQBFQJFQ $?I G= V GA GA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555748G B O= >zw,Af@Yf@f9fm>yfH@K? ̅?¿ @O? ؘz`#~???ɨf@f$;f2Cyn9Brh!IIzIzP5٢G  h=9 A:Q > G٣y< ? %Nusing accuracyPremultiplier from config!-49%7?-4Y%b7 i%B15N5!@%D%V;%;%xl49 =@9ZjFNOT Ignoring new targets: 389.40 m.Bjy;Jjy; ProNav: ac range: 389.399994 m, nav range: 211.162994 m, bearing: 350.091717 deg, approach rate: -0.198800 m/s, LOS rate: 0.134178 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105446 deg. 2j+;:j4@eHeadingCmd: 4.818949 target range: 389.399994 and range: 413.50 m. jajajijiiihihihqhqfqfqfqrfybf}@ɛQBTE  I ҁw,jA2@Y2@2 92>y2H? ?`Q%U?  }@}? ?@?ɨ2@2[;21Cyb5Bfb!IIjIjK5٢r vM=9zW:Q z>x| ~G٣~7Gym; >  Nusing accuracyPremultiplier from config 49 띢?4Y  h7 i B孿!@ D |; ; ps4! % @!ZjIMFNOT Ignoring new targets: 389.40 m.BjU;JjU;e ProNav: ac range: 389.399994 m, nav range: 211.084717 m, bearing: 350.144185 deg, approach rate: -0.197985 m/s, LOS rate: 0.132753 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132647 deg. 2je7;:jm8@uHeadingCmd: 4.819424 target range: 389.399994 and range: 413.50 m. jqjyjyjyiyhyhyhhfffrfbf @ɛRBO 隽gI  ɚiI9_4=Iig ile))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059872*FU?2FQ:FQBFU0JFQzK-JK-h9K)K-K-GGqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311417HE >IA  IE !IIE BIA &IA .IA 6IE <:IE Fw,o!ABI5CJI5CRI1ZI5 =bI5 =jI54:@Y:} @:ZM9:u>y:H`K?`?VuC?`[s~}?`?4?ɨ:@:%;:0CyB,BBW!IMb@Mb@Mb@ )Yx&1?Q?y&1?y?u=`e<A @)AI;AyAI-I-V5٢=@5 =E=9E XQ E>AA MG٣IyM; U> eNusing accuracyPremultiplier from configYe49]?e4Y]xm7 i]Bm~?m:mCm!@] D];];]z4q @Zj9=FNOT Ignoring new targets: 389.40 m.BjE ;JjE ;u ProNav: ac range: 389.399994 m, nav range: 211.004715 m, bearing: 350.197212 deg, approach rate: -0.184068 m/s, LOS rate: 0.122051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134328 deg. 2ju;:ju8@}HeadingCmd: 4.819453 target range: 389.399994 and range: 413.50 m. jyjyjjihhhhЃBff Ifrfbf @ɛUSB]6Ba Ye䞽Ia e= ɚaiaIew4=Ii i-))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564138G OPG ?G ?G B O >&w,Z;A>*@Y>O:@>ۻ9>8>y>H`e??4 @?^?@? p{? ?@ү?ɨ>*@>pȈ;`` bG٣`yfX< f> jNusing accuracyPremultiplier from confighn49j_?n4Yjr7 ijBpr۬r!@jDj;j;jn4t v/@vŴEZjFNOT Ignoring new targets: 389.40 m.Bj?;Jj?;- ProNav: ac range: 389.399994 m, nav range: 210.929794 m, bearing: 350.246570 deg, approach rate: -0.204620 m/s, LOS rate: 0.134853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123314 deg. 2j-;:j5c7@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.815905MHeadingCmd: 4.819261 target range: 389.399994 and range: 413.50 m. jQjQjQjQiQhQhQhYhYfYfafarfabfe`إ!@ɛUB 隕I ?UɚiI4=Ii i|x(:))JCKC KCKCKC"KCJuJrJJJ[Q:J9JJJo;Jo;J:J:*F?2F:FBF@5JF}G Y y A IG*GqByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067481zK .JK K K K      )+" Ei`SA+w,JUA:@YQJ@%=ֻ9[>yH ?? Qۻ?@4 z?? ʰ?ɨ:@;騅1CyB@!I a=p=Mb@Mb@Mb@ )Yx&1? ףp= ?~jth?yQ8=D;3A );AIyAIIY5٢,6 ,=99Q > G٣7Gy2; > }Nusing accuracyPremultiplier from configi49mw?4Ymx7 imB ?:񯿑!@mDm[iI I!IIBI =&I.I@D6I<:I F*F?2F:FBF2JF IiGU }: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571640G) BA O] >>Cw,2=oAb4P@Yb_@bE»9b >ybH܏??`f{@? M@Hx?`Ձ? ޲?ɨb4P@b;b0CynBn$!II~I~Z5٢ 1  k=9  :Q ? G٣yt; ? %Nusing accuracyPremultiplier from config!-49%A?-4Y%K}7 i%B155!@%D%c;%;%Ə49 =A9ZjimFNOT Ignoring new targets: 389.40 m.Bju;Jju; ProNav: ac range: 389.399994 m, nav range: 210.780380 m, bearing: 350.352312 deg, approach rate: -0.195508 m/s, LOS rate: 0.137992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102680 deg. 2jg;:jp4@HeadingCmd: 4.818901 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf,I#@ɛWBUF (I ɚiI(4=Ii if;))*F]?2FY:FaBFe_0JFaEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.823536G:GyBO > i Iq  w,-ꈶA>d@Y>s@>qS9> >y>H .?`7~?az?l f w?!j??ɨ>d@>o;>/CyFBJ !IIRIRGL5٢Z1ͽ ZR=9ZL:Q ^>\\ ^G٣`yb; b> fNusing accuracyPremultiplier from configdn49f?n4Yfh7 ifBprJr!@f$Df6D;fD;f4t vCAtZjFNOT Ignoring new targets: 389.40 m.Bj;Jj;- ProNav: ac range: 389.399994 m, nav range: 210.708847 m, bearing: 350.402563 deg, approach rate: -0.183503 m/s, LOS rate: 0.128952 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125990 deg. 2j-;:j57@5HeadingCmd: 4.819308 target range: 389.399994 and range: 413.50 m. j1j9j9j9i9h9hAhAhAfAfIfIrfIbfM$@ɛYBY¼ 隅SI ɚiI 5=IipiV;))Will construct direction to contact in vehicle frame from tetrahedron phase data.e Will construct direction to contact in vehicle frame from tetrahedron phase data.m I  I !II BI &I .I 6I c<:I F|Jw,XƢAy=قB= I@ Mb@Mb@Mb@ )YK7A`?L7A`?:vy ?+=T @)AIAiII[W5٢追 7=9Q > G٣7Gy   > I! %Nusing accuracyPremultiplier from config%495?-4Y7 iB-M ?-:-S-!@,DXz;x;b4=B EAE´EZjimFNOT Ignoring new targets: 389.40 m.Bju;Jju; ProNav: ac range: 389.399994 m, nav range: 210.626907 m, bearing: 350.464652 deg, approach rate: -0.182942 m/s, LOS rate: 0.138676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161525 deg. 2jX;:j<@HeadingCmd: 4.819928 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf`$@ɛ[BԼ *I \QɚiIl5=IiXi;))EEsA*FU?2FQ:FQBFQJFQWill construct direction to contact in vehicle frame from tetrahedron phase data.tw,nA:@Y:@:,9:a>y:H`4 ?`~? `K?@7`s? ??[?ɨ:@:품;8ybBb IIjIj Y5٢z7 z]=9z;Q ~>|| G٣y+< >  Nusing accuracyPremultiplier from config 49 D?4%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Response Not Received -*response not received-,DAT read: user:1127> -5zK 9MK +9K K K BK :K \w,}ֶA4@Y̐@֡9>yHQ?? #?::t?@? ?ɨ4@|$;騵0CyB I5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253679 Mb@Mb@Mb@ )Yx??~jtyK?<ļA @)$AIJJmJ0JJJ&9Jـ3JyAH>IC I!IIWBI =&I.I6I<:IU FII]5٢b =9igQ >!! %G٣!y%e9 -> 5Nusing accuracyPremultiplier from config)=49-?=4Y-7 i-B=?=:=𳿑E!@-=D-;-%;-ܮ4I MAMŴEeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 389.40 m.Bj}^0;Jj}^0; ProNav: ac range: 389.399994 m, nav range: 210.448654 m, bearing: 350.603466 deg, approach rate: -0.193809 m/s, LOS rate: 0.154192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236964 deg. 2j;:jG@HeadingCmd: 4.821245 target range: 389.399994 and range: 413.50 m. jjjji h h h h)Bf1fQfYrfYbf]&@ɛ^Ba 隍ԺI dJ#ɚiIE6=Iii.<)) $?I*FU ?2FQ :FQ BF] _0JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503535Gu Mh <Gq Gq GIBYOu>w,ABs@YB@B9Nƻ9B >yBHZ?`x?M?j@x??෺?ɨBs@BO;B/CyN{BN} IIVIV~N5٢^l ^=9bsQ f?dd jG٣j7GyjQ j? nNusing accuracyPremultiplier from configlr49na?r4YnT7 inBtv+v!@nBDn:n;n4x ~A|Zj%FNOT Ignoring new targets: 389.40 m.Bj%.;Jj%.;5 ProNav: ac range: 389.399994 m, nav range: 210.391815 m, bearing: 350.649127 deg, approach rate: -0.190164 m/s, LOS rate: 0.152807 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112206 deg. 2j=;:j=5@EHeadingCmd: 4.819067 target range: 389.399994 and range: 413.50 m. jAjAjIjIiIhIhQhQhQfQfYfYrfYbf] p'@ɛ`BC 隍I 3Z'ɚiI6=Iii;))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755557GO < IGBO >Rxíw,A6s@Y6x@6ػ96V >y6H Y?:}?zI? {?UN?`?ɨ6s@6a;6.CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007564yFmBJl IIPIP٢Z ^L=9^WQ ^>`` bG٣`yfr9 f> jNusing accuracyPremultiplier from confighn49j?n4Yj~7 ijBln!r!@jJDjK ;j;j4t vZAtZjFNOT Ignoring new targets: 389.40 m.Bj$;Jj $;U ProNav: ac range: 389.399994 m, nav range: 210.315826 m, bearing: 350.710309 deg, approach rate: -0.178631 m/s, LOS rate: 0.143876 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158798 deg. 2jU{;:juv<@}HeadingCmd: 4.819880 target range: 389.399994 and range: 413.50 m. jyjyjyjyiyhhhhfffrfbf`R(@zKALK59KK K  RK?JK>ɛaB/+ II .ɚ!i!IM.7=Iii(;))*F?2F:FBFp0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261871J J qJ J J J q9J J Hq Iq  Iu G!IIu BIq &Iq .Iq 6Iu j<:Iu FG ;Gy B O > I ɭw,Di(Ay~JBA IMb@Mb@Mb@ )YK7?Zd;O?Zd;Oy)?j<jA @)I$AyAIIM5٢> 7=9Q > G٣y   > Nusing accuracyPremultiplier from config49{Ģ?%4Y/7 iB%)?%:%2%!@TD1;r;4) 5qA1ZjYeFNOT Ignoring new targets: 389.40 m.BjeO;JjeO;u ProNav: ac range: 389.399994 m, nav range: 210.223831 m, bearing: 350.786811 deg, approach rate: -0.218101 m/s, LOS rate: 0.181448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204790 deg. 2j} ;:j} C@HeadingCmd: 4.820683 target range: 389.399994 and range: 413.50 m. jjjjihhhhʂBfffrfbf@")@ɛbB"iL d=1 I 5ɚiI7=Iivi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512344*F?2F:FBF`5JFG7<G?G>G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M AiI M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764461Эw,EBAZm@YZ/}@Z\9Zt>yZH`dy? ?֟Ts?р }|?l?U?ɨZm@Z;Z2Cyf1Bf" IInIni5٢vy v]=9z&Q z> G٣7Gy   > Nusing accuracyPremultiplier from config49Ǣ?4Y7 iBP%!@[D ;m ;Z4) -:A)ZjIUFNOT Ignoring new targets: 389.40 m.BjUE;Jj]E;m ProNav: ac range: 389.399994 m, nav range: 210.147644 m, bearing: 350.850646 deg, approach rate: -0.206137 m/s, LOS rate: 0.172779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166760 deg. 2jm';:jm=@}HeadingCmd: 4.820019 target range: 389.399994 and range: 413.50 m. jyjjjihhhhfffrfbf)@ɛdBa !%^I! % <ɚ!i!I%eQ8=I-i-i-;)))1 YI]i*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015546G-;GBO>zK :DLK ]9K K K BK :K rA֭w,O?\Abk@Ybz{@bYԻ9b7>ybHk?0? ~wc?;@%z? ){?ࢻ?ɨbk@bĊ;b0Cyn"Bn IMb@Mb@Mb@ )YZd;O?:v?:vyjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267576 G٣yB > Nusing accuracyPremultiplier from config 49ˢ? 4Y7 iB ܭw,uA6`@Y6 p@6T6Ի96>y6H@?$?D` ?`Y`z? G?@K?ɨ6`@6D;4yR BRII^I^Ho5٢f f^=9j?7Q j>hh jG٣hynfx n> rNusing accuracyPremultiplier from configpv49rPϢ?v4Yr7 irBxzpz!@rnDr":r:r`4 _AB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 389.40 m.Bj5`;Jj5`;M ProNav: ac range: 389.399994 m, nav range: 209.965942 m, bearing: 351.004076 deg, approach rate: -0.231410 m/s, LOS rate: 0.196543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185289 deg. 2jM<:jM?@@UHeadingCmd: 4.820343 target range: 389.399994 and range: 413.50 m. jQjQjQjQiQhYhYhahafafafarfibfm#{+@ɛfB 隝,I  MɚiIL9=Iijiㆴ;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772860EZ5<=) uG*F2F:FBFa4JF jYyGB 9I9G o;G rAG rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024378G B O >;)w,sAFP@YF`@F, 9F>yFH5?i?$@ ?K}#|?-?@ɿ?ɨFP@F;-;F1CyvBzIIIl5٢A :=9kQ > %G٣!y%& %> -Nusing accuracyPremultiplier from config)549-jӢ?=4Y-e7 i-B9==!@-yD- ;-G;- 4EB EAMĴEZjy}FNOT Ignoring new targets: 389.40 m.BjZ;JjZ; ProNav: ac range: 389.399994 m, nav range: 209.868179 m, bearing: 351.088084 deg, approach rate: -0.222469 m/s, LOS rate: 0.191257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.227326 deg. 2jB<:jBF@HeadingCmd: 4.821076 target range: 389.399994 and range: 413.50 m. jjjjihhhhfffrfbf@[,@ɛgB5y 6I MXɚIiIIM8p:=IUiU iU=;)Q)YzKmJKm9KiKm Km EEJc=*F?2F:FBF^0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275764HQIQ IU IIUBIQ&IQ.IQ6IU.<:IUi FJ% vJ% qJ% 0J! J% {T:J% q9J% ـ3J! J% Gu;a5 J% Ju;a= J% :a= J% :a= GE O;G B O- > a Ia OOw,>A>>@Y>@N@> W9>=y>H H??൦`?jy*~?@??ɨ>>@> ;>.CyFBJIMb@Mb@Mb@ )Y/$?+?QyL?=uzA @)AIAyAI5!I5q5٢U UG=9UQ ]>YY ]G٣]7Gye e> mNusing accuracyPremultiplier from configiu49mע?u4Ym7 imBOL?:!@mDmhw,ʷA:t@Y: !@:e"9:6)>y:H?Ԓ?@6F?.jL???ɨ:t@:%;:0CyFBFI)P PIVIVm5٢^V ^.=9bOQ b>`` fG٣dyf5@ f> nNusing accuracyPremultiplier from confighn49jܢ?r4Yj7 ihpr8r!@jDj:j:jp4t zD AzǴEZj%FNOT Ignoring new targets: 389.40 m.Bj%|;Jj%|;= ProNav: ac range: 389.399994 m, nav range: 209.652542 m, bearing: 351.271005 deg, approach rate: -0.257449 m/s, LOS rate: 0.221060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.268683 deg. 2j=<:j=,L@EHeadingCmd: 4.821798 target range: 389.399994 and range: 413.50 m. jAjAjAjAiAhAhIhhfffrfbf&.@ɛiBń  BDAT read: Tx time:20:06:54.4790 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I f II iBI &I .I 6I <:I Z FVw,O䷶AN@YNe@NB9N=yNHYȹ??` ? J2W??ি?ɨN@N;N1CyZBZIEMb@Mb@Mb@AAA A)AYE:v?l?~jthyET?E=EDEA E@)E AIEAAyEAI]I]e5٢mq mA=9miQ u>qq uG٣u7G Iiy: > Nusing accuracyPremultiplier from config49(ᢜ?4Y-7 iB4U?~:r!@D;;4 K Am addTargetRange:: Added new target pos. range: 423.200012 m, deltaT: 15.123077 s, deltaX: 9.700012 m, approachRate: 0.641405 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 389.40 m.Bju;Jju;% ProNav: ac range: 389.399994 m, nav range: 209.546219 m, bearing: 351.365991 deg, approach rate: -0.239642 m/s, LOS rate: 0.214197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.260287 deg. 2j%<:j%J@]HeadingCmd: 4.821651 target range: 389.399994 and range: 423.20 m. jYjYjYjYiahahihhQBfffrf@3sz@bf?ɛejBez im w,A:ג@Y:5@:r9:>y:H ϸ?b?M@?dc?*[?:2???ɨ:ג@:1;:3CyNBRIIZIZa5٢bH= bQ=9bQ b>dd fG٣dy-S$ -> =Nusing accuracyPremultiplier from config1=495墜?=4Y57 i5BAEE!@5D5:5:54UWill construct direction to contact in vehicle frame from tetrahedron phase data.I ]AYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 389.40 m.Bj};Jj}; ProNav: ac range: 389.399994 m, nav range: 209.452530 m, bearing: 351.451353 deg, approach rate: -0.243516 m/s, LOS rate: 0.221973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.231387 deg. 2jV<:jF@HeadingCmd: 4.821147 target range: 389.399994 and range: 423.20 m. jjjjihhhhfffrfbfr?ɛ P8I rɚiIFn==IibiS))JJpJJJJ^9JJa@a@a@a@*Fm?2Fi:FiBFm0JFq 5$?I1GEԑGB O%+> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.w,A2@Y2Ǚ@2َ92>>y2Hӷ??b`zMK>+9K<K>K>yRBRI b=ba=IfIfY5٢QB= F=9^Q >    G٣ y\ > Nusing accuracyPremultiplier from config49颜?4Y7 iBm !@D<<<4y }AɴEZjq}FNOT Ignoring new targets: 389.40 m.Bj}`;Jj}`; ProNav: ac range: 389.399994 m, nav range: 209.353928 m, bearing: 351.543047 deg, approach rate: -0.210966 m/s, LOS rate: 0.196277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.250396 deg. 2j<:jI@HeadingCmd: 4.821479 target range: 389.399994 and range: 423.20 m. jjjjihhhhf!f!f!rf)bf-!?mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247685ɛkBx 3I -ɚiI>=I i  Ni J48) )H!I! I%A II%JBI!&I!.I!6I%Z<:I% F*F2F:FBFo0JF IG XG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498073 w,u2AyB ImMb@Mb@Mb@iii i)iYmn?x&?y&1?ymV?m7=m`e G٣7Gy > Nusing accuracyPremultiplier from config49L?4YF7 iBV?}:=!@D ;; 4 AZjFNOT Ignoring new targets: 389.40 m.Bj3;Jj3; ProNav: ac range: 389.399994 m, nav range: 209.239960 m, bearing: 351.638052 deg, approach rate: -0.293914 m/s, LOS rate: 0.245143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.260354 deg. 2j=(<:jJ@HeadingCmd: 4.821653 target range: 389.399994 and range: 423.20 m. jjjjihh!h!h=hBf9f9fArfAbfE?ɛIM QU*IQ U~ɚQiQIUL>=I]ii#0))*F?2F:FBFi1JFG׹uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751299GBO>JsJJJJK:JJJ I iw,CLAy~9B, II $I r5٢%A> -e=9)Q ->11 5G٣1yq u> Nusing accuracyPremultiplier from configy49}?4Y}78 i}B!@}ƚD} :}:}:4B  AǴEZjFNOT Ignoring new targets: 389.40 m.Bjz;Jjz; ProNav: ac range: 389.399994 m, nav range: 209.145020 m, bearing: 351.717651 deg, approach rate: -0.261291 m/s, LOS rate: 0.219168 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.214089 deg. 2ji<:j]D@HeadingCmd: 4.820845 target range: 389.399994 and range: 423.20 m. jjjjihhhhfffrfbf?ɛ-lB- )-pI1 5tčɚ1i1I5t/?=I=i=-:iA)A)AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018626*F2F:FBF3JFzKLK9KKK #57521/NGUI6G) Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270243H% >I!  I% M II% TBI%  =&I! .I! 6I% R<:I% FBw,)fA:@Y:6@:_Ƽ9:y>y:Hj??`?E?`[˘?͊??ɨ:@:弇;:0CyBPBBH I PITeMb@Mb@Mb@aaa a)aYe?+?l?yeL?e=e=e A e@)eAIeAayeAI}I}Kk5٢s= D=9 `Q > G٣yJ > Nusing accuracyPremultiplier from config49?4Y8 i BM?:1!@КD;;m4 SAZj)5FNOT Ignoring new targets: 389.40 m.Bj=j;Jj=j; ProNav: ac range: 389.399994 m, nav range: 209.040329 m, bearing: 351.803515 deg, approach rate: -0.250078 m/s, LOS rate: 0.205209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232907 deg. 2j <:jG@HeadingCmd: 4.821174 target range: 389.399994 and range: 423.20 m. jjjjihhhhBf f f rf bfd@ɛY]P` Y]IY ȇɚaiaIeݠ?=Iir!in))PExceeded connect timeout, disconnecting.*F=?2F9:F9BFE[0JFA"GM=GM=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522194G GY6GY Bq O >| w,A6B~@Y6ڍ@6Rּ96>y6H ?˙? ??`ɚ?̦??ɨ6B~@6;6/Cy^xB^z IIfIfhj5٢nR> nV=9rsQ r>pp vG٣tyvѡ v> ~Nusing accuracyPremultiplier from configx~49z?4Yz8 izB  p !@zښDzN3;z2;z 4 AɴEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774158B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bje;Jje; ProNav: ac range: 389.399994 m, nav range: 208.945084 m, bearing: 351.882539 deg, approach rate: -0.241938 m/s, LOS rate: 0.200824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212365 deg. 2j <:jD@HeadingCmd: 4.820815 target range: 389.399994 and range: 423.20 m. jjjji h hhhfffrfbf1`@ɛIMX QU;IQ UɚQiQIU?=I]i]Zi]s0)a)aJ}rJ}lJy IJyJ}G:J}9JyJy*F?2F:FBF_0JFGJiGaBiO9>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026201p(&w,ԙA6m@Y6H}@696}>y6Hi? ˙?` @yG?@P?? b? ׵?ɨ6m@6 ;4yBBB IIJIJi5zKrMKrh9KpKrKr~hYG1" RK>JK>٢nw=  K=9 Q  > G٣7Gy > %Nusing accuracyPremultiplier from config!-49%?-4Y%+8 i%'B)55!@%D%z:%:%2'49 =PA9ZjqFNOT Ignoring new targets: 389.40 m.Bj{;Jj{; ProNav: ac range: 389.399994 m, nav range: 208.843216 m, bearing: 351.968108 deg, approach rate: -0.261199 m/s, LOS rate: 0.219516 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232019 deg. 2j<:jF@HeadingCmd: 4.821158 target range: 389.399994 and range: 423.20 m. j j jjih!h!hhfffrfbf%@A @ɛ? /ܾI ߗɚiI:@=IiEi¿))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281589H>I I II}BI =&I.I6Io<:I FBIJIRIZI =bI =jIe4*F?2F:FBF^0JF IiG Zs  nManaging dock network, ignoring radio surface power offGa Bi O >Q,w,ҬAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:06:57.4498 TRx dataTimestamp_ set to:1736366818.812594checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531117Uf@YUv@Uc9U>yUH_L? ?2 ?@z?B?L?N?ɨUf@U;U2CymBm I%Mb@Mb@Mb@!!! !)!Y% +? ףp= ? ףp= ?y%6?%Q=%Q8=%A %@)%AI%A!y%zAI=I=_5٢M> U5=9]dQ ]>YY ]G٣aye e> mNusing accuracyPremultiplier from configiu49mD?u4Yml'8 im9B}8?}:}}!@mDmg;m(;m.4 @AZjFNOT Ignoring new targets: 389.40 m.Bj2U;Jj2U; ProNav: ac range: 389.399994 m, nav range: 208.736862 m, bearing: 352.050826 deg, approach rate: -0.239529 m/s, LOS rate: 0.186391 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223464 deg. 2j;:jE@HeadingCmd: 4.821009 target range: 389.399994 and range: 423.20 m. jjjjihhhh(Bfffrfbf0 @ɛmB|7 =I %u%ɚ!i!I%6j@=I-i-hXi-#)9)9*F?2F:FBF`0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782849GG5 ͍ ] HYa ye &B } $?J sJ pJ J J K:J ^9J J I G B O >b:3w,͸AyނB II5I5uZ5٢E_k> E]=9MQ M>II UG٣QyU U> eNusing accuracyPremultiplier from configYe49] ?m4Y]D.8 i]GBiim!@]D]e:]P:]r54q }AyZjFNOT Ignoring new targets: 389.40 m.BjKT;JjKT; ProNav: ac range: 389.399994 m, nav range: 208.649002 m, bearing: 352.119470 deg, approach rate: -0.237457 m/s, LOS rate: 0.185601 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181206 deg. 2j;:j?@HeadingCmd: 4.820271 target range: 389.399994 and range: 423.20 m. jjjjihhhhfffrfbf#@ɛ lB  I J՛ɚiI@=Ii` i%䢚)!)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 424.9 m (Round-trip 566.6 ms) speed -0.4 m/s },DAT read: user:1129> BDAT read: Tx time:20:06:58.5291 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II ɂBI &I .I 6I 4<:I m F$g9w,Hp縶A I"i^V@Y^lf@^͋9^ >y^Hh˴??Tx\jµ?@v??@z,?`V?ɨ^V@^u;^/CyfBf#!IMb@Mb@Mb@ )YPn?EԸ?A`"?y$?=Y=A @)$AI;AypAII95٢)> A=9Q > mG٣m7Gyu u> }Nusing accuracyPremultiplier from configy49}?4Y}58 i}[B&?:ꬿ!@}D};}7;}'=4B A̴E addTargetRange:: Added new target pos. range: 424.899994 m, deltaT: 4.044830 s, deltaX: 1.699982 m, approachRate: 0.420285 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 389.40 m.Bj=;Jj=; ProNav: ac range: 389.399994 m, nav range: 208.549728 m, bearing: 352.192624 deg, approach rate: -0.225009 m/s, LOS rate: 0.165886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194751 deg. 2j;:jA@HeadingCmd: 4.820508 target range: 389.399994 and range: 424.90 m. jjjjihhhhBfffrf`fz@bfs?ɛ5mB5y =>==dUI9 =Xɚ9i9I=@=IEiE iM)I)I*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.GD&G B O >L@w,>?A6QU@Y6d@6<96<=y6H`?? oD`s?˛?U?@W??ɨ6QU@6A;4yB%BBO!IIJIJ>5٢RB> Va=9VQ V>XX ZG٣XyZ. ^? %Nusing accuracyPremultiplier from config%492?%4Y;8 ikB)--!@D:C:lC41 5b@=ɴEUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 389.40 m.Bjm>;Jjm>; ProNav: ac range: 389.399994 m, nav range: 208.468933 m, bearing: 352.252165 deg, approach rate: -0.225440 m/s, LOS rate: 0.166199 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153878 deg. 2j;:j;@HeadingCmd: 4.819794 target range: 389.399994 and range: 424.90 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hhfffrfbfP?ɛ V I +ɚiIu@=Ii:i))  AIA*F?2F:FBF@5JF"G=G>GGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997562uFw,TAB~^@YBn@B #9B$=yBH`?M?@b⿿`}??`^c? @8??ɨB~^@BK;B0CyJEBJv!IITIT٢Z> ^I=9^_Q b>`` bG٣`yf4; f> rNusing accuracyPremultiplier from configpv49r?v4YrB8 ir}Bxzz!@rDr:r7:rZJ4zK~LK~9K|K~K~'UL  b@ZjYeFNOT Ignoring new targets: 389.40 m.Bje:;Jje:;u ProNav: ac range: 389.399994 m, nav range: 208.379669 m, bearing: 352.318011 deg, approach rate: -0.221129 m/s, LOS rate: 0.163186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172808 deg. 2j};:j}v>@HeadingCmd: 4.820125 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf?ɛ˼ 隵I YɚiIP@=Ii5Li=5/)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251259H>I IM!II%BI&I.I6I&<:Ic F*F2F:FBFJF )I1JK3 K.-KK"KJqJunJqJqJqJu99JqJqJue;aJue;aJuR:aJuS:aG o>G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5016113Lw,75A^1d@Y^s@^P 9^e>y^H 5?@V?^@C?@?_?@??ɨ^1d@^v;\yfkBf!IuMb@Mb@Mb@qqq q)qYuHzG? ףp= ??yu= ?uQ=uL=uA u@)uAIuAqyuGAIIY45٢(> 8=9Q > G٣7Gy: > Nusing accuracyPremultiplier from config49?4Y;H8 iB ?:Ъ!@D3;2;R4  @Zj)5FNOT Ignoring new targets: 389.40 m.Bj=!;Jj=!;M ProNav: ac range: 389.399994 m, nav range: 208.292953 m, bearing: 352.379515 deg, approach rate: -0.199468 m/s, LOS rate: 0.141536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159778 deg. 2jMD;:jM<@UHeadingCmd: 4.819897 target range: 389.399994 and range: 424.90 m. jQjQjQjYiYhYhYhYheBfafafarfabfm}?ɛ 隥@I ɚiI@=Ii ib))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754492*F=?2F9:F9BFE`5JFA IGU G1 B9 O] >vTw,&:QAy5~B=!II]I]J5٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from config49Q"?4YBN8 iB!@D;@;Y4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005774 @Zj!-FNOT Ignoring new targets: 389.40 m.Bj-;Jj-;= ProNav: ac range: 389.399994 m, nav range: 208.208115 m, bearing: 352.439917 deg, approach rate: -0.194566 m/s, LOS rate: 0.138580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156466 deg. 2j=6;:jE <@MHeadingCmd: 4.819839 target range: 389.399994 and range: 424.90 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf])<@ɛnBʃ =I zɚiI?=I%i%mvi%ZW)!))E&t@=E V>E >*F?2F:FBF_0JFGrA GrAzKqNKKKKZ6H >I  I !II BI  =&I .I 6I <:I R FG m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258877G B I O >JU tJU rJQ JQ JU ;N:JU 9JQ JQ JU {j;JU }j;JU :JU :N?Zw,jAF:{@YFӊ@F~9F>yFH\?Օ?_@y?t?Σ?&?}=}=}A }@)}AI}hAyy}AIIE5٢v= I=9DQ > G٣y; > Nusing accuracyPremultiplier from config49)&?4YR8 iBi>:Ѩ!@%D ;t;`4B @˴EZj  FNOT Ignoring new targets: 389.40 m.Bj;Jj;% ProNav: ac range: 389.399994 m, nav range: 208.139587 m, bearing: 352.486661 deg, approach rate: -0.171607 m/s, LOS rate: 0.117096 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115465 deg. 2j%;:j%C6@-HeadingCmd: 4.819124 target range: 389.399994 and range: 424.90 m. j)j)j1j1i1h9h9h9hE2BfAfAfArfAbfMo@ɛZi D=I )ɚiI%p?=I%i-oi-ZP))))E1E1*E9"E9Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509636*Fm?2Fi:FqBFu3JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761555G 圼G B $?I iO>e bw,GA6@Y6N@6$!96Y >y6HW?`?& a*?4?E#? 8g??ɨ6@6B;6-CyBBF!IININ:5٢VH= V>=9Z+źQ Z>XX ZG٣Z7Gy^z; ^> bNusing accuracyPremultiplier from config`f49bJ*?f4YbW8 ibBhjj!@b+DbJ;b;b*h4l n@p~B*** querying acoustic contact ***j|j|Zj%FNOT Ignoring new targets: 389.40 m.Bj';Jj'; ProNav: ac range: 389.399994 m, nav range: 208.066360 m, bearing: 352.536571 deg, approach rate: -0.169457 m/s, LOS rate: 0.115539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124968 deg. 2j;:j7@HeadingCmd: 4.819290 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbfx@ɛEoBE-L IM=II M@ɚIiIIM ?=IUiU\i]! )Y)Y*F5?2F1:F9BF=_0JF9GmňG)B9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013794OeU>zK ŵLK s9K K K RK- ?JK- #?.hw,;QAHaIa Ie("IIeփBIa&Ia.Ia6Ie<:IeG F5@Yε@Q !9 >yH`vB?ڋ? r¿:p?֚?@?`? =?ɨ5@S|;騝.CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265459y޽B!IA IJuvJuoJu1JqJu{T:JuK9Ju3JqJuGu;JuJu;Ju:Ju:Mb@Mb@Mb@ )YDl?Dl?{Gz?yO>O=ף<3A @)IQAypAI5I5B5٢u#*= u=9}P8Q > G٣y@; > Nusing accuracyPremultiplier from config49.?4Yg]8 iɰB>;!@2D;-;rq4 @Zj15FNOT Ignoring new targets: 389.40 m.Bj=:Jj=:m ProNav: ac range: 389.399994 m, nav range: 207.985916 m, bearing: 352.591480 deg, approach rate: -0.150182 m/s, LOS rate: 0.102550 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139977 deg. 2jmŒ;:jm9@uHeadingCmd: 4.819552 target range: 389.399994 and range: 424.90 m. jqjqjqjqiqhhhhCBfffrfbf@< @ɛpBY> 4=I! %3ɚ!i!I%>=I=i=2i=N)9)A*F?2F:FBFJFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:20:07:01.5028 m TRx dataTimestamp_ set to:1736366822.844595u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518642G 'G ?G ?Gq By O >}nw,ƼA6Ò@Y6ҙ@68!96>y6H`G(? ۇ? 2¿@` V?E?%? ? ?ɨ6Ò@6;6/CyJBJ!IIRIR<5٢Z; Z=9^#Q ^?\\ bG٣`ybI< b? rNusing accuracyPremultiplier from configlr49nW1?v4Yn``8 inаBtv$v!@n6DnK ;n ;n{v4~B ~@~ȴEZjFNOT Ignoring new targets: 389.40 m.Bj:Jj: ProNav: ac range: 389.399994 m, nav range: 207.941956 m, bearing: 352.621269 deg, approach rate: -0.146148 m/s, LOS rate: 0.099055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.064572 deg. 2j;:j.@HeadingCmd: 4.818236 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf` @ɛYel ae4=Ii mɚiiiImfF>=Iuiu#iu``)q)y*F?2F:FBFp0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770713Gr aIaGqBO;>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- 8DAT read: $Error in header 5 *Received a bad header\uw,|ֹA"checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0328356q@Y6 @6Z96>y6HI? (?6¿`q?RI?^???ɨ6q@6¿;61Cy}B}!IIIp;5٢@ ==9&I:Q > G٣7Gy^(< > Nusing accuracyPremultiplier from config49+5?4Yd8 iڰB!@IA IEf"IIE BIE =&IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276656.IA6IA:IEH FBIJIRIZIbIjI4 aIaJy J} pJ} 0Jy Jy J} ^9J} ـ3Jy Jy Jy J} }:J} ~:G KG B O >{w,YA6D @Y6@6s96S>y6Hf?f?`9¿% ?U?ѣ?@?2?ɨ6D @6ː;60CyBBB!ImMb@Mb@Mb@iii i)iYmK7? ףp= ?~jth?ym>mQ8=mD;mIA m@)iImAiymAII:5٢sj D=9C:Q >    G٣ y,< > Nusing accuracyPremultiplier from config%498?%4Y i8 i߰B% >%;--!@ADU;;D41 5C@1ZjYeFNOT Ignoring new targets: 389.40 m.Bjm5:Jjm5:} ProNav: ac range: 389.399994 m, nav range: 207.820328 m, bearing: 352.708401 deg, approach rate: -0.136455 m/s, LOS rate: 0.105440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102312 deg. 2j};:j}b4@HeadingCmd: 4.818894 target range: 389.399994 and range: 424.90 m. jjjjihhhh) C1 I q  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778145 %Y y A T @ B A IA sw,E A62@Y6[B@6W96 >y6H? |?=¿&`?`?@?A?J?ɨ62@6Su;4y^B^!IIfIfC5٢v v]=9v:Q z>xx ~G٣|y~U< ~> Nusing accuracyPremultiplier from config 49:? 4Yl8 iB謿!@FD ;* ;4 @!B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj:Jj:% ProNav: ac range: 389.399994 m, nav range: 207.770599 m, bearing: 352.746331 deg, approach rate: -0.127531 m/s, LOS rate: 0.097295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.089003 deg. 2j%;:j%{2@-HeadingCmd: 4.818662 target range: 389.399994 and range: 424.90 m. jijijijiiihqhqhqhqfyfyfyrfybf}+@ɛsB zKU MKU 9KQ KU KU      RKa JKe >3w,p$AHv>It Iv"IIvBIt=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.283540&It.It6Ivi<:Iv F IypB!I Mb@Mb@Mb@    ) Y )\(?l?{Gzy G> = ף A ) lAI A y AIUIUF5٢m u=9uQ u>yy }G٣}7Gy > Nusing accuracyPremultiplier from config49>?4Yr8 iN>:ǯ!@MD^<9;4  @˴EZj1=FNOT Ignoring new targets: 389.40 m.Bj=A;Jj=A;M ProNav: ac range: 389.399994 m, nav range: 207.696732 m, bearing: 352.807070 deg, approach rate: -0.142692 m/s, LOS rate: 0.117373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157470 deg. 2jM;:jME<@]HeadingCmd: 4.819857 target range: 389.399994 and range: 424.90 m. jYjYjYjYiYhYhYhaheBfafafirfibfm`,@ɛuB+ 隭I MɚiII<=Iii;ID:))*FI2FI:FIBFM`5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533539Gm }:GA BQ Om >玮w,>AyrABvq!II~I~I5٢ 6  =9 Q  ? G٣y ? %Nusing accuracyPremultiplier from config!-49%@?-4Y%+v8 i%B)15!@%QD%;%;% 4A E@IZjiuFNOT Ignoring new targets: 389.40 m.Bju ;Jju ; ProNav: ac range: 389.399994 m, nav range: 207.655441 m, bearing: 352.841128 deg, approach rate: -0.145785 m/s, LOS rate: 0.120273 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.077381 deg. 2j;:j0@HeadingCmd: 4.818460 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf`@ɛȧ ѽI ǚɚiI<=Iifei))EG>E>*F?2F:FBF_0JF"G=G=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786829 IiJzJsJJJ`:J9JJa@a@a@a@G7:GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037649^ʕw,IXAZ8Ó@YZҚ@Z9Z4 >yZHL?Yo?@9K?ۑ?`?"V?o?ɨZ8Ó@ZIc;Z1Cyb3Bb_!IInInM5٢v vM=9v;Q v>xx zG٣xyzV5= ~> Nusing accuracyPremultiplier from config 49C? 4Yz8 i !@WD::4 @!ZjFNOT Ignoring new targets: 389.40 m.Bj :Jj : ProNav: ac range: 389.399994 m, nav range: 207.596725 m, bearing: 352.886993 deg, approach rate: -0.141615 m/s, LOS rate: 0.110650 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112818 deg. 2j;:j5@ HeadingCmd: 4.819078 target range: 389.399994 and range: 424.90 m. j j j j i hhh9h9f9f9f9rfAbfEx@ɛwB*_ 隕I ɚiI<=Iii+<))*F?2F:FBFJFzKjLK9KKK =^ea\[WTURNOLFEA=;;73/&  BK-sA:K)H>IC I`"IIBI =EWill construct direction to contact in vehicle frame from tetrahedron phase data. Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.305852&I.I6Im<:I FG :G B O >{w,(rAJOԓ@YJ@J 9J >yJH`+R?n?B??{?1-??ɨJOԓ@Jz;J.CyZ BZ.!IMb@Mb@Mb@ )Yw/?X9v?Mby?<A p@)Iy(AIIT5٢g5 8=9:Q >!! %G٣%7Gy-8; -> 5Nusing accuracyPremultiplier from config)=49-G?=4Y-€8 i-B=d?=:E4E!@-^D-;-;-¨4I MAIZjquFNOT Ignoring new targets: 389.40 m.Bj}$;Jj}$;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542420 ProNav: ac range: 389.399994 m, nav range: 207.523560 m, bearing: 352.948386 deg, approach rate: -0.171767 m/s, LOS rate: 0.144180 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159431 deg. 2j;:j<@HeadingCmd: 4.819891 target range: 389.399994 and range: 424.90 m. jjjji!h!h!h!h-vBfIfIfQrfQbfUDM@ɛxB" 隥ZI =ɚiIC<=Ii=i<))*F?2F:FBFJFG}I3<GQBYO|>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793709 I J J J J J }:J 9J J ۢw, A>@Y>%@>` 9>w>y>H?`6n?q r?C?L+???`?ɨ>@>#;>-CyF݂BF IIhIh٢rz va=9v;Q v>xx zG٣xy~.; ~> Nusing accuracyPremultiplier from config 49J? 4Y8 iB  !@dD:C:"4 A5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 389.40 m.BjM;JjM;] ProNav: ac range: 389.399994 m, nav range: 207.463135 m, bearing: 352.998991 deg, approach rate: -0.165468 m/s, LOS rate: 0.138618 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127046 deg. 2jeC;:je7@mHeadingCmd: 4.819326 target range: 389.399994 and range: 424.90 m. jqjqjqjqiqhqhqhhfffrfbfk@ɛuyB + 隕蛾I jɚiI]<=Ii+i<))E1*F?2F:FBFn0JFGtA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045629G <G B O >zK] MK] 9KY K] K]  w,𥺶AZHRH@AH">I  I""II"ƒBI" =&I .I"?D6I"?<:I"o F 5$?I9eWill construct direction to contact in vehicle frame from tetrahedron phase data.aiachecking for new query: numPingsReceived=0, elapsed TxPingTime=7.327981yB IMb@Mb@Mb@ )Y r? G٣y >  Nusing accuracyPremultiplier from config 49 2P?%4Y 8 i ݰB-6$?-:-15!@ oD ; x; 4EB MSAMȴEZjFNOT Ignoring new targets: 389.40 m.Bjj=;Jjj=; ProNav: ac range: 389.399994 m, nav range: 207.362625 m, bearing: 353.083987 deg, approach rate: -0.195728 m/s, LOS rate: 0.165599 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.230298 deg. 2jL;:jF@HeadingCmd: 4.821128 target range: 389.399994 and range: 424.90 m. jjjjihhhh Bfffrfbf@ɛ}zB~5 隅ƾI '-ɚiI ==Ii9zi*<))*Fu?2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553603G <G ?G >G B O >X"w, AJՓ@YJ@Ju|9Jq>yJHX?lr? & x?؏?Π? ??ɨJՓ@JH3;J0CyRBR II^I^uZ5٢f j=9nf;Q n?ll nG٣n7Gyr r? vNusing accuracyPremultiplier from configte49vqS?e4YvQ8 etIivڰBimhm"@vuDv Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061747%Gw,TںAU@YUK˚@U+P9U_>yUH {? y?Z?`J?;? %^?=?ɨU@U;U/CymqBmq IIIi5٢? ?=9-Q > G٣y > Nusing accuracyPremultiplier from config49W?4Yg8 iְBװ"@~DB;C;4B BAZjFNOT Ignoring new targets: 389.40 m.BjG;JjG;  ProNav: ac range: 389.399994 m, nav range: 207.217590 m, bearing: 353.209005 deg, approach rate: -0.201181 m/s, LOS rate: 0.174648 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191645 deg. 2j ;:j (A@HeadingCmd: 4.820454 target range: 389.399994 and range: 424.90 m. jjjjihh!h!h!f!f)f)rf)bf-T @ɛ]|Bef ae)Ia e8ɚaiiImΝ==ImiuY ie<))EErA*F?2F:FBF_5JFzKFJK9KKK   H|>IC I!IIlBI =&I.I>D6I<:I F Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317783Gu] <GI BY Ou >?qw,/Ab@Yb@b9b>ybH? ~?`;W@˿?@??^6?@?ɨb@bX;`yjJBjA IeMb@Mb@Mb@aaa a)aYe}?5^I?ˡE?lyeMB?e'=ee A eZ@)e@Ie$AayeAIIk5٢C J=9kQ > G٣y0 > Nusing accuracyPremultiplier from config49t\?4Yd8 iհBB?:汿"@D;;4 AZjFNOT Ignoring new targets: 389.40 m.Bjf;Jjf;  ProNav: ac range: 389.399994 m, nav range: 207.126877 m, bearing: 353.290465 deg, approach rate: -0.224367 m/s, LOS rate: 0.201569 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219674 deg. 2j U <:j *E@HeadingCmd: 4.820943 target range: 389.399994 and range: 424.90 m. jjjj!i!h!h!h)h-Bf)f)f)rf1bf5 #!@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565573ɛ%}B%c| !%]I! -Pjɚ)i)I->=IUiUJ J J J J v:J 9J J _Yîw, AVSz@YV쉚@VN 9V >yVH ~ڽ?~?`y yX?@J̒?@ )?e?w?ɨVSz@VЊ;V0Cyn-Bn IIzIzn5٢ T=9 Q  >    G٣ 7Gy9 > Nusing accuracyPremultiplier from config%49`?%4Y8 i԰B)-v-"@D7::41 5fA1UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 389.40 m.BjmXf;JjmXf; ProNav: ac range: 389.399994 m, nav range: 207.042252 m, bearing: 353.368078 deg, approach rate: -0.219491 m/s, LOS rate: 0.201384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208118 deg. 2j5 <:jC@HeadingCmd: 4.820741 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf!@ɛ  cc=(I >OɚiI\r>=Ii@; i/;))*Fu?2Fq:FqBFu_0JFqeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.069875GUI3<G1B9OU>zK LK +9K K H I  I .!II BI =&I .I 6I <:I FBI˪CJI˪CRI˔CZI =bI =jI%6K ZI&F< 9ɮw, 'A DIFifWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.325760V@YTf@ 9/>yH?@? SY`n ?@O?`a`??`W?ɨV@;y%B- IMb@Mb@Mb@ )Y\(\?)\(?~jtyZ?Ga= A C@)Q@IAyAI!Iq5٢ &=9`Q > G٣y > Nusing accuracyPremultiplier from config49 g?4Y8 iذBb[?w:""@Dr;D;O4B AʹEZj FNOT Ignoring new targets: 389.40 m.Bj ;Jj;5 ProNav: ac range: 389.399994 m, nav range: 206.920059 m, bearing: 353.479852 deg, approach rate: -0.248339 m/s, LOS rate: 0.227299 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.310703 deg. 2j5<:j5.R@MHeadingCmd: 4.822532 target range: 389.399994 and range: 424.90 m. jQjQjQjYiYhahihqhu Bfqffrfbf "@ɛ~BN 4I cɚiI>=Iih# i;))yEa>E>*F-?2F):F1BF5P0JF1G9 G9mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574252G *;G B O >jЮw,AAy=B=IIM IMq5٢  v=9Q ? G٣y ? Nusing accuracyPremultiplier from config}G 49yk?%4)Yp8 i۰BI9Q]"@D<n< }Yyy}A74 AZjFNOT Ignoring new targets: 389.40 m.Bj]u;Jj]u;m ProNav: ac range: 389.399994 m, nav range: 206.836578 m, bearing: 353.556687 deg, approach rate: -0.233280 m/s, LOS rate: 0.214796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205784 deg. 2jmi< I:jm-C@HeadingCmd: 4.820700 target range: 389.399994 and range: 424.90 m. jjjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826039hfffrfbfۭ#@ɛY](k ae?Ia e%ẼɚiId?=IiFiڕ;))J%J%}J!J!J%p:J%S9J!J!*FE?2FA:FABFM_0JFIG 6I;Ga Bi  Will construct direction to contact in vehicle frame from tetrahedron phase data. ܕ֮w,[A>Z@Y>@>9>=y>Hx8??5%???@4??ɨ>Z@>J[;>/Cy=B=IIM+IMu5٢]I< eM=9e]Q e>ai mG٣m7Gym˼ m> }Nusing accuracyPremultiplier from configq}49u@p?4Yu.8 iu߰Bh"@uDu:uL:u4B AʴEZjFNOT Ignoring new targets: 389.40 m.Bj;Jj; ProNav: ac range: 389.399994 m, nav range: 206.743271 m, bearing: 353.646309 deg, approach rate: -0.249282 m/s, LOS rate: 0.239545 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.244174 deg. 2je$<:jH@HeadingCmd: 4.821371 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf \$@ɛB c 隍=I  ɚiIF@=Ii+lif))Hm{>Ii Im IImBIi&Ii.Ii6Im<:Im FzKMK9KKK $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.=*F ?2F :F BF JF G5 1;G BO5>ݮw,`yA.Will construct direction to contact in vehicle frame from tetrahedron phase data..    G٣ y# > Nusing accuracyPremultiplier from config-49w?-4Y8 iB5bn?5d:55"@D-N;BM;4=B =A=ʹEZjaeFNOT Ignoring new targets: 389.40 m.Bj;Jj; ProNav: ac range: 389.399994 m, nav range: 206.614105 m, bearing: 353.766418 deg, approach rate: -0.265930 m/s, LOS rate: 0.247437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.335733 deg. 2j)<:jU@HeadingCmd: 4.822968 target range: 389.399994 and range: 424.90 m. jjjji h h h hBfffrfbf \%@ɛa 隭&?I żɚiI0@=I%i%D i%#)!)) Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1131> BDAT read: Tx time:20:07:09.4791 $Ping request sent.~w,9A6@Y6,@6{96=y6H@`?`? OL@?@>!?@X.?\ۿ?@?ɨ6@6;4yBBBIIN#INbr5٢= \=9GQ 5>99 EG٣AyM"h U> Nusing accuracyPremultiplier from config49M|?4Y-8 iB"@͛Dt;>;K4 PAB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 389.40 m.Bj=;Jj=;u ProNav: ac range: 389.399994 m, nav range: 206.514420 m, bearing: 353.861664 deg, approach rate: -0.250465 m/s, LOS rate: 0.239426 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261061 deg. 2juP$<:juK@}HeadingCmd: 4.821665 target range: 389.399994 and range: 424.90 m. jyjyjyjyihhhhfffrfbf$&@ɛӧ -*8I) -ɼɚ)i)I-+A=I5i54x i=zzI)9)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:20:07:09.4784 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251192EAEA*E"E*FE ?2FA :FA BFA JFA H y>I  I y II xBI =&I .I 6I V<:I z FzK JK 9K K K BK rA:K % Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505338I J J ~J J J J f9J J J ;a J ;a J :a J :a G g{GaBiO>Zw,̲A2ጒ@Y2z@2uk92>y2Hy?`8?q`M໊?=? 1???ɨ2ጒ@2^Z;21CynBr IMb@Mb@Mb@ )YCl?&1? G٣7Gy > Nusing accuracyPremultiplier from config49?4Y8 iBwq?a:"@ۛDq ; ;4 AZjFNOT Ignoring new targets: 389.40 m.Bj*;Jj*; ProNav: ac range: 389.399994 m, nav range: 206.380630 m, bearing: 353.982928 deg, approach rate: -0.274079 m/s, LOS rate: 0.248580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.339208 deg. 2j*<:jAV@HeadingCmd: 4.823029 target range: 389.399994 and range: 424.90 m. jjjjihhhhBfffrfbf`F'@ɛB` 隵 0I RϼɚiIA=I%i% i%H)!))UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758184*F?2F:FBFf0JFGuܜGIBYO{> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007574w,z˻AR;c@YRr@R!9RO>yRH -?? ${K?R?:??@l?ɨR;c@RO;R-CyZJBZA I b=bR=IfIf_5٢na> nZ=9r=Q r>tt vG٣tyvA^ v> ~Nusing accuracyPremultiplier from configx~49z?4Yz8 izBB"@zDzC ;z ;zV4  |AZjAEFNOT Ignoring new targets: 389.40 m.BjM;JjM;] ProNav: ac range: 389.399994 m, nav range: 206.279984 m, bearing: 354.076527 deg, approach rate: -0.279457 m/s, LOS rate: 0.260013 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.256117 deg. 2j]q2<:je`J@eHeadingCmd: 4.821579 target range: 389.399994 and range: 424.90 m. jijijijiiihihihqhqfqfqfrfbf@'@ɛAEκ AMII M*ҼɚIiIIMA=Iiהij))*F5?2F1:F1BF5?1JF9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258187GUI6G]?G]>G1 BA O >w,]延A2E@Y2\U@2(92>y2HA?w?R[@s?@x>? >?e??ɨ2E@2e;2/CyBlBBk IIJIJDP5٢b(*> fK=9fQ f>dh jG٣hyj j>H|>I Is IIsBI =&I.I6I<:I F uNusing accuracyPremultiplier from configq}49u ?}4YuW8 iu+B"@uDuK;uK;u 4zK7KK]9KKKB dAдEZjFNOT Ignoring new targets: 389.40 m.Bj ;Jj;- ProNav: ac range: 389.399994 m, nav range: 206.169037 m, bearing: 354.181846 deg, approach rate: -0.258937 m/s, LOS rate: 0.245936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.291312 deg. 2j-(<:j5hO@=HeadingCmd: 4.822193 target range: 389.399994 and range: 424.90 m. j9jAjAjAiAhAhIhYhYfiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513575 Iififqrfybf}@(@J1J5AAJKـ3 K .KK"KJU|JUzJU/JQJU;g:JU9JU(N3JQJUՊ;JU׊;JUP:JUQ:ɛ-x  I U׼ɚiIG8B=IiiŹ))*F?2F:FBF0JFGuG1B9O]>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762062w,v4AyB IMb@Mb@Mb@ )Y'1Z?RQ?J +?yb?=H= A -@)$@IlAyAI$Ir5٢Z> :=9Q >AA EG٣E7GyM M> ]Nusing accuracyPremultiplier from configQ]49Uߔ?e4YUK9 iU@Beud?em:e4m"@UDU:;UI8;U@4}B }A}ʹEZjFNOT Ignoring new targets: 389.40 m.Bji;Jji; ProNav: ac range: 389.399994 m, nav range: 206.063217 m, bearing: 354.284440 deg, approach rate: -0.249502 m/s, LOS rate: 0.242020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.283123 deg. 2j&<:jZw,A2D@Y2@2xA92)>y2H ?֟?l *7?0? `2?!??ɨ2D@2ei;20CyR˂BR IIZIZT_5٢f> f_=9fQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rV?v4Yr 9 irSBtvz"@r Dr:r :ry4| ~nA|B*** querying acoustic contact ***Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266147jjZjFNOT Ignoring new targets: 389.40 m.Bj\;Jj\; ProNav: ac range: 389.399994 m, nav range: 205.979752 m, bearing: 354.369139 deg, approach rate: -0.224527 m/s, LOS rate: 0.227937 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229385 deg. 2jn<:jF@HeadingCmd: 4.821112 target range: 389.399994 and range: 424.90 m. jjjjihhhhfQfQfYrfYbf]M*@ɛPS 隭ճI 6ۼɚiI}B=Iii]A))*Fi2Fi:FiBFm_0JFiH~>I I IIBI =&I.I?D6I<:I FG5GUrAGQzKuJKu9 I Will construct direction to contact in vehicle frame from tetrahedron phase data. i % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527769KqKuKuGA B O% >J] J] ~J] 0JY J] s:J] f9J] ـ3JY J] ;J] ;J] :J] :* w,F3AyB!IuMb@Mb@Mb@qqq q)qYuE?/$?L7A`?yuF?u=u+=u A u@)uQ@IuAqyuAIIa5٢6B> /=9Q > G٣y > Nusing accuracyPremultiplier from config49Z?4Y9 inBH?:۳"@D;;#4 AϴEZj!-FNOT Ignoring new targets: 389.40 m.Bj5ft;Jj5ft;E ProNav: ac range: 389.399994 m, nav range: 205.885818 m, bearing: 354.466172 deg, approach rate: -0.206749 m/s, LOS rate: 0.213671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.266418 deg. 2jE<:jEK@MHeadingCmd: 4.821759 target range: 389.399994 and range: 424.90 m. jIjIjIjIiQhQhQhQhUBfYfYfYrfabfe .+@ɛ)-n5 5d?=5PI1 5:ݼɚ1i1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778389IuYrB=I}ii))*F?2F:FBFJFGrGBO> I i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030059Pw,BLAVzΑ@YVޘ@VU9Vz >yVH?? ¿ rk=9v6w,fA6ё@Y6S@6\96%>y6HA??$}¿o?匦?s?x??ɨ6ё@6Z;4yB[BB!IHR{>IP IR!IIRBIP&IP.IR>D6IR<:IR FBImCJImCRImCZIm =bIm =jIm5IJIJ@T5٢jlH> jL=9jQ n>ll rG٣pyvN: v> zNusing accuracyPremultiplier from configx~49z)?~4Yz#9 izB"@z(Dzt;z;z04  @ Zj15FNOT Ignoring new targets: 389.40 m.Bj=o;Jj=o;U ProNav: ac range: 389.399994 m, nav range: 205.739227 m, bearing: 354.622214 deg, approach rate: -0.195732 m/s, LOS rate: 0.208958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225641 deg. 2jUg<:j]F@eHeadingCmd: 4.821047 target range: 389.399994 and range: 424.90 m. jajijijiiihqhqhyhyfffrfbf,@'eTFailed to parse incomplete device message. IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:07:12.4627 TRx dataTimestamp_ set to:1736366833.699972 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540156ɛ~Bε 隽I )߼ɚi9I=A=JJ{JJJp:J-9JJJ;J;J:J:IiF$i[k ))*F}?2Fy:FyBFyJFyGrA G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786831G G ?G ?Gy B O > w,FyA6Pݑ@Y6@6b96<>y6HD?5? ?¿ ]>޲?y?Q?2P? ?ɨ6Pݑ@6숌;6/CyBBB!IEMb@Mb@Mb@AAA A)AYEp= ף?#~j?Dl?yE%?E=EO=A E@)AIEAAyEAIeIeI5٢ui> uA=9}[Q }>y G٣yZ; > Nusing accuracyPremultiplier from config49.?4Y+9 iBZ'?:"@0D;;84 G@ZjFNOT Ignoring new targets: 389.40 m.BjE;JjE; ProNav: ac range: 389.399994 m, nav range: 205.666748 m, bearing: 354.695385 deg, approach rate: -0.171117 m/s, LOS rate: 0.172812 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194777 deg. 2j2;:jA@HeadingCmd: 4.820508 target range: 389.399994 and range: 424.90 m. jjjjihhhhBfff)rf1bf5@-@)a iUbGy  Yy!BɛƼ !%1=I! %޼ɚ!i!I%A=IMiUa(iU)Q)Y iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.i8DAT read: $Error in header *Received a bad headerechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.053467E5Jc=*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290062G GBO>'w,˟AF@YFi)@Fchj9F_g>yFH߲?@?u7ÿAִ?`[?`H?ȳ? ?ɨF@F;F1CyRŃBR"II^I^A5٢bP> f/=9f~Q f>hh jG٣j7Gynx< n> rNusing accuracyPremultiplier from configpv49rʮ?v4Yr29 irбBtvv"@r:Dr';r;(;rB@4~B ~1@~ҴEB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 389.40 m.Bj=oD;Jj=oD;M ProNav: ac range: 389.399994 m, nav range: 205.585159 m, bearing: 354.775988 deg, approach rate: -0.173770 m/s, LOS rate: 0.171738 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217089 deg. 2jM;:jMD@UHeadingCmd: 4.820898 target range: 389.399994 and range: 424.90 m. jQjYjYjYiYhYhYhahafafafarfibfm@s.@ɛ ȑ =隝8>I @ݼɚiI@=IirS+iռ))E+WB=Hw>IC I!IIvBI =&I.I6I<:I F*F-?2F):F1BF5o0JF1 IzK5NK59K1K5!eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545511K58IIE;740.,)$!!   G GBO >-w,WAyB N"IAMb@Mb@Mb@ )Y}?5^I?T㥛 ?v/?yM?=xi=A )~@IAyAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794131II85٢[> ;=9Q > G٣y > Nusing accuracyPremultiplier from config49$?4Y89 iB?:"@ADe";] ;G4B ?@ϴEZj)5FNOT Ignoring new targets: 389.40 m.Bj5l;Jj5l;E ProNav: ac range: 389.399994 m, nav range: 205.525818 m, bearing: 354.835483 deg, approach rate: -0.136363 m/s, LOS rate: 0.136757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153724 deg. 2jM;:jM;@UHeadingCmd: 4.819792 target range: 389.399994 and range: 424.90 m. jQjQjQjQiQhQhYhYh]BfYfafarfabfeR/@ɛU}BU? Q]n>IY ]iܼɚYiYI]O@=Imimq.iuܼ)q)qE>= Ii*FE ?2FA :FI BFM _0JFI u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047187J {J xJ J J d:J 9J J a @a @a @a @G ԼG sAG sAGaBqO>5w,"ؼA6z@Y6|@6,j96">y6H?`?`ÿNٷ?oQ?@}A? ??ɨ6z@6;60Cy>B>~"IIFIF:5٢R0> R:=9RZ9Q V>TT VG٣Xy^< ^> bNusing accuracyPremultiplier from config`f49b?f4YbP>9 ibBdjxj"@bHDb7;b7;bO4l r@pZj FNOT Ignoring new targets: 389.40 m.Bj ;Jj;% ProNav: ac range: 389.399994 m, nav range: 205.463821 m, bearing: 354.895196 deg, approach rate: -0.141121 m/s, LOS rate: 0.135964 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154380 deg. 2j%;:j%;@-HeadingCmd: 4.819803 target range: 389.399994 and range: 424.90 m. j)j1j1j1i9h9h9hAhAfAfAfArfIbfM0@ɛz 0>I ټɚiI?=Ii1iw)))*E5="E5=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298199E;=*F?2F:FBF0JFHz>I IT"IIBI =&I.I6IV<:Ix FGN޼ e $?Ii G B zK ?MK ]9K K "K = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550144O >b;w, ANR@YN뿙@Nsh9N>yNH 鍷?{?ÿH{?u?@v ?`h? ?ɨNR@N];N.CynT=+= A C@)Q@I$AyAIIv35٢> 8=9x:Q > G٣7Gyp< > Nusing accuracyPremultiplier from config 49 Ը?4Y B9 i  B>;""@ ND ; ; ]W41 5@1ZjY]FNOT Ignoring new targets: 389.40 m.Bje?:Jje?:u ProNav: ac range: 389.399994 m, nav range: 205.411926 m, bearing: 354.942144 deg, approach rate: -0.116058 m/s, LOS rate: 0.105020 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116065 deg. 2ju%;:juY6@}HeadingCmd: 4.819134 target range: 389.399994 and range: 424.90 m. jyjyjjihhhh`Bfffrfbf`A0@ɛ a >I L׼ɚiAIE>=IUi]{2i]=)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803638Er =*F] ?2Fa :Fa BFe _0JFa Y IY U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055934G BGBJxJ{J1JJZ:J-9J3JO>(Dw,rAV@YV@VBb9V>yVH@?-t? ÿ@D`*y?`|6?Y?T ?Q?ɨV@V~\;V0Cy^QB^"I b=b=IfIf\05٢vW= v1=9v?;Q v>xx zG٣|y~ڏ< ~> Nusing accuracyPremultiplier from config 49!? 4YG9 iBIUU"@TD"'<.<^_4q ux@qZjFNOT Ignoring new targets: 389.40 m.Bj:Jj:= ProNav: ac range: 389.399994 m, nav range: 205.357422 m, bearing: 354.990241 deg, approach rate: -0.113453 m/s, LOS rate: 0.100143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119517 deg. 2j=t;:j=6@EHeadingCmd: 4.819195 target range: 389.399994 and range: 424.90 m. jAjAjAjAiAhAhihqhqfqfqfqrfybf}Z 1@ɛ8 >I qӼɚiI==I i 2i f) )EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306366*F ?2F :FBFJFH }>I C I "II oBI =&I .I ?D6I <:I FG K I G B1 OU >pJw,d-A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561243zKZ؉LKXKXKZ#KZFps_XSSRRONKGG?<;:5-@Y<@/z\9>yHn?@(o?Sÿ@`3? '?݋?`P?j<=<A @)I;Ay=AII45٢< =9T@;Q > G٣7GyfY< > %Nusing accuracyPremultiplier from config!-49%ѿ?-4Y%QL9 i%!B5C>5;55"@%ZD%;%;%h4 @B*** querying acoustic contact ***jjZj 5FNOT Ignoring new targets: 389.40 m.Bj=:Jj=:M ProNav: ac range: 389.399994 m, nav range: 205.297974 m, bearing: 355.039975 deg, approach rate: -0.110695 m/s, LOS rate: 0.092632 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124429 deg. 2jMJ~;:jM7@eHeadingCmd: 4.819281 target range: 389.399994 and range: 424.90 m. jijijijiiihihihhBfffrfbfۓ1@ɛe~Be8 ae>Ia mCмɚyiyI}P<=I i a2i }j :) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811155*F?2F:FBFJFG G B O>y:H`XX ZG٣\y^b< ^> bNusing accuracyPremultiplier from config`f49bJ£?f4YbsO9 ib'Bhjj"@b^Db@:b :bn4l n+@pZj  FNOT Ignoring new targets: 389.40 m.Bj^:Jj^:% ProNav: ac range: 389.399994 m, nav range: 205.258469 m, bearing: 355.072334 deg, approach rate: -0.119712 m/s, LOS rate: 0.098078 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.072284 deg. 2j%;:j%0@-HeadingCmd: 4.818370 target range: 389.399994 and range: 424.90 m. j)j)j)j1i1h1h1h1h9f9f9fArfAbfE51@ɛqu'< qu>IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062080 <μɚiIxT<=I%i%1i%;)!))J%yJ%uJ%0J!J%]:J%9J%ـ3J!*F?2F:FBF4JF"G=G=Gb(GGGIBQOu6>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314076wXw,dA6@Y6Q@6LI96P>y6Hb? zf?6ÿ 9?\?!?\?L?ɨ6@6D;4yBRBB"IIJIJ\05٢f fJ=9f;Q f>hh jG٣hyn< n> vNusing accuracyPremultiplier from configpv49r8ţ?z4Yr S9 ir-Bxz7z"@rbDr:r:ru4B Z@ҴEZj!-FNOT Ignoring new targets: 389.40 m.Bj-:Jj-:E ProNav: ac range: 389.399994 m, nav range: 205.212143 m, bearing: 355.109549 deg, approach rate: -0.114643 m/s, LOS rate: 0.092116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.086855 deg. 2jE|;:jE,2@MHeadingCmd: 4.818624 target range: 389.399994 and range: 424.90 m. jIjIjIjIiIhQhQhQhQfffrfbfQ2@H>IC I;#IIBI =&I.I6I԰<:I Fɛy}O; 隅>I ˼ɚiI,;=Ii/i@<)) yIy*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567451zK%$NK%9K!K%$K%30,+%%  G!G B O >E^w,nm~AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818145:Γ@Y:ݚ@:=9:#j>y:H@e7?@d?@¿!? ?@?@O8??ɨ:Γ@:*;8yBB"IMb@Mb@Mb@ )Y +?I +?Mbyȶ>94=d A C@)IAyAIIY45٢N 9=9;Q > G٣yj[< > Nusing accuracyPremultiplier from config 49ȣ? 4YW9 i/B Y> ; q "@gDf;;}4 Z@ZjFNOT Ignoring new targets: 389.40 m.Bj6:Jj6: ProNav: ac range: 389.399994 m, nav range: 205.159348 m, bearing: 355.151241 deg, approach rate: -0.115779 m/s, LOS rate: 0.091454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100296 deg. 2j{;:j4@ HeadingCmd: 4.818859 target range: 389.399994 and range: 424.90 m. j j j j i1h1h1h9h=fBf9f9fArfAbfE`2@ɛBi: c>I TȼɚiI1:=Ii -i΅<))))*F?2F:FBFE5JF iIiGO <GqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070898O%>JU vJU sJQ JQ JU {T:JU 9JQ JQ ew,FA>@Y>@>Z29>d>y>H`R?a?`v¿ 2??I?`??ɨ>@>Z;>0Cyv+Bv"IIeIe;5٢} Q=9;Q > G٣7Gy=bP< => UNusing accuracyPremultiplier from configIm49Mˣ?m4YMZ9 iM0Bquǧu"@MlDM;M;M4y }@yZjFNOT Ignoring new targets: 389.40 m.Bj:Jj: ProNav: ac range: 389.399994 m, nav range: 205.109055 m, bearing: 355.190417 deg, approach rate: -0.125517 m/s, LOS rate: 0.097797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.092744 deg. 2j;;:j3@HeadingCmd: 4.818727 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbfY(3@ɛ >I %2Ƽɚ!i!I%[:=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322541I-iES*iEI<)A)A*Fe?2Fa:FaBFe_0JFaGmsA GmtAH>I IZ#IIτBI =&I.I6I<:I FBIJIRIZI =bI =jI6 Y IY G 9)<G ?G ?Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574700zK MK K K %K  lw,XAy] B]i"I Mb@Mb@Mb@    ) Y 333333?kt?  0= t  A @) ;@I A y AI-I-F5٢=  =0=9EQ E>QQ ]G٣Yy] ]> uNusing accuracyPremultiplier from configi}49mϣ?}4Ym_9 im.B|>:۩"@mrDmb;m_;m4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.Bj;Jj; ProNav: ac range: 389.399994 m, nav range: 205.047867 m, bearing: 355.240768 deg, approach rate: -0.138086 m/s, LOS rate: 0.113664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126284 deg. 2j;:j7@HeadingCmd: 4.819313 target range: 389.399994 and range: 424.90 m. jjjjihhhhBfffrfbf`^3@ɛB, !%>I! %h=ļɚ!i!I-K9=I-i5'i5`{<)1)1*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827523G7ͤ<GaBiO{> G Y y yA ) I) rw,̽Ay~B~:"II I E5٢%\h %v=9!Q %?)) -G٣)y1 5? =Nusing accuracyPremultiplier from config9E49=ң?E4Y=Yc9 i=,BAAM"@=wD=:=A;=k4UB UH@UϴEZjFNOT Ignoring new targets: 389.40 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078187 ProNav: ac range: 389.399994 m, nav range: 205.002701 m, bearing: 355.278029 deg, approach rate: -0.137735 m/s, LOS rate: 0.113653 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.086994 deg. 2j;:j12@HeadingCmd: 4.818627 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf3@ɛB G>I 0üɚiI(p9=I i $i ɣ<) ) *FM?2FI:FIBFM`0JFIGm4<GI U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331006Ba O} >yw,L彶AJ<@YJK@J 9JG>yJH ?Jb?=k`X??T???ɨJ<@J;HyR΃BR"IIZIZJ5٢jw߽ jP=9j~tt vG٣v7Gyz< z> ~Nusing accuracyPremultiplier from config|49~֣?4Y~g9 i~)Bਿ "@~|D~C:~:~V4 @Zj9=FNOT Ignoring new targets: 389.40 m.BjE;JjE;] ProNav: ac range: 389.399994 m, nav range: 204.947189 m, bearing: 355.322832 deg, approach rate: -0.140537 m/s, LOS rate: 0.113458 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109633 deg. 2j];:jen5@eHeadingCmd: 4.819022 target range: 389.399994 and range: 424.90 m. jajijijiiihihihqhqfqH>I IA#IIBI =&I.I@D6Id<:I Fffrfbf% X4@ɛB] I n>I !$¼ɚiI'9=I-i5 i5[N<)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582426*F2F:FBFa0JF"G=G>zKLK9KK&K   J=sJ=qJ9J9J=K:J=q9J9J9J=e;amJ=e;auJ=:a}J=:aG |<G! G% tAG B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838076w,A20@Y2s@@292b>y2H&?`h? `#?@??{?wm??ɨ20@2J;2-Cy>B>!I Mb@Mb@Mb@    ) Y HzG?ˡE?ˡEy = ? '= '  A ) $@I A y AI%I%R5٢9 7=9Lt;Q > G٣yH %> -Nusing accuracyPremultiplier from config)549-ڣ?54Y-m9 i-%B5 ?=:=e="@-D-;-;-04a e>@aZjFNOT Ignoring new targets: 389.40 m.Bj";Jj"; ProNav: ac range: 389.399994 m, nav range: 204.873947 m, bearing: 355.387870 deg, approach rate: -0.160031 m/s, LOS rate: 0.142154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170367 deg. 2j;:j>@HeadingCmd: 4.820082 target range: 389.399994 and range: 424.90 m. jjjjihhh!h%Bf!f!f)rf)bf-4@ɛB] D=I ɚiI8=I%i%di%0<)!)) $?Ii*F?2F:FBFo0JFGHn<GaBiWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅA(w,A>@Y>n/@>9>=y>H }?o? H@F?͊? T?uʿ? ?ɨ>@>n;>0CyFBF!IIRIRZ5٢V0R Zb=9Zn;Q Z>X\ ^G٣\ybF b> fNusing accuracyPremultiplier from configdj49fAޣ?j4Yfr9 if!Bhjn"@fDf ;f ;fl4rB r@vѴEZjFNOT Ignoring new targets: 389.40 m.Bjp);Jjp);- ProNav: ac range: 389.399994 m, nav range: 204.816422 m, bearing: 355.439586 deg, approach rate: -0.164731 m/s, LOS rate: 0.148135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130378 deg. 2j5T;:j5e8@=HeadingCmd: 4.819384 target range: 389.399994 and range: 424.90 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM!5@ɛA9Ǽ 隅I ۱ɚiIm8=IiUi<))Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I"II#BI&I.I6I9<:Ik F Will construct direction to contact in vehicle frame from tetrahedron phase data.  G٣7Gy > Nusing accuracyPremultiplier from config49㣜?4Yz9 iBl(?:쭿"@D;;4  @ -B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 389.40 m.Bj=QH;Jj=QH;U ProNav: ac range: 389.399994 m, nav range: 204.727493 m, bearing: 355.522703 deg, approach rate: -0.187294 m/s, LOS rate: 0.175132 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.224646 deg. 2jUb;:jUE@]HeadingCmd: 4.821030 target range: 389.399994 and range: 424.90 m. jYjYjYjYiYhYhahahBfffrfbf@5@ɛuBu quIq }b¼ɚyiyI} 8=Iiti'<))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1133> - 9w,ӇMA Rܓ@YR@R0J9RØ=yRHq?` ?X˸`&?`bw?G?޽??ɨRܓ@Rȸ;R0CyZ4B^a!IIf Ifg5٢nX no=9r:;Q r?pp vG٣tyvf v? zNusing accuracyPremultiplier from configx]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Tx time:20:07:20.4292 e$Ping request sent.mew,/jgAV@YVŚ@V߼9V~=yVH?,?@2ӽ $'? a?`5?6 ?`?ɨV@V;V-CybBbII UG٣Qy]5 ]> mNusing accuracyPremultiplier from configa}49eO죜?}4YeЇ9 ieBy-"@eDeh;eqe;e4 AZjFNOT Ignoring new targets: 389.40 m.Bj`;Jj`; I% ProNav: ac range: 389.399994 m, nav range: 204.588577 m, bearing: 355.657268 deg, approach rate: -0.200895 m/s, LOS rate: 0.196684 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197791 deg. 2j%<:j- B@-HeadingCmd: 4.820561 target range: 389.399994 and range: 424.90 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfE_6@HQIQ IU"IIUƒBIQ&IQ.IQ6IU_<:IU FɛB\! _I ļɚiI!9=Iil4irX<))mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503322JJBAJJpJ*F 2F :FBFF3JFJJJ^9JJJJJ|:J~:zKFLK9KK(KRK ?JK ?GUoT<GqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755323oLw,@AF@YF#@Fμ9F=yFHՄ?@\?(?@Eڋ?ՙ?WT? M?ɨF@F;F/CyRBR!I5Mb@Mb@Mb@111 1)1Y5J +?A`"?:vy5H?5Y=5Լ5hA 5@)5@I11y5@IMIMkf5٢U ]H=9];Q ]>aa eG٣e7Gye= m> Nusing accuracyPremultiplier from config49?4Y_9 iEI?:ð"@DAU;ZS;N4  A Zj1=FNOT Ignoring new targets: 389.40 m.Bj=uw;Jj=uw;M ProNav: ac range: 389.399994 m, nav range: 204.501968 m, bearing: 355.746699 deg, approach rate: -0.209430 m/s, LOS rate: 0.216346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.243591 deg. 2jMy<:jUH@]HeadingCmd: 4.821360 target range: 389.399994 and range: 424.90 m. jYjYjYjYiYhYhYhaheBfafifirfibfm@!6@ɛ1 隥!I qƼɚiI[9=Iiit<))*FM?2FI:FIBFM^0JFI IiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007202GUp<G) B1 OU >vw,aAy~݂B~ II I O5٢%L$ %N=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1E495U?E4Y59 i1AAE"@5D5 ;5.:54Q UAQZjyFNOT Ignoring new targets: 389.40 m.Bjs;Jjs; ProNav: ac range: 389.399994 m, nav range: 204.424011 m, bearing: 355.827720 deg, approach rate: -0.204750 m/s, LOS rate: 0.212880 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218343 deg. 2j<:jD@HeadingCmd: 4.820920 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf|)7@ɛBF >I -ȼɚiI9=Ii=iT$<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260265EY I*F?2F:FBF\0JFH>I I!IIqBI =&I.I6IP<:I~ F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511392JSK[m3 K[S}-KSKS"KSJ tJ qJ J Gm 9)<J ;N:J q9J J J {j;J }j;J :J :zK oKK K K )K G B O>Rw, AneK@YnZ@n9n =ynHg?@V?z6 >@!ؼ?@?~?ȵ??ɨneK@nD;n0Cyv҂Bv IMb@Mb@Mb@ )YK?i|?5?)1 5G٣1y=M => MNusing accuracyPremultiplier from configIU49M?U4YM9 iMBUZ?Ux:U屿]"@MƜDMa;M;M4eB e)Aa}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 389.40 m.Bjń;Jjń; ProNav: ac range: 389.399994 m, nav range: 204.317825 m, bearing: 355.942958 deg, approach rate: -0.213810 m/s, LOS rate: 0.232156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.321075 deg. 2jS<:jS@HeadingCmd: 4.822712 target range: 389.399994 and range: 424.90 m. jjjjihhhh9BffAfarfabfe ֭7@ɛ3? 隕2I ˼ɚiIX :=IiM i;';))-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765994E#@=*F5?2F1:F1BF5_0JF1 - $?I) G Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015263bw,fҾAV#@YV.3@V>9V '=yVHe+?`?`d`??@X'? ;??ɨV#@Vwܔ;V1Cyn͂Bn IIz(Izt5٢ f  ]=9 7n:Q > G٣7GyZ > %Nusing accuracyPremultiplier from config!-49%a?-4Y%79 i%B155"@%МD%X:%e:%49 =SA9ZjamFNOT Ignoring new targets: 389.40 m.Bjua;Jjua; ProNav: ac range: 389.399994 m, nav range: 204.241791 m, bearing: 356.027828 deg, approach rate: -0.208862 m/s, LOS rate: 0.233218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.229889 deg. 2j <:jF@HeadingCmd: 4.821121 target range: 389.399994 and range: 424.90 m. jjjjihhhhfffrfbf B8@ɛB KW I cͼɚiI"c:=Ii i2))EqEq*Eq"Eq=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268358*F2F:FBFJFG GsAGg;Gy B O > ! I! H1 I5 C I5 s!II5 CBI1 &I1 .I1 6I5 <:I5 FBI]̪CJI]̪CRIYZI] =bI] =jI] 5w,@쾶A6@Y6{@6%Q96=y6Hد?ީ?@8o*?@ ?`ɗ?@I2?@?ɨ6@6;60CyRȂBR IIZIZm5٢bʼ fO=9f8ͺQ f>hh jG٣hyj_q n> eNusing accuracyPremultiplier from configYe49]g?m4Y]Y9 i]"BimBm"@]ۜD]+;]^;]44q }uA}ԴEZjFNOT Ignoring new targets: 389.40 m.Bj;Jj; ProNav: ac range: 389.399994 m, nav range: 204.158569 m, bearing: 356.123725 deg, approach rate: -0.200144 m/s, LOS rate: 0.230722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.262993 deg. 2jW<:j[K@ HeadingCmd: 4.821699 target range: 389.399994 and range: 424.90 m. j j j j i h hh1h1f9f9f9rf9bfEr8@ɛWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519548P 隵I 3мɚiI:=Ii} i=))*F?2F:FBF0JFzKEJKE9KAKE*KE  M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773309)I M CGm ']?; }G = Y9 y= AG B O>¯w,TR A Iiy ςB  IIIj5٢-< -=95Q 5>11 =G٣9yE E> }Nusing accuracyPremultiplier from configy49} ?4Y}9 i}&B"@}D};};}S4 ;AZjFNOT Ignoring new targets: 389.40 m.Bj;Jj; ProNav: ac range: 389.399994 m, nav range: 204.053833 m, bearing: 356.245495 deg, approach rate: -0.202363 m/s, LOS rate: 0.235396 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.340680 deg. 2j!<:jwV@HeadingCmd: 4.823055 target range: 389.399994 and range: 424.90 m. jjjjihhhhf f f rf bf8@%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023440ɛIMwE QUIQ U7ӼɚQiQIU0;=I]i] ieV)a)iJsJsJ1JJK:J9J3Ja@a@a@a@*F?2F:FBFo0JFGGBOi> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:07:23.4211  TRx dataTimestamp_ set to:1736366844.532805 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277004ȯw,cb%A^Y@Y^@^5Լ9^e=y^H߮?ì?x`^G?lg???`!?ɨ^Y@^k;^/CyfBf IIrIrm5٢v= z_=9zQ 5>99 =G٣=7GyE E> MNusing accuracyPremultiplier from configIU49M?u4YM9 iM*By}Ĵ}"@MDMR;Mk;M4B AѴEZjFNOT Ignoring new targets: 389.40 m.Bjf;Jjf; ProNav: ac range: 389.399994 m, nav range: 203.984177 m, bearing: 356.331629 deg, approach rate: -0.184324 m/s, LOS rate: 0.228006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233676 deg. 2jz<:j*G@-HeadingCmd: 4.821187 target range: 389.399994 and range: 424.90 m. j)j)j)j)iIhhhhfffrfbf@X[9@ IHI If!II9BI =&I.I6I <:I] FɛXG 隵䧾I mռɚiI,;=Iii\))*F}?2Fy:FyBF0JF"G=G>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528265'TFailed to parse incomplete device message.G ҸG rAG rAG B O >ϯw,m>Azg@Yzv@z}9zy=yzH`CN??z@w`?@T??.?r?2?ɨzg@z7k;z0CyB!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779384  @   @ @  @ I%I%4d5٢5#= 5,=9E,VQ m>qy }G٣yy7 > 5bBottom track data is 0.5 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from configm49S?u4Y9 i/B+:I:t"@D<?4B AӴEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.40 m.BjY;Jj%Y;- ProNav: ac range: 389.399994 m, nav range: 203.894653 m, bearing: 356.446130 deg, approach rate: -0.178121 m/s, LOS rate: 0.227917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.318834 deg. 2j5j<:j5WS@=HeadingCmd: 4.822673 target range: 389.399994 and range: 424.90 m. j9jYjYjYiYhYhahahafafifirfibfm`J9@ɛ7 I ׼ɚiI;=IiZi $) )  !I!*F?2F:FBF0JFGrM Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 20:07:23.4211 LVL= 25248, 23665, 14706, 28019, AGC= 74, IDX= 15,-0.13, 1.055,-2.717, 1.895, 1.747, PHS=-0.604, 1.865, 0.145, RAW= 312.8, -12.8, CAL= 317.8, -17.3, ROT= 192.2, 17.3  Ygot valid direction response: 20:07:23.4211 LVL= 25248, 23665, 14706, 28019, AGC= 74, IDX= 15,-0.13, 1.055,-2.717, 1.895, 1.747, PHS=-0.604, 1.865, 0.145, RAW= 312.8, -12.8, CAL= 317.8, -17.3, ROT= 192.2, 17.3  DAT read: Range 10 to 50 : 440.7 m (Round-trip 587.7 ms) speed -0.6 m/s  ,DAT read: user:1134>  BDAT read: Tx time:20:07:24.5292  $Ping request sent.  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.365227,0.576467,-0.730955] :publishing transmit ping timeؙ  Fpublishing direction and range infoI 9M MS_?rjr?WcyM YCI M bM q\ M r9)M smIM JiM M R?M z>M R@M d M 5~@)M #IM V@iM #>I I M "n˿*M̿)M :IM Kd>iM ƀ?M 3Q?I I  :publishing transmit ping timeؙ  Fpublishing direction and range infoI 9M MS_?rjr?WcyI I I I I )I II iI I I I I I )I II iI I I M "n˿*M̿)I II iI I I I J vJ rJ 0J J {T:J 9J ـ3J կw,-XA6NH@Y6W@696e=y6HpX?`ܫ?k ?Ɠ?`B? ?k?ɨ6NH@6cL;4yrBrB!II%I%X5٢-d> 5r=95Q 5? G٣y5 ? bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49?4Y_9 i3B :":ﵿ"@ D;S?w4  @ k}?k}t$H ky k}oRA:k}YCBk}CZk}9@"}xMd@j%o@ AN"t}MS_?rjr?WcJk}ƀ?Rk}3Q?*}R(r@1"U5bD#*q}9im k} k}\Ck}r@ addTargetRange:: Added new target pos. range: 440.700012 m, deltaT: 25.971331 s, deltaX: 15.800018 m, approachRate: 0.608364 m/s, rangeRepo size: 4  Added new target pos. range: 440.700012 m, bearing: 334.285221 deg, lat: 36.907372 deg, lon: -122.124043 deg, deltaT: 85.999272 s, deltaX: 51.300018 m, approachRate: 0.596517 m/s, posRepo size: 4 Zj5FNOT Ignoring new targets: 440.70 m.Bj5Jj1E ProNav: ac range: 440.700012 m, nav range: 220.671677 m, bearing: 348.477840 deg, approach rate: 0.000000 m/s, LOS rate: 0.227917 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200676 deg. 2jA:jMrB@UHeadingCmd: 4.820611 target range: 440.700012 and range: 440.70 m. jQjQjQjQiQhQhYhYhYfYfafarfe@3{@bfe?ɛ / ZI eؼɚiI;=IiӁi8)) Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:07:24.5285 *F?2F:FBF@5JF 9 I= iH >I  I !II WBI  =&I .I 6I @<:I s FG k}G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Jܯw,ǺrA6 2@Y6A@6Z96=y6H@q?g?`>@uq?@?@ў?T?`?ɨ6 2@6;6/CyZ3B^_!IIjIj&Q5٢r = rO=9rFQ r>tt vG٣v7Gyzf ~> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 49~? 4Y~9 i~8B 9:G"@~D~<~w?~4 A@Zj!%FNOT Ignoring new targets: 440.70 m.Bj-j;Jj-j;= ProNav: ac range: 440.700012 m, nav range: 220.561386 m, bearing: 348.557010 deg, approach rate: -0.285880 m/s, LOS rate: 0.205316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212814 deg. 2j= <:jE/D@MHeadingCmd: 4.820823 target range: 440.700012 and range: 440.70 m. jQjQjQjQiQhYhahqhyfyffrfbf@^?zKMLKMh9KIKM,KM  &3>MVZWW_t  voh^ZJ7.*'&ɛK 隍j*I .ڼɚiI<=Ii1iuɼ))EEsA*F5?2F1:F1BF=4JF9G5NWill construct direction to contact in vehicle frame from tetrahedron phase data.G)BIO>  I iw,A yLB~!I        Mb@Mb@Mb@ )Y +?Q?l?yV?u== b@)@Iy\@II=5٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config49="?4YP9 iGBT:W?|:ζ "@ D:; ;4 @ZjAEFNOT Ignoring new targets: 440.70 m.BjMz;JjMz;] ProNav: ac range: 440.700012 m, nav range: 220.439423 m, bearing: 348.646155 deg, approach rate: -0.299648 m/s, LOS rate: 0.219138 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242767 deg. 2j]d<:jewH@eHeadingCmd: 4.821346 target range: 440.700012 and range: 440.70 m. jajajijiiihihihqhuBfqfqfyrfybf}-?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛaeS  aeIa mڼɚiiiImn<=IiGiVƼ))JsJmJJJK:J&9JJ*FM?2FI:FIBFM^0JFIGm fGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,AynB!II-I-<5٢E.> ER=9IQ M>QQ UG٣QyY e> uNusing accuracyPremultiplier from configi49m+&?4Ym9 imUB"@m*DmAw,1yAFT&@YF5@F" 9FF>yFHH??`s v:?6f?kC?@t*?@?ɨFT&@FLՓ;DyRBR!IEMb@Mb@Mb@AAA A)AYECl? rh?kt?yEd;?EC=E 0=EA A)E@IAAyE@ImImP5}Will construct direction to contact in vehicle frame from tetrahedron phase data.٢t> F=9*Q > G٣7Gye > Nusing accuracyPremultiplier from config495*?4Y9 ieBy6H` fW=9jlQ j>hh jG٣lyn2; n> rNusing accuracyPremultiplier from configpv49r-?v4Yr: irtBxzcz#@r=Dr:r7:r849 E@A}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 440.70 m.BjcN;JjcN; ProNav: ac range: 440.700012 m, nav range: 220.127930 m, bearing: 348.867774 deg, approach rate: -0.258009 m/s, LOS rate: 0.180440 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179243 deg. 2j;:jb?@HeadingCmd: 4.820237 target range: 440.700012 and range: 440.70 m. jjjjihhhhfffrfbf|@ɛ =I ]ڼɚiIY;=Ii"i?ļ))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF}0JF yIyH>I IG"IIBI =&I.I6I,<:Id FGp6ϼG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513788Jw,JABE@YB9U@Bm 9By >yBHB?Y?``iI?Η???`?ɨBE@B;B/CyJ׃BN)"IIVIVF5٢^> bH=9b9Q b>dh jG٣hyj; n> rNusing accuracyPremultiplier from configpv49r2?v4Yr : irBxz(z#@rFDr:rC:rj"4~B ~@~ӴEZj!%FNOT Ignoring new targets: 440.70 m.Bj-5S;Jj-5S;E ProNav: ac range: 440.700012 m, nav range: 220.022552 m, bearing: 348.941334 deg, approach rate: -0.264395 m/s, LOS rate: 0.184652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195970 deg. 2jEs;:jEA@MHeadingCmd: 4.820529 target range: 440.700012 and range: 440.70 m. jIjIjQjQiQhhhh f1f1f1rf9bf=@>@ɛ BzKMK9KK.KNKKHDC:830-*&#   m. y}!>I ?Yw, ABd@YB5t@B 9B>yBH9?{?¿ @Q??:??&? ?ɨBd@B a;@yJBJN"I-Mb@Mb@Mb@))) )))Y-S㥛?v/?~jt?y-$?-xi=-=-hA -x@)-$@I))y-@I=I=gG5٢M> ME=9U9Q U>QY ]G٣]7Gy]< e> mNusing accuracyPremultiplier from configau49e5?}4Ye: ieB}%?}:}@}#@eODeK;eJ;e)4 @ִEZjFNOT Ignoring new targets: 440.70 m.Bju3;Jju3; ProNav: ac range: 440.700012 m, nav range: 219.930161 m, bearing: 349.006245 deg, approach rate: -0.223379 m/s, LOS rate: 0.157004 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170001 deg. 2j;:j>@HeadingCmd: 4.820076 target range: 440.700012 and range: 440.70 m. jjjjihhhhBfffrfbfh,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018569ɛm9 隵X^>I ׼ɚiI<;=Ii (it))*F?2F:FBF3JFJsJkJJJK:J9JJG (G ?G >G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270026O > w,'A>[@Y>@>[ 9>>y>H`?O?CA¿@v%?z?D??@D?ɨ>[@>|h;>0Cy^B^t"IIrIrjC5٢> O=9 ׹Q  > G٣y%< %> 5Nusing accuracyPremultiplier from config1E495N9?E4Y5U: i5BIMгM#@5WD5!;5 ;504q &@ IiHaIa Ie"IIeFBIa&Ia.Ia6Ie<:Ie= FBI«CJI«CRIZI =bI =jI"4ZjFNOT Ignoring new targets: 440.70 m.Bj#;Jj#; ProNav: ac range: 440.700012 m, nav range: 219.840637 m, bearing: 349.068726 deg, approach rate: -0.204222 m/s, LOS rate: 0.142591 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162706 deg. 2j;:j=@HeadingCmd: 4.819949 target range: 440.700012 and range: 440.70 m. jjjjih h hhfffrfbf> @ɛB 隝>I "ռɚiI:=Ii_)iх))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:07:27.5250  TRx dataTimestamp_ set to:1736366848.820751 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522790*F?2F:FBF_5JFPExceeded connect timeout, disconnecting.zK MK K K /K 9$LMV;.# G- S.GY Ba O > kw,AA2@Y2@2 92>y2HA?%?Y¿`CE?@?@???ɨ2@2;2/Cy:.B:"IMMb@Mb@Mb@III I)IYM@5^I ?:v? rh?yMb?MT=MC =M~A M@]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.774561)M@IMQ@IyM@II65٢;= @=99Q > G٣yN,< > Nusing accuracyPremultiplier from config49I9 EӼɚAiAImm:=I}iDi+iP)) I*F?2F:FBF 5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. 8DAT read: $Error in header  *Received a bad header checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040737G G B O >@w,s[A6͒@Y6;ݙ@6ִ 96*>y6Hr}?̈́?`mj¿``{|? ڏ?u??`?ɨ6͒@6Z;61CyRIBR"IIZIZB5٢b> b[=9b@:Q f>dd fG٣f7Gyj=U< j> nNusing accuracyPremultiplier from configlr49n??r4Yn$: inBtv0v#@neDn;nq:n}>4x z@xB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 440.70 m.Bj;Jj; ProNav: ac range: 440.700012 m, nav range: 219.679825 m, bearing: 349.178126 deg, approach rate: -0.192309 m/s, LOS rate: 0.130115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128374 deg. 2j;:j8@HeadingCmd: 4.819349 target range: 440.700012 and range: 440.70 m. jjjjihh!h!h)f1fYfYrfabfm@ɛ%s; !%,>I) -KѼɚ)i)IU9=IUi]8,i])Y)YEEtAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.278046*F?2F:FBF_0JF"G=G= IHYIY I] #II]BIY&IY.IY6I]3<:I]h FGu MGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.529521w,xuA NnManaging dock network, ignoring radio surface power offb@Yby@bl$ 9bI>ybH~? @? ¿`z? ?@c?6?ާ?ɨb@b;b2Cy^B"III<5٢%= %D=9%j9Q ->)) -G٣)y5< 5> =Nusing accuracyPremultiplier from config9E49=C?E4Y=+: i=ŲBIMM#@=mD=:=:=E4Q U@QJerJepJaJaJeG:Je^9JaJaJe_;amJe_;amJe|:auJe~:a}ZjFNOT Ignoring new targets: 440.70 m.Bj'#;Jj'#;E ProNav: ac range: 440.700012 m, nav range: 219.594620 m, bearing: 349.235273 deg, approach rate: -0.212595 m/s, LOS rate: 0.142641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146691 deg. 2jE;:jE:@MHeadingCmd: 4.819669 target range: 440.700012 and range: 440.70 m. jIjIjQjYiYhahihhfffrfbf҇@ɛ%BuƗ; y}>I μɚiIO|9=zK3OK 9KK0K  $'$!  44J]jI ib,i7j))I*F?2F:FBFJF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781730G- I G B O5 >-#w,iRA6@Y6n%@696_>y6H ?U|?\¿?@m{?? /? B?ɨ6@6{O;63CyBhBB"ImMb@Mb@Mb@iii i)iYm+?)\(?Zd;O?ymv>mGa=mj G٣y>< > Nusing accuracyPremultiplier from config49(G?4Yu0: iϲB$?:~#@tD%;;M4B @شEZjFNOT Ignoring new targets: 440.70 m.Bj ;Jj ; ProNav: ac range: 440.700012 m, nav range: 219.514374 m, bearing: 349.285504 deg, approach rate: -0.193380 m/s, LOS rate: 0.121093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125935 deg. 2j5;:j7@HeadingCmd: 4.819307 target range: 440.700012 and range: 440.70 m. j!j!j!j!i!h!h!h)h-Bf)f)f1rf1bf5@ɛimH; im>IqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033567 ˼ɚi)I58=I5i50,i=)9)9EB=*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286366G vϻ #$?I G B O>*w,AH(I( I*N#II*ńBI(&I(.I(6I*N<:I*| F^X@Y^vh@^B9^ >y^HѼ?v?mZ¿@8?bL?? e?M?ɨ^X@^U;^2Cyf|Bj"IIrIrB5٢z_= z;=9z*;Q z>|| ~G٣~7Gy~*< > Nusing accuracyPremultiplier from config 49 K?4Y 6: i ڲB!%p%#@ {D \; X; T41 5@1ZjY]FNOT Ignoring new targets: 440.70 m.Bje ;Jje ;u ProNav: ac range: 440.700012 m, nav range: 219.428833 m, bearing: 349.337979 deg, approach rate: -0.195277 m/s, LOS rate: 0.119839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132672 deg. 2ju};:ju8@}HeadingCmd: 4.819424 target range: 440.700012 and range: 440.70 m. jyjyjyjyihhhhfffrfbf@ɛae; am8>Ii m<ȼɚiiiIme8=Iuiuc+iun;)q)E}=E}R>E}>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.538786*F ?2F :FBFJFG GJsJnJJJK:J99JJJe;Je;JR:GxJS:GBOd>zK}&NK}9KyK}1K}oqk^UL/~wpgc_WQGB;720,(#""!    Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791759D1w,`ABq@YBy@BhW9B7>yBH?`t?LE¿`1u?i?4j?k?`$?ɨBq@B;B-Cy~B~#I a=p=Mb@Mb@Mb@ )YI +??y&1|?y9>L=`; x@)@I$@y=@II:5٢a= %:=9%:Q %>!) -G٣)y-\; -> =Nusing accuracyPremultiplier from config1E495N?E4Y5~;: i5BE>E:E:E#@5D5L;5;5l\4Q U@QZjq}FNOT Ignoring new targets: 440.70 m.Bj};Jj; ProNav: ac range: 440.700012 m, nav range: 219.346268 m, bearing: 349.388540 deg, approach rate: -0.188506 m/s, LOS rate: 0.115481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126928 deg. 2j;:j7@HeadingCmd: 4.819324 target range: 440.700012 and range: 440.70 m. jjjjihhhhBfffrfbfr@ Iiɛ !< 隍?I >ļɚiI7=Ii?[*i3 ;))EE*E"EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.041559*F ?2F :F BF JF G- i"GBO5>g8w,.A:'@Y:@:69:#>y:HN?q?.¿Ud?)?`9?V?`?ɨ:'@:;:/CyBBB#IININjC5٢V6; VC=9Z':Q Z>X\ ^G٣\y^z< ^> bNusing accuracyPremultiplier from config`jWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.293880n49bR?n4Yb@: ibBprr#@bDbb;bj;bc4vB v@zմE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 440.70 m.Bj%;Jj%;= ProNav: ac range: 440.700012 m, nav range: 219.267166 m, bearing: 349.436603 deg, approach rate: -0.187754 m/s, LOS rate: 0.114123 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119429 deg. 2j=;:j=6@EHeadingCmd: 4.819193 target range: 440.700012 and range: 440.70 m. jAjAjAjAiAhIhIhQhQfQfQfQrfYbf]H@ɛ]B] $< ae?Ia OɚiI/7=Iiٛ(i~'<)) I*Fe?2Fa:FaBFe0JFaHI Is#IIBI&I.I6I=<:Io FG5:GB O-N>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545699J J ?AJ qJ mJ J J D:J &9J J J HZ;J KZ;J :J :">w,AzK^vNK^]9K\K^2K^RKr?JKr?@Y@Ϣ9r >yH6?Cr?iT?:?s?@%~?@=?ɨ@謊;.CyB"IMb@Mb@Mb@ )YS?:v?y>T=~A )@I;@yIIC5٢E_ E'=9M:Q M>II MG٣U7GyU; U> ]Nusing accuracyPremultiplier from configYe49]W?m4Y]F: i]Bm>m:mUm#@]D];];]Bl4q u0@yZjFNOT Ignoring new targets: 440.70 m.Bj-;Jj-; ProNav: ac range: 440.700012 m, nav range: 219.174545 m, bearing: 349.491374 deg, approach rate: -0.190905 m/s, LOS rate: 0.112937 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139567 deg. 2j;:j9@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797562HeadingCmd: 4.819545 target range: 440.700012 and range: 440.70 m. jYjYjYjaiahahahihmBfififirfqbfuM@ɛt< >I ɚQiYI]ސ6=I]ieE&ieͻF<)a)a I*F?2F:FBFp0JFG5 o;G= sAG= sA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049575G B O= >Ew,A6j@Y6ʚ@6:96& >y6HFؿ?vq?@|μI?`?` ?RQ??ɨ6j@6^;4y-B-"II=I=F5٢U Us=9UB;Q U?YY ]G٣Yy]7; e? mNusing accuracyPremultiplier from configa}49e,Z?}4YeJ: ieB#@eDeI;e!I;e$r4 @ZjFNOT Ignoring new targets: 440.70 m.Bj:Jj: ProNav: ac range: 440.700012 m, nav range: 219.110413 m, bearing: 349.529143 deg, approach rate: -0.189598 m/s, LOS rate: 0.111690 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.088526 deg. 2jM;:ji2@HeadingCmd: 4.818654 target range: 440.700012 and range: 440.70 m. jjjjihhhhfffrfbf ȓ@ɛ!%< )-I>I) -mɚ)i)I-6=I5i5}$i=[i<)9)9*F=?2F9:F9BF=S5JF9G2<GBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302954 I H I  I #II BI &I .I 6I T<:I FKw,\1A>@Y>&Κ@>e9> >y>HZ?`r?y`@!T?@ k?؜?{'?Ѳ?ɨ>@>ى;>0CyJBJ"IIRIRB5٢Z; ZV=9^YP;Q ^>`` bG٣`yb: f> jNusing accuracyPremultiplier from configdj49f]?n4Yf*O: ifBlr򪿑r#@fDf(;fy);fx4t vs@tZjFNOT Ignoring new targets: 440.70 m.Bj;Jj;- ProNav: ac range: 440.700012 m, nav range: 219.037598 m, bearing: 349.572055 deg, approach rate: -0.191048 m/s, LOS rate: 0.112628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103966 deg. 2j-;:j54@5HeadingCmd: 4.818923 target range: 440.700012 and range: 440.70 m. j1j9j9j9i9h9hAhAhAfAfIfIrfIbfM@ɛ}B!O< 隅>I cɚiIk5=Ii"ik<))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554769*F?2F:FBF _0JF JpJnJJJA:J99JJJT;JT;JR:JS:GY=<zKKKh9KK3KC`iha[UPLIC><70,)'! BKErA:KEtAGBO5>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805580qRw,%?KA @I@yuqB}"I Mb@Mb@Mb@    ) Y \(\?&1?MbPy > P=  hA ) @I $@ y @IEIEB5٢U~ ]2=9]Q ]>aa eG٣e7Gye m> uNusing accuracyPremultiplier from configi}49ma?}4YmT: imB}<>}:}ӫ}#@mDmj;m;mҀ4B S@شEZjFNOT Ignoring new targets: 440.70 m.BjL;JjL; ProNav: ac range: 440.700012 m, nav range: 218.947815 m, bearing: 349.626107 deg, approach rate: -0.196400 m/s, LOS rate: 0.118288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137410 deg. 2j\;:jg9@HeadingCmd: 4.819507 target range: 440.700012 and range: 440.70 m. jjjjihhhhBfffrfbf @ɛ^< >I ɚ!i!I%~ 5=I%i-( i-+k<)))1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058789G- Re<G5 ?G5 /?G B O- >Xw,qeA6{@Y6͚@6м96t>y6H{?`x?`K@B?%`?`?@o?@?ɨ6{@6I;62CyBmBB"IIJIJ65٢V Vj=9Z;Q Z>X\ ^G٣\ybù b> fNusing accuracyPremultiplier from configdj49fHe?j4Yf]Y: ifBhj֫j#@fDnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.309662f:f+u;f4t v@x B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 440.70 m.Bj-V;Jj-V;= ProNav: ac range: 440.700012 m, nav range: 218.879288 m, bearing: 349.667485 deg, approach rate: -0.194446 m/s, LOS rate: 0.117446 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099359 deg. 2jE4;:jE3@MHeadingCmd: 4.818843 target range: 440.700012 and range: 440.70 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbfe: @ɛBA< 隍>I ZɚiI4=Ii% i%#i<)!)) yI}i*F?2F:FBFJFHU>IQ IUm#IIU߄BIQ&IQ.IQ6IUH<:IUx FBI)JI)RI)ZI)bI)jI--4GWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.562680GBO>N_w,~AzK]MK]]9KYK]4K]@YYʚ@cż9>yH ܿ? z?21?1?.?L?@?ɨ@;騵0CyUB"IMb@Mb@Mb@ )Yw/?I +?Mby?94= )@IyI%I%-I5٢u[ u%=9u1;Q u>yy }G٣yy1 >)  Nusing accuracyPremultiplier from config4Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822158=GIa9i?u4Y`: iB YyAe?:C#@D =o<4  @ZjFNOT Ignoring new targets: 440.70 m.Bj[;Jj[; ProNav: ac range: 440.700012 m, nav range: 218.780029 m, bearing: 349.730862 deg, approach rate: -0.179774 m/s, LOS rate: 0.114840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165406 deg. 2j;:jg=@HeadingCmd: 4.819995 target range: 440.700012 and range: 440.70 m. jjjjihhhhƃBfffrfbf!@ m$$?IiɛB%1; !%>I! %Sɚ!i!I-4=I-iUiUĺe<)Q)Y*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065495G Jc<JK KKK"KJ] rJ] mJY JY J] G:J] &9JY JY a} @a} @a} @a} @G B O >fw,)AZo@YZ @Zx|9ZѸ=yZH@X??@A@T?@~????ɨZo@Z~;Z1CybCBb"IInInJ5٢vĽ v[=9z2;Q z>|| ~G٣~7Gy~G >  Nusing accuracyPremultiplier from config49Nm?4Y3e: iBi#@DI;;4! %3@!ZjIMFNOT Ignoring new targets: 440.70 m.Bj].;Jj].;m ProNav: ac range: 440.700012 m, nav range: 218.705460 m, bearing: 349.778785 deg, approach rate: -0.237423 m/s, LOS rate: 0.152633 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119003 deg. 2jm;:jm6@uHeadingCmd: 4.819186 target range: 440.700012 and range: 440.70 m. jyjyjyjyiyhyhhhfffrfbfg"@ɛY]r< Y]>Ia e&֫ɚaiaIea3=ImitiDFU<))*F%?2F):F)BF-`0JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.318244 IG Qd<H>I IN#IIńBI&I.I6Iѯ<:I FGBO >lw,A6禎@Y6@6ڳ96=y6H W?Â?`d`J˿?CM{?z?8D??ɨ6禎@6;6/CyR3BR"IIZIZH5bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.569790٢j  jL=9j@;Q n>ll rG٣pyr  r> vNusing accuracyPremultiplier from configtz49vp?z4Yvj: ivB|~#@vDvI;vI;v4 B :@ մEZjFNOT Ignoring new targets: 440.70 m.Bj ;Jj ;  ProNav: ac range: 440.700012 m, nav range: 218.626007 m, bearing: 349.830128 deg, approach rate: -0.190727 m/s, LOS rate: 0.123294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129271 deg. 2j ;;:j=8@=HeadingCmd: 4.819365 target range: 440.700012 and range: 440.70 m. j9jAjAjAiAhAhAhIhIfIfIfQrfybf}@E#@ɛB?: >I ^tɚiIz3=IisiieJ<))*F-?2F):F)BF1JF1zK-~KK-9K)K-5K-}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823532G} 7+\<GA BY O} > I +sw,gAy~$B~"I-Mb@Mb@Mb@))) )))Y-"~?i|?5?I +y-?-q=-94-QA -@))I-@)y-Q@IEIEN5٢Uw U(=9UQ ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49mMv?u4Ymq: imB}?}:}!}#@mŝDm;m;m4B *@شEWill construct direction to contact in vehicle frame from tetrahedron phase data.I  ɚiI%3=IiinL<))*F?2F:FBF_0JFGtA G Will construct direction to contact in vehicle frame from tetrahedron phase data. Epzw,PA I F:@YFԤ@F|9F=yFH`?`?877?[u?t?["??ɨF:@FM;DyN BRg"IIZIZK5٢b bh=9b};Q b>dd fG٣f7Gyj j> vNusing accuracyPremultiplier from configtz49v&z?z4Yv0w: ivBx~t~#@v̝Dv;v3;vǫ4  @ %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 440.70 m.Bj=/;Jj=/;M ProNav: ac range: 440.700012 m, nav range: 218.435257 m, bearing: 349.947939 deg, approach rate: -0.246900 m/s, LOS rate: 0.153468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124569 deg. 2jM;:jM7@H]>IY I]#II]BIY&IY.IY6I]<:I]T FuHeadingCmd: 4.819283 target range: 440.700012 and range: 440.70 m. jyjyjyjyiyhyhhhfffrfbf@$@ɛ=B= AE|>IA E#ɚAiAIMU2=IUiUiU\5&<)Q)Y*F?2F:FBF 1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK K K 6K Ww,¶AB@YBQ@B{9B=yBH_??@ + 5?ar?@?;??ɨB@BP;B0CyJBJU"IEWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Response Not Received M*response not receivedM,DAT read: user:1136> UBDAT read: Tx time:20:07:35.4793 U$Ping request sent.U G٣y0 > 9I9 uNusing accuracyPremultiplier from configi}49m?}4Ym: imB^ ?:g#@m՝Dm$P;m;mF4 @ZjFNOT Ignoring new targets: 440.70 m.Bj*;Jj*;- ProNav: ac range: 440.700012 m, nav range: 218.317001 m, bearing: 350.021585 deg, approach rate: -0.239228 m/s, LOS rate: 0.149064 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196243 deg. 2j5;:j5A@=HeadingCmd: 4.820534 target range: 440.700012 and range: 440.70 m. jAjajijiiihqhqhhQBfffrfbf"%@ɛBvһ [>I ɚiI ;2=I ii<))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:07:35.4786 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250121J rJ oJ J J G:J K9J J G 9)<G B O >w,is¶A6z@Y6@696ӱ=y6H۽??ؾs4?@p??N?@=?ɨ6z@6f;4yjBj?"II I )M5٢̽ %n=9%!;Q %?)) -G٣)y-, 5? =Nusing accuracyPremultiplier from config1E495?E4Y5X: i5 BIMM#@5ܝD5H@;54;54Q ]@YZjFNOT Ignoring new targets: 440.70 m.Bj1;Jj1; ProNav: ac range: 440.700012 m, nav range: 218.237076 m, bearing: 350.071826 deg, approach rate: -0.247468 m/s, LOS rate: 0.155615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125965 deg. 2j;:j7@HeadingCmd: 4.819307 target range: 440.700012 and range: 440.70 m. jjjjihhhhfffrfbf`Ʉ&@ɛB 7>I aɚiI2=Iii>7;))*Fu?2Fq:FqBF}4JFyMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501506G]n<GaGaG!B9Om5> !I%ijHYbH]<He>Ia Ie"IIeoBIa&Ia.Ia6IeX<:Ie F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753507w,N9¶ABd@YBs@BMA9B=yBH ,?? оKA?`q?g?G}?\?ɨBd@BS;B1Cy~ڃB~-"II I B5٢ %J=9%d@:Q %>)1 5G٣57Gy5ٻ 5> ENusing accuracyPremultiplier from config9E49=X?M4Y=ފ: i= BIMM#@=D=P:=;:=$4Q ]@aZjFNOT Ignoring new targets: 440.70 m.Bj+.;Jj+.; ProNav: ac range: 440.700012 m, nav range: 218.140182 m, bearing: 350.133395 deg, approach rate: -0.239527 m/s, LOS rate: 0.152269 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159974 deg. 2j;:j<@HeadingCmd: 4.819901 target range: 440.700012 and range: 440.70 m. jjjjihhhhfffrfbfpT'@ɛE p>I ]0ɚYiYI]Q2=IeieieF;)a)i*FU?2FY:FYBFe^0JFazKeiJKe9KaKe7Ke eWill construct direction to contact in vehicle frame from tetrahedron phase data.aia}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008343GF<  I iG B O >nw,U1S¶A2vL@Y2\@2͕92=y2Hq??;ȼ?x?q?` ?@?ɨ2vL@2_;2/Cy:ɃB:"IDDMMb@Mb@Mb@III I)IYMV-?T㥛 ?y&1|yM-?M=M`M;A I)M@IIIyM@IeIe45٢uϣ uE=9}JDQ }>yy G٣y > Nusing accuracyPremultiplier from config49.?4Y): iBS.?:ி#@D;;e4 @ڴEZjFNOT Ignoring new targets: 440.70 m.Bj>;Jj>; ProNav: ac range: 440.700012 m, nav range: 218.036331 m, bearing: 350.202462 deg, approach rate: -0.250579 m/s, LOS rate: 0.166728 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182485 deg. 2j;:j?@HeadingCmd: 4.820294 target range: 440.700012 and range: 440.70 m. jj!j!j!i!h!h!h)h-Bf)f)f1rf1bf5*(@ɛ]Be+A ae=Ia eAKɚaiiIm|h2=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257233Ii3iL;))JuwJugJqJqJuW:Ju9JqJq*F?2F:FBFJFG CQ;G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509396 %$?I w,Bm¶A6=@Y6M@6\m96V=y6HQ??@aż@{`W?` y?d?`"l? ?ɨ6=@6u<;60CyRBR "IIZIZs75٢bs bV=9bsQ f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49n?r4Yn֘: inBtvz#@nDn4;n3;n4H)I) I-"II-zK LK 9K K 8K Χw,¶A^1@Y^@@^ϒ9^i=y^H?p?@V@1?@u?Y?Dm?_?ɨ^1@^;\yjBj"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013284]Mb@Mb@Mb@YYY Y)YY]v?p= ף? I G٣7Gy\ > Nusing accuracyPremultiplier from config49*?4Y: iB9?:#@D;;#4 @Zj FNOT Ignoring new targets: 440.70 m.Bj V;JjV; ProNav: ac range: 440.700012 m, nav range: 217.821091 m, bearing: 350.348280 deg, approach rate: -0.274739 m/s, LOS rate: 0.187592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222858 deg. 2j%<:j%E@-HeadingCmd: 4.820998 target range: 440.700012 and range: 440.70 m. j)j)j)j)i)h1h1h1h5Bf9f9f9rf9bfET)@ɛ B :l  L=I  S#ɚiII2=Ii i3):))!*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265286G g:G B O >ԧw,sՠ¶Ab$@YbX4@b9b+%=ybHd5??L?]|?@ s???`?ɨb$@b;`yrBv!I IIIUIU R5٢e e^=9e:Q m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configy49}?4Y}b: i}B ԯ #@} D}̗<}ԗ<}4 @ZjAMFNOT Ignoring new targets: 440.70 m.BjMBD;JjMBD;] ProNav: ac range: 440.700012 m, nav range: 217.726257 m, bearing: 350.413569 deg, approach rate: -0.249118 m/s, LOS rate: 0.171583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171139 deg. 2j];:j]9>@mHeadingCmd: 4.820096 target range: 440.700012 and range: 440.70 m. jijijijiiihihqhqhqfqfyfyrfybf}*@ɛo 隵84=I NݟɚiIF2=IiA iZn))%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518423*FE?2FA:FABFE0JFI yIyZH RH HI Iy"IIBI =&I.I6I]<:I FBIJIRIZIbIjI 4G7:GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770045w,¶AJErJEmJAJAJEG:JE&9JAJAJE_;aMJE_;aMJE:aMJE:aUy5B5!IIMIM\5٢}K }:=9}Q }> G٣y > Nusing accuracyPremultiplier from config49̠?4Y: iB#@DP::54B ;@ڴEZjFNOT Ignoring new targets: 440.70 m.BjhT;JjhT; ProNav: ac range: 440.700012 m, nav range: 217.613129 m, bearing: 350.491789 deg, approach rate: -0.268440 m/s, LOS rate: 0.185702 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209967 deg. 2j;:jC@HeadingCmd: 4.820773 target range: 440.700012 and range: 440.70 m. jjjjihhhhf f f rf bft+@ɛH# ᴰw,z¶A2 @Y25@292=y2H m?k?@- '-?#m?`2?ɾ?`v?ɨ2 @2,~;2.CyVB^!IMb@Mb@Mb@ )Y}?5^I??~jthyMB?L=DA =@)@Iy@II[5٢ V=9?;Q > G٣7GyR > Nusing accuracyPremultiplier from config49줤?4Y%: iBB?:f#@DtM;L;4  @ Zj1=FNOT Ignoring new targets: 440.70 m.Bj=W;Jj=W;M ProNav: ac range: 440.700012 m, nav range: 217.517731 m, bearing: 350.564059 deg, approach rate: -0.248592 m/s, LOS rate: 0.188407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192091 deg. 2jUM<:jU8A@UHeadingCmd: 4.820461 target range: 440.700012 and range: 440.70 m. jYjYjYjYiYhYhYhaheՂBfafafirfibfm8,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273392ɛB'' 隭;I tɚiIRP2=Iiʄ ieT))*FE?2FA:FIBFM`5JFIGm!GI BQ Om >E Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:20:07:38.4838 ] TRx dataTimestamp_ set to:1736366859.657805e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527955 a Ia w,L¶AJ@YJ@J܁9Jd=yJHa? 5?w`?/m?n;?7??ɨJ@J;J/CyVBV!IXZAHdId IfZ"IIfBIf =&Id.Id6If&<:If` FIrIrX[5٢z zZ=9~d:Q ~>Ya eG٣aye- e> uNusing accuracyPremultiplier from configiu49m?4YmϿ: imB#@m&Dm;m;m4 w@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 440.70 m.BjU;JjU;- ProNav: ac range: 440.700012 m, nav range: 217.422409 m, bearing: 350.637579 deg, approach rate: -0.241340 m/s, LOS rate: 0.186223 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195843 deg. 2j-;:j-A@]HeadingCmd: 4.820527 target range: 440.700012 and range: 440.70 m. jYjYjajaiahahahihifififirfqbf -@ɛ 隽I wɚiI^2=Ii iڻ))*F2F:FBF#5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777520JYJ]jJYJYJYJ]9JYJYJYJYJ]:J]:Gb(G B O >zK= ]JK= h9K9 aw,6öAKe:Ke)~Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 450.2 m (Round-trip 600.3 ms) speed -0.3 m/s  ,DAT read: user:1137> - X#Rx 1: Read range message, but no direction.|y~C|T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. I yލBލ!I5Mb@Mb@Mb@111 1)1Y5jt?I +?Mbp?y5@?594=5;5A 5K@)5Z@I5@1y5@IUIU]5٢e*< e=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configy49}?4Y}: i}$BA?:#@}2D};}';}}4 @ addTargetRange:: Added new target pos. range: 450.200012 m, deltaT: 14.871847 s, deltaX: 9.500000 m, approachRate: 0.638791 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 440.70 m.Bj[;Jj[;M ProNav: ac range: 440.700012 m, nav range: 217.302872 m, bearing: 350.732914 deg, approach rate: -0.240886 m/s, LOS rate: 0.192220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.261346 deg. 2jM<:jUK@HeadingCmd: 4.821670 target range: 440.700012 and range: 450.20 m. jjjjihhhhBfffrf@3#|@bf@R?ɛAMS IU@;IQ 3ɚiIl2=IiiGɻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:07:39.5793 $Ping request sent.Ȱw,%öA2ђ@Y2B@292[=y2H@f?ۚ?`̦j?sm?n?}i?`?ɨ2ђ@2=;0yBBB!IININ]5٢V' Vt=9VB:Q V?XX ZG٣Z7Gy^ ^? bNusing accuracyPremultiplier from config\f49^F?f4Y^N: i^'Bdfdj#@^:D^ ;^ ;^Y4l nm@lZjFNOT Ignoring new targets: 440.70 m.BjV;JjV;- ProNav: ac range: 440.700012 m, nav range: 217.224579 m, bearing: 350.796316 deg, approach rate: -0.231749 m/s, LOS rate: 0.187739 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165461 deg. 2j-<:j-i=@5HeadingCmd: 4.819996 target range: 440.700012 and range: 450.20 m. j1j1j1j9i9h9h9h9hAfAfIfIrfIbfM?ɛ-B-"! 15@I1 =~ɚ9i9I=x2=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252233IiBhi)) m&$?Ii*FU?2FQ:FQBFU_0JFYjHbHH>I IG"IIBI =&I.I6If<:I FG}4λGQ BY O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506763J J iJ J J J ڈ9J J J J J h:J i:iϰw,'3?öAR’@YRҙ@R9RM=yRH+?@?`(U}?tr? ?;?`e?ɨR’@Rf;R0Cy^Bb!IIjIj^S5٢r/= rH=9vQ v>xx ~G٣|ys >  Nusing accuracyPremultiplier from config 49 8?4Y ^: i ,B#@ DD z:  ; 4! %@!ZjAMFNOT Ignoring new targets: 440.70 m.BjMY;JjUY;e ProNav: ac range: 440.700012 m, nav range: 217.129593 m, bearing: 350.874045 deg, approach rate: -0.232747 m/s, LOS rate: 0.190546 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208476 deg. 2jm<:jmC@}HeadingCmd: 4.820747 target range: 440.700012 and range: 450.20 m. jyjyjyjyiyhyhhhfffrfbf~?ɛ 隽հw, YöA:g@Y:@:B9:=y:H@O?Q?ȿ?@^y? ?`?u?ɨ:g@:;8yFBF!IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007306-Mb@Mb@Mb@))) )))Y-K7A?y&1?{Gzt?y- B?-`<-ף;-A -=@))I-@)y-3@I=I=I5٢U= UC=9]`Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configi}49m?}4Ym: im1B}/B?}:}̸#@mNDm;m[;m4 @ZjFNOT Ignoring new targets: 440.70 m.Bj][;Jj][;m ProNav: ac range: 440.700012 m, nav range: 217.040497 m, bearing: 350.954122 deg, approach rate: -0.213597 m/s, LOS rate: 0.192053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215514 deg. 2jm<:jmD@uHeadingCmd: 4.820870 target range: 440.700012 and range: 450.20 m. jjjjihhhhBfffrfbf@9?ɛ愼 E=I w+ɚ!i!I%y2=I%i-Vi-2V)))Q*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260194G׹ Q IQ G B O >H) I)  I- T"II- BI) &I) .I) 6I- q<:I- F#ܰw,röA6@Y6@6lc96>y6H G٣7Gy9:  > Nusing accuracyPremultiplier from config 49 Ȼ?4Y e: i 5B%#@ XD s; ; 41 5@1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 440.70 m.BjeZ;JjeZ;u ProNav: ac range: 440.700012 m, nav range: 216.957031 m, bearing: 351.029399 deg, approach rate: -0.212157 m/s, LOS rate: 0.191416 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201103 deg. 2ju]<:juB@}HeadingCmd: 4.820619 target range: 440.700012 and range: 450.20 m. jyjjjihhhhfffrfbf@?ɛ2h =I ɚiIp2=IiiҏG))*Fu?2Fy:FyBF}o0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512687GmKGABIOe4>JqJkJ1JJD:J9J3JJHZ;JKZ;J:J:zK= NNK= h9K9 K= <K= ]UQLHFFDFEDDCA>81-)'&#!"#   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767380 9 I9 w,"ÌöA2:@Y2ʙ@2792>*>y2H?? xA?vo?@]?GY?ٻ?ɨ2:@2&5;2/CyjBj"IMb@Mb@Mb@ )Y~jt?~jt?I +?y;?<94<$A &@)I@yII=X5٢ڰ< <=9.;Q > G٣y$; > Nusing accuracyPremultiplier from config49? 4Y: i;B ;? : * #@bD;;@4B @ݴEZjaeFNOT Ignoring new targets: 440.70 m.BjmrS;JjmrS;} ProNav: ac range: 440.700012 m, nav range: 216.868958 m, bearing: 351.110282 deg, approach rate: -0.201215 m/s, LOS rate: 0.184862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217933 deg. 2j};:jD@HeadingCmd: 4.820912 target range: 440.700012 and range: 450.20 m. jjjjihhhhтBfffrfbf$@ɛB:c 0=I s*ɚiIh2=Ii Nif-))*F?2F:FBFw0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015217G *UG B O >o5w,˟öA2忒@Y2ϙ@2B92g>y2H@??۽ 8d?~j?.?]??ɨ2忒@2-;20CyBȃBB"IIJIJO5٢V!= Va=9Vok:Q V>XX ZG٣XyZ: ^> bNusing accuracyPremultiplier from config`f49b?f4Yb: ib?Bdfj#@bjDb:b:b$4l ]@YZjFNOT Ignoring new targets: 440.70 m.BjJ;JjJ; ProNav: ac range: 440.700012 m, nav range: 216.795532 m, bearing: 351.177935 deg, approach rate: -0.191658 m/s, LOS rate: 0.176652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178215 deg. 2j x;:j w,xöAR\˒@YRڙ@RYz9RG>yRH Rn?@#? `L?7d?z^?? ׶?ɨR\˒@RՉ;R-CybރBb2"IIzIz~N5٢5|= 5B=9e`P:Q e>ii mG٣iyu9V; > Nusing accuracyPremultiplier from config%49aŤ?%4YF; iEB)--#@uD"::o,4Q ]C@YZjFNOT Ignoring new targets: 440.70 m.BjY;JjY; ProNav: ac range: 440.700012 m, nav range: 216.704941 m, bearing: 351.261429 deg, approach rate: -0.205812 m/s, LOS rate: 0.189766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225771 deg. 2j<<:j F@HeadingCmd: 4.821049 target range: 440.700012 and range: 450.20 m. jIjIjQjQiYhahhhff frfzK-,MK-+9K)K-=K-  BKMqA:KMrAeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771148bfs@ Iɛ%B% )-2">I) -Zɚ)i)I-P@2=I5i5mi=`)9)y*F?2F:FBF0JFGU {# Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023408G1 B9 OU >w,msöA @6Ӓ@Y60@6x|96 >y6Hǯ?3?`Ok?Ktb?\?@Q3? ?ɨ6Ӓ@6V*;61Cy>B>G"IJ}pJ}uJyJyJ}A:J}9JyJya@a@a@a@Mb@Mb@Mb@ )Yd;O? G٣7Gy%F; %> MNusing accuracyPremultiplier from config)U49-yȤ?U4Y-`; i-LBU4?U:]ڹ]#@-D-$;-;-44a e3@aZjFNOT Ignoring new targets: 440.70 m.BjQ;JjQ; ProNav: ac range: 440.700012 m, nav range: 216.622147 m, bearing: 351.340340 deg, approach rate: -0.192313 m/s, LOS rate: 0.183362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212007 deg. 2j;:jD@ HeadingCmd: 4.820809 target range: 440.700012 and range: 450.20 m. j j j j i hhhhBfffrfbf i @ɛB~ 隍lE>I fɚiIK 2=IiCi))y*F?2F:FBF`5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275211 IiH >I  I "II 7BI  =&I .I 6I A<:I s FBIJIRIZI =bIjI4G jG G G B O= >w,>öA:@Y:@:Dy9:O >y:H:??* u?dX?A(?`7? ı?ɨ:@:;:-CyF BFi"IIRIRT5٢VN> Zd=9ZQ:Q Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj49f ˤ?j4Yf; ifQBhnn#@fDf;f;f\:4p ry@tB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 440.70 m.Bj=R;Jj%=R;- ProNav: ac range: 440.700012 m, nav range: 216.554337 m, bearing: 351.404787 deg, approach rate: -0.193336 m/s, LOS rate: 0.183805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168588 deg. 2j5I;:j5=@=HeadingCmd: 4.820051 target range: 440.700012 and range: 450.20 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM" @ɛy8 隅}>I ܝɚiI1=Iimiӻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:07:42.5863 TRx dataTimestamp_ set to:1736366863.941965checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530259*FU?2FQ:FQBFU_0JFQGuJ) CGyB 5 7Y1 y= BOU > Will construct direction to contact in vehicle frame from tetrahedron phase data. I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781624zK `LK h9K K >K RK% ?JK% ?w,&ĶAV@YV:@Vm|9V8 >yVH`?`?@z@(:ֹ?>^?b? tx?Q?ɨV@V;TybBbz"I @   @   @    @  IIE5٢e = e?=9e0Q e>ii mG٣iym3; u> }bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}#Τ?4Y}; i}WB+:s:o#@}D};}c>}h@4 @ߴEZjFNOT Ignoring new targets: 440.70 m.BjK;JjK; ProNav: ac range: 440.700012 m, nav range: 216.473526 m, bearing: 351.481637 deg, approach rate: -0.187250 m/s, LOS rate: 0.178140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205823 deg. 2j;:j/C@HeadingCmd: 4.820701 target range: 440.700012 and range: 450.20 m. jjjjih h h hfffrfbf@x@ɛEBErP9 IM>IQ U ɚQiQI]f1=Imiu@iuú)q)q*F ?2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 452.1 m (Round-trip 602.8 ms) speed -0.4 m/s ,DAT read: user:1138> BDAT read: Tx time:20:07:43.6793 $Ping request sent.x w,)*ĶAV@YV] @Vv 9VR >yVH`t?"?` 5N?Z?!???ɨV@Vy;V.Cyj)Bj"IIvIvJ5٢~= ~Q=9C9Q >  G٣ 7Gy ;  > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%49Ѥ?%4Y; i]B% :)-E:-3-#@D?';=R?D45Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=A=JDAT read: TxSync time:20:07:43.6786 I M@MܴE aIa addTargetRange:: Added new target pos. range: 452.100006 m, deltaT: 4.283916 s, deltaX: 1.899994 m, approachRate: 0.443518 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 440.70 m.BjaM;JjaM; ProNav: ac range: 440.700012 m, nav range: 216.399277 m, bearing: 351.552110 deg, approach rate: -0.189116 m/s, LOS rate: 0.179558 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186676 deg. 2ju;:jr@@HeadingCmd: 4.820367 target range: 440.700012 and range: 452.10 m. jjjjihhhhfffrfA|@bfP?ɛ}B};R; y}H>I ݐɚiIy1=Iii9))HyIy I}"II}eBIy&Iy.Iy6I}d<:I} F*Fe?2Fa:FiBFm`0JFiGҸWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bi O >,w,CĶA6@Y6W@6ߋ96 >y6H`Ϲ? ?ƉW*?hh nG٣lyn n> vbBottom track data is 1.2 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz49rӤ?z4Yrk%; ircBz9x~:~K~#@rDrxP;r?rH4 @ Zj)5FNOT Ignoring new targets: 440.70 m.Bj5P;Jj5P;U ProNav: ac range: 440.700012 m, nav range: 216.324615 m, bearing: 351.623546 deg, approach rate: -0.190606 m/s, LOS rate: 0.182436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189568 deg. 2jUh;:jU@@eHeadingCmd: 4.820417 target range: 440.700012 and range: 452.10 m. jajajajaiahahihihififqfqrfqbfu@5?ɛB$; >I YɚiIQ-1=I%i-JimZv)q) u'$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.zK KK9KK?KAROTcny X&A>:E[faUU\XK=)BKsA:KqA*F?2F:FBFJFGsA GG xG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.~w,]ĶA6B@Y6 @6>96| >y6HJ?`?ࠪ@s2Y?j?lב?@??ɨ6B@6k ;60CyBIBB"I        Mb@Mb@Mb@ )YV-?/$?~jt?y|?<<;A )Iy@I=I=_,5٢M8= MB=9UZQ U>QQ UGJK3 K.-KK"KJaJenJaJaJaJe99JaJa٣qy: > Nusing accuracyPremultiplier from config 49֤? 4Y,; ikB T: ? : N#@D;v;EP49 =@9ZjFNOT Ignoring new targets: 440.70 m.Bj2;Jj2; ProNav: ac range: 440.700012 m, nav range: 216.249771 m, bearing: 351.693415 deg, approach rate: -0.167294 m/s, LOS rate: 0.156228 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184866 deg. 2jo;:j0@@HeadingCmd: 4.820335 target range: 440.700012 and range: 452.10 m. jjjjihhhhBfffrfbfII MOɚIiiIm0=Iuiu,iu^)q)y*F%?2F!:F!BF%l0JF! YI]iWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm THy Iy  I} #II} BIy &Iy .Iy 6I} P<:I} ~ FGa Bi O >>w,ʌwĶAyXB"I a=I%I%)5٢5= 5L=9=Q =>99 EG٣E7GyE E> MNusing accuracyPremultiplier from configIU49M٤?]4YM2; iMqBYY]#@MDM;M;MV4a e@mߴEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 440.70 m.Bj%8;Jj%8; ProNav: ac range: 440.700012 m, nav range: 216.185196 m, bearing: 351.753987 deg, approach rate: -0.171581 m/s, LOS rate: 0.160991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156956 deg. 2j;:j2<@HeadingCmd: 4.819848 target range: 440.700012 and range: 452.10 m. jjjjihhhhfffrfbf?ɛB&N< G>I 6ɚiIu0=I%i%Aki-u))))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFB1JFGGBO> a Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772125zK WOK ]9K K @K sg_C1(  ~|xqnmkjg_[VTVRNNJRKm >JKi {$$w,_ĶAJ@YJX,@JRz9J\ >yJH?t?H<`N?Hc??'?o?ɨJ@J_;J-Cy~qB"IMb@Mb@Mb@ )Y ףp= ?kt? G٣y< > Nusing accuracyPremultiplier from config49,ݤ?4YI9; ixB?:#@DW;;H^4 @Zj FNOT Ignoring new targets: 440.70 m.Bj  ;Jj- ;= ProNav: ac range: 440.700012 m, nav range: 216.107300 m, bearing: 351.817089 deg, approach rate: -0.173654 m/s, LOS rate: 0.140724 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164560 deg. 2jE';:jEH=@EHeadingCmd: 4.819981 target range: 440.700012 and range: 452.10 m. jIjIjIjIiIhihihqhuBfqfyfyrfybf}?ɛ5B=FBR< AEc>Ii uWɚqiqI}0=IiICiOi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022296*F?2F:FBF0JFG G"GGJqJkJJJD:J9JJG B! OE > O*w,<ĶAFS6@YFE@F39F' >yFHi?@? ?fL?@MF?gv?\?ɨFS6@FÈ;DyRyBR"IIZIZ:5٢f3= jZ=9j[;Q j>ll rG٣pyru< r> vNusing accuracyPremultiplier from configtz49vyज?z4Yv?; ivB I   $@vžDvʅ;v;vd4 @Zj9EFNOT Ignoring new targets: 440.70 m.BjMG:;JjMG:;]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.273312m ProNav: ac range: 440.700012 m, nav range: 216.037338 m, bearing: 351.873368 deg, approach rate: -0.202386 m/s, LOS rate: 0.162858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144078 deg. 2jm;:ju[:@}HeadingCmd: 4.819623 target range: 440.700012 and range: 452.10 m. jyjyjyjyiyhyhyhhfffrfbf{A@ɛ3 < 隽>I ɚiIj/=Iii` :))HI I;#IIBI&I.I6I[<:I F*FE?2FA:FIBFMz4JFIGIBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.52520061w,ĶA6I@Y6Y@6½w96 >y6H )]?? nv?Ej?eS??ɨ6I@6~%;4yBBB"IDFAIJIJ:5٢R= G=9:Q >    G٣ 7Gy8; > Nusing accuracyPremultiplier from config-49䤜?-4YiE; iB1575$@ʞD Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028913e7w,%ĶAy^B^ #IUMb@Mb@Mb@QQQ Q)QYUGz?p= ף?Mb?yU?U=U G٣y > Nusing accuracyPremultiplier from config49褜?4YK; iB?:ˬ$@ўD;y;]s4 @@ZjFNOT Ignoring new targets: 440.70 m.Bj;Jj; ProNav: ac range: 440.700012 m, nav range: 215.875916 m, bearing: 351.994336 deg, approach rate: -0.189037 m/s, LOS rate: 0.132882 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153807 deg. 2jd;:j;@HeadingCmd: 4.819793 target range: 440.700012 and range: 452.10 m. jjj!j!i!h)h)h)h-Bf1f1f1rf1bf5* @ɛ}Bd< 隵]?I ـɚiI.=Ii`[iuJ;))EE*F=?2FA:FABFE^0JFA IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281827GBO>-% bFailed to parse device response: 66.93,10.161.32 ^=w,1ĶA6xk@Y6{@6PZd96 >y6H@h?>?V+ ?WZ` ??`?ɨ6xk@67m;61CyRBR#IIZIZ>5٢vP< vT=9zJ;Q z>xx ~G٣|y.< >  Nusing accuracyPremultiplier from config 49 줜?4Y -Q; i BB$@ ؞D  ; h; z4%B %@%EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 440.70 m.Bj]~-;Jj]~-;u ProNav: ac range: 440.700012 m, nav range: 215.798172 m, bearing: 352.048460 deg, approach rate: -0.217797 m/s, LOS rate: 0.151680 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137615 deg. 2ju1;:jun9@}HeadingCmd: 4.819510 target range: 440.700012 and range: 452.10 m. jyjjjihhhhfffrfbfj @ɛB< <?I د{ɚiI8.=Iidi;))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:07:46.6892 TRx dataTimestamp_ set to:1736366867.982524checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536654*Fu?2Fq:FyBF}_0JFyJMrJMlJIJIJMG:JM9JIJIGUԑG)B9OU> I i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787493zK- NK- 9K) K- BK- H7+"        tDw,ŶA2P~@Y2덚@2\92 >y2H?@}?@b* .?|c@~?`??ɨ2P~@2@;20CyNBN#I R=R=Mb@Mb@Mb@ )Y(\?{Gz?Q?y?ף=u<;A )@I@y@II3A5٢ < ,=9%v:Q M>YY ]G٣]7GyeO; e> Nusing accuracyPremultiplier from config49v?4YX; iB?:N$@D&;r;4B @ߴEZj5FNOT Ignoring new targets: 440.70 m.Bj=4;JjE4; ProNav: ac range: 440.700012 m, nav range: 215.693588 m, bearing: 352.115255 deg, approach rate: -0.212353 m/s, LOS rate: 0.135691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175669 deg. 2j?;:j>@HeadingCmd: 4.820175 target range: 440.700012 and range: 452.10 m. jjjjihhhhfffrfbf2@ɛIM< QU- ?IQWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:07:46.6892 LVL= 27808, 28401, 22338, 32755, AGC= 68, IDX= 454,-0.02,-0.056, 2.425, 0.675, 0.590, PHS=-0.558, 1.881, 0.082, RAW= 315.4, -12.8, CAL= 320.2, -17.3, ROT= 189.8, 17.3 Ygot valid direction response: 20:07:46.6892 LVL= 27808, 28401, 22338, 32755, AGC= 68, IDX= 454,-0.02,-0.056, 2.425, 0.675, 0.590, PHS=-0.558, 1.881, 0.082, RAW= 315.4, -12.8, CAL= 320.2, -17.3, ROT= 189.8, 17.3 %PDAT read: Bearing 189.8, 17.3 (Local) %~Local bearing/azimuth received: Bearing 189.8, 17.3 (Local) 5DAT read: Range 10 to 50 : 454.2 m (Round-trip 605.6 ms) speed -1.0 m/s =,DAT read: user:1139> EBDAT read: Tx time:20:07:47.7794 E$Ping request sent.EwfkLyп}J܄O̿)7I_d>i?=G?m:publishing transmit ping timeAuFpublishing direction and range info9Z# d?D?!pGHwy )Ii )Ii>wfkLyп}J܄O̿)Ii ]frɚiI-=Iiti <))*F5?2F1:F1BF1JF1G ü; I Gi By  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:07:47.7787 O >HKw,]S/ŶAFj@YF@FRV9F>yFH}?{? o?N G٣y; > ENusing accuracyPremultiplier from configAM49E?M4YEo]; iEBIU U$@EDE:E:HaIa Ie#IIeBIe =&Ia.Ia6Ie)<:Ie` FE4 {@kZ\?kDH k kŶA:kCBkCZk.@"}d@i0=Yq@(AsZ# d?D?!pGHwJk?Rk=G?*` nOt@S`VYoNqդ6 ?agҿ,Ps"k*kCkwf?k$zH 2kRkqr?k$A kEk+zCky0@ addTargetRange:: Added new target pos. range: 454.200012 m, deltaT: 4.040163 s, deltaX: 2.100006 m, approachRate: 0.519783 m/s, rangeRepo size: 4  Added new target pos. range: 454.200012 m, bearing: 338.728847 deg, lat: 36.907633 deg, lon: -122.124398 deg, deltaT: 23.195926 s, deltaX: 13.500000 m, approachRate: 0.581999 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 454.20 m.BjJj ProNav: ac range: 454.200012 m, nav range: 250.169678 m, bearing: 345.904203 deg, approach rate: 0.000000 m/s, LOS rate: 0.135691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137012 deg. 2j:jX9@HeadingCmd: 4.819500 target range: 454.200012 and range: 454.20 m. jjjjihhh h f f)f1rf5@3c|@bf5 ?ɛ}B}z< 隅~ ?I kkɚiI1-=Iii%<))*F?2F :F BF `0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.J uJ oJ J J [Q:J K9J J J o;a- J o;a- J :a- J :a- G5 1X<G B O- > vA /Rw,+IŶA $ Y vAy B ]($?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.yB#IzK\!MKKKCKMb@Mb@Mb@ )YDl?I +?I +?yO ?9=94< =@)@Iyp@II85٢^* =9Q > G٣y > Nusing accuracyPremultiplier from config49?4Yd; iB?: $@D;W;24 @ZjFNOT Ignoring new targets: 454.20 m.Bjc;Jjc;5 ProNav: ac range: 454.200012 m, nav range: 250.025360 m, bearing: 345.962062 deg, approach rate: -0.295073 m/s, LOS rate: 0.118367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148863 deg. 2j5w;:j5 ;@=HeadingCmd: 4.819707 target range: 454.200012 and range: 454.20 m. j9j9j9j9i9h9hAhAhEՃBfIfIfIrfIbfM_?ɛy}6< 隅M ?I  cɚiI^,=Ii8i!<))*F?2F:FBF_0JF!G-sA G-rA Will construct direction to contact in vehicle frame from tetrahedron phase data.G= t><G B) OE >8SXw,bŶAy B #IItI$5٢5H< 5=91Q 5?99 =G٣=7GyA E? MNusing accuracyPremultiplier from configIU49M4?U4YMh; iMBQQ]$@MDM:M:M14a e@aZjFNOT Ignoring new targets: 454.20 m.Bjy:Jjy:M ProNav: ac range: 454.200012 m, nav range: 249.946243 m, bearing: 345.993855 deg, approach rate: -0.276729 m/s, LOS rate: 0.111239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.070596 deg. 2jM;:jM/@UHeadingCmd: 4.818341 target range: 454.200012 and range: 454.20 m. jQjQjQjYiYhYhYhYhfffrfbfeO?ɛim< quP ?Iq u#]ɚyiyI6,=Ii(i $"<))EY YIa*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Hm>Ii Im#IImBIi&Ii.Ii6Im<:ImF FBIJIRIZI =bIjI4G <G B O >Wt^w,Z|ŶA69@Y6ԑ@6{k96H>y6H??w`F@"V?/L|? "]??ɨ69@61;6/CyBBB#IIJIJ05٢Vм VU=9V]Q Z>XX ZG٣Xy^} ^> bNusing accuracyPremultiplier from config`f49b?f4YbPn; ibBhj3j$@bDb:b:b4l r@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 454.20 m.Bj4:Jj4:Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 454.200012 m, nav range: 249.840256 m, bearing: 346.036648 deg, approach rate: -0.275102 m/s, LOS rate: 0.111121 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103620 deg. 2j;:j4@HeadingCmd: 4.818917 target range: 454.200012 and range: 454.20 m. jjjjihhhhfff!rf!bf%ଈ?ɛBr:<  ?I ]VɚiI+=Ii5i <)JqJpJJJD:J^9JJJHZ;JKZ;J|:J~:)*F?2F:FBF_5JF YIaGE Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755967G1 Ba zK "KK 9K K DO >K  #(`ew,ŶAV7@YVҢ@VS9V>yVH죾??l@l@Ͼ?e t?W?E?ɨV7@V ;TybBf #IuMb@Mb@Mb@qqq q)qYuDl?K?~jt?yqu^=uD G٣y; > Nusing accuracyPremultiplier from config49 ?4Yt; iB@?:J$@D;;4B @EZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 249.717606 m, bearing: 346.085477 deg, approach rate: -0.269475 m/s, LOS rate: 0.107335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121745 deg. 2jS;:j)7@HeadingCmd: 4.819233 target range: 454.200012 and range: 454.20 m. jjjjihhhh܃Bfffrfbf -h?ɛ15V< 15?I1 =Oɚ9i9I=5+=IEiE iM$r.<)I)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005122*F?2F:F!BF%35JF!"G-=G-=GE 2<G! B) OU > 9 I= i5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255826kw,]ŶA6˞@Y6f@65296]>y6H?@~?~:@?Qs`F?r? ?ɨ6˞@6 ;60CyBBB#IIJIJ-I5٢RC R^=9R;Q V>TT VG٣V7GyZ{; Z> bNusing accuracyPremultiplier from config\b49^?b4Y^y; i^Bdjn$@^ D^;^p;^4~B ~@޴EHM>IMC IM#IIMBIM =&II.II6IM^<:IM FZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 249.614853 m, bearing: 346.126343 deg, approach rate: -0.268909 m/s, LOS rate: 0.106993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097836 deg. 2jے;:j 3@ HeadingCmd: 4.818816 target range: 454.200012 and range: 454.20 m. j jjjihhhhf!f!f!rf!bf%ػ@ɛ< 隵?I oHɚiI*=Ii$ i@<))*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507898G(<GGJ9 J= mJ9 J9 J9 J= &9J9 J9 J9 J= JZ;J= :J= :G) B9 O >nrw,H4ŶAyB"II-I-J5٢E EA=9MQ M>II UG٣QyU U> eNusing accuracyPremultiplier from configYe49]?e4Y]; i]dzBiim$@]D]:]:]p4q u/@yZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; I ProNav: ac range: 454.200012 m, nav range: 249.496536 m, bearing: 346.173509 deg, approach rate: -0.296018 m/s, LOS rate: 0.118061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116751 deg. 2j ;:js6@HeadingCmd: 4.819147 target range: 454.200012 and range: 454.20 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762657h1h9hIhqfyfyfrfbf^@ɛy}ұ< 隅>IzKvLK 9KKEK'('''&!  AɚiII*=Iieie><)a)i*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012297G= 9)<G B) Oe >xw,)ŶA^q@Y^ @^9^>y^H`=?`c~?q`5? |?Ju?̻?ɨ^q@^r;^/CyjsBj"IMb@Mb@Mb@ )Ym?sh|??y?=A )@I@y@II@5٢d C=9 G٣y; > Nusing accuracyPremultiplier from config49l?4Y; iʳB*?:$@D;;Ⱥ4 @ZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%;5 ProNav: ac range: 454.200012 m, nav range: 249.380997 m, bearing: 346.220956 deg, approach rate: -0.278571 m/s, LOS rate: 0.114450 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117593 deg. 2j5;:j56@=HeadingCmd: 4.819161 target range: 454.200012 and range: 454.20 m. j9j9j9j9iAhAhAhIhMBfIfIfQrfQbfU@ @ɛB< 隍>I ;ɚiI)=Ii0aiL<)) )$?I*F?2F:FBF_0JFG GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263979H9I=C I=g#II=ڄBI= =&I9.I96I=><:I=o FG (<G B O >~w,ŶAB@YB@B̻9Bs>yBH ??`<@?O @y?C?t?ɨB@Bڇ;@yJ^BJ"IIRIRM5٢Zs Z\=9^:Q ^>\` bG٣b7GybЩ b> fNusing accuracyPremultiplier from configdn49f ?n4Yf ; ifͳBlnn$@f!DfA;f;fA4p v?@t B*** querying acoustic contact ***j j UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:20:07:50.7935 ]TRx dataTimestamp_ set to:1736366872.012510echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516696ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 249.279465 m, bearing: 346.262787 deg, approach rate: -0.261775 m/s, LOS rate: 0.107894 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100730 deg. 2j;:j(4@HeadingCmd: 4.818867 target range: 454.200012 and range: 454.20 m. jjjjihhhhfff rfbf`Qj @ɛY]i< Y]>IY e6ɚaiaIeȚ)=IiҍiC<))JrJsJ1JJG:J9J3JJ_;J_;J<:J=:*F}?2F:FBF`0JF IG>< Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771344G BI zK IMK K K FK   RK >JK #?O >Ѫw,*ƶAJ@YJ:@J9J!>yJH ?s?k㿿:?~Aw??ҿ?ɨJ@JB;HybXBb"IeMb@Mb@Mb@aaa a)aYen?㥛 ?ye?e=aa eb@)e@Ie@ayep@I}I}B5٢ >=9ˬ:Q > G٣yy > Nusing accuracyPremultiplier from config49B%?4Y; iϳB,?:ȩ$@)D;^;4 @EZjFNOT Ignoring new targets: 454.20 m.Bje;Jje; ProNav: ac range: 454.200012 m, nav range: 249.161392 m, bearing: 346.314464 deg, approach rate: -0.286302 m/s, LOS rate: 0.125365 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130290 deg. 2j;:jb8@HeadingCmd: 4.819383 target range: 454.200012 and range: 454.20 m. jjjjihhhhBf!f!f)rf)bfM]@ɛr< 隝>I /ɚiIE)=Iii<><))mWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 457.4 m (Round-trip 609.9 ms) speed -0.9 m/s ,DAT read: user:1140> BDAT read: Tx time:20:07:51.8794 $Ping request sent.Id IfA#IIfBIf =&Id.Id6If<:If1 FyޝCBޝ"IIIJ5٢3Ľ D=9Q > G٣y > Nusing accuracyPremultiplier from config49D*?4YЗ; iҳB$@1D:e: 4 @5 addTargetRange:: Added new target pos. range: 457.399994 m, deltaT: 4.032421 s, deltaX: 3.199982 m, approachRate: 0.793563 m/s, rangeRepo size: 4 Zj9=FNOT Ignoring new targets: 454.20 m.Bj= ;JjE ;U ProNav: ac range: 454.200012 m, nav range: 249.047394 m, bearing: 346.364489 deg, approach rate: -0.273994 m/s, LOS rate: 0.120291 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125332 deg. 2jU;:jU7@]HeadingCmd: 4.819296 target range: 454.200012 and range: 457.40 m. jYjYjYjaiahahahahifififirfm`f|@bfu?ɛe< 隝>I S+ɚiI(=Iii?<))*F5?2F1:F1BF51JF1"G==G= >]Will construct direction to contact in vehicle frame from tetrahedron phase data.GUY=<G) B9 OU >༒w,{KƶAr@Yr@rȻ9rО>yrH"T?`?F '`#F?x8y??3?ɨr@r);r0Cy,B"II-I-;5 AIEi٢=  MV=9M㘺Q M>QQ UG٣U7GyU U> eNusing accuracyPremultiplier from configam49e.?m4Ye; ieճBim!u$@e8De:e*:e4y }V@yZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 248.942917 m, bearing: 346.410748 deg, approach rate: -0.272388 m/s, LOS rate: 0.120655 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114021 deg. 2j;:j6@HeadingCmd: 4.819099 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbfk3?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBH< e>I p&ɚ!i!I%!(=I]ie_)i<))zK"LKKKGK  BKrA:KrA*F!2F!:F!BF%1JF!Ge =< Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Bi O >J pJ lJ 0J J A:J 9J ـ3J a @a @a @a @蘱w,9^eƶAR_y@YR@Rѻ9R<>yRH׽?`!?)ν?>P>z?@-?"?ɨR_y@Rx;PyZ%B^"IMMb@Mb@Mb@III I)IYM?)\(?MbyM ?MGa=MM$A M=@)IIIIyM@IeIe>5٢u  }F=9}3Q }>y G٣y > Nusing accuracyPremultiplier from config49H3?4YF; i ?:$@AD3;;4B @޴EZjFNOT Ignoring new targets: 454.20 m.BjX;JjX; ProNav: ac range: 454.200012 m, nav range: 248.832306 m, bearing: 346.464528 deg, approach rate: -0.268419 m/s, LOS rate: 0.130566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136599 deg. 2j6;:jI9@HeadingCmd: 4.819493 target range: 454.200012 and range: 457.40 m. jjjjihhhhXBfff rfbfį?ɛYeK< aeѢ>Ia emx"ɚaiIt}(=Ii]i<)) )I1*Fe?2Fa:FaBFe?5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I#IIBI&I.I6I<:IZ FG <Gy B O > w,5ƶA6l@Y6!|@6zʻ964@>y6H` q?,?~|`fh?@R8Oy?s??ɨ6l@6g;6.Cy>B>s"IIFIF:5٢Ný RY=9R:Q R>PT VG٣TyV0 V> ^Nusing accuracyPremultiplier from configXb49ZJ7?b4YZU; iZֳBdff$@ZHDZ5;ZE5;Z{4h j@hzB*** querying acoustic contact ***jxjxZj  FNOT Ignoring new targets: 454.20 m.Bj;Jj;=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 454.200012 m, nav range: 248.732330 m, bearing: 346.513466 deg, approach rate: -0.265320 m/s, LOS rate: 0.129926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122059 deg. 2jU;:j57@HeadingCmd: 4.819239 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbf ?ɛUBUX2< Q]">IY ]ɚYiYI]I(=Ieieie;)i)) C*FU?2FYe}G:FYBFu_0JF FYyBG GsA IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761055G- 2<G) Ba zK% LK% 9K! K% HK%  3IYfu~>RKU ?JKU ?O >w, ƶAyvBv\"IMb@Mb@Mb@ )YuV?I +?y&1yr(?94=`eA )@I@y@IIZ5٢1 8=9Q > G٣7Gy > Nusing accuracyPremultiplier from config49;?4Y; iճB(?: } $@RD;';C4B #@EZj9=FNOT Ignoring new targets: 454.20 m.BjE;JjE; ProNav: ac range: 454.200012 m, nav range: 248.612823 m, bearing: 346.575283 deg, approach rate: -0.269852 m/s, LOS rate: 0.139652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160725 deg. 2j;:j<@HeadingCmd: 4.819914 target range: 454.200012 and range: 457.40 m. jjjjihhhhBfffrfbfE?ɛJ; 隕z>I 9ɚiI(=Ii)iv;))]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015801*FE?2FA:FIBFIJFIJsJkJJJK:J9JJG o; I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2643647#w,ƶA6l@Y6p|@6s96_=y6Hs?E? *X?EEpn?VC??ɨ6l@6ʎ;4HF>ID IF"IIFoBID&ID.ID6IF<:IF- FBIIJIIRIIZIIbIM =jIMf45yZBZI"IIbIbQ5٢j j]=9j;Q n>lp rG٣pyr8 r> vNusing accuracyPremultiplier from configtz49v??z4YvA; ivԳB|$@vYDvy-;v-;v4  @ Zj1=FNOT Ignoring new targets: 454.20 m.BjE;JjE;U ProNav: ac range: 454.200012 m, nav range: 248.513855 m, bearing: 346.626639 deg, approach rate: -0.266956 m/s, LOS rate: 0.138582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129316 deg. 2jU7;:jU>8@HeadingCmd: 4.819366 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbf%@ɛAE@; AE[>IA MɚIiIIM'=IUiuiuU#;)q)y*F ?2F :F BF JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516013G1G B O= >` w,SƶA:b@Y:\r@:;JX9:D3=y:H #?dd fG٣hyjfH j> rNusing accuracyPremultiplier from configlr49nC?r4Yn"; inҳBtvv$@nbDn@:n:n4x z}@|Zj)5FNOT Ignoring new targets: 454.20 m.Bj=;Jj=;M ProNav: ac range: 454.200012 m, nav range: 248.406601 m, bearing: 346.682648 deg, approach rate: -0.265806 m/s, LOS rate: 0.138867 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143287 deg. 2jM;:jM>:@UHeadingCmd: 4.819610 target range: 454.200012 and range: 457.40 m. jQjQjQjQiYhYhYhYhYfafafarfabfm c@ɛ; 隥N>I >ɚiI'=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768139IiiF@;))zKNK9KKIK &@SYdox*F?2F:FBF`0JF"G=Gp=G ;e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020068G B O- >J J iJ J J J ڈ9J J 4w,ƶA:iU@Y:e@:4SR9:=y:Hq?@?(:??cJj?@C? ?ɨ:iU@:d;8yFۃBJ."I%Mb@Mb@Mb@!!! !)!Y%I +? rh?Ya eG٣e7Gym| m> Nusing accuracyPremultiplier from config 49G? 4Y4; ir4?5:5V=$@lD < <r4I Ms@IZjFNOT Ignoring new targets: 454.20 m.Bj&;Jj&; ProNav: ac range: 454.200012 m, nav range: 248.287552 m, bearing: 346.748754 deg, approach rate: -0.262331 m/s, LOS rate: 0.145737 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173599 deg. 2j ;:j>@HeadingCmd: 4.820138 target range: 454.200012 and range: 457.40 m. jjjjih h h1h5Bf1f1f1rf9bf=p @ Iɛ  z";  B0>I ɚiI'=Ii^i7;))!EiEiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272884*F?2F:F!BF%o0JF!H>I I"IIKBI&I.I6IV<:I FGe {/;G9 BI Oe >w,|ǶANeC@YNS@NP9Nv^=yNH5*?,?E]:  ?C`j?Xw? ?ɨNeC@Nb;N0CyZ܃BZ/"IIbIb#U5٢nnD; nR=9rg8Q r>pp rG٣tyv v> zNusing accuracyPremultiplier from configx~49z]K?~4Yz; izѳB$@ztDz ;z ;z4  j@ Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:20:07:54.8976 %TRx dataTimestamp_ set to:1736366876.044700-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525112EB*** querying acoustic contact ***jAjAZjYeFNOT Ignoring new targets: 454.20 m.Bje1;Jje1;u ProNav: ac range: 454.200012 m, nav range: 248.188248 m, bearing: 346.804440 deg, approach rate: -0.276639 m/s, LOS rate: 0.155192 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142313 deg. 2ju;:j}:@}HeadingCmd: 4.819592 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbfV @ɛ ; 1>I ɚiI'=IiiƼ,;))*F?2F:FBF`5JF IiGCQ;GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776047zK UNK s9K K JK rea^XLIBA@;<>>;8776512320.++--+))*)'&&$#$!"  HƱw,\ǶA2_8@Y2G@2";92`=y2Hһ?@l? Tq ݲ?`ȅ b~g??`?ɨ2_8@2F;2/CyÑBN"IPP%Mb@Mb@Mb@!!! !)!Y%rh|?{Gz?{Gzy%;?%ף<%#%A !)!I%Z@!y%=@IIW5٢ v  8=9 u;:Q > G٣yF > -Nusing accuracyPremultiplier from config!-49%!O?54Y%}; i%гB5;?5:5r5$@%D%;%;%4A E^@EEZjamFNOT Ignoring new targets: 454.20 m.Bju6;Jju6; ProNav: ac range: 454.200012 m, nav range: 248.071274 m, bearing: 346.874630 deg, approach rate: -0.266500 m/s, LOS rate: 0.159987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185854 deg. 2j;:jT@@HeadingCmd: 4.820353 target range: 454.200012 and range: 457.40 m. jjjjihhhhւBfffrfbf @ɛ|N: IMt>II MɚQiQIUG'=IUi]i]?:)Y)YEWill construct direction to contact in vehicle frame from tetrahedron phase data.U8DAT read: $Error in header e*Received a bad header4DAT read: :07.4 SPD:+7.2 Runknown deviceResponse_: :07.4 SPD:+7.2 |DAT read: Header stats CRC:Fail PSNR:05.0 CCERR:003 Mod:MFSK unknown deviceResponse_: Header stats CRC:Fail PSNR:05.0 CCERR:003 Mod:MFSK *F)2F):F)BF)JF1EDAT read: M,DAT read: user:1141> Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.065375Ga GetAJK m3 K S}-KK"KJpJjJJJA:J9JJ q Iq G $;Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280997q̱w,{24ǶAH>I I"II2BI =&I.I6IB<:Is FN%@YNH5@N3B9N=yNH=?@N?| s ? sFh???ɨN%@NU;N0Cy\\IjIj Y5٢vR: v_=9v^Q z>xx zG٣z7Gy~,̻ ~> Nusing accuracyPremultiplier from config 490R?4Y; iϳB$@D[;3\;4%B %i@-EZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 247.975479 m, bearing: 346.932733 deg, approach rate: -0.251626 m/s, LOS rate: 0.152679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149562 deg. 2j;:j$;@HeadingCmd: 4.819719 target range: 454.200012 and range: 457.40 m. jjjjihh!h!h!f!f)f)rf)bf-`z@ɛB: 隥`>I e ɚiI'=Iisci_3))*Fa2Fa:FaBFe05JFa=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.532402G :G ?G >Ga Bi O Y IY `ӱw,'NǶA6@Y6'@6@96H=y6H@AѺ? g?@+@޳?h?ӿ?g?ɨ6@6!;6-Cy@B"IIbIb^5٢j= jK=9nM8Q n>pp rG٣tyz z> ~Nusing accuracyPremultiplier from config|49~U?4Y~D; i~γB󷿑$@~D~:~:~!4 s@Zj9=FNOT Ignoring new targets: 454.20 m.BjE4<;JjE4<;U ProNav: ac range: 454.200012 m, nav range: 247.870605 m, bearing: 346.996897 deg, approach rate: -0.268822 m/s, LOS rate: 0.164542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167761 deg. 2jU;:jU=@]HeadingCmd: 4.820037 target range: 454.200012 and range: 457.40 m. jYjYjYjYiahahihqhqfqfqfyrfybf}@ɛ: 隵>I  ɚiI'=IiDipź))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786412*F?2F:FBF_0JFzK?%NK9KKKK  &.1433049<SzfWOJE>720.'%&#"!!GFGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035925wٱw,xgǶA6@ @Y6@6jJ96;>y6H`c?@ԓ?Q`G? 5@QMi?`Q ?@j?ɨ6@ @6;60CyLL R=PuMb@Mb@Mb@qqq q)qYuV-?Q?yu|??uuqy }G٣yy}r > Nusing accuracyPremultiplier from config4 I9Y? 4YD; iϳB-??-:-L-$@D{<z<,%49 =p@9ZjyFNOT Ignoring new targets: 454.20 m.BjM3;JjM3; ProNav: ac range: 454.200012 m, nav range: 247.752747 m, bearing: 347.071667 deg, approach rate: -0.246977 m/s, LOS rate: 0.156758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199603 deg. 2j);:jKB@HeadingCmd: 4.820592 target range: 454.200012 and range: 457.40 m. jjjjihhh h f f frfbfS@ɛ9=1K: 9=V>IA M^ ɚIiIIMx'=IUiUqiU9)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289282*F?2F:FBF^0JFH!I! I%"II%(BI% =&I!.I!6I%v<:I% FG 4ȺG B O >'kw,nǶA:V@Y: @:Ph9:M6>y:H?@?JSչ?@  m?@?`Ѿ?ɨ:V@:)^;:/CyFЃBF!"IININV5٢V< Vh=9Z空Q Z>\\ ^G٣\ybi b? fNusing accuracyPremultiplier from configdj49f[?j4Yf; ifгBhnn$@fDf:f(;f+4rB r@vEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540046 B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 454.20 m.Bj%B;Jj%B;= ProNav: ac range: 454.200012 m, nav range: 247.666290 m, bearing: 347.127052 deg, approach rate: -0.265738 m/s, LOS rate: 0.170295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141400 deg. 2jE;:jE9@MHeadingCmd: 4.819577 target range: 454.200012 and range: 457.40 m. jIjIjIjIiIhIhIhQhQfQfQfYrfYbf]8@ɛBX`~; 隍Z>I 4ɚiI+e'=Iioi.T))JqJmJJJD:J&9JJJHZ;aJKZ;aJ:aJ:a*F?2F:FBF`0JFGb(GsAGrAGBO"> IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791972zKU FNKQ KQ KU LKU   Cw,ǶA2@Y2T@24i\92%B>y2H@+ع??`2?n #k? =?ý?ɨ2@2o;20CyNՃBN'"I]Mb@Mb@Mb@YYY Y)YY]ףp= ?Q?Mb?y]>?]\=]<]A Y)]p@I]C@Yy]@IuIu N5٢< ==99Q > G٣7GyV@ > Nusing accuracyPremultiplier from config49_?4Ym; iӳB>?:T$@D;T`;24 @Zj9EFNOT Ignoring new targets: 454.20 m.BjM5;JjM5;] ProNav: ac range: 454.200012 m, nav range: 247.548172 m, bearing: 347.197436 deg, approach rate: -0.266808 m/s, LOS rate: 0.159060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186438 deg. 2j]R;:j]i@@eHeadingCmd: 4.820363 target range: 454.200012 and range: 457.40 m. jajajajihhh h ՂBf ffrfbf`g@ɛmBmH%; im(>Iq uɚqiqIuN'=I}i}Wi}s)y) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045287*F=?2FA:FABFAJFA IGY G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296502Cw,ǶAHyIy IyIyIy&Iy.Iy6I}<:I} F-@Y-B@-߄9-s>y-H֧?@0?%?@p?`&?`t?ɨ-@-ԋ;-/CyE߃BE3"IIMAI}I}S5٢N== I=9vߺQ > G٣y > Nusing accuracyPremultiplier from config49Wc?4Y5< iֳBl$@D ;:94 ;@ZjFNOT Ignoring new targets: 454.20 m.Bj;;Jj;; ProNav: ac range: 454.200012 m, nav range: 247.440643 m, bearing: 347.261903 deg, approach rate: -0.273629 m/s, LOS rate: 0.164121 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168672 deg. 2jE;:j=@HeadingCmd: 4.820053 target range: 454.200012 and range: 457.40 m. jjjjih!h!h!h!f)f)f)rf)bf5@ɛYe^; aer=>Ia eqɚaiiIm0'=IuiuTiu`ॻ)q)y*F ?2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548120G-PJJJJJJJJJJJJ5 GG1 M `wAa By Y `wAy BO > ,$?I Dw,RǶAybBbC"IInIn[W5٢v= vV=9vQ z>xx zG٣xy~ ~>  Nusing accuracyPremultiplier from config 49f? 4Y < iٳB$@D@:n:m@4 a@!ZjAEFNOT Ignoring new targets: 454.20 m.BjM8;JjM8;e ProNav: ac range: 454.200012 m, nav range: 247.338409 m, bearing: 347.323424 deg, approach rate: -0.268034 m/s, LOS rate: 0.161361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159825 deg. 2je{;:jm<@mHeadingCmd: 4.819898 target range: 454.200012 and range: 457.40 m. jijqjqjqiqhqhqhyhyfyffrfbf@ɛB*; 隵Z>I mɚiI '=IiMiI))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801093*FU?2FQ:FQBFU`5JFQzK=LK=]9K9K=MK=G0G ?G*?GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051934Qw,-ǶAJa@YJ@J-9Ji?>yJHЅ?`? 59t?Peq? G٣7Gy > Nusing accuracyPremultiplier from config49j?4Y< i޳B8?:$@˟D;;G4 @EZj!%FNOT Ignoring new targets: 454.20 m.Bj-2;Jj-2;E ProNav: ac range: 454.200012 m, nav range: 247.227081 m, bearing: 347.390966 deg, approach rate: -0.257325 m/s, LOS rate: 0.156186 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177902 deg. 2jE`;:jE1?@MHeadingCmd: 4.820214 target range: 454.200012 and range: 457.40 m. jIjIjQjQiQhQhQhYh]BfYfYfarfabfe@ yI}iɛ~B < 隝u>I SɚiI&=IihOi))*Fm?2Fi:FiBFmP5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304034HI I"II7BI&I.I6I3<:Ii FBIJIRIZIbI =jI4G!Gi B O >- PExceeded connect timeout, disconnecting.Fw, ȶA6@Y6@6V96d>y6H߆?`?:t?ogq?@FA??ɨ6@6;;60Cy>B>Z"I F=Fa=IJIJN5٢V= V_=9ZP]9Q Z>XX ZG٣XrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.556109y^E98 > %Nusing accuracyPremultiplier from config!-49%m?-4Y%< i%B155$@%ԟD%;%/;%N4A E,@A}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.Bj0;Jj0; ProNav: ac range: 454.200012 m, nav range: 247.129654 m, bearing: 347.450288 deg, approach rate: -0.253540 m/s, LOS rate: 0.154437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153222 deg. 2j;:j;@HeadingCmd: 4.819783 target range: 454.200012 and range: 457.40 m. jjjjihhhhff!f!rf!bf-g@J]sJ]jJYJYJ]K:J]9JYJYJ]e;J]e;J]:J]:ɛ}B &< >I "ɚiIԬ&=I i lEi ') )1*F2F:FBF4JF"G=G= qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808236G BhG B O] >~w,ȶA2@Y2@2h925>y2H ?t?`]`g}?)Mp?e?p?ɨ2@2A;2/CzK>gKK>9K<K>NK> L\yhPy>BFv"IMb@Mb@Mb@ )YʡE?Zd;O?~jt?y-2?j<=< K@)@Ip@yz@I-I-J5٢== =A=9E9Q E>AA MG٣IyM9 M> Nusing accuracyPremultiplier from config49q?4Y#< iB2?:R$@ݟDH;r;V4B @EZjiFNOT Ignoring new targets: 454.20 m.Bj%);Jj%); ProNav: ac range: 454.200012 m, nav range: 247.019150 m, bearing: 347.514350 deg, approach rate: -0.254969 m/s, LOS rate: 0.147879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167459 deg. 2j;:j=@HeadingCmd: 4.820032 target range: 454.200012 and range: 457.40 m. jjjjihhhhDBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060217ɛ|BK< 隭>I yɚiIm&=Ii^Ji竻))*FE?2FA:FIBFM4JFI QIQG} ԑGY Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312053H >I  I "II UBI &I .I 6I :<:I m F w,6ȶAb@Ybh@bdz9bH>ybH`?`? t@?@So?I}??ɨb@bi\;b-CyUBU"IIuIu-I5٢>= F=99Q > G٣7Gy\: > Nusing accuracyPremultiplier from config49u?4Y*< iBK$@D::]4 4@Zj%FNOT Ignoring new targets: 454.20 m.Bj%9-;Jj-9-;] ProNav: ac range: 454.200012 m, nav range: 246.916656 m, bearing: 347.573948 deg, approach rate: -0.260337 m/s, LOS rate: 0.151444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154054 deg. 2j];:j];@mHeadingCmd: 4.819798 target range: 454.200012 and range: 457.40 m. jijqjqjihhhhfffrfbf` @ɛ={B=w?< 9=S>I9 ECɚAiAIE/&=IMiMB iuͥ)y)y nManaging dock network, ignoring radio surface power off*F%?2F!:F!BF%_0JF! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566143JupJukJqJqJuA:Ju9JqJqJuT;JuT;Ju:Ju:G 3`Ga Bi O > A IA xw,̚PȶA6@Y6~@6V`96>y6H yٹ?`J?< Ծ?҃ 'l?? ?ɨ6@6;60CyR*BR"IIZIZMD5٢fQg= fW=9j@:Q j>hh jG٣hyn; n> vNusing accuracyPremultiplier from configpv49r[y?v4Yr1< irBxz/z$@rDrn:r7:rc4B |@EZj!-FNOT Ignoring new targets: 454.20 m.Bj-/;Jj-/;M ProNav: ac range: 454.200012 m, nav range: 246.818375 m, bearing: 347.631143 deg, approach rate: -0.264036 m/s, LOS rate: 0.153715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146838 deg. 2jM;:jM:@UHeadingCmd: 4.819672 target range: 454.200012 and range: 457.40 m. jQjQjYjYiYhYhahahafafifirfibfm`#!@ɛ5zB5 < 9=h>I9 =ڻɚ9i9I=%=IU]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816097iix))*F?2F:FBFJFG1 G1zK}OK}9KyK}OK}1 Q?Cy3j= }hTE8* {spkgb]\G!GB O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070516!w,jȶAyU>BU"I IMb@Mb@Mb@ )YuV?Q?{Gz?yr(?u=ף< =@)I@y@I-I-jC5٢=٫= =5=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49U ~?]4YUr9< iUBe9)?e:ee$@UDUn;U;Uk4i mF@qZjFNOT Ignoring new targets: 454.20 m.Bj{!;Jj{!; ProNav: ac range: 454.200012 m, nav range: 246.701508 m, bearing: 347.694834 deg, approach rate: -0.258925 m/s, LOS rate: 0.141178 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166351 deg. 2j;:j=@HeadingCmd: 4.820012 target range: 454.200012 and range: 457.40 m. jjjjihhhhqBfffrfbf {"@ɛyBn˟< 0>I [лɚ i I %=Ii[i_))E)E-sA*F?2F:FBFb0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.319994HqIq Iu"IIuyBIu =&Iq.Iq6Iu=<:Iuo FGԑGa Bq O >!w,WȶA2@Y2@2_A925>y2H@?? }@F@!?@1)9h??X?ɨ2@2`;2.Cy:LBB"IDFAAIJIJD5٢R= Ri=9R:Q V>TT VG٣V7GyZ7; Z>^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.572071 fNusing accuracyPremultiplier from config`f49b?j4Yb{?< ibBhj򰿑j$@bDb:b;bq4p r_@p B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj% ;- ProNav: ac range: 454.200012 m, nav range: 246.610138 m, bearing: 347.744655 deg, approach rate: -0.257534 m/s, LOS rate: 0.140478 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124706 deg. 2j5;:j57@=HeadingCmd: 4.819285 target range: 454.200012 and range: 457.40 m. j9j9j9j9iAhAhAhAhAfIfIfIrfIbfU@0#@ɛEwBMx < IM>II M"ŻɚqiqIuB%=I}i}i}W d)y)*FM?2FI:FQBFU0JFQ IiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825204GG B O >5'w,=ȶAN;@YN@NQ"9N)>yNHK?@?'?qy(Pd?۸? Ĺ?ɨN;@N]F;LyTT ^p=^=zKPKs9KKPKURPNJG>;:441./.-.*)'&(%!    UMb@Mb@Mb@QQQ Q)QYUx&1?i|?5?~jt?yUA ?Uq=U G٣y: > Nusing accuracyPremultiplier from config49?4Y{F< iB !?:w$@D;M;=y4 b@ZjQUFNOT Ignoring new targets: 454.20 m.Bj];Jj]; ProNav: ac range: 454.200012 m, nav range: 246.503326 m, bearing: 347.802467 deg, approach rate: -0.239988 m/s, LOS rate: 0.129950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148697 deg. 2j];:j;@HeadingCmd: 4.819704 target range: 454.200012 and range: 457.40 m. jjjjihhhhBfffrfbf8$@ɛ=vBE< A隥>I ĹɚiI$=Iii?))Will construct direction to contact in vehicle frame from tetrahedron phase data.HY IY  I] #II] BIY &IY .IY 6I] 5<:I] i Fu Will construct direction to contact in vehicle frame from tetrahedron phase data.} yfHjN? ?௸ (? c톿b??G?ɨf@f1;f/CynRBn"IIvIvJH5٢~g< S=99Q >    G٣ y 38  > -Nusing accuracyPremultiplier from config549?=4YL< i B9=v=$@D;7;4I M @IZj FNOT Ignoring new targets: 454.20 m.Bj7;Jj7;% ProNav: ac range: 454.200012 m, nav range: 246.407562 m, bearing: 347.854449 deg, approach rate: -0.245068 m/s, LOS rate: 0.133077 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131192 deg. 2j%;:j%8@-HeadingCmd: 4.819398 target range: 454.200012 and range: 457.40 m. j)j)j)j1i1h1h1h9h9f9f9f9rfAbfE$@ɛuuB}z< y}J>Iy }ɚyiyI^$=Ii_i3B))*F?2F:FBFM5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I i,D4w,ȶA: @Y:-@:l9:P&>y:H/n?-?`l4`mE?@L`??`ɹ?ɨ: @:Z ;:.CyF^BF"IIRIRE5٢Z{= ZO=9ZT?:Q ^>\` bG٣b7Gybޡ: b> jNusing accuracyPremultiplier from configdj49f?j4Yf0S< ifBlnfn$@fDf;f;f4p v;@vEZj FNOT Ignoring new targets: 454.20 m.Bj!;Jj!;- ProNav: ac range: 454.200012 m, nav range: 246.310028 m, bearing: 347.907477 deg, approach rate: -0.260156 m/s, LOS rate: 0.141501 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134335 deg. 2j58;:j58@=HeadingCmd: 4.819453 target range: 454.200012 and range: 457.40 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfMZ%@ɛ}tB}< y}>Iy ɚiIl1$=Iiqi<%))=Will construct direction to contact in vehicle frame from tetrahedron phase data.E Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1142>  BDAT read: Tx time:20:08:02.8295  $Ping request sent. yvHVi?ʍ?@E=??/܇_??S?ɨv @v';v0CyEoBE"I aIaMb@Mb@Mb@ )Yrh|?l?y&1?y?=`e<hA )@Iy@IID5٢ = *=99Q >!! %G٣!y%! -> 5Nusing accuracyPremultiplier from config1=495o?=4Y5Z< i5B=?=:EݬE$@5!D5/;5;5T4MB M3@MEZjquFNOT Ignoring new targets: 454.20 m.Bj}S;Jj}S; ProNav: ac range: 454.200012 m, nav range: 246.186523 m, bearing: 347.970007 deg, approach rate: -0.255998 m/s, LOS rate: 0.129675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162869 deg. 2j;:j =@HeadingCmd: 4.819952 target range: 454.200012 and range: 457.40 m. jjjjihhhhփBfffrfbfఓ&@ɛsB2b< >I! %"<ɚ!i!I%q#=I-i-i-I.)))1HI I5#IIBI&I.I6IX<:I FMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:20:08:02.8288 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250744*F?2F:FBFT0JFG GsAG G B O >UAw,JɶA6 @Y6@6;96>y6H ya?`a?L^8? |@x`?`Q?`ӹ?ɨ6 @6;6-Cy>uBB"IIJIJ +5RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499841٢Vo= Z{=9ZQ Z ?\\ ^G)) -C٣\}Gy^ >vAA YvAyA Nusing accuracyPremultiplier from configU@]CB}49?}4Y`< iBy}ᬿ}$@)DGw,ɶA t@Y  @ GU9  >y H ?@ۊ?`<͹?@mj?H?`?ɨ t@ ; 0Cy%rB%"IzKqALK9KKRKgx p oYF5' Mb@Mb@Mb@ )Y7A`?㥛 ?I +?y?=94<A K@)I@y@II15٢%ET %5=9%R4Q %>)) -G٣-7Gy5 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=f< i= BE?M:MM$@=0D=;=;=4Q U @QZjy}FNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 245.991547 m, bearing: 348.069011 deg, approach rate: -0.261150 m/s, LOS rate: 0.132631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130161 deg. 2j ;:j]8@HeadingCmd: 4.819380 target range: 454.200012 and range: 457.40 m. jjjjihhhhăBfffrfbf` (@ɛrBOS= >I uɚiI"=Iiih))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005082*F?2F:FBFJFJ-qJ-pJ)J)J-D:J-^9J)J) 9I9G4G B O >H I C I H#II BI &I .I 6I +<:I a FBIJIRIZI =bI =jI4] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255774©Mw,N9ɶA2b@Y2@2G92<`>y2H?@?`k 2?`,p@p?@? e?ɨ2b@2;2+CyR{BR"II^yI^'5٢f~H= fd=9f5Q f>hh jG٣hynU n> 5Nusing accuracyPremultiplier from config1=495?E4Y5ql< i5$BAEϬE$@57D5;5;5]4I M|@QZjquFNOT Ignoring new targets: 454.20 m.Bj};Jj}; ProNav: ac range: 454.200012 m, nav range: 245.900620 m, bearing: 348.115376 deg, approach rate: -0.246107 m/s, LOS rate: 0.125541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114335 deg. 2jP;:j6@HeadingCmd: 4.819104 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbf (@ɛqB = ?I s\ɚiIQf"=Ii @i ) ) *F?2F:FBF|0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508603GԑGBO> ) I) Tw,@3SɶA2@Y2@2CS92">y2H??vX?@,ieJp???ɨ2@2I;2/CyNzBN"IIVIVJH5٢^ bK=9b{"Q b>dd fG٣dyf9R; j> nNusing accuracyPremultiplier from confighr49jl?r4Yjjr< ij)Bprr$@j?Dja:j@:j94vB xzEZj%FNOT Ignoring new targets: 454.20 m.Bj%%;Jj-%; ProNav: ac range: 454.200012 m, nav range: 245.803909 m, bearing: 348.164642 deg, approach rate: -0.245569 m/s, LOS rate: 0.125146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123042 deg. 2jƫ;:jY7@HeadingCmd: 4.819256 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbf)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759968ɛiuh= qu?Iq uj@ɚqiyI}!=I}iij))EQEUqA*F?2F:FBF0JFzKl NK9KKSKBK:KqAG- ) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015147G B O >JU rJU nJQ JQ JU G:JU 99JQ JQ Zw,mɶA2@Y2#@2N92r>y2H`?`?T@?c?@?w?ɨ2@2V;2.Cy:B:"I lIniMb@Mb@Mb@ )YI +?X9v?{Gz?y9?}=#<;A b@)@Iy@IIL5٢!= <=9{n;Q > G٣7Gy; > Nusing accuracyPremultiplier from config49Ө?4Yx< i-B?:p%@GD;;ӱ4 @ZjFNOT Ignoring new targets: 454.20 m.BjE;JjE;- ProNav: ac range: 454.200012 m, nav range: 245.702026 m, bearing: 348.218682 deg, approach rate: -0.234409 m/s, LOS rate: 0.124384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137372 deg. 2j-;:j-e9@5HeadingCmd: 4.819506 target range: 454.200012 and range: 457.40 m. j9j9j9j9i9h9h9hAhEƃBfAfAfIrfIbfM` *@ɛpB = f ?I Z"ɚiIe!=Ii]iź))!H>I IT#IIʄBI =&I.I6ID<:Ir F*F?2F:FBF1JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263897GV'SG B O >aw,&ɶA6#@Y633@696w>y6HS-?@=? = h?`\ۉS?)?E?ɨ6#@6?;6/Cy>BBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515951F"IIRIRMD5٢Vݣ V\=9ZQ;Q Z>X\ ^G٣\y=; => MNusing accuracyPremultiplier from configAU49EǬ?U4YE~< iE1By}1}%@ENDE;El;E4 ,@ZjFNOT Ignoring new targets: 454.20 m.Bj' ;Jj' ;% ProNav: ac range: 454.200012 m, nav range: 245.611252 m, bearing: 348.266720 deg, approach rate: -0.229805 m/s, LOS rate: 0.121659 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119355 deg. 2j-;:j-6@EHeadingCmd: 4.819192 target range: 454.200012 and range: 457.40 m. jAjAjAjAiAhIhIhIhQfYfYfYrfabfeg+@ɛ} = ?I #ɚiI = .$?IIi^?i7))*F?2F:FBF`5JFGrA GtA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767709GM ܾG! B9 Om >Zgw,ƠɶAUb"@YU1@UJB9U%x>yUH #?? ai mG٣iym u> }Nusing accuracyPremultiplier from configq}49u0?4Yu^< iu5B??:̮%@uVDu{;u;uV4B P@E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 454.20 m.Bj=~ ;Jj=~ ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019874 ProNav: ac range: 454.200012 m, nav range: 245.508987 m, bearing: 348.321700 deg, approach rate: -0.226748 m/s, LOS rate: 0.121956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140195 deg. 2je;:j9@HeadingCmd: 4.819556 target range: 454.200012 and range: 457.40 m. jjjjihhhhՃBffAfIrfIbfU@E,@ɛ  f = "?I g˺ɚiIg =IEiEziE˹)A)I I*FQ2FQ:FQBFYJFYH I  I Z#II τBI  =&I .I 6I 8<:I j F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271959G zQGq B O >nw,5ɶAyUwB]"IIuIudK5٢ T=9Q > G٣7Gy > Nusing accuracyPremultiplier from config49?4Y< i9B%@^D!;;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj  ;Jj  ; ProNav: ac range: 454.200012 m, nav range: 245.420486 m, bearing: 348.369409 deg, approach rate: -0.236900 m/s, LOS rate: 0.127754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118365 deg. 2jZ;:j6@%HeadingCmd: 4.819175 target range: 454.200012 and range: 457.40 m. j!j)j)j)i)h)h)h1h1f1f1f9rf9bf=n,@ɛ}oB}M2= y}?Iy AɚiI7=Iiwi[))*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523836JpJ}JJJA:JS9JJJaJaJ:aJ:aG!G B) OE > I tw,bɶA6 @Y6+@696(>y6H S? ?a? 𼋿 b1?X?6?ɨ6 @6Iψ;6-CyR{BR"IIbIb0E5٢j}< jW=9j&:Q j>ll nG٣lyrs r> vNusing accuracyPremultiplier from configtz49vƸ?z4Yvɐ< iv=;:61/01/,+('&#$$"G1B9OU>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027834_+{w,ɶA Ii:@Y:P-@:\ 89:">y:H`? ?`yT?i? ;?ɨ:@:"+;:.CyFpBF"IMb@Mb@Mb@ )YI +?L7A`?y&1|?y9?+=`;A K@)I@y\@IIC5٢9 9=9Qe:Q > G٣yd9 >  Nusing accuracyPremultiplier from config49m?4Ye< i@B1?:%V%%@mD];\;f4) -#@)ZjQUFNOT Ignoring new targets: 454.20 m.Bj] ;Jj] ;m ProNav: ac range: 454.200012 m, nav range: 245.229126 m, bearing: 348.471378 deg, approach rate: -0.239693 m/s, LOS rate: 0.126006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139740 deg. 2jm;:jm9@uHeadingCmd: 4.819548 target range: 454.200012 and range: 457.40 m. jqjqjqjyiyhyhyhyh̃Bfffrfbf`.@ɛP= |?I ŹɚiID =IiiQ))EHI IT#IIʄBI&I.I6I<:I F*FU?2FQ:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280198G >Ga Bi O >@w,֫ʶAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531852v@Yv&@v^99v>yvH@}Ⱥ?`? ,?@\ ^+̯??ɨv@v;v-Cy nB "IIIjC5٢-l -X=95}9Q 5>11 5G٣=7Gy=i => MNusing accuracyPremultiplier from configAM49Eh?M4YE< iECBQUpU%@EtDE:E*:E4Y eP@aZjFNOT Ignoring new targets: 454.20 m.JKـ3 KKK"KJuJJJJ[Q:J:JJJo;Jo;J<J<Bj_;Jj_; ProNav: ac range: 454.200012 m, nav range: 245.139847 m, bearing: 348.518529 deg, approach rate: -0.235597 m/s, LOS rate: 0.124472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116692 deg. 2j٪;:jp6@HeadingCmd: 4.819145 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbfe]/@ɛ[= 隭>I 0=7ɚiIM=IiPiк)) I*FM?2FI:FIBFMo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786799GmzQGi Bq O >=w,ɑ"ʶAykB"IAzKQOK9KKVK ""#      Mb@Mb@Mb@ )YX9v?V-?{Gz?y?m=#< )@I@yQ@IIL5٢ 2=9Q > G٣y > Nusing accuracyPremultiplier from config49ť?4Y< iGBz?:7%@|D/;;4 s@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035862=B*** querying acoustic contact ***j9j9ZjQ]FNOT Ignoring new targets: 454.20 m.Bje;Jje;} ProNav: ac range: 454.200012 m, nav range: 245.035553 m, bearing: 348.575906 deg, approach rate: -0.225689 m/s, LOS rate: 0.124215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147390 deg. 2j~;:j:@HeadingCmd: 4.819681 target range: 454.200012 and range: 457.40 m. jjjjihhhh׃Bfffrfbf%0@ɛpBO= 隭>I 9ɚiI=Iiikº)) I *F}?2Fy:FyBF}m0JFyGsA GsAH >I  I N#II ńBI &I .I 6I l<:I FG p Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287829G B O >\gw,i<ʶA>@Y>b%@>AQ99>>y>Hi?@?@)@g?[(=@צ? b?ɨ>@>_V;>0CyJ]BJ"IIRIRMD5٢^ ^u=9^9;:Q b?`` bG٣`yfڹ f? jNusing accuracyPremultiplier from confighn49j.ɥ?n4Yj< ijJBlr<r%@jDjU;jfX;j4 `@ ZjaeFNOT Ignoring new targets: 454.20 m.Bjm ;Jju ; ProNav: ac range: 454.200012 m, nav range: 244.960114 m, bearing: 348.617542 deg, approach rate: -0.221817 m/s, LOS rate: 0.122462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100134 deg. 2j;:j4@HeadingCmd: 4.818856 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbfUЀ0@ɛ= 隥>I P:ɚiI>=IiiӺ))*Fe?2Fi:FiBFmm2JFiG=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.539813E`wA]A  Y`wAyBJzJjJ1JJ`:Jp:J3JJp;Jq;J& <J& <G˴GG? IGa Bq O >KOw,JEVʶA6@Y61'@6<:96>y6H`ͺ?@Ԏ?nH? `%`tGć?e?ɨ6@6;6-Cy>SB>"IIFIF75٢R=; RK=9V/:Q V>TT VG٣V7GyZG: Z> bNusing accuracyPremultiplier from config\b49^ͥ?f4Y^< i^MBdf3f%@^D^e:^:^4h n@lZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ;% ProNav: ac range: 454.200012 m, nav range: 244.869385 m, bearing: 348.667705 deg, approach rate: -0.231666 m/s, LOS rate: 0.128134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125732 deg. 2j%߯;:j%7@-HeadingCmd: 4.819303 target range: 454.200012 and range: 457.40 m. j)j)j)j)i)h)h1h1h1f9f9f9rf9bfE ;0@ɛam = im>Ii mt:ɚqiqIuO=I}i}i}s!)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799894*F2F:FBF4JFG=<G)BAO]>zKmjlMKiKiKmWKm   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052544 /$?I Fww,npʶA>1@Y>&@>G:9>>y>Hʺ?? PZi?Ht? ?ɨ>1@>N_;>0CyJPBJ"I Ra=Ra=%Mb@Mb@Mb@!!! !)!Y%bX9?:v?{Gzt?y%E?%T=%ף;%A %x@)!I%@!y%@I=I=B5٢lK 9=98Q > G٣y >  Nusing accuracyPremultiplier from config 49Rѥ?4Y< iPB?5:55%@D1;;49 E-@EEZjFNOT Ignoring new targets: 454.20 m.Bj3;Jj3; ProNav: ac range: 454.200012 m, nav range: 244.769943 m, bearing: 348.724534 deg, approach rate: -0.218987 m/s, LOS rate: 0.125197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145741 deg. 2j׫;:j:@HeadingCmd: 4.819653 target range: 454.200012 and range: 457.40 m. jjjjihhhhBfffrf bf U1@HIC I;#IIBI =&I.I6Iz<:I FBIêCJIêCRIZIbIjIé4ɛqBQn< >I #:ɚ)i)I-o=I5i5[i5>)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303922*F2F:FBFP5JFG ïG B O% >gw,ʶAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555827>@Y>j)@>z:9>p>y>H{ߺ?ҏ?H螺? s@YO@b??ɨ>@>;\\ ^G٣`ybYa: b> jNusing accuracyPremultiplier from confighn49jԥ?n4YjU< ijRBlrr%@jDj:j:j4t v@tZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;- ProNav: ac range: 454.200012 m, nav range: 244.688141 m, bearing: 348.771374 deg, approach rate: -0.228660 m/s, LOS rate: 0.130973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115752 deg. 2j-ų;:j5N6@5HeadingCmd: 4.819129 target range: 454.200012 and range: 457.40 m. j1j9j9j9i9h9h9hAhAfAfAfIrfQbfU1@JuJuwJu0JqJu\:Ju9Juـ3JqJum;Jun;Ju:Ju:ɛY]`t= Y]>IY eޡ:ɚaiiImz= IiIi1iK))EV>E >*F]?2FY:FYBF]]0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810888G}˴GGGY Ba O >w, ܣʶAh@Y&@<:9au>yHrĺ?@?>i  %?൙G`܂??ɨh@:;騉yޥ;Bޥ"I=Mb@Mb@Mb@999 9)9Y=l?{Gz?Mb`?y=?=#==;=A 9)=@I99y=@I]I]jC5٢e肽 m2=zKmWLKm9KiKmXKm  9}Q }> G٣7Gyk > Nusing accuracyPremultiplier from config49إ?4Yl< iSB?:%%@Df;u;"4 @MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.060724B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj` ;Jj` ; ProNav: ac range: 454.200012 m, nav range: 244.590271 m, bearing: 348.831055 deg, approach rate: -0.201176 m/s, LOS rate: 0.122728 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154303 deg. 2jt;:j;@ HeadingCmd: 4.819802 target range: 454.200012 and range: 457.40 m. j j j j i hhhhBfffrfbf-2@ɛrBɡ< O>I ;ɚiI=Ieieie&6κ)a)i I*F?2F:FBF_0JFH I C I "#II BI  =&I .I 6I A<:I q F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311923GU ïGQ BY O} >ɮw,ʶAB]@YB)@BKz:9B>yBH?࣎?jP?󱍿wIO~?@x?ɨB]@B[;B+CyJ'BJ"ILNAIVIVB5٢^ݽ ^g=9^/:Q ^>`` bG٣`yb>: f> jNusing accuracyPremultiplier from confighn49jۥ?n4Yj< ijUBprr%@jDj;j;jG 4x z@|ZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%; ProNav: ac range: 454.200012 m, nav range: 244.515549 m, bearing: 348.876700 deg, approach rate: -0.228915 m/s, LOS rate: 0.139877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112162 deg. 2j;:j5@HeadingCmd: 4.819067 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbf@U2@ɛ!]< Y]2>Ia e> ;ɚaiiIm=Ii~i퇌))*F?2F:FBFJFG G5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563834 qIqG˴Gy B O >ϫw,TʶAy~B~{"II I G5٢%o -D=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM49EGߥ?M4YEB< iEVBQQU%@EDE;E7;E4a e@iZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815946FNOT Ignoring new targets: 454.20 m.BjS;JjS; ProNav: ac range: 454.200012 m, nav range: 244.427185 m, bearing: 348.930839 deg, approach rate: -0.211576 m/s, LOS rate: 0.129676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137662 deg. 2j;:jp9@HeadingCmd: 4.819511 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbff2@ɛsB< >I ܺ1;ɚiIRn=I%i%i%L)!))E1*F?2F:FBFp0JFGGBO>zKH LK9KKYK +_fND~_F'o:M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068354J J sJ J J m:J 9J J a @a @a @a @ a Ia Aջw,ʶA2@Y2+@2g|:92U>y2H?? d F?tLO~??ɨ2@2kS;2-CyfBfo"IUMb@Mb@Mb@QQQ Q)QYUS?Mb?MbpyU/?U@=UUA Q)QIU@QyU@ImIm0E5٢}@ }E=97Q > G٣7GyB9 > Nusing accuracyPremultiplier from config493㥜?4Y< i?:ñ%@D9;;4 5@EZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;  ProNav: ac range: 454.200012 m, nav range: 244.333099 m, bearing: 348.986918 deg, approach rate: -0.209512 m/s, LOS rate: 0.124927 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143489 deg. H9I=C I="II=BI= =&I9.I96I=p<:I= F2jUx;:jUE:@]HeadingCmd: 4.819613 target range: 454.200012 and range: 457.40 m. jYjajajaiahahahihqBfffrfbf@`3@ɛtBE5< >I _D;ɚi I =Iipiz))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320829*F?2F:FBFo0JFG 'HG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571790>²w, ˶A6@Y6-@6\:96m>y6H?܎?!XL k?u`Kr?`?ɨ6@6;6/CyBBBb"IININB5٢Vc ZX=9ZQ Z>\\ ^G٣\y^O(: b> fNusing accuracyPremultiplier from config`549b楜?54Yb< ibWB9==%@bDbsrIy }{Q;ɚyiyI}=Ii.igPD))*F=?2F9:F9BF=2JF9"GE=GE=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826353G} ԹG B O% >Ȳw,nj%˶AR@Y,@ *:9LS>yH`t?? d@^e?! aTE~?౻?ɨR@|;騵.CyB@"IzK OK 9KKZKnR8!ynhc^\XTRNLJHFDA>?<;97768Pu|wRK?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075917Mb@Mb@Mb@ )Y?I +?AA EG٣AyM/ M> UNusing accuracyPremultiplier from configQ]49U_륜?]4YU%< iUVB]&?]:]e%@UʠDU;UIq v`;ɚiI =Iii~U_))*FM?2FQ:FQBFU0JFQHQ IQ  IU "IIU `BIQ &IQ .IQ 6IU v<:IU F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327850GU 'HG1 B9 Oe >ϲw,'j?˶A6@#@Y62@65G:96fu>y6H *? ƍ? _h? mH܂??ɨ6@#@6p;4y>B>7"IIJIJR5٢NR$ R=9V9Q V ?TT VG٣XyZ}; Z ? ^Nusing accuracyPremultiplier from config\b49^r?b4Y^< i^UBhjj%@^ѠD^W;^UX;^04l n@pZj FNOT Ignoring new targets: 454.20 m.Bj -;Jj-;% ProNav: ac range: 454.200012 m, nav range: 244.060516 m, bearing: 349.152900 deg, approach rate: -0.247085 m/s, LOS rate: 0.151883 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113067 deg. 2j%x;:j-5@-HeadingCmd: 4.819082 target range: 454.200012 and range: 457.40 m. j1j1j1j1i1h1h1h9h9f9fAfArfAbfE@4@ɛy}< L[>I `9h;ɚiI[=Ii i ^) ) *F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579836 IG >G B O- >ղw, Y˶A6U@Y6.@68996>y6Hu ??VX@(Kκ?ӵ=`sq??ɨ6U@6%ۇ;6-CyBуBB""IIJIJQ5٢R RL=9V`IQ V>TT VG٣Z7GyZ Z> bNusing accuracyPremultiplier from config\f49^D?f4Y^Y< i^TBhjj%@^٠D^/Y;^I;^74rB r&@vE}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831774ZjFNOT Ignoring new targets: 454.20 m.Bjl;Jjl; ProNav: ac range: 454.200012 m, nav range: 243.967773 m, bearing: 349.210156 deg, approach rate: -0.221436 m/s, LOS rate: 0.136757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147018 deg. 2j;:j:@HeadingCmd: 4.819674 target range: 454.200012 and range: 457.40 m. jjj j i h h hhff1f9rf9bf=4@ɛH< <8>I r;ɚiI+#=Ii&i7) )*F?2F:FBF\0JFG GtA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 #ܲw,r˶Ay ƃB "IMb@Mb@Mb@ )YGz?kt?~jty0? 0=DA b@)Q@I@yQ@IIU5٢KN 9=9Q > G٣y > Nusing accuracyPremultiplier from config49?4YK< iSB1?:T%@D4;2;G?4B @EHI I"II7BI&I.I6I7<:Ik FZjFNOT Ignoring new targets: 454.20 m.Bj?2;Jj?2;- ProNav: ac range: 454.200012 m, nav range: 243.860718 m, bearing: 349.277469 deg, approach rate: -0.247734 m/s, LOS rate: 0.155835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177214 deg. 2j-;:j-?@UHeadingCmd: 4.820202 target range: 454.200012 and range: 457.40 m. jQjQjQjQiYhYhYhYhe1Bfafafarfabfmc5@ɛl<  >I {;ɚiIi=IiUi'))EN>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.)Y ] C }GG  1 B1 Om > yY y A= Will construct direction to contact in vehicle frame from tetrahedron phase data.=  G٣y > Nusing accuracyPremultiplier from config49?4Y< iQB%@D:;:NF4 @ZjFNOT Ignoring new targets: 454.20 m.Bj 1;Jj 1; ProNav: ac range: 454.200012 m, nav range: 243.763702 m, bearing: 349.338702 deg, approach rate: -0.246123 m/s, LOS rate: 0.155408 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158960 deg. 2jO;:j%{<@%HeadingCmd: 4.819883 target range: 454.200012 and range: 457.40 m. j!j)j)j)i)h)h)h1h1f1f1f9rf9bf=5@ɛevBe6=^< im>Ii u;ɚqiqI}(=Iii))*F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1143> BDAT read: Tx time:20:08:13.7796 $Ping request sent.Kw,a˶A&@Y!@e91>yH@?೐?@E Jo?B?Z?`ۼ?ɨ&@R;y B !I ==Mb@Mb@Mb@ )YGz?A`"?:vyp=?Y=T K@)@IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:08:13.7789 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249559zKEOKE9KAKE\KEbSMD6( }zskhd_YUUQONJFD>@A>;6530y @IIJ5٢hA *=90 Q > G٣7Gyk^ > Nusing accuracyPremultiplier from config49?4Y= JJjJJJ;J9JJiPB=?:[%@D<S<N4 !I!9 Ea@A}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.Bj\5;Jj\5; ProNav: ac range: 454.200012 m, nav range: 243.638885 m, bearing: 349.416010 deg, approach rate: -0.255866 m/s, LOS rate: 0.158557 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.207228 deg. 2j;:jbC@HeadingCmd: 4.820725 target range: 454.200012 and range: 457.40 m. jjjjihhh h Bff1f9rf9bf=sC6@ɛ 1< 隍=I ◄;ɚiI=Ii^iNA ))*F?2F:FBF^0JF"G=G=HI Is"IIBI =&I.I6If<:I FBIȫCJIȫCRIZI =bIjIȄW4} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499542G G B O >w,˶A6@Y6Z@6ʺ96>y6HG? ,?"\@?ۇTY?0m?@?ɨ6@6W;6*CyBBB!IIRIRgG5٢Z. ^{=9^GQ ^ ?`` bG٣`yb= f ? jNusing accuracyPremultiplier from configdn49f`?n4Yf = ifOBlnn%@fDf ;fT ;fFT4p vQ@tZjFNOT Ignoring new targets: 454.20 m.Bj:;Jj:; ProNav: ac range: 454.200012 m, nav range: 243.553802 m, bearing: 349.469135 deg, approach rate: -0.261224 m/s, LOS rate: 0.163163 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134618 deg. 2j;:j9@HeadingCmd: 4.819458 target range: 454.200012 and range: 457.40 m. jjjjihhh!h!f!f!f!rfbf`6@ɛ&< =I X;ɚiIv=Iii+IU))*F?2F:FBFo0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752243 yI}iGBG B O >w,~˶A2@Y2|@29$92h>y2Hy?@?+N`W?11 5G٣1y= => MNusing accuracyPremultiplier from configAM49E?M4YE= iENBQUﲿU%@E DE :E:E[4Y e@eEZjFNOT Ignoring new targets: 454.20 m.BjJB;JjJB; ProNav: ac range: 454.200012 m, nav range: 243.445663 m, bearing: 349.537551 deg, approach rate: -0.268369 m/s, LOS rate: 0.169863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180524 deg. 2j&;:j?@HeadingCmd: 4.820260 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbf 6@ɛuB\< =I ];ɚiIcQ=Ii fi û) ) *Fu?2Fq:FqBF}2JFyGd/XUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256452GBO>zK- OK- ]9K) K- ]K- /.-+*("   ,;7/+ I J J lJ J J 4.;J 9J J w,˶AyB!IHI IZ"IIBI =&I.I6IT<:I F%Mb@Mb@Mb@!!! !)!Y%~jt??Mb`y%D?%L=%%QA !)%@I!!y!IEIEjC5٢e>+ e8=9eQ e>ii mG٣m7Gyu u> }Nusing accuracyPremultiplier from configy49} ?4Y}= i}PBE?:%@}D};};}Vc4 @ZjFNOT Ignoring new targets: 454.20 m.BjRC;JjRC; ProNav: ac range: 454.200012 m, nav range: 243.329651 m, bearing: 349.613200 deg, approach rate: -0.261752 m/s, LOS rate: 0.170764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202241 deg. 2jc;:jB@HeadingCmd: 4.820639 target range: 454.200012 and range: 457.40 m. jjjjihhhhBfffrfbfk7@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507596ɛy}< ȓ=I n;ɚiI#=Iii ))*Fu?2Fy:FyBF}0JFyGrA GrAG] ҸG9 BA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759527O >w,̶A I>"֒@Y>@> 9><>y>H@ĸ? #? u{ ?Ir?@B??ɨ>"֒@>d;>.CyfBf!IIrIr^5٢vv= ze=9z~Q z>|| G٣y >  Nusing accuracyPremultiplier from config 49 O?4Y %= i QB]%@ D  ; ; i4%B -@-EZjQUFNOT Ignoring new targets: 454.20 m.Bj]C;Jj]C;m ProNav: ac range: 454.200012 m, nav range: 243.237457 m, bearing: 349.674103 deg, approach rate: -0.257996 m/s, LOS rate: 0.170496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157964 deg. 2jm;:jmW<@uHeadingCmd: 4.819866 target range: 454.200012 and range: 457.40 m. jqjqjyjyiyhyhyhhfffrfbf7@ɛO@< 隽=I 6[;ɚiI{=Iii_))*F?2F:FBFF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011642GNGBO> w,ɐ)̶Aے@Yw@u9/S>yH`?@?@|x`>?`΀r?~?@?ɨے@T;騝0CyޭBޭ!I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264297uMb@Mb@Mb@qqq q)qYuy&1?y&1?~jth?yu`E?u`e=uD;q q)qIqqyqIIV5٢ &< 1=99Q > G٣ye: > Nusing accuracyPremultiplier from config49^?4Y;/= iUBE?:m%@(DQ;;q4 @zKWMK9KK^K'"!!RK?JK? 1$?I Zj!%FNOT Ignoring new targets: 454.20 m.Bj-SB;Jj-SB;= ProNav: ac range: 454.200012 m, nav range: 243.115585 m, bearing: 349.753123 deg, approach rate: -0.261893 m/s, LOS rate: 0.169893 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212364 deg. 2j=1;:jED@MHeadingCmd: 4.820815 target range: 454.200012 and range: 457.40 m. jIjIjIjIiIhQhQhQhUBfYfYfrfbf@bC8@ɛEtBE/< IM =II M;ɚIiIIMq=IUiu.i})y)y*F-?2F1:F1BF55JF1HI IT"IIBI&I.I6I<:IX F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518780GU ;3G) BA O] >'w,KC̶A2Ғ@Y2@292>y2H? ?@֋љ?~@t?@? ?ɨ2Ғ@2M;2.Cy:B>"IIFIFZ5٢N= Nt=9RQ R?PP VG٣V7GyVj V? ZNusing accuracyPremultiplier from configX^49Z?b4YZ5= iZWB`bb%@Z0DZ` ;Z ;Z}w4d f@jEvB*** querying acoustic contact ***jtjtZjx~FNOT Ignoring new targets: 454.20 m.BjkF;JjkF; ProNav: ac range: 454.200012 m, nav range: 243.027756 m, bearing: 349.810525 deg, approach rate: -0.265331 m/s, LOS rate: 0.173473 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147455 deg. 2j;:j:@HeadingCmd: 4.819682 target range: 454.200012 and range: 457.40 m. jjjjihhhhfffrfbf8@ɛ5hy< 1=>I9 =5;ɚ9i9I==IEiE(iEX )A)I*F?2F:FBF_0JF"G=G=%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767511 IiJeJekJaJaJek:Je9JaJaJe&8w,%]̶A6͒@Y6^ݙ@6K96o>y6H?&? ?@|?i|nv?J??ɨ6͒@66;6/Cy>ȃBBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019628>"IININ[W5٢V= VI=9ZfQ Z>X\ ^G٣\y^) b> fNusing accuracyPremultiplier from config`f49bk?j4Yb>= ibZBhjj%@b;Db:b:b~4 @ZjFNOT Ignoring new targets: 454.20 m.BjZ7;JjZ7; ProNav: ac range: 454.200012 m, nav range: 242.921707 m, bearing: 349.880219 deg, approach rate: -0.243809 m/s, LOS rate: 0.160298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184358 deg. 2j;:j@@ HeadingCmd: 4.820326 target range: 454.200012 and range: 457.40 m. j j j jihhhhfffrf!bf%*9@ɛIM< QU)>IQ U;ɚQiQI]8=I]ie=ie)i)i*FM?2FI:FIBFIJFI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274433 IzK= LK9 K9 K= _K= BKI :KM rAG >uG B O >w,w̶AB>@YBЙ@B~-ϻ9B >yBHc?@=?@ge@?rjxy?`ד?`׺?ɨB>@BQq;@yJԃBN&"IHu>IuC Iuf"IIu BIu =&Iq.Iq6IuE<:Iuv FMb@Mb@Mb@ )YMb?S㥫? rh?yC?/]=C<A b@)@Iy\@IIZ5٢S[= ;=9fQ > G٣yd > Nusing accuracyPremultiplier from config49!?4YF= i`BC?:^%@ED)G;^V;=4 @ZjamFNOT Ignoring new targets: 454.20 m.Bju)K;Jju)K; ProNav: ac range: 454.200012 m, nav range: 242.810989 m, bearing: 349.954610 deg, approach rate: -0.264232 m/s, LOS rate: 0.177618 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198461 deg. 2j;:j!B@HeadingCmd: 4.820572 target range: 454.200012 and range: 457.40 m. jjjjihhhh0Bfffrfbfn9@ɛ]sB]l< aezB>Ia e>z;ɚaiaIe=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:08:16.8152 TRx dataTimestamp_ set to:1736366897.976734checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524638Iioi.%))*F?2F:FBFJFG JG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775480 I $w,̶ِAJJiJJJ;Jڈ9JJJE<JE<Jh:Ji:ӽ@Yo͙@5߻90T>yH%? ? i?w`{??@`?ɨӽ@ڇ;騉y5B=?"I)A AAIIT5٢<= !=9Q > G٣7GyX > Nusing accuracyPremultiplier from config49-'?4YP= ihBn%@RD ::4 B @ EZj)=FNOT Ignoring new targets: 454.20 m.Bj=F;Jj=F;U ProNav: ac range: 454.200012 m, nav range: 242.683640 m, bearing: 350.040749 deg, approach rate: -0.256719 m/s, LOS rate: 0.173734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233737 deg. 2jUv;:jU,G@]HeadingCmd: 4.821188 target range: 454.200012 and range: 457.40 m. jYjYjYjaiahahihihififqfqrfqbfu 9@ɛrB$d< !-m>I) 5!;ɚ1iAIEu=I}ii())Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 473.5 m (Round-trip 631.4 ms) speed -0.8 m/s ,DAT read: user:1144> -X#Rx 1: Read range message, but no direction.ءyإCءT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG EG B O=>%+w,̶AWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:20:08:17.9296 $Ping request sent.BKK9KK`KRK ?JK!?Mb@Mb@Mb@ )Y-?&1?Zd;O?y?5?P=j<A x@)Q@I@yG@II&Q5٢-= -F=9eQ m>q G٣y > Nusing accuracyPremultiplier from config49?+?4YX= ioB5?:t%@[D;Q;4 Y@U addTargetRange:: Added new target pos. range: 473.500000 m, deltaT: 25.963616 s, deltaX: 16.100006 m, approachRate: 0.620099 m/s, rangeRepo size: 4 ZjQ]FNOT Ignoring new targets: 454.20 m.Bj]B1;Jj]B1; ProNav: ac range: 454.200012 m, nav range: 242.584793 m, bearing: 350.107965 deg, approach rate: -0.227802 m/s, LOS rate: 0.154971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176918 deg. 2j;:j ?@HeadingCmd: 4.820197 target range: 454.200012 and range: 473.50 m. jjjjihhhhyBfffrf}@bf`?HqIq Iu"IIu-BIq&Iq.Iq6Iu<:IuA FɛUqBUw< Q]x>IY ]U;ɚYiYI]=IiDis())Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252326*F?2F:FBF^0JF bGG j% vAA u Yu vAyu BG B O%> 2w,c̶AN@YN@N9N}o=yNH ??пU.?}0Z;Ѓ?? {?ɨN@Nވ;N.CyZB^w"IIfIf75٢n= nS=9rQ r>pt vG٣tyz# z> ~Nusing accuracyPremultiplier from config|49~.?4Y~_= i~vB䴿%@~dD~ ;~* ;~4 @MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503263 IiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj,0;Jj,0; ProNav: ac range: 454.200012 m, nav range: 242.498489 m, bearing: 350.167546 deg, approach rate: -0.223023 m/s, LOS rate: 0.154022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153993 deg. 2jh;:j;@HeadingCmd: 4.819797 target range: 454.200012 and range: 473.50 m. jjjj!i!hAhIhIhIfIfQfQrfQbfUC?Jk3Kkw3 KkS}.KcKc"KcJJoJ2JJ;JK9Jc3JJ?[<J?[<J:J:ɛ< 7<>I r;ɚiI=IiiMBb))*Fe?2Fa:FaBFmp0JFiGWill construct direction to contact in vehicle frame from tetrahedron phase data.i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755521Gy B O >K9w,'2̶A>S@Y>@>56&9>>y>H ??17 r$?ѳU@Ƅ? *??ɨ>S@>Ջ;>/CyF-BJ"I Ra=R=IVIV?15٢z}= zI=9~Q ~>| G٣7GyZ > Nusing accuracyPremultiplier from config 49 2?%4Y g= i ~B)--%@ mD @x; L; *45B 5q@=EZjYeFNOT Ignoring new targets: 454.20 m.Bje">;Jje">;u ProNav: ac range: 454.200012 m, nav range: 242.405685 m, bearing: 350.231935 deg, approach rate: -0.239492 m/s, LOS rate: 0.166227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168426 deg. 2j}(;:j}=@HeadingCmd: 4.820048 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbfi?ɛpBu= ̼>I  ;ɚiI-=Ii%ii-])))1uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011479 I*F?2F:FBF 1JFzK KKs9KKaKNpui_XOLGA<;942/,*(*'#!  BK:KsAG UH I  I "II `BI &I .I 6I <:I 3 FBI}ɪCJIyRIyZI} =bIyjI}Z4G B OE >% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262743@w,ͶA2y@Y2@2Ə(92d>y2H(!?@?`EF?oX`?,?@ɺ?ɨ2y@2ی;2.CyN@BN"IMb@Mb@Mb@ )Y~jt?Q?V-?y$?u=<hA K@)@Iy@I~IE)5٢= >=9XQ > G٣y: > Nusing accuracyPremultiplier from config496?4YUn= iB}%?:g%@vD,;;4 J@Zj)5FNOT Ignoring new targets: 454.20 m.Bj5$;Jj5$;E ProNav: ac range: 454.200012 m, nav range: 242.311081 m, bearing: 350.293782 deg, approach rate: -0.220056 m/s, LOS rate: 0.143916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160800 deg. 2jM;:jM<@UHeadingCmd: 4.819915 target range: 454.200012 and range: 473.50 m. jQjQjQjQiQhYhYhYh]Bfafafarfabfes?ɛ)->!= 15>I1 5;ɚ1i1I5c=I=i=iE U)A)A*F2F:FBF`5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511147 IiG- \J= J= rJ= 0J9 J= ;J= 9J= ـ3J9 J= fL<J= fL<J= :J= :G B O% >(Fw,ͶA:N@Y:뼙@:w9:h>y:Hy? ?`R?]3h?3?@?ɨ:N@:K5;8yF\BF"IININF5٢V> V_=9V,;Q V>XX ZG٣Xy^r; ^> bNusing accuracyPremultiplier from config`f49b::?f4Ybut= ibBhj>j%@b}Db:b:b4l n@rEZj  FNOT Ignoring new targets: 454.20 m.Bj $;Jj $;% ProNav: ac range: 454.200012 m, nav range: 242.230728 m, bearing: 350.346296 deg, approach rate: -0.219373 m/s, LOS rate: 0.143416 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132780 deg. 2j%;:j-8@-HeadingCmd: 4.819426 target range: 454.200012 and range: 473.50 m. j1j1j1j1i1h1h1h9h9f9fAfArfAbfEo?ɛqu'= y}>Iy }@;ɚyiyIp=Iiis@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763307Er =*FQ2FQ:FQBFUQ2JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. 2$?I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023921G UzK5 MK5 9K1 K5 bK5  RKE ?JKE >G B O > Lw,H4ͶA2q@Y2Ι@292 >y2H`?I?M t?r݀?H?@?ɨ2q@2;2-CyZqBZ"I`bAEMb@Mb@Mb@AAA A)AYE ףp= ?X9v?V-?yEQ?E}=AA Eb@)E$@IE@AyEG@I]I]A5٢u2= }8=9& ;Q > G٣7Gy; > Nusing accuracyPremultiplier from config49>?4Yj{= iBS?:%@D(4;2;4 3@ZjFNOT Ignoring new targets: 454.20 m.Bjk;Jjk; ProNav: ac range: 454.200012 m, nav range: 242.136353 m, bearing: 350.405898 deg, approach rate: -0.201233 m/s, LOS rate: 0.127136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154061 deg. 2j;:j;@HeadingCmd: 4.819798 target range: 454.200012 and range: 473.50 m.HI I#IIBI&I.I6I¯<:I F jj!jAjAiAhAhIhIhMBfIfQfQrfQbfU֘@ɛ}oB$L= 隥?I (:;ɚiI=Ii iQ%))E<}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268272*FQ2FQ:FQBFU@5JFQGu D5GQ Ba O} >7hSw,VJNͶA6˒@Y6Nۙ@696* >y6Hq??`yY^x?w}?&w?)?ɨ6˒@6<;4y>|BB"IIJIJ95٢Rs= RZ=9R ;Q V>TT VG٣TyZ]; Z> ^Nusing accuracyPremultiplier from config\b49^ B?b4Y^= i^B`f}f%@^D^ ;^ ;^f4l n}@rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519341l IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 242.059113 m, bearing: 350.454613 deg, approach rate: -0.209965 m/s, LOS rate: 0.132467 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121379 deg. 2jҵ;:j7@HeadingCmd: 4.819227 target range: 454.200012 and range: 473.50 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM`@ɛ9= 隥q?I P;ɚiIj=IiO i))EE*E"E*F?2F:FBF85JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771838GU &f*G1 BA Om >Zw,wjͶAb@Yb@b9ba >ybH+?`G?[+"?YVw?O^??ɨb@b ;b.CyjBj #IIrIrMD5٢z = z5=9~-k;Q ~> G٣y ?;  > Nusing accuracyPremultiplier from config49tF?%4Y= iB!%-%@DRp;;I4I Up@QZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 241.963852 m, bearing: 350.514365 deg, approach rate: -0.217353 m/s, LOS rate: 0.136387 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154512 deg. 2j3;:j;@HeadingCmd: 4.819806 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf @ IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032047ɛJJgJ1JJ:J9J3Ja-@a-@a-@a-@62= 15?I1 =(<ɚ9i9I=?=IEiEM iEsӻ)A)izKiKKKKcK*F?2F:F!BF%_0JF!HI IN#IIńBI&I.I6I+<:Ia FGe ׹ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283798G9 BI Om >%`w, ͶAf@Yf @fHu9f1 >yfH?x?@-Ϲ?@n? ?`?ɨf@f ;f/CyrBr#I v=vp=mMb@Mb@Mb@iii i)iYm/$?Q?:v?ym ?mu=m G٣7Gy; > 5Nusing accuracyPremultiplier from config=49dJ?=4Y = iBE ?E:EE%@Dʕ<v;4I M@IZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 241.880524 m, bearing: 350.565463 deg, approach rate: -0.191735 m/s, LOS rate: 0.117615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128533 deg. 2jo;:j"8@HeadingCmd: 4.819352 target range: 454.200012 and range: 473.50 m. jjjjihhhh'Bfff rf bf u @ɛK= 隝%?I <ɚiI=Ii i@) ) *F?2F:FBFJF I iEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.535871G G B O >'"gw,pͶA6/@Y6@6C96>y6H`??``^?lw^?@ ?@?ɨ6/@6S;6-CyVBV!#II^I^S<5٢fsB= fX=9f;Q j>hh jG٣hyn; n> vNusing accuracyPremultiplier from configpv49rM?v4Yrf= irBxzz%@rDr:r*:r=4 .@EZj)-FNOT Ignoring new targets: 454.20 m.Bj5r;Jj5r;] ProNav: ac range: 454.200012 m, nav range: 241.805389 m, bearing: 350.611327 deg, approach rate: -0.209680 m/s, LOS rate: 0.128035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112823 deg. 2je;:je5@}HeadingCmd: 4.819078 target range: 454.200012 and range: 473.50 m. jyjyjyjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788668ffrfbf-@ɛ\GW= 隝?I /<ɚiIR=Ii= i? ))*Fm?2Fi:FiBFml0JFiGԑ  I U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.041736G B O5 >JU JU wJU 0JQ JU |:JU 9JU ـ3JQ zK JK 9K K dK Kmw,ŷͶAy%B% #IHI Iz#IIBI&I.I6I)<:I_ FMb@Mb@Mb@ )YRQ? rh?/$?y?C=< A )$@I;@y3@I5I5:5٢Ea E5=9MQ M>II MG٣QyU U> ]Nusing accuracyPremultiplier from configYe49]nR?e4Y]\= i]Bm?m:mm%@]D];];]#4}B }I@EZjFNOT Ignoring new targets: 454.20 m.Bj$:Jj$: ProNav: ac range: 454.200012 m, nav range: 241.716370 m, bearing: 350.662180 deg, approach rate: -0.195169 m/s, LOS rate: 0.111531 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127799 deg. 2j;:j8@HeadingCmd: 4.819339 target range: 454.200012 and range: 473.50 m. jjjjihhhh:Bfffrfbf|@ɛ%pB%H= )-.?I) -ؼ<ɚ)i1I5=IEiE iMO!)I)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291666*F?2F:FBF~0JFG w*G B O >  I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543078*:tw,ͶA6B@Y6nR@67;96 >y6H%?!?mL@ ̻?h푿Of*??ɨ6B@6;6/CyBB@DDIIp;5٢-O 5]=95N9A EG٣E7GyE1< E> UNusing accuracyPremultiplier from configQ]49U1V?]4YU@= iUŴBY]ת]%@UDU:U":U4i mS@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 241.642242 m, bearing: 350.703890 deg, approach rate: -0.202084 m/s, LOS rate: 0.113746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100358 deg. 2j ;:j4@HeadingCmd: 4.818861 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbfm@ɛMX= ?I a<ɚiI =Ii^ iz`;))*F?2F:FBFA5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795244GpG?GGBO > azw,jͶA:]@Y:Hm@:;9: >y:H@?A?5)?1 v 1??ɨ:]@:;:.CyFBF##IIRIRB5٢Zg< ZS=9^7;Q ^>\` bG٣`yb < b> jNusing accuracyPremultiplier from configdn49f)Z?n4YfU= if˴Blnmn%@fDfM;f;f`4t v&@tZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 241.564667 m, bearing: 350.747259 deg, approach rate: -0.192906 m/s, LOS rate: 0.107879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105334 deg. 2j;:j4@HeadingCmd: 4.818947 target range: 454.200012 and range: 473.50 m. jjjjihhhh f f f1rf9bfE3@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049715JMJMjJM1JIJM[:JM9JM3JIɛIC= ?I (<ɚ!i!I%L=IEiE& iE ;)A)IzK}KK}9KyK}eK}BK:KrA*F?2F:FBF0JFHIC I#IIBI =&I.I6I<:I9 F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300161G .A;G B O >Gw,c_ζA>n@Y>~@>^<9>[m >y>Hz? 0?@?@ȗ 9W ??ɨ>n@>Rψ;>-CyNBR#I-Mb@Mb@Mb@))) )))Y-+?Mb?~jtx?y-v>-=-;- A -@)-;@I))y-@IEIEF5٢U5 UA=9]/;Q ]>Ya eG٣aye.; e> mNusing accuracyPremultiplier from configiu49mo^?}4YmŨ= imʹB}J?}:}:}%@mDmh;mG);m4 @) CUGe`wAyZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: WY`wAyA ProNav: ac range: 454.200012 m, nav range: 241.481522 m, bearing: 350.793656 deg, approach rate: -0.189394 m/s, LOS rate: 0.105722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114424 deg. 2j ;:j6@HeadingCmd: 4.819106 target range: 454.200012 and range: 473.50 m. jjjjihhh!h%jBf!f!fIrfIbfM @ɛqBWZ= 隥?I @|/<ɚiI=Ii i,:;)) 3$?I*F?2F:FBFG5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551997G ~q;G B O >#pw,2ζA6@Y6B@6f.<96, >y6H ?~?&}?@څ`H3?:?ɨ6@6m;6.CyBBB #I F=Fa=IJIJ0E5٢R{ VV=9V|;Q V>TX ZG٣Z7GyZ; Z> bNusing accuracyPremultiplier from config`f49bQb?f4Yb= ibϴBdj쩿j%@bšDbC:be:bu4l n@lZj  FNOT Ignoring new targets: 454.20 m.Bj;Jj;- ProNav: ac range: 454.200012 m, nav range: 241.406418 m, bearing: 350.835391 deg, approach rate: -0.213405 m/s, LOS rate: 0.118625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100430 deg. 2j-Ң;:j-4@5HeadingCmd: 4.818861 target range: 454.200012 and range: 473.50 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfM@ 2@ɛquod[=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803236  ?I 5<ɚiIJK=I%i%i%|<)!))*F?2F:FBF_0JFG5; IG = Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059176B O >J- J- J) J) J- %;J- 9J) J) zK JK 9K K fK RK% ?JK% >$w,( 9ζAy{B"IjH=<bH=<HAIEC IEz#IIEBIE =&IA.IA6IE<<:IEl FBIJICRIZIbIjI4 Mb@Mb@Mb@    ) Y K7A?Q?MbP?y  ? \= : 7 A @) ~@I @ y @I%I%@5٢5W 54=9=Q =>99 =G٣AyE E> MNusing accuracyPremultiplier from configI49M I i= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559129Aw,KRζAjV@Yj@jZF<9j>yjH:ܾ??@k?p? 0@?`J?ɨjV@jN;j/CyvgBv"II~I~0E5٢ ޽  _=9_ G٣yI< > -Nusing accuracyPremultiplier from config!549%@k?54Y%d= i!9=?=&@%ҡD%*;% ;%4A E@IeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 454.20 m.Bj};Jj}; ProNav: ac range: 454.200012 m, nav range: 241.237167 m, bearing: 350.926877 deg, approach rate: -0.221733 m/s, LOS rate: 0.119525 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097750 deg. 2j;:j3@HeadingCmd: 4.818815 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf@6{@ɛ9=G= 9=l>IA E C<ɚAiAIEe =IMiMiM{><)I)q*F ?2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814297GMl<G) B1 OU >w,lζA:V@Y:@:ے<9:/>y:H ??@ w9?@2[8??ɨ:V@:\;:.CyFRBF"IIRIRJH5٢Zս ZP=9Z(;Q ^>\` bG٣b7Gybx; b> fNusing accuracyPremultiplier from configdj49fo?n4Yf= ifѴBln#n&@f١Df;f;f4p r&@tZjFNOT Ignoring new targets: 454.20 m.Bjf:Jjf:- ProNav: ac range: 454.200012 m, nav range: 241.155869 m, bearing: 350.970686 deg, approach rate: -0.207118 m/s, LOS rate: 0.111644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106655 deg. 2j-=;:j55@=HeadingCmd: 4.818970 target range: 454.200012 and range: 473.50 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfMO @ɛ}sB}*0= y}>Iy ʛH<ɚiI =IiimE<))E 9IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067122*F5?2F1:F9BF=0JFAGesA GesAzKuJK 9KKgKHiIi ImN#IImńBIi&Ii.Ii6ImT<:Im FGV'<G?G>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315118zw,ζA6Q@Y6@6F<96>y6H`B?? X?]/}@??ɨ6Q@6O;6-CyB=BB"I Mb@Mb@Mb@    ) Y /$?Q?y&1|y  ? u= `  A @) h@I $@ y @I%I%G5٢5ɽ 5B=90;Q > G٣yt: > Nusing accuracyPremultiplier from config490t?4Y= iδB ?:O&@D;h;74B @EZj1UFNOT Ignoring new targets: 454.20 m.Bj];Jj];m ProNav: ac range: 454.200012 m, nav range: 241.065567 m, bearing: 351.022951 deg, approach rate: -0.205198 m/s, LOS rate: 0.118811 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132042 deg. 2jm;:jm8@HeadingCmd: 4.819413 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfffrfbf`}@ɛtB= {>I kN<ɚi I " =I5i5;i5%O<)1)9*F?2F:FBFJF )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570691JJjJJJ:J9JJJA%پw,|ζAB@YB@BǶ<9B=>yBH5?"? Z?HtؖP? ?ɨB@Bé;B.Cy^%B^"IIjIjM5٢r rP=9r;Q v>tt vG٣tyz 6; z> ~Nusing accuracyPremultiplier from config|49~Hx?4Y~= i~̴B  , &@~D~.:~:~4 @Zj9EFNOT Ignoring new targets: 454.20 m.BjE ;JjE ;] ProNav: ac range: 454.200012 m, nav range: 240.985779 m, bearing: 351.069120 deg, approach rate: -0.213981 m/s, LOS rate: 0.123858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113738 deg. 2j];:je6@eHeadingCmd: 4.819094 target range: 454.200012 and range: 473.50 m. jajijijiiihihihqhqfq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823495ffrfbf`' @ɛuBUJ= Q]:>IY ]YR<ɚYiYI] =IeieѸiei^<)a)i*F?2F:FBF2JF IG=<= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078243G B! O >zKU BJKU ]9KQ KU hKU w,lζA6@Y6@6<96I=>y6Ho?\?zj?Ù;;? |?ɨ6@6KI;60CyB BBk"IZHhRHj?AHlIl In#IInBIl&Il.Il6InR<:In} FMb@Mb@Mb@ )Yx&1?L7A`?V-?yA@?+=<~A @)~@I@y\@IIX5٢ <=9*;Q > G٣7GyFT >  Nusing accuracyPremultiplier from config49}?4Y= iдB#A?:ͮ&@D;V;$4! %@%EZjamFNOT Ignoring new targets: 454.20 m.BjmX>;JjmX>;} ProNav: ac range: 454.200012 m, nav range: 240.869049 m, bearing: 351.142782 deg, approach rate: -0.263579 m/s, LOS rate: 0.166412 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196280 deg. 2j}j;:jA@HeadingCmd: 4.820534 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfffrfbf% !@ɛuvB}$= 隭>I V<ɚiI| =I i FibW<)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327251)EEtA*FU?2FQ:FQBFU1JFQ"G]=G]=Gu P<  I Gq By O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5791307дw,I0ζAV@YV(@V<9V{>yVH z?ׄ?@;@ Pj?k1 ??ɨV@VLЈ;V+CJbJblJb0J`Jb:Jb9Jbـ3J`Jb#<Jb#<Jb(:Jb):y]B]N"IImIm[W5٢} O=9 ;Q > G٣y9 > Nusing accuracyPremultiplier from config49?4Y4= iԴBŮ&@D:.:o+4 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 454.20 m.BjM=;JjM=;} ProNav: ac range: 454.200012 m, nav range: 240.764587 m, bearing: 351.208921 deg, approach rate: -0.262088 m/s, LOS rate: 0.166009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173688 deg. 2j};:j}>@HeadingCmd: 4.820140 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbfZ!@ɛwB,<  {>I  MZ<ɚQiQIUZm =I]i]{ci]7[<)Y)Y*FA2FA:FABFE05JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831194G) G B O= >w,ζAy߃B4"II-I-aO5٢= ؽ =N=9EQ E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]49U$?e4YU= iU״Baae&@UDU:U:UF24y }[@y 5$?IiZjFNOT Ignoring new targets: 454.20 m.BjC;JjC; ProNav: ac range: 454.200012 m, nav range: 240.661087 m, bearing: 351.274722 deg, approach rate: -0.268820 m/s, LOS rate: 0.170980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172677 deg. 2j;:jr>@HeadingCmd: 4.820123 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbfV"@ɛ9+< 隽O>IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086765 \<ɚ!i!Ig =Iiz8i))*F2F:FBF%4JF!zKUJKU 9KQKUiKUBKa:KaH>IC I"IIUBI =&I.I6I@<:Iq FG= 8P< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336376G B! O >w, ϶A:#@Y:@:|<9:=y:HM?(?@@޿? `_??ɨ:#@:_V;:-CybɃBf"IMb@Mb@Mb@ )Y#~j?y&1? rhy%?`e=CA @)VAI@y(@IIX5٢ѽ ?=9T;Q > G٣7Gy   > }Nusing accuracyPremultiplier from config}49?4Y= iѴB&?:5&@ Dv<v<94 @ZjFNOT Ignoring new targets: 454.20 m.Bj!;Jj!; ProNav: ac range: 454.200012 m, nav range: 240.562851 m, bearing: 351.336577 deg, approach rate: -0.224402 m/s, LOS rate: 0.141353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160826 deg. 2j;:j<@HeadingCmd: 4.819916 target range: 454.200012 and range: 473.50 m. jjjjihhhhrBfffrfbf`z#@ɛ%xB%^< %6=%!>I! -^<ɚ)i)I-pv =I5i5Ni538<)1)9EER>EE> I*F ?2F :F BF _0JF G GWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587290JJmJJJK:J&9JJJ<J<J:J:G- P<G B O- > ȳw,*!϶AyB!II-I-Q5٢Eu EW=9MQ M>II UG٣QyU U>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Ai]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=9.839507 mNusing accuracyPremultiplier from configiu49mc?}4Ymd= im̴Byy}&@mDmI;m#;mo@4B m@EZjFNOT Ignoring new targets: 454.20 m.BjU+;Jj]+;m ProNav: ac range: 454.200012 m, nav range: 240.475006 m, bearing: 351.392083 deg, approach rate: -0.237342 m/s, LOS rate: 0.150022 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141764 deg. 2jm;:jm:@HeadingCmd: 4.819583 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf`D$@ɛ5yB5A< 9==IA E?`<ɚAiAIE =IiIiO/=<))*F=?2F9:F9BFAJFA yIy% Will construct direction to contact in vehicle frame from tetrahedron phase data.- 6γw,;϶AzK2]JK2]9K0K2jK2RK6?JK4jHB<bHB4=HF>ID IF"IIFBID&ID.ID6IF)<:IFa F^h{@Y^@^b<9^g>y^H??澿@-@?`?Ʀ V?`?ɨ^h{@^;^.CyfBj!IUMb@Mb@Mb@QQQ Q)QYU/$?A`"? rhyU&1?UY=QUQA U@)U@IU@QyUG@ImIm[W5٢}Y }G=9;Q > G٣yM > Nusing accuracyPremultiplier from config49 ?4Y= iŴB1?:&@D;M;G4 @EZjQ]FNOT Ignoring new targets: 454.20 m.Bjm1;Jjm1; ProNav: ac range: 454.200012 m, nav range: 240.378845 m, bearing: 351.455696 deg, approach rate: -0.235121 m/s, LOS rate: 0.155602 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166102 deg. 2j;:j=@HeadingCmd: 4.820008 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfffrfbf%@ɛQU"< Y]P=IY ]`a<ɚYiYI] =Ieie0ie <)i)mWill construct direction to contact in vehicle frame from tetrahedron phase data.u Will construct direction to contact in vehicle frame from tetrahedron phase data. y%H?Ɍ?@m޾Wj? 㟿?λ?ɨ%r@%؇;!y5B5!IIeIer^5٢w F=9_;Q > G٣7Gy_& > Nusing accuracyPremultiplier from config49?4Y!= iB&@'D::N4 @B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj-1;Jj-1;E ProNav: ac range: 454.200012 m, nav range: 240.282303 m, bearing: 351.520037 deg, approach rate: -0.232942 m/s, LOS rate: 0.155307 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168286 deg. 2jE+;:jE=@MHeadingCmd: 4.820046 target range: 454.200012 and range: 473.50 m. jIjIjIjIiIhIhQhQhYfYfYfYrfYbfe %@ɛG< 隕m=I b<ɚiI] =Ii9it;))E5.<E9}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received *response not received,DAT read: user:1145> BDAT read: Tx time:20:08:28.8797 $Ping request sent.9ܳw,Fs϶A2b@Y2!r@2=92l>y2H`?@?@?5)5?`?ɨ2b@2Y;2/Cy:B>!IIHIH٢RT V>=9^L:Q b>zWill construct direction to contact in vehicle frame from tetrahedron phase data.~JDAT read: TxSync time:20:08:28.8790 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251533Ya eG٣iyX >  Nusing accuracyPremultiplier from configE49O?M4Y> iBQ]Z]&@3Dڀ<+<W4a e@iZjFNOT Ignoring new targets: 454.20 m.Bj*;Jj*;= ProNav: ac range: 454.200012 m, nav range: 240.167007 m, bearing: 351.597680 deg, approach rate: -0.221849 m/s, LOS rate: 0.149472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208228 deg. 2j=);:j=C@EHeadingCmd: 4.820743 target range: 454.200012 and range: 473.50 m. jAjAjIjIiIhIhIhQhQfQfQfQrfybf&@HIC IG"IIBI =&I.I6Im<:I FBIiJIiRIiZIibIijImU4zKa3JK 9KKkKBK:Kɛ=zB=D< 9==I9 EUb<ɚAiAIE& =IMiMfiM ;)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501967E d=*F5 ?2F1 :F1 BF1 JF1 aIaGU*;G1B9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754154Om ?+w,O϶A:<@Y:K@:=9:>y:H?`T? b@??e@?J??ɨ:<@:DƇ;:.CyBBB!I5Mb@Mb@Mb@111 1)1Y5V-?/$?{Gzy5 G٣yS  > -Nusing accuracyPremultiplier from config!=49%?E4Y%> i%BE@=?M:MM&@%?D%;%n;%}`4Y ] @aZjFNOT Ignoring new targets: 454.20 m.BjD;JjD;] ProNav: ac range: 454.200012 m, nav range: 240.049911 m, bearing: 351.683891 deg, approach rate: -0.233575 m/s, LOS rate: 0.172051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233942 deg. 2j]';:j]4G@eHeadingCmd: 4.821192 target range: 454.200012 and range: 473.50 m. jajajijiiihihhhBfffrfbfG'@ɛ)5y< 15yeH`?@Ґ? %չ?@??ɨe @eއ;ay}yB}!I Mb@Mb@Mb@    ) Y -?? t= D  A @) lAZH!RH%AAH)I) I-"II-̃BI)&I).I)6I-4<:I-i FI @ y @IMIME5٢UV% ]=9]ǺQ e>aa eG٣e7GymĻ m> Nusing accuracyPremultiplier from configq49u?4Yu> iuBn>?:G&@uLDuD;uD;u>j4 @EzKKK9KKlKZjaeFNOT Ignoring new targets: 454.20 m.Bjm>;Jjm>; ProNav: ac range: 454.200012 m, nav range: 239.927734 m, bearing: 351.778571 deg, approach rate: -0.214250 m/s, LOS rate: 0.166116 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.259370 deg. 2j;:jJ@HeadingCmd: 4.821636 target range: 454.200012 and range: 473.50 m. jjjjihhhh2Bfffrfbf5-)@ɛQU|a< Y]IY ]c<ɚYiYI]b =Ieii4*))MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510949PExceeded connect timeout, disconnecting.*FE?2FA:FABFE_0JFAGI GMqAG L: I GY Bi O >Lw,@϶A6@Y6c#@6)<96*>y6H`]??Ь z? 40 .hR?K?ɨ6@6K;6-CyBBB!IIJIJQc5٢R/= Vf=9VmQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49bi?f4Yb!> ibBdfzf&@bTDb:b:bop4l nG@lZj|FNOT Ignoring new targets: 454.20 m.BjmO;Jj mO; ProNav: ac range: 454.200012 m, nav range: 239.850891 m, bearing: 351.838761 deg, approach rate: -0.231444 m/s, LOS rate: 0.181346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155816 deg. 2j;:j<@-HeadingCmd: 4.819828 target range: 454.200012 and range: 473.50 m. j)j)j)j)i)h)h1h1h1f9f9f9rf9bfE)@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761945ɛu<  e% Will construct direction to contact in vehicle frame from tetrahedron phase data.% Ai! - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014185w,϶A2C@Y2)@29<92_>y2H`ߺ?'? ~?}埿>??ɨ2C@2;2,CyBBB!I J=JR=ININe5٢Vm< VJ=9V :Q Z>XX ZG٣Xy^; ^> fNusing accuracyPremultiplier from config`f49bJ?j4Ybi)> ibBhj`j&@b^Db:b:b~w4l r%@rE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 454.20 m.BjA;JjA;- ProNav: ac range: 454.200012 m, nav range: 239.763382 m, bearing: 351.907417 deg, approach rate: -0.215922 m/s, LOS rate: 0.169463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181227 deg. 2j-;:j-?@5HeadingCmd: 4.820272 target range: 454.200012 and range: 473.50 m. j1jjjihhhhfffrfbf@*@ 9I9ɛQ]Kz< Y]G zK KK h9K K mK BK :K B! OE >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517935w,жA nManaging dock network, ignoring radio surface power offBe@YB,@B=9B>yBH? ?I`b?A˦R59&? f?ɨBe@BZ;B.CyJBJ!IMb@Mb@Mb@ )Y?Q?Mb`?y@?\=; @)Iyp@IIc5٢%p< -4=9-:Q u>qq uG٣u7Gy}: }> Nusing accuracyPremultiplier from config49?4Ym2> iB5@?:&@iD;p;4 @EZjFNOT Ignoring new targets: 454.20 m.BjE;JjE; ProNav: ac range: 454.200012 m, nav range: 239.663712 m, bearing: 351.986677 deg, approach rate: -0.216586 m/s, LOS rate: 0.172306 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213065 deg. 2j;:j8D@HeadingCmd: 4.820827 target range: 454.200012 and range: 473.50 m. jjjjihhhhEBfffrfbf@q+@ɛ)5< 15Sw,܂ жA6@Y6$@6=96'n>y6HL?ఔ?`{(`z?q˦9f@? ?ɨ6@6ē;6/Cy^B^!IIfIfK5٢r< rb=9r8Q r>tt vG٣tyv) z> ~Nusing accuracyPremultiplier from config|49~ ?4Y~V9> i~B̵&@~rD~:~z:~4 @Zj9EFNOT Ignoring new targets: 454.20 m.BjEvD;JjEvD;] ProNav: ac range: 454.200012 m, nav range: 239.587906 m, bearing: 352.047447 deg, approach rate: -0.214191 m/s, LOS rate: 0.171760 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157553 deg. 2j];:jeH<@eHeadingCmd: 4.819859 target range: 454.200012 and range: 473.50 m. jijijijiiihihihqhqfyfyfyrfybf}`(',@ɛ-yB-Tf< )-P =I) UFd<ɚQiQI]ʈ=I]ieߺieIӺ)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022411*F?2F:FBF`5JF IGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275346J J gJ J J %;J 9J J w,:жA 2@Y $@ )=9 U>y HX?ʔ?`[x@ z? 樂 N_@O=? ?ɨ 2@ a; .Cy%B%!I))jHm<bHm<HqIq IqIqIq&Iq.Iq6Iu<:Iu F5Mb@Mb@Mb@111 1)1Y5x?ˡE?Q?y5K7?5'=5u<1 5@)5AI5@1y5@IMIM\5٢]x= ]2=9e$:Q e>ai mG٣iymb8 m> uNusing accuracyPremultiplier from configq}49uj?}4YuA> iq7?:&@u|Du+u;uG~;u4 @ZjFNOT Ignoring new targets: 454.20 m.Bj6;;Jj6;; ProNav: ac range: 454.200012 m, nav range: 239.491806 m, bearing: 352.122598 deg, approach rate: -0.209213 m/s, LOS rate: 0.163672 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200729 deg. 2j;zK}KK]9KKnK '/22/1.,*&"$%:jtB@HeadingCmd: 4.820612 target range: 454.200012 and range: 473.50 m. jjjjihh hhaBfffrfbf-@ɛ< D=I 3:e<ɚiI=Iiߺi~))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:08:31.9270 TRx dataTimestamp_ set to:1736366913.110434checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528983G ˴G B I O > w,rTжA2@Y2$!@2O=922>y2H,?`J?p o`<^?覿Ra8??ɨ2@2.H;0y^B^!IIjIjDP5٢r$}< rg=9r68Q r>tt vG٣v7Gyz ~>  Nusing accuracyPremultiplier from config 49? 4YH> iBϴ&@D :n:4 %@!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778125ZjQUFNOT Ignoring new targets: 454.20 m.Bj<;Jj<; ProNav: ac range: 454.200012 m, nav range: 239.417709 m, bearing: 352.180907 deg, approach rate: -0.208823 m/s, LOS rate: 0.164380 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150167 deg. 2j;:j:;@HeadingCmd: 4.819730 target range: 454.200012 and range: 473.50 m. jjjjih h h h fffrfbf-@ɛexBeh< ae=Ia mzf<ɚiiiIm.=Iiߺi))Q*F2F:FBF4JFG GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header  *Received a bad headerG- 4Ⱥm checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045283G B! OM > w,LnжA>@Y>5'@>=9>s>y>H`Pʺ??`{@ ,?9` rP?ָ?ɨ>@>צ;>/CybBb!IInInV5٢v= vJ=9v2:Q z>xx zG٣xy~: ~> Nusing accuracyPremultiplier from config 49Ŧ? 4Y P> iB&@DL::4 %v@%E=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 454.20 m.BjM}<;JjU}<;m ProNav: ac range: 454.200012 m, nav range: 239.333557 m, bearing: 352.247225 deg, approach rate: -0.209031 m/s, LOS rate: 0.164789 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174210 deg. 2jm/;:jm>@uHeadingCmd: 4.820149 target range: 454.200012 and range: 473.50 m. jqjqjqjq Iiihhhhfffrfbf0.@ɛR]< ,=I _g<ɚiI=Iiߺio˓))*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283079JMJMlJM0JIJM:JM9JMـ3JIG]i"HI I("IIփBI&I.I6I <:IZ FGqByO>zKe MKe 9Ka Ke oKe %%"+Iakuvrld`^\VUQMIE@<94.+&   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534109R!w,*жA)T TubGyuBu"I a=a= YyXBMb@Mb@Mb@ )YCl?L7A`?Mb?y/?+=< A @)AIyAIIQ5٢= ,=9Q %>!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1E495ɦ?E4Y5X> i1E0?E:E쵿M&@5D5'8;55;5M4Q U@QZjy}FNOT Ignoring new targets: 454.20 m.Bj4;Jj4; ProNav: ac range: 454.200012 m, nav range: 239.241791 m, bearing: 352.322451 deg, approach rate: -0.192775 m/s, LOS rate: 0.158091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200953 deg. 2j;:j}B@HeadingCmd: 4.820616 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfffrfbf/@ɛwBc< =I zPi<ɚiI 0=Iiߺi\)) m7$?Iq*Fm?2Fi:FiBFiJFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786038G ïGa Bi O >(w,жA:l@Y: (@:u=9:D>y:Hк?? h~҄?`È͠L?X?ɨ:l@:;:0CyFBF"IIRIR~N5٢Z; Z{=9Z :Q ^ ?\\ bG٣b7Gybߢ9 b ? fNusing accuracyPremultiplier from configdj49f̦?j4Yff^> idln뵿n&@fDf ;fq ;f4p r@tZj  FNOT Ignoring new targets: 454.20 m.Bju5;Jju5;- ProNav: ac range: 454.200012 m, nav range: 239.179306 m, bearing: 352.373901 deg, approach rate: -0.192621 m/s, LOS rate: 0.158644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129575 deg. 2j-;:j-H8@5HeadingCmd: 4.819370 target range: 454.200012 and range: 473.50 m. j1j1j1j9i9h9h9hAhAfAfAfIrfIbfM0@ɛqu< y}p>Iy }j<ɚyiIyG=Iiߺi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039999*F5?2F1:F1BF5h0JF1 YIYGe'HG1BAO]>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289961WM.w,жAZHRH@AHI IA"IIBI&I.I6IP<:I} FBIJIRIZIbIjIb4]@Y];(@]]=9]>y]HGҺ? 8?"^?@b_?Ƶ?ɨ]@];]2CyuB} "IMb@Mb@Mb@ )Y'1Z?{Gz?~jt?y"?#=<7 A @)AIyzAIIJ5٢3< -=9CY:Q > G٣yS8 > Nusing accuracyPremultiplier from config49Ц?4Y;f> i5#?:&&@D9;;>4B @EzK%NK%9K!K%pK%Zj)5FNOT Ignoring new targets: 454.20 m.Bj5&;Jj=&;M ProNav: ac range: 454.200012 m, nav range: 239.091461 m, bearing: 352.442937 deg, approach rate: -0.185460 m/s, LOS rate: 0.145805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182371 deg. 2jM!;:jM?@UHeadingCmd: 4.820292 target range: 454.200012 and range: 473.50 m. jQjQjQjQiQhYhYhYheBfafafarfibfm`0@ɛ)-鮽< 15 >I1 5wl<ɚ1iYI]Dq=I]ienXߺia)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543161*F?2F:FBF_0JF 9 I9 GE ˴G B! O= >O-5w,жA>6@Y>+@> =9>:>y>H?@d? 0@?`k '<? ?ɨ>6@>U;>.CyJÃBJ"ILLIRIR^S5٢ZP = Zt=9Z:Q ^?\` bG٣`ybg: b? jNusing accuracyPremultiplier from configdn49fӦ?r4Yfk> ifBprv&@fDf%c;fGc;f4x z;@xZjFNOT Ignoring new targets: 454.20 m.%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794315Bj-?';Jj-?';E ProNav: ac range: 454.200012 m, nav range: 239.029236 m, bearing: 352.491977 deg, approach rate: -0.185487 m/s, LOS rate: 0.146220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122344 deg. 2jE;:jE?7@MHeadingCmd: 4.819244 target range: 454.200012 and range: 473.50 m. jIjIjIjIiIhQhQhQhQfYfafqrfybf@0@ɛC< 隵r>I #{n<ɚiI!=Ii&ߺit6))JJpJ1JJ:J^9J3JJ;a-J ;a-J|:a-J~:a-*F?2F:FBF0JFG'HWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046239GBO >X;w,5жA6y$@Y64@66k =96>y6HJ0?Ï?`(չ?gk?@?ɨ6y$@6ׇ;6/CyfʃBf"I pIpIvIvC5٢z%< ~F=9~:Q ~> G٣7Gy  ;  > 5Nusing accuracyPremultiplier from config!E49%Nצ?M4Y%r> i!IMM&@%D%w;%;%\4Y ]@]EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 454.20 m.Bj&;Jj&; ProNav: ac range: 454.200012 m, nav range: 238.952164 m, bearing: 352.552705 deg, approach rate: -0.184247 m/s, LOS rate: 0.145221 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157428 deg. 2jS;:jC<@HeadingCmd: 4.819856 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbfR1@ɛvBB< &>I p<ɚiI1=Iiۭ޺i19))*F?2F:FBF`5JFG G-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298114H9I=C I=T"II=BI= =G}f&I9.I96I=s<:I= FGBO>zK iJK 9K K qK  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550042?Bw,~n ѶAF$@YF3@Fq =9F>yFH@0-?`?$@Nѹ?{u`?@(?ɨF$@F@B;F.CyNǃBR"I]Mb@Mb@Mb@YYY Y)YY]ףp= ?&1?~jt?y]?]P=]D<]M A ]C@)]AI]$@Yy]pAIIJ5٢? ;=9@9Q > G٣y >  Nusing accuracyPremultiplier from config 49 ~ۦ?4Y y> i I?:Y&@ D ; ; 4! %@)ZjIMFNOT Ignoring new targets: 454.20 m.Bj]#;Jj]#;u ProNav: ac range: 454.200012 m, nav range: 238.868698 m, bearing: 352.614204 deg, approach rate: -0.194443 m/s, LOS rate: 0.143320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159748 deg. 2ju;:j}<@HeadingCmd: 4.819897 target range: 454.200012 and range: 473.50 m. jjjjihhhhۃBfffrfbf@1@ɛ\<  >I r<ɚiIr=Ii j0޺i >7) )I Ii*F2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802559JMJMmJM0JIJM+:JM&9JMـ3JIJM'<JM(<JM:JM:G9G B O >>jHw,K#ѶA2/@Y2f?@2H=92>y2H`?`?q*?ʨ ;ޡX?`"I Z=Z=I^I^@T5٢fi f_=9f<:Q j>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv49rߦ?v4Yr> irBxz*z&@rȢDr:r :rV4 c@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 238.798035 m, bearing: 352.666199 deg, approach rate: -0.182920 m/s, LOS rate: 0.134634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131216 deg. 2j˸;:j8@HeadingCmd: 4.819399 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf#2@ɛ15l< 15z>I9 =ùt<ɚ9i9I==IEiE8{ݺiE:)A)I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.079304*F?2F:FBF_0JF IG!GBO% > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3329937Nw,2=ѶAHlIl In`"IInBIl&Il.Il6In9<:Inm FyޭȃBޭ"IMMb@Mb@Mb@III I)IYM-?x&?{Gz?yM??M7=M# G٣7Gy > Nusing accuracyPremultiplier from config49[䦜?4Y> i@?:&@ѢD ;;4 @zKBJKh9KKrKRK?JK?ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 238.699753 m, bearing: 352.731525 deg, approach rate: -0.206580 m/s, LOS rate: 0.137368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171246 deg. 2j;:j=>@ HeadingCmd: 4.820097 target range: 454.200012 and range: 473.50 m. j j jjihhhhBfffrf!bf%2@ɛMwBM"< QU$">IQ U'/w<ɚQiQIU=I]i]ܺie:)a)a*F2F:FBF 0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.582149 I G ?:G B O% >`Uw,'WѶA>m?@Y> O@>=9>>y>H@1?`?@ ?E %>? G?ɨ>m?@>>;>1CyFăBF"IIfIfJ5٢n몼 n=9r;Q r ?pp rG٣tyv; v ? ~Nusing accuracyPremultiplier from configx~49z禜?~4Yz̋> izBǬ&@zעDzX:zz:z4  )@ Zj1=FNOT Ignoring new targets: 454.20 m.BjE;JjE;U ProNav: ac range: 454.200012 m, nav range: 238.636169 m, bearing: 352.773668 deg, approach rate: -0.201578 m/s, LOS rate: 0.133641 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101649 deg. 2jUo;:jUJ4@]HeadingCmd: 4.818883 target range: 454.200012 and range: 473.50 m. jYjYjajaiahahahihifififqrfqbfut2@ɛ:< 隥>I x<ɚiI=IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.834820i~ۺiD;))JJlJ1JJ:J9J3JJ3<<J4<<J(:J):*Fa2Fi:FiBFm^0JFiGG:GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie Au checking for new query: numPingsReceived=0, elapsed TxPingTime=8.086885^[w,XpѶA I :B@Y:2R@: =9:}>y:H9?`v? @"@p?{c`Vߠ?@G?ɨ:B@:\;:.Cy^B^ "I`bAIfIfN5٢r rJ=9r9Q r>tt vG٣tyzy: z> ~Nusing accuracyPremultiplier from config|49~1즜?4Y~> i| &@~ߢD~:~:~4 @E5B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 454.20 m.BjM;JjM;] ProNav: ac range: 454.200012 m, nav range: 238.555527 m, bearing: 352.827216 deg, approach rate: -0.198901 m/s, LOS rate: 0.132118 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135884 deg. 2j]W;:je/9@eHeadingCmd: 4.819480 target range: 454.200012 and range: 473.50 m. jajijijiiihihihqhqfqfyfyrfybf}U3@ɛ)5J< 15>I1 =z<ɚ9i9I=E=IEiEdںiEI;)A)I*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.338187HIC III&I.I6I<:I FGg;GBO>zK= RLK= 9K9 K= sK= BKM sA:KM sAbw,ŊѶAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.590809BF@YBV@B\=9BX>yBHA? .? `+غ?@tB?\?ɨBF@B;B-CyNBN"I=Mb@Mb@Mb@999 9)9Y=1Zd?Mb?Mb`?y="?===;= A =Z@)=AI=h@9y=AIUIU N5٢e  eB=9m:Q m>ii  G٣ 7Gy: > Nusing accuracyPremultiplier from config%49?%4Yј> iB-?-:--&@D;;I45B 5@=EZjy}FNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 238.466034 m, bearing: 352.888145 deg, approach rate: -0.201443 m/s, LOS rate: 0.137198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158040 deg. 2jP;:jZ<@HeadingCmd: 4.819867 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfff =8$?I=irfbf= D3@ɛxBd< 隵=I ~|<ɚiIt=Iiغig_f;))*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.841910JJJJJ-;JJJJ2W<J3W<JJG .A;G B O% >#hw,CѶA6UF@Y6U@6M=96S>y6Hdd jG٣hyj O j> rNusing accuracyPremultiplier from configlv49n?v4Yn> inBxzz&@nDn-;n;n4 @ZjFNOT Ignoring new targets: 454.20 m.Bj&;Jj&; ProNav: ac range: 454.200012 m, nav range: 238.392761 m, bearing: 352.938199 deg, approach rate: -0.193384 m/s, LOS rate: 0.132145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125394 deg. 2ja;:j7@HeadingCmd: 4.819297 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf(4@ɛ)-(ͽ< )-=I) 5z}<ɚ1i1I5=I=i="׺i=;^;)9)A=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.096078*F?2F:FBF0JF !I!Gb;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.345943snw,~ѶAH>>I< I>T"II>BI> =&I<.I<6I>!<:I>Z FL@Y[@s=9>yHi?@b?<*v?۩a?@߳?ɨL@Ǯ;.CyB!I = Mb@Mb@Mb@ )Y~jt?L7A`?MbP?y?+=:A p@)I;@yAIIW5٢{ +=96:Q > G٣yɾ: >  Nusing accuracyPremultiplier from config 49 L?4Y > i B?:&@ D a; ; 4! -@)ZjQUFNOT Ignoring new targets: 454.20 m.Bj]w%;Jj]w%;m ProNav: ac range: 454.200012 m, nav range: 238.295334 m, bearing: 353.004211 deg, approach rate: -0.213420 m/s, LOS rate: 0.144662 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173303 deg. 2jm;:jm>@uHeadingCmd: 4.820134 target range: 454.200012 and range: 473.50 m. jqjqjyjyiyhyhyhhBfffrfbf@4@ɛyBϴ< 隽=I <1<ɚiI =zK%.JK%9K!K%tK%Ieie|պie7;)a)i=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.598111*FA2FA:FABFE0JFAU~G Y!y%1A I G] g;G1 BA O] > uw,|HѶAy~B~!II I Y5٢r %n=9-Q -?)1 5G٣57Gy5 5? ENusing accuracyPremultiplier from config9E49="?M4Y=g> i=BIIM&@=D=7:=":=4Q ]@YZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.851941FNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 238.225204 m, bearing: 353.051883 deg, approach rate: -0.202993 m/s, LOS rate: 0.138029 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118244 deg. 2jt;:j6@HeadingCmd: 4.819172 target range: 454.200012 and range: 473.50 m. j j j j ihhhh!f)f)f1rf1bfE4@JJJ0JJ+:JJـ3JJ'<J(<JJɛY]a< Y]h=IY ed,<ɚaiaIe=IiԺiS;))*F?2F:FBF4JF!U Will construct direction to contact in vehicle frame from tetrahedron phase data.U  I i{w,k-ѶA:N@Y:J^@:0]=9:P>y:H?֊?1@ ?@`ʢ?@?ɨ:N@:%;8yNBN!IIVIVuZ5٢^A' ^P=9bE:Q b>`` fG٣dyfY: f> nNusing accuracyPremultiplier from confighn49j?r4Yj> ijBprr&@jDjK ;j:j4t v@zEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;= ProNav: ac range: 454.200012 m, nav range: 238.145630 m, bearing: 353.106097 deg, approach rate: -0.203850 m/s, LOS rate: 0.138929 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137883 deg. 2j=;:j=x9@EHeadingCmd: 4.819515 target range: 454.200012 and range: 473.50 m. jAjAjAjAiAhIhIhIhIfQfQfQrfYbf]Y5@ɛzB1< 隍4=I <ɚiIW/=IiCӺiό;))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKe uJKe 9Ka Ke uKe ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e yBH`b?a? -@+?`f쩿`ݾg??ɨBK@BN;B/CyfBf!Ihh-Mb@Mb@Mb@))) )))Y-X9v?p= ף?~jth?y-?-=-D;-d A -Z@)-$AI-h@)y-AIIII٢]S ]1= iIi9uwIQ u>qy }G٣yy} { > Nusing accuracyPremultiplier from config49?4Y> iB?:&@Dw;; 4 @ZjFNOT Ignoring new targets: 454.20 m.Bj!;Jj!;U ProNav: ac range: 454.200012 m, nav range: 238.050797 m, bearing: 353.171783 deg, approach rate: -0.204237 m/s, LOS rate: 0.141521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172323 deg. 2jU?;:j]e>@HeadingCmd: 4.820117 target range: 454.200012 and range: 473.50 m. jjjjihhhhăBfffrfbf5@ɛ{B< p=I <ɚiI%u=I%i%{Ѻi-M};))))*F?2F:FBFQ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1147> BDAT read: Tx time:20:08:39.8298 $Ping request sent.w,C&ҶA:G@Y:{W@:=9:>y:HI? ?4Tպ?⩿@?@?ɨ:G@:Ç;:.CyRBR!II^I^S5٢jC ji=9rQ v>x| ~G٣~7Gy, >  Nusing accuracyPremultiplier from config 49  ?4Y > i B&@ D  ;  ; 4! %@!ZjIUFNOT Ignoring new targets: 454.20 m.BjU4!;JjU4!;m ProNav: ac range: 454.200012 m, nav range: 237.979355 m, bearing: 353.221515 deg, approach rate: -0.202396 m/s, LOS rate: 0.140936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124429 deg. 2jmr;:jm7@uHeadingCmd: 4.819281 target range: 454.200012 and range: 473.50 m. jqjqjqjqiqhyhyhyhfffrfbfS*6@ɛ|BP< 隥 =I 5E<ɚiI$=IiFBкiI9i;))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:08:39.8291 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251065*F2F:FBF_0JF iIiGmg;GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502058J J J 1J J :J J 3J a @a @a @a @jHI bHM 4<*w, @ҶAH I  I"."II"܃BI &I .I 6I"\<:I" F 2@Y B@ =9 .>y H??^ ;?E^VF? ?ɨ 2@ &; /Cy%B-!IMb@Mb@Mb@ )YGz? G٣y಻ > Nusing accuracyPremultiplier from config49? 4Y> iB?:&@ Dj[;@mHeadingCmd: 4.820130 target range: 454.200012 and range: 473.50 m. jijijijqiqhqhqhqh}ڃBfyfyfyrfybf 6@ɛ5}B=o< 9=)=I9zKEJKAKAKEvKE2531.,*,,)**&%%%&%"$&#!! ! ]Ε<ɚaiaIex=ImimPϺimT:)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754619*F=?2F9:F9BFAJFA M9$?IQG} Ƶv;GQ BY O} >(w,YҶA2"@Y2s2@2Í=92>y2H#?I?`Ź?`ඨ ?/?ɨ2"@24;2.Cy>B>!I B=B=IFIFO5٢Ni Ry=9RQ R?TT VG٣TyVû V? ^Nusing accuracyPremultiplier from configXb49Z?b4YZO> iZBdf鬿f&@Z&DZ,;Z%-;Z!4h j@h]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005981ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 237.815445 m, bearing: 353.333683 deg, approach rate: -0.194219 m/s, LOS rate: 0.133720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113893 deg. 2j;:j 6@HeadingCmd: 4.819097 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf.6@ɛM~BMƌ< QU A IA Qw,sҶA6#@Y6!@6? =96l>y6H?=? ￿@K?``gY??ɨ6#@6y\;4yRBR!IIZIZH5٢b< bH=9b(Q f>hh jG٣j7Gyn n> rNusing accuracyPremultiplier from configpv49rY?v4Yr> irBtz+z&@r.Dr:re:r-(4| ~@EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 454.20 m.Bj5(;Jj5(; ProNav: ac range: 454.200012 m, nav range: 237.732330 m, bearing: 353.391443 deg, approach rate: -0.212218 m/s, LOS rate: 0.147533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148529 deg. 2j;:j:@HeadingCmd: 4.819701 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbfc7@ɛUB]< Y]zK ŠMK 9K K wK  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7620159w,߇ҶAN@YNi)@NyW=9N>yNH>ۺ?8?~?@顿 ?!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=495?=4Y5> i1Ej?E:EE&@57D5;5';5/4I M9@IZjFNOT Ignoring new targets: 454.20 m.Bj6;Jj6;- ProNav: ac range: 454.200012 m, nav range: 237.648331 m, bearing: 353.454505 deg, approach rate: -0.181852 m/s, LOS rate: 0.136570 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164436 deg. 2j-t;:j-D=@UHeadingCmd: 4.819979 target range: 454.200012 and range: 473.50 m. jQjQjQjQiQhYhYhYh]Bfafafarfabfe`7@ɛBj< )-dw,fҶA6%@Y6;5@6=96v>y6H8?? .ҹ?@GE{?׵?ɨ6%@6N;4yBBB!IHJAININ7`5٢VO Ve=9Z.K;Q Z>XX ZG٣\y^3; b> fNusing accuracyPremultiplier from config`f49b}!?j4Yb> i`hjίj&@b>Db:b:b<64p rs@pZj%FNOT Ignoring new targets: 454.20 m.Bj-';Jj-';M ProNav: ac range: 454.200012 m, nav range: 237.580994 m, bearing: 353.504999 deg, approach rate: -0.195433 m/s, LOS rate: 0.146592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126713 deg. 2jM5;:jM7@HeadingCmd: 4.819320 target range: 454.200012 and range: 473.50 m. jjjjihhh h f1f1f1rf9bf=G58@ɛB*< 隅9I "<ɚiIx=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266180Ii!Qκi9))*Fm?2Fi:FiBFmP5JFi IG >Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518078J J iJ J J ;J ڈ9J J H I  I "II ǃBI &I .I 6I y<:I FVw,hҶA=N*@Y=9@=G=9=>y=H` ^?Đ?꿿v`?`@ܢ̊?౵?ɨ=N*@=_;=+CyMBM!I Mb@Mb@Mb@    ) Y S? ףp= ?Mb?y ? Q8= < A @) AI VA y zAI%I%W5٢5V; 5'=9=(:Q =>AA EG٣E7GyE[: M> UNusing accuracyPremultiplier from configI]49M%?]4YMO> iI]?]:]Xe&@MHDMh;MK;M>4i ui@qZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 237.496140 m, bearing: 353.573524 deg, approach rate: -0.174141 m/s, LOS rate: 0.140681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180835 deg. 2j;:j?@HeadingCmd: 4.820265 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfffrfbf8@ɛB;< I  <ɚ i I #.=Iiͺi/S:))!zK:KKh9KKxK RK>JK>*F2F:FBF@5JFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770255 IG 3t9G B O >guw,ҶA>%1@Y>@@>ֿ=9>M>y>H@;??@쿿-!?@v6@{? T?ɨ>%1@>MЇ;>.CyJBJ!IIRIRJ5٢ZH Z=9Z~;Q ^ ?\\ bG٣`yb+; b ? fNusing accuracyPremultiplier from configdn49f(?n4YfR> idpr=r&@fNDf!E;fE;f\D4t v@tZjFNOT Ignoring new targets: 454.20 m.BjG ;JjG ;- ProNav: ac range: 454.200012 m, nav range: 237.440872 m, bearing: 353.618198 deg, approach rate: -0.173317 m/s, LOS rate: 0.140128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109239 deg. 2j-V;:j-`5@5HeadingCmd: 4.819016 target range: 454.200012 and range: 473.50 m. j1j1j1j1i9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022143hIhIhIhIfQfQfYrfYbf]8@ɛB߃y< 隕@I  ف<ɚiI,j=IiͺiB:))*F?2F:FBF_0JFG=.r:GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275063 I 'w,ҶA600@Y6?@6ֹ=96>>y6H?ԏ??07` V@͘? ?ɨ600@6a;6,CyBxBB!I F=F=IJIJK5٢R VK=9V<:Q V>TX ^G٣\y^ٗ ^> fNusing accuracyPremultiplier from config`f49bp,?j4Yb> i`hjAj&@bVDb:bC:bhK4rB r @rE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 454.20 m.Bjg ;Jjg ;% ProNav: ac range: 454.200012 m, nav range: 237.371201 m, bearing: 353.674741 deg, approach rate: -0.172750 m/s, LOS rate: 0.140237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144863 deg. 2j%|;:j%x:@-HeadingCmd: 4.819637 target range: 454.200012 and range: 473.50 m. j)j)j1j1i1hhhhfffrfbf`g9@ɛBSe< ڼI R<ɚiIX=I%i%6̺i%:))))*F?2F:FBFJFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527275JJoJ0JJ:JK9Jـ3JHI I"IIƒBI&I.I6I<:I FG:GBO >)  } G Y y ! BzK KK 9K K yK #A'BK- rA:K- rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778015ôw,)ӶA IIMiyQQMb@Mb@Mb@ )Yl?)\(? rh?y?Ga=C< @)~AIAyAIIV59Q > G٣y% %> 5Nusing accuracyPremultiplier from config)E49-0?M4Y-> i)UD?]:]]'@-^D-;-;-CS4e B e@eEZjFNOT Ignoring new targets: 454.20 m.Bjq;Jjq; ProNav: ac range: 454.200012 m, nav range: 237.290710 m, bearing: 353.736278 deg, approach rate: -0.177696 m/s, LOS rate: 0.135900 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159860 deg. 2j;:j<@HeadingCmd: 4.819899 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfffrfbf9@ɛBa< 隝0I r<ɚiIU=Ii3[˺i7:))*Fe?2Fa:FaBFaJFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030164G G B O >ɴw,(ӶAyrB%!IIUIU{R5٢uT^ }<9yQ > G٣7Gy > Nusing accuracyPremultiplier from config494?4Y{> i'@fD;;Y4 u@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 237.222000 m, bearing: 353.789009 deg, approach rate: -0.180545 m/s, LOS rate: 0.138598 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133426 deg. 2j<;:j8@HeadingCmd: 4.819438 target range: 454.200012 and range: 473.50 m. jjjjihhh h f f f rfbf 9:@ɛ=B=aM< AE6IA E+<ɚAiAIEe=IMiMvʺiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282134*F?2F:FBFo0JF 5:$?I1GGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534025H I  I "II BI &I .I 6I <:I FBIaJIaRIaZIe =bIajIeː3Bдw,BӶAj<@YjLL@j=9j$S>yjH|??`@`n?,?w?ɨj<@j;j-Cy=fBE!Iy}AIIDP5٢a D=9%I;Q >   G٣yc; > Nusing accuracyPremultiplier from config498?4Y9? iBǯ'@nD;;a4 1@Zj!-FNOT Ignoring new targets: 454.20 m.BjU;JjU;e ProNav: ac range: 454.200012 m, nav range: 237.143524 m, bearing: 353.849137 deg, approach rate: -0.175353 m/s, LOS rate: 0.134399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155630 deg. 2jmy;:jm<@HeadingCmd: 4.819825 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf:@ɛB6< |I <ɚiIe=Ii ZXɺi 4;) ) zK%jLK%9K!K%zK%  RKE?JKE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787460*F?2F:FBFh0JF 1IAG G B O >ִw,t`\ӶA6_;@Y6J@6 =96x>y6H?@? a? *๟???ɨ6_;@6m͇;6.Cy>_B>!I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040334JeJesJaJaJe|:Je9JaJaJe G٣yL > Nusing accuracyPremultiplier from config49d ) I) 3ܴw,;vӶA6TC@Y6R@6"=96ɲ>y6H$?ࢍ? Dk?@b`X զ?۳?ɨ6TC@6ݑ;6/CyRSBV!IIZIZ{R5٢f fY=9fX:Q f>hh jG٣j7Gyj(; n> rNusing accuracyPremultiplier from configpv49r??v4Yr? ipxzzz'@r|Dr":r:rn4| a@E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 454.20 m.Bj=.;Jj=.;M ProNav: ac range: 454.200012 m, nav range: 237.014709 m, bearing: 353.950477 deg, approach rate: -0.171307 m/s, LOS rate: 0.134797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128092 deg. 2jM;:jU8@UHeadingCmd: 4.819345 target range: 454.200012 and range: 473.50 m. jQjjjihhhhfffrfbf n;@ɛuB?; 6=隕pI  ~<ɚiI=Ii;Ǻi\;))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547182*Fu?2Fq:FqBFuP5JFqH1I1 I5!II5BI1&I1.I16I5z<:I5 FG.A;G B O >zK KK K K {K  n ^1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798105w,@ӶA2MB@Y2Q@2b"=92>y2H?`Q? @R?p_`.R ?`p?ɨ2MB@2;2-Cy:?B:n!I B=B= `IdMb@Mb@Mb@ )YOn?S㥫?{Gzt?y?/]=ף;A @) AIAyAII[W5٢e{ m3=9m`Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49{D?4Y? iB4?:'@Dy)<?)<v4 @Zj%FNOT Ignoring new targets: 454.20 m.Bj-n;Jj-n; ProNav: ac range: 454.200012 m, nav range: 236.932999 m, bearing: 354.013532 deg, approach rate: -0.174897 m/s, LOS rate: 0.135012 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164417 deg. 2jP;:jC=@HeadingCmd: 4.819978 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfff)rf)bf-];@ɛEBE6I; IMV$II M;|<ɚIiIIU!=IUiUźi]gM;)Y)Y]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.050938JJlJJJk:J9JJJ"<J"<J(:J):*F?2F:FBF2JFG= `;G B! OE >yw,ӶA2G@Y2gW@2m#=92Q>y2H`sG?R?@D P?T`{`?@۲?ɨ2G@2W<;0yF6BFc!IININ@T5٢Vd> VX=9ZZ:Q Z>XX ^G٣\y^: ^> -Nusing accuracyPremultiplier from config)549-cH?54Y-? i-}B9=='@-D-&:-~:-}4A E7@IZjq}FNOT Ignoring new targets: 454.20 m.Bj}";Jj"; ProNav: ac range: 454.200012 m, nav range: 236.863083 m, bearing: 354.067567 deg, approach rate: -0.184008 m/s, LOS rate: 0.142255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137340 deg. 2jA;:jd9@HeadingCmd: 4.819506 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf@B<@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302358ɛBC: :I -&z<ɚiI~=IiCĺiw;))  Ii*F?2F:FBF_0JFGg;GBO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554299ZH1 RH5 AAH= >I9  I= !II= BI9 &I9 .I= ?D6I= _<:I= FYw,ӶAM@Y\@$=9D>yHDq? ؋? ?@?@ݲ?ɨM@,;騉y+BV!IMb@Mb@Mb@ )Y+?Q?Mb`yv?u=A @) AIy=AII&Q5٢64 .=9z9Q > G٣7Gy: > Nusing accuracyPremultiplier from config49UM?4Y%? ixB5?:z'@D2;g1;4 @Zj!-FNOT Ignoring new targets: 454.20 m.Bj-#;Jj-#;= ProNav: ac range: 454.200012 m, nav range: 236.776093 m, bearing: 354.133118 deg, approach rate: -0.190165 m/s, LOS rate: 0.143350 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171911 deg. 2jE;:jEV>@MHeadingCmd: 4.820109 target range: 454.200012 and range: 473.50 m. jIjIjIjIiIhQhQhQhUكBfYfYfYrfYbf]@<@ɛ B P: ~TI Tv<ɚiI*=IiE$ºiMp;)I)YzKMK9KK|KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806648 IEe+=*F ?2F :F BF `5JF G sA G sA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058865J yJ J 1J J ]:J 9J 3J J ;J ;J ;J ;G%Ƶv;GB O->[w,uӶA2=L@Y2[@2#=92>y2Hj?ো?Y!ۺ?by?@?ɨ2=L@2ԇ;0y>B>3!I@BAIFIFP5٢N N@=9R^˹Q R>PT VG٣TyVKu Z> ^Nusing accuracyPremultiplier from configX^49ZQ?b4YZ+? iZtB`b}b'@ZDZ:ZL:Z 4j B j@jEZjq}FNOT Ignoring new targets: 454.20 m.BjD;JjD; ProNav: ac range: 454.200012 m, nav range: 236.695389 m, bearing: 354.194204 deg, approach rate: -0.182741 m/s, LOS rate: 0.138367 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158507 deg. 2j;:jk<@HeadingCmd: 4.819875 target range: 454.200012 and range: 473.50 m. jjjjihhh hfffrfbf%,=@ɛ5B5( 9=‰I9 =r<ɚ9iI=Iiiԇ;))E d6=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310191 I*FM?2FI:FIBFUD4JFQG 1;G B O >w,/ӶA6S@Y6c@6L%=96@>y6H^?d?-@?߫@??ɨ6S@62Ƈ;6,CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.561943yFBJ!IIVIVDP5٢Z3ݽ ^J=9^@:Q ^>`` bG٣`yf; f> jNusing accuracyPremultiplier from configd~49fSV?4YfU2? ifpB^ '@fDfA;f;f4 AEH!I! I%!II%gBI!&I!.I!6I%r<:I% FMB*** querying acoustic contact ***jIjIZjFNOT Ignoring new targets: 454.20 m.Bjm;Jjm; ProNav: ac range: 454.200012 m, nav range: 236.618729 m, bearing: 354.252277 deg, approach rate: -0.182781 m/s, LOS rate: 0.138508 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149460 deg. 2j;:j ;@HeadingCmd: 4.819717 target range: 454.200012 and range: 473.50 m. jj!j!j!i!h!h!h)h)f)f)f)rf1bf5`*=@ɛB  vI [n<ɚiIn=Iiꀿi\A;))EE*E"EE*F5?2F1:F1BF54JF1zK=KK=9K9K=}K=   MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.816615 ;$?IG ;Gq B O >w,ԶA^)N@Y^]@^-#=9^>y^H@z?@?`tп?%q ?`?ɨ^)N@^ ;^.CyB!IMb@Mb@Mb@ )Yx&?Q?)) 5G٣57Gy5 5>JE{JEpJE0JAJEd:JE^9JEـ3JAJE#;JE$;JE|:JE~: ]Nusing accuracyPremultiplier from configYm49]f\?m4Y]:? i]iBm-*?m:m(u'@]D]49;]7;]4y }AyZjFNOT Ignoring new targets: 454.20 m.Bj9;Jj9; ProNav: ac range: 454.200012 m, nav range: 236.514618 m, bearing: 354.328961 deg, approach rate: -0.220322 m/s, LOS rate: 0.162353 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205339 deg. 2j;:jC@HeadingCmd: 4.820693 target range: 454.200012 and range: 473.50 m. jjjjihhhhBfffrfbf`9 >@ɛ B Bm  I քi<ɚiIa*=Ii8i،;)!)!*F?2F:FBF_0JFG Zݤ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318078G B O% > Q IU ix w,5ԶA6}J@Y6Z@6Dm"=96r>y6H]??Kغ?SKL:?.?ɨ6}J@6c;6-Cy>΂B> I F=Fp=IJIJT_5٢R3$ Rg=9ROQ V>TT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from config\=49^`?=4Y^@? i^eB9=6E'@^D^.<^><^4I MAIZjquFNOT Ignoring new targets: 454.20 m.Bj}';Jj'; ProNav: ac range: 454.200012 m, nav range: 236.442902 m, bearing: 354.382093 deg, approach rate: -0.198089 m/s, LOS rate: 0.146802 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134631 deg. 2j;:j9@HeadingCmd: 4.819458 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbfi>@ɛB "ѾI d<ɚiIq=Ii\uiB;))*Fu?2Fq:FqBFub0JFqMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.570242jH<bHHI Im!II>BI&I.I6IY<:I FG5;GBO=> ~G Y y Aw,OԶA6@@Y6P@6 =96>y6H? ?ҿQ?@o??ɨ6@@6e;60CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.822033yVÂBV I IzK,~LK9KK~KeMb@Mb@Mb@aaa a)aYeX9v? rh?{Gzye3?eC=e#e3A e@)e AIeAayaI Ig5٢%: %4=9-`Q ->)) 5G٣1y5' 5> ENusing accuracyPremultiplier from config9E49='f?M4Y=I? i=^BM4?M:M|M'@=£D=U;=;=4q }6AyZjFNOT Ignoring new targets: 454.20 m.Bj=;Jj=;5 ProNav: ac range: 454.200012 m, nav range: 236.346832 m, bearing: 354.456049 deg, approach rate: -0.215245 m/s, LOS rate: 0.165766 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197143 deg. 2j=;:j=A@=HeadingCmd: 4.820549 target range: 454.200012 and range: 473.50 m. jAjAjAjAiAhAhihqhuBfqfyfyrfybf}>@ɛBS!n 8޾I ^<ɚiI=IilivB;))EIEI*F?2F:FBF`0JFG G"GGUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074928Ga B O >w,miԶAJ7@YJF@J]=9Jy7>yJH»?6?K?@xQx?`۵?ɨJ7@J#;J,CyZBZ IIjIji5٢U.C UY=9] Q ]>Ya eG٣e7GyeS e> uNusing accuracyPremultiplier from configiu49mj?}4YmO? imYBy}}'@mˣDm;m;mz4 AZjFNOT Ignoring new targets: 454.20 m.Bj:>;Jj:>; ProNav: ac range: 454.200012 m, nav range: 236.267609 m, bearing: 354.517573 deg, approach rate: -0.214082 m/s, LOS rate: 0.166311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159822 deg. 2jF;:j<@HeadingCmd: 4.819898 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf:?@ɛB m !%6I! -=X<ɚ)i)I-S=I5i5gAi5vs;)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.326791*F?2F:FBF 1JF IiGBO!>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578188J J qJ J J <:J q9J J a @a @a @a @H I  I 4!II BI &I .I 6I ?<:I q FBIJIRIZIbIjI14~ w,MԶA2'@Y26@2+{=92>y2H-D?`\?,ۿ׹? Jׂ?@?ɨ2'@2ϰ;2-CyVBV I)X XXZAI^ I^f5٢= =N=9=ATQ =>AA EG٣AyMa M> UNusing accuracyPremultiplier from configQ}49Uo?4YU:W? iUSB䮿'@UԣDU};U;Uz4 @AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj6;Jj6; ProNav: ac range: 454.200012 m, nav range: 236.184280 m, bearing: 354.583003 deg, approach rate: -0.203167 m/s, LOS rate: 0.159583 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171544 deg. 2j ;:jH>@ HeadingCmd: 4.820103 target range: 454.200012 and range: 473.50 m. j j j j ihh9hIhIfIfQfqrfbfߧ?@ɛ=B=կ AMIq uQ<ɚyiyI$=IiiX9))!*F?2F:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830278 IGQBazKuiKKuS9KqKuKuO|>&w,%ԶAVT@YV(@V-=9V 2>yVH a׺??-ӿ *w?D`w?`?ɨVT@V/;TybBb IeMb@Mb@Mb@aaa a)aYeZd;?X9v?Qye9?e}=eueIA e@)e AIaayaIIm5٢ C=9LQ > G٣yT > Nusing accuracyPremultiplier from config49qt?4Y _? iLB:?:q'@ݣD;;4 B AEZjFNOT Ignoring new targets: 454.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. I  Will construct direction to contact in vehicle frame from tetrahedron phase data.  G٣7Gy >  Nusing accuracyPremultiplier from config 49 Sy?4Y f? i EB'@ D ; ; 4! %A!ZjQUFNOT Ignoring new targets: 454.20 m.Bj]B;Jj]B;m ProNav: ac range: 454.200012 m, nav range: 236.013702 m, bearing: 354.723962 deg, approach rate: -0.204672 m/s, LOS rate: 0.169612 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187204 deg. 2jm;:jm@@uHeadingCmd: 4.820376 target range: 454.200012 and range: 473.50 m. jyjyjyjyiyhyhyhhfffrfbf-;@@ɛuBu҃ u.^=uIq })BC<ɚyiyI}E=IiPi`F))%Will construct direction to contact in vehicle frame from tetrahedron phase data.-4w,ԶA 0I4BWill construct direction to contact in vehicle frame from tetrahedron phase data.@i@ByRH ?%?ο ?@l(@Zf??ɨR@R;R/CyZBZ I]Mb@Mb@Mb@YYY Y)YY]ףp= ?Dl?Mb`y]>?]O=]Y ]Q@)] AI]AYy]\AIuzK}>BKK}9KyK}K}Iup5٢XI J=9Q > G٣ym > Nusing accuracyPremultiplier from config49~?4Ywn? iBB??:O'@D4;2;4 IAqZjFNOT Ignoring new targets: 454.20 m.Bj;;Jj;; ProNav: ac range: 454.200012 m, nav range: 235.931290 m, bearing: 354.792302 deg, approach rate: -0.197649 m/s, LOS rate: 0.163958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180280 deg. 2j ;:j?@HeadingCmd: 4.820255 target range: 454.200012 and range: 473.50 m. jjjjihhhhTBfff rf bf-q@@ɛBp߼ I M:<ɚiIޣ=IiiY)) *F?2F:FBF]0JFG}:GqByO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Response Not Received =*response not receivedE,DAT read: user:1148> MBDAT read: Tx time:20:08:50.7799 U$Ping request sent.UyJHH??` Ͽ`?Z@|[??ɨJ\@Jj;J,CyRzBV} II^I^m5٢f  fX=9f Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49r?v4Yru? ir>Btzz'@rDrn:r:rz4  AEZj1=FNOT Ignoring new targets: 454.20 m.Bj=T;JjET;M ProNav: ac range: 454.200012 m, nav range: 235.852844 m, bearing: 354.858423 deg, approach rate: -0.220627 m/s, LOS rate: 0.186026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173615 deg. 2jUV;:jU>@]HeadingCmd: 4.820139 target range: 454.200012 and range: 473.50 m. jYjYjYjYiYhahahahafififirfibfm @@ɛBM 隽I }3<ɚiId=Iiiٻ) U<$?IUi)QWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:08:50.7791 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249606*F?2F:FBF_0JFG'HG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500358Je Je kJe /Ja Je ;:Je 9Je (N3Ja Hq Iq  Iu IIu ɂBIq &Iq .Iq 6Iq :Iq Aw,JնA2vɒ@Y2ٙ@2<92>y2Hu]?;? @l@8dd fG٣f7Gyf j> ENusing accuracyPremultiplier from confighE49jO?M4Yj}? ijI =,<ɚiI2* =Ii޼ip) ) E;6= IIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753445*F2F:FBFJF"GC=Ga=zKJK 9KKKG İ˻G ?G >G B O >jGw,նAR쨒@YR@R<9Ri>yRH Z?@-?[%` V?颿0X`??ɨR쨒@R44;R.Cy^B^ IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004357Mb@Mb@Mb@ )YMbX9?V-?Mbp?yA?m=;`A ;@) AI$AyAII&Q5٢< /=9HۻQ > G٣y > Nusing accuracyPremultiplier from config 49 B?%4Y Ȇ? i :B%\B?%:%%'@ D |O; =N; 4) 5KA1ZjQ]FNOT Ignoring new targets: 454.20 m.BjeR;JjeR;u ProNav: ac range: 454.200012 m, nav range: 235.681656 m, bearing: 355.012025 deg, approach rate: -0.196869 m/s, LOS rate: 0.184133 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225181 deg. 2ju;:juE@}HeadingCmd: 4.821039 target range: 454.200012 and range: 473.50 m. jyjyjyjihhhhhBfffrfbf A@ɛB I l}#<ɚiI =IiaiH))E5yb]=*F?2F:FBFJFG GYBiO{> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256296ظMw,9նA:@Y:$@:b<9:~<>y:H~1?1? 2`M?7^`[?`?ɨ:@:L;:,CyJBJ IIRIRP5٢Zf Zc=9^)Q ^>\` bG٣`ybO b> jNusing accuracyPremultiplier from configdj49f?n4Yf? if9BlnSr'@fDf$;f$;f4t v`AtZjFNOT Ignoring new targets: 454.20 m.BjL;JjL; ProNav: ac range: 454.200012 m, nav range: 235.614441 m, bearing: 355.076445 deg, approach rate: -0.186564 m/s, LOS rate: 0.178856 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168500 deg. 2j~;:j=@HeadingCmd: 4.820050 target range: 454.200012 and range: 473.50 m. jjjjihhhhfffrfbf,=A@ɛB. 隭I <ɚiI(!=Iiúik߃))EE*E"EjHm<bHm<HqIq Iu IIuBIu =&Iq.Iq6IuI<:Iuz FJ{ـ3K{3 K{S}.KsKs"KsJJJ1JJ :Jy9J3JJT;aJV;aJ;:aJ<:aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518265*F?2F:FBFJF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775524G5 ZG= rAG= rAzK KK 9K K K GBOe>ߩUw,3WնAy-B5 IMb@Mb@Mb@ )YV-?I +?{Gz?y G٣7Gy > %Nusing accuracyPremultiplier from config!-49%?-4Y%җ? i!-G=?-:--'@%#D%;%;%4= B =AAZjaeFNOT Ignoring new targets: 454.20 m.BjmH;JjmH; ProNav: ac range: 454.200012 m, nav range: 235.527847 m, bearing: 355.166670 deg, approach rate: -0.168308 m/s, LOS rate: 0.175432 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.245962 deg. 2j;:jH@HeadingCmd: 4.821402 target range: 454.200012 and range: 473.50 m. jjjjihh!h!h%Bf!f)f)rf)bf-`RA@ɛB\.ؼ 隭wI @<ɚiIM{"=Ii:Ⱥi}))*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024446G]iGB)OEs>[w,\qնA IiBs@YB@B<9B">yBHQ?੢?(ۿU?+?!?ɨBs@B^ʇ;B/CyJBN I R=R=IVIVd5٢^S7= ^d=9bNQ b>`d fG٣dyf f> nNusing accuracyPremultiplier from confighr49j?r4Yj? ihtvݶv'@j,DjYW;jW;j34| ~A|Zj!%FNOT Ignoring new targets: 454.20 m.Bj-G;Jj-G;EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.276471= ProNav: ac range: 454.200012 m, nav range: 235.468582 m, bearing: 355.229392 deg, approach rate: -0.165123 m/s, LOS rate: 0.174796 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163397 deg. 2jM;:jM=@UHeadingCmd: 4.819961 target range: 454.200012 and range: 473.50 m. jQjQjQjQiQhQhYhYhafafifqrfqbfu`RA@ɛB% 隭I 9& <ɚiI #=IiM˺il))*F-?2F):F)BF52JF1GU ~HI I IIĂBI&I.I6Io<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528576G1 B9 OU >) 'bw,=նAG08 RYPyR\Bt@Y@Vk<90>yH@ݽ?Ơ?#? j@6Z??ɨt@);yB I IMb@Mb@Mb@ )YM?+? G٣y$9 > Nusing accuracyPremultiplier from config49ʛ?4Y? i;Jj- >;= ProNav: ac range: 454.200012 m, nav range: 235.391998 m, bearing: 355.312849 deg, approach rate: -0.152424 m/s, LOS rate: 0.166157 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.225638 deg. 2j=;:j=F@EHeadingCmd: 4.821047 target range: 454.200012 and range: 473.50 m. jAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.781307jYjYjYiYhYhYhahBfff rf bf $A@zKeBJKe+9KaKeKe%xdRB5+& BKmqA:KmsAɛ}BѼ 隅 I <ɚiI#=IiDкiY))*F?2F:FBF0JFJ J wJ 0J J :J 9J ـ3J a @a @a @a @G 'G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034089G B O >B iw,նAzt@Yz@zd3<9z>yzH ?ޟ?;@@x4?@Arom?»?ɨzt@z2;z-Cy B  III^5٢-b= -u=95'Q 5?11 =G٣=7GyE? E? UNusing accuracyPremultiplier from configIU49My?U4YM? iM?BYY]'@M?DMe:MX:M4a eAaZjFNOT Ignoring new targets: 454.20 m.BjI>;JjI>;- ProNav: ac range: 454.200012 m, nav range: 235.341537 m, bearing: 355.368175 deg, approach rate: -0.151700 m/s, LOS rate: 0.166362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141200 deg. 2j-X;:j-9@=HeadingCmd: 4.819573 target range: 454.200012 and range: 473.50 m. j9j9j9j9iAhIhQhQhQfYfYfarfabf B@ɛBt& I ;ɚ i I 5$=IiKXԺiaj))*F?2F:FBF 5JF =$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284530GGy B O >U0ow,ٴնA6@Y6@6m<96>y6H?`ś??Ǔa?!?ɨ6@6;4y>B> IIFIFr^5٢j= jQ=9nQ n>pp rG٣pyvvw; v> zNusing accuracyPremultiplier from configx~49z?~4Yz? izBBT'@zGDzc;z,;z4  A EZj1=FNOT Ignoring new targets: 454.20 m.BjEZ=;JjEZ=;U ProNav: ac range: 454.200012 m, nav range: 235.282303 m, bearing: 355.433027 deg, approach rate: -0.151168 m/s, LOS rate: 0.165547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169793 deg. 2jU9;:jU>@]HeadingCmd: 4.820072 target range: 454.200012 and range: 473.50 m. jYjYjajaiahahahihifififirfqbfu`GB@ɛBb 隥UI  ;ɚiI$=Ii ׺ZHRH@AHI I II݂BI&I.I6IS<:I FBIJIRIZI =bIjI"5if))]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:20:08:53.8458 eTRx dataTimestamp_ set to:1736366935.072734mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.537796*Fu?2Fq:FqBFu_0JFqG}ňGiBy IiO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788350zK SNK K K K 'vw,նA>E@Y>㝙@>?;9>TX>y>H i??`(?@;@Aua?@o?ɨ>E@>3&; G٣yy; > Nusing accuracyPremultiplier from config49ޤ?4YI? iGBy%?:G'@PDz;t;4 TAZjqFNOT Ignoring new targets: 454.20 m.Bj);Jj); ProNav: ac range: 454.200012 m, nav range: 235.222626 m, bearing: 355.498626 deg, approach rate: -0.134396 m/s, LOS rate: 0.147769 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172032 deg. 2j;:jZ>@HeadingCmd: 4.820111 target range: 454.200012 and range: 473.50 m. jjjjihhhQh]ۃBfaffrfbfB@ɛmBuv:¼ y}nIy ;ɚiI;%=IiۺiVl))J!J!J5J5nJ1J1J5{:J599J1J1mWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 496.3 m (Round-trip 661.8 ms) speed -0.4 m/s ,DAT read: user:1149> BDAT read: Tx time:20:08:54.9299 $Ping request sent.B|w,lնAB*@YBȫ@B_4;9BTs>yBH`/??@@@0?.ʓf@}?X?ɨB*@Bv ;B,CyJςBJ IIVIVxV5٢^$= ^X=bWill construct direction to contact in vehicle frame from tetrahedron phase data.fJDAT read: TxSync time:20:08:54.9291 9f@ڻQ j>hh jG٣j7GynƑ; n> rNusing accuracyPremultiplier from configpz49r§?z4Yr? irLBxz~'@rXDrW;rQY;r4 A 5 addTargetRange:: Added new target pos. range: 496.299988 m, deltaT: 37.096615 s, deltaX: 22.799988 m, approachRate: 0.614611 m/s, rangeRepo size: 4 Zj1=FNOT Ignoring new targets: 454.20 m.BjE7;JjE7;U ProNav: ac range: 454.200012 m, nav range: 235.169479 m, bearing: 355.556900 deg, approach rate: -0.146546 m/s, LOS rate: 0.160720 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150047 deg. 2jU;:jU5;@]HeadingCmd: 4.819727 target range: 454.200012 and range: 496.30 m. jYjYjYjaiahahahahififqfqrfu@bf}=?ɛB| 隥I V;ɚiIt%=Ii@޺iUU)Q)Y*F?2F:FBF`0JFHI I"!IIBI&I.I6IO<:I~ FG5iuWill construct direction to contact in vehicle frame from tetrahedron phase data.G B! O= >+w,I ֶAJ|@YJ@J89J >yJH@fQ? l? 0@?6? %?`(?ɨJ|@J:;J0CyV؂BV IIzIz>5٢5 7= =C=9MλQ U> G٣yM; > 9I9 Nusing accuracyPremultiplier from configi49mA?4YmR? imRB嶿'@maDmv&;Jj>&; ProNav: ac range: 454.200012 m, nav range: 235.105835 m, bearing: 355.626628 deg, approach rate: -0.132625 m/s, LOS rate: 0.145342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184427 deg. 2j~;:j @@HeadingCmd: 4.820328 target range: 454.200012 and range: 496.30 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hhfffrfbf\R?ɛEB 隍pI ;ɚiI%=IiieE))zKJK9KKK 5FMONKHFA=73*F}?2Fy:FyBF}_0JFyG MJ] J] kJY JY J] ;J] 9JY JY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003254G B O >sTw,!'ֶAy~B~ IMb@Mb@Mb@ )Yd;O?l?V-?y?=<A ) AIy AII%.5٢ g^=  ==9Q >! %G٣!y- -> ENusing accuracyPremultiplier from config9M49= ?M4Y=]? i=YBM8?M:M,U'@=iD=q ;=;=+4] B ]BA]EZjFNOT Ignoring new targets: 454.20 m.Bj \";Jj \";E ProNav: ac range: 454.200012 m, nav range: 235.054474 m, bearing: 355.681713 deg, approach rate: -0.132323 m/s, LOS rate: 0.141948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140476 deg. 2jM;:jM9@uHeadingCmd: 4.819561 target range: 454.200012 and range: 496.30 m. jqjqjqjqiqhyhyhyh}Bfffrfbf}e?ɛBMļ ׾I };ɚiIM&=IUiUai]&G)Y)Y 1I1*F2F:FBFl0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254449G KGa B O >=y6H`? ?t?Ayx? r?`?ɨ6m@6Jd;6.CyRBR!IIZIZ?15٢z= z^=9~WQ ~> G٣7Gy B;  > %Nusing accuracyPremultiplier from config%49˰?-4Y? i`B)--'@pD\:~: 241 =A=EjHabHep<HaIa IeM!IIe%BIe =&Ia.Ia6Ie^<:Ie FZjFNOT Ignoring new targets: 454.20 m.Bj#;Jj#; ProNav: ac range: 454.200012 m, nav range: 235.007080 m, bearing: 355.732496 deg, approach rate: -0.133595 m/s, LOS rate: 0.143179 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127567 deg. 2j;:j7@HeadingCmd: 4.819335 target range: 454.200012 and range: 496.30 m. jjjjihhhhfffrfbf?ɛB:Ӽ }-7=ѾI m۲;ɚiIV&=Ii ?ri p7) ) MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508775*F?2F:FBFp4JF 9I9GQGI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758520zK ZMK 9K K K /(#!$-4?D@H\ :ISTNEHA6-]nD@!+tYYfw,ZֶA2Œ@Y2ՙ@292О >y2H`C??@IH? x|???ɨ2Œ@2xB;2,Cy:B:!I5Mb@Mb@Mb@111 1)1Y5sh|??J +?:v?y5 ?5H=5<5A 1)5 AI5 A1y5 AIMIML5٢e< eC=9eh&Q e>ii mG٣iyuq; u> Nusing accuracyPremultiplier from config49*?4Y? ihB ?:?'@wD$;,;W94 AZjQFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 234.950775 m, bearing: 355.785758 deg, approach rate: -0.130755 m/s, LOS rate: 0.123718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135011 deg. 2jЩ;:j9@UHeadingCmd: 4.819465 target range: 454.200012 and range: 496.30 m. jQjQjYjYiYhYhYhaheBfafafarfibfmED?ɛB Xԫ ̾I ¦;ɚiIu&=IiBi%B)!)!J%J%iJ!J!J%5;J%ڈ9J!J!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011890*F}?2Fy:FyBF}1JFG I6 1 I5 iG B O >w,tֶA6^@Y6@696>y6H ?@?K?%{`~?? ?ɨ6^@6̈;6.CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262265yTTIbIb-I5٢n: nT=9rz4Q r>pp vG٣tyv'[< v> zNusing accuracyPremultiplier from configx49z]?4Yz,? izoB'@z}Dz";zP#;z@4  AZj1=FNOT Ignoring new targets: 454.20 m.Bj=;JjE;M ProNav: ac range: 454.200012 m, nav range: 234.897980 m, bearing: 355.834885 deg, approach rate: -0.143601 m/s, LOS rate: 0.133652 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122599 deg. 2jUr;:jUI7@eHeadingCmd: 4.819249 target range: 454.200012 and range: 496.30 m. jajajajaiahihihihifqfqfqrfqbf̄@ɛmBmщ˼ im;Ii u=;ɚiIx&=Iii_))*FM?2FI:FIBFM4JFIHaIa Iem!IIe>BIa&Ia.Ia6Ie<:Ie F]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515370GmjGI BQ O >$yw,SֶAJ @YJ@J 9J>yJHq?`?'¿N|?ZyF}?#?`?ɨJ @J;J+CyVBV!IIbIb N5٢j< jK=9jNCQ j>ll rG٣r7Gyr < r> vNusing accuracyPremultiplier from configtz49vĺ?4Yv? ivwB  0'@vDv;v;vG4A EAI )I)ZjFNOT Ignoring new targets: 454.20 m.Bj-;Jj-;E ProNav: ac range: 454.200012 m, nav range: 234.842209 m, bearing: 355.886290 deg, approach rate: -0.122228 m/s, LOS rate: 0.112688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129440 deg. 2jE;:jEC8@mHeadingCmd: 4.819368 target range: 454.200012 and range: 496.30 m. jijijijqiqhqhqhqhyfyfyfyrfybfJ@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766716ɛƒB )-B̾I) -G;ɚ)i)I-&=I5i5Ni=)9)9zKQOKh9KKK~lcZURGA<640++'%$$"!   /=DEM|^=*F ?2F :F BF O1JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020336G-ćGBO->~w,_ֶA:D@Y:S@:~Y49:<>y:H@/?@(|?¿'M?@r? ?``?ɨ:D@:eLJ;:-CyFBF !I%Mb@Mb@Mb@!!! !)!Y%J +?y&1?Q?y%?%`e=%u<%A %~@)% AI% A!y%3 AI5I5=5٢EDμ E =9ݝQ > G٣yT< > Nusing accuracyPremultiplier from config49?4Y? iB ?:0'@D;^;XP4 AB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;= ProNav: ac range: 454.200012 m, nav range: 234.763626 m, bearing: 355.952682 deg, approach rate: -0.165318 m/s, LOS rate: 0.139718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174427 deg. 2j=ƿ;:j=>@EHeadingCmd: 4.820153 target range: 454.200012 and range: 496.30 m. jAjAjIjIiIhQhQhYh]ZH RH ?AH I  I !II MBI &I .I 6I \<:I FJ] J] lJ] 1JY J] ;J] 9J] 3JY J] `y:H@ü?@{??l`L?A?@-?ɨ:V@:$;8yddInInP59vaQ z>xx zG٣xy%; %> -Nusing accuracyPremultiplier from config)549-\ç?E4Y-\? i-BQm㭿m'@-D- <-!<-V4}G AE .Y y 8BZj)-FNOT Ignoring new targets: 454.20 m.Bj5Y;Jj5Y;E ProNav: ac range: 454.200012 m, nav range: 234.706833 m, bearing: 356.000439 deg, approach rate: -0.140686 m/s, LOS rate: 0.118331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118493 deg. 2jMk;:jM6@UHeadingCmd: 4.819177 target range: 454.200012 and range: 496.30 m. jQjQjQjQiYhYhYhYhYfafafarfabfm @ɛmƃBuм qu־Iy As;ɚiI O'=Iiji.;))EE*E "E  ?$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774451*FM ?2FI :FI BFM `5JFI "GU =GU =zK =MK 9K K K DC?>;8865231,*'"   G .A;G ?G >GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026402O>aw,dYֶAJ=i@YJx@JXz]9J >yJH|V?p{?@F@爽?c?ڋ?@?ɨJ=i@JJ;J0CyVBV IMb@Mb@Mb@ )Y/$?p= ף?Mbp?y1?=;EA @) AI Ay AI=I=N5٢M M<9U=Q U>Qy }G٣}7Gy}E; }> Nusing accuracyPremultiplier from config49ȧ?4Y? iB5 ?:'@Dp;;F`4 hAZj FNOT Ignoring new targets: 454.20 m.Bj G;Jj G;E ProNav: ac range: 454.200012 m, nav range: 234.621704 m, bearing: 356.066796 deg, approach rate: -0.165128 m/s, LOS rate: 0.128763 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174330 deg. 2jE;:jE>@MHeadingCmd: 4.820151 target range: 454.200012 and range: 496.30 m. jIjIjIjIiIhIhQhqhu#Bfyfyfyrfybf}`̛@ɛuɃBuļ y}@Iy TS;ɚiI~'=Ii{iWR;)) I*F?2F:FBF65JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280213G {/;G B O >Gy6H?|? kný?ۍR ?`Q?ó?ɨ6`o@6;6-Cy>тB> IDFAIJIJuZ5٢Rñ Vl=9VaQ V?XX ZG٣XyZm; Z? bNusing accuracyPremultiplier from config`f49b̧?f4Yb\? ibBdff'@bDb:b:bBf4h nAlZj|FNOT Ignoring new targets: 454.20 m.BjM;Jj M;% ProNav: ac range: 454.200012 m, nav range: 234.566895 m, bearing: 356.109550 deg, approach rate: -0.163940 m/s, LOS rate: 0.127909 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103477 deg. 2j%;:j%4@-HeadingCmd: 4.818915 target range: 454.200012 and range: 496.30 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bfE@ɛmʃBm~ im-Ii u @;ɚqiqIu'=HI Iy!IIHBI&I.I6IE<:Iv FBIJIRIZI =bIjI4Ii% i%r;)!)!JJkJ0JJt;J9Jـ3JJ$n<J%n<J:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531790*F?2F:FBF_0JFG;GB ) I) Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782523fƵw,M׶A2Cx@Y2ᇚ@2us92j >y2Hͽ?@'|? Z`b`J ?|Q`vn?c??`?ɨ2Cx@2;20CyRǂBR IzK~MK~9K|K~K~}Mb@Mb@Mb@yyy y)yY}ʡE?L7A`?y}?}+=}}A y)} AI}7 AyyyIIS5٢: ;=99Q > G٣y"; > Nusing accuracyPremultiplier from config49Sѧ?4Y@ iB?:C'@D3;;m4B =AEZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;% ProNav: ac range: 454.200012 m, nav range: 234.494019 m, bearing: 356.167055 deg, approach rate: -0.166947 m/s, LOS rate: 0.131777 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147757 deg. 2j%;:j%:@-HeadingCmd: 4.819687 target range: 454.200012 and range: 496.30 m. j)j)j)j)i)h)h1h1h5 Bf9f9f9rf9bf=@ɛm̃Bm imIi m4";ɚqiqIut'=I}i}s޺i}<)y)*F ?2F :F BF JF GsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034531GIGYGYG) B1 OM > ! I! ̵w,p4׶A6r@Y6?@6>96UP >y6Hޠ?`}?G:?3? Y?`v?ɨ6r@62;6.Cy>B> IIFIFY5٢N|O N]=9R Q R>PT VG٣V7GyVF V> ^Nusing accuracyPremultiplier from configXE49Z`է?M4YZ @ iZBQeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.286695UYm'@ZDZlxӵw,PN׶A:x@Y:@: ȁ9:XF >y:H˽?J}?9I ? ,?8? ? {?ɨ:x@:;:0CyBBB I F=DIHIH٢rd rF=9r-Q v>tt vG٣tyzf: z> ~Nusing accuracyPremultiplier from config|49~٧?4Y~@ i~B  D '@~D~q:~.:~{4 AEZjAEFNOT Ignoring new targets: 454.20 m.BjMi&;JjMi&;u ProNav: ac range: 454.200012 m, nav range: 234.364029 m, bearing: 356.270320 deg, approach rate: -0.183011 m/s, LOS rate: 0.145487 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138579 deg. 2ju;:j}9@HeadingCmd: 4.819528 target range: 454.200012 and range: 496.30 m. jjjjihhhhfffrfbf @ɛуB% I :ɚiIЀ(=Iiٺi^<)) IjmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.790764*F?2F:FBF0JFzKeKK]9KKKRK>JK?G1X<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042365Kٵw,ph׶A:s@Y:@:z9:>y:H`᣽?`W~?+, ?P? *?C ??ɨ:s@:8;:.CyVBV I Mb@Mb@Mb@    ) Y $C?p= ף?~jtxy ? = Ļ  ~@) I  y  AIIR5٢! !=9 oӺQ  >    G٣y > %Nusing accuracyPremultiplier from config-49ߧ?-4Y@ iB5?5:5c5'@äDJK;,;m49 =kA9ZjFNOT Ignoring new targets: 454.20 m. IBj;Jj; ProNav: ac range: 454.200012 m, nav range: 234.276718 m, bearing: 356.342265 deg, approach rate: -0.158838 m/s, LOS rate: 0.130934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191102 deg. 2j;:jA@HeadingCmd: 4.820444 target range: 454.200012 and range: 496.30 m. jjjjihhhh߃Bfffrfbfv@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294450ɛԃBz 隍\I m:ɚiI(=I=i=1ֺi=r;)9)A*F ?2F :F BF _0JF "G =G =H I  I ;!II BI &I .I 6I H<:I x FG 2<G ?G0?GBJJjJJJ} ;J9JJJO<JO<J:J:O>w,׶A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546678 [p@Y @ Ǎ9 >y H`? ~?)]? [?৸?B??ɨ [p@ ; ,CyB% II5I5^5٢Uo UI=9UкQ U>YY ]G٣]7Gy]#R e> mNusing accuracyPremultiplier from configiu49m>䧜?u4Ym5@ imBqun}'@mˤDm7:mz:m4 .AZjFNOT Ignoring new targets: 454.20 m.Bj"6;Jj"6; ProNav: ac range: 454.200012 m, nav range: 234.207153 m, bearing: 356.399919 deg, approach rate: -0.192074 m/s, LOS rate: 0.159233 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148199 deg. 2j;:j:@HeadingCmd: 4.819695 target range: 454.200012 and range: 496.30 m. jjjjihhhhfffrfbfs@]PExceeded connect timeout, disconnecting.ɛփBcB 隽|&I 9ɚiI$0)=Ii,Ժiu;))*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802238G A<G B O >zKE UKKE h9KA KE KE ?Rt}sd_[PB4'$ w,׶A2[o@Y2~@2@92b>y2H ??@ ݽ?b?'???ɨ2[o@2`T;2.Cy:wB:x IMb@Mb@Mb@ )YL7A`?Zd;?y+'?y=A h@)~AI Ay AIIT_5٢z F=9Q > G٣yݚ > Nusing accuracyPremultiplier from config49觜?4Y0&@ iB'?:p'@ӤD;);4 AZj FNOT Ignoring new targets: 454.20 m.Bj 0;Jj 0; ProNav: ac range: 454.200012 m, nav range: 234.134857 m, bearing: 356.463758 deg, approach rate: -0.175160 m/s, LOS rate: 0.154717 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166761 deg. 2j%\;:j%=@-HeadingCmd: 4.820019 target range: 454.200012 and range: 496.30 m. j)j)j)j)i)h)h)h1h5Bf9f9f9rf9bf=^@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050578ɛm׃BmL qu30Iq ut8ɚqiqIu)=I}i}Ѻi;))*F2F:FBF2JF  @$?I G #N;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303491o6w,׶A:k@Y:z@:i#9:h>y:Hd?`?9 l@½?i?&?` ? &?ɨ:k@:ݹ;:,CyRlBRk IIZIZX[5٢bb bZ=9bQ f>dd fG٣dyj, j> nNusing accuracyPremultiplier from configlr49n6?r4Yn,@ inBtvv'@nۤDn#;nQ;nE4x zAxB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj-70;Jj-70;E ProNav: ac range: 454.200012 m, nav range: 234.069794 m, bearing: 356.521596 deg, approach rate: -0.173257 m/s, LOS rate: 0.154061 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148750 deg. 2jEu;:jE;@MHeadingCmd: 4.819705 target range: 454.200012 and range: 496.30 m. jIjIjIjIiIhIhQhQhQfQfYfYrfabfe'@ɛكBV 隍`6I yɚiI)=IiϺi;))*F?2F:FBF3JFZHRH@AHI I!IIBI&I.I6I<:I FEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.555488JJnJJJ:J99JJJg1<Jg1<JR:JS:GU&;GYG]tAG1BAOu> m nManaging dock network, ignoring radio surface power off  I #w,׶AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808863yޭ_Bޭ[ I=Mb@Mb@Mb@999 9)9Y=(\?X9v?MbP?y=z4?=}==:=A =~@)9I99y=p AIUIU7`5٢]] e&=9mQ m>ii uG٣u7Gy} }> Nusing accuracyPremultiplier from config49?4Y5@ iB-5?:7'@DL;;4B AEZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?;e ProNav: ac range: 454.200012 m, nav range: 233.979462 m, bearing: 356.604091 deg, approach rate: -0.183682 m/s, LOS rate: 0.167810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222765 deg. 2jeU;:jeE@mHeadingCmd: 4.820997 target range: 454.200012 and range: 496.30 m. jijijijiiihihqhqhusBfqffrfbf ^@ɛ܃BBA T>I >ڳɚizK=QNK=s9K9K=K=xoib]ZSRNLHC@B;52.,(()$#  EIz*=IMiM̺iU$;)Q)*F)2F1:F1BF=`5JF9E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058329G *;Gi Bq O >yw, ׶A2|\@Y2l@2@92>>y2H]?C?``[?Rt?g??"?ɨ2|\@2և;2.Cy:VB>P IIJ IJg5٢RS R{=9RRQ R ?TT VG٣TyZ Z ? ^Nusing accuracyPremultiplier from config\b49^?b4Y^j;@ i^B`bqf(@^D^:^:^4h jAhZj|FNOT Ignoring new targets: 454.20 m.Bj ?;Jj ?; ProNav: ac range: 454.200012 m, nav range: 233.920914 m, bearing: 356.658229 deg, approach rate: -0.181011 m/s, LOS rate: 0.167420 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137642 deg. 2j%;:j%o9@%HeadingCmd: 4.819511 target range: 454.200012 and range: 496.30 m. j)j)j)j)i)h)h)h1h1f1f9f9rf9bf=`Un @ɛe݃Be imGCIi mɚiiiIm*=Ii{˺i(;))  aIej*F?2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.311340G {/;GBO >HM >II  IM IIM ӂBII &II .II 6IM ^<:IM F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562273@_w, ضA:+R@Y:a@:p9:t>y:HC?`-?f` Z?Vgx?-?ہ? ӹ?)D JCɨ:+R@:;:/CzbGyvSB~L I! 5YyQAIM@@MAIZ5٢}N }0=9DպQ > G٣y1 > Nusing accuracyPremultiplier from config49i?4YC@ iB(@DK;K;4 AZjFNOT Ignoring new targets: 454.20 m.BjG7;JjG7; ProNav: ac range: 454.200012 m, nav range: 233.837479 m, bearing: 356.736143 deg, approach rate: -0.171527 m/s, LOS rate: 0.160234 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209011 deg. 2j;:jC@HeadingCmd: 4.820756 target range: 454.200012 and range: 496.30 m. jjjjihhhhfff)rf)bf-n!@ɛ}߃B}aO 隅EI +ɚiIg+=Iihɺi㫔;)) QIQ*Fm?2Fq:FqBFyJFG G"GGmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817887G- ?G- ?G B! O= >zK} }:NK} 9Ky K} K} qfb]XQLJEB:0#  fw,:#ضAB@@YBP@Bg9B>yBH?? TII UG٣U7Gy]ǭ ]>JCKC KK.-KCKC"KCJJkJ1JJ;J9J3Ja@a@a@a@ Nusing accuracyPremultiplier from configi49mE?4Ym}K@ imBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067280 9I9m Will construct direction to contact in vehicle frame from tetrahedron phase data.m Aim Au checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319409gw,ڨ=ضA6E4@Y6C@696N>y6H`T??@q`2?? :֖?p? ?ɨ6E4@6R7;6/CyRMBPIZIZT_5٢, W=9OҺQ %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1E495?E4Y5iR@ i5´BAE󯿑M(@5 D5;5;54Q UAUEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 454.20 m.Bj?P;Jj?P; ProNav: ac range: 454.200012 m, nav range: 233.697067 m, bearing: 356.869369 deg, approach rate: -0.190686 m/s, LOS rate: 0.182065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166097 deg. 2j;:j=@HeadingCmd: 4.820008 target range: 454.200012 and range: 496.30 m. jjjjihhhhfffrfbf"@ɛB!Ά *JI ޫuɚiIV,=IiLjǺiE:))*F?2F:FBF0JFHI I IIBI&I.I6I<:I FBIJIRIZIbIjIË3GABQOm4>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570457 ! I! w,oWضA-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826313@Y*@ü9>yH?? qODv??_?@ J??ɨ@ڇ;0Cy=JB=A IMb@Mb@Mb@ )YX9v?y&1?~jt?y=?`e=D<A ~@)hAI AyAII]5٢? #=9 1DQ  >   G٣y2ʻ > %Nusing accuracyPremultiplier from config!-49%; ?-4Y%\@ i%˴B->?-:-E5(@%D% ;% ;%49 =,A9ZjaeFNOT Ignoring new targets: 454.20 m.Bjm=K;Jjm=K;} ProNav: ac range: 454.200012 m, nav range: 233.611450 m, bearing: 356.958261 deg, approach rate: -0.171077 m/s, LOS rate: 0.177687 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241959 deg. 2j};:j}YH@HeadingCmd: 4.821332 target range: 454.200012 and range: 496.30 m. jjjjihhhhOBfffrfbf@#@ɛMBMG\ IMLII U敻zKUoNKUS9KQKUKU ɚQiaIe,=Imim}AǺimm)i)*F-?2F1:F1BF=_0JF9GQGUrAG!B1OE>JJpJ0JJl:J^9Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.yFHN?@"?@`_`!? ;? 9?IB?@*?ɨFx@F篇;F,CybLBbD IIjIje5٢ f<  =9 Q  ? G٣7Gy떻 ? %Nusing accuracyPremultiplier from config!-49%?-4Y%a@ i%ѴB)5s5(@%D%:%X:%4 A$?Ij AZjFNOT Ignoring new targets: 454.20 m.Bj >;Jj >;- ProNav: ac range: 454.200012 m, nav range: 233.560013 m, bearing: 357.012319 deg, approach rate: -0.158472 m/s, LOS rate: 0.166584 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137397 deg. 2j-;:j-f9@5HeadingCmd: 4.819507 target range: 454.200012 and range: 496.30 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfE$@ɛuBu 8 y}KIy }ɚyiyI}K-=Ii/QǺi$))*F?2F:FBF`5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5H I  I II BI &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. yNH`.?"? gpɺ?Xp? sə?>(?ۻ?ɨN@N;N-CyVTBVM IIbIb`5٢jb= jI=9nݺQ n>ll rG٣pyrAf r> zNusing accuracyPremultiplier from configtz49v?~4Yvi@ ivٴB(@v'DvM7;v4;v*4 B AEZj1=FNOT Ignoring new targets: 454.20 m.Bj=?U;Jj=?U; ProNav: ac range: 454.200012 m, nav range: 233.492081 m, bearing: 357.084564 deg, approach rate: -0.175255 m/s, LOS rate: 0.186436 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191983 deg. 2j;:j4A@HeadingCmd: 4.820459 target range: 454.200012 and range: 496.30 m. jjjjihhhhfffrfbfW%@ɛ=B=xkv AEHIA EɚAiIb-=IiǺiBN))*F%?2F!:F!BF%O5JF! aIejGi"GBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.y2H@I۹??u@g{?? >?`=5?Y?ɨ2^@2Ɇ;2,CyBZBBT I Mb@Mb@Mb@    ) Y Gz?J +?Mb?y p=? H= <  ) AI  y  AII]5٢M< UH=9]ӍQ e>iq uG٣qy-_> ->JeJeoJaJaJe:JeK9JaJa Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1150> BDAT read: Tx time:20:09:05.8800 $Ping request sent.0w,$ضA2@Y2Y@2 ݼ92>y2H?`~?)mĹ?.?d?)?l?ɨ2@2;2/Cy>aBB] IIJIJD5٢R = RL=9R]Q V>TT VG٣V7GyZ Z> ^Nusing accuracyPremultiplier from config\b49^9?b4Y^dy@ i^Bdfof(@^:D^;^I;^U4h jAlzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 454.20 m.Bj 4^;Jj 4^; ProNav: ac range: 454.200012 m, nav range: 233.365479 m, bearing: 357.228643 deg, approach rate: -0.168680 m/s, LOS rate: 0.194268 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169671 deg. 2j%S<:j%>@-HeadingCmd: 4.820070 target range: 454.200012 and range: 496.30 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bfE&@ɛ B 8 |CI ɚiI.=IiEҀɺiE:߻)A)AH I  I I I &I .I 6I <:I  F*F?2F:FBF_0JFGsA GsAGWqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499935GBOB> I n*6w,jضAFWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900Ӓ@Y@W9?>yHX?1?d`? P? ?!;??ɨӒ@U;+CykBi IMb@Mb@Mb@ )Y7A`?A`"?/$?y6?Y=< h@)hAI AyAIIJ5٢}= !=9Q > G٣yV > Nusing accuracyPremultiplier from config 49L ? 4YԂ@ iB7?:(@FD3;1;:4 1A!ZjAMFNOT Ignoring new targets: 454.20 m.BjM=D;JjM=D;] ProNav: ac range: 454.200012 m, nav range: 233.288284 m, bearing: 357.315799 deg, approach rate: -0.151905 m/s, LOS rate: 0.171565 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.236739 deg. 2j]|;:jeG@mHeadingCmd: 4.821240 target range: 454.200012 and range: 496.30 m. jijijijiiihihqhyh}pBfyffrfbfQ'@ɛB@#a 隵?I ɚiI/=Ii|˺iS))zK]&KK]9KYK]K]*F]?2FY:FYBFYJFYJ@AJBAJJJJJ:Jy9JJ5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004492G Gq B O >RH >I  I II BI  =&I .I 6I <:I FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5075329Cw, ٶA6Bƒ@Y6ՙ@6"968>y6HC? R?`^?v?@q?y?r?ɨ6Bƒ@69;6.CyRBR IIbIbxV5٢fo= jO=9jQ j>ll nG٣n7GyrC r> vNusing accuracyPremultiplier from configtz49vL'?z4Yv@ ivBxz~(@vVDv:v ;v4 WAZj)5FNOT Ignoring new targets: 454.20 m.Bj=N;Jj=N;M ProNav: ac range: 454.200012 m, nav range: 233.182526 m, bearing: 357.436862 deg, approach rate: -0.156429 m/s, LOS rate: 0.180172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178069 deg. 2jML;:jM7?@UHeadingCmd: 4.820217 target range: 454.200012 and range: 496.30 m. jQjQjYjYiYhYhYhahafafafirfibfm\)@ɛ^dq 隭72I @ɚiI/=IiSκi6))*F=?2F9:FABFE~0JFA"GM=GM= IjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763832G;3GBO>zK 7KK 9K K K  cIw,b'ٶABҒ@YB@Bc9BP>yBH?`?`]??М??i?ɨBҒ@B;B-Cy^Bb IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012234Mb@Mb@Mb@ )Yn?Mb?Zd;O?yV.?@=j<vA ~@)AI AyG AI-I-=X5٢=,< =5=9Ec:Q E>AA MG٣IyMP; M> ]Nusing accuracyPremultiplier from configQ]49Un+?e4YU@ iUBe.?e:ee(@U`DU;Uo;Uq4i u7AuEZjFNOT Ignoring new targets: 454.20 m.Bj;;Jj;; ProNav: ac range: 454.200012 m, nav range: 233.120163 m, bearing: 357.510741 deg, approach rate: -0.138399 m/s, LOS rate: 0.164002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196884 deg. 2j;:jA@HeadingCmd: 4.820545 target range: 454.200012 and range: 496.30 m. jjjjihhhhBfffrfbfD*@ɛB_ !%0I! %~ɚ!i!I%=0=I-i-кi5$)1)1*F?2F:FBF0JF IG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264838G B) O] >LPw,?AٶA6Β@Y6|ޙ@696>y6H`??MFE? O?ڜ??@?ɨ6Β@6D;6.CyBBB IIJIJH5٢jb= jd=9n̸Q n>pp rG٣pyr5 v> ~Nusing accuracyPremultiplier from configx49z.?4YzE@ izB(@zhDzu;z;z4  A-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 454.20 m.BjEQ;;JjEQ;;U ProNav: ac range: 454.200012 m, nav range: 233.070908 m, bearing: 357.569576 deg, approach rate: -0.137072 m/s, LOS rate: 0.163765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151728 deg. 2jU;:jUs;@]HeadingCmd: 4.819757 target range: 454.200012 and range: 496.30 m. jYjajajaiahahahihifififqrfqbf}T*@ɛBl 隽&I  ɚiIQ0=IiҺi}))jH<bH<HI I II݂BI =&I.I6IK<:Iz F*FU?2FQ:FQBFU`5JFQJJJ1JJ:J9J3JJk;aJm;aJ' ;aJ( ;aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517044mGy YyAGuJGIBYOu> u B$?Iy uVw,P[ٶA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768800Rْ@YRA@R9R>yRH`T޸?`?0@`ؚ?]\????ɨRْ@RР;R1Cy^B^ IIjIjT5٢ F= G=9%[9Q ->11 EG٣E7GyUdN; e> Nusing accuracyPremultiplier from configy49}2?%4Y}@ i}&B)-j5(@}qD}<} =} 4B AAEZj9EFNOT Ignoring new targets: 454.20 m.BjEI(;JjEI(;} ProNav: ac range: 454.200012 m, nav range: 233.012970 m, bearing: 357.638730 deg, approach rate: -0.123233 m/s, LOS rate: 0.147128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182700 deg. 2j};:j}?@HeadingCmd: 4.820297 target range: 454.200012 and range: 496.30 m. jjjjihhhhfffrfbf+@ɛBXO )- Y IY 8\w,uٶAB<ے@YB@BO9B >yBH ?'?;`騹??oۜ?? ?ɨB<ے@BE;B/CyNBN I5Mb@Mb@Mb@111 1)1Y5(\?)\(?:v?y5'?5Ga=5<1 5h@)5hAI5 A1y5 AIMIM~N5٢]fW= ]D=9eTQ e>ai mG٣iymU9 u> }Nusing accuracyPremultiplier from configq49u6?4Yu@ iu1Bf(?:(@uyDuw;u;u&4q uAyZjFNOT Ignoring new targets: 454.20 m.Bj >9;Jj >9; ProNav: ac range: 454.200012 m, nav range: 232.956039 m, bearing: 357.702502 deg, approach rate: -0.144545 m/s, LOS rate: 0.161953 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166547 deg. 2jK;:j=@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271616uHeadingCmd: 4.820015 target range: 454.200012 and range: 496.30 m. jqjqjqjqiqhqhyhyh}BfffrfbfB,@ɛJFY 隥I (2ɚiIdF1=IiYպi))*FQ2FQ:FQBFUU5JFQHI I!IIBI =&I.I6I><:Io FBIiJIiRIiZIibIijImF4G ̻G rAG J J qJ 0J J K:J q9J ـ3J J s5<J t5<J :J : Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:20:09:08.9588 % TRx dataTimestamp_ set to:1736366950.193498- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525882GY Bi O >rcw,юٶAy%ɂB% II5I5F5٢M= ML=9MQ U>QQ UG٣Yy] ]> eNusing accuracyPremultiplier from configam49e^:?m4Yen@ ie;Bqqu(@eDen:e:e$4y IAEZj  FNOT Ignoring new targets: 454.20 m.Bj@;Jj@; ProNav: ac range: 454.200012 m, nav range: 232.900040 m, bearing: 357.765558 deg, approach rate: -0.149454 m/s, LOS rate: 0.168326 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164399 deg. 2j ;:jC=@ IjHeadingCmd: 4.819978 target range: 454.200012 and range: 496.30 m. jjjjihhhh f f f1rf1bf5@-@ɛy}PU 隅 I zL9ɚiIF1=I i ֺͤi m) )E*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776066G ߻Ga Bi O >zK uMK h9K K K !  !! ! 9iw,2ٶA:|@Y:@:X9:D>y:H,??' :? ? ??1?ɨ:|@:F;:.CyJ͂BJ IuMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 505.9 m (Round-trip 674.6 ms) speed -0.7 m/s ,DAT read: user:1151> BDAT read: Tx time:20:09:10.0801 $Ping request sent. G٣7Gy; > Nusing accuracyPremultiplier from config49>?4Yk@ iFB|?:y(@D;; 4 -A addTargetRange:: Added new target pos. range: 505.899994 m, deltaT: 15.119751 s, deltaX: 9.600006 m, approachRate: 0.634932 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%; ProNav: ac range: 454.200012 m, nav range: 232.838318 m, bearing: 357.830263 deg, approach rate: -0.137618 m/s, LOS rate: 0.144309 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169355 deg. 2jM;:jM=@UHeadingCmd: 4.820065 target range: 454.200012 and range: 505.90 m. jQjQjQjQiQhQhYhYh]BfYfafarfe`f@bf ?ɛB\I kI ܐAɚ iIz1=IEiM+غiUQɻ)Q)Y I*F=?2F9:F9BF=^0JF9"GU=GU= Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս AiՍ A JDAT read: TxSync time:20:09:10.0793 G} 3GY By O >pw, ٶA6@Y6]@696U>y6H`F?Ō?B`?`K?ܜ??F?ɨ6@6;6,Cy>݂BB IIJIJX5٢V= Vj=9VѹQ Z>XX ZG٣Xy^V: ^> bNusing accuracyPremultiplier from config`f49bB?f4Yb@ ibNBhjmj(@bDb:b:b '4l rAp~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 454.20 m.Bj T-;JjT-;- ProNav: ac range: 454.200012 m, nav range: 232.790115 m, bearing: 357.880952 deg, approach rate: -0.144075 m/s, LOS rate: 0.151537 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127283 deg. 2j-;:j-7@5HeadingCmd: 4.819330 target range: 454.200012 and range: 505.90 m. j1j1j1j1i1h1h9hAhAfAfAfArfIbfM#?ɛ\ hI a(Gɚ i I d'2=IH%>I! I%G!II% BI!&I!.I!6I%x<:I% FiUeغiU)Q)Y*F?2F:FBF_0JFJJ{J1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJ:J-9J3JJ3<<J3<<J:J:G̻ IGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753143vw,AٶA%@Y%@%A9%r >y%H(?A?@`?`a/?`g??F?ɨ%@%×;%-CymBu IIIaO5٢ < )=9kKQ > G٣y%t %> -Nusing accuracyPremultiplier from config)549-F?54Y-|@ i-ZB1==(@-D-f;-;-/4EB EAAZjimFNOT Ignoring new targets: 454.20 m.Bj}9&;Jj}9&; ProNav: ac range: 454.200012 m, nav range: 232.723679 m, bearing: 357.951382 deg, approach rate: -0.137045 m/s, LOS rate: 0.145323 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186535 deg. 2jw;:jm@@HeadingCmd: 4.820364 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbf0W?ɛ= !%|I! %XOɚ!i!I%i2=I-i-Wںi5Hл)Q)QzKPMK9KKK YGP]E4'*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006388G G B O] > q Iq }w,YٶA2@Y2n@292 >y2H6? ?@A^ ?V?[?@S?`Ȱ?ɨ2@2?;0yVBV!I5Mb@Mb@Mb@111 1)1Y5d;O?Zd;O?I +?y5?5j<=15A 5~@)1I5 A1y5p AIMIM>5٢] < ]k=9eQ e?ii mG٣m7Gyum$: u? }Nusing accuracyPremultiplier from configy49}I?4Y}@ i}bBN?: (@}D};};}54 `AZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 232.682251 m, bearing: 357.999873 deg, approach rate: -0.119135 m/s, LOS rate: 0.139475 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120688 deg. 2jp;:j7@HeadingCmd: 4.819215 target range: 454.200012 and range: 505.90 m. jjjjihhhhBfffrfbf @~?ɛfR I VUɚiI82=IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256573idۺiMȻ))!*F?2F:FBF0JFG GHz>IC Im!II>BI =&I.I>D6Ir<:I FG- İ˻G B O- >J J J J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508351J 9J J J J J ' ;J ( ;7w,ڶAfT@Yf@f9f >yfH~? ˆ?h ;e?|ϐ?@? M?`?ɨfT@f!;f+CyrBr !IIzIz75٢(/= P=9 f8Q  >    G٣ yk; > Nusing accuracyPremultiplier from config%49M?%4Y@ ikB)-ܲ-(@DL:n:j<41 5A5 EZjaeFNOT Ignoring new targets: 454.20 m.Bjm ;Jjm ; ProNav: ac range: 454.200012 m, nav range: 232.635208 m, bearing: 358.054783 deg, approach rate: -0.120292 m/s, LOS rate: 0.140438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139950 deg. 2j;:j9@HeadingCmd: 4.819551 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbf ? I!ɛIMG IMlIQ uֵ[ɚqiqIus2=I}i}?ܺi}͞)y)*FM?2FI:FIBFM3JFQ%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760437G̻G B O >zK] NK] 9KY K] K]   oxE,4`#*w,ϡ*ڶABK rA:K qAN@YN@N~9N >yNH ;??` ] ?`??AK?@Z?ɨN@N6;N*CyZBZ!I=Mb@Mb@Mb@999 9)9Y=/$?i|?5? rh?y=&?=q=mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012493=C<=A =h@)=hAI= A9y9IMIM#U5٢< 0=9;Q > G٣y; > Nusing accuracyPremultiplier from config49Q?4Yp@ iuB?:B(@D;;D4B AEZjimFNOT Ignoring new targets: 454.20 m.Bju;Jju; ProNav: ac range: 454.200012 m, nav range: 232.573746 m, bearing: 358.118019 deg, approach rate: -0.129917 m/s, LOS rate: 0.133701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164944 deg. 2j;:jW=@HeadingCmd: 4.819988 target range: 454.200012 and range: 505.90 m. jjjjihhhh BfffrfbfC@ɛ=B=)9 9=I9 E=cɚAiAIE9$3=IMiMܺiM/)I)q C$?Ij*F 2F :F BF 2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264302GM QpG) B1 OU >z w,}YDڶANO@YN(@N`9N >yNH@غ?@܄? [?#??H??ɨNO@N@;N/CyTXIbIbW5٢jԖ jr=9j)=;Q j?ll nG٣n7Gyr<; r? vNusing accuracyPremultiplier from configtz49vT?z4Yve@ iv|Bx~󮿑~(@vDvI;v`J;vnJ4  A %B*** querying acoustic contact ***j!j!Zj1=FNOT Ignoring new targets: 454.20 m.Bj=;Jj=;M ProNav: ac range: 454.200012 m, nav range: 232.528717 m, bearing: 358.164067 deg, approach rate: -0.136725 m/s, LOS rate: 0.139846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113356 deg. 2jM;:jM5@]HeadingCmd: 4.819087 target range: 454.200012 and range: 505.90 m. jYjYjYjYiYhYhahahafafifirfibfmW@Hr>IC I!IIRBI =&I.I=D6I*<:IS Fɛ[U I yhɚiIe3=Iic}ܺi'/))*FA2FA:FIBFM3JFI"GU=GU=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517352 IGmGA BQ Om >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7685562w,'1^ڶAN$@YN4@N9N1 >yNH5? ބ?`m``?`7?` ? 2$??ɨN$@N;N-CyfBf!IIvIvU5٢~; ~H=9xH:Q > G٣y kd;  > Nusing accuracyPremultiplier from config49X?4Yf@ iB!%î%(@D;$;Q4A M AIZjAuFNOT Ignoring new targets: 454.20 m.Bju$;Jj}$; ProNav: ac range: 454.200012 m, nav range: 232.474075 m, bearing: 358.219805 deg, approach rate: -0.115799 m/s, LOS rate: 0.118151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142440 deg. 2j+;:j:@HeadingCmd: 4.819595 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbfA8@ɛ=B== 9=I9 =TBpɚAiAIE3=IMiMۺiMՙ9)I)Q*F?2F:FBF0JFzK]3OK]]9KYK]K]}n?0(!   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020266J1J5@AJMJMJM0JIJMT;JMH9JMـ3JIae@ae@ae@ae@G u4G B  I O >[w,hxڶA6=3@Y6B@6 96S >y6H 2??{[?@ĉ?`o@?@G?@ڱ?ɨ6=3@62;6/Cy>B>!I Mb@Mb@Mb@    ) Y Q?)\(?Mb?y \? Ga= < A ) AI  A y  AI%I%J5٢-< 5G=95a:Q 5>99 EG٣AyM\; M> UNusing accuracyPremultiplier from configQU49U\?]4YU_@ iUB]?]:]](@UƥDUS =U> =UX4a mAiZjFNOT Ignoring new targets: 454.20 m.BjR%;JjR%; ProNav: ac range: 454.200012 m, nav range: 232.420380 m, bearing: 358.275318 deg, approach rate: -0.139773 m/s, LOS rate: 0.144536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141762 deg. 2jc;:j:@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272478HeadingCmd: 4.819583 target range: 454.200012 and range: 505.90 m. jjjjihhhhBf!f!f!rf!bf-`A @ɛBJM 隝I NvɚiI3=IiD&ۺi~:)) *F?2F:FBF_0JFHi>IC I!II\BI =&I.I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530811,Dw,ڶAyB!II5I5X5٢E^Լ EI=9MQ M>II MG٣U7GyU U> ]Nusing accuracyPremultiplier from configYe49]`?e4Y]@@ i]Biim(@]ͥD]:]:]_4q uA} E IZjFNOT Ignoring new targets: 454.20 m.Bj$;Jj$; ProNav: ac range: 454.200012 m, nav range: 232.367767 m, bearing: 358.329950 deg, approach rate: -0.138637 m/s, LOS rate: 0.143992 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139120 deg. 2j ;:j 9@HeadingCmd: 4.819537 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbfZ @ɛTQ I |ɚiIB4=Ii Xںi E:) )*F?2F:FBFJFG GEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.785115G:G B O >pw,ɫڶA29=@Y2L@2-92K >y2H@?Ɂ?Tz` ? މ?d?0??ɨ29=@2g;2+CzKNMKNh9KLKNKNy:BV !I5Mb@Mb@Mb@111 1)1Y5tV?J +?{Gzt?y5?5H=5ף;5A 5Q@)5hAI5 A1y5G AIMIMO5٢]^{ ]I=9])Q ]>aa eG٣aymD; m> uNusing accuracyPremultiplier from configq}49ued?}4YuK@ iuB}:?:](@uեDu;u;uf4 /AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043045ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;JeJeJaJaJee ;Je9JaJa ProNav: ac range: 454.200012 m, nav range: 232.316376 m, bearing: 358.386203 deg, approach rate: -0.126632 m/s, LOS rate: 0.138640 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143982 deg. 2jK;:jW:@HeadingCmd: 4.819622 target range: 454.200012 and range: 505.90 m. jjjjihhh h Bf ffrfbf ]Z@ɛ]B]N aeIa éɚaiI 4=Ii-2ٺi&.;)) I*Fi2Fi:FiBFu`0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297971G G B O >Uw,ڶA:y:H@2>??hZ??B? ??ɨ:lp rG٣pyvD:; v> zNusing accuracyPremultiplier from configx~49zh?4Yz @ izB8(@zܥDzK;z;zm4  *A-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 454.20 m.BjE!;JjE!;U ProNav: ac range: 454.200012 m, nav range: 232.267426 m, bearing: 358.439750 deg, approach rate: -0.129217 m/s, LOS rate: 0.141383 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135863 deg. 2jU;:jU.9@ZHYRH]?AHe`>IeC IaIaIe =&IeGD.Ie;D6Ie<:Ie FBI%CJI%CRI%CZI% =bI% =jI%6HeadingCmd: 4.819480 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbf@@ɛB)%] I ྄ɚiIr4=Ii غig;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.548618*F%?2F!:F!BF%0JF! yI}jGe ']?;GA BI Om >Fw,hzڶA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=4.801175:UF@Y:U@:x9:>y:H>?K?.1` ?m?z???ɨ:UF@:R;:.CyFBF IININP5٢VG VM=9ZhQ Z>XX ZG٣\y^7 b> jNusing accuracyPremultiplier from configdj49fk?n4YfA ifBln7n(@fDf;f ;ft4x eAiZjFNOT Ignoring new targets: 454.20 m.Bj);Jj);  ProNav: ac range: 454.200012 m, nav range: 232.217148 m, bearing: 358.494986 deg, approach rate: -0.102763 m/s, LOS rate: 0.112921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140929 deg. 2j;:j9@HeadingCmd: 4.819569 target range: 454.200012 and range: 505.90 m. jjjjihhh!hAfIfIfIrfIbfM@ɛB]O  I 6ɚiI@?5=Ii`ֺiJ`;))zK}JK}9KyK}K}*F?2F:FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.052490J#K+3 K+.K#K#"K#JJJJJm;J9JJ i Ii G g;Gy B O >©w,NڶA6:H@Y6W@6%96!>y6HM??~@K?i0??? ޵?ɨ6:H@6E ;6/Cy>܂BB I Mb@Mb@Mb@    ) Y bX9??~jth?y E? L= D; A ~@) I  y p AIuIuMD5٢2 ==9&Q > G٣7Gy : > Nusing accuracyPremultiplier from config49o?4YA iB?:+(@D9;;J|4 AZjFNOT Ignoring new targets: 454.20 m.BjL;JjL;  ProNav: ac range: 454.200012 m, nav range: 232.161469 m, bearing: 358.556365 deg, approach rate: -0.162472 m/s, LOS rate: 0.179146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159367 deg. 2j;:j<@HeadingCmd: 4.819890 target range: 454.200012 and range: 505.90 m. jjjjihh!h!h%Bf!f)f)rf1bf=@ɛeBe6r ae Ii m-ɚiiiImL5=IuiuDպiugnn;)y)yUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.305409*F-?2F):F)BF-@5JF1Hm[>ImC Im!IImRBIm =&Ii.Im:D6Im<:Im FGU.A;G]?G]>G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.556281Ķw,*۶A6K@Y6Z@6{^96>y6Hd?@?@?c?*?`??ɨ6K@6s};6,CyBԂBB IININM5٢j, jV=9n:Q n>lp rG٣pyrj: r> zNusing accuracyPremultiplier from configtz49vs?z4YvTA ivB I j  (@vDv;vl;v4B A%EZjAEFNOT Ignoring new targets: 454.20 m.BjM ;JjM ;] ProNav: ac range: 454.200012 m, nav range: 232.112946 m, bearing: 358.610038 deg, approach rate: -0.127221 m/s, LOS rate: 0.140754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136240 deg. 2j]2;:je<9@eHeadingCmd: 4.819487 target range: 454.200012 and range: 505.90 m. jajijijiiihihihqhqfqfqfyrfybf}@ɛBHl I ?ɚiI:5=IiӺiY;))*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.808397Gg;G BA O} >;ʶw,-۶A>F@Y>,V@>l9>(i>y>H g@??@pxe?7[?̝?`F? "?ɨ>F@> );>/CzKRJKR]9KPKRKRyZɂBZ I=Mb@Mb@Mb@999 9)9Y=ףp= ?~jt?Mb`?y=?=D==;=A =h@)9I=7 A9y=G AIUIU N5٢eP eB=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy49}w?4Y}A i}B2?:#(@}D}/;};}G4 aA EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.060424ZjFNOT Ignoring new targets: 454.20 m.Bjh+;Jjh+; ProNav: ac range: 454.200012 m, nav range: 232.058136 m, bearing: 358.673336 deg, approach rate: -0.129730 m/s, LOS rate: 0.149857 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165125 deg. 2j;:j]=@J=J=J9J9J=%;J=9J9J9}HeadingCmd: 4.819991 target range: 454.200012 and range: 505.90 m. jyjyjyjihhhhكBfffrfbf`d@ɛIMuh iuIq uɚqiqIu]6=I}i}|[Һi})_;)y) D$?I*F-?2F):F)BF)JF)G1 G1Gm !j;u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq } checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313178GA BQ Om >Ѷw,F۶A6H@Y6X@696>y6H@S? ? ?^??@5??ɨ6H@6;4y>‚B> IIJIJxV5٢Z ^V=9^7WQ ^>`` bG٣b7GyfK: f> nNusing accuracyPremultiplier from confighr49j]{?r4YjGA ijBprv(@jDjp;j;j4x zAxHY>IC Is!IICBI =&I.I6I^<:Ic F5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 454.20 m.BjE*;JjM*;e ProNav: ac range: 454.200012 m, nav range: 232.008545 m, bearing: 358.730826 deg, approach rate: -0.128804 m/s, LOS rate: 0.149352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147692 deg. 2je;:je:@mHeadingCmd: 4.819686 target range: 454.200012 and range: 505.90 m. jijijijiiqhqhqhqhfffrfbfx@ɛmBm(I~ qunI ˳ɚiI6=IiO Ѻi%6v;))*F-?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.565808 IGGsAGsAGBO>׶w,`۶AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.816304jD@YjuT@j[9jq>yjH2? ?]m?? 3ʞ?`?`?ɨjD@j%;hyvBv II~I~aO5٢ Wk  E=9 κQ > G٣y@ > %Nusing accuracyPremultiplier from config!-49%c?54Y%!A i%BAE*M(@% D%X;%;%44i mAiZjFNOT Ignoring new targets: 454.20 m.Bj+;Jj+; ProNav: ac range: 454.200012 m, nav range: 231.955383 m, bearing: 358.792953 deg, approach rate: -0.128298 m/s, LOS rate: 0.149968 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161608 deg. 2j;:j<@]HeadingCmd: 4.819929 target range: 454.200012 and range: 505.90 m. jYjajajaiihihhhfffrfbf@ɛB-@v 15 I1 5fɚ1i9I=77=IEimPϺim\U;)q)q*F%?2F!:F!BF!JF!zKFKKػ9KKK    Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068354J5 J5 J1 J1 J5 k:J5 9J1 J1 I G! G B O- >aݶw,z۶AyB IMb@Mb@Mb@ )YNbX9?Zd;O?y%?j<=A Q@)AI Ay AII#U5٢% 0=9Q  > G٣y% %>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.320519 MNusing accuracyPremultiplier from configIU49M?U4YM)A iMĵB] &?]:]鱿](@MDM];M;M4 AZjFNOT Ignoring new targets: 454.20 m.BjK2;JjK2; ProNav: ac range: 454.200012 m, nav range: 231.893753 m, bearing: 358.867555 deg, approach rate: -0.128738 m/s, LOS rate: 0.155877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199052 deg. 2j;:j7B@HeadingCmd: 4.820583 target range: 454.200012 and range: 505.90 m. jjjjihhhhBfffrfbf/@ɛIU { QUf!IQ UmɚQiQI$7=Ii-κiZ;))HI IZ!II/BI =&I.I6It<:Is F*F5?2F1:F9BF9JF9"GE=GE= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.572282Gu g;GQ BY Ou >w,\ɔ۶A I F?@YFN@F9Fr>yFH@k?$?@M@.м?y͐?`?`z?@?ɨF?@FȈ;F.CyRBR IIZIZ=X5٢b߰ fq=9j.Q j?ll nG٣n8GyrD r? vNusing accuracyPremultiplier from configtz49vJ?z4Yvx/A ivȵBxz~(@vDvu ;v. ;vH4 yAZj)-FNOT Ignoring new targets: 454.20 m.Bj5{8;Jj5{8;E ProNav: ac range: 454.200012 m, nav range: 231.851364 m, bearing: 358.919384 deg, approach rate: -0.131888 m/s, LOS rate: 0.161287 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130700 deg. 2jEa;:jEq8@UHeadingCmd: 4.819390 target range: 454.200012 and range: 505.90 m. jQjQjQjYiYhYhYhYhafafafarfabfm:@ɛ Jd=隥 )I ɚiI 8=I-i-Iͺi-N/;)1)1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.824345G']?;GBI O >w,&۶A6:@Y6EJ@6-96s>y6HE?? -9?@6S? %?K?}?ɨ6:@6e;6-CyRBR IzK~LK~h9K|K~K~ BK sA:K sAMMb@Mb@Mb@III I)IYMsh|??{Gz?~jtx?yM)?M#=M;M`A I)MQAIM AIyM(AIeIeW5٢mv u@=9uQ u>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076490 G٣y梁 > Nusing accuracyPremultiplier from config49C?4Y6A iϵBL*?:(@$D!;;4B A EZjFNOT Ignoring new targets: 454.20 m.Bj7;Jj7; ProNav: ac range: 454.200012 m, nav range: 231.799149 m, bearing: 358.987951 deg, approach rate: -0.122380 m/s, LOS rate: 0.160742 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180936 deg. 2j;:j?@ HeadingCmd: 4.820267 target range: 454.200012 and range: 505.90 m. j j j jihhhhBfffrfbf; @ɛ-B 9I= jm qu*Iq uɚqiqI}8=I}i%̺i0;))*Fe?2Fa:FaBFe0JFi- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.328294G U:;G B O >zw,Bv۶AHBW>I@ IBA!IIBBIB =&I@.I@6IB<:IB F3@YbC@%9 >yH]?? ?`b7????ɨ3@[;%}G騅,CAQ yYyAyB IIIQ5٢R 3=9LкQ >)) -G٣1y5. 5> =Nusing accuracyPremultiplier from config9E49=?e4Y=>A i=׵Bimm(@=.D=B;=;=4q uAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj 6;Jj 6; ProNav: ac range: 454.200012 m, nav range: 231.743408 m, bearing: 359.062037 deg, approach rate: -0.119721 m/s, LOS rate: 0.159162 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197496 deg. 2jv;:jA@%HeadingCmd: 4.820556 target range: 454.200012 and range: 505.90 m. j!j!j!jAiAhAhAhIhIfIfIfQrfQbfU@o'!@ɛyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580465V] +I ɚiI?9=Ii1˺iv:))JJJJJ ;J*9JJJ$SOw,۶Ay]B] IIIxV5٢G ^=9Q > eG٣e8Gy} > Nusing accuracyPremultiplier from config49,? 4Y{EA iݵB(@6D<<4uB }A EZj1=FNOT Ignoring new targets: 454.20 m.Bje^);Jje^);u ProNav: ac range: 454.200012 m, nav range: 231.696121 m, bearing: 359.125307 deg, approach rate: -0.110644 m/s, LOS rate: 0.148073 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165036 deg. 2ju>;:juZ=@}HeadingCmd: 4.819989 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbf,"@ɛae aeh0Ia m᲼ɚiiiIm͒9=IuiuFʺiLd:))zK-KK- 9K)K-K-* MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.084278JAAJAA IE d6=*Fu ?2Fq :Fq BFu j0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339433G7:GBO ?`~w,CܶA:#@Y:2@:f 9:>y:H%? ?)s ?@“?2??౵?ɨ:#@:b;:/CyBBB IMb@Mb@Mb@ )YV-?&1?~jth?yh1?P=D;vA )I~AyQAI5I5T5٢E E=9E!Q M>II MG٣IyU+ U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]NA i]Bm1?m:m1m(@]BD];]W;]4q u!AqHT>I I.!II BI&I.I9D6I<:I FBIuCJIuCRIuCZIu =bIu =jIu35Zj1=FNOT Ignoring new targets: 454.20 m.BjeIJ;JjeIJ;u ProNav: ac range: 454.200012 m, nav range: 231.627869 m, bearing: 359.211605 deg, approach rate: -0.139831 m/s, LOS rate: 0.176852 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.234153 deg. 2ju;:juٞw,sܶA6!@Y6r1@6I 96Jf>y6H@]? ?/]?;?^h?B??ɨ6!@6;6-Cy>B@ININuZ5٢jtE jS=9j(Q n>ll rG٣pyrֹ r> vNusing accuracyPremultiplier from configtz49v?z4YvUA ivB|~6~(@vJDv ;v ;vK4 )A  EZj15FNOT Ignoring new targets: 454.20 m.Bj= K;Jj= K;M ProNav: ac range: 454.200012 m, nav range: 231.576599 m, bearing: 359.276951 deg, approach rate: -0.139241 m/s, LOS rate: 0.177511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171268 deg. 2jU;:jU>>@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.844436UHeadingCmd: 4.820098 target range: 454.200012 and range: 505.90 m. jajajijiiihihihqhqfqfqfqrfybf}ܳ#@ɛs 隵3I ɚiIG:=Iikɺi_))EE*E"E*F?2F:FBF1JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. w,9ܶA:@Y:h'@:, 9:RJ>y:Hc˺?+? ?@?? ?@ѵ?ɨ:@:;:/Cy@F ImMb@Mb@Mb@iii i)iYmI +? ףp= ?Mb?ym94?mQ8=m=9ɺQ > G٣8Gy=; > Nusing accuracyPremultiplier from config49?4Y]A iB4?:(@TD;;4 *AZj1=FNOT Ignoring new targets: 454.20 m.Bj=Q@;Jj=Q@; ProNav: ac range: 454.200012 m, nav range: 231.522873 m, bearing: 359.350517 deg, approach rate: -0.122763 m/s, LOS rate: 0.168136 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195936 deg. 2j;:jA@HeadingCmd: 4.820529 target range: 454.200012 and range: 505.90 m. jjjjihhhhsBfffrfbf$@ɛyƍ 隅3I ɚiI;=IiCɺiMl))EeWill construct direction to contact in vehicle frame from tetrahedron phase data.mIC I!IIBI =&I.I6I<:Iv FG zQG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% yvH@? ?L ?I?`ڡ?`?@?ɨv@v;v-C IyޕBޕ IIIR5٢ H=95Q > G٣y > Nusing accuracyPremultiplier from config49Ƥ?4YeA iB(@]D;:4 GA B*** querying acoustic contact ***jjZjaeFNOT Ignoring new targets: 454.20 m.Bjm D;Jjm D; ProNav: ac range: 454.200012 m, nav range: 231.472061 m, bearing: 359.420664 deg, approach rate: -0.124121 m/s, LOS rate: 0.171390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185673 deg. 2j?;:jM@@HeadingCmd: 4.820349 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbf`7i%@ɛy}c y}65Iy ]}ƼɚiI(;=Ii)ɺi))*F%?2F!:F!BF%^0JF)}Will construct direction to contact in vehicle frame from tetrahedron phase data.}w,mܶA:g @Y:@:P9:%W>y:H h?S? b?g?)Q? ?`r?ɨ:g @:;:*CyFBF I%Mb@Mb@Mb@!!! !)!Y%On?/$?:v?y%8?%,=%T<%`A !)!I%~A!y%AI=I=Q5٢MD= MR=9U&Q U>QQ ]G٣Yy]d e> mNusing accuracyPremultiplier from configam49e?u4YeQlA ieBu8?u:uu(@efDe;e;e4 AZjFNOT Ignoring new targets: 454.20 m.BjN;JjN; ProNav: ac range: 454.200012 m, nav range: 231.424973 m, bearing: 359.489242 deg, approach rate: -0.123947 m/s, LOS rate: 0.180547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180961 deg. 2j;:j?@HeadingCmd: 4.820267 target range: 454.200012 and range: 505.90 m. jjjjiQhYhYhYh]oBfafafarfabfm/&@ɛB{ D0I ʼɚiI<=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1152> BDAT read: Tx time:20:09:21.0302 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:09:21.0294  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250736!w,scܶA6!@Y6 @6k96>y6H@?@d?< @*?጗?_̢?@6??ɨ6!@6t;6-CyLPIZIZ95٢b; bT=9bQ b>dd fG٣f8Gyf j> nNusing accuracyPremultiplier from confighr49j1?r4YjsA ijBpr﴿r(@joDj2 ;j ;j{4zB zAzEHeP>Ia IaIaIa&Ia.Ia6Ieb<:Ie` FZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?; ProNav: ac range: 454.200012 m, nav range: 231.379135 m, bearing: 359.557168 deg, approach rate: -0.112978 m/s, LOS rate: 0.167453 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179003 deg. 2j;:jY?@HeadingCmd: 4.820233 target range: 454.200012 and range: 505.90 m. jjjjihhhhff f rf bf &@ɛq}&: y}/Iy },;ϼɚyiI<<=Iiɺiu))*FI2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502980JJJJJ;J9JJJE<JE<J1;J1; IGGi Bq O >'w,AܶA2@Y2W@2U92Z&=y2H1\?@n?$@ R??|?N?)?ɨ2@2<ˆ;2.Cy>B> IIFIF N5٢R < RL=9R\Q R>TT VG٣TyV̻ Z> ^Nusing accuracyPremultiplier from configXb49Z򯨜?b4YZ{A iZB`f4f(@ZxDZ;Z;Zy4h jAhZjFNOT Ignoring new targets: 454.20 m.Bj S;Jj S; ProNav: ac range: 454.200012 m, nav range: 231.332535 m, bearing: 359.627655 deg, approach rate: -0.122303 m/s, LOS rate: 0.185031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186689 deg. 2j;:jr@@%HeadingCmd: 4.820367 target range: 454.200012 and range: 505.90 m. j!j!j!j)i)h)h)h)h1f1f1f1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754041rfAbfM'@ɛ15= 9=,I9 =XӼɚ9i9I=S==IEiE{ʺiE)A)I*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006465G- xzKm MKm 9Ki Km Km  I jGA BI Om >.w,?ܶA2@Y2@2 92=y2H@R/?Ɯ? 1/?@?ߣ?޽??ɨ2@2;2,CyJBJ IMMb@Mb@Mb@III I)IYMbX9?~jt?~jt?yME6?MD=M5٢m= m>=9u[Q u>qy }G٣yy}к > Nusing accuracyPremultiplier from config49 ?4YA i#B6?:C)@DH!;] ;4B RA EZjFNOT Ignoring new targets: 454.20 m.Bj$E;Jj$E;  ProNav: ac range: 454.200012 m, nav range: 231.281189 m, bearing: 359.702491 deg, approach rate: -0.118229 m/s, LOS rate: 0.172356 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199744 deg. 2j ;:j PB@HeadingCmd: 4.820595 target range: 454.200012 and range: 505.90 m. jjjjihh!h!h%Bf!f)f)rf)bf-@u(@ɛBb ^$I ׼ɚiIQv==Ii+̺ieʻ))!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258900*F?2F:FBF0JFH]N>IY I](!II]BI] =&IY.IY6I]<:I] FGҸG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510119=5w,ܶA 0I0:Ӓ@Y:$@:&9:ޣ=y:H視?e?@%| `?fP?Ϥ?+?l?ɨ:Ӓ@: ;8yF‚BF II I I5٢= O=9%Q %>!! %G٣-8Gy-k -> ENusing accuracyPremultiplier from config9E49=鷨?E4Y=XA i=.BIMM)@=D=:=.:=4Q ]AYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 454.20 m.BjAI;JjAI; ProNav: ac range: 454.200012 m, nav range: 231.235001 m, bearing: 359.771230 deg, approach rate: -0.118203 m/s, LOS rate: 0.175950 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181445 deg. 2j;:j?@HeadingCmd: 4.820276 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbf`)@ɛB&H )I ۼɚiI==Ii;ͺiM))*F}?2F:FBFZ5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762087GGG>GBO >(;w,ܶA6˒@Y6oۙ@6?)96=y6Hrm?t?Q퐹?@ϣ?@g&?`U?@?ɨ6˒@6;6-Cy>ĂB> IEMb@Mb@Mb@AAA A)AYE> ףp=?A`"? rh?yE1?EY=ECqq uG٣qy} }> Nusing accuracyPremultiplier from config49?4Y̑A i9B}2?:)@D;7;4 AEZjFNOT Ignoring new targets: 454.20 m.Bj;B;Jj;B; ProNav: ac range: 454.200012 m, nav range: 231.185989 m, bearing: 359.841272 deg, approach rate: -0.118798 m/s, LOS rate: 0.169809 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185355 deg. 2j;:jB@@HeadingCmd: 4.820344 target range: 454.200012 and range: 505.90 m. jjjjihhhhBfffrfbf@3*@ɛ1=< 9=I9 =D߼ɚ9iAIE2>=IEiMϺiM )I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014033J%J%J!J!J%:J%=9J!J!a-@a5@a5@a5@ ]F$?IY*F2F:FBF4JFzKJ3KK9KKKG3GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265977Bw,ݶA>˒@Y>ڙ@>̨-9>s>y>Hg? ?tK5?(Q?`o?mf??ɨ>˒@>Ӕ;>*CyZ΂BZ IIbIbO5٢nS= nS=9n6Q n>pp rG٣pyrf v>H~L>I| I~A!II~BI|&I|.I~8D6I~<:I~ F Nusing accuracyPremultiplier from config49˿?%4YܘA iDB!%%)@D:": 4) 5WA1ZjQ]FNOT Ignoring new targets: 454.20 m.Bj]B;JjeB;u ProNav: ac range: 454.200012 m, nav range: 231.139908 m, bearing: 359.907689 deg, approach rate: -0.117996 m/s, LOS rate: 0.170101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174477 deg. 2juz;:j}>@}HeadingCmd: 4.820154 target range: 454.200012 and range: 505.90 m. jyjjjihhhhfffrfbf`*@) ޏCUGi YyqBɛB툽 ^I ɚiIE>=I i ?xѺi ; ))*F?2F:FBF\0JFGrA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517934 9I= jGJGy B O >;Hw,"ݶAf@YfЙ@f059fq>yfH`??<a?? ?@2?U?ɨf@f¿;f/CyvۂBv I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771015II#U5٢M= MD=9MaQ M>QQ UG٣U8Gy]nA ]> mNusing accuracyPremultiplier from configam49eè?u4YeQA ieOBquu)@eDe:e;e(4 AZjFNOT Ignoring new targets: 454.20 m.BjGB;JjGB; ProNav: ac range: 454.200012 m, nav range: 231.091980 m, bearing: 359.977840 deg, approach rate: -0.116021 m/s, LOS rate: 0.169853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185682 deg. 2j#;:jN@@HeadingCmd: 4.820350 target range: 454.200012 and range: 505.90 m. jjjjihhhhfffrfbfH+@ɛB 隵@ I y?ɚiI>=Ii&ӺiX))*F]?2FY:FaBFe_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021934GGrAGrA 1 I1 J= J= J9 J9 J= } ;J= 9J9 J9 G B O >zK JK K K K (eNw,`<ݶAb Œ@Ybԙ@b89b>ybH6??}`Ҍ? P?@?@??ɨb Œ@b;b,CyvBv !IuMb@Mb@Mb@qqq q)qYu(\?V-?{Gz?yu.?um=uף G٣yM: > Nusing accuracyPremultiplier from config=49Ǩ?=4YA i\B=.?=:=E)@D<<c4I MKAIZjFNOT Ignoring new targets: 454.20 m.Bj3;Jj3; ProNav: ac range: 454.200012 m, nav range: 231.042908 m, bearing: 0.046549 deg, approach rate: -0.111793 m/s, LOS rate: 0.156561 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181357 deg. 2j;:j?@HeadingCmd: 4.820274 target range: 454.200012 and range: 505.90 m. jjjjihh h h Bf1f1f1rf1bf5-,@ɛ}B@7~ 隅I ɚiI?=Ii&պi))5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274299*Fu?2Fq:FyBF}^0JFyjHbHHI>IC I`!II4BI =&I.I6I<:I FBIƢCJIƢCRIZI =bI =jIƠ#5Gm ZGA BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:09:24.1210  TRx dataTimestamp_ set to:1736366965.332649 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527434 ! I! +MUw,`?96 >y6HO ?Ջ?@Yw?@??@jL?ի?ɨ6鿒@64;6-Cy>B>!!IIJIJ-I5٢Rխ= V[=9VQ V>XX ZG٣XyZܺ Z> bNusing accuracyPremultiplier from config`f49b˨?f4Yb3A ibgBdff)@bDb:b:b 4h nAlB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 454.20 m.Bj-8;Jj-8;] ProNav: ac range: 454.200012 m, nav range: 230.999100 m, bearing: 0.108544 deg, approach rate: -0.114085 m/s, LOS rate: 0.161479 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161207 deg. 2j];:je<@eHeadingCmd: 4.819922 target range: 454.200012 and range: 505.90 m. jajijijiiihihihhfffrfbf@x-@ɛB I NɚiIH?=Ii%׺i%` )!))*F ?2F:FBF_0JF!"G5=G5==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778687G- ׹G B1 O] >z[w,&pݶAyUBU3!IMb@Mb@Mb@ )Y(\?Dl?~jt?y'?O=<A @)AI AyAIIJH5٢%= -4=9-Q 5>9A EG٣M8GyU U> eNusing accuracyPremultiplier from configYe49]Ш?e4Y]A i]vBm(?m:mGm)@]D];];](4}B }[AyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 515.0 m (Round-trip 686.7 ms) speed -0.6 m/s ,DAT read: user:1153> IjBDAT read: Tx time:20:09:25.2302 $Ping request sent.cbw,dݶA6@Y6ƙ@6fE96 >y6HƷ?}?`y ¿ID? ܡ? 6? ?8?ɨ6@6#É;6,CHNF>IL IN!IIN\BIN =&IL.IL6IN<:IN Fyv BvI!II~I~D5٢ =  ^=9Q > G٣yhA > -Nusing accuracyPremultiplier from config!-49%cԨ?54Y%%A i%B15l5)@%ɦD%m ;%;%E/49 E@AZjiuFNOT Ignoring new targets: 454.20 m.Bju;;Jju;; ProNav: ac range: 454.200012 m, nav range: 230.897217 m, bearing: 0.239919 deg, approach rate: -0.125944 m/s, LOS rate: 0.163556 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149902 deg. 2j~;:j0;@HeadingCmd: 4.819725 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf5?ɛB΀ XϾI m_ɚiIp?=Ii1ۺiG0))*F?2F:FBF2JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>3hw,dͣݶA6@Y6J@6hJ96 >y6H ek?E?¿ z?d?@Z???ɨ6@6 ;6-CyB/BB[!IIJIJ\05٢R= RR=9R+NQ V>TT VG٣TyZ;k Z> bNusing accuracyPremultiplier from config\f49^xب?f4Y^A i^Bdjj)@^ѦD^H;^I;^64l n@pWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj FNOT Ignoring new targets: 454.20 m.Bj6;Jj6;% ProNav: ac range: 454.200012 m, nav range: 230.849960 m, bearing: 0.302126 deg, approach rate: -0.120924 m/s, LOS rate: 0.159212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161843 deg. 2j-;:j-<@-HeadingCmd: 4.819933 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h1hhfffrfbf ?ɛBd 157I1 =ɚ9i9I=?=IEiM޺iMrC)I)I*F2F:FBF%_5JF!GUsA GQGm{# IWill construct direction to contact in vehicle frame from tetrahedron phase data.JcKkـ3 KkKcKc"KcJ J J J J :J dP:J J GI B O >zK= JK= +9K9 K= K=  G٣8Gy >  Nusing accuracyPremultiplier from config 49 >ݨ?4Y A i B{?:)@ ڦD ; p; =4! %y@)ZjquFNOT Ignoring new targets: 454.20 m.Bj}*;Jj}*; ProNav: ac range: 454.200012 m, nav range: 230.794907 m, bearing: 0.369112 deg, approach rate: -0.122480 m/s, LOS rate: 0.149063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176194 deg. 2j;:j>@HeadingCmd: 4.820184 target range: 454.200012 and range: 515.00 m. jjjjihhhh BfffrfbfBm?ɛBX I R:ɚiI?=Iii@))EEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF05JFHC>IC I!IIBI =&I.I7D6I<:Iv FGei@G B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.euw,ݶA2]@Y2@2bT92A>y2Hv?J?@V@ @#?7C?Q?^? ?ɨ2]@2;2.CyNZBR!I V=V=IZIZ|+5٢b= b`=9fϻQ f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49n᨜?r4YnA inBtv﮿v)@nDn:n:nED4x z @xZj!%FNOT Ignoring new targets: 454.20 m.Bj-5-;Jj-5-;= ProNav: ac range: 454.200012 m, nav range: 230.750854 m, bearing: 0.423863 deg, approach rate: -0.121816 m/s, LOS rate: 0.151430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139469 deg. 2j=;:j=9@EHeadingCmd: 4.819543 target range: 454.200012 and range: 515.00 m. jAjAjIjIiIhIhIhQhQfQfQfrfbf`K?ɛeBmnO mQN==m;Ii m ɚiI ?=Iiilt))*F-?2F):F)BF-]0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.GeN<8GI By O >{w,lݶAjꐒ@Yj@jU9jnb >yjH?`?@0?|N? D?)?U?ɨjꐒ@jt;j0CyvcBv!IMb@Mb@Mb@ )Y(\?(\µ?y&1?yz?=`<A )AI AyAII-I5٢4= ==9AQ > G٣y"9 > Nusing accuracyPremultiplier from config49娜?4Y"A iB<?:)@D>; ;K4B x@EB*** querying acoustic contact ***jjZj  H$?IjFNOT Ignoring new targets: 454.20 m.Bj%g!;Jj%g!;5 ProNav: ac range: 454.200012 m, nav range: 230.695923 m, bearing: 0.485116 deg, approach rate: -0.126516 m/s, LOS rate: 0.141109 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158989 deg. 2j5;:j5}<@=HeadingCmd: 4.819884 target range: 454.200012 and range: 515.00 m. j9j9j9jAiAhAhAhIhM&BuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.fIffrfbf,C@ɛ=BE:F AEOIA }ɚyiyI}?=Iieicl))zK%JK%9K!K%K%*F?2F:FBF_0JF"G=G >G i% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263011G B O5 >7w,: ޶AH*A>I( I*!II*BI*! =&I(.I(6I*<:I*q FFђ@YFq@FbV9F >yFH@ˤ??@j`F?_?۪?H?@?ɨFђ@F;F-CyRtBR!IIZIZC5٢f!= fZ=9j:WQ j>hl nG٣n8Gyn$": r> vNusing accuracyPremultiplier from configpv49rꨜ?z4YrA irǶBxzz)@rDrn:r:riR4 k@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 230.648560 m, bearing: 0.538170 deg, approach rate: -0.121449 m/s, LOS rate: 0.136070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134382 deg. 2jĺ;:j8@HeadingCmd: 4.819454 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@C@ɛBPB 隍2kI YɚiIߘ?=IiqisZi))*F ?2F :F BF `0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516143JJAAJJJJJ=;JO9JJJKDZ׈w,/%޶A6̡@Y6l@6 V96 ! >y6H??@ R ۽??? p?@V?ɨ6̡@6xՉ;6.CyBBB!IIJIJMD5٢V= VL=9V:Q Z>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config`f49b{?f4YbA ibֶBhj«j)@bDb:b:bdY4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767094t v~@tZjFNOT Ignoring new targets: 454.20 m.Bjg';Jjg'; ProNav: ac range: 454.200012 m, nav range: 230.597977 m, bearing: 0.594623 deg, approach rate: -0.131109 m/s, LOS rate: 0.146355 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144581 deg. 2j;:jm:@HeadingCmd: 4.819632 target range: 454.200012 and range: 515.00 m. jjjjihhh h f f1f9rf9bf=<@ɛ5B57 9=KI9 =ɚ9i9I=.?=IEiE iECN)I)IEq IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019827*F- ?2F) :F) BF- _0JF) G5 rA G1 zK5 qKK5 9K1 K5 K5 BKE rA:KA G- iG BOE>w,B޶A@Y6@tX9q >yH|??5 ¿@a@?6? J ?`y?ྦྷ?ɨ@͉;-CyEBE!IMb@Mb@Mb@ )YV-?sh|??:v?y ?=<`A @)$AI AEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279051y\AIIF5٢-.< 5=9uQ }>yy }G٣yy Nusing accuracyPremultiplier from config49?4YA iBN?: )@D;;$c4B ^@EZj 5FNOT Ignoring new targets: 454.20 m.Bj=l;Jj=l;M ProNav: ac range: 454.200012 m, nav range: 230.529251 m, bearing: 0.669791 deg, approach rate: -0.121801 m/s, LOS rate: 0.133258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200757 deg. 2jM;:jMuB@jHQbHQH]@>IY I]5"II]BIY&IY.IY6I]Y<:I]J FHeadingCmd: 4.820612 target range: 454.200012 and range: 515.00 m. jjjjihhhhXBf!=GQifyf YyBrfbf ' @ɛmBm- imCIi u?ɚqiqIu(M?=I}i}*i}6)y) I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531029J J J J J ;J 9J J J A<J A<J ;%;J ;%;E :=*Fe ?2Fa :Fa BFe T5JFa GSGsAGsAGYBqO? }w,%g޶A Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:09:28.3235 TRx dataTimestamp_ set to:1736366969.624719checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784118u@Yʙ@wZ9 >yH ߷?C?z#¿ ?`IM?b??@u?`Ҧ?ɨu@Xq;騽.Cy B !IMb@Mb@Mb@ )Y!rh?V-? G٣ 8Gy): M> ]Nusing accuracyPremultiplier from configQ]49Up?e4YU9A iUBe?e:em)@U DU;U;U^o4q u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj1;Jj1; ProNav: ac range: 454.200012 m, nav range: 230.452087 m, bearing: 0.760160 deg, approach rate: -0.111337 m/s, LOS rate: 0.130434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246383 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0351732j;:jH@HeadingCmd: 4.821409 target range: 454.200012 and range: 515.00 m. jjjjihhhhYBfffrfbf.@ɛ%B%& !%<+I! - ɚ)i)I- ?=I5i5i5f*)1)1EAEA*EA"EAzKM LKM h9KI KM KM *Fe ?2Fa :Fi BFm o0JFi }Will construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.302114H?>I IZ"IIBI&I.I6I'<:I FBI5ѠCJI5ѠCRI1ZI5! =bI5 =jI5f5GhAGBO?w,.޶Ay5B5!IIEIEY45٢}< }8=9}Q > G٣y > Nusing accuracyPremultiplier from config49?4Y A i B)@D:z:v4 f@ZjFNOT Ignoring new targets: 454.20 m.Bj};Jj}; ProNav: ac range: 454.200012 m, nav range: 230.405334 m, bearing: 0.815275 deg, approach rate: -0.110101 m/s, LOS rate: 0.129820 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140566 deg. 2j0;:j9@HeadingCmd: 4.819562 target range: 454.200012 and range: 515.00 m. jjjjihhh h f f f rfbf@ɛ=B=zh- 9= I9 EɚAiAIE>=IMiMiM,)Q)Q 1I5j*F?2F:FBFC5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.539067JJJJJJJL:J,:JJJ@ <JA <J;J;GE.-G B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790978w,O޶A@Yc@KX9F >yH ??[-¿@zƺ??@?=? Ц?ɨ@5;-Cy%B%!IIEIE995٢]< ]M=9ej:Q e>aa mG٣m 8GymfJ< m> uNusing accuracyPremultiplier from configq49u?4YuzA iuB)@uDum=IiFi>û))*F?2F!:F!BF%3JF9 %I$?I)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043812G+I,G ?G$?G B O >zK} uJK} 9Ky K} K} ֩w,X޶A @B@YB@BrU9BZ; >yBH й?`̂?-¿n? t4?? ?`*?ɨB@B;@ybBb!IMb@Mb@Mb@ )YJ +? ףp= ?y&1|?y?Q8=`;3A @)AI AyfAIIS<5٢0 D=9:Q > G٣y; > ]Nusing accuracyPremultiplier from configm49 ?m4Y=B iB}3 ?}:}})@"D^<ض; 4 @ZjFNOT Ignoring new targets: 454.20 m.Bj];Jj]; ProNav: ac range: 454.200012 m, nav range: 230.323822 m, bearing: 0.921256 deg, approach rate: -0.087441 m/s, LOS rate: 0.128835 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138879 deg. 2jְ;:j9@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295029HeadingCmd: 4.819532 target range: 454.200012 and range: 515.00 m. jjjjihhhhDBfffrfbfo7@ɛ=B=0 9E(IA EsɚAiAIE>=IUiUBiU)Q)YZHRHAAH<>IC Im"IIBI&I.I6I<:I F*F?2F:FBF]0JFGsA G  I G- ҸG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J b:J J J <J <J ?;J ?; checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549698Ӷw,޶ARz @YR@RS9R7 >yRHT?? R-¿@R? ̢?o?`? f?ɨRz @R&܇;PyZBZ!IIfIf:5٢jj nZ=9nu:Q r>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~49z' ?~4Yzn B iz%Be)@z)Dz ;z? ;z4  f@ Zj1=FNOT Ignoring new targets: 454.20 m.BjE>;JjE>;U ProNav: ac range: 454.200012 m, nav range: 230.290222 m, bearing: 0.970424 deg, approach rate: -0.094527 m/s, LOS rate: 0.138346 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122713 deg. 2jU;:jUM7@HeadingCmd: 4.819251 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`-@ɛ9=: 9=F>I9 EMɚAiAIEI>=IMiMp2iM%)I)Q*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803111G7G B O >  I! lw,޶AyB!I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.054998Mb@Mb@Mb@ )YDl?kt?y&1|yO ? 0=`IA @)AI~AyAIIC5٢ ;=9Q > G٣ 8Gy > Nusing accuracyPremultiplier from config49 ?4YB i+B ?:ñ)@0D;%-;94  @-B*** querying acoustic contact ***j)j)ZjFNOT Ignoring new targets: 454.20 m.Bj%5;Jj%5;U ProNav: ac range: 454.200012 m, nav range: 230.250732 m, bearing: 1.029592 deg, approach rate: -0.084714 m/s, LOS rate: 0.126951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152722 deg. 2jU@;:jU;@]HeadingCmd: 4.819774 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhahahahe!Bfiffrfbf@ɛ  ~7 EI  ɚiIo>=Ii%wi%87)!)EzKe7KKe+9KaKeKe  *F=?2F9:F9BF9JFA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306918G% %G) G) H :>I  I f"II BI " =&I .I 6D6I <:I FG B O% >÷w,X߶A6+@Y6;@6N96' >y6H@-g?u}?a,¿@l??٩?@?`?ɨ6+@6h;6,CyNpBR!IIZIZ@5٢bþ b]=9b{K;Q b>dd fG٣dyj ;< j> rNusing accuracyPremultiplier from configlr49n?v4YnB in0Btv9v)@n7DnG);n?;n4zB z@~EZjFNOT Ignoring new targets: 454.20 m.BjU!;JjU!; ProNav: ac range: 454.200012 m, nav range: 230.216660 m, bearing: 1.079643 deg, approach rate: -0.096008 m/s, LOS rate: 0.141049 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125360 deg. 2j;:j7@HeadingCmd: 4.819297 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf \@ɛF= IjIi=i>:))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560209*F?2F:FBFj0JF"G=G=G*G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811509ʷw,C;*߶Az?@Yz1O@zK9z#J >yzH?@({?0¿?4_?`+{?Y??ɨz?@zˆ;z+Cy aB !III?5٢-% -C=95:Q 5>19 =G٣9yE; E> MNusing accuracyPremultiplier from configIU49M?]4YMB iM5BY]밿])@M>DM;M;M4a e@iZjFNOT Ignoring new targets: 454.20 m.Bj!;Jj!; ProNav: ac range: 454.200012 m, nav range: 230.177612 m, bearing: 1.136519 deg, approach rate: -0.096975 m/s, LOS rate: 0.141277 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145843 deg. 2j;:j:@HeadingCmd: 4.819654 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfj@ɛh1Q *I [ɚiIo>=Ii i 276;) ) *F5?2F1:F9BF=0JF9 IJ}J}JyJyJ}:J}9JyJya@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067010Gm':GA BQ Ou >zK y2Ha?z?@]¿d߽?b*?gW?A??ɨ2~K@2s[;0yRYBR!IMb@Mb@Mb@ )Yv?y&1?Qy?`<u3A @)lAI AyAIIF5٢3 @=9(:Q > G٣ 8Gyc`; > Nusing accuracyPremultiplier from config49?4Y!B i9B ?:p)@FD;;l4  H@Zj1=FNOT Ignoring new targets: 454.20 m.Bj=(;Jj=(;M ProNav: ac range: 454.200012 m, nav range: 230.141983 m, bearing: 1.199131 deg, approach rate: -0.083848 m/s, LOS rate: 0.147371 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163052 deg. 2jMG;:jM=@]HeadingCmd: 4.819954 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhYhYhaheBfafifirfibfm`9@ɛOR 隝jI fwɚiI v>=Ii=i{;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319113jHQbHQHYIY I]N"II]BIY&IY.IY6I]<:I] F*F?2F:FBF1JF IG ']?; PExceeded connect timeout, disconnecting.G% ?G% ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575509"׷w,]߶A2}W@Y2g@2bI92! >y2H`?? y?I ¿ 29?%?@)?p?@?ɨ2}W@2Ȧ;2-CyNIBNz!IIVIVMD5٢b b^=9bx:Q b>dd fG٣dyjo; j> nNusing accuracyPremultiplier from configlr49n?r4YnG'B in=BprAv)@nMDn;n:nڮ4x zQ@xZj!-FNOT Ignoring new targets: 454.20 m.Bj-';Jj-';= ProNav: ac range: 454.200012 m, nav range: 230.111053 m, bearing: 1.253318 deg, approach rate: -0.083698 m/s, LOS rate: 0.146654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137769 deg. 2j=K;:jEt9@EHeadingCmd: 4.819513 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhIhIhQhQfQfYfYrfYbf] *@ɛ!%H ` !%#I! -pɚ)i)I- >=IUiUHiUȡ;)Q)Y*F?2F:FBF@5JFG G%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828217G7eD;Gi Bq O > I cPݷw,w߶AF _@YFn@F I9F` >yFHA?cz?f``q? ??F?@?ɨF _@F;Dyj3Bj_!IJ=J=J9J9J= ;J=9J9J9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079140Mb@Mb@Mb@ )YMb?Q?{Gzy#?u<ףA @)VAIAyAII<5٢Ž 7=9WA9Q > G٣ y ;  > Nusing accuracyPremultiplier from config49y?%4Y.B i@B%2#?%:%%)@WD;+;4) 5@1MB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 454.20 m.Bjm4;Jjm4;} ProNav: ac range: 454.200012 m, nav range: 230.077423 m, bearing: 1.323526 deg, approach rate: -0.075647 m/s, LOS rate: 0.157947 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185839 deg. 2j};:j}S@@HeadingCmd: 4.820352 target range: 454.200012 and range: 515.00 m. jjjjihAhIhIhMBfIfQfQrfQbfU@dJ @ɛof .I ɚiIl>=Ii{Hi@;))*FA2FA:FIBFM25JFIzK[LK9KKK)- RKJK!?- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.332901Ge CQ;HE 9>IA  IE ""IIE уBIA &IA .IA 6IE <:IE FGY )a m ُCB }G A m FYq yu jAO} >3w,M߶Ay%BN!II-I-F5٢=命 =X=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]W!?e4Y]4B i]CBiim)@]^D]:]q:]C4uB u@uEZjFNOT Ignoring new targets: 454.20 m.Bj4;Jj4; ProNav: ac range: 454.200012 m, nav range: 230.049072 m, bearing: 1.383305 deg, approach rate: -0.074924 m/s, LOS rate: 0.158000 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154546 deg. 2j; YIY:j;@mHeadingCmd: 4.819806 target range: 454.200012 and range: 515.00 m. jijijijiiihihq nManaging dock network, ignoring radio surface power offhhfffrfbfu!@ɛ%.Bw !%I! %y ɚ)i)I->=IiiiUS;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.584447*FE?2FA:FIBFM_0JFIGm {/;Gq Gu rAGA BI Om >= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835543 bw,߶A6 h@Y6w@6:G96O>y6H@D?q{?'`?b?? ?I?ɨ6 h@6jK;4yBBBC!IIIGL5٢$1 @=9,:Q > G٣ 8Gy); > Nusing accuracyPremultiplier from config 49 $?4Y =Iiil;))*Fe?2Fa:FiBFiJFi Ij"G =G =JUJUJQJQJU:JU9JQJQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086892G9 G B! O= >zK] 0LK] 9KY K] K] ?Sw,߶A6Aa@Y6p@6`H96*3>y6H ?}?0 ?|?f? ?[??ɨ6Aa@6;4y>B>5!IMb@Mb@Mb@ )Y7A`?~jt?~jty6?<D @)IAyAIIF5٢-d -U=9-t?Q 5>11 5G٣1y=R => ENusing accuracyPremultiplier from configAM49E'?M4YE,CB iEJBM6?U:UѶU)@EpDEU;E;Eb4Y ]oAYZj9EFNOT Ignoring new targets: 454.20 m.BjEB;JjMB;} ProNav: ac range: 454.200012 m, nav range: 229.985565 m, bearing: 1.517827 deg, approach rate: -0.079786 m/s, LOS rate: 0.169660 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176486 deg. 2j};:j}>@HeadingCmd: 4.820189 target range: 454.200012 and range: 515.00 m. jjjjihhhhwBfffrfbf"@Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.339335ɛ 5 9=ӾI9 =֖ ɚ9i9I=V#?=IEiE iM;)I)IH8>I I!IIBI&I.I6I<:I FBIßCJIßCRIZI" =bI" =jIÅ5*F?2F:FBFJF ]J$?IYGM ;G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590995epw,3߶AyB%!IIIgG5٢- -L=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM49EB+?M4YEJB iEPBIIM)@EyDE:E:Ea4Y ]AYZjFNOT Ignoring new targets: 454.20 m.Bj;V;Jj;V; ProNav: ac range: 454.200012 m, nav range: 229.952682 m, bearing: 1.588484 deg, approach rate: -0.087152 m/s, LOS rate: 0.187297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187189 deg. 2j<:j@@HeadingCmd: 4.820376 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfj#@ɛBۈ I v ɚiIZ?=IiQi";)) *F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843662GqG}?G}#?GQBYOu> y I j!w,F&߶AnO@Ynb_@n}J9n >ynH࿃?5? n@?q?iT?2?ޮ?ɨnO@nš;lyzBz"!IJJJJJ:J9JJUWill construct direction to contact in vehicle frame from tetrahedron phase data.U?<DzA p@)~@IQAy3AII)M5٢sA >=9Q > G٣8Gyy > Nusing accuracyPremultiplier from config493/?4YWSB iXB>?:)@DP;~;>4 AEB*** querying acoustic contact ***jjZjIMFNOT Ignoring new targets: 454.20 m.BjUL;JjUL; ProNav: ac range: 454.200012 m, nav range: 229.915344 m, bearing: 1.671303 deg, approach rate: -0.080755 m/s, LOS rate: 0.179149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.223681 deg. 2j;:jE@HeadingCmd: 4.821012 target range: 454.200012 and range: 515.00 m. jjjjihhhhNBfffrfbf0\$@ɛN I =ɚ9i9IE?=IEiEpiM䡁;)I)QzKJKKKK*F5?2F1:F1BF5o0JF1G9 G9 Will construct direction to contact in vehicle frame from tetrahedron phase data. I  I !II BI &I .I 6I <:I FG] O;GQ Bi O >;w,\A6G@Y6tW@6J96#>y6H D?Ղ? 9<IJ? ?N???ɨ6G@6;6,Cy>BB!IIJIJDP5٢Vjʼ Va=9Z9Q Z?XX ^G٣\y^8 ^? bNusing accuracyPremultiplier from config`f49b02?f4YbZB ib_Bhj:j)@bDb ;b* ;b?4n B nArEZjFNOT Ignoring new targets: 454.20 m.Bj F[;Jj F[; ProNav: ac range: 454.200012 m, nav range: 229.887405 m, bearing: 1.734574 deg, approach rate: -0.084642 m/s, LOS rate: 0.191706 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165024 deg. 2j%<:j%Y=@-HeadingCmd: 4.819989 target range: 454.200012 and range: 515.00 m. j)j)j1j1i1h1h1h9h9f9f9f9rfAbfE%@ɛimE iuIq uɚqiqIu?=I}i}:`i}]W;)y) I*F?2F:FBFU5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.e Will construct direction to contact in vehicle frame from tetrahedron phase data. y6H`2??`c,^2??KZ? ??ɨ6B@6嶆;6-CyBBB%!IININV5٢V)= VK=9Z-fQ Z>XX ^G٣\y=Ⱥ => Nusing accuracyPremultiplier from config495?4YZbB igBO)@D:\:4 AZj!%FNOT Ignoring new targets: 454.20 m.Bj-N;Jj-N;} ProNav: ac range: 454.200012 m, nav range: 229.853027 m, bearing: 1.813817 deg, approach rate: -0.078324 m/s, LOS rate: 0.180569 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212951 deg. 2j};:j}4D@HeadingCmd: 4.820826 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf%@ɛB+ 隕߾I nzɚiI@=Ii{i:;))EEsA )I1*Fu?2Fy:FyBF`5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received *response not received,DAT read: user:1155> BDAT read: Tx time:20:09:36.1803 $Ping request sent.w,FA22@Y2B@2M92>y2H ў? ?@$@`[?@0? Y?@2??ɨ22@2E;2+CzKRiJKR]9KPKRKRBKT:KTyZBZ)!I b=ba=EMb@Mb@Mb@AAA A)AYENbX9?V-?Mbp?yEE?Eqq uG٣u8Gy} }> Nusing accuracyPremultiplier from config499?4YijB ipBE?:)@Dw;};4 AZjFNOT Ignoring new targets: 454.20 m.BjY_;JjY_; ProNav: ac range: 454.200012 m, nav range: 229.818298 m, bearing: 1.890406 deg, approach rate: -0.088529 m/s, LOS rate: 0.195266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204987 deg. 2j<:jC@HeadingCmd: 4.820686 target range: 454.200012 and range: 515.00 m. jjjjihhhhDBff f rfbf@"&@ɛB]Έ ۾I Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:09:36.1795 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251025ɚiI9@=Ii i:))HI I!II{BI# =&I.I6Iذ<:I F*F2F:FBFp4JF IG!<;Ga Bq O >JM JM JI JI JM E ;JM O9JI JI JM qPy6HFݺ??`W?w7?|_? *(??ɨ6@6SF;4yZBZ4!IIfIf;5٢r2= rS=9r\\Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from configx49z9=?4Yz+rB izyB嶿 )@zDz;z;z4!B AEZj9=FNOT Ignoring new targets: 454.20 m.BjEZ;JjEZ; ProNav: ac range: 454.200012 m, nav range: 229.786148 m, bearing: 1.964143 deg, approach rate: -0.083304 m/s, LOS rate: 0.191086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196428 deg. 2j#<:jA@HeadingCmd: 4.820537 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfy'@ɛAMZg IMhҾII M ɚIiQIUf@=I}i}i}氺)y)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754959GM?:G) B1 OM > I jw,pzA5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006098yޭ!BޭJ!I=Mb@Mb@Mb@999 9)9Y= r?5٢eП= m3=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configy49}A?4Y}8{B i}BC?:)@}D}v";} ;}y4 @UB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 454.20 m.BjL;JjL; ProNav: ac range: 454.200012 m, nav range: 229.746887 m, bearing: 2.050199 deg, approach rate: -0.081721 m/s, LOS rate: 0.179156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233397 deg. 2j;:j G@HeadingCmd: 4.821182 target range: 454.200012 and range: 515.00 m. jjjjihhhhJBfffrfbfg(@ɛeBey imFIi mIɚiiiIm@=IuiuDi|))EE>*FU?2FQ:FQBFQJFQzKa3JK+9KKKRK?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259225H 6>I  I I I &I .I 6I ǰ<:I FGu ԹG} ?G} >Gi By O > $w,/Ay+BV!IIIs75٢E)R= M`=9IQ M>QQ UG٣U8GyQ U> eNusing accuracyPremultiplier from configYe49]E?m4Y]|B i]Biim)@]D].:]:]4q }[@y IZjFNOT Ignoring new targets: 454.20 m.BjBf;JjBf; ProNav: ac range: 454.200012 m, nav range: 229.715744 m, bearing: 2.119284 deg, approach rate: -0.090737 m/s, LOS rate: 0.201308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182468 deg. 2j' <:j?@uHeadingCmd: 4.820293 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhyhyhyhyfffrfbf )@ɛBv@ 䴾I _ɚi!I%Ʈ@=I%i-i))))JsK{m3 K{S}-KsKs"KsJJJ1JJJ9J3JJJJ:%;J;%;UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510988*F?2F:F BF JF GM >G! B9 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762017*w,g A2_@Y2@2VW92l>y2Ht?@? `k??? {?_?ɨ2_@2uu;2,CyR@BRo!IIZIZ N5٢b= bS=9b&0Q f>dd fG٣dyji j> }Nusing accuracyPremultiplier from configl49nH?4Yn-B inB˶)@nǧDn5;n;n 4 @ZjFNOT Ignoring new targets: 454.20 m.BjmN;JjmN; ProNav: ac range: 454.200012 m, nav range: 229.684814 m, bearing: 2.192436 deg, approach rate: -0.076295 m/s, LOS rate: 0.180471 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194671 deg. 2j;:jA@HeadingCmd: 4.820507 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf)@ɛ%߃B%`s !%.I) -Vɚ)i)I-@=I5i5bi5Ȼ)1)9*F?2F:FBFo0JF I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014254GGqByO>1w,AzK^&KK\K\K^K^BKd:Kdy_B!IMb@Mb@Mb@ )YGz??y&1?yp=?L=`<M A -@)IAypAIIF5٢f> :=9Q > G٣y > Nusing accuracyPremultiplier from config49L?4YB iB>?:R)@ѧD;;I4 %@EZj!-FNOT Ignoring new targets: 454.20 m.Bj-[;Jj-[;= ProNav: ac range: 454.200012 m, nav range: 229.645065 m, bearing: 2.272623 deg, approach rate: -0.095194 m/s, LOS rate: 0.192070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215788 deg. 2jE<:jED@MHeadingCmd: 4.820875 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhIhIhQhUtBfYfafarfiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275234HE7>IA IE!IIEBIE" =&IA.IA6IEʰ<:IE FGbf *@  YyBɛ]ރB]^Z Yet}Ia eɚiI%@=IiCi?))*F ?2F :FBFJF }K$?IjG% VJ- J) J- 0J) J- ;J) J- ـ3J) J- f<J- f<J) J) GE rAGE sAm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519320G B) OE >= 8w,DA2p@Y2@2WS92Ϥ>y2HT.?k?`8Q`õ? }?g?ˢ?`?ɨ2p@2];2-CyrvBr!IIzIzB5٢= X=9 );Q  >    G٣8Gy= > Nusing accuracyPremultiplier from config%49P?%4YܙB iB)-x-)@ڧD:P:4="B =@EEZjimFNOT Ignoring new targets: 454.20 m.BjuzP;JjuzP; ProNav: ac range: 454.200012 m, nav range: 229.611465 m, bearing: 2.341798 deg, approach rate: -0.088517 m/s, LOS rate: 0.182265 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182741 deg. 2j,;:j?@HeadingCmd: 4.820298 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf<}+@ɛ݃B &Z LI XɚiI@=Iiwia}һ))*Fu?2Fq:FqBFu`5JFq"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769969GuҸGIBaO}> i Ii :>w,6A%Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024728]$ޒ@Y]@]bR9]->y]HU??`G`?\???? ?ɨ]$ޒ@]k\;YyuBu!IeMb@Mb@Mb@aaa a)aYe/$?L7A`? G٣yۺ > Nusing accuracyPremultiplier from config49U?4YB iԷB12?:F)@D;9; 4 a@B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 454.20 m.Bj C;Jj C;% ProNav: ac range: 454.200012 m, nav range: 229.565887 m, bearing: 2.420071 deg, approach rate: -0.099607 m/s, LOS rate: 0.171093 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.210051 deg. 2j%;:j%C@-HeadingCmd: 4.820775 target range: 454.200012 and range: 515.00 m. j)j1j1j1i1h1h1h9h=Bf9f9f9rfAbfEg,@ɛ܃BC lI ɚiI@=Ii= i?))*F2F:FBFJFzKJK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276190H- 6>I)  I- "II- ƒBI- # =&I) .I) 6I- Ȱ<:I- FBIJIRIZI# =bI# =jIȶ<4G= vϻG B1 OU >'!Ew,ÃA I zgߒ@Yz@z3P9zw>yzH? ?o?L???߭?ɨzgߒ@zĈ;z+Cy%B%!II5I5A5٢EP> Ed=9M>k:Q M>II MG٣Iy]9 ]> eNusing accuracyPremultiplier from configam49eY?m4Ye~B ieBimDu)@eDe$;e;;e-'4  @ZjFNOT Ignoring new targets: 454.20 m.BjB;JjB; ProNav: ac range: 454.200012 m, nav range: 229.530487 m, bearing: 2.481407 deg, approach rate: -0.098281 m/s, LOS rate: 0.170311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159223 deg. 2j;:j<@UHeadingCmd: 4.819888 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhYhYfYfafarfabfe'-@ɛڃB"2 I ɚiI@=IiEFiݻ))IJJ@AJJJJJ ;J9JJJ$S<J%S<J%7;J%7;-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:20:09:39.2836 =TRx dataTimestamp_ set to:1736366980.473974Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529437*F2F:FBF4JFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778043IKw,U/ARؒ@YRh@RmXP9RV2>yRHѸ?`?< Y? ?-?`?`%?ɨRؒ@R`;R.Cy^B^ "IIfIfB5٢r= rQ=9r9Q v>tt vG٣v8Gyz z> ~Nusing accuracyPremultiplier from config|49~]?4Y~|B i~B  ` )@~D~;~;~-4 5@Zj9EFNOT Ignoring new targets: 454.20 m.BjE`D;JjE`D;U ProNav: ac range: 454.200012 m, nav range: 229.492493 m, bearing: 2.548148 deg, approach rate: -0.097720 m/s, LOS rate: 0.171685 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175443 deg. 2jU;:j]>@eHeadingCmd: 4.820171 target range: 454.200012 and range: 515.00 m. jajajajaiahihihihifqfqfqrfybf}P-@ɛكB-* 隭OI ? ɚiI@=Iiʛi]))*F?2F:FBF_0JFG G IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]8DAT read: $Error in header ]*Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.045527GDػGBO >90Rw,-IAy~ڃB~-"IzKBJK 9KKKMb@Mb@Mb@ )Y)\(?V-? rh?yG!?h=C =` A -@)`@IAyII75٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config49\b?4YB iB"?:8)@D;+;54#B @EZj9=FNOT Ignoring new targets: 454.20 m.BjE1;JjE1;] ProNav: ac range: 454.200012 m, nav range: 229.449539 m, bearing: 2.615958 deg, approach rate: -0.098444 m/s, LOS rate: 0.155441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178655 deg. 2j]Z;:j]L?@eHeadingCmd: 4.820227 target range: 454.200012 and range: 515.00 m. jajajajaiahahihihmBfifqfqrfqbf}.@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282124ɛ؃Bo 隵@;I ɚiI*Z@=Ii{:i)jHQbHU4=HiIi ImZ"IImBIm" =&Ii.Ii6Im<:Im F)*Fe?2Fa:FaBFaJFa IjG UM Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU A] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535674G B O >J J J J J :J u:J J J #<J #<J D;J D;ZXw, cA6ݒ@Y68@63K96>y6Hx?͊?w?@xx? {?` ?ܬ?ɨ6ݒ@6ч;6/Cy>B>Q"IIFIF:5٢R!> Ra=9VA;Q V>TT VG٣XyZ: Z> ^Nusing accuracyPremultiplier from config\b49^>f?b4Y^B i^Bdf&f)@^D^:^:^;4h j@hZj|}FNOT Ignoring new targets: 454.20 m.Bj)2;Jj)2; ProNav: ac range: 454.200012 m, nav range: 229.413879 m, bearing: 2.672487 deg, approach rate: -0.098243 m/s, LOS rate: 0.155761 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144799 deg. 2j;:ju:@HeadingCmd: 4.819636 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf/@ɛ׃B} =I  Gɚ i I $@=Ii="i= )9)AEMV>EM>*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786032GqGI BY Ou > I ^w,J|A5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.046442yUBUb"I ]=]=MMb@Mb@Mb@III I)IYM|?5^?㥛 ?Q?yM?M=Myy }G٣8Gy > Nusing accuracyPremultiplier from config49rk?4YB i#BS?:L)@D;;D4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj!;Jj!; ProNav: ac range: 454.200012 m, nav range: 229.365448 m, bearing: 2.743111 deg, approach rate: -0.097025 m/s, LOS rate: 0.141515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187102 deg. 2j=;:j@@HeadingCmd: 4.820374 target range: 454.200012 and range: 515.00 m. jjjj i h hhh)Bfffrfbf4@0@ɛՃBn =I |sɚiI_?=Ii4i))*F?2F:FBF`0JFG G"GGzKU&(KKUS9KQKUKU)9CRapWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294064H] 5>I] C I] "II] Flew,׾A 8IynH`L??@O9o?x?Ϩ?"??ɨn%@nÇ;n.CyB}"III%.5٢%> -y=9-N;Q -?11 5G٣1y5C; 5? MNusing accuracyPremultiplier from configAM49En?M4YEB UtIiE.BQU$U*@EDE;E;EfJ4 @Zj)5FNOT Ignoring new targets: 454.20 m.BjmH;JjmH; ProNav: ac range: 454.200012 m, nav range: 229.333633 m, bearing: 2.789464 deg, approach rate: -0.091365 m/s, LOS rate: 0.133134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114264 deg. 2j;:j6@HeadingCmd: 4.819103 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`0@ɛԃBHv޼  >I ɚiI͝?=Iiiڽ))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546209*FE?2FA:FABFE}0JFAG)B9OUT> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798015Rkw,؝AV@YV@VoE9V'o >yVH`>D?_?@i ?@5٢v= vN=9v:Q z>xx zG٣xy~/ ~> Nusing accuracyPremultiplier from config 49s? 4YB i;B(*@D;;PQ4$B %5@%EZjIUFNOT Ignoring new targets: 454.20 m.BjU*;Jj]*;m ProNav: ac range: 454.200012 m, nav range: 229.295364 m, bearing: 2.845566 deg, approach rate: -0.101897 m/s, LOS rate: 0.149403 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143519 deg. 2jm;:jmF:@uHeadingCmd: 4.819613 target range: 454.200012 and range: 515.00 m. jqjqjqjyiyhyhyhhfffrfbf`=0@ɛӃB&Ƽ 15:>I9 =@ɚ9i9I=pS?=IEiM1iM͚Ȼ)I)q eL$?Iej*F?2F:FBF`5JFGBO&>JJJJEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052800J;:J:JJam@am@am@am@~rw,vAy~0B~"IzKtNK9KKK~xtnkf`[XUVgbOC:52-,/)'$#! *  Mb@Mb@Mb@ )YJ +?x&?I +?y?7=9<` A C@)IyAII6=5٢Vk <=9Q > G٣8Gy > Nusing accuracyPremultiplier from config49Fw?4YB iHB ? : 1 *@#D ;Y;X4%B M@EZj9=FNOT Ignoring new targets: 454.20 m.BjEx;JjEx;U ProNav: ac range: 454.200012 m, nav range: 229.256454 m, bearing: 2.903045 deg, approach rate: -0.089628 m/s, LOS rate: 0.132425 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147654 deg. 2jUõ;:jU:@]HeadingCmd: 4.819686 target range: 454.200012 and range: 515.00 m. jYjYjajaiahahahihmYBfififirfqbfuIh1@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302178ɛ4|ͼ 隭:>ZHRHH4>I I"IIyBI&I.I6I<:I FI uɚyiI>=Iisi))*F?2F:FBFJF IIIGBOj>E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554723xw,-[A2\@Y2@2{?92 >y2Hl?``?`I@`r?@ ?4??ʭ?ɨ2\@2;0y>:BB"IIJIJ;5٢bP= b^=9f;Q f>dd jG٣hyja; n> rNusing accuracyPremultiplier from configlr49nz?v4YnB inRBtvv*@n)Dne:n:n[_4| ~@|Zj!-FNOT Ignoring new targets: 454.20 m.Bj-;Jj-; ProNav: ac range: 454.200012 m, nav range: 229.223404 m, bearing: 2.951647 deg, approach rate: -0.089567 m/s, LOS rate: 0.131731 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121014 deg. 2jϴ;:j7@HeadingCmd: 4.819221 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf1@ɛm҃B0 隕O>I o6ɚiI>=IiA$i))*Fe?2Fa:FaBFe5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807875 ) I) G ]UGY Bi O >U~w,CAJVJVJTJTJV{:JV&:JTJTWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061581@Y%@p;9J >yHY?M? ii mG٣iyuV; u> }Nusing accuracyPremultiplier from configy49}?4Y}5B i}]B?:,*@}1D}9;};}g4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 229.179306 m, bearing: 3.014490 deg, approach rate: -0.090012 m/s, LOS rate: 0.128300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163752 deg. 2j;:j+=@HeadingCmd: 4.819967 target range: 454.200012 and range: 515.00 m. jjjjihhhhkBfffrfbf{D2@ɛ-уB-u )-l>I1 5Uɚ1i1I5=I=i=i=V)A)AEIEI*F?2F:FBFU0JF) zKNK 9KKK     !Al}G9Q %YyAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310119HI I#IIBI&I.I6I<:I FG G B O >  I w,A:! @Y:@:79:9u >y:H@s?`? à@Ż?`"&??? ?ɨ:! @:;8yBEBB"IIZIZ75٢j\ n=9zx;Q z ?| G٣8Gy ;  ? -Nusing accuracyPremultiplier from config!=49%킩?=4Y%B i%dBAEE*@%7D%;%;%m4a e@iZjFNOT Ignoring new targets: 454.20 m.Bj|;Jj|; ProNav: ac range: 454.200012 m, nav range: 229.149918 m, bearing: 3.056297 deg, approach rate: -0.088786 m/s, LOS rate: 0.126319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100623 deg. 2jb;:j$4@HeadingCmd: 4.818865 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@2@ɛЃB `i>I ɚiI >=IiUiU+)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562593*Fe?2Fa:FiBFm^0JFiG V'SGa B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814050䋸w,1A6p@Y6(@6496M >y6Hκ?@>?g?0??$??ɨ6p@6I;6-Cy>CBB"IIJIJs75٢R@ VM=9Z:Q Z>XX ZG٣Xy^e; ^> bNusing accuracyPremultiplier from config`f49bц?f4YbB iblBhjԫj*@b=DbL:b:bxt4l n @pZj FNOT Ignoring new targets: 454.20 m.Bj ;Jj ;% ProNav: ac range: 454.200012 m, nav range: 229.114502 m, bearing: 3.106509 deg, approach rate: -0.091594 m/s, LOS rate: 0.129879 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125844 deg. 2j%E;:j%7@5HeadingCmd: 4.819305 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1hhhhfffrfbfJ3@ɛ\ e>I [ɚiIX==I-i5Ui])a)i I*Fm?2Fi:FiBFm_0JFiJJJJJM:J:JJ-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069555GUb(G]?G]>G) B1 OU >ϒw,`KA:B"@Y:1@:29:I >y:HB? ?`a?:?]??༮?ɨ:B"@:J;8y^FB^"IMMb@Mb@Mb@III I)IYMS㥛?y&1?~jthyM$?M`e=MDMM A M-@)M;@IMAIyMAIeIe:5٢mυ< u>=9uZ:Q u>yy }G٣yy6; > Nusing accuracyPremultiplier from config49ڊ?4YB isB?:ح*@ED;;|4 @zKnMK]9KKKrh]WQG=981,(%#  ZjQUFNOT Ignoring new targets: 454.20 m.Bj]v;Jj]v;m ProNav: ac range: 454.200012 m, nav range: 229.078796 m, bearing: 3.162576 deg, approach rate: -0.079861 m/s, LOS rate: 0.125423 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143416 deg. uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.318156jHbH<H3>I I;#IIBI$ =&I.I6Iϰ<:I FBIUžCJIUžCRIQZIQbIQjIUS52jm';:jC:@HeadingCmd: 4.819612 target range: 454.200012 and range: 515.00 m. jjjjihhhhQBfffrfbfq3@ɛ=σB=I 9=m>I9 E ɚAiAIE`h==Imim%imLQ)i)qEyE} >*F?2F!:F!BF%`0JF! IjG ˴% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571281Ga Bi O >w,eA2l'@Y2 7@2192Q >y2H eE??`ۈ?J ?`4?8??ɨ2l'@2;2/Cy>:B>"IDDIJIJ?15٢Re RY=9VY:Q V>TT VG٣Z8GyZC: Z> bNusing accuracyPremultiplier from config\b49^`?f4Y^B i^xBdfĭf*@^KD^:^q:^4jB jA@nEZj FNOT Ignoring new targets: 454.20 m.Bj ;Jj; ProNav: ac range: 454.200012 m, nav range: 229.047791 m, bearing: 3.211375 deg, approach rate: -0.085883 m/s, LOS rate: 0.135184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121602 deg. 2j;:j$7@HeadingCmd: 4.819231 target range: 454.200012 and range: 515.00 m. jjjjihhhh f f frfbfe@83@ɛTׯ )5V>I1 5tɚ1i1I5G ==I=i=i=9)9)A*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822722 IGG B O >,+w,4AJJJJJHJHJJ:JJ 9JHJHnWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.076768y3B%"IMb@Mb@Mb@ )Y(\?:v?:vy?T=T3 A )@I~AyzAII75٢Ӽ =9Q > G٣y > Nusing accuracyPremultiplier from config49:?4YB i}B ? : ! *@TD;;4B @E=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 454.20 m.BjU;JjU;e ProNav: ac range: 454.200012 m, nav range: 229.006180 m, bearing: 3.282202 deg, approach rate: -0.081093 m/s, LOS rate: 0.138057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.187707 deg. 2jm~;:jm@@uHeadingCmd: 4.820385 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhqhyhyh})Bfyffrfbf@KN4@ɛIU QUI>IQ UɚQiYI]<=I]ie!ie69)a)a*F?2F:FBF~0JF zKvNK9KKK}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326065HI I5#IIBI&I.I6I<:Iv FGE 1z9GM sAGI M$?I G! BQ O} >>w,1Ayލ&Bލ"IIIjC5٢̞ o=9Q ? G٣y ? Nusing accuracyPremultiplier from config49w?4Y C iB*@ZD;;4 @Zj  FNOT Ignoring new targets: 454.20 m.BjV;JjV;% ProNav: ac range: 454.200012 m, nav range: 228.978592 m, bearing: 3.329513 deg, approach rate: -0.080710 m/s, LOS rate: 0.138428 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117136 deg. 2j%;:j%6@-HeadingCmd: 4.819153 target range: 454.200012 and range: 515.00 m. j)j)j)j1i1h1h1h1h9f9f9f9rf9bfE`4@ɛiuܼ qu:.>Iq u@;ɚqiyI}<=I}ii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579043*F?2F:FBFP5JFGE9G B) OE >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830001Rw,ڬAyB}"III85٢%`Z -V=9)Q ->)1 5G٣58Gy1 5> ENusing accuracyPremultiplier from config9E49=?M4Y=C i=BIIM*@=aD=;=2;=.4a e:@aZjFNOT Ignoring new targets: 454.20 m.Bj[;Jj[; ProNav: ac range: 454.200012 m, nav range: 228.948166 m, bearing: 3.382034 deg, approach rate: -0.079686 m/s, LOS rate: 0.137572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132771 deg. 2jԼ;:j8@HeadingCmd: 4.819426 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`c5@ɛ΃BG{ͼ I >I  ɚi I ]<=I iz i))Y*F?2F:FBFR0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.9w,ׇANC7@YNF@Ns,9Nm >yNHû?`@?u```?hy? ܌?@K G٣y6; > Nusing accuracyPremultiplier from config493?4Y C iB?:*@iD@;;4 @ZHRH?AHI I"#IIBI# =&I.I6I<:Ix FWill construct direction to contact in vehicle frame from tetrahedron phase data.I1 5Nɚ1i1I=&<=I=iEDiE\;)A)A*F?2F:FBF_0JFGsA GsA IG 1z9Ju Ju Ju 1Jq Ju :Ju :Ju 3Jq Ju Zpw,A>Y2@Y>A@>p-9> >y>H?ඁ?`Լ???T!? ?ɨ>Y2@>0v;>,CybBb]"IInInH5٢zΣ zT=9~0Q >   G٣ yʺ > %Nusing accuracyPremultiplier from config-49?54Y C iB15 =*@qDR;J;G4MB M@MEZj  FNOT Ignoring new targets: 454.20 m.Bjf%;Jjf%;E ProNav: ac range: 454.200012 m, nav range: 228.882675 m, bearing: 3.502108 deg, approach rate: -0.078334 m/s, LOS rate: 0.144604 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147994 deg. 2jE{;:jE:@MHeadingCmd: 4.819692 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhQfyffrfbfx5@ɛσB (=I ɚiI;=Ii F0i U:) )EiEiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1157> %BDAT read: Tx time:20:09:47.1304 %$Ping request sent.-2Pw,]PABWill construct direction to contact in vehicle frame from tetrahedron phase data.NJDAT read: TxSync time:20:09:47.1296 Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.255256},2@Y}A@}.9} >y}H?C?@Ӽ?@L?@e??_?ɨ},2@}:;}-Cy޽B޽S"I) Mb@Mb@Mb@ )YPn?I +?5٢ &=9'Q > G٣8Gy8 > Nusing accuracyPremultiplier from config49?4Y,C iB$?:G*@{D;;Ү4 R@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj>;Jj>; ProNav: ac range: 454.200012 m, nav range: 228.846298 m, bearing: 3.580164 deg, approach rate: -0.077692 m/s, LOS rate: 0.166734 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209391 deg. 2j;:jC@HeadingCmd: 4.820763 target range: 454.200012 and range: 515.00 m. jjjjihhhhЃBfffrfbf`rV6@ɛC Ԩ=I %ͦɚ!i!I%;=I-i-;i-Mأ:)))1*F?2F:FBFJFH2>I I#IIBI$ =&I.I6I<:Ic F-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501410zKEKKE9KAKEKE /3/( G I G B O >!vƸw,AyB%I"IIUIU@5٢u< x=9Q ? G٣y ? Nusing accuracyPremultiplier from config49詩?4Y C iB*@DL:X:4 @ZjFNOT Ignoring new targets: 454.20 m.Bj .7;Jj .7; ProNav: ac range: 454.200012 m, nav range: 228.821487 m, bearing: 3.633922 deg, approach rate: -0.073906 m/s, LOS rate: 0.160151 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136477 deg. 2j;:jE9@%HeadingCmd: 4.819491 target range: 454.200012 and range: 515.00 m. j!j!j!j)i)h)h)h)h1f1f1f9rf9bf=6@ɛim im=Ii uzɚqiqIu`;=I}i}iy)y)J=J=J=0J9J=:J= :J=ـ3J9J=e1<J=f1<J=R;J=R;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754037*F?2F:FBFo0JFGU:G) B1 OU >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005266̸w,4A6@Y6= @6y796tf>y6H? ?F4?@?9?]=? ?ɨ6@6݈;6,CyBBBE"IIJIJ*5٢R RY=9RLʻQ V>TT VG٣Ty^. ~> Nusing accuracyPremultiplier from config 49i? 4Y'C iB *@D::X49 = @A aIaZjFNOT Ignoring new targets: 454.20 m.Bj3;Jj3; ProNav: ac range: 454.200012 m, nav range: 228.795319 m, bearing: 3.694654 deg, approach rate: -0.067466 m/s, LOS rate: 0.156593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157405 deg. 2j;:jC<@HeadingCmd: 4.819856 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf%7@ɛY]v aeq=Ia ehHɚaiaIe y;=Imimg)im/,))*Fe?2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261133GG:G B O >,Ӹw,NAG"vA$ NYRvAyReAr@Yrc@rO;9rx>yrH? T?`@l?;?`g? ?Ӳ?ɨr@rY/;r-CyzBz@"IMb@Mb@Mb@ )Y rh?Mb?Mb`y,?=jH<bHHI I"IIoBI# =&I.I6Iܰ<:I F @)@Iy@II/5٢> 8=9[ Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509452 Nusing accuracyPremultiplier from config49? 4Y.C iB ,? : e *@DM;s;zKu̟LKu+9KqKuKu4B X@EZjFNOT Ignoring new targets: 454.20 m.Bj8;Jj8;5 ProNav: ac range: 454.200012 m, nav range: 228.771729 m, bearing: 3.767728 deg, approach rate: -0.052193 m/s, LOS rate: 0.161691 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194428 deg. 2j5;:j5A@=HeadingCmd: 4.820502 target range: 454.200012 and range: 515.00 m. j9j9j9jAiAhAhAhIhMBfififqrfqbfu %7@ɛk  O=I ɚiIE;=Iidi))) aIa*F?2F:FBF0JF!J#K# K#K#K#"K#JM JM JI JI JM :JM 9JI JI JM 2<<JM 2<<JM Z5;JM Z5; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764683Ge G9 BI Oe >Cٸw,hA6yܒ@Y6@6ʁ;96">y6H ?S?4@hF?ෘ? n?@?O?ɨ6yܒ@6;4y^Bb;"IIrIrG5٢U” US=9],Q e>aa mG٣m8Gymٺ u> Nusing accuracyPremultiplier from configy49}2?4Y}5C i}B{*@}D}z:}C:}4B @EZjFNOT Ignoring new targets: 454.20 m.Bj0N;Jj0N; ProNav: ac range: 454.200012 m, nav range: 228.751053 m, bearing: 3.833264 deg, approach rate: -0.056865 m/s, LOS rate: 0.180263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171812 deg. 2jm;:jR>@HeadingCmd: 4.820107 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@7@ɛ%ЃB%S )-`1=I) -ɚ)i)I-j;=I5i=qi=)9)9*F?2F:FBF05JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014148 YI]jG4λG ?G?GBO>|w,XA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268039ܒ@Yi@:9,>yHP? 0? TpI?1u?@X??G?ɨܒ@q;+CyUB]?"IIIF5٢s< C=99Q > G٣y8 > Nusing accuracyPremultiplier from config49㷩?4Yz=C iBz*@D\,;w;4 P@Zj%FNOT Ignoring new targets: 454.20 m.Bj%b@;Jj-b@;= ProNav: ac range: 454.200012 m, nav range: 228.727570 m, bearing: 3.908867 deg, approach rate: -0.052239 m/s, LOS rate: 0.168197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.202019 deg. 2j=;:j=B@EHeadingCmd: 4.820635 target range: 454.200012 and range: 515.00 m. jAjAjAjAiIhIhIhQhQfQfQfQrfYbf]6P8@ɛ  Z J=I ɚiI,:=Iici)!)!*F?2F:FBF85JFH3>I I"II[BI&I.I6Is<:IR FBIYJIYRIYZIYbIYjI]Ǣ4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517528zKJK9KKKG  E N$?IA G B O= >_w,bA29Ғ@Y2@2D=92T<>y2H(?#?cW<? ؠ?t?]??ɨ29Ғ@2`;2.Cy:B:>"I%Mb@Mb@Mb@!!! !)!Y%B`"?kt?5٢-׻ 5D=9= ʺQ =>II MG٣IyUSZ ]> mNusing accuracyPremultiplier from configiu49mc?u4YmbDC imB}5/?}:}򴿑}*@mDmt;m;ma4 f@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.BjB;JjB; ProNav: ac range: 454.200012 m, nav range: 228.704147 m, bearing: 3.975112 deg, approach rate: -0.060237 m/s, LOS rate: 0.170385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173940 deg. 2j;JJJJJ ;J9JJJ}T<J~T<J$7;J%7;:j>@UHeadingCmd: 4.820145 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhYh]BfYfafarfabfe8@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769528ɛ& ?=I ɚiI:=Iiir))*F?2F:FBF_0JFG G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021293Gw,O96>y6H4?@ˍ?iq? ?侧?S?S?ɨ6Xϒ@6;6+CyRBRF"IIZIZG5٢b= bd=9fQ f>dd jG٣j8Gyj j> pIp vNusing accuracyPremultiplier from configtz49v?z4YvJC ivBx~~*@vDvcw,nA2ʒ@Y2ٙ@23?92>y2H]??@D`¹?$?? ? n?ɨ2ʒ@2(;2/CyRBRJ"I-Mb@Mb@Mb@))) )))Y-|?5^?{Gz?y&1?y-2?-#=-`e<-zAZH9RH=@AHE2>IA IAIAIE$ =&IA.IA6IEn<:IEN FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525291 -@))I))y-@I I 995٢EE< E4=9M0eQ M>zKUKK9KKK   QQ UG٣Qy]f ]> eNusing accuracyPremultiplier from configa I49e©?4YeSC ieθBE3?:뵿*@eDe aw,ANAǒ@YN֙@NYA9N" >yNHG? ?'?M?"?@Z??ɨNAǒ@N;N+CyZB^b"I f=fp=InInm?5٢z= ze=9~@rQ ~> G٣y   ? mNusing accuracyPremultiplier from config u49 ũ?}4Y mYC i ׸By}*@ ǨD 0o< ;?; 4 @ZjFNOT Ignoring new targets: 454.20 m.BjJ;JjJ; ProNav: ac range: 454.200012 m, nav range: 228.639191 m, bearing: 4.176868 deg, approach rate: -0.054497 m/s, LOS rate: 0.177454 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145263 deg. 2j;:j:@HeadingCmd: 4.819644 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf9@ɛ\ܼ =I !ɚ!i!I%0:=I%i-sMi-)))1*F?2F:FBFy0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029356 IjG׹GBO>w,AJJJJJ;JJJa*@a.@a.@a.@2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281494~Œ@Y~ՙ@~eA9~ A >y~H+=??@᧹?[? s*?@?@y?ɨ~Œ@~v;~,Cyޭ Bޭg"II}I}75٢< 2=98QQ > G٣8Gy%$ %> -Nusing accuracyPremultiplier from config)U49-ɩ?]4Y-bC i-BY]]*@-ҨD-;-L;-4a e<@iZjFNOT Ignoring new targets: 454.20 m.Bj^G;Jj^G; ProNav: ac range: 454.200012 m, nav range: 228.614380 m, bearing: 4.259157 deg, approach rate: -0.052548 m/s, LOS rate: 0.174300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222077 deg. 2j=;:j E@HeadingCmd: 4.820985 target range: 454.200012 and range: 515.00 m. jjjjihhhhf!f!f!rf!bf%`Z:@ɛ΃B <=I rɚiI9=Ii_iP))*F5?2F9:F9BF=`0JF9HaIa Ie"IIeeBIa&Ia.Ia6Ie<:Ieg FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533371zK #LK K K K RK ?JK > I G% ZG5 ?G5 ?G B! OU >w,^A>-Œ@Y>ԙ@> A9>C >y>H`7? ?@g@I?S?S.?6?@a?ɨ>-Œ@>gA;qq uG٣yy}' > Nusing accuracyPremultiplier from config49?ͩ?4YahC iB ,? :  *@٨D;j;Z4! %@!mB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 454.20 m.BjA;JjA; ProNav: ac range: 454.200012 m, nav range: 228.591614 m, bearing: 4.320381 deg, approach rate: -0.062985 m/s, LOS rate: 0.169399 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158877 deg. 2j;:jx<@HeadingCmd: 4.819881 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfu:@ɛIʼ >I &ɚiI9=Iiii)) uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785206*Fm?2Fi:FiBFm>1JFiG G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037275 w,7A DIFjy B"I  AII=5٢%= %Q=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from configAM49EЩ?M4YEnC iEBQQU*@EDE;E&;E4eB e@eEZjFNOT Ignoring new targets: 454.20 m.BjsD;JjsD; ProNav: ac range: 454.200012 m, nav range: 228.568405 m, bearing: 4.383533 deg, approach rate: -0.063113 m/s, LOS rate: 0.171751 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164663 deg. 2j;:jL=@HeadingCmd: 4.819983 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf;@ɛ $>I HɚiI2:9=Iii)) *F?2F:FBF4JFJeJeJaJaJek:Je:JaJaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290917GqGYBO>w,+PAH-1>I) I-"II-yBI)&I).I)6I-<:I-i FyE,BE"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541513 Mb@Mb@Mb@    ) Y S㥛?ˡE?Zd;O?y $&? '= j<  A ) @I v@ y @I%I%p;5٢5R^= =:=99Q =>9A EG٣E8GyA E> UNusing accuracyPremultiplier from configI]49Msԩ?]4YMYvC iMB]&?]:]e*@MDM$;MU";M 4m B m @mEZjFNOT Ignoring new targets: 454.20 m.Bjy9;Jjy9; ProNav: ac range: 454.200012 m, nav range: 228.546936 m, bearing: 4.454552 deg, approach rate: -0.049015 m/s, LOS rate: 0.162154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188261 deg. 2j;:j@@HeadingCmd: 4.820395 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf@;@ɛ̓B F>>I s ɚiI08=I i hi)) qIqzK}JK}9KyK}K}BKsA:K*F?2F:FBF2JFG׹GsAGGi By  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793341O >H3w,jAN̒@YNۙ@NA?9N >yNH4n? ?`ع?? ?]? ??ɨN̒@N;LyV;BV"II\I\٢f֢= fd=9j:Q j>ll nG٣lyn; r> vNusing accuracyPremultiplier from configpv49rsש?z4Yrg|C irBxzg~*@rDrvA;raB;r4 "@ Zj)5FNOT Ignoring new targets: 454.20 m.Bj59;Jj59;E ProNav: ac range: 454.200012 m, nav range: 228.529434 m, bearing: 4.512705 deg, approach rate: -0.048678 m/s, LOS rate: 0.161757 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149660 deg. 2jE;:jM';@MHeadingCmd: 4.819721 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhYhYfYfafarfabfe;@ɛ̃B 隝\>I BL ɚiI8=IiƂi|))*F}?2Fy:FyBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045431 iIiGZGBO>g!w,AJJJ/JJl:JT:J(N3J6Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298208JΒ@YJݙ@J >9J5 >yJH}? (?F ??ڠ?mӧ?@/T??ɨJΒ@JH;J.Cyb=Bf"I jp=ja=InIn95٢z#L< zH=9z!9Q z>|| ~G٣|y: >  Nusing accuracyPremultiplier from config 49 ک?4Y IC i B_*@ D i< g< 4 @ZjYeFNOT Ignoring new targets: 454.20 m.Bje;Jj; ProNav: ac range: 454.200012 m, nav range: 228.509766 m, bearing: 4.578788 deg, approach rate: -0.041378 m/s, LOS rate: 0.139035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173452 deg. 2j־;:j>@HeadingCmd: 4.820136 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf~\<@ɛ%˃B%4 AMc>II Mi ɚIiIIM8=IUiUsiU )Q)Y) =}Ge`wAq > Y`wAy|B*F?2F:FBF!JF!G% G%"G)G)H0>I I#IIBI&I.I6Ij<:IJ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549258 m O$?Ii zK &(KK K K K     RK >JK ?G B O >A'w,pA2ђ@Y2z@2J=92.W >y2H#? ?=9?`P?|?`X??ɨ2ђ@2އ;2-CyNPBN"IuMb@Mb@Mb@qqq q)qYuʡE?y&1? rh?yu?u`e=uC G٣8Gyp: > Nusing accuracyPremultiplier from config49ީ?4Y%C i)Bg?:*@D ;;4 @ B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 454.20 m.Bj%P;Jj%P;5 ProNav: ac range: 454.200012 m, nav range: 228.482742 m, bearing: 4.644814 deg, approach rate: -0.074619 m/s, LOS rate: 0.182336 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173286 deg. 2j5E;:j5>@=HeadingCmd: 4.820133 target range: 454.200012 and range: 515.00 m. j9j9j9j9iAhAhAhAhM߃BfIfIfIrfIbfU<@ɛ tv 5N=5)>I1 5} ɚ9i9I=7=I=iEYiEH)A)AuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.801535*F%?2F!:F!BF!JF!G5?G5>GB O-O>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053249 Y IY q-w,ccA>ޒ@Y>(@>/;9>b >y>H-?^?I`<`?@D?c?Y?`?ɨ>ޒ@> ;dd fG٣dyf; j> nNusing accuracyPremultiplier from configlr49nx⩜?r4YnC in3Bpryr*@n Dn:nG:n%4z B z@z EZj%FNOT Ignoring new targets: 454.20 m.Bj%(0;Jj%(0;= ProNav: ac range: 454.200012 m, nav range: 228.459122 m, bearing: 4.702256 deg, approach rate: -0.063323 m/s, LOS rate: 0.154010 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147532 deg. 2j=d;:j=:@EHeadingCmd: 4.819684 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhIhIhhfffrfbf=@ɛEʃBExs AE>I  ɚiIZ7=IiEiE))*F?2F:FBFk0JFGBOH>JEJEJE0JAJE[:JE9JEـ3JAWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.309517V4w,2A:@Y:7@:~:9:z >y:H!?x?eS?+ ? M?*h?S?ɨ:@:x;8yFYBF"ILLH`I` Ib5#IIbBI`&I`.I`6Ib<:Ib FBIJIRIZI$ =bI$ =jIl4EMb@Mb@Mb@AAA A)AYECl?S㥫?{Gz?yEd?E/]=E#qy }G٣yy}: }> Nusing accuracyPremultiplier from config49x橜?4YЖC i=B?:x*@D&;n$;x,4 1@ZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557460FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;u ProNav: ac range: 454.200012 m, nav range: 228.432846 m, bearing: 4.766864 deg, approach rate: -0.061728 m/s, LOS rate: 0.151797 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169030 deg. 2juZ;:j=@HeadingCmd: 4.820059 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf@%=@ Ijɛxp )-X>I) -r ɚ)i)I-86=I5i5i=)|ڻ)9)9zK Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809289}:w,A2@Y2@2"792 >y2Hv?҅?c @m?@J??n?[?ɨ2@2؁;2+CyR_BR"IIZIZ95٢bB< fV=9f:Q f>hh jG٣j8Gyjٕ; n> rNusing accuracyPremultiplier from configpv49r꩜?z4YrҜC irFBxz?z*@rDr55;rx5;r"34 @ZjFNOT Ignoring new targets: 454.20 m.BjA&;JjA&; ProNav: ac range: 454.200012 m, nav range: 228.409149 m, bearing: 4.824734 deg, approach rate: -0.059512 m/s, LOS rate: 0.145351 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148815 deg. 2j;:j;@HeadingCmd: 4.819706 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf%=@ɛ ɃBUU QUϕ>IQ ]`ɚYiYI]V6=Ieieie*X)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061225 IEuK@=*F 2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316579G5 !G1 G5 tAG1BiO=>Bw, A-@Y-@@-69-M >y-H%??@N`?Þ?G?.w?@6?ɨ-@-5;--Cy=aBE"IMb@Mb@Mb@ )Y\(\?:v?Mbp?y?T=;zA )@Iv@yIIS<5٢/< =9 :A:Q  > G٣y*: > %Nusing accuracyPremultiplier from config!-49%-臭?-4Y%RC i%PB-t?5:5_5*@%%D%[;% ;%<49 =@9ZjaeFNOT Ignoring new targets: 454.20 m.Bj 2;Jj 2; ProNav: ac range: 454.200012 m, nav range: 228.376328 m, bearing: 4.906687 deg, approach rate: -0.062526 m/s, LOS rate: 0.156146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221081 deg. 2jR;:j]E@%HeadingCmd: 4.820967 target range: 454.200012 and range: 515.00 m. j!jAjIjIiIhIhIhQhUBfQfQfYrfYbf]6v>@H/>I IN#IIńBI&I.I5D6IͰ<:I FɛFv {>I VɚiI}5=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565564 IzKMgLKIKIKMKM Ad {uK) El=*F} ?2Fy :Fy BF} ^0JFy J J J /J J :J :J (N3J J < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819497a J yNH@5S?? ¿ @??C ? ?"?ɨN@N;LyVdBV"IIbIb<55٢fN< j0=9j@;Q j>ll nG٣lyrҝ; r> vNusing accuracyPremultiplier from configtz49v?m4YvC ivYBy}}*@v.DvG@ɛ]ȃB]|O Y]ś>IY emɚaiaIeb5=Imimim4)i)qEyEy*Ey"EyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069309 I*F?2F:FBF_0JFG Gi By O >Qw,FA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321338:@Y:&@:4,9: >y:Hº?`?`N¿??`? I?@F?ɨ:@:-F;:*CyZcBZ"IIbIb3A5٢jx jE=9j$;Q n>lp rG٣r8GyvY; v> zNusing accuracyPremultiplier from configx~49z?~4YzC izaB|߰*@z6Dz:z:zK4] B @ EZjquFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 228.322433 m, bearing: 5.039705 deg, approach rate: -0.054912 m/s, LOS rate: 0.135198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163515 deg. 2j;:j"=@HeadingCmd: 4.819963 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@f?@ɛY]U Y](>IY e'@ɚaiaIe5=Imii-))EjHm<bHiHyIy I}Z#II}τBIy&Iy.Iy6I}ְ<:I} F*Fe?2Fa:FaBFeo0JFa"Gma=Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573295 aIejzKm -NKm h9Ki Km Km G ?G B O >Ww,waAy~iB"I5Mb@Mb@Mb@111 1)1Y5/$?/$?Mb`y5?5,=55dA 5b@)5@I11y5@IMIM75٢]w< ]/=9]Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49u?}4YuC iuhB ?:㲿*@u?Du;u';uT4 +@JJJ0JJK:J:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826934Jr5<Jr5<JnN;JoN;ZjFNOT Ignoring new targets: 454.20 m.BjG>;JjG>; ProNav: ac range: 454.200012 m, nav range: 228.298264 m, bearing: 5.111236 deg, approach rate: -0.056203 m/s, LOS rate: 0.166354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189803 deg. 2j%U;:j%@@mHeadingCmd: 4.820421 target range: 454.200012 and range: 515.00 m. jijqjqjqiqhqhyhyhBfffrfbff?@ɛ!%9 )- >I) -uɚ)i)I-4=I5i5i=պ)9)9*F?2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.} &^w,[{A6(@Y67@6%96) >y6HmK?? ^ ¿;y?e͙?`?5??ɨ6(@6Eׇ;6+Cy>`B>"IIJIJE5٢nrF nf=9rɏ;Q r>pt vG٣tyv; v> zNusing accuracyPremultiplier from configx49z?4Yz-C izmB*@zFDz;z;zRZ4 @Zj9EFNOT Ignoring new targets: 454.20 m.BjEB;JjEB;U ProNav: ac range: 454.200012 m, nav range: 228.279663 m, bearing: 5.165591 deg, approach rate: -0.058295 m/s, LOS rate: 0.170364 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138263 deg. 2jU;:jm9@uHeadingCmd: 4.819522 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhqhyhyhyfffrfbf @@ɛ$ 隵>>I cɚiIT4=Ii^iI 9))*FU?2FQ:FQBFUP3JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I I I &I .I 6I <:I Few,9A6/@Y6B?@6*!96Fd >y6H@‡?~? ¿ӫ???1?@??ɨ6/@6IO;6.Cy>dB>"I Mb@Mb@Mb@ %Will construct direction to contact in vehicle frame from tetrahedron phase data.% P$?Iq G٣ 8Gyb ; > Nusing accuracyPremultiplier from config%49J?-4Y{C isB-#?}:}e}*@ODbX<VS<b4 @ZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.;5 ProNav: ac range: 454.200012 m, nav range: 228.253159 m, bearing: 5.236063 deg, approach rate: -0.057496 m/s, LOS rate: 0.152892 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186628 deg. 2j5;:j5p@@=HeadingCmd: 4.820366 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhAhEʃBfIfifirfibfuM@@zKJKKKKɛH >I ?6ɚiI3=IiiQk:)))E5sAE1*F?2F:FBF4JFGsA GtAJJJJJ%;J=9JJJ K<J K<J*;J*;Will construct direction to contact in vehicle frame from tetrahedron phase data.:kw,A67@Y6eG@6 96 >y6HȻ?}?@@@?K?`?@r?t?ɨ67@6;6+CyB_BB"I J=J=ININ95٢Vgʼ VW=9VM;Q V>XX ZG٣Xy^3; ^> bNusing accuracyPremultiplier from config`f49b?f4YbuC ibxBdjDj*@bVDb:bX:bVh4l n@lB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 454.20 m.Bj A;Jj A;- ProNav: ac range: 454.200012 m, nav range: 228.231506 m, bearing: 5.293740 deg, approach rate: -0.063353 m/s, LOS rate: 0.168775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148233 deg. 2j-;:j-:@5HeadingCmd: 4.819696 target range: 454.200012 and range: 515.00 m. j1j1j1j9i9h9h9h9hAfAfAfArfAbfMx@@ɛV 隥>I hɚiI?3=Ii iQ:))*Fm?2Fi:FiBFm_0JFi-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Response Not Received 5*response not received=,DAT read: user:1158> EBDAT read: Tx time:20:09:58.0805 M$Ping request sent.M Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:09:58.0797  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249189!rw,AZ\5@YZD@Z9Z> >yZH 㵻?? #ü???@b?@S?ɨZ\5@Zۆ;Z,Cy޵bB"IIIB5EGYy YyA٢|K< "=9:Q > G٣y > Nusing accuracyPremultiplier from config49 ?4YC iBN*@aDC: :7q4- B E@E#EZjquFNOT Ignoring new targets: 454.20 m.Bj}w4;Jj}w4; ProNav: ac range: 454.200012 m, nav range: 228.201492 m, bearing: 5.374970 deg, approach rate: -0.058289 m/s, LOS rate: 0.157775 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.218907 deg. 2j;:jE@HeadingCmd: 4.820930 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@@ɛeɃBeS iuz>Iq uɚqiyI}^+3=ZHRHH->IC III&I.I6I<:If FIixi:))Ea>E>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501122*F]?2FY:FYBFYJFY"Ge=Ge= IjzK% QJK% 9K! K% K%  6ZgbYL>3)& G :G B9 Om >Wxw,+A>%@Y>4@>#9>v >y>HU4? I? 4A??`!?~0??ɨ>%@>A;>*CyJ]BJ"I-only read 0 of 1 data item for altitude. Device response is::BD, +72.72933.61, 10, 7.70, 0.00  @ @ @  @ II@5٢^ r=97|Q ? G٣!8Gy ? bBottom track data is 0.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config499?4YfC iB+::*@gDs6;M>u4 @Zj%FNOT Ignoring new targets: 454.20 m.Bj%99;Jj%99;E ProNav: ac range: 454.200012 m, nav range: 228.182449 m, bearing: 5.428336 deg, approach rate: -0.057780 m/s, LOS rate: 0.161935 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135297 deg. 2jED;:jE9@MHeadingCmd: 4.819470 target range: 454.200012 and range: 515.00 m. jIjIjIjQiQhQhQhQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752374JJJJJ:JK:JJJZ<JZ<Jc;Jc;hYf9fAfArfIbfU@@ɛ Ɠ>I OɚiI22=I i5i5)1)9*F?2F:FBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004246G5 : q Iq G B O- >^t~w,wAy~bB"I  AII\05٢%< -T=9-Q ->)1 5G٣1y5 5> EbBottom track data is 0.7 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M49=?M4Y=C i=BU :QUY:QU*@=oD=);=8?=\z4 B @ EZjAMFNOT Ignoring new targets: 454.20 m.BjM\-;JjM\-;e ProNav: ac range: 454.200012 m, nav range: 228.160706 m, bearing: 5.489967 deg, approach rate: -0.053468 m/s, LOS rate: 0.151565 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160096 deg. 2je ;:je<@mHeadingCmd: 4.819903 target range: 454.200012 and range: 515.00 m. jijijijiiihqhqhqhqfyfyfyrfybfA@ɛR 隵>I ɚiI2=Iiȅi^c))*F5?2F1:F1BF5~0JF9G  >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257061GBOF>H +>I  I T#II ʄBI % =&I .I 6I <:I s FBIiJIm˝CRIiZIibIijIm+4b]w,cAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508849y hB "I !I!        Mb@Mb@Mb@ )Y/$?l?Mbp?y,?=;A K@)p@I@yf@IIB-5٢< 4=9Q > G٣y > Nusing accuracyPremultiplier from config49?4YC iBT:K,?:*@yD;;I4 8@Zj FNOT Ignoring new targets: 454.20 m.Bj!L;Jj!L;% ProNav: ac range: 454.200012 m, nav range: 228.141266 m, bearing: 5.566381 deg, approach rate: -0.045397 m/s, LOS rate: 0.178464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204450 deg. 2j%;:j%B@-HeadingCmd: 4.820677 target range: 454.200012 and range: 515.00 m. j)j1j1j1i1h1h1h9h=Bf9f9f9rfAbfEOA@ɛmʃBm quv>Iq uɚqiqIu2=I}i}Di))EzK-:KMK-S9K)K-K- *F?2F:FBF0JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760559G G rAG rAJKcw3 K.-KK"KJE JE JA JA JE ̶:JE J1:JA JA JE ;JE ;JE &;JE &;G B O >w,Y0A6 @Y6T@6;96΋ >y6H>{?? ʠ Or?S?]¡?@MA???ɨ6 @6w;6.Cy^oB^"IIfIfF5٢r= rl=9va;Q z?xx zG٣z"8GyEA E> MNusing accuracyPremultiplier from configIU49MG?U4YMC iMB贿*@MDMIA EiɚAiAIEn1=IMiM|SiM{=)Q)Q IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013944*F%?2F!:F!BF%S5JF)G5zQG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264234nw,/4JA6@Y6#@6%96U >y6H`f?G? ? '??:??ɨ6@6Ȉ;6-Cy-uB-"IIUIUA5٢< 1=9kK;Q > %G٣!y5: => uNusing accuracyPremultiplier from configq}49u?}4YuII IMZ#IIMτBII&II.II6IM<:IMU Fɛ> >I ɚiId1=IiMiM)) I  jWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517378*F?2F:FBF1JFzK eKK 9K K K 2Q3nH$y:Xw;9F}`C* |unjgdG HNG G :?G B O >ܘw,,eA>@Y>@>e9> >y>H ??Wm@q?o?*? 2?Q?ɨ>@>; G٣yE > Nusing accuracyPremultiplier from config49 "?4YC iB.?:p+@D;;,4 -@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770121Zj1=FNOT Ignoring new targets: 454.20 m.BjETK;JjETK;% ProNav: ac range: 454.200012 m, nav range: 228.090958 m, bearing: 5.768659 deg, approach rate: -0.048774 m/s, LOS rate: 0.177764 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162214 deg. 2jE;:jE<@UHeadingCmd: 4.819940 target range: 454.200012 and range: 515.00 m. jYjYjYjihhhhЃBfffrfbf_A@ɛW  >I  Oɚ i I t1=IiTi&@))*F2F:FBF5JF } R$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020365G zQG B Oe >w,~A>$@Y>@>9> >y>H b? z?!@b?`?d9? ,?`ñ?ɨ>$@>;dd fG٣f#8Gyj j> -Nusing accuracyPremultiplier from config!-49%%?54Y%D i%B15s5+@%D%e ;% ;%49 E@AZjamFNOT Ignoring new targets: 454.20 m.BjmF;JjmF; ProNav: ac range: 454.200012 m, nav range: 228.073273 m, bearing: 5.834310 deg, approach rate: -0.046766 m/s, LOS rate: 0.173622 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172155 deg. 2jO;:j^>@HeadingCmd: 4.820113 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf B@ɛ˃Bt g>I ɚiI 0=Ii^iuE)q)q*F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272432JMJMJIJIJML:JM :JIJIaU@aU@aU@aU@G*G) Ba O >H )>I  I g#II ڄBI & =&I .I 6I <:I F饹w,̘A I2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525024y}B}#IMb@Mb@Mb@ )Yv/?Zd;O?:v?yx)?T<7A )I@yp@I-I-jC5٢=c= =5=9EQ E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]49U)?e4YU D iUBe)?e:eJe+@UDUr;U;U4q } @yZjFNOT Ignoring new targets: 454.20 m.Bj==;Jj==;= ProNav: ac range: 454.200012 m, nav range: 228.053452 m, bearing: 5.907824 deg, approach rate: -0.044604 m/s, LOS rate: 0.165447 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.195748 deg. 2j=;:jMA@UHeadingCmd: 4.820525 target range: 454.200012 and range: 515.00 m. jQjQjQjYiYhYhYhahe׃BfafafarfibfmTB@ɛ< >I ɚiI>0=Iiw,A6@Y65!@6P96<( >y6H(? #?i`e?-?숞?@5?`?ɨ6@6;4yBBB*#IIJIJ?5٢RY= Rh=9R;Q V>TT VG٣XyZ\: Z> fNusing accuracyPremultiplier from config`r49bG-?r4Yb3D ibBprAr+@bDb;b;bΫ4z B z"@~%EB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 454.20 m.Bj%<;Jj%<;5 ProNav: ac range: 454.200012 m, nav range: 228.037827 m, bearing: 5.966589 deg, approach rate: -0.043920 m/s, LOS rate: 0.165194 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151494 deg. 2j=;:j=j;@MHeadingCmd: 4.819753 target range: 454.200012 and range: 515.00 m. jIjQjQjQiQhQhQhYhYfYfYfarfabfe`AB@ɛ)-; )-_>I) 5 (ɚ1i1I5/=I=i=ni=d)9)A I!jmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030011*F?2F :F BF JFGeGRG9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280206J] J] <JY JY J] :J] :JY JY w,A]@Y]N @]9] >y]H@+?l? ~`J`V?W?t?``3? ??ɨ]@]ш;YyB>#II5I5>5٢m؇= u0=9}X;Q > G٣$8Gyt > Nusing accuracyPremultiplier from config491?4Y[D iŹBD}+@DN<<4 B 0@#EZjFNOT Ignoring new targets: 454.20 m.Bj6;Jj6; ProNav: ac range: 454.200012 m, nav range: 228.017288 m, bearing: 6.045356 deg, approach rate: -0.041663 m/s, LOS rate: 0.159795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211506 deg. 2jU;:jC@HeadingCmd: 4.820800 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf$B@ɛ%̃B%(: )-~>I) -)rɚ)i)I-e/=I5i5wui5:c)9ZHARHEAAHM(>II IM#IIMBII&II.II6IM<:IM F)9 I*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.533993G= ݻzKu ZPKu 9Kq Ku Ku vY.~dSE81'  J}f6 G B! O= >g%w,\AZ @YZk@ZOO9Z >yZH@b}?0?@?<8??ދ??6F?ѱ?ɨZ @ZM;Xyj̈́BnX#IuMb@Mb@Mb@qqq q)qYu"~j?&1?/$?yuS#?uP=uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785018 G٣yt  > %Nusing accuracyPremultiplier from config-49\5?-4Y!D iιB5#?5:=8=+@D;8;4I M@IZjFNOT Ignoring new targets: 454.20 m.Bj8;Jj8;- ProNav: ac range: 454.200012 m, nav range: 227.999878 m, bearing: 6.105653 deg, approach rate: -0.046680 m/s, LOS rate: 0.161679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156092 deg. 2j-;:j-<@UHeadingCmd: 4.819833 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhYhYhYheBfaffrfbf B@ɛ̓B0; <?I 4=ɚiI2.=I i i7&))*F?2F:FBF0JF"G=G= IGM xGU ?GU ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036251G! B1 OM > w,:A2@Y2Y @2 ۼ92& >y2H 町?@|?`@yE?@ R?Lx?@yU??ɨ2@2ˊ;2,CyNׄBNe#III:5٢}V>= }?=92;Q > G٣yn^: > Nusing accuracyPremultiplier from config49a9?4Y(D iعB-+@ǩDa;;4 3@ZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?; ProNav: ac range: 454.200012 m, nav range: 227.980682 m, bearing: 6.172864 deg, approach rate: -0.047823 m/s, LOS rate: 0.167462 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176836 deg. 2j;:j ?@HeadingCmd: 4.820195 target range: 454.200012 and range: 515.00 m. jjjjih h hhfffrfbf$C@ɛ< ?I ɚiIy.=Iii ))Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.289952*F?2F:FBF0JF) ϏC}G Yy B@_AG% QҺHm )>Ii  Im #IIm BIi &Ii .Ii 6Im ԰<:Im FG B O- > I 7ƹw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540210>@Y>5@>2Ӽ9> >y>H ?? /,?%L?z?2k??ɨ>@>g;>/CyFBJ{#I z@~ ~@~ ~@~  @ IIB5٢= Z=9(;Q > G٣%8Gy6 > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49P4 @Zj  FNOT Ignoring new targets: 454.20 m.Bj6;Jj6;% ProNav: ac range: 454.200012 m, nav range: 227.963882 m, bearing: 6.232910 deg, approach rate: -0.044530 m/s, LOS rate: 0.159170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155338 deg. 2j%y;:j%;@-HeadingCmd: 4.819820 target range: 454.200012 and range: 515.00 m. j)j)j)j)i1h1h9h9h9fAfAfArfAbfMRC@uPExceeded connect timeout, disconnecting.ɛ΃B\< 隍 ?I ޼ɚiI.=Ii4iy} ))*F?2F:FBF@5JFzKxNK]9KKKbtfL^RK?JK&? Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797021GïG B O >a̹w,3A:H@Y:"@:h8ɼ9: >y:H?? `F?\?@g&??`?ɨ:H@:;:.CyFBF#IININp;5٢V< V[=9Zc;Q Z>`` bG٣`yf: f> jbBottom track data is 0.7 s old, using for 20.0 s. nNusing accuracyPremultiplier from configh~49j@?~4Yj4D ijB~ :|Y:%+@j֩Dj ;jA?j4  B @ %E%B*** querying acoustic contact ***j)j)ZjAEFNOT Ignoring new targets: 454.20 m.BjM5;JjM5;] ProNav: ac range: 454.200012 m, nav range: 227.947205 m, bearing: 6.292958 deg, approach rate: -0.044072 m/s, LOS rate: 0.158688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155341 deg. 2je;:jaeHeadingCmd: 4.819820 target range: 454.200012 and range: 515.00 m. jijijijiiihihihqhqfqfqfyrfybf} C@ɛσBj^< 隭?I cۼɚiI-=Iiik )) I"jUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044941*F?2F:FBF_0JFGg{GGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296981J J J J J m:J :J J PJӹw,MA:@Y:$@:9:| >y:Hs?d?`I?؁??6?@?ɨ:@:n;:-Cy B #II-I-:5٢== EA=9E5;Q E>II MG٣IyM^: U> ubBottom track data is 1.2 s old, using for 20.0 s. uNusing accuracyPremultiplier from configY49]D?4Y];D i]B90:+@]ީD]"C<]?]4 @ZjaFNOT Ignoring new targets: 454.20 m.Bj##;Jj##; ProNav: ac range: 454.200012 m, nav range: 227.928696 m, bearing: 6.360510 deg, approach rate: -0.039075 m/s, LOS rate: 0.142625 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177860 deg. 2j;:j/?@HeadingCmd: 4.820213 target range: 454.200012 and range: 515.00 m. jjjjihhhhffjH <bH <H*>I I#II0BI&IHD.I6I<:Ig FBIÝCJIRIZI& =bI& =jIQ4frf9bfE [C@ɛЃBL0< 隽?I JּɚiI,= mS$?IiIuiu#iu)q)yeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.549410*F=?2F9:F9BF=4JF9 unManaging dock network, ignoring radio surface power offG OPG B O >zK5 UOK1 K1 K5 K5 HCr)yS*sdP9'vohd`]]BKE rA:KE tAٹw,gA:U@Y:+@:Xڴ9:.P >y:H`?`g?@|x?@F}?Қ?? $?ɨ:U@:[;8yFBF#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802846        Mb@Mb@Mb@ )Yd;O?i|?5?~jt?y?q=<7A )@IyII/5٢$= (=9Q1;Q > G٣&8Gy-: >  Nusing accuracyPremultiplier from config 49 nI?4Y XCD i BT:?:H+@ D  ; ; 4! %@!ZjFNOT Ignoring new targets: 454.20 m.Bj :8;Jj :8;u ProNav: ac range: 454.200012 m, nav range: 227.903000 m, bearing: 6.432259 deg, approach rate: -0.057677 m/s, LOS rate: 0.161066 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190458 deg. 2ju;:ju@@}HeadingCmd: 4.820433 target range: 454.200012 and range: 515.00 m. jyjjjihhhhJBfffrfbf"C@ɛ=уB}?c< y}J?Iy ѼɚiIo,=Iiei)) 9IA*F?2F:FBF 4JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053492G >G B O>Mw,`xA2f#@Y23@2S92Z8 >y2H@*?? ?@w?7?ė?z?ɨ2f#@2;2+CyBBB#IIJIJ15٢R$= Ra=9R$t;Q V>TX ZG٣XyZ; Z> bNusing accuracyPremultiplier from config\b49^L?f4Y^HD i^Bd-,-+@^D^g<^)h<^`4I M@QZjFNOT Ignoring new targets: 454.20 m.Bj#;Jj#; ProNav: ac range: 454.200012 m, nav range: 227.884323 m, bearing: 6.484575 deg, approach rate: -0.051118 m/s, LOS rate: 0.143198 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132146 deg. 2j;:j8@HeadingCmd: 4.819415 target range: 454.200012 and range: 515.00 m. jjjjihhhhf!f)f)rf)bf-)D@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304332ɛ=҃BE/2< AE?IA E μɚAiIIM+=Ieien4ie#&)a)iEqEu>*F?2F:FBF_0JFHE)>IA IE#IIENBIE% =&IEGD.IA6IE<:IE| F a Ia Ga G1 B9 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556210mpw,3A:)@Y:s9@:]9: >y:H`]??ʻ?@r?j?O?R?ɨ:)@:Y;:.CyRBR#I=Mb@Mb@Mb@999 9)9Y=B`"?v/?Q?y=?=xi==u<=A 9)9I99y=@IUIU75٢e< e@=9eB;Q m>qq }G٣yy: > Nusing accuracyPremultiplier from config49Q?4YND i B?:殿+@D;;4 @"EZjFNOT Ignoring new targets: 454.20 m.Bj';Jj'; ProNav: ac range: 454.200012 m, nav range: 227.862610 m, bearing: 6.544598 deg, approach rate: -0.053080 m/s, LOS rate: 0.146746 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155274 deg. 2jk;:j;@HeadingCmd: 4.819819 target range: 454.200012 and range: 515.00 m. jjjjihhhhXBff f rf bf [D@ɛԃB7< z?I ʼɚiI s+=I5i5i5Ŷ9)1)9zKM&OKM 9KIKMKM[[VQPMFED?>=:::64450/,+,+''&%&&## *F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809981JAJAJUJUJQJQJU:JUu9JQJQJUM Y IY ew,c'A63@Y6C@6r 96 >y6H {?@? *?h?@,?Ò??ɨ63@6v;6-CyJBJ#IIRIR45٢Zz< ^U=9^l;Q b>dd fG٣f'8GyjS; j> nNusing accuracyPremultiplier from configlr49nT?r4YnuTD inBprv+@nDn@:nL:n4z B z^@z%E B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj%y ;Jj%y ;5 ProNav: ac range: 454.200012 m, nav range: 227.843124 m, bearing: 6.598341 deg, approach rate: -0.050864 m/s, LOS rate: 0.140297 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136427 deg. 2j5;:j=C9@EHeadingCmd: 4.819490 target range: 454.200012 and range: 515.00 m. jIjIUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.060351jYjYiYhahahahafififirfibfuHD@ɛՃBք< 隝c?I VVƼɚiI*=IiiP:))*FE?2FA:FIBFM0JFIGm}:GABIOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312298Kw, A}8@YH@9" >yH`һ?(?`:I (?\?^?@i?`%?ɨ}8@ZH RH HI I$IIhBI& =&IHD.I6I<:I F;騝/Cy5 B5#I I#jMb@Mb@Mb@ )Y(\?S㥫?y&1|?y?/]=`; @)@IyI=I=%.5٢M  M'=9U;Q U>QQ ]G٣Yy]J: ]>  Nusing accuracyPremultiplier from configa49e_Y?4Yes[D ieBE?M:M M+@eDe w, PAy5B5#IIEIE75٢U= Ua=9]Q ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiu49m\?u4Ym`D imByy}+@m Dm ;m ;md4 @ZjFNOT Ignoring new targets: 454.20 m.Bjs0;Jjs0; ProNav: ac range: 454.200012 m, nav range: 227.801941 m, bearing: 6.716890 deg, approach rate: -0.053244 m/s, LOS rate: 0.154264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127177 deg. 2j;:j7@HeadingCmd: 4.819328 target range: 454.200012 and range: 515.00 m. jjjjihhhhfff rf bf &D@ɛ5؃B=< 9=?I9 =彼ɚ9i9IE*=IEiEZiM E:)I)I*F 2F :F BF )5JF  )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068306GM:G) B1 OM >w,A:?@Y:N@:*u9: >y:H@~?`? *J?3?@V?@?ɨ:?@:$P;:-CyZ BZ#IIfIf995٢r0  rT=9v;Q v>tt vG٣v(8GyzI ; z> ~Nusing accuracyPremultiplier from config|49~z`?4Y~4fD i~ B   +@~D~:~:~4 @ZjAEFNOT Ignoring new targets: 454.20 m.BjE ;JjM ;e ProNav: ac range: 454.200012 m, nav range: 227.783417 m, bearing: 6.770665 deg, approach rate: -0.048359 m/s, LOS rate: 0.140394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136524 deg. 2je;:jeF9@mHeadingCmd: 4.819491 target range: 454.200012 and range: 515.00 m. jijijijiiihihqhqhqfqfyfyrfybf+E@ɛكB< 隭?I *ɚiI)=Iiij!;))=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320191*F5?2F1:F1BF55JF1Hu*>Iq Iu$IIumBIq&Iq.Iq6Iu <:Iu FG: 9I9GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572138J w,{!Af^I@YfY@f X9f2! >yfHRY?~?``?Pb?y?`?ɨf^I@f%ۈ;f,CyB #I %=%a=Mb@Mb@Mb@ )YV-?Zd;?yh?y= 5@)@I@y@II:5٢ 8=9~;Q > %G٣!y%U9; %> -Nusing accuracyPremultiplier from config)549-e?=4Y-lD i-#BE>?E:EIE+@-D-yH;-KG;- 4I M@IZjq}FNOT Ignoring new targets: 454.20 m.Bj}N#;Jj}N#; ProNav: ac range: 454.200012 m, nav range: 227.758591 m, bearing: 6.834033 deg, approach rate: -0.055929 m/s, LOS rate: 0.142773 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165312 deg. 2j;:jd=@HeadingCmd: 4.819994 target range: 454.200012 and range: 515.00 m. jjjjihhhh:BfffrfbfcE@ɛۃBh!q< j?I ɚiI-)=Ii,if;))zK=LK9KKK    *F2F:FBFf4JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.825670JJJJJ :J":JJJ<J<J7{;J8{;GM']?;G) BI Ou > ! I) ;w,;A6S@Y64c@6 -F96|3 >y6H?@}? ç@Ѽ??l`|ň?͗??ɨ6S@6au;6+CNWill construct direction to contact in vehicle frame from tetrahedron phase data.Nll rG٣pyr_; r> vNusing accuracyPremultiplier from configtz49vh?~4YvrD iv&B|~!~+@v"Dv ;v;v<4 @ (E%B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 454.20 m.BjE^#;JjE^#;U ProNav: ac range: 454.200012 m, nav range: 227.738129 m, bearing: 6.886133 deg, approach rate: -0.056091 m/s, LOS rate: 0.142829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131498 deg. 2jU ;:jU8@]HeadingCmd: 4.819404 target range: 454.200012 and range: 515.00 m. jYjYjYjYiahahahahafififirfqbfudE@ɛ݃B< 隥< ?I ԲɚiI(=Iikia;))*FE?2FA:FIBFM_0JFIGmYP;GAMWill construct direction to contact in vehicle frame from tetrahedron phase data.U ~G M YI yM A!w,UAjH<bHp<H!I! I%$II%cBI%% =&I%GD.I!6I%<:I%U F T$?IWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣)8Gy > Nusing accuracyPremultiplier from config49n?4Y2{D i(B,?:f+@-D|;1;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj+,;Jj+,; ProNav: ac range: 454.200012 m, nav range: 227.710037 m, bearing: 6.974791 deg, approach rate: -0.047687 m/s, LOS rate: 0.150521 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241192 deg. 2j;:j=H@ HeadingCmd: 4.821318 target range: 454.200012 and range: 515.00 m. j j j jihhhhBff!f!rf!bf%E@ɛ]߃Be < iu?Iq }ۭɚyiIj(=Ii[if;))*F ?2F :F BF ?5JF zKe LKe 59Ka Ke Ke ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Response Not Received e *response not receivede ,DAT read: user:1159> m BDAT read: Tx time:20:10:09.0306 m $Ping request sent.u ](w,3rAnX@Ynh@n3,9n >ynHcռ?`|?j@ ?u ??F?ɨnX@no;n,Cy߄Bn#II-I-=5٢]C ]=9];Q e?aa eG٣aym&; ? Nusing accuracyPremultiplier from config49q?4YD iP+@3Dp.<*<4  @%EZjY]FNOT Ignoring new targets: 454.20 m.Bje=#;Jje=#; ProNav: ac range: 454.200012 m, nav range: 227.696045 m, bearing: 7.019261 deg, approach rate: -0.044902 m/s, LOS rate: 0.142714 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.108605 deg. 2j;:jH5@HeadingCmd: 4.819004 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfF@ I$jɛB< o>I %N;ɚ!iI(=I i Zi _;) )Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:10:09.0298 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251967*F?2F:FBF_0JFG G B O > #w,ŌA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501750>SA@Y>P@>89> >y>H ?@P?`L:?SA@>p;`` bG٣`yf f> jNusing accuracyPremultiplier from confighr49ju?r4YjD ij)Bprr+@j:Dj4;j94;jP&4x zz@xZj%FNOT Ignoring new targets: 454.20 m.Bj%$2;Jj-$2;= ProNav: ac range: 454.200012 m, nav range: 227.679108 m, bearing: 7.075761 deg, approach rate: -0.046684 m/s, LOS rate: 0.155744 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144699 deg. 2j=;:j=r:@EHeadingCmd: 4.819634 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]4F@ɛB8]< >I mɚi I Y'=I5i5i54;)9)9*F?2F:FBF`0JFHe+>Ia Ie#IIeNBIe& =&IeHD.Ia6Ie<:Ie FBI!JI! IRI!ZI!bI%% =jI%}4GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753980GBO>s5)w,ܟA2/@Y22?@2A92 >y2HA??@,e ?h 4?XU??ɨ2/@2B";2-Cy>„BBJ#IMb@Mb@Mb@ )YV-? rh?Mby|?C=7A @)@I@yI5I5995٢E EB=9EWQ M>II UG٣U*8GyU > Nusing accuracyPremultiplier from config49z?4YD i+Br ?:@+@CD;ʇ;-41 5z@9ZjzKKK9KKKFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 227.653519 m, bearing: 7.144698 deg, approach rate: -0.056768 m/s, LOS rate: 0.152952 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182021 deg. 2j;:j?@HeadingCmd: 4.820286 target range: 454.200012 and range: 515.00 m. jjjji h h h1h5Bf1f1f1rf9bf=oF@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006107ɛBr< 隥>I 2ɚiI'=Iii,:))*F?2F :F BF JF IGE g;% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258152G) B9 OU >0w,WyA^!@Y^0@^oQ9^}G >y^H?$? OJ? ^`_ ?`z??ɨ^!@^sF;^+CyjBn?#IIv~IvE)5٢~N. ~O=9Q > G٣y   > Nusing accuracyPremultiplier from config49~?4YD i-B!%z%+@JD ; ;44-B -@-(EMB*** querying acoustic contact ***jIjIZjaeFNOT Ignoring new targets: 454.20 m.Bjmb9;Jjmb9;} ProNav: ac range: 454.200012 m, nav range: 227.632217 m, bearing: 7.203919 deg, approach rate: -0.058292 m/s, LOS rate: 0.162076 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152865 deg. 2j}v;:j};@HeadingCmd: 4.819777 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfF@ɛB7< >I ?䢼ɚiI<@'=IUi]i]<)Y)Y*F ?2F :F BF 0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509905JJJ0JJ:J:Jـ3Ja @a @a @a @Gm7:GI BQ Ou >ZHQ RHU @AHm *>Ii  Im #IIm 0BIm $ =&Im GD.Ii 6Im <:Im F I dJ6w,xbAb@Ybi/@b4B9bp >ybH? Ƅ?`l@@7?LfmF?qo??ɨb@bU;b*CynBn,#ImMb@Mb@Mb@iii i)iYmQ?Zd;? G٣y > Nusing accuracyPremultiplier from config49?4Y+D i/B)?:+@SD;;%<4  @Zj9=FNOT Ignoring new targets: 454.20 m.BjE>;JjE>;U ProNav: ac range: 454.200012 m, nav range: 227.611343 m, bearing: 7.276048 deg, approach rate: -0.048262 m/s, LOS rate: 0.166781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191593 deg. 2jU;:jU&A@]HeadingCmd: 4.820453 target range: 454.200012 and range: 515.00 m. jYjYjajaiahahahihm҃BfifqfqrfqbfuF@ɛB.; 隥?>I 6ɚiI&=Ii?i:'))*F?2F:FBFW4JFG'HzK JK ]9K K K    Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017744G B O >>qyFHk?+?`k ?@ q@j?~??ɨF{+@F;F,Cy^B^#I)` `ddIjIj0E5٢~ba ~Y=9s;Q >    G٣ +8GyRy; > %Nusing accuracyPremultiplier from config!-49%?-4Y%D i%0B15f5+@%[D%;%;%B49 =@AZjaeFNOT Ignoring new targets: 454.20 m.Bjm>;Jjm>;} ProNav: ac range: 454.200012 m, nav range: 227.593155 m, bearing: 7.338723 deg, approach rate: -0.048406 m/s, LOS rate: 0.166817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163228 deg. 2j};:j}=@HeadingCmd: 4.819958 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`G@ɛBȕ; >I  ɚiIS&=Iii0<:)) I%j*FM?2FI:FIBFM?5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267048GG B O >_YCw, A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517908Z$@YZ3@Z6%9Zc >yZH@0? ?`=I?r¦? ?X?JbJbJ`J`Jbm:JbT:J`J`ɨZ$@Zp;Z+CynBn#IIzIzV85٢ 1  I=9p:Q > G٣y3 > -Nusing accuracyPremultiplier from config!-49%;Jjmp>; ProNav: ac range: 454.200012 m, nav range: 227.574158 m, bearing: 7.406034 deg, approach rate: -0.046987 m/s, LOS rate: 0.166496 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177134 deg. 2j;:j?@HeadingCmd: 4.820200 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@7G@ɛBo; >I ӛɚiI&=Ii2i+))*F?2F:FBF_0JFH )>I  I #II BI % =&I .I 6I <:I o F U$?IG7:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770667GBOm >:Iw,F'A6N!@Y60@6$96 >y6H??9 /?@t?(?{?ɨ6N!@65_;6*Cy>B>#IEMb@Mb@Mb@AAA A)AYEi|?5?V-?MbyE1?Em=EE A A)E@IE@AyE@IeIejC5٢% %:=9-Ȉ:Q ->)) 5G٣1y5H => ENusing accuracyPremultiplier from config9E49=?M4Y=wD i=3BMK2?M:MM+@=nD=U;=;=|Q4] B eI@e%EZjFNOT Ignoring new targets: 454.20 m.BjG;JjG; ProNav: ac range: 454.200012 m, nav range: 227.555679 m, bearing: 7.483075 deg, approach rate: -0.041876 m/s, LOS rate: 0.174605 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206329 deg. 2j;:jAC@HeadingCmd: 4.820710 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf`PpG@ɛBiE; I>I FuɚiIl&=I zK-oLK)K)K-K-  (%!  UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022034iiw))*F-?2F):F)BF5^0JF1 I&jG 'HGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274276jPw,y6H@??` `'?^r?`?y?ɨ6 @6;6-Cy>BB#I F=Fp=IJIJI5٢RGT Rg=9ZqQ Z>`` fG٣dyj. n> zNusing accuracyPremultiplier from configx~49z?4YzD iz4B  +@zvDzY[;z[;zW4B @(EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj'<;Jj'<;% ProNav: ac range: 454.200012 m, nav range: 227.541275 m, bearing: 7.546245 deg, approach rate: -0.037507 m/s, LOS rate: 0.164495 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164707 deg. 2j%;:j-N=@-HeadingCmd: 4.819983 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1hqhqhyhyfffrfbf`bG@ɛuBu`"9; qu|>Iy }pɚyiyI}XA&=Iii D ))*F%?2F!:F)BF-_0JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526029JKm3 KS}-KK"KJJJJJ:Jt:JJG G B O >jH bH <H I  I #II BI &I .I 6I ư<:I F I Vw,[A~ @Y~Y@~`9~ >y~H`6w?Å?@O?~fs?d?@?ɨ~ @~܇;~,Cy B #IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:10:12.1599 TRx dataTimestamp_ set to:1736367013.488992checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779290Mb@Mb@Mb@ )YK?L7A`?MbP?y^:?+=: A )@I@yII@5٢4s< 7=99Q > G٣,8Gyֺ > Nusing accuracyPremultiplier from config49?4YؾD i8B!;?:\+@D@;';_4 @ZjIUFNOT Ignoring new targets: 454.20 m.BjU*[;JjU*[; ProNav: ac range: 454.200012 m, nav range: 227.520523 m, bearing: 7.632507 deg, approach rate: -0.046091 m/s, LOS rate: 0.191609 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.233995 deg. 2j<:j6G@HeadingCmd: 4.821193 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf`CG@ɛB; %r>I! %2ɚ!i)I-&=IEiMiMR')I)I*F?2F:FBFJFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029727zK MK 9K K K BK :K sAG} pGY B O >\w,uA2@Y2 @2c!92[ >y2H`?@?`L7j?tq3?`??ɨ2@2i;2)Cy:B:#IIRIRjC5٢^Q< ^`=9^HQ ^?`` bG٣`yfA f? nNusing accuracyPremultiplier from confighn49j?r4Yj6D ij;Bprr+@jDj:j;:je4x zj@xZjFNOT Ignoring new targets: 454.20 m.BjWU;JjWU;- ProNav: ac range: 454.200012 m, nav range: 227.506393 m, bearing: 7.694393 deg, approach rate: -0.042582 m/s, LOS rate: 0.186516 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160857 deg. 2j5<:j5<@=HeadingCmd: 4.819916 target range: 454.200012 and range: 515.00 m. j9jAjAjAiIhIhQhYhYfafafarfibfm H@ɛB; !%f>I! %t YIaɚiiiIm8%=I}iBbiL))*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad header=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297543Gb(G B O >cw,PAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533798)= JVJVJTJTJV:JV9JTJTZ~G`p YyBM@YM@M 1#9Mf>yMHH??Y?p f?@??ɨM@M&;M-CyB#I) AII3A5٢- ; -6=95bQ 5>QY ]G٣Yy]7c e> Nusing accuracyPremultiplier from config49裪?4YD i?B̰+@D::m4 T@Zj%FNOT Ignoring new targets: 454.20 m.Bj%M;Jj-M;} ProNav: ac range: 454.200012 m, nav range: 227.488098 m, bearing: 7.778835 deg, approach rate: -0.039004 m/s, LOS rate: 0.180035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228530 deg. 2j};:j}nF@HeadingCmd: 4.821097 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfQDH@H+>I Is#IIBI&I.I6Iϰ<:I Fɛ-B-XS; )-e>I) 52搼ɚ9i9IEh%= I'jIixi[{))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786738*F?2F:FBF_0JFGtA GsAG g{G B O- >Ajw,AyB#IMb@Mb@Mb@ )Y`"?V-?{Gz?y7?m=#< )@Iy@III5٢(< B=9Q > G٣-8Gy > Nusing accuracyPremultiplier from config49Y?4YD iDB l8? : B +@D ;;!u4B @+EZj9EFNOT Ignoring new targets: 454.20 m.BjES;JjES;UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037963zKJKKKK c'Ov }rqlaL:0,((! RK?JK?  ProNav: ac range: 454.200012 m, nav range: 227.475693 m, bearing: 7.853708 deg, approach rate: -0.030700 m/s, LOS rate: 0.185301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199816 deg. 2j W;:j SB@HeadingCmd: 4.820596 target range: 454.200012 and range: 515.00 m. jjjjihhhhBf!f!f!rfIbfM xH@ɛB ; 隕0>I ɚiI%=IiAi)) *F?2F:FBF0JF IG Ҹ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291879G B O >&qw,A64ڒ@Y6@64%96G>y6H`%?`?Ҽ0?ll?>??ɨ64ڒ@6;6)CyBBB$#IIJIJJ5٢R<= Ra=9RJQ R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b49^-?f4Y^_D i^IBhjj+@^D^p;^ q;^t{4p r>@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 454.20 m.BjFN;JjFN;- ProNav: ac range: 454.200012 m, nav range: 227.465866 m, bearing: 7.919277 deg, approach rate: -0.027026 m/s, LOS rate: 0.180340 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171903 deg. 2j-;:j-U>@5HeadingCmd: 4.820109 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h9h9hAhAfAfIfIrfQbfU0H@ɛB(< >I ɚiI:O%=I i io))*F?2F:FBFF5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542643GGqByO>ZH RH ?AH ,>I  I I I $ =&I .I 6I <:I FBIJIRIZI% =bIjI5 I GUww,A:Ւ@Y:!@:9:&m>y:H? Љ?H<۸? o? ??ɨ:Ւ@:`;:+C^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793806ybBb-#I]Mb@Mb@Mb@YYY Y)YY]V-?Mb?~jt?y]h1?]@=]<]7A Y)YIYYy]z@I}I}F5٢= <=9F:Q > G٣y > Nusing accuracyPremultiplier from config49A?4YCD iPB1?:+@DQ;;4B @(EZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?; ProNav: ac range: 454.200012 m, nav range: 227.459427 m, bearing: 7.995664 deg, approach rate: -0.014138 m/s, LOS rate: 0.167725 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.204353 deg. 2j7;:jB@HeadingCmd: 4.820675 target range: 454.200012 and range: 515.00 m. jjjjihhhh؃Bf f f rf bf `GH@ɛ]B]; Y]>IY eLɚaiiIm%=IiYLiT))EE*F2F:FBF?5JF"G%=G%=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.046152JJJJJ:J$-:JJJ'z}w,ABȒ@YB:ؙ@BQ 9B5>yBH X?Ɋ?xu?F.m ?M?@`` bG٣b.8Gyfd f> rNusing accuracyPremultiplier from configlz49n?z4YnD inWB|~Ĵ+@nDn;n ;n4  |@ EV$?IAZjFNOT Ignoring new targets: 454.20 m.BjP;JjP; ProNav: ac range: 454.200012 m, nav range: 227.454620 m, bearing: 8.061210 deg, approach rate: -0.013396 m/s, LOS rate: 0.182686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171827 deg. 2j;:jR>@ HeadingCmd: 4.820107 target range: 454.200012 and range: 515.00 m. j j j jihhh)h)f1fqfqrfybf}cI@ɛBZ< >I ɚiI5$=I5i=i=4)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299049*F?2F:FBF_0JFG WCG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549847cw,hAy~B~I#II I P@5٢E= EB=9MQ M>II UG٣QyU U> Nusing accuracyPremultiplier from config49?4YD i^B+@D:P:$4B ]@*EZjFNOT Ignoring new targets: 454.20 m.BjI;JjI; ProNav: ac range: 454.200012 m, nav range: 227.449493 m, bearing: 8.136257 deg, approach rate: -0.012062 m/s, LOS rate: 0.176567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200331 deg. 2jZ;:jfB@ HeadingCmd: 4.820605 target range: 454.200012 and range: 515.00 m. j j j j i h hhhfffrfbf% BI@ɛMBMB< QUA>IQ UɚQiYI]$=I]ie8ie)a)aHYIY I]#II]BIY&IY.IY6I]<:I]g F IIM(j*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801978Ge ׹GA BI Om >Ռw,@,AynЄBr\#IMb@Mb@Mb@ )YMbX?V-?I +?y*?m=9< A )@I@y@II75٢= D=9Q > G٣y > Nusing accuracyPremultiplier from config49?4YD ieB}+?:s+@ʪDY[;X;J4 g@Zj FNOT Ignoring new targets: 454.20 m.Bj1@;Jj1@;% ProNav: ac range: 454.200012 m, nav range: 227.440186 m, bearing: 8.205143 deg, approach rate: -0.022703 m/s, LOS rate: 0.168026 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181854 deg. 2j-;:j-?@5HeadingCmd: 4.820282 target range: 454.200012 and range: 515.00 m. j1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054034j1jAjAiAhAhAhIhMBfIfQfQrfYbf]@KwI@ɛqZ< 隅>I ɚiI>$=Iii))JJJJJl:J^:JJJ <J <Jg;Jg;'UTFailed to parse incomplete device message.*F=?2FA:FABFAJFA IIQGZGi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305837vw,!FA6ǽ@Y6i͙@696˷>y6H ??¿`?vp?_? ?ɨ6ǽ@6a;6.CyNۄBNi#IIZIZ55٢f,Y= fZ=9f:Q f>hh jG٣j/8Gyjf n> rNusing accuracyPremultiplier from configpv49rl?v4YrdE irlBtvz+@rҪDr:rn:rٞ4| ~@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj5@;Jj5@;E ProNav: ac range: 454.200012 m, nav range: 227.432281 m, bearing: 8.268342 deg, approach rate: -0.021093 m/s, LOS rate: 0.168664 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164789 deg. 2jE;:jMQ=@MHeadingCmd: 4.819985 target range: 454.200012 and range: 515.00 m. jIjQjQjQiQhQhYhYhYfafafarfabfe`I@ɛB< 隕>I oɚiIQ#=Iioi%N+)!)!*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.558260G)G! B1 jHI bHM 4=HQ IQ  IU #IIU BIQ &IQ .IQ 6IU <:IU o FOu > I II w, `ANWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.809786V2@YV̙@Vt9V >yVH@7?@I?¿j?q?r??ɨV2@Vo;V+CybBbw#IMb@Mb@Mb@ )Yx&1?kt?{Gz?yA ? 0=ף<MA @)I@y@IID5٢%J= %6=9-:Q 5>99 =G٣9y=3% E> ]Nusing accuracyPremultiplier from configQe49U+ê?m4YUE iUsBm ?u:uu+@U۪DU"`;U^;U¦4  @ZjFNOT Ignoring new targets: 454.20 m.BjmP1;JjmP1; ProNav: ac range: 454.200012 m, nav range: 227.428772 m, bearing: 8.339839 deg, approach rate: -0.007609 m/s, LOS rate: 0.155018 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189681 deg. 2j;:j@@HeadingCmd: 4.820419 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf`I@ɛUB]d< Y隅?>I ZxɚiI{#=IiRim)))Ey*F?2F:FBF_0JF"G=G=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.061803JJJJJ\:JG:JJJj;Jk;J;J;zK} MK} 9Ky K} K} G "G B O > ɝw,yA2!@Y2Й@2 92T>y2H@?` ?0¿G@G-?Yt??`+?ཬ?ɨ2!@2S(;2.Cy:B:#IIVIV95٢^&= ^e=9b:Q b>`d fG٣dyf : f> jNusing accuracyPremultiplier from configh pIpv49jƪ?v4Yj E ijyBtz޴z+@jDjfs;js;j4| ~@|Zj!%FNOT Ignoring new targets: 454.20 m.Bj-8;Jj-8;= ProNav: ac range: 454.200012 m, nav range: 227.426178 m, bearing: 8.395650 deg, approach rate: -0.007497 m/s, LOS rate: 0.161308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142621 deg. 2jEh;:jE%:@]HeadingCmd: 4.819598 target range: 454.200012 and range: 515.00 m. jYjYjYjYiahahahihifififirfqbfuJ@ɛAEk< IM>IQ rɚiI4#=Ii6iY"))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315490*F?2F:FBFp1JFG{#G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565801w,!AFCŒ@YFԙ@FQ9F->yFH>?Z? "9¿H?`Tw+*?@5?`k?ɨFCŒ@FmH;F-CyRBR#IIZIZF5٢bd< fJ=9fD:Q f>hh nG٣n08Gyr: r> vNusing accuracyPremultiplier from configtz49v|ɪ?z4Yv,E ivBxzδz+@vDva:v:v 4B {@ -EZj)-FNOT Ignoring new targets: 454.20 m.Bj5H5;Jj5H5;E ProNav: ac range: 454.200012 m, nav range: 227.423340 m, bearing: 8.459857 deg, approach rate: -0.007006 m/s, LOS rate: 0.158491 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167809 deg. 2jE;:jM=@UHeadingCmd: 4.820037 target range: 454.200012 and range: 515.00 m. jQjQjYjYiYhYhYhahafafafirfibfm`;BJ@ɛ5B}衪< y}?Iy \1lɚiI"=Ii=3i.;))H->I I#II+BI&I.I6I<:I F I*F ?2F :F BF T5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822539G9"GBO>ܪw,LAFɒ@YF.ٙ@F`9F>yFH`?`?`P¿d?z }?O? ?ɨFɒ@F;F.Cy^ B^#IMMb@Mb@Mb@III I)IYM`"?l?Q?yM?M=Mu G٣y2: > Nusing accuracyPremultiplier from config49̪?4YE iB&?:k+@D;;4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069990  %@!ZjIMFNOT Ignoring new targets: 454.20 m.BjUV*;JjUV*;e ProNav: ac range: 454.200012 m, nav range: 227.421982 m, bearing: 8.525544 deg, approach rate: -0.003079 m/s, LOS rate: 0.148921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172249 deg. 2jeh;:jeb>@mHeadingCmd: 4.820115 target range: 454.200012 and range: 515.00 m. jijqjqjqiqhqhqhyh}IBfyffrfbfzJ@JJJJJ:J&:JJJ'<J(<J1;J1;ɛB6?< Q?I dɚiIWi"=Ii .imE)i)iEyE}sAzKLKh9KKKbJ BK:K*F?2F:FBF/5JF GsA G I)jGE " Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322550GA BI Om >±w, cA2nג@Y2@2gλ92E>y2HBϸ?அ?6¿F`0ɸ?y?`8?@g?ɨ2nג@2Q;2+CyRBR#IIZIZ995٢b< b^=9f%;Q f>dd jG٣hyj; j> rNusing accuracyPremultiplier from configlr49nϪ?v4Yn E inBtv3v+@nDn:n:n!4x zU@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj-+;Jj-+;E ProNav: ac range: 454.200012 m, nav range: 227.420700 m, bearing: 8.580539 deg, approach rate: -0.003498 m/s, LOS rate: 0.150095 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140170 deg. 2jE;:jE9@MHeadingCmd: 4.819555 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf]uJ@ɛBm<  C ?I  ^ɚ i I "=I5i5/i=)9)9*F?2F:FBF_0JFG 4Yy A-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574776GH.>IC I#IIIBI&I.I6D6I<:In FG B O5 > I w,"OABWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.828902=m@Y=@=W9=:x>y=H &?P?@Z¿;?`hh Jw?@^??ɨ=m@=2ׇ;=-CyMBM#IMb@Mb@Mb@ )Y&1? rh?99 EG٣E18GyEB; E> Nusing accuracyPremultiplier from config49'Ӫ?4Y'E iB,?:'+@D ;;Q4B /@*EZjFNOT Ignoring new targets: 454.20 m.Bj%/#;Jj%/#;5 ProNav: ac range: 454.200012 m, nav range: 227.419312 m, bearing: 8.647439 deg, approach rate: -0.002961 m/s, LOS rate: 0.142667 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175887 deg. 2j5;:j5>@=HeadingCmd: 4.820179 target range: 454.200012 and range: 515.00 m. j9j9j9jAiAhAhAhIhMLBfIfQfQrfQbfUJ@ɛBz< 隍' ?I {VɚiI!=Iifiٻ))*FE?2FA:FABFAJFA-Will construct direction to contact in vehicle frame from tetrahedron phase data.-bw,vA $I$6@Y6@6!96 >y6H@??`_i¿@m?&1t?q?n?ɨ6@6?;6+Cy^B^#IIfIf:5٢n rc=9v;Q v>x| ~G٣y0;  > Nusing accuracyPremultiplier from config%49ժ?%4Y,E iB)--+@D::d41 5c@1ZjY]FNOT Ignoring new targets: 454.20 m.Bje-$;Jje-$;u ProNav: ac range: 454.200012 m, nav range: 227.418213 m, bearing: 8.697072 deg, approach rate: -0.003177 m/s, LOS rate: 0.143533 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124086 deg. 2ju;:ju7@HeadingCmd: 4.819274 target range: 454.200012 and range: 515.00 m. jjjjihhhhf f f rf bf  K@ɛ}B}< y隅 ?I OɚiIt9!=Ii i))EE>Will construct direction to contact in vehicle frame from tetrahedron phase data.E Will construct direction to contact in vehicle frame from tetrahedron phase data.E yFH^ ?@?Fe¿ u?p?@p?y?ɨF@FaƇ;F-CyB#II-I-%.5٢EC= ED=9M ;Q M>II MG٣IyU; U> Nusing accuracyPremultiplier from config49ت?4Y2E iB+@Dm;k;4B @-EZj9EFNOT Ignoring new targets: 454.20 m.BjE;JjE;} ProNav: ac range: 454.200012 m, nav range: 227.416641 m, bearing: 8.756732 deg, approach rate: -0.003635 m/s, LOS rate: 0.137984 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154169 deg. 2j}d;:j};@HeadingCmd: 4.819799 target range: 454.200012 and range: 515.00 m. jjjjihhhhfH1>I I $II^BI# =&I.I6I<:IY FBIyJIyRIyZI}$ =bI}$ =jI}™4ffrfbf JK@ɛ%B%< )-v ?I) =W$?I9 UGɚQiQIU =I]i]J i]r#w)Y)a*F?2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1161> -*˺w, .A: @Y:@:T9:>y:H jb?~?{¿T 9?uj? ? ?ɨ: @:=;:)CyNBN#I-Mb@Mb@Mb@))) )))Y-@5^I ? ףp= ?{Gzt?y-b?-Q8=-ף;-dA -5@)-@I))y- @II95٢ D=9:Q > G٣28GyW; > Nusing accuracyPremultiplier from config49mܪ?4Y8E iB?:챿+@D;;4 3@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:10:19.9807 $Ping request sent.?Һw,ҫHA2@Y2I)@2892:>y2H o޺?!{?¿ ?`gg? [?7?ɨ2@2B;2.CyBBB#IIJfIJ5٢RȽ< R\=9R:Q R>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from configXb49Zߪ?b4YZL>E iZBdff+@ZDZ;Zb;ZX4h j@h B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 454.20 m.Bj#;Jj#; ProNav: ac range: 454.200012 m, nav range: 227.404343 m, bearing: 8.868049 deg, approach rate: -0.016117 m/s, LOS rate: 0.143373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133594 deg. 2j;:j8@HeadingCmd: 4.819440 target range: 454.200012 and range: 515.00 m. jjjjihhhhfff1rfQbfUK@ɛBO< 6 ?I k9ɚiI= =IiQ iEk)A)QEY*F?2F:FBF0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504521JJJJJܫ:J^:JJHI I$IIhBI" =&I.I6Ih<:IH F  I *jG {7G B O >@غw,bA2Will construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757622=@Y@jV9F>yH4??TD¿T?@ل Ɋr?M?ห?ɨ=@;騽+CyB#IMb@Mb@Mb@ )YʡE?)\(?Mb`y-?Ga= @)@I@y@II995٢ -=9lQ > G٣y > Nusing accuracyPremultiplier from config49$䪜?4YPEE iB?:,@&DJ;H;4 ]@ZjFNOT Ignoring new targets: 454.20 m.Bj,;Jj,;5 ProNav: ac range: 454.200012 m, nav range: 227.392731 m, bearing: 8.936445 deg, approach rate: -0.025634 m/s, LOS rate: 0.150995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180385 deg. 2j5@;:j5?@=HeadingCmd: 4.820257 target range: 454.200012 and range: 515.00 m. j9jAjAjAiAhIhIhQhUbBfQfYfarfibfm{K@ɛB< 隽?IY ef_2ɚaiiIm2=Imiu iu]w)q)q*F5?2F1:F1BF51JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007461zKU V$KKQ KQ KU KU   "%" Gu 'HGq By O > I h޺w,*p|AZ@YZG@ZPů9Z>yZH*?? ~?`x¿@`B+?@{ u???ɨZ@Z;XyfBf#III(*5٢>6 i=9%;Q %>!! %G٣%38Gy-#: -> 5Nusing accuracyPremultiplier from config1=495|窜?=4Y5JE i5BAEE,@5-D5y);52;54Y e}@aZjFNOT Ignoring new targets: 454.20 m.Bj#;Jj#; ProNav: ac range: 454.200012 m, nav range: 227.384308 m, bearing: 8.987148 deg, approach rate: -0.023794 m/s, LOS rate: 0.143239 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127301 deg. 2j;:j7@HeadingCmd: 4.819331 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfNL@ɛuBu< qu2?Iq }>O,ɚyiyI}A=Ii iZ))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261841*Fm?2Fi:FiBFmE4JFiGg{Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511319J J J 1J J :J q:J 3J ZMw,%=AF@YF8/@Fh9F†>yFH` ?z?@R¿@?V m? ԟ?`Ĩ?ɨF@F;F.CyRBV#IIZIZ:5٢bK fP=9f;Q f>hh jG٣hyj?< n> rNusing accuracyPremultiplier from configpv49rG몜?v4YrSPE irBtvHv,@r4Dr :r:r4~B ~ @~0EZj!-FNOT Ignoring new targets: 454.20 m.Bj-&;Jj-&; ProNav: ac range: 454.200012 m, nav range: 227.374405 m, bearing: 9.043798 deg, approach rate: -0.025454 m/s, LOS rate: 0.145614 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145144 deg. 2j;:j:@HeadingCmd: 4.819642 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfIL@H=3>I9 I=$II=cBI9&I9.I96I=İ<:I= FɛeBe< am>Ii m%ɚiiiImv= I+jIi i7,޹))EErA*FM?2FI:FIBFM_0JFI"GU=GU=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766365GU]UG) B9 Oe >ww,zA24@Y2C@292C>y2H`'?zz?@b¿@1x?w0_?`w?C?ɨ24@2;2,Cy>B>#I=Mb@Mb@Mb@999 9)9Y=Q?Zd;?~jth?y=?=y==D;=A 9)=@I=@9y=@IUIUF5٢e eA=9mny;Q m>ii mG٣iyu; u> Nusing accuracyPremultiplier from configy49}煮?4Y}VE i}B?:,@}IA M`ɚIiIIMj=IUi] i]v:)Y)Y*F?2F:FBFJFzK-LK-9K)K-K-#&'"  IG >GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269346_w,=A6:@Y6I@6U96>y6H@?gy?=n¿G?`gU??ĩ?ɨ6:@6~Љ;6-Cy>BB#IIJIJV85٢R[ RX=9Rl:Q R>TT VG٣V48GyZQ: Z> ^Nusing accuracyPremultiplier from configX%49Z?%4YZ}\E iZB!%-,@ZCDZ lII M1NɚIiQI9=Iii):))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520943JmJmJm0JiJm̝:Jm,:Jmـ3JiZH9RH=@AHE4>IA IE$IIEYBIE! =&IA.IA6IE<:IE F IG- :G B O5 >.w,A.Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776246yMBM#IMb@Mb@Mb@ )YV-?l?~jth?y?=dA @)@Iyf@I=I=p;5٢] ]%=9eQ e>ii mG٣qyu }> Nusing accuracyPremultiplier from config49o?4Y`dE iB?:,@MD)f;c;V4 @ZjFNOT Ignoring new targets: 454.20 m.Bj4;Jj4; ProNav: ac range: 454.200012 m, nav range: 227.329422 m, bearing: 9.239850 deg, approach rate: -0.041880 m/s, LOS rate: 0.158032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206994 deg. 2j;:jZC@ HeadingCmd: 4.820722 target range: 454.200012 and range: 515.00 m. j j j j i hhhhBBfffrfbf%L@ɛ B< r>I tɚiI=Iii:))E E >*F?2F:FBF^0JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028670zK LK 9K K K  u X$?Iq G :Gq B O >?w,bA>7@Y>4G@>q9>>y>Ho̻?{?`0¿`?2B?@J??ɨ>7@>r;>,CyJBJz#IIRIR3A5٢Z< Zt=9^;Q ^?\\ ^G٣`yb^o b? fNusing accuracyPremultiplier from configdj49fQ?j4YfiE ifBlnn,@fTDf*:f:f!4p r@tZj  FNOT Ignoring new targets: 454.20 m.Bj3;Jj3;- ProNav: ac range: 454.200012 m, nav range: 227.316071 m, bearing: 9.291339 deg, approach rate: -0.040725 m/s, LOS rate: 0.157065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129665 deg. 2j-;:j5K8@EHeadingCmd: 4.819372 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhYhYfYfYfarfbf@M@ɛeBe*< am>Ii m< ɚiiiIm&=Iuiu0iu/:)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280000)y*F?2F:FBFo0JF)UF= ]ʏCGG : 1 e Ya ye BG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533413JKـ3 K .KK"KJ J J /J J L:J +:J (N3J w,uA25@Y2E@2j92.0>y2Hc?@|?¿y?FAM3?%6? ?ɨ25@2 ;2+Cy:B>#IIJIJ<5٢R&= RM=9R@(:Q V>TT VG٣V58GyZ_ Z> bNusing accuracyPremultiplier from config\b49^?b4Y^oE i^Bdff,@^\D^z:^:^4h j^@lHe2>Ia Ie#IIeIBIa&Ia.Ia6Ieǰ<:Ie F I,jZjFNOT Ignoring new targets: 454.20 m.Bjn(;Jjn(; ProNav: ac range: 454.200012 m, nav range: 227.300247 m, bearing: 9.353427 deg, approach rate: -0.037526 m/s, LOS rate: 0.147253 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161461 deg. 2j;:j<@HeadingCmd: 4.819927 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf NM@ɛmBm< im>Iq u0qɚqiqIu[R=Iii :))*FE?2FA:FIBFMK1JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786902G:Ga Bq O >) w,Zf2A61@Y6.A@6$96>y6H?n}?¿5X?`~=?@|2?ʬ?ɨ61@6˸;6/CyRBRw#I-Mb@Mb@Mb@))) )))Y-Pn?333333?y&1|?y-$?-=-`;-MA ))-@I))y-p@IEIEdK5٢U(% U@=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0354939 Q >!! %G٣!y%\ -> UNusing accuracyPremultiplier from config)m49-d?m4Y-qwE i-Bu9%?}:}},@-eD-/ <-<-%4B @0EZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?; ProNav: ac range: 454.200012 m, nav range: 227.283386 m, bearing: 9.426638 deg, approach rate: -0.038598 m/s, LOS rate: 0.167610 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194837 deg. 2j;:jA@HeadingCmd: 4.820509 target range: 454.200012 and range: 515.00 m. jjjjihhhh$BfffrfbfM@ɛ}B}< y}>I ǒɚiId=Ii0iun:))EzKMJKMh9KIKMKM I*F2F:FBF3JF"G=G=% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290350G ?:G B O >w,>@LA:.@Y:f>@:8޹9:P$>y:H i?}?`$¿B?vg;?4??ɨ:.@:m;:,CyBBBu#IIJIJQ5٢V8 VV=9V8Q Z>XX ZG٣Xy^1y ^> bNusing accuracyPremultiplier from config`j49b ?j4Yb^}E ibBhjn,@blDb0;b0;b>,4p r@pB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 454.20 m.Bj*=;Jj*=;% ProNav: ac range: 454.200012 m, nav range: 227.270386 m, bearing: 9.484671 deg, approach rate: -0.037047 m/s, LOS rate: 0.165381 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149294 deg. 2j-;:j-;@5HeadingCmd: 4.819715 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h1h9h9f9fAfArfAbfE@ƲM@ɛuBuҼ< y}>Iy }ɚyiI=Ii'Xi+:))*F5?2F1:F1BF5_0JF1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.539492Gĝ:jH]<bH]< IHe.>Ia Ie#IIe?BIe# =&Ia.Ia6Ie<:Ie FBI-ǞCJI-ǞCRI)ZI-" =bI-" =jI-e5GB)Oe>% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794415xw,*fA,@Y;@9.>yHp?`??.?@-u???@?ɨ,@h ;騅+CyޥބBޭm#IMb@Mb@Mb@ )YMb?V-?{Gz?y#?h=#<A 5@)@I@y@II@5٢ռ +=9"Q > G٣68Gy7 > Nusing accuracyPremultiplier from config 49,?4YBE iB$?:,@vD!; ;44B o@%-EZjIUFNOT Ignoring new targets: 454.20 m.BjUX8;Jj]X8; ProNav: ac range: 454.200012 m, nav range: 227.255402 m, bearing: 9.561862 deg, approach rate: -0.031283 m/s, LOS rate: 0.161166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206775 deg. 2j6;:jRC@HeadingCmd: 4.820718 target range: 454.200012 and range: 515.00 m. jjjjihhhh Bfff!rf)bf-M@ɛeBe#< ae>Ia m7ɚiiiImy=Iuiuiul9)q)*Fm?2Fq:FqBFuT5JFq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044349GsA GJJJ0JJ :J/:Jـ3JJ? w,( AJ#@YJQ3@J*9JIn>yJHC.?? `"? @{\E?y??ɨJ#@J);J*CyRلBVf#II^I^J5٢b fj=9fQ f>hh jG٣hyn > n> rNusing accuracyPremultiplier from configpv49r2?v4Yr E irBxzz,@r}Dr~ ;r ;r:4| ~@Zj1EFNOT Ignoring new targets: 454.20 m.BjM%8;JjM%8;] ProNav: ac range: 454.200012 m, nav range: 227.244904 m, bearing: 9.618439 deg, approach rate: -0.029871 m/s, LOS rate: 0.160991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144923 deg. 2je;:jez:@mHeadingCmd: 4.819638 target range: 454.200012 and range: 515.00 m. jijijijiiihihqhqhqfyfyfyrfybf}JN@ɛBɼ< 隭a>I ɚiI<=Ii<i))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296115*F-?2F1:F1BF5`0JF1GM^:G)B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547378f&w,ؚA6!@Y61@6 96 4>y6H ?,?`+?h A?D??ɨ6!@6e; @IDHHIH IJ#IIJ5BIJ$ =&IH.IH6IJ <:IJ F6-CyZڄBZg#I\^AIbIbMD5٢j; jJ=9n;9Q n>pp rG٣pyrQ v> ~Nusing accuracyPremultiplier from configt49v?4YvE ivB ,@vDvDA;v1;vA4B @0EZj1=FNOT Ignoring new targets: 454.20 m.BjEN9;JjEN9;U ProNav: ac range: 454.200012 m, nav range: 227.233124 m, bearing: 9.683728 deg, approach rate: -0.029229 m/s, LOS rate: 0.162008 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171064 deg. 2jU^;:jU7>@]HeadingCmd: 4.820095 target range: 454.200012 and range: 515.00 m. jajajajaiahahahihifififqrfqbf}PN@ɛB$ < 隭>I ;4ۻɚiIw=Iimi))*Fm?2Fi:FqBFu_0JFquWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805038G}GRGQByO>,w,A:@Y:M*@:z= 9:G>y:H`?&?`?@C@A? s ??ɨ:@:d;:+CyF܄BFj#IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.051384JJJ%J% J!J!J%\:J%Yk:J!J!J%j;J%k;J%O;J%O;EMb@Mb@Mb@AAA A)AYEy&1?Dl?Q?yE`%?EO=Euyy }G٣}78Gy > Nusing accuracyPremultiplier from config49?4YИE iƺB\&?:,@D4;2;4I4 @ZjFNOT Ignoring new targets: 454.20 m.Bj}B;;JjB;; ProNav: ac range: 454.200012 m, nav range: 227.222733 m, bearing: 9.753070 deg, approach rate: -0.024532 m/s, LOS rate: 0.163715 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183223 deg. 2j;:j?@HeadingCmd: 4.820307 target range: 454.200012 and range: 515.00 m. jjjjihhhh)BfffrfbfN@ɛ B < 15)>I1 5y%лɚ1i1I5=I=i=Pni=)A)A }Y$?I}-jzKLKKKKBKsA:K*F2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304289G >G B O >_x3w,Ay~ԄB~`#II I ?5٢ P=9%Q %>!) -G٣)y- -> =Nusing accuracyPremultiplier from config1E495 #?E4Y5eE i5˺BIIM,@5D53;5:5P4Q U@QuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 454.20 m.Bj:;Jj:; ProNav: ac range: 454.200012 m, nav range: 227.213394 m, bearing: 9.817408 deg, approach rate: -0.023722 m/s, LOS rate: 0.163445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168207 deg. 2jW;:j=@HeadingCmd: 4.820045 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf PN@ɛB>< >I ǻɚiIr=IiSVi))*Fu?2Fq:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555525 aIaZHyRH}?AH0>I I#II0BI# =&I.I6I<:I FG˴GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810746ԧ9w,Ay-߄B-n#I 5a=1 Mb@Mb@Mb@    ) Y ~jt?p= ף?~jt?y $? = D< MA @) @I @ y @I=I=B5٢];= *=9Q > G٣y > Nusing accuracyPremultiplier from config49i(?4YE iѺBy%?:',@D;;X4 K@ZjFNOT Ignoring new targets: 454.20 m.Bj%:;Jj%:;5 ProNav: ac range: 454.200012 m, nav range: 227.203766 m, bearing: 9.897348 deg, approach rate: -0.019650 m/s, LOS rate: 0.163156 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215014 deg. 2j5;:j5D@=HeadingCmd: 4.820861 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhAhAhIhM"BfIfIfQrfQbfUN@ɛB͓< 隅>I xɚiI+&=Ii5i))*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060402J5J5J5/J1J5:J5W:J5(N3J1J5k;J5l;J5J;J5J; A II G= ïzK IKK K K K G B O= >Ռ@w,NAV@YVg@V9V[>yVH,P?@?6¿ `?B??@?ɨV@V;V,Cy\`IjIj<5٢r r~=9r Q r?tt vG٣tyz z? ~Nusing accuracyPremultiplier from config|49~+?4Y~E i~ԺB  s ,@~D~;~;~^4 O@ZjFNOT Ignoring new targets: 454.20 m.Bj1;Jj1; ProNav: ac range: 454.200012 m, nav range: 227.198364 m, bearing: 9.947846 deg, approach rate: -0.016553 m/s, LOS rate: 0.154754 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126684 deg. 2ji;:j7@HeadingCmd: 4.819320 target range: 454.200012 and range: 515.00 m. jjjjihhh!h!f!f!f)rf)bf-@"O@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311563ɛ B-c< )-->I) 5 ɚ1i1I5=I=i=Ui=b)9)9*F!2F!:F!BF%2JF!GE ˴ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563944G! B) O > 9 I9 ,Fw,&AH2>I I#II+BI&I.I6Iذ<:I FF@YF@FH9F7>yFHT?΄? U M_߹? I? ?`+?ɨF@F;DyR܄BRj#IIZIZ@5٢b` bM=9bQ b>dd fG٣f88Gyj j> rNusing accuracyPremultiplier from configpv49r0?v4YrlE irغBtvz,@rDr;r;re4| ~@ZjFNOT Ignoring new targets: 454.20 m.Bj:;Jj:; ProNav: ac range: 454.200012 m, nav range: 227.191879 m, bearing: 10.012977 deg, approach rate: -0.016199 m/s, LOS rate: 0.162701 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170586 deg. 2jQ;:j%>@HeadingCmd: 4.820086 target range: 454.200012 and range: 515.00 m. jjjjihhhhfff!rf!bf%&VO@ɛ!B퇧< >I ɚiI}=IiiT|)) *F2F:FBF@5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.815429G- xG B O- >Lw, 6ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.068522JJJ0JJ:JX:Jـ3JJQ;JR;J/;J0;y޵քB޵c#IA IMb@Mb@Mb@ )Yx&1?~jt?y&1|?y!?D=`; )@I@y@II٢ +=9Q >    G٣ y > Nusing accuracyPremultiplier from config%494?%4YCE iܺB%"?-:--,@D;;hm41 5@1ZjamFNOT Ignoring new targets: 454.20 m.Bjm<;Jjm<;} ProNav: ac range: 454.200012 m, nav range: 227.191772 m, bearing: 10.089185 deg, approach rate: -0.000231 m/s, LOS rate: 0.164997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203810 deg. 2j}x;:j}B@HeadingCmd: 4.820666 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf O@zKeJKe9KaKeKeɛ}"B}G̑< ϳ>I žɚiIS=IiTiHv))*F2F:FBFG5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.319265G g{G B O >sSw,OAZ~Gdp Y ySA- @Y- @-9-C >y-H?B?୼\?ľ`[C?`I?5?ɨ- @-w;-+CyEɄBER#IIUIU0E5٢u d=9p9Q > G٣y > Nusing accuracyPremultiplier from config497?4Y)E i޺B,@D@::s4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj 6;Jj 6; ProNav: ac range: 454.200012 m, nav range: 227.192062 m, bearing: 10.146508 deg, approach rate: 0.000809 m/s, LOS rate: 0.159946 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147154 deg. 2j;:j%:@-HeadingCmd: 4.819677 target range: 454.200012 and range: 515.00 m. j)j)j)j)i1h1h1h9h9f9f9fArfAbfEO@ɛm#Bm)< iuO>Iq u'ɚqiqIu=I}i} i"))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572191*F5?2F1:F1BF5_0JF1 I.jjH%<bH%4<H)I) I)I)I-" =&I).I)6I-˰<:I- FGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828603Yw,iA@Y @9 @>yH;?@???ɨ@T;騉y޽˄B޽U#IuMb@Mb@Mb@qqq q)qYuMbX9?Q?{Gzt?yu!?u G٣98Gy > Nusing accuracyPremultiplier from config49K;?4Y_E iB!?:5,@ɫD;;T{4 @Zj FNOT Ignoring new targets: 454.20 m.Bj J6;Jj J6; ProNav: ac range: 454.200012 m, nav range: 227.200485 m, bearing: 10.216266 deg, approach rate: 0.019244 m/s, LOS rate: 0.159369 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184451 deg. 2j;:j!@@%HeadingCmd: 4.820328 target range: 454.200012 and range: 515.00 m. j)j)j)j)i)h)h)h1h5Bf1f1f9rf9bf= O@ɛ $B y<  =>I  YɚiI{=IiCci=>)9)A*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.079623 I/jG HG B O >zK BJK K K K m`w,A6Q@Y6@6^3896>y6H ? =?@ y@ʹ?`nB`k?W?ɨ6Q@6;6,CyR̈́BRX#I ^=^=IbIbC5٢j_< jn=9n[:Q n?pt vG٣ty~: ? Nusing accuracyPremultiplier from config49>?4YE iB%$%,@ЫD;%;h4) -i@)ZjIUFNOT Ignoring new targets: 454.20 m.BjU6;Jj]6;=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331567M ProNav: ac range: 454.200012 m, nav range: 227.207291 m, bearing: 10.271732 deg, approach rate: 0.019596 m/s, LOS rate: 0.159704 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141579 deg. 2jM4;:jM9@UHeadingCmd: 4.819580 target range: 454.200012 and range: 515.00 m. jQjjjihhhhQfYfYfYrfYbf]P@ɛ%B< >I ɚiI=Iii_|)))*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583984G ԑJ= J= J9 J9 J= :J= :J9 J9 aE @aE @aE @aE @G B O I H% 3>I!  I% #II% &BI! &I! .I! 6I% ϰ<:I% FBIJIRIZI# =bI# =jIˏN5gw,rkA6@Y6# @6]3996¼>y6H?х?`7?~?k @?m?ɨ6@6!;6+CybńBbN#IIjIj;5٢ G=9 Y9Q  >    G٣ y > %Nusing accuracyPremultiplier from config%493A?-4YE iB)-8-,@ثD:7:45B =@=3EZjamFNOT Ignoring new targets: 454.20 m.Bjm6;Jjm6; ProNav: ac range: 454.200012 m, nav range: 227.215683 m, bearing: 10.336489 deg, approach rate: 0.020622 m/s, LOS rate: 0.159120 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169452 deg. 2jg;:j=@HeadingCmd: 4.820066 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfJ+P@ɛ&B}< ў>I }ɚiI_=Ii_iג))*FU?2FQ:FYBF]0JFYUWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.840421GPGBO>-mw,EA6@Y69 @6g996D>y6H3? ?`` ?  ? N?ծ?ɨ6@6C;4y>BBI#IRWill construct direction to contact in vehicle frame from tetrahedron phase data.V    G٣ :8Gy : > Nusing accuracyPremultiplier from config%49D?%4YE i-0"?-:--,@D:; =[$?I9w9;4A E@IZjFNOT Ignoring new targets: 454.20 m.Bj`0;Jj`0; ProNav: ac range: 454.200012 m, nav range: 227.226135 m, bearing: 10.406081 deg, approach rate: 0.023161 m/s, LOS rate: 0.154201 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183951 deg. 2j;:j@@HeadingCmd: 4.820319 target range: 454.200012 and range: 515.00 m. jjjjih!h!h!h%BfIfIfQrfQbfUHP@ɛ'B< >I wjɚiI4#=Ii>9i))zKKK 9KKK*F?2F:FBFJFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Utw,(+A2@Y2 @20:928>y2H6? o?@@@?`ᙎF`??ɨ2@2ˇ;2.Cy:B:>#IFADIJIJC5٢R? Rc=9R:Q V>TT VG٣TyZ;_ Z> ^Nusing accuracyPremultiplier from config\b49^AG?b4Y^E i\dfǶf,@^D^:^L:^i4h U@QB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj 4;Jj 4; ProNav: ac range: 454.200012 m, nav range: 227.235107 m, bearing: 10.463552 deg, approach rate: 0.024575 m/s, LOS rate: 0.157407 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147592 deg. 2j ;:j:@HeadingCmd: 4.819685 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf_P@ɛ  0< ː>I ]ɚiI=Iiv~i%)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.I I#IIBI&I.I6Iΰ<:I FGGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Response Not Received e *response not receivede ,DAT read: user:1162> m BDAT read: Tx time:20:10:30.9308 m $Ping request sent.m yuH@qι?`E?`¿D|?9َQJ"?{?ɨuw@u.;u+CyB/#IMb@Mb@Mb@ )Y{Gz?~jt?Mbpy#?<dA )Iy@II>5٢: =99Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config1=495*K?=4Y5E i5BE#?E:EFE,@5D5;;5@:;54Q Uh@QZjFNOT Ignoring new targets: 454.20 m.Bj=;Jj=; ProNav: ac range: 454.200012 m, nav range: 227.249969 m, bearing: 10.547940 deg, approach rate: 0.029245 m/s, LOS rate: 0.166042 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.228332 deg. 2j;:jgF@HeadingCmd: 4.821094 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf`,P@ɛ(B5M< ݃>I cKɚiIܼ=Ii  i ) ) EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:10:30.9300 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251236*F?2F:FBF1JF IzKE +KKE 9KA KE KE      G G B O >{w,5ANU@YN @N:9N 0>yNH@8?@9?) ٠?`r q`Qs?ʭ?ɨNU@N;N,CyfBf4#IIn|Inb(5٢v< z=9z V:Q z ?|| ~G٣~;8Gy~M:  ?  Nusing accuracyPremultiplier from config49M?4YE i6,@D ; ;4! %/@!ZjAMFNOT Ignoring new targets: 454.20 m.uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501907BjU<;JjU<; ProNav: ac range: 454.200012 m, nav range: 227.259064 m, bearing: 10.598782 deg, approach rate: 0.029453 m/s, LOS rate: 0.164654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127709 deg. 2j;:j8@HeadingCmd: 4.819338 target range: 454.200012 and range: 515.00 m. jj!j)jIiIhIhIhQhQfQfQfQrfYbf]P@ɛ< >I W@ɚiI{=IEiEt3iEg)A)I*F?2F:FBFf4JFG 7% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754473Je Je Ja Ja Je |:Je q:Ja Ja G B! Y Ie 0jOm >H ->I  I #II BI # =&I .I 5D6I <:I g Fڞw,wA6@Y6/@6\ 96~>y6H_??݇¿` ?I8$?؞? ۨ?ɨ6@6ǎ;6.CyrBr*#I v=vR=IzIzB5٢ J=9 UDQ  > G٣y%讻 %> -Nusing accuracyPremultiplier from config)549-P?54Y-E i)15}5,@-D-:-;-*4A E@E2EZjimFNOT Ignoring new targets: 454.20 m.BjuT8;JjuT8; ProNav: ac range: 454.200012 m, nav range: 227.271637 m, bearing: 10.664380 deg, approach rate: 0.030890 m/s, LOS rate: 0.161152 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171968 deg. 2j1;:jX>@HeadingCmd: 4.820110 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf P@ɛ)B}< }>I K4ɚiI`=IiiFZл))*F]?2FY:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007278G}ԑGQBYO}>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258535ɍw,9A2@Y2:@2(92ӿ>y2HO ?? R¿r?|E?g?ߪ?ɨ2@2+;0yRBR#I IMb@Mb@Mb@ )YL7A`? G٣y >  Nusing accuracyPremultiplier from config 49 1T?4Y #E i m'?:\,@  D F; ; 4! %<@)ZjIMFNOT Ignoring new targets: 454.20 m.BjU<;Jj]<;e ProNav: ac range: 454.200012 m, nav range: 227.280945 m, bearing: 10.735759 deg, approach rate: 0.021493 m/s, LOS rate: 0.164816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189316 deg. 2jm9;:jm@@uHeadingCmd: 4.820413 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhyhyhhBfffrfbf`P@ɛ^K< 隝k>I &ɚiIq-=IiGf ic))zK{5MK+9KKK   -' $ +$*F?2F:FBFJFGrA GoAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509844G ̻G B O >w,SA6P@Y6@6996~>y6H`&?`y?e:¿_}?iX0>G?N?`ū?ɨ6P@6W;6+Cy>B>#IIFIFG5٢N Nb=9RO=Q R>PP VG٣V<8GyVZ9 V> ZNusing accuracyPremultiplier from configX%49Z=W?%4YZEF iX!-Y-,@ZDZwI `ɚiI=I%i%e i%߻)!))J5J5J1J1J5M:J5=:J1J1 IHIC I#IIBI&I.I6Il<:IH F*F?2F:FBFJF GG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790^ޚw,mAM@YM@M蔨99M>yMH@??¿`^?`΍5-2?ͬ?ɨM@MÇ;M-CyeBe#I)i iuAuA-Mb@Mb@Mb@))) )))Y-|?5^?I +?Mbpy--?-94=--MA -K@)-@I-@)y- @IEIE3A5٢]Ŋ ]1=9]};Q ]>aa eG٣aye؈; m> uNusing accuracyPremultiplier from configq}49u[?}4Yun F iuB}1.?}:}곿,@uDu/;u;u4 @ZjFNOT Ignoring new targets: 454.20 m.BjI;JjI; ProNav: ac range: 454.200012 m, nav range: 227.296432 m, bearing: 10.874251 deg, approach rate: 0.016725 m/s, LOS rate: 0.176266 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.212540 deg. 2j;:j%D@HeadingCmd: 4.820818 target range: 454.200012 and range: 515.00 m. jjjjihhhh f f frfbf@P@ɛE*BEL< P`>I igɚiI<=Iiq iO))*F}?2Fy:FyBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827 IG UG B O >zK F'MK 9K K K ¡w,bAy~B~#II I >5٢-ѻ -`=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.51798049U _?4YUF iQ,@U%DUzI gɚiIȨ=Ii i_X)))= .~G9I rYyXB*F2F:FBF~0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769775 I 1jG XG B H />I C I #II BI &I .I 6D6I <:I o FO >짻w,}yFHΒ??,¿|K? !3 > E??ɨF@F!Ç;DyRBR##IIZIZgG5٢bH= bQ=9fE9Q f>dd fG٣j=8Gyj2. j> rNusing accuracyPremultiplier from configlr49nb?v4YnF inBtv򳿑v,@n-Dn:n:nJ4 @Zj!-FNOT Ignoring new targets: 454.20 m.Bj-M;Jj5M;E ProNav: ac range: 454.200012 m, nav range: 227.309708 m, bearing: 11.003704 deg, approach rate: 0.018939 m/s, LOS rate: 0.179911 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175221 deg. 2jE;:jE>@MHeadingCmd: 4.820167 target range: 454.200012 and range: 515.00 m. jIjIjIjQiQhQhQhQhYfYfYfarfabfe`.Q@ɛEq< hq>I BɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273749J] J] JY JY J] :J] O9JY JY J] yBHFT??5¿`?aM*yM? ҫ?ɨB@B;B,CybBb'#I fp=f=-Mb@Mb@Mb@))) )))Y-S?S㥫?~jth?y-/?-/]=-D;-dA -5@))I-@)y)IeIeI5٢1< .=9BQ > G٣y > Nusing accuracyPremultiplier from config49g?4Y;"F iB/?:y,@8D_;;4 @Zj)-FNOT Ignoring new targets: 454.20 m.Bj5XF;Jj5XF;M ProNav: ac range: 454.200012 m, nav range: 227.315018 m, bearing: 11.085807 deg, approach rate: 0.011215 m/s, LOS rate: 0.173405 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.221487 deg. 2jM;:jUlE@UHeadingCmd: 4.820974 target range: 454.200012 and range: 515.00 m. jQjYjYjYiYhYhYhaheBfafafirfibfmLQ@ɛ4l< 隝v>I aԺɚiID=Ii' ix!ѻ))*Fe?2Fa:FaBFe_5JFazK}]JKyKyK}K} *MkD9LWajgc_RK@. jWJ7! yuogca`[eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527790G GI Bi O >w,EAyB,#II-I-P5٢E< Ef=9MQ M>II UG٣QyU U> eNusing accuracyPremultiplier from configYe49]k?m4Y]v(F i]Biim,@]?D] :]:]4 @=B*** querying acoustic contact ***j9j9ZjQUFNOT Ignoring new targets: 454.20 m.Bj]9;Jj]9;m ProNav: ac range: 454.200012 m, nav range: 227.319244 m, bearing: 11.146329 deg, approach rate: 0.011339 m/s, LOS rate: 0.162361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156749 deg. 2jm;:jm+<@uHeadingCmd: 4.819845 target range: 454.200012 and range: 515.00 m. jqjyjyjyiyhyhyhhfffrfbfdQ@ɛ)B:< 隽*>I $ɚiI;=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:10:34.0790 TRx dataTimestamp_ set to:1736367035.420830checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779113Ii^ i: λ)) YIYHu2>Iq Iu#IIuBIq&Iq.Iq6Iu<:Iu FBI1JI1RI1ZI1bI1jI5:5*F?2F:FBF[0JFG̻PExceeded connect timeout, disconnecting.Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030951މw,keAyB>#IMb@Mb@Mb@ )Yoʡ?V-?:v?y-?h=T<A )@I@y\@IIH5٢,y= ,=9Q > G٣>8Gy > Nusing accuracyPremultiplier from config49{p?4Y0F iB .?:w,@JD~$;;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj M;Jj M;5 ProNav: ac range: 454.200012 m, nav range: 227.317719 m, bearing: 11.227682 deg, approach rate: -0.003362 m/s, LOS rate: 0.179255 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.219248 deg. 2j5 ;:j5E@=HeadingCmd: 4.820935 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhAhMBfIfQfQrfQbfUفQ@%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!-8DAT read: $Error in header -*Received a bad headerɛ15< 15>I1J3K;|3 K;S}-K3K3 I"K3JeJeJaJaJe:JeU:JaJaJe7;Je9;Jee;Jee; =Ӛchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.297440ɚiI=Ii@ i))*F5?2F1:F1BF5@5JF1zK @OK 9K K K ZYXVPJDC?=<:834T%*Wpok]D2vN"c>}GU ҸлG1 B9 OU >r»w,oE ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535319=В@Y=@=S9=k>y=Hϛ?`?~P¿ g?fQW?@a?@?ɨ=В@=<;=(CyMBMD#I]AYIeIeL5٢u< ua=9}IQ }>yy G٣y > Nusing accuracyPremultiplier from config49t?4Y.7F iBԯ,@QD. ;` ;\4 D@ZjFNOT Ignoring new targets: 454.20 m.BjD;JjD; ProNav: ac range: 454.200012 m, nav range: 227.317566 m, bearing: 11.289978 deg, approach rate: -0.000422 m/s, LOS rate: 0.172158 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162074 deg. 2jM;:j<@ HeadingCmd: 4.819937 target range: 454.200012 and range: 515.00 m. j j jjihhhhfffrf!bf%6Q@ɛIMV< IU>IQ Ub~ɚQiQIU=I]i] i])Y)a*F?2F:FBF`0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.789115 iIm2jGvϻG B H 3>I  I I I " =&I .I 6I <:I i FO= >uȻw,["$A:hŒ@Y: ՙ@:+ 9:>y:H??7?ts¿% ?̇pEa?F?`?ɨ:hŒ@:;:,CyJ̈́BJX#IIVIVJ5٢^= bW=9bQ b>dd fG٣dyffr j> nNusing accuracyPremultiplier from configlr49nx?r4Yn=F inBtvv,@nZDn:n:n4x ~A@|Zj!-FNOT Ignoring new targets: 454.20 m.Bj-C;Jj5C;E ProNav: ac range: 454.200012 m, nav range: 227.318069 m, bearing: 11.355339 deg, approach rate: 0.001314 m/s, LOS rate: 0.170543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171269 deg. 2jE;:jE>>@MHeadingCmd: 4.820098 target range: 454.200012 and range: 515.00 m. jIjIjIjQiQhQhQhYhYfYfYfarfabfeQ@ɛ(BH< 隕>I (>ɚiI@=Iii{&") nManaging dock network, ignoring radio surface power off)*F-?2F):F)BF1JF1"G==G==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039303GZGBO+>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289836 Y IY J} J} ^J} 1Jy J} m:J} 8:J} 3Jy J} ;J} ;J} <J} <3λw,=A2@Ò@Y2ҙ@2 92>y2H .?@(?__¿Yp?@ʂZa?m??ɨ2@Ò@2܆;2+CyBфBF]#IMMb@Mb@Mb@III I)IYM/$?ʡE?Zd;O?yM1(?M=Mj5٢u < u?=9}ٸQ }> G٣?8Gy6! > Nusing accuracyPremultiplier from config49}?4Y,EF iBr)?:Ϯ,@cD;+;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?; ProNav: ac range: 454.200012 m, nav range: 227.316284 m, bearing: 11.426565 deg, approach rate: -0.004186 m/s, LOS rate: 0.167007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188863 deg. 2j;;:j@@HeadingCmd: 4.820405 target range: 454.200012 and range: 515.00 m. jjjji h hhh8BfffrfbfQ@ɛIM[׳< IM`>IQ UŽɚQiQIU=I]i]i]Y#)Y)a*F2F:FBFo0JFzKOK]9KKKxtokgd\YUTQNLJGFDA<;751/.,(($###!!   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542874G׹Gi Bq O >qջw,WA6@Y6&ʙ@6V96v,>y6H`?ԇ?H¿*s?@ժc?XU? ?ɨ6@6v;6/CyRۄBRi#I V=V=IZIZF5٢bI= bW=9f*Q f>dd jG٣hyj(8 j> rNusing accuracyPremultiplier from configlv49n񁫜?v4YnKF inBxz𮿑z,@nkDn0;n0;n"4| ~a@B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj-$>;Jj-$>;E ProNav: ac range: 454.200012 m, nav range: 227.315262 m, bearing: 11.489795 deg, approach rate: -0.002688 m/s, LOS rate: 0.166236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164877 deg. 2jE,;:jET=@MHeadingCmd: 4.819986 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbfe@"Q@ IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795488ɛ)-l< )5;>I1 U2+ɚQiQIUX=I]i]Pierh3)a)aHe2>Ia Ie#IIeBIe! =&Ia.Ia6Ieذ<:Ie F*F?2F:FBF0JFGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045885Hۻw,qAyB#IeMb@Mb@Mb@aaa a)aYe-?Q??ye5?eu=e G٣y > Nusing accuracyPremultiplier from config49\?4YSF iB?:,@tD;ޫ;9 4B @8EZjFNOT Ignoring new targets: 454.20 m.Bj(;Jj(; ProNav: ac range: 454.200012 m, nav range: 227.320312 m, bearing: 11.562189 deg, approach rate: 0.010303 m/s, LOS rate: 0.147669 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192363 deg. 2j;:jBA@%HeadingCmd: 4.820466 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!h)h)h)h-_Bf1f1f1rf1bf5 R@ɛ< >I w,iAVv@YVÙ@V9V>yVH? ?F¿@ӈ?Oc?`S??ɨVv@V;V,CyjBj#IIrIr85٢zҗ= z^=9z7Q z>|| ~G٣~@8Gy >  Nusing accuracyPremultiplier from config 49 މ?4Y YF i B,@ {D : .: 4! %@!ZjFNOT Ignoring new targets: 454.20 m.Bj7;Jj7; ProNav: ac range: 454.200012 m, nav range: 227.324799 m, bearing: 11.619915 deg, approach rate: 0.012479 m/s, LOS rate: 0.160572 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148363 deg. 2jf;:j:@%HeadingCmd: 4.819698 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf5R@ɛ'B= <>I k :ɚiIB=IiPi>))*Fu?2Fq:FqBFu`5JFy IIM3jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801843G$H.>I I#II!BI" =&I.I6I<:I` FG B O >o%w,\A:z@Y:Ǚ@:Qg9:ۗ>y:H з?ӈ?|4¿uo?`Ol_?B?@/?ɨ:z@:;8yF BJ#ILLIVIV;5٢^2= ^O=9b:Q b>`` fG٣dyfŢ: f> jNusing accuracyPremultiplier from confighr49j?r4Yj\_F ijBtvv,@jDj9;j0:;j4x z\@xZj!%FNOT Ignoring new targets: 454.20 m.Bj-:;Jj-:;= ProNav: ac range: 454.200012 m, nav range: 227.329712 m, bearing: 11.681587 deg, approach rate: 0.013009 m/s, LOS rate: 0.163289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160196 deg. 2j= ;:jE<@EHeadingCmd: 4.819905 target range: 454.200012 and range: 515.00 m. jAjIjIjIiIhIhIhQhQfQfQfQrfYbf]`3R@ɛ= 隥>I L^:ɚiIK=I=i=_iE5)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055237*FM?2FI:FIBFM4JFIGK7GBO > I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305841J J ?AZw,d@AbƸ@Ybiș@bܺ9b&>ybH@E۷?@]?A¿W ?[?N?@ӭ?ɨbƸ@b;`ynBn#IeMb@Mb@Mb@aaa a)aYen?S㥫?y&1?yeV?e/]=e` G٣y9 > Nusing accuracyPremultiplier from config49O?4YeF i$B/?:,@D;;4B @5EZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 227.335083 m, bearing: 11.742382 deg, approach rate: 0.011789 m/s, LOS rate: 0.133441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157568 deg. 2j (;:j I<@HeadingCmd: 4.819859 target range: 454.200012 and range: 515.00 m. jjjjihhhh%Bf!f!f!rf!bfVQR@ɛ(B< >I :ɚiI~=Ii½ie4)a)izKLK9KKKO^7@iT/ BKrA:KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557872*F?2F :F BF 4JF mGy Yy9AG% I6G B O- >t7w, AB,@YBЙ@B89B>yBH2?? @ ?`F&P? j ?A?ɨB,@B5};B.CyNBN#IIVIV:5٢^1= ^Z=9b:Q b>dd fG٣fA8Gyj2; n> tIt zNusing accuracyPremultiplier from configx~49z?~4YzkF iz+B,@zDz;z`;z$4  @ %B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 454.20 m.Bj=,;Jj=,;M ProNav: ac range: 454.200012 m, nav range: 227.339783 m, bearing: 11.795737 deg, approach rate: 0.013254 m/s, LOS rate: 0.150463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135248 deg. 2jM;:jU9@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.810802uHeadingCmd: 4.819469 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhyhyhyhfffrfbf gR@JJJJJ|:J:JJa@a@a@a@ɛAMg,= IMt>II M]:ɚQiQH}+>I}C I}#II}DBI}# =&Iy.I}5D6I}<:I}u FIUW=Iii.%))EU4=*F?2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062021Gi GIBQOu>npw,5^A:˒@Y:Dۙ@: 9::>y:Hsq?I?@@s8?0\C? f?g?ɨ:˒@:A;:+CyB$BB#I J=Ja=mMb@Mb@Mb@iii i)iYmuV?{Gz?~jt?ymr?m#=m G I4j٣y&; > Nusing accuracyPremultiplier from config49;?4Y rF i3B?:",@D<;;;-4B @8EZj FNOT Ignoring new targets: 454.20 m.Bj;Jj;5 ProNav: ac range: 454.200012 m, nav range: 227.351288 m, bearing: 11.863083 deg, approach rate: 0.022943 m/s, LOS rate: 0.134289 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177213 deg. 2j5R;:j5?@=HeadingCmd: 4.820202 target range: 454.200012 and range: 515.00 m. j9j9j9jAiAhAhAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.314454hYh]BfYfYfarfabfe ڇR@ɛ  s= >I  ;ɚiIU=Ii7i`))AE% <*F?2F:FBF_0JFzK (NK h9K K K -2  Y w { r D Z NJv+c1\=$RK- ?JK- >G " Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565759Gy B O >Sw,x%ABג@YB@B$89B>yBH/̸?@? z? >} ???ɨBג@B;@yN'BR#IIZIZS<5٢Y< U=9:Q >   G٣yn; > %Nusing accuracyPremultiplier from config!-49% ?-4Y%ZwF i%9B155,@%D%:%:%,44 @Zj%FNOT Ignoring new targets: 454.20 m.Bj5X;Jj5X;e ProNav: ac range: 454.200012 m, nav range: 227.359970 m, bearing: 11.914448 deg, approach rate: 0.021479 m/s, LOS rate: 0.127070 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129276 deg. 2jei;:je=8@}HeadingCmd: 4.819365 target range: 454.200012 and range: 515.00 m. jyjyjjihhhhfffrfbf /R@ɛ]= >I $;ɚiI}O=Iiir))EE*E"E IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.817869JJJJJL:Jb9JJHe*>Ia Ie$IIecBIe$ =&Ia.Ia6Ie<:Ie] FBI)JI)RI)ZI-" =bI)jI-5*FU ?2FQ :FQ BFU 4JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070165Gm ZGQBYO}> w,}0AF@YFI@F:9F>yFHv`?:??ԎQ_?@ ?ɨF@Fk;DyR BR#IIZIZ75٢n r.=9v" ;Q v>xx zG٣zB8Gyz; ~> Nusing accuracyPremultiplier from config|49~?4Y~}F i~@B-@~D~<~.<~`<4 @ ZjyFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 227.370346 m, bearing: 11.977582 deg, approach rate: 0.019965 m/s, LOS rate: 0.121472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164580 deg. 2j;:jI=@HeadingCmd: 4.819981 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`R@ɛE)BE= AE3>IA MFE;ɚIiIIM?=IUiU@iǻ)) yIyUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322631*F?2F:FBF_0JFG JG B B &JO >nw,3JA6@Y6e@6y;96-*>y6Hй??`8z?Ԑ n5b?`ͭ?ɨ6@6=;6,Cy~B~#IAzK=FPK9K9K=K=sh`[VSOID?>8412/-,-+($$%&##!Mb@Mb@Mb@ )YGz?I +?:v?yp>9<T< A )I@y=@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573939II<55٢&μ <=9A,;Q > G٣yg; > Nusing accuracyPremultiplier from config49?4YuF iCB>:-@DK;d;C4  N@ Zj15FNOT Ignoring new targets: 454.20 m.Bj=+;Jj=+;M ProNav: ac range: 454.200012 m, nav range: 227.384964 m, bearing: 12.031484 deg, approach rate: 0.040732 m/s, LOS rate: 0.150185 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136882 deg. 2jM$;:jMS9@HeadingCmd: 4.819498 target range: 454.200012 and range: 515.00 m. jjjjihh!hhBfffrfbf`DR@ɛ  = >I ʬ];ɚiIuT=Iiik)!)!*F2F:FBF^0JF qIy} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827590J J J J J :J 9J J HM (>II  IM )$IIM wBIM % =&II .II 6IM ذ<:IM FGe ҸG9 BI Oe >ݘw,dA6@Y6U@6;96>y6HC?`?@ G?#p ?`?ɨ6@6܇;6+CyVBV#IIbIb25٢f- f]=9j';Q j>hl nG٣lyn; r> vNusing accuracyPremultiplier from configpv49rT?z4Yr=F irFBxzz-@rDr":r :rgJ4 @B*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 454.20 m.Bj5;JjU;e ProNav: ac range: 454.200012 m, nav range: 227.397110 m, bearing: 12.077579 deg, approach rate: 0.032716 m/s, LOS rate: 0.124154 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113464 deg. 2jei;:jm5@mHeadingCmd: 4.819089 target range: 454.200012 and range: 515.00 m. jijqjqjqiqhqhqhhfff!rf!bf%R@ɛ*B=  >I =s;ɚiI=I%i%Vi-2)))QWill construct direction to contact in vehicle frame from tetrahedron phase data. a Ia w,}AWill construct direction to contact in vehicle frame from tetrahedron phase data.yjH(5?`݀?@ s`?Հ&x>?@?ɨj$@j!`;j-Cy%B%#IMb@Mb@Mb@ )YMb?I +?Mb`y?94< b@)IyI%I%95٢5 56=954;Q =>99 =G٣=C8GyEs; E> MNusing accuracyPremultiplier from configIU49Mť?U4YM$F iMEB]?]:]]-@MDM{!;M ;MCR4a e(@iZjFNOT Ignoring new targets: 454.20 m.Bj!;Jj!; ProNav: ac range: 454.200012 m, nav range: 227.415741 m, bearing: 12.134286 deg, approach rate: 0.041403 m/s, LOS rate: 0.126009 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145294 deg. 2j;:j:@HeadingCmd: 4.819644 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfMS@ɛ+B9= 3>I Q΄;ɚiIB=I i ;hi))*F?2F:FBF0JFzKm5NKm 9KiKmKm    Will construct direction to contact in vehicle frame from tetrahedron phase data.٪%w,LŗAb^?@YbO@b<9bq>ybH9 ?`}?@{dAq?K `h?1?ɨb^?@b%x;b,CyrBv|#I ~a=~p=II55٢-F˽ -]=95n;Q 5>11 5G٣9y=< => MNusing accuracyPremultiplier from configAM49Eէ?M4YEF iEDBQU*U-@EìDE:E:EX4 I5jB C@ ;EZjIUFNOT Ignoring new targets: 454.20 m.Bju`;Jju`; ProNav: ac range: 454.200012 m, nav range: 227.430634 m, bearing: 12.180971 deg, approach rate: 0.037758 m/s, LOS rate: 0.118354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115231 deg. 2js;:j;6@HeadingCmd: 4.819120 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf (S@ɛ,Bm< >I %Ž;ɚ!i!I%K=I-i-5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Response Not Received E*response not receivedU,DAT read: user:1164> -eI I$IImBI&IHD.I6IѰ<:I F*F-?2F):F)BF-k2JF)GM zQG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:20:10:41.8809  $Ping request sent. yFH?{?@?Y쑆`?`F?ɨFU@FṄ;DyNӄBR_#IIjIj=5٢~2 ~M=9;Q > G٣ y I;  > Nusing accuracyPremultiplier from config549?54Y5F iCBAEϷM-@ɬD;l;_4Q U@YZjyFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 227.446243 m, bearing: 12.231122 deg, approach rate: 0.041332 m/s, LOS rate: 0.132784 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125630 deg. 2jA;:j7@HeadingCmd: 4.819302 target range: 454.200012 and range: 515.00 m. jjjjihhh h ff!f)rf)bfAS@ɛ< }>I ֗;ɚiI=Ii<i,;))) ^$?I*F?2F:FBF^5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252463G ;G G rAG B O >μ2w,c{Ay~B@#IzK] MK]]9KYK]K]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503640Mb@Mb@Mb@ )Ysh|??y&1?~jty ?`e<DzA @)I@I@yII05٢; <=9Q > G٣D8Gy > Nusing accuracyPremultiplier from config 49 ⬫?4Y VF i ?B ?:-@ ѬD c; ; Lg4! -L@)ZjIUFNOT Ignoring new targets: 454.20 m.Bj];Jj];m ProNav: ac range: 454.200012 m, nav range: 227.463287 m, bearing: 12.290147 deg, approach rate: 0.039606 m/s, LOS rate: 0.137149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152249 deg. 2jm?;:jm;@uHeadingCmd: 4.819766 target range: 454.200012 and range: 515.00 m. jqjqjqjyiyhyhyhhDBfffrfbfD[S@ɛ-B5< 隽9>I Tt;ɚiIv=Ii i*;))*FE?2FA:FABFEO3JFA IU Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756908G CQ;H I C I #II NBI & =&I .I 6I ư<:I FG B O >8w,qVA:PR@Y:a@:ۨV<9:#>y:H ?*x?MF¿׻?`ϝ Ԋ:?@?ɨ:PR@:+;8yFBJ"#INANAIRIR25٢Z Za=9Z;Q ^>\` bG٣`yb/ b> fNusing accuracyPremultiplier from configdj49f3?j4YfqF ifI ۣ;ɚiI=IiZid};))*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007889Gu;GQByO> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259429$?w,aOA6b@Y6r@6 f<J>J>J>/J<J>:J>9J>(N3J<J>;aFJ>;aF96>y6H $? x?M¿@U?`oӞ b@/R?ժ?ɨ6b@6߇;6*Cy5B5#IMb@Mb@Mb@ )Y5^I ?Zd;O?Zd;Oy?j<jA )`@I@yII*5٢3ݽ 6=9F ;Q  >    G٣ yz; > Nusing accuracyPremultiplier from config49?4Y`F i6BJ?:״-@߬Du<K<zu4B j@8EZjFNOT Ignoring new targets: 454.20 m.Bj";Jj";M ProNav: ac range: 454.200012 m, nav range: 227.493179 m, bearing: 12.406289 deg, approach rate: 0.032789 m/s, LOS rate: 0.142243 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176156 deg. 2jM=;:jM>@UHeadingCmd: 4.820183 target range: 454.200012 and range: 515.00 m. jQjQjQjYiYhYhYhhBfffrfbf6S@ɛ/Bw< 1>I 2N;ɚiI=Ii& i;))*F}?2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511476zK^LK9KKKRK ?JK?)  }G= vAY Y vAy wBG G ?G >G B O >Ew, A2y@Y2G@2ʚ<92:>y2Hؽ?@w?`?3Ġ'Ӑ6??ɨ2y@2+ۇ;2+CyRdBR"IIfIfJ5٢z+G z^=9A;Q >  G٣ E8Gy ;  > Nusing accuracyPremultiplier from config49?%4YF i0B!%}%-@D ;;{4-B -@5;E aIaZjFNOT Ignoring new targets: 454.20 m.Bj=+;Jj=+;M ProNav: ac range: 454.200012 m, nav range: 227.505508 m, bearing: 12.461384 deg, approach rate: 0.033597 m/s, LOS rate: 0.150126 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140463 deg. 2jM;:jM9@HeadingCmd: 4.819560 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfS@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763765H&>I I#IIBI&IGD.I6I<:Is Fɛ0BuI< Wc=隽<=I ;ɚiI=I i ki <) )*F?2F:FBFJFG {/;Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015458#Lw,%2A6@Y6@6꺘<96]>y6H`y?yv?N8?K?`/?ɨ6@6 ;4y>OB>"I F=F=IJIJJH5٢R׽ RO=9Z7;Q Z>XX ^G٣\y ;  > Nusing accuracyPremultiplier from config49?%4YOF i*B!%-%-@D;B;41 5@1ZjYeFNOT Ignoring new targets: 454.20 m.Bjm 4;Jjm 4; ProNav: ac range: 454.200012 m, nav range: 227.518677 m, bearing: 12.521726 deg, approach rate: 0.034353 m/s, LOS rate: 0.157409 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156200 deg. 2j;:j<@HeadingCmd: 4.819835 target range: 454.200012 and range: 515.00 m. jjjjihhh hf!f)f1rf9bf= S@ɛ1B < )-l=I) -Bu;ɚ)i)I-=I5i5'i=x&<)9)9 QIU6j%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268592*F]?2FY:FYBFaJFaJJJ1JJ,:J:J3Ja@a@a@a@G 1X<GY Bi O >M Sw,LA6@Y6b@6ņ<96>y6H?u?! M? T墿`| ?ྫྷ?ɨ6@6];6-CyR3BR"I5Mb@Mb@Mb@111 1)1Y5q= ףp?Q?~jty5+?5\=5ļ1 5K@)5I@I11y5@IMIMJ5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520458zKuKKuh9KqKuKuBKy:Ky٢ ,=9W;Q > G٣y5; >  Nusing accuracyPremultiplier from config%49?%4YbF i"B%+?%:%B--@D<<41 5@1ZjY]FNOT Ignoring new targets: 454.20 m.Bje?;Jje?;u ProNav: ac range: 454.200012 m, nav range: 227.531464 m, bearing: 12.600073 deg, approach rate: 0.027256 m/s, LOS rate: 0.166993 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.210213 deg. 2ju6;:juC@}HeadingCmd: 4.820777 target range: 454.200012 and range: 515.00 m. jyjyjyjihhhhBfffrfbfS@ɛ2B{; :I ;ɚ i I &=IiJ]i?<))*F?2F:FBF0JF IIQ- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772265jH <bH p<H %>I  I a#II ԄBI &I .I 4D6I <:I ~ FBIeɜCJIeɜCRIaZIe& =bIe% =jIe 5GE )<G B O- >X5Yw,kfA29@Y2ݰ@25<92>y2HH?w?@Q ?e`4敿??ɨ29@2;2)Cy>BBy"IIJIJS5٢j jr=9jd;Q n?ll nG٣rF8Gyrwj: r? zNusing accuracyPremultiplier from configtz49v?~4YvEF ivB|~:-@vDv< ;v;v4 d@!MB*** querying acoustic contact ***jIjIZjiuFNOT Ignoring new targets: 454.20 m.Bj}?;Jj}?; ProNav: ac range: 454.200012 m, nav range: 227.541000 m, bearing: 12.657179 deg, approach rate: 0.027976 m/s, LOS rate: 0.167513 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146498 deg. 2j;:j:@HeadingCmd: 4.819665 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf?S@ɛ: 隽TI kS;ɚiI`=IiyiNA<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023665E<*F?2F:FBFo0JF I II = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275547J J J 0J J L:J b9J ـ3J G= (<GB1OM>aw,0A6@Y6`@6.@<96DM >y6H _?y?& ׽? 6~!??ɨ6@6;6-CyB BBh"IFADUMb@Mb@Mb@QQQ Q)QYUOn?Mb?~jtyU8?U@=UQ Ux@)U3@IU@QyQImImY5٢` &=9T;Q > G٣yW > Nusing accuracyPremultiplier from config49ƫ?4YrF iB9?:հ-@ D;;4 A@ZjFNOT Ignoring new targets: 454.20 m.BjvS;JjvS; ProNav: ac range: 454.200012 m, nav range: 227.552475 m, bearing: 12.746412 deg, approach rate: 0.023774 m/s, LOS rate: 0.184873 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242870 deg. 2j;:j{H@HeadingCmd: 4.821348 target range: 454.200012 and range: 515.00 m. jjjji h h hhBfffrfbf`T@ɛE3BEq7 IMII M۩;ɚIiIIU|=IUiUV i]8<)Y)YEi=*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:10:45.0371 TRx dataTimestamp_ set to:1736367046.256899checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528822zK5iJK5s9K1K5K5G9)<G B O > 9 IA 5Agw,mA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779350He&>Ia Ie #IIeBIa&Ia.Ia6Ieڰ<:Ie FyBY"III]5٢EX E?=9EQ E>II UG٣Qy] ]> eNusing accuracyPremultiplier from configam49e˫?m4YewF ieBqqu-@eDe;e;e4}B @=EZjFNOT Ignoring new targets: 454.20 m.BjH;Jj%H;5 ProNav: ac range: 454.200012 m, nav range: 227.562973 m, bearing: 12.824407 deg, approach rate: 0.023648 m/s, LOS rate: 0.175686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.209160 deg. 2j5$;:j=C@=HeadingCmd: 4.820759 target range: 454.200012 and range: 515.00 m. j9jAjAjAiAhAhAhIhIfYfYfYrfabfe/T@ɛ 隕4ԽI .֦;ɚiI=Ii ib:<))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad header*F ?2F :F BF 0JF - checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046991G IIU7jGBO>nw,̽ABR@YB@B<9Bl >yBH@Nyy }G٣}G8Gy}» > Nusing accuracyPremultiplier from config49ѫ?4YF i B(G?:-@ D;;0:;)4 @;EZjFNOT Ignoring new targets: 454.20 m.Bjf;Jjf;JSK[m3 K[L.KSKS"KSJ-J-J)J)J-:J-:J)J) ProNav: ac range: 454.200012 m, nav range: 227.569733 m, bearing: 12.914888 deg, approach rate: 0.015073 m/s, LOS rate: 0.201758 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.246619 deg. 2jv <:jI@HeadingCmd: 4.821413 target range: 454.200012 and range: 515.00 m. jjjjihhhhwBfffrfbf NT@ɛU4BUjO Y}Iy }ɢ;ɚyiIރ=Iioi<))*FU?2FQ:FQBFU_5JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535422G} (<zK5 JK5 +9K1 K5 K5   GY Bi O >uw,3A>w@Y>`@>B<9>w >y>H wȽ? ?@ @ e?䣿9`i??ɨ>w@>D;>,CyFBJE"I N=LIRIR_5٢Zﰼ ZW=9ZQ ^>\\ bG٣`ybM b> fNusing accuracyPremultiplier from configdj49f֫?j4YfQF ifBln򮿑r-@f)Dfy-;f-;fį4t v@tZj FNOT Ignoring new targets: 454.20 m.Bj%\`;Jj%\`; ProNav: ac range: 454.200012 m, nav range: 227.576218 m, bearing: 12.988860 deg, approach rate: 0.017197 m/s, LOS rate: 0.196150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197094 deg. 2j<:jA@HeadingCmd: 4.820549 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf @BfT@ ]_$?IYɛ&  I 5[;ɚ1i1I==IEiEQiE3;)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788974HI I"IIUBI% =&I.I6I<:Ij F*F?2F:FBF4JFGMh <G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039996{w,[`A6i@Y6x@6EU<96o >y6H` T?V?@=?yݣ h??ɨ6i@6;4yRBRL"IIbIbQc5٢j< jH=9jL9Q n>ll nG٣pyr v> zNusing accuracyPremultiplier from configx~49z#ܫ?4YzF izB--@z4Dz#y:Hஂ?V?`S10p?sz?@ȯ?ɨ:N@:;:+CyBBFW"IMb@Mb@Mb@ )Yx&?Mb?MbP?y7I?=:dA x@)v@IyiI=I=X5٢M#= UB=9UQ U>YY ]G٣]H8Gye e> mNusing accuracyPremultiplier from configiu49mt᫜?u4YmF imB}I?}:}~}-@m>Dm#;mv";m<4B @=EZjFNOT Ignoring new targets: 454.20 m.Bjjo;Jjjo; ProNav: ac range: 454.200012 m, nav range: 227.596405 m, bearing: 13.152033 deg, approach rate: 0.030696 m/s, LOS rate: 0.209311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.224900 deg. 2j<:jE@HeadingCmd: 4.821034 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf`ƙT@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543900ɛ ̒3 -DI) 5>;ɚ1i1I5=I=i=i=%b;)9)AzK LK K K K *F?2F:FBFJF yIyGe o;GA BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795397H (>I C I "II 7BI &I .I 5D6I <:I g FN׈w,%A:;@Y:J@:k<9: >y:H? ?`s? Ժ?FFn?l?ɨ:;@:;:)CyBBB^"IHJAHJ@AININr^5٢Z< ZU=9ZՐQ Z>\\ ^G٣\ybͻ b> fNusing accuracyPremultiplier from configdj49fA櫜?j4YfF ifBhjͰn-@fHDf :fL:f4p r@pZj  FNOT Ignoring new targets: 454.20 m.Bj[c;Jj[c;% ProNav: ac range: 454.200012 m, nav range: 227.608704 m, bearing: 13.228073 deg, approach rate: 0.032151 m/s, LOS rate: 0.198770 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203292 deg. 2j%j<:j%B@5HeadingCmd: 4.820657 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h9h9hAhAfAfAfIrfIbfM ET@ɛquM0 y}8ȽIy }і;ɚyiyI=IiViֺ:))*F5?2F9:F9BF=b0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047736G;GBO> I 8jw,?AB$@YB3@B<9B` >yBH/?D?G!?@U?T?ɨB$@Bc;B+CyNBNq"I-Mb@Mb@Mb@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299595))) )))Y-{Gz?L7A`?~jt?y-C?-+=-<- A -@)-@I-@)y-@II=X5٢-= 8=9˹Q > G٣yPλ > Nusing accuracyPremultiplier from config49뫜?4YG iBD?:-@SD;@;4 @!ZjAUFNOT Ignoring new targets: 454.20 m.BjU[;JjU[;e ProNav: ac range: 454.200012 m, nav range: 227.623489 m, bearing: 13.313789 deg, approach rate: 0.033144 m/s, LOS rate: 0.192133 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232318 deg. 2je<:jeF@mHeadingCmd: 4.821164 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhqhqhyh}BfyfyfrfbfT@ɛ37 隽ċI `Ҕ;ɚiI6=IEiE~iM%)I)I*F?2F:FBFe0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552744GE Y:GE ?GE >u G `wAG B O% >) e WYe `wAye GAzK KK 9K K K X3AQ1  w,XAR@YR( @RWg<9R5>yRH`?? R@?բ gL ? ?ɨR@R;PyZ(BZ"IIbIb]5٢j= n]=9nOQ n>pp rG٣rI8Gyrӻ r> zNusing accuracyPremultiplier from configt~49v?~4YvG ivB|~G~-@v\Dv\ ;v ;v'4B K@ ;EZj)5FNOT Ignoring new targets: 454.20 m.Bj5<^;Jj=<^;E ProNav: ac range: 454.200012 m, nav range: 227.636902 m, bearing: 13.385246 deg, approach rate: 0.036471 m/s, LOS rate: 0.194295 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189543 deg. 2jMW<:jM@@HeadingCmd: 4.820417 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`LT@ I9jɛae3A; aeеIa }@;ɚyiyI}x=Ii'i3i'))jHE<bHE<HM->II IIIIIM& =&II.II6IM<:IM~ FeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiamchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.803763*Fu?2Fq:FqBFu0JFqJ-J-J-0J)J--:J-9J-ـ3J)J-;a=J-;a=J-1;aEJ-1;aEGE >GB1OMS> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056924w,rAZ@YZ/@Zk<9Z >yZH[չ?Nj?`+@θ? @3 ??ɨZ@Z;Z-Cyr;Br"I vp=vp=IzIzO5٢ = H=9 1rQ  >    G٣y > Nusing accuracyPremultiplier from config%49?%4Y5G iB)---@fD:7:L45B 5 @5=EeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 454.20 m.Bju[;Jju[; ProNav: ac range: 454.200012 m, nav range: 227.653030 m, bearing: 13.464168 deg, approach rate: 0.039241 m/s, LOS rate: 0.192006 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.211933 deg. 2j<:jD@HeadingCmd: 4.820807 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@U@ɛ3B·; vw,ׄA: @Y:@:!<9: >y:HQ? ?G4I?@{ c`? G?ɨ: @:l;:)CyFUBF"I%Mb@Mb@Mb@!!! !)!Y%(\?v/?Q?y%z4?%xi=%<% A %@)%AI%@!y%(@IEIEP5٢U= ]E=9]9Q ]>aa eG٣aye$ m> uNusing accuracyPremultiplier from configi}49m ?}4YmG im B};5?:沿-@moDm$;ma#;m4 l@ZjeFNOT Ignoring new targets: 454.20 m.BjmK;JjmK;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559964 ProNav: ac range: 454.200012 m, nav range: 227.671356 m, bearing: 13.537851 deg, approach rate: 0.044345 m/s, LOS rate: 0.178288 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196219 deg. 2j;:jA@HeadingCmd: 4.820533 target range: 454.200012 and range: 515.00 m. jjjji h hhhBf!f!f!rfibfu1U@ɛh< l=I ;ɚiI=Iiiӻ))zK'~NK 9KKKY:[_^S=jSHAA#~$qE*sQRK?JK>*F2F:FBFa5JF IG I젻H] +>IY  I] "II] PBI] # =&IY .IY 6I] <:I] F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812255BIʝCJIʝCRIZI% =bIjIʎ5G B O >JM JM JI JI JM :JM 9JI JI JM ;JM ;JM ;JM ;}%w,\A6ג@Y6O@6hs<96 >y6H`ϸ?`I?c$A lȷ?f䍗ీ?@ݰ?ɨ6ג@6tg;6+CyRuBR"IIZIZQ5٢b"> bT=9f59Q f>dd jG٣jJ8Gyj j> rNusing accuracyPremultiplier from configlr49n ?r4Yn%G inBtv'v-@nxDn:n:nF4x zu@|Zj)-FNOT Ignoring new targets: 454.20 m.Bj5J;Jj5J;E ProNav: ac range: 454.200012 m, nav range: 227.689255 m, bearing: 13.606309 deg, approach rate: 0.046360 m/s, LOS rate: 0.177301 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180543 deg. 2jE\;:jE?@MHeadingCmd: 4.820260 target range: 454.200012 and range: 515.00 m. jIjIjIjQiQhQhQhQhYfYfYfYrfabfe3U@ɛh< 隕>I 鰙;ɚiI=Iii,))*Fi2Fi:FiBFm3JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063439GGi Bq O > 9 II dw,HAf=͒@Yfܙ@fj<9f" >yfH`|? .?'.r?Έ`=??ɨf=͒@fV/;dyrBr#I||5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=A=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315779Mb@Mb@Mb@ )Y'1Z?kt?l?y"? 0==3 A @)AI@y\@III5٢= ;=9:Q > G٣y%? > Nusing accuracyPremultiplier from config49?4Y&-G iBv#?:B-@Df;;4  @ZjFNOT Ignoring new targets: 454.20 m.Bj-+;Jj-+;= ProNav: ac range: 454.200012 m, nav range: 227.712448 m, bearing: 13.676134 deg, approach rate: 0.049834 m/s, LOS rate: 0.150012 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184640 deg. 2j=;:j='@@EHeadingCmd: 4.820331 target range: 454.200012 and range: 515.00 m. jAjajajiiihihihqhugBfyfyfyrfbf`RU@ɛ 2B r< 1>I ;ɚiI=IiEiEw@)A)I*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567491G5 ;3zK |OK 9K K K dO<1..-+)(*,(%)()(&%!$((*)&$!""BK :K G B! O= >w;w,#Abn’@Ybҙ@b-<9b >ybH@t&??*`o?@^mw@?{?ɨbn’@b:;`yrBv##II5I5B5٢E= ER=9M:Q M>II MG٣IyUC^ U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]3G i]Bimnm-@]D]:]:]4uB }@}@EZjFNOT Ignoring new targets: 454.20 m.BjsF;JjsF; ProNav: ac range: 454.200012 m, nav range: 227.733719 m, bearing: 13.738310 deg, approach rate: 0.059361 m/s, LOS rate: 0.173500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161695 deg. 2j$;:j<@HeadingCmd: 4.819931 target range: 454.200012 and range: 515.00 m. jjjjihhhh I:jfffrfbf@hU@ɛ15< 158`>I9 =lۣ;ɚ9i9I="=IEiE=iE'%)A)I*F?2F:FBF_0JFHI I"IIBI&I.I6I<:I FEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.820337JJJJJ:J*9JJJ;J;J(;J(;GZGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072224aw,A6ͺ@Y6qʙ@6P<96S >y6H?`?@=)@Q׶?`墿 u ?`h?ɨ6ͺ@6։;6)CyRBR<#II^I^D5٢fw= fS=9f:Q f>hh jG٣jK8Gyn n> -Nusing accuracyPremultiplier from config!549%?54Y%0:G i%BY]]-@%D%;%;%4a mL@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj2;Jj2; ProNav: ac range: 454.200012 m, nav range: 227.755905 m, bearing: 13.801648 deg, approach rate: 0.054710 m/s, LOS rate: 0.156173 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165182 deg. 2j\;:j_=@HeadingCmd: 4.819992 target range: 454.200012 and range: 515.00 m. jjjjihh!h!h!f!f)f)rf)bf-`U@ɛջ< >I E;ɚiI)(=Ii iU0)Q)Q I*F ?2F:FBF`0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.323777G- G B O- > G٣y > Nusing accuracyPremultiplier from config 49 ? 4Yy@G i%B?:-@DH;`F;-4! %@!ZjIUFNOT Ignoring new targets: 454.20 m.BjU";Jj]";e ProNav: ac range: 454.200012 m, nav range: 227.778229 m, bearing: 13.862051 deg, approach rate: 0.052622 m/s, LOS rate: 0.142370 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156379 deg. 2jmj;:jm<@uHeadingCmd: 4.819838 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhyhyhyh}Bfffrfbf U@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575547ɛ< 3>I E;ɚiIJ!=IiD i`)/))*F?2F:FBFo0JFzK!NK9KKK!    CG+    IG(G B H (>I  I N#II ńBI $ =&I .I 6I <:I Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829190O >J J J /J J :J 9J (N3J J ;J ;J ;J ;uɼw,'A2@Y2^ϙ@2̸<92-n>y2H? ? ]`?@ie֙? M?ɨ2@2ъ;2*CyNBRq#IIZIZ35٢b= b_=9b ;Q f>dh jG٣hyn: n> vNusing accuracyPremultiplier from configt~49v ?~4YvEG iv*B-@vDv"`;vPx;v 4 @qZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;- ProNav: ac range: 454.200012 m, nav range: 227.797333 m, bearing: 13.913459 deg, approach rate: 0.048733 m/s, LOS rate: 0.131127 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129396 deg. 2jM;:jUA8@UHeadingCmd: 4.819367 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhYhYhahafafafirfibfm8U@ɛܗ< >I  2;ɚiI=Ii i5&))I*F?2F:FBF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I ]мw,nAAWill construct direction to contact in vehicle frame from tetrahedron phase data.@=<9d>yH?֌?@b`p?㣿f?`լ?ɨВ@$;+CyBs#IEMb@Mb@Mb@AAA A)AYE +?I +?E9 G٣L8Gy; > Nusing accuracyPremultiplier from config49L?4YLG i1B>:N-@DV;9;D4 u@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj ; ProNav: ac range: 454.200012 m, nav range: 227.824203 m, bearing: 13.973300 deg, approach rate: 0.056959 m/s, LOS rate: 0.126834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154688 deg. 2j;:j;@%HeadingCmd: 4.819808 target range: 454.200012 and range: 515.00 m. j!j!j)j)i)h)h)h1h5Bf1f1f1rf9bf=U@ɛim(< im>Iq u;ɚqiqIu=I}i}m i}wd )y)*F=?2F9:F9BF=0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.ּw,l[AyB}#IA aIaI%I%p;5٢}n2= }p=9Q ? G٣y ? Nusing accuracyPremultiplier from config49?4YMPG i5B-@D0;;4B @ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 227.842514 m, bearing: 14.013738 deg, approach rate: 0.054859 m/s, LOS rate: 0.121145 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.096492 deg. 2jG;:j3@HeadingCmd: 4.818793 target range: 454.200012 and range: 515.00 m. jjjjihhhhfff rf bf  1U@ɛ1=S = 9=>I9 =h;ɚ9i9IE=IUi]. i] )Y)iH'>I I#IIBI% =&I.I6I<:I F-Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Response Not Received E*response not receivedM,DAT read: user:1166> ]BDAT read: Tx time:20:10:52.8310 e$Ping request sent.e Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:10:52.8302  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246170ܼw,e5uAb@YbJ @b <9b2>ybHI??tUĸ?1ꤿAK!?k?ɨb@b ;`ynBn{#IIvIvs75٢~ S=97;Q >    G٣ y h< > Nusing accuracyPremultiplier from config%497?%4Y-UG i:B)---@D:e: 41 5 @1UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 454.20 m.Bje ;Jjm ; ProNav: ac range: 454.200012 m, nav range: 227.862778 m, bearing: 14.060427 deg, approach rate: 0.052240 m/s, LOS rate: 0.120352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115240 deg. 2j1;:j;6@HeadingCmd: 4.819120 target range: 454.200012 and range: 515.00 m. jjjjihhh h f f frfbf5 OV@ɛYe= ae[>Ia e;ɚaiiIm=Imiu iHBe)) QIU;j*F]?2FY:FYBF]Y0JFY=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.497022J}J}J}0JyJ}:J}H9J}ـ3Jya@a@a@a@G׹G B O >@w,A2@Y2M@2<92>y2HŹ?`?`? ;`!fH?O?ɨ2@2;0y>B>r#I5Mb@Mb@Mb@1)I I11 1)1Y5ʡE?Mb?{Gz?y5>5<5ף<5\ A 1)53AI5I@}G1y5A|uA Y|uAy AItI$5٢ :=9HQ >!! %G٣!y- -> =Nusing accuracyPremultiplier from config1E495P?E4Y5*ZG i5=BE>E:EQE-@5D5;5;5(4Q U|@QZjyFNOT Ignoring new targets: 454.20 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756834U ProNav: ac range: 454.200012 m, nav range: 227.884689 m, bearing: 14.108116 deg, approach rate: 0.049773 m/s, LOS rate: 0.108319 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118242 deg. 2jU;:j]6@]HeadingCmd: 4.819172 target range: 454.200012 and range: 515.00 m. jYjajajaiahahahhBfffrfbf!V@ɛ3B{< ɯ>I 0;ɚIiIIM=IUiUciU&)Q)QzKeKKe9KaKeKe*F?2F:FBF\0JF Ma$?IQH &>I C I #II !BI &I .I 6I @<:I FG V'S Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010444G B O >w,A>v @Y>@><9>A>y>H`C{?@`?`N N?@t@o t?$?ɨ>v @>W;>,Cy^B^o#I f=f=Ir^Ir5٢zb ~_=9 T:Q >   G٣M8Gy4; > -Nusing accuracyPremultiplier from config!549%?54Y%[^G i%?B9=񷿑E-@%D%~b;%[;% /4I U@QZjyFNOT Ignoring new targets: 454.20 m.BjR:JjR: ProNav: ac range: 454.200012 m, nav range: 227.902756 m, bearing: 14.148198 deg, approach rate: 0.048537 m/s, LOS rate: 0.107675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.095423 deg. 2jʓ;:jf3@HeadingCmd: 4.818774 target range: 454.200012 and range: 515.00 m. jj!j!j!i!h!h!h)h)f)f)fYrfabfmz8V@ɛG= Ϭ>I d;ɚiIMB=IUiUsiUe)Q)Y*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260706G XG B O > A II Kw,A=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513290M&@YMV6@Mey<9M>yMHC??ǫ`) ? a {??ɨM&@MFD;IyeτBeZ#IMb@Mb@Mb@ )YS?I +?Mbp?y/>9<;A C@) AIv@yAJ5J5J1J1J5ݒ:J59J1J1I%hI%5٢U ]6=9] :Q ]>aa eG٣ayem; m> uNusing accuracyPremultiplier from configq}49u?}4YuccG iu>B}z>:-@uĭDuf;u;u64 @ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 227.920441 m, bearing: 14.196621 deg, approach rate: 0.037462 m/s, LOS rate: 0.102566 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120442 deg. 2jnj;:j6@HeadingCmd: 4.819211 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf  UV@ɛ< 隅 >I h;ɚiId=Ii)if9))*F5?2F1:F9BF9JF9GA GErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764446G= G B! O= >zK KK 9K K K Ece]QHw,QAFB@YF-R@FŇ<9F->yFH ?@?v`FQۺ?@gߥ@0 4?`?ɨFB@FƉ;F+CyNBR9#IIZIZp;5٢^ bi=9bMe;Q b>dd fG٣dyf< j> nNusing accuracyPremultiplier from configh pIpv49j?v4YjUgG ij=Bxzz-@jȭDjq;jMq;j<4| ~e@Zj1=FNOT Ignoring new targets: 454.20 m.BjEZ;JjMZ;} ProNav: ac range: 454.200012 m, nav range: 227.933899 m, bearing: 14.234565 deg, approach rate: 0.041354 m/s, LOS rate: 0.116585 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.089012 deg. 2j};:j}{2@HeadingCmd: 4.818662 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf{jV@ɛM4BU< qu>Iq };ɚyiyI}ͽ=Ii iE;))ZH1RH5@AHAIA IE#IIE&BIA&IA.IA6IEC<:IE FBIJIRIZIbI$ =jIÌE5*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016921G!+8GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268587|w,{A2g@Y2bw@2e9<92t>y2HLH?z? ?BƝ XX ZG٣ZN8Gy=2< => ENusing accuracyPremultiplier from configAM49E(?M4YElG iEIA E&z;ɚAiAIM=Imiubv iu";)q)q I*F-?2F):F1BF50JF1UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520561JUJUJQJQJU:JU9JQJQGE .A;G! B1 OU >w,YA6 @Y6@6/<96@w>y6H0?w? wʼ??`D`u/ G٣y> < > Nusing accuracyPremultiplier from config49!?4YqG i8B>::-@ԭD;-;K4B o@CEZjFNOT Ignoring new targets: 454.20 m.Bjt ;Jjt ; ProNav: ac range: 454.200012 m, nav range: 227.963211 m, bearing: 14.328935 deg, approach rate: 0.034119 m/s, LOS rate: 0.120172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122389 deg. 2j;:jA7@%HeadingCmd: 4.819245 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!h!h)h)h-Bf)f1f1rf1bf=zV@ɛae< iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772474u&>I &<ɚiI=Iis in<))*F?2F:FBF2JFzKMK9KKKDB<5440.,))'%&$ RK?JK> IG ;HA IA  IE #IIE BIA &IA .IA 6IE #<:IE FG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024582{ w,:*AJ@YJ@J=9J<>yJH?`u?`i?@Y ؠ(5?7?ɨJ@J ;HyZXBZ"IIfIfdK5٢=8X =P=9E;Q M>II UG٣QyU; ]> eNusing accuracyPremultiplier from configam49e#?m4YeuG ie3Bimޱu-@eڭDe:e:exR4 @ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 227.975998 m, bearing: 14.375233 deg, approach rate: 0.032515 m/s, LOS rate: 0.117721 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114070 deg. 2j;:j6@HeadingCmd: 4.819099 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfV@ɛ6B>M< |=I <ɚiIMD=I%i%b i% H?<)!))*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276464Gl<GBO> I  G٣O8Gy > Nusing accuracyPremultiplier from config49(?4Y|G i+Be ?:-@D~(;&;Z4 @ZjFNOT Ignoring new targets: 454.20 m.Bj[;Jj[;  ProNav: ac range: 454.200012 m, nav range: 227.986496 m, bearing: 14.441360 deg, approach rate: 0.021841 m/s, LOS rate: 0.137573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173560 deg. 2j Լ;:j >@HeadingCmd: 4.820138 target range: 454.200012 and range: 515.00 m. jjjjihhh)h-hBf)f1f1rf1bf5wV@ɛ]7Be; ae}Ia e<ɚaiiIm=ImiuDiu9<)q)*F2F:FBFS5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:10:55.9856 TRx dataTimestamp_ set to:1736367057.352714checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781685G (<G B O >zK iMK K K K          BK :K sA!w,!]A $I$J@YJU@J =9J >yJH`*?y?2@`٫? ︡??ɨJ@J;J-CyVBV^"II^I^^S5٢ ~=9;Q  ?!! %G٣!y-Z; - ? 5Nusing accuracyPremultiplier from config1=495+?=4Y51G i5&B9E٭E-@5D5 ;5P ;5x`4I Mu@IZjiuFNOT Ignoring new targets: 454.20 m.Bjuh;Jj}h; ProNav: ac range: 454.200012 m, nav range: 227.993484 m, bearing: 14.485380 deg, approach rate: 0.021848 m/s, LOS rate: 0.137615 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107242 deg. 2j;:j5@HeadingCmd: 4.818981 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfbV@ɛ-8B5oӹ =Z:== ڽI9 =<ɚ9iAIE =IEiM$iMK<)I)IH%>I Ia#IIԄBI&I.I4D6I,<:I F-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032910*Fm?2Fi:FqBFu_0JFqG 9)<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. 8DAT read: $Error in header  *Received a bad headerKw,wAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.305021%2@Y%֯@%l=9%@ >y%H?`gz? ྆?ס`f?@?ɨ%2@%;%+Cy5B=F"IIIII٢Ui ]F=9]h:Q e>aa mG٣iyu, u> }Nusing accuracyPremultiplier from configy49}/?4Y}G i}B뭿-@}D}:}:}g4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 228.002808 m, bearing: 14.542150 deg, approach rate: 0.022524 m/s, LOS rate: 0.137146 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145489 deg. 2j5>;:j5:@=HeadingCmd: 4.819648 target range: 454.200012 and range: 515.00 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbf}W@ɛ9B I ;ɚiI=IiiJ@<)) 9I9*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.539089GY=<G B O >4$w,HA:#@Y:ǟ@:M =9: >y:H҇?(}? ?Tو ?ɭ?ɨ:#@:C;:,CyBуBF""IHJAMb@Mb@Mb@ )Yjt??X9vy ?L=\ A )AI`@yAI-I-[5٢= EL=9E<ĺQ M>IQ UG٣UP8GyU2 ]> eNusing accuracyPremultiplier from configYm49]4?m4Y]G i]Bmx!?m:mˮm-@]D];]^;]n4y }@}@EZjFNOT Ignoring new targets: 454.20 m.Bj4;Jj4;= ProNav: ac range: 454.200012 m, nav range: 228.015213 m, bearing: 14.605505 deg, approach rate: 0.030959 m/s, LOS rate: 0.158100 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165240 deg. 2j=;:j=a=@EHeadingCmd: 4.819993 target range: 454.200012 and range: 515.00 m. jAjAjAjIiIhQhQhYh]BfYfYfarfabfe!W@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788624ɛ:B@ݻ 隽RI *;ɚiId=Ii/iA[$<))*F?2F:FBF`0JF !I!zK]/MK]+9KYK]K]       RKe?JKe"?GF<H#>I I"IIBI& =&I.I6I<:I FGa Bq O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041933JKcw3 K.-KK"KJ] J] JY JY J] :J] O9JY JY J] ;a J] ;a J] e,;a J] e,;a Pe*w,[A6@Y6Ž@6Ix =96 >y6H? ? L^?@11 5G٣1y=a => ENusing accuracyPremultiplier from configAm49EN8?m4YE G iE Bquu-@EDE;E;Eu4}B }@}CEZjFNOT Ignoring new targets: 454.20 m.Bj0;Jj0; ProNav: ac range: 454.200012 m, nav range: 228.028442 m, bearing: 14.668912 deg, approach rate: 0.032277 m/s, LOS rate: 0.154693 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165396 deg. 2jT;:jg=@HeadingCmd: 4.819995 target range: 454.200012 and range: 515.00 m. j!j!j)j)i)h)h)h1h1f1f1f1rf9bf=:W@ɛ;BL I q-;ɚ i I U=Ii)iOC <))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292529E-r =*F?2F:FBF_0JF  I G (<U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548036G B O->72w,LA^e@Y^uu@^=9^ >y^H98?@? $ Oӻ?@D` | |?/?ɨ^e@^?;^)CyfBf!IMb@Mb@Mb@ )Y(\?)\(?:vyz4?Ga=Լ $@)AI@yIIl5٢贽 (=9Q > G٣yѻ > Nusing accuracyPremultiplier from config49=?4YܜG iB&5?:᯿-@ D;;'~4 ?@ZjFNOT Ignoring new targets: 454.20 m.Bj"N;Jj"N;- ProNav: ac range: 454.200012 m, nav range: 228.048904 m, bearing: 14.754464 deg, approach rate: 0.043107 m/s, LOS rate: 0.180215 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.231818 deg. 2j5\;:j=F@EHeadingCmd: 4.821155 target range: 454.200012 and range: 515.00 m. jAjAjAjAiIhIhIhIhUBfQfQfQrfQbf]XW@ɛY8w,:AH\I\ I^"II^-BI\&I\.I\6I^<:I^v FyޝqBޝ!I a=p=IIe5٢E( F=9Q > G٣Q8Gy% %> -Nusing accuracyPremultiplier from config)54=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.0491779-B?M4Y-fG i-BIIM-@-D-@;-;-_4Y ]k@YZjFNOT Ignoring new targets: 454.20 m.BjkG;JjkG; ProNav: ac range: 454.200012 m, nav range: 228.066818 m, bearing: 14.827627 deg, approach rate: 0.042692 m/s, LOS rate: 0.174347 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194659 deg. 2jN;:jA@HeadingCmd: 4.820506 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf sW@ɛ =B @˾I FP;ɚi!I%6&=I-i->JEJEJAJAJEM:JE*9JAJAJE;JE;JE(;JE(;i0;))EE*E"E*FU ?2FQ :FQ BFU _0JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301341  I G5 ~q;G9 G9 G BO5>1@w,A62@Y6|B@6<96 >y6H??@,RnX?@Ѧ e?@.?ɨ62@6;6+Cy>^B>!IIJIJa5٢Rj RC=9V Q V>XX ^G٣\y^r ^> bNusing accuracyPremultiplier from config`f49buG?f4YbG jtIibBhjj.@bDbp;b9;b4l r@pB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.BjD;JjD;e ProNav: ac range: 454.200012 m, nav range: 228.087265 m, bearing: 14.901921 deg, approach rate: 0.047185 m/s, LOS rate: 0.171434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.198047 deg. 2jN;:jB@HeadingCmd: 4.820565 target range: 454.200012 and range: 515.00 m. jjjjiuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555652hhhhfffrfbfW@ɛ>B  ߾I  ;ɚ i I =Iii-j:)))9*F?2F:FBFl0JFG *;% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806209G B O >EWFw,|A5@Y5"@5<95 >y5H?+?z`uk?Yq@d?@?ɨ5@5߈;5)CyMXBU!I I>j%Mb@Mb@Mb@!!! !)!Y%NbX9?333333?Mby%E?%=%% A %Q@)!I%I@!y!I= I=h5٢MѼ M3=9UbQ U>QY ]G٣Yy] ]> eNusing accuracyPremultiplier from configam49exM?m4Ye2G ieBuF?u:u}.@e)De#;e";e4B @FEZjFNOT Ignoring new targets: 454.20 m.Bjg;Jjg; ProNav: ac range: 454.200012 m, nav range: 228.107666 m, bearing: 14.990605 deg, approach rate: 0.046602 m/s, LOS rate: 0.202563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.241213 deg. zK#MKH9KKK$P[(J! "  4A=5/% 2j <:j>H@HeadingCmd: 4.821319 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfYW@ɛ.ؼ XI ;ɚiI=Ii?i))H$>I I."II܃BI&I.I6I+<:I FBIĜCJIĜCRIZI& =bI& =jI5*Fe?2Fa:FaBFm%1JFiGEg:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057178GB)OMt>JJJJJ :JO9JJJQ;JS;Je,;Je,;YLw,ms4A2?@Y2@2<92i >y2HQ¹?? \Q?*ä]?-?ɨ2?@2ܼ;2+CyBSBB!IDFAIJIJm5٢f_ fg=9fBQ f>hh jG٣jR8GynT" n> rNusing accuracyPremultiplier from configpv49rR?v4YrJG irBtvz.@r2Dr;r&;rޚ4B A@CEZj!-FNOT Ignoring new targets: 454.20 m.Bj-$_;Jj5$_;E ProNav: ac range: 454.200012 m, nav range: 228.124847 m, bearing: 15.059490 deg, approach rate: 0.048662 m/s, LOS rate: 0.195084 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181824 deg. 2jE<:jE?@MHeadingCmd: 4.820282 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308444hQfffrfbf`ZW@ɛimm imIi ֜;ɚiI}Y=Iiki)) I*F?2F:FBFP5JFG}: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563951G B9 O} >hSw,LNA6ђ@Y6@6U<96- >y6H??U?@z@bJ?@@?ɨ6ђ@6Fh;4y>OB>!I=Mb@Mb@Mb@999 9)9Y=n?v/?y=VN?=xi===` A =p@)= AI=`@9y==AIUIUo5٢e@ mA=9mQ m>iq uG٣qyu* }> Nusing accuracyPremultiplier from configy49}V?4Y}1G i}BN?:ij.@}=D};}8;}G4 @ZjFNOT Ignoring new targets: 454.20 m.BjAg;JjAg; ProNav: ac range: 454.200012 m, nav range: 228.158112 m, bearing: 15.145133 deg, approach rate: 0.078539 m/s, LOS rate: 0.202180 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.232077 deg. 2j <:jF@HeadingCmd: 4.821159 target range: 454.200012 and range: 515.00 m. jjjjihhhh}BfffrfbfW@ɛ-?B5 15I1 =q;ɚ9i9I=# =IEiE iEР)A)I*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813305GeG!B1OeV> IzK5 MK5 s9K1 K5 K5   jH <bH H I  I !II BI % =&I .I 6I <:I F^Yw,+2hA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065398J:@YJ޿@J<9J >yJH`??G?7S`7M?}?ɨJ:@Jb?;J-CyZPBZ!IIf If1h5٢vg; vR=9vWQ z>| G٣yd, > -Nusing accuracyPremultiplier from config)JMJMJIJIJM:JM9JIJIJM;JM;JM:%;JM;%;m49-,[?m4Y-vG i-BquKu.@-GD-#<-3#<-(4 x@ZjFNOT Ignoring new targets: 454.20 m.BjmN;JjmN; ProNav: ac range: 454.200012 m, nav range: 228.190750 m, bearing: 15.224570 deg, approach rate: 0.074162 m/s, LOS rate: 0.180472 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.213462 deg. 2j;:jMFD@UHeadingCmd: 4.820834 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhYhYhYhYfafafarfbfW@ɛ6Լ 隵I ̍;ɚiI=IisiF))*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316562G ԑGa Bq O > I o{`w,A6D@Y6蜙@6`<96HB >y6HO?"? [ꌵ?K@9??ɨ6D@6={;4y>aBB!I F=F=IJ IJg5٢V̧= VN=9VcQ Z>XX ZG٣ZS8Gy $2  > Nusing accuracyPremultiplier from config%49v_?%4YG i޺B)-״-.@QDM;M;(45B 5Z@5FEUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 454.20 m.Bjmف;Jjmف;} ProNav: ac range: 454.200012 m, nav range: 228.225784 m, bearing: 15.305352 deg, approach rate: 0.098481 m/s, LOS rate: 0.227045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.217496 deg. 2j}<:j}D@HeadingCmd: 4.820905 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf+X@ɛȼ ޾I 涒;ɚiIW=Iii|~))E E tAeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572676*F?2F:FBF`0JFGZGaBiO9> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820462zfw,A2fo@Y2 @2Ɵ<92 >y2H?{? .Ow?dzqr??ɨ2fo@2;2+CyRlBR!I Ec$?IE?jUMb@Mb@Mb@QQQ Q)QYU/$?y&1? rh?yU1H?U`e=UC G٣yO > Nusing accuracyPremultiplier from config49c?4YG iBH?:.@\D;U;4 @ZjFNOT Ignoring new targets: 454.20 m.Bjn`;Jjn`; ProNav: ac range: 454.200012 m, nav range: 228.263931 m, bearing: 15.387818 deg, approach rate: 0.090780 m/s, LOS rate: 0.196213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222540 deg. 2j<:jE@ HeadingCmd: 4.820993 target range: 454.200012 and range: 515.00 m. j j j j ihhhhBfffrfbf@,X@zK-LK-9K)K- K-_ ZG-Pog`WUPKLIIGC@<40.+)$ !"! '#%&# RK=>JK=>ɛAE4 IM2ӾI ͆;ɚiIb=IiOiՆ))HyIy I}!II}BIy&Iy.Iy6I}ܰ<:I} F*F ?2F :F BF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.072593Gf AG?G>G B O >lw, A6Z@Y6j@6#<96 >y6H?"?$jJ@/?8V;I?@o?ɨ6Z@6h;4yN|BR!IIZIZa5٢bɦ= bX=9b)Q b>dd fG٣dyf׻ j> nNusing accuracyPremultiplier from confighr49jjg?r4Yj:G ijBtv絿v.@jeDj;j :j#4x z@xZj%FNOT Ignoring new targets: 454.20 m.Bj%5_;Jj%5_;5 ProNav: ac range: 454.200012 m, nav range: 228.299316 m, bearing: 15.461753 deg, approach rate: 0.093409 m/s, LOS rate: 0.195143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196956 deg. 2j5<:j5A@=HeadingCmd: 4.820546 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfUBX@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324397ɛ@B%.¼ !%pþI! %z;ɚ!i)I-Jx=I-i5}hi5Z)1)Q*F?2F:FBFy0JF AIAGňGBOE>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579561J J J J J :J 9J J a @a @a @a @sw,`AyvBv!I}Mb@Mb@Mb@yyy y)yY}-?~jt?L7A`?y}5>?}D=}+=}rA }~@)}3AI}QAyy}\AIIZ5٢h= ==9Q > G٣T8Gy > Nusing accuracyPremultiplier from config494k?4YG iB>?:0.@pDB.;z;4 @Zj FNOT Ignoring new targets: 454.20 m.Bj S;Jj S; ProNav: ac range: 454.200012 m, nav range: 228.341461 m, bearing: 15.542058 deg, approach rate: 0.097169 m/s, LOS rate: 0.185117 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.216056 deg. 2j%;:j%D@%HeadingCmd: 4.820879 target range: 454.200012 and range: 515.00 m. j)j)j)j)i)h)h)h1h5ۃBf9f9f9rf9bf=^X@ɛm?BuC ͶI 8g;ɚiI{=Iii))EE>*F?2F:FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833622 I!GD&G B O >zK .NK +9K K  K  BK :K rAHm %>Ii  Im !IIm BIi &Ii .Ii 6Im <:Im Fyw,sAWill construct direction to contact in vehicle frame from tetrahedron phase data.ybH[?9?95?㙿?Ǭ?ɨbqH@br܇;b,Cy޽B޽!III[5٢= G=9uQ > G٣yS > Nusing accuracyPremultiplier from config49n?4YG iB.@yD::4 B \@ IEZj15FNOT Ignoring new targets: 454.20 m.Bj=oT;Jj=oT;M ProNav: ac range: 454.200012 m, nav range: 228.382614 m, bearing: 15.618217 deg, approach rate: 0.100376 m/s, LOS rate: 0.185726 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.203623 deg. 2jM;:jMB@UHeadingCmd: 4.820662 target range: 454.200012 and range: 515.00 m. jQjQjYjYiYhYhYhahafafafarfibfm`yX@ɛ 5a 15ޟI1 5e&V;ɚ1i9I=p=I=iE iEsf)A)A*F?2F:FBFf2JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I @jˀw,zSA2D@Y2T@2+O<92>y2HQ???i6¿@/?j@D剿@9e?L?ɨ2D@2!;2+CyNBN"IIVIV[W5٢^> ^^=9bJQ b>`` fG٣dyf f> nNusing accuracyPremultiplier from confighr49jq?r4YjG ijBprr.@jDj4;j;jR4vB z@zFEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj-9R;Jj-9R; ProNav: ac range: 454.200012 m, nav range: 228.419861 m, bearing: 15.686231 deg, approach rate: 0.100669 m/s, LOS rate: 0.183793 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179192 deg. 2jE;:j`?@HeadingCmd: 4.820236 target range: 454.200012 and range: 515.00 m. jjjjih h h h fffrfbf  BDAT read: Tx time:20:11:03.7811  $Ping request sent. w,B>A LIL% M@Y%\@%;<9%mF>y%Hf??n¿ &ڳ?@u ??i?ɨ% M@%;%)CyuЃBu "I =p=EMb@Mb@Mb@AAA A)AYE rh?X9v?qy }G٣}U8Gy} ; }> Nusing accuracyPremultiplier from config49t?4YH iB,?:.@D;;^4B s@ZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?; ProNav: ac range: 454.200012 m, nav range: 228.468338 m, bearing: 15.763221 deg, approach rate: 0.105706 m/s, LOS rate: 0.167844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.206108 deg. 2ja;:j9C@HeadingCmd: 4.820706 target range: 454.200012 and range: 515.00 m. jjjjihhhh;Bfffrf bf X@ɛ15=O 15R^I9 =<;ɚ9i9I= =IEiEiE<)I)IzK,~LK9KK K,L_^^__ZVTNGB@><:642/(%! RK?JK"?H!I! I%"II%ƒBI!&I!.I!6I%<:I% F*F?2F:FBF4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:20:11:03.7803 Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251949G G B O >w,7A2W@Y2lg@25(<92>y2Hִ?@?U¿@c}8? >?y?ɨ2W@2D;2+Cy>B>:"IIFIF+5٢N^= Nn=9RbQ R?PP VG٣TyV"z; V? ZNusing accuracyPremultiplier from configXb49ZEw?b4YZ H iZBdfӹf.@ZDZ=;ZQ>;Z]4h j&@hZj|~FNOT Ignoring new targets: 454.20 m.Bj>;Jj>; ProNav: ac range: 454.200012 m, nav range: 228.504456 m, bearing: 15.820576 deg, approach rate: 0.105069 m/s, LOS rate: 0.166824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147223 deg. 2j;:j:@HeadingCmd: 4.819678 target range: 454.200012 and range: 515.00 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5X@ɛae, ae4Ii m4;ɚiiiIm\=Iuiuiu9)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.519547*F5?2F1:F1BF5_0JF1 IGNGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.772713J] JY J] 0JY J] :JY J] ـ3JY w,PA6|P@Y6 `@6<96h>y6H ??¿(?*`P?/?ɨ6|P@6BLJ;6*CyRBRA"I=Mb@Mb@Mb@999 9)9Y=/$?~jt?Mb?y=?=<===AA =@)=AI=zA9y=pAIUIU85٢ee< e>=9e:Q e>ii mG٣iyu u>  Nusing accuracyPremultiplier from config 49 y?4Y %H i  B?:ƺ.@ D ; B; .4%B %@-HEZjY]FNOT Ignoring new targets: 454.20 m.Bje,;Jje,;u ProNav: ac range: 454.200012 m, nav range: 228.549484 m, bearing: 15.888331 deg, approach rate: 0.100403 m/s, LOS rate: 0.151048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178410 deg. 2juS;:juC?@}HeadingCmd: 4.820222 target range: 454.200012 and range: 515.00 m. jyjyjyjyihhhhBfffrfbfX@ɛ>Bh 'I *;ɚiIW=IiiӮ))*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023169 IGm GI BY Ou >jH bH H I  I T"II BI &I .I 6I <:I FBIJIRIZI% =bI% =jI4zKe MKe 9Ka Ke  Ke 4NGOj}yk[OC6,& BKi :Km oAq0w,jA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.273956R_@YRo@R/;9R'1>yRH??¿ 옴?z|?`O?ɨR_@R-;R+CyZBZ_"IAEAIMIMB-5٢}= }I=9}B%Q }> G٣V8Gy^; > Nusing accuracyPremultiplier from config49|?4YaH iB.@DN;;4 +@ZjFNOT Ignoring new targets: 454.20 m.Bj .;Jj .; ProNav: ac range: 454.200012 m, nav range: 228.588455 m, bearing: 15.947224 deg, approach rate: 0.100711 m/s, LOS rate: 0.152169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151836 deg. 2j;:jw;@HeadingCmd: 4.819759 target range: 454.200012 and range: 515.00 m. jjjjihhh!h!f!f!f!rf)bf-X@ɛ!M9 IMII U` %;ɚQiQIU7=I]i] i]`)Y)a*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526109 i Im AjGE NGM rAGM pAG B! OM >w,Ay]B]o"II}I}65٢R= I=9Q > G٣y > Nusing accuracyPremultiplier from config49~~?4YH iB.@DV;;4 [@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.BjE,;JjE,; ProNav: ac range: 454.200012 m, nav range: 228.629562 m, bearing: 16.008933 deg, approach rate: 0.100347 m/s, LOS rate: 0.150611 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160279 deg. 2j;:j<@HeadingCmd: 4.819906 target range: 454.200012 and range: 515.00 m. jj!j!j1i1h9hAhIhIfQfQfQrfQbfUY@ɛzv 隍8I 0 ;ɚiI=IiiDi#))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.781403JEJEJAJA*Fm?2Fq:FqBFuo0JFyJE:JE[9JAJAG`6Gy B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029997 Q IQ Hw,A6̞@Y6q@6O;96">y6H@K ?@*?&ÿ`?`x@K?:?ɨ6̞@6 ;6,CyBBBz"I-vonly read 0 of 1 data item for BIT error. Device response is::TS,25010812121153,3.9, 0.0,1493.1, 0  z@z z@z z@z  z@z I~I~V85٢ --=  S=9 :Q > G٣yޡ< > %bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%逬?54Y%!&H i%B5+:1=:==.@%D%;%>%4I U@QZjq}FNOT Ignoring new targets: 454.20 m.Bj}>-;Jj}>-; ProNav: ac range: 454.200012 m, nav range: 228.667160 m, bearing: 16.067733 deg, approach rate: 0.096861 m/s, LOS rate: 0.151459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151559 deg. 2j;:jm;@HeadingCmd: 4.819754 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf,Y@ɛ; I |;ɚiI =IiiO))HI I"II-BI&I.I6I<:I F*F?2F:FBF1JFzKJMK9KK K 09@Ut|wvwtlg`ZSNJp4eRK%?JK%?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282324GmPExceeded connect timeout, disconnecting.GyBO>1kw,=HA6’@Y64ҙ@6y6H@,)?~?19ÿK@?{w`a? n?ɨ6’@67/;6-CyN$BR"IIZIZ995٢b"t= bP=9f\7Q f>dd jG٣jW8Gyj5< j> rbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpv49rt?v4Yro,H ir"Bz :xzc:zz.@rDr(;rH?r4 @Zj!-FNOT Ignoring new targets: 454.20 m.Bj57.;Jj57.;E ProNav: ac range: 454.200012 m, nav range: 228.704544 m, bearing: 16.127437 deg, approach rate: 0.095388 m/s, LOS rate: 0.152311 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154266 deg. 2jM;:jM;@UHeadingCmd: 4.819801 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhQhhfffrfbf`FY@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534176ɛ)U̢ aeMIa e;ɚiiiIm =Iui iy))ER>E> e$?IBj*FE?2FI:FIBFM`5JFIGUrA GUsAG%KGB O%M> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790011J J J /J J :J 59J (N3J Vw,j2A63@Y6@6;96>y6H? z?0ÿ`o?@|@8x\??ɨ63@6;6)CyZ+B^"I M M MM MM  M U UMb@Mb@Mb@QQQ Q)QYUv?:v?~jt?yU>U G٣y6P< > Nusing accuracyPremultiplier from config49?4Y1H i%BT:C>:.@®D;D;4B @KEZjFNOT Ignoring new targets: 454.20 m.Bj^ ;Jj^ ; ProNav: ac range: 454.200012 m, nav range: 228.732178 m, bearing: 16.179227 deg, approach rate: 0.064554 m/s, LOS rate: 0.120971 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130538 deg. 2j ;:jk8@HeadingCmd: 4.819387 target range: 454.200012 and range: 515.00 m. jjjjihhhhބBfffrfbf bY@ɛIMU QUHIQ U;ɚQiQIU2 =I]i]6@i]w)a)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038405*F2F!:F!BF%P5JF! IGe KZH RH AAH I  I "II UBI &I .I 6I <:I FGA BI Oe >zK lNK h9K K  K :&  BK :K sAw, A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290149Vc@YV"@Vb;9V<>yVH?`u?@}Fÿc?ŕVv t??ɨVc@V֦;V-Cyb"Bf"IInIn?5٢v6 vT=9zQ z>qq uG٣qy'/< > Nusing accuracyPremultiplier from config49?4Y7H i'Bo.@ȮD;;4 )@Zj FNOT Ignoring new targets: 454.20 m.Bj ; nManaging dock network, ignoring radio surface power offJj ;- ProNav: ac range: 454.200012 m, nav range: 228.757629 m, bearing: 16.228189 deg, approach rate: 0.062204 m/s, LOS rate: 0.119650 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122057 deg. 2j-:;:j-57@5HeadingCmd: 4.819239 target range: 454.200012 and range: 515.00 m. j9j9jAjAiAhIhQhYhYfafafarfabfm{Y@ɛnں eI %;ɚ!i!I%J =IMiM@iUѭ)Q)Y*F=?2F9:FABFE4JFAGvϻGBOn>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542119 Iew,A:I6@Y:E@:v;9:>y:H@6»?(r? ;ÿ RXX ZG٣ZX8GyZ>< ^> bNusing accuracyPremultiplier from config`j49b?j4Yb;H ib*Bhjߴj.@bήDb0;b0;b64p r?@pZj FNOT Ignoring new targets: 454.20 m.Bj  ;Jj ;% ProNav: ac range: 454.200012 m, nav range: 228.780502 m, bearing: 16.273460 deg, approach rate: 0.061662 m/s, LOS rate: 0.122032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110987 deg. 2j%;:j%5@-HeadingCmd: 4.819046 target range: 454.200012 and range: 515.00 m. j)j)j)j1i1h1h1h1h9f9f9f9rfAbfEY@ɛ?B 隥rI 3;ɚiI` =Iii:))E}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:11:06.9552 TRx dataTimestamp_ set to:1736367068.208919checking for new query: numPingsReceived=0, elapsed TxPingTime=3.800740*F?2F:FBF_0JF"G=G=Gm ҸGA BI Om >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046039 I ǽw,A6V@Y6e@6C;96y>y6H?o?ÿ9?@X^tN?)?ɨ6V@6L;6.CyNBNu"IMb@Mb@Mb@ )YZd;?Mb?Mb`?y>=;A @)`AI3AyAII>5٢/T ;=9zQ > G٣y< > Nusing accuracyPremultiplier from config49/?4YLAH i+Be>:s.@ծDS;;4 @B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 454.20 m.BjG ;JjG ;- ProNav: ac range: 454.200012 m, nav range: 228.803558 m, bearing: 16.326783 deg, approach rate: 0.052655 m/s, LOS rate: 0.121767 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135140 deg. 2j-";:j-9@5HeadingCmd: 4.819468 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9h9h9hAhË́BfAfAfIrfIbfMY@ɛy}_ 隅I 0 ;ɚiI$ =Iiij;) )HiIi Im"IImoBIi&Ii.Ii6Im۰<:Im FzKM}LKM9KIKM KMRK]?JK]?*F?2F:FBFJFGe9G9BQWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerO^>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.313377JJJ0JJk:Jm9Jـ3JJ%8y2H|?An?`N¿f?@1+lr-?p?ɨ2m@2Z;2+CyBBBc"IIJIJK5٢%q %T=9%Q %>)) -G٣)y5; 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=0FH i=,BIMM.@=ۮD=L:=L:=$4UB U@UHEZjy}FNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 228.823471 m, bearing: 16.373735 deg, approach rate: 0.051746 m/s, LOS rate: 0.121999 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116028 deg. 2jt;:jX6@HeadingCmd: 4.819134 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfY@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550219ɛ@BOŻ 0I Vu;ɚiI( =Iii);)) YIY*F}?2Fy:FyBF}n0JFyG?:GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802082Խw,HmSA2@Y2@2;92t>y2H`)) -G٣-Y8Gy5; 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=KH i=+BMi?M:M M.@=D=;=;=<,4Q ]@YZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 228.843506 m, bearing: 16.428792 deg, approach rate: 0.045663 m/s, LOS rate: 0.125475 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140343 deg. 2j9;:j9@HeadingCmd: 4.819558 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfY@ɛ R I :ɚiI =I im*im<)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.055964*F ?2F :F BFo0JF QI]CjGM ;HQ IQ  IQ IQ IQ &IQ .IQ 6IQ :IQ GA BI Oe >zK N KK 59K K  K %]z %/=EKS]hqzJY(BK :K rAڽw,KmA*Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310329JK ـ3 K .KK"KJbJbJ`J`Jbu;JbH9J`J`JbB<JbB<JbP;JbQ; B@Y 穚@ n;9 r>y H ܾ?wo?M¿2g?}@m`}??ɨ B@ և; +Cy%B%?"II5I5{R5٢E:̽ EY=9M-Q M>II UG٣QyU; U> eNusing accuracyPremultiplier from configYe49]ȗ?m4Y]PH i]*Bimm.@]D]7:]:]24uB }@}KEZj%FNOT Ignoring new targets: 454.20 m.Bj% ;Jj% ;U ProNav: ac range: 454.200012 m, nav range: 228.860443 m, bearing: 16.476173 deg, approach rate: 0.043380 m/s, LOS rate: 0.121345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117320 deg. 2j];:j]6@eHeadingCmd: 4.819156 target range: 454.200012 and range: 515.00 m. jajajajaiahahahihififqfqrfybf}Y@ɛAB '  1I  R:ɚiI =IifiO8<))!*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558836 1I1G% P <G B O= >w,7A>@Y>@>lV;9>#>y>Hʾ?r?`{\?@+Ŕ`j:+?@?ɨ>@>;`` bG٣`yf< f> nNusing accuracyPremultiplier from confighn49j?r4YjUH ij)Bprůr.@jDj:j7:j94t U@QZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%; ProNav: ac range: 454.200012 m, nav range: 228.878128 m, bearing: 16.525031 deg, approach rate: 0.045619 m/s, LOS rate: 0.126021 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121749 deg. 2j;:j)7@HeadingCmd: 4.819233 target range: 454.200012 and range: 515.00 m. jjjjihhhhff f rf bfZ@ɛ]BB]X Y]nVIa e1:ɚaiaIeF/!=Imimim3o/<)q)qUWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.813602*F!2F):F)BF-_5JF1G+<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062106  I w,ABv@YB@BOPU;9BS>yBHt־?v?NMl?gj$??ɨBv@BK;@yR΃BR"ITTuMb@Mb@Mb@qqq q)qYuFx?Mb?{Gzyu ?u@=u#uAA u@)uAIqqyuAIIS5٢ ==9Q > G٣y9 > Nusing accuracyPremultiplier from config49'?4Y[H i'BP ?:e.@Da;U;"A4 T@=B*** querying acoustic contact ***j9j9ZjQ]FNOT Ignoring new targets: 454.20 m.Bjm/;Jjm/; ProNav: ac range: 454.200012 m, nav range: 228.897217 m, bearing: 16.584157 deg, approach rate: 0.044652 m/s, LOS rate: 0.138296 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152549 deg. 2jҽ;:j;@HeadingCmd: 4.819771 target range: 454.200012 and range: 515.00 m. jjjjiH$>I I"II[BI&I.I6I<:I FBIJIRIZIbIjI­,4hihqhqhumBfqfyfyrfybf}2Z@ɛ] DhI GK:ɚiIn!=Iii:3<))IzK]NK+9KK K!,7CPSYafilpsxy}~{vtpoqrrqpnmnjRK?JK?*F2F:FBF`5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.315255JJJJJ:Jm9JJJ<J<J;J;G 9)<G B O >w,{غAyB"III{R5٢%M %S=9%Q ->)) -G٣-Z8Gy5 5> =Nusing accuracyPremultiplier from config9E49=ۢ?E4Y=raH i=&BIIM.@=D=:=q:=G4Q U1@QZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 228.914520 m, bearing: 16.637108 deg, approach rate: 0.045939 m/s, LOS rate: 0.140568 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134027 deg. 2j;:j8@HeadingCmd: 4.819448 target range: 454.200012 and range: 515.00 m. jjjjihhh IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.567724hfffrfbf 3IZ@ɛ CB ْ I :ɚiI1!=IiQTi!)!)!*F-?2F):F)BF-_0JF)Gm{*<GI BQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818212O} >w,_A6@Y6&@62;96x >y6H`??z?W ޽?J`NSf ??ɨ6@6P;6,CyBBB!IMb@Mb@Mb@ )Y7A`?A`"?{Gzy?Y=+A @)IyAI-I-Z5٢nԽ I=9ĤQ > G٣yܳ > Nusing accuracyPremultiplier from config498?4YgH i(?:5.@D;;Q;CO4 @ZjFNOT Ignoring new targets: 454.20 m.Bj';Jj';- ProNav: ac range: 454.200012 m, nav range: 228.934677 m, bearing: 16.699171 deg, approach rate: 0.047696 m/s, LOS rate: 0.146844 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161360 deg. 2j-;:j5<@=HeadingCmd: 4.819925 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9h9hAhAhEDBfAfIfIrfIbfM@cZ@ɛDB- 隅&I 2:ɚiI&!=Ii`ib<))*F?2F:FBF^0JF f$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071095GM(<H I  I "II 7BI &I .I 6I ʰ<:I FG) B1 OU >zK iNK 9K K K jkkjgfd``c_UID>:;>@AA@=<;;942220.1/01-'&'&%#%&'#"""! BK sA:K w,NAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322998F2y@YF׈@F* ;9F_Y >JNJNJLJLJN,:JNH9JLJLJN<JN<JNP;JNQ;yFH,ֽ?:}?6&`|?`\Va@i]?>?ɨF2y@F 6;F+CybBb!I f=dIjIjW5٢r rO=9v7źQ v>tt zG٣xyz9 ~> Nusing accuracyPremultiplier from config|49~ ? 4Y~mH i~%B  j .@~ D~:~:~U4A Ea@IZjFNOT Ignoring new targets: 454.20 m.BjK#;JjK#;5 ProNav: ac range: 454.200012 m, nav range: 228.953430 m, bearing: 16.755078 deg, approach rate: 0.047891 m/s, LOS rate: 0.142762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142894 deg. 2j5;:j5/:@=HeadingCmd: 4.819602 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhAhAfIfIfirfibfu`2~Z@ɛEBJ 隽II ?C:ɚiIL"=Ii7liP;))*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575208GU <G B O >w,lA6m@Y6m}@65:96 >y6H`{{?~?`_/z6&?ő@f]S?`?ɨ6m@6l;4yBBB!IIJIJY5٢VЩ VN=9ZnQ Z>XX ZG٣Z[8Gy^f b> fNusing accuracyPremultiplier from config`f49b,?j4YbsH ib$Bhjj.@bDbi:b2:b\4rB rX@rNEZj FNOT Ignoring new targets: 454.20 m.Bj .;Jj .;% ProNav: ac range: 454.200012 m, nav range: 228.973557 m, bearing: 16.813380 deg, approach rate: 0.052686 m/s, LOS rate: 0.152607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150076 deg. 2j-w;:j-6;@5HeadingCmd: 4.819728 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1hhhfffrfbfZ@ɛ  ϼ I1 =|9ɚ9i9I=գ"=IEiEKiE,;)A)I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.828183*F?2F:FBFk0JFGM&;G) B9 OU > I Dj Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078380+w,D"A6d@Y6t@6 :96N >y6H`5??+ }?`D [*O??ɨ6d@6M;4yBBB!IEMb@Mb@Mb@AAA A)AYEK7A?A`"?MbpyE "?AEEAA A)AIAAyEAI]I]^5٢mU m?=9mVQ m>qq uG٣qy}$$ }> Nusing accuracyPremultiplier from config49?4YzH i"?:.@D';&;Pd4B @KEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj4;Jj4; ProNav: ac range: 454.200012 m, nav range: 228.999695 m, bearing: 16.881257 deg, approach rate: 0.060807 m/s, LOS rate: 0.157887 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178793 deg. 2j;:jQ?@HeadingCmd: 4.820229 target range: 454.200012 and range: 515.00 m. jjjjihhh h %Bf ffrfbfZ@H%>I Im"IIBI&I.I6I<:I FɛFB#GҼ ľI  9ɚi I #=IUi]# i]Y;)Y)Y*Fe?2Fa:FaBFeo0JFazKCNK9KK K   "  #"#&(1;==<EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.330603G o;Gi By O >FWw,p&y6H?2? DS?@䐿GUe??ɨ6R@6;6-CyBzBB!IDFAIJIJr^5٢R RW=9V5Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b49^?f4Y^H i^%Bdff.@^$D^X:^:^j4l r@pZj FNOT Ignoring new targets: 454.20 m.Bj 4;Jj4; !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.581979 ProNav: ac range: 454.200012 m, nav range: 229.023544 m, bearing: 16.941063 deg, approach rate: 0.062991 m/s, LOS rate: 0.157941 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154586 deg. 2j;:j;@HeadingCmd: 4.819807 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf_Z@ɛg 隵#̾I B(ɚiIf#=IiX i3z;))*F2F:FBF1JFG;M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834414J J J /J J :J 59J (N3J a @a @a @a @G B1 OM >Aw, VAJG@YJ9W@J#]:9JJ >yJHK?@i?`b?ѐU ??ɨJG@J;HyVtBV!IMMb@Mb@Mb@III I)IYMv/?y&1?MbP?yMx)?M`e=M:M+A M@)IIMAIyMpAIeIee5٢u }==9}7Q }> G٣\8GyL > Nusing accuracyPremultiplier from config49H?4YQH i'B*?:5.@-Dw;;ur4 @ZjFNOT Ignoring new targets: 454.20 m.Bj<;Jj<;u ProNav: ac range: 454.200012 m, nav range: 229.052750 m, bearing: 17.012339 deg, approach rate: 0.067644 m/s, LOS rate: 0.165065 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188988 deg. 2ju;:ju@@}HeadingCmd: 4.820407 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhhhhBfffrfbf@Z@ɛGB!> (ӾI 6ɚiIy#=I-i-G i-@p=;)))1 IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087450*F?2F:FBF4JFjHbH<H&>IC IA"IIBI&I.I6I:<:I FG;G B) OI U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=9.337994zK] MKY KY K] K] ;87631-,)((('%"! !  "-.,**&sw,pA:/5@Y:D@:TW:9:Y >y:H??@_`o?@J.}?+?ɨ:/5@:ۈ;:*CyBhBB!IIJIJ]5٢RHy %X=95ޥQ 5>99 =G٣9y=a E> MNusing accuracyPremultiplier from configIU49M?U4YM$H iM(BQUU.@M5DM:M*:Mey4a e@aZjFNOT Ignoring new targets: 454.20 m.Bj=;Jj=; ProNav: ac range: 454.200012 m, nav range: 229.080566 m, bearing: 17.077964 deg, approach rate: 0.070366 m/s, LOS rate: 0.165987 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172037 deg. 2j;:jZ>@HeadingCmd: 4.820111 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfZ@ɛZ 隭C߾I (?bɚiI=$=Iir4 i[:))*Fq2Fq:FqBFu 5JFq IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590184G.A;Gy B O >Q"w,|AB%@YB5@B99B̏ >yBH`@??@hs`?ڧ:܃?@?ɨB%@B;B,Cy^cB^!I ba=`IfIfX5٢n rH=9rQ r>tt vG٣tyvΛ v> Nusing accuracyPremultiplier from configx49zĬ? 4YzܕH iz*B   .@z>Dz ;z ;z:4B @NEZjAEFNOT Ignoring new targets: 454.20 m.BjM,<;JjM,<;] ProNav: ac range: 454.200012 m, nav range: 229.108704 m, bearing: 17.142516 deg, approach rate: 0.071717 m/s, LOS rate: 0.164512 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168818 deg. 2j];:j]=@eHeadingCmd: 4.820055 target range: 454.200012 and range: 515.00 m. jajajajaiahihihihifqfqfqrfybf}J[@ɛAM I IMII MɚQiQIUD$=I]i] i])Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843544JJJ0JJ :J9Jـ3J*F5?2F9:F9)i mďC GQi Yy1ABFE^0JF I EjG] ^: Will construct direction to contact in vehicle frame from tetrahedron phase data. y(w,;A:@Y:*@:99:[ >y:HN?? g `?r4Ӂ?@?ɨ:@:(o;8yF^BF!I v@v v@v v@v  v@v IzIzX[5٢ <  H=9 bQ  > G٣]8Gy %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-49%Ȭ?-4Y%H i%,B5+:15:5谿5.@%FD%(;%N>%49 E<@A]B*** querying acoustic contact ***jYjYZjiuFNOT Ignoring new targets: 454.20 m.Bj}<;Jj}<; ProNav: ac range: 454.200012 m, nav range: 229.138809 m, bearing: 17.210035 deg, approach rate: 0.073517 m/s, LOS rate: 0.164856 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177714 deg. 2jG;:j*?@HeadingCmd: 4.820210 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`1[@ɛHBH='>I9 I="II=̃BI9&I9.I96I=+<:I= F?> quIy }ͺɚyiyI}&%=Ii@ i8))*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Gu4GBO >.w,fA2 @Y2Z@2Ѹ92 >y2H _? ć?@k i!?ު ? v??ɨ2 @2f;2+Cy>YB>!I Fg$?IDIJIJY5٢Vü VP=9VXX ZG٣Xy^s > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%49#ͬ?-4YңH i.B- :)-Q:---.@OD2*;_P?49 =@9ZjamFNOT Ignoring new targets: 454.20 m.Bjm<;Jjm<;}Will construct direction to contact in vehicle frame from tetrahedron phase data.@HeadingCmd: 4.820157 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf K[@ɛm I BɚiI%=IiR iPEU))*Fu?2Fq:FqBFqJFqG5ïGBO5>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 ybH??wo\`>ع?O T ? d?۲?ɨbr@b;b,Cyz^Bz!IA        Mb@Mb@Mb@ )YʡE?&1?~jtx?y/?P=;A @)IAIAyAII=X5٢B< :=9KQ > G٣y[( > Nusing accuracyPremultiplier from config49tѬ?4Y|H i0BT:0?:.@XD;e;$4B =@KEZjFNOT Ignoring new targets: 454.20 m.Bj%C;Jj%C;5 ProNav: ac range: 454.200012 m, nav range: 229.207001 m, bearing: 17.349772 deg, approach rate: 0.087952 m/s, LOS rate: 0.171094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194871 deg. 2j=;:j=A@EHeadingCmd: 4.820510 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhIhIhIhMBfQfQfQrfQbfUf[@ɛ AI  ɚ i I g&=Ii7 iɃ)) qIyWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1170> BDAT read: Tx time:20:11:14.7312 $Ping request sent.I) I-"II-BI)&I).I-5D6I-<:I- FBIǝCJIǝCRIZIbIjIH4G] V'SG9 BI Oe >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:20:11:14.7304 = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2484106;w,'A6&@Y6@6596A >y6H@O?N?@@S?`B?? ?ɨ6&@6;6+CzK>fMK>9K<K> K> BKBrA:K@yN_BR!IIZIZY5٢b; b\=9bQ f>dd fG٣f^8Gyj? j> rNusing accuracyPremultiplier from configlr49n&լ?v4YnH in3Btvv.@n`Dn:n:n4~B ~@~NEZj%FNOT Ignoring new targets: 454.20 m.Bj%C;Jj%C;5 ProNav: ac range: 454.200012 m, nav range: 229.240417 m, bearing: 17.413119 deg, approach rate: 0.089984 m/s, LOS rate: 0.170556 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.165200 deg. 2j=;:j=`=@EHeadingCmd: 4.819992 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhAhIhIhIfIfQfQrfbf[@ɛGB[ WI N1ɚiI x&=Ii iw)) *F?2F:FBFu0JF YIaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499431GxG B O >֝Bw, A6j֒@Y6@6 96&5>y6HaǸ?`Z?@)@{?`??@?ɨ6j֒@6_#;6*Cyb`Bb!IIjIjS5٢rB; vH=9z(gQ z>x| ~G٣yU >  Nusing accuracyPremultiplier from config 49 %٬?4Y nH i 6Bb.@ jD  ; G; ɟ4! %@)ZjIMFNOT Ignoring new targets: 454.20 m.Bj]B;JjeB; ProNav: ac range: 454.200012 m, nav range: 229.278351 m, bearing: 17.482827 deg, approach rate: 0.092677 m/s, LOS rate: 0.170278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.184274 deg. 2j;:j@@HeadingCmd: 4.820325 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfU[@ɛ` 隽I HɚiI&=Ii p irb ))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753609JJJ0JJ:J59Jـ3J*F?2F:FBF?1JFG Q I] FjG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0035221Hw,$A6︒@Y6ș@6_96?F >y6Hܷ?? RIR·?{ k?[?L?ɨ6︒@6l;6+CyNgBN!I V=V==Mb@Mb@Mb@999 9)9Y=m?v/?~jtx?y=.?=xi=9=+A 9)=AI=A9y=AIeIe85٢m[< uB=9uAXQ u>yy }G٣yyO > Nusing accuracyPremultiplier from config49\ݬ?4H->IC I!IIBI# =&I.I6Ḭ<:I FYH i9B55/?5:==.@sD˺<<!4I M@I}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.Bj4;Jj4; ProNav: ac range: 454.200012 m, nav range: 229.315887 m, bearing: 17.554051 deg, approach rate: 0.083272 m/s, LOS rate: 0.157980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188824 deg. 2j;:j@@5HeadingCmd: 4.820405 target range: 454.200012 and range: 515.00 m. j1j1j9j9i9h9hAhAhMBfififqrfqbfu@[@ɛA  I AI6P@Y6@65v96>y6H`ޟ?? @^?@`n???ɨ6P@6]È;6(CyBnBB!IIJIJ>5٢V%= VX=9V tQ Z>XX ZG٣Z_8Gy^*! ^> bNusing accuracyPremultiplier from config`f49b"ᬜ?f4YbH ib Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759712Uw,XA~۱@Y~@~51I9~4>y~H@5?@? @p?9Y$&i?Y? ݮ?ɨ~۱@~E;~,Cy15!IMb@Mb@Mb@ )Y|?5^?J +?y&1|?y-?H=`;AA )IAIAyAII&Q5٢c; 6=9M:Q > G٣y E9  > Nusing accuracyPremultiplier from config49J嬜?%4YH i@B%I.?%:%G%.@D3;;41 5#@1ZjQ]FNOT Ignoring new targets: 454.20 m.Bj]T@;Jj]T@;u ProNav: ac range: 454.200012 m, nav range: 229.394608 m, bearing: 17.693594 deg, approach rate: 0.098868 m/s, LOS rate: 0.168148 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.201350 deg. 2ju;:juB@}HeadingCmd: 4.820623 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhhhhBfffrfbf@[@ IGjɛ]FBe, 隅׾I [ɚiI (=Ii-i>))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012926*F]?2FY:FYBF]O0JFYjH<bHH.>I III" =&I.I6I<:I FG} I6GY Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263419)\w,ZfrAJ&J&J$J$J&}:J&9J$J$J&;a.J&;a.J&;a.J&;a2zK>2OK>9K<K> K> 6l]Z BKFqA:KDVJ@YVř@V~/9V>yVHǷ??$¿࣢?e?0?Ӭ?ɨVJ@Vx;V+Cy^vBb!IdfAIjIj\5٢}7%= }S=9}-:Q > G٣yC: > Nusing accuracyPremultiplier from config49謜?4Y`H iCB6.@D=;_;S4B @QEZj5FNOT Ignoring new targets: 454.20 m.Bj=a<;JjUa<;e ProNav: ac range: 454.200012 m, nav range: 229.432968 m, bearing: 17.758525 deg, approach rate: 0.097315 m/s, LOS rate: 0.164694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169947 deg. 2je;:je>@mHeadingCmd: 4.820075 target range: 454.200012 and range: 515.00 m. jijijijqiqhyhyhhfffrfbf\@ɛAEG? IMϾII m&ɚiiiIu(=IuiuX[i}6)y)y*F ?2F :F BF _0JF I}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515603G ^>G B O >bw,?A:8@Y:Ù@:/=9:>y:H@ ??U¿``1?`j@g?Xa?@?ɨ:8@:8;:)CyR{BR!IIZIZV5٢b< bW=9f Q f>ll nG٣n`8GyrU- r> vNusing accuracyPremultiplier from configtz49vn쬜?z4Yv#H ivFBxz?z.@vDv7:vX:v4 I@Zj)-FNOT Ignoring new targets: 454.20 m.Bj5ED;Jj5ED;E ProNav: ac range: 454.200012 m, nav range: 229.471298 m, bearing: 17.822774 deg, approach rate: 0.102387 m/s, LOS rate: 0.171593 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167900 deg. 2jE;:jE=@UHeadingCmd: 4.820039 target range: 454.200012 and range: 515.00 m. jQjQjQjQiYhYhYhahafafafirfibfm\@ɛEB' 隝`ʾI ɚiI(=Iiei|<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769114*FU?2FQ:FYBF]`0JFYGK7GB  h$?I O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019683iw,uAynBn!ImMb@Mb@Mb@iii i)iH->I I "IIBI&I.I6I<:Ii FYmsh|??A`"?I +?ym)?mY=m94 G٣y >  Nusing accuracyPremultiplier from config49?4YH iKB*?%:%f%.@D:b;_;4B @NEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj 3;Jj 3; ProNav: ac range: 454.200012 m, nav range: 229.512970 m, bearing: 17.895309 deg, approach rate: 0.090417 m/s, LOS rate: 0.157354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192751 deg. 2j;:j%PA@%HeadingCmd: 4.820473 target range: 454.200012 and range: 515.00 m. j!j)j)j)i)h1h1h9h=(Bf9fAfArfAbfEs7\@ɛDB I ,WɚiITD)=Iii))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271855JeJeJaJaJe<:Je9JaJaJe;Je;Jep#;Jeq#;zKNK9KK Ke0ygUG<3+$  G X<G B O > I EAow,AZ'@YZΙ@Z)R9ZC>yZH??l¿ ?@ G BXj?`w?>?ɨZ'@Z;Z+CyjBj!I n=lIrIrZ5٢z= zY=9~GfQ ~> G٣yi;  > Nusing accuracyPremultiplier from config%49&?%4Y5H iOB!%;%.@DP';0;941 5@1=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:20:11:17.9144 ETRx dataTimestamp_ set to:1736367079.040737Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524656ZjFNOT Ignoring new targets: 454.20 m.Bj(<;Jj%(<;- ProNav: ac range: 454.200012 m, nav range: 229.548203 m, bearing: 17.956677 deg, approach rate: 0.094455 m/s, LOS rate: 0.164498 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159263 deg. 2jU;:jU<@]HeadingCmd: 4.819889 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhahahahafififirfibf O\@ɛ4 lI }뮻ɚiI')=Iii˽'))!*F?2F:FBFp0JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775510Gy }G B  XY y bBO% >-vw,A=Ȓ@Y=Yؙ@=T9=g>y=H-Z??`|¿=7?q@j???ɨ=Ȓ@=ψ;=*CyMBM!IMb@Mb@Mb@ )YˡE?l?~jtx?y'?=;AA @)IAIAyI=I=Q5٢MY< M6=9UQ U>QQ UG٣Ua8Gy]F*; ]> eNusing accuracyPremultiplier from configau49e?}4YeH ieRB}5(?}:}浿}.@eDeo;en;e 4 IHjB @QEZjFNOT Ignoring new targets: 454.20 m.Bj(@;Jj(@; ProNav: ac range: 454.200012 m, nav range: 229.596359 m, bearing: 18.029147 deg, approach rate: 0.111659 m/s, LOS rate: 0.167997 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192549 deg. 2j;:jIA@HeadingCmd: 4.820469 target range: 454.200012 and range: 515.00 m. jjjjihhhh:Bfffrfbfj\@ɛ5CB5 15I1 =ɚ9i9I=>)=IEiEIiEV)A)IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.028549*F?2F:FBF0JFGBOB>ZHqRHu@AH0>I I."II܃BI&I.I6D6I<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data. 8DAT read: $Error in header  *Received a bad headerR|w,įAJJJJJK:J[9JJJ<J<J;J;2checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302936J͒@YJݙ@J]j9J\l>yJHC? J?ɑ¿`N}b?OBm?`??ɨJ͒@Ji;J'CyB!IzK]NK] 9KYK] K]/cFRSh> ^A>~|I-I--I5٢u< Z=9]Q > G٣y{: > Nusing accuracyPremultiplier from config49?4Y`H iUBҵ/@D;;4 W@Zj)5FNOT Ignoring new targets: 454.20 m.BjU6;JjU6;e ProNav: ac range: 454.200012 m, nav range: 229.637283 m, bearing: 18.090536 deg, approach rate: 0.106548 m/s, LOS rate: 0.159803 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159322 deg. 2jeW;:jm<@mHeadingCmd: 4.819890 target range: 454.200012 and range: 515.00 m. jijjjihhhhfffrfbf@\@ɛ]BB]3 Y]IY eɚaiiI?I*=Iiӹi<))*F%?2F!:F!BF%`5JF! IGYBqOf>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5314129w, Ay~B~!I)   IIW5٢%+< %P=9%Q ->)) -G٣)y5 => ENusing accuracyPremultiplier from configAM49E;?M4YE I iEWBQQU/@EDE:E :E4y $@ZjFNOT Ignoring new targets: 454.20 m.Bj:;Jj:; ProNav: ac range: 454.200012 m, nav range: 229.679642 m, bearing: 18.153619 deg, approach rate: 0.109641 m/s, LOS rate: 0.163252 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164397 deg. 2j;:jC=@HeadingCmd: 4.819978 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf\@ɛ AB sI ȻɚiI*=Iigi))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784403*F]?2FY:FaBFe4JFaGIByO?> qIym Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035866dw,Qf'Ay~B!IMb@Mb@Mb@ )Yjt?Q?Mb?y ?\=<A )IAyfAH51>I1 I5A"II5BI5! =&I1.I16I5<:I5c FBICJICRIZI" =bI" =jI 5IUIUR5٢e< e7=9iQ m>iq }G٣}b8Gyy }> Nusing accuracyPremultiplier from config49?4YXI i[B!?:/@ɯD|;9;H4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj1;Jj1; ProNav: ac range: 454.200012 m, nav range: 229.726532 m, bearing: 18.222451 deg, approach rate: 0.105802 m/s, LOS rate: 0.155280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181641 deg. 2j";:j?@HeadingCmd: 4.820279 target range: 454.200012 and range: 515.00 m. jjjjihhhhVBfff rf bf@R\@ɛ-@B-ּ 15I1 5zѻɚ1i1I=*=Imimpii)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288820*F2F:FBF4JFJKcw3 K.-KK"KJEJEJAJAJE:JE9JAJAJE?%<JE@%<JE& ;JE' ;zKu OKu+9KqKu Kuvjd^ZUROKGCA=;72+*1BQUVVWTSOKKKJHE@<7664/-( $RK>JK?Ge ߻G9 BI a Ia Ou >Tw,cAA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539592yMBM!II]I]xV5٢0= R=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 ?4Y  I i ^B/@ ѯD C: P: 4! %4@!ZjIMFNOT Ignoring new targets: 454.20 m.BjU1;JjU1;e ProNav: ac range: 454.200012 m, nav range: 229.767944 m, bearing: 18.282826 deg, approach rate: 0.106630 m/s, LOS rate: 0.155427 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156278 deg. 2jeV;:jm<@uHeadingCmd: 4.819836 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhyhhhfffrfbf`>\@ɛ?Bv I ػɚiI;+=IiVig@))*F}?2Fy:FyBF}_0JFyG׹Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792686Gq B O >zw,V-[Au@Yu{ @us9u>yuH @?`.?`¿ ι?`]`n?`B?@L?ɨu@uV;u*CyލBލ!I =R= I-Mb@Mb@Mb@))) )))Y-V-?l?Mb?y-?-=)-A -@)-`AI-3A)y- AIEIEGL5٢Uj< UD=9]Q ]>aa eG٣ayu8\< u> }Nusing accuracyPremultiplier from configy49};?4Y}gI i}aB:?:-/@}ٯD}<}w<}d45B 5@5TEZjq}FNOT Ignoring new targets: 454.20 m.Bj}5#;Jj}5#; ProNav: ac range: 454.200012 m, nav range: 229.808823 m, bearing: 18.345822 deg, approach rate: 0.092606 m/s, LOS rate: 0.142686 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164140 deg. 2j;:j9=@HeadingCmd: 4.819973 target range: 454.200012 and range: 515.00 m. jjjjihhhhwBfffrfbf\@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046047ɛ%>B%̼ )-I) -#:ɚ)i)I-+=I5i}zi})y)y*F?2F:FBFJFjHAbHE4<H2>I IZ"IIBI&I.I6I<:Iq FG G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299633O >yw,]tAJ@YJ2@J(9J!>yJH.?`v~?`¿ ?[o??`?ɨJ@JZ#;J+Cy^B^"IIfIfaO5٢vD= zd=9~Q >   G٣c8Gy+; > -Nusing accuracyPremultiplier from config!=49%4 ?E4Y%'I i%dBIMU/@%D%;zKUeNKU9KQKU KU-37:>AINSLILPXZ\\bklofN;4,,***)&''%#  %p<%4 M@Zj!%FNOT Ignoring new targets: 454.20 m.Bj-,;Jj-,;] ProNav: ac range: 454.200012 m, nav range: 229.844131 m, bearing: 18.400215 deg, approach rate: 0.098168 m/s, LOS rate: 0.151205 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138342 deg. 2j];:j]9@eHeadingCmd: 4.819523 target range: 454.200012 and range: 515.00 m. jajajajiiihihihhfffrfbf]@ɛ=B]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551996w,͎A:@Y:~$@:8l9:>y:HH?{?S¿3 `?  m?7?`\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj49fz?j4Yfg I ifgBhjIn/@fDf:f*:f 4p rc@pZj  FNOT Ignoring new targets: 454.20 m.Bj08;Jj08;% ProNav: ac range: 454.200012 m, nav range: 229.882278 m, bearing: 18.459385 deg, approach rate: 0.103835 m/s, LOS rate: 0.161031 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152665 deg. 2j-;:j-;@5HeadingCmd: 4.819773 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h1h9h9fAfAfArfAbfE]@ɛڼ 隍I WɚiI,=Iini))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804404JJJJJ:J9JJa%@a%@a-@a-@*F5?2F1:F1BF50JF9Gs IGB O%>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055593mw, A6@Y6&&@6܈96+>y6H@rź?`{? 1¿෣?vᆿq? ???ɨ6@6 ;6,CyJBN "I)T TXZAMb@Mb@Mb@ )YS? rh?Mbp?y?C =;A @)IAIAyA@AII N5٢{= 8=H4>IC Im"IIBI =&I.I6Ii<:IN F9Q > G٣y%9 %> -Nusing accuracyPremultiplier from config)549-?54Y-w'I i-jB5?5:==/@-D-;-;-_4EB E@EQE]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 454.20 m.Bju);Jju); ProNav: ac range: 454.200012 m, nav range: 229.926437 m, bearing: 18.526158 deg, approach rate: 0.098244 m/s, LOS rate: 0.148529 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175469 deg. 2j;:j>@HeadingCmd: 4.820171 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf8]@ɛ i$?I 1w,A6&@Y65@6967>y6H@@?ty?`¿a?;䇿Q8p???ɨ6&@66];4y@B "IIJIJGL5٢R  Vb=9Z:Q Z>`d fG٣dyj; j> ~Nusing accuracyPremultiplier from configt 49v? 4Yv1-I ivlBi/@vDv;vʉ;v4%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559779) -@1ZjQUFNOT Ignoring new targets: 454.20 m.Bje*(;Jje*(;u ProNav: ac range: 454.200012 m, nav range: 229.962051 m, bearing: 18.580294 deg, approach rate: 0.096736 m/s, LOS rate: 0.147023 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137568 deg. 2ju;:jum9@}HeadingCmd: 4.819510 target range: 454.200012 and range: 515.00 m. jyjjjihhhhfffrfbf`IP]@ɛ&м lzI  gɚiI(,=IigiPr>))*F?2F:FBF05JFGi"GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811623O>JU JQ JQ JQ JU :JQ JQ JQ ˶w,}A I&@YF6@9>yHE?y?V¿N#?U@rq?ʬ?D?ɨ&@ ;+CyŃB"IuMb@Mb@Mb@qqq q)qYuzG?I +?Mbp?yu ?u94=quA q)uAIqqyu AII{R5٢< -=9%Q > G٣d8Gy'9 > Nusing accuracyPremultiplier from config49B?4Ya4I ioBv?:/@D;;4B m@TEZj%FNOT Ignoring new targets: 454.20 m.Bj%c(;Jj-c(;5 ProNav: ac range: 454.200012 m, nav range: 230.002243 m, bearing: 18.648647 deg, approach rate: 0.086579 m/s, LOS rate: 0.147218 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180209 deg. 2j=;:jE?@MHeadingCmd: 4.820254 target range: 454.200012 and range: 515.00 m. jIjIjIjIiQhQhQhQh]BfYfYfrfbf`o]@ɛ˸ lI ɚWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063578i9I=,,=IEiMU:iM*¹)I)I*F?2F:FBFT5JFZHRHHU5>IQ IUs"IIUBIQ&IQ.IQ6IU<:IU FG zQG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315653w,q:Ay]ǃB]"IImIm R5٢}u< b=9Q > G٣y > Nusing accuracyPremultiplier from config49w?4Y9I iqB/@Dv;GH;zKLKKK K 8&49 =P@9ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 230.033371 m, bearing: 18.701171 deg, approach rate: 0.080779 m/s, LOS rate: 0.136283 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132735 deg. 2j;:j8@HeadingCmd: 4.819426 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf ]@ɛ-;B-t]ȼ )-gI1 5ɚ1i1I5N*-=I=i=i9)9)AEIEMsA IJj*F ?2F :F BF^0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.568960GM SnG B O5 >Pþw,A2!@Y2S1@292ғ>y2HY?z?¿``?ن\q?n??ɨ2!@2ׇ;2,CyR˃BR"IIZIZR5٢b< bW=9fkGQ f>dh jG٣hyj(к j> rNusing accuracyPremultiplier from configpv49r?v4Yr?I irtBtv,v/@rDr:r:r,4x ~@|Zj!-FNOT Ignoring new targets: 454.20 m.Bj-1;Jj-1;= ProNav: ac range: 454.200012 m, nav range: 230.066605 m, bearing: 18.756660 deg, approach rate: 0.093194 m/s, LOS rate: 0.155580 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141629 deg. 2jE;:jE:@MHeadingCmd: 4.819581 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf]n]@)= ɛbG8ȼqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819604 ߿Yy3A `I 8(ɚiIMf-=Ii#i u))JuJuJqJqJuk:Ju"9JqJq*F?2F:FBF_0JF IGmu4G) B1 OU >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071446ʾw,)AV"@YV1@V R9VB>yVH@!?`z?¿@f?$@> q?g??ɨV"@V"v;V+CyjƃBj"IH~6>I| I~"II~BI|&I|.I|6I~<:I~u FMb@Mb@Mb@ )YzG?Mb?Mbp?y@=A @)IAIAyfAIIH5٢ 6=9)9Q >!! %G٣%e8Gy%8 %> 5Nusing accuracyPremultiplier from config)=49-#?=4Y-FI i-wB=?=:==/@-D-;-Y;-44I Mj@IuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 454.20 m.Bj:&;Jj:&; ProNav: ac range: 454.200012 m, nav range: 230.104599 m, bearing: 18.821885 deg, approach rate: 0.084670 m/s, LOS rate: 0.145329 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170829 deg. 2jy;:j.>@HeadingCmd: 4.820090 target range: 454.200012 and range: 515.00 m. jjjjihhh)h-yBfIfIfIrfQbfUi]@ɛh 隅jI  ɚiI-=IiriVS))*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323790zKMF'LKIKIKM KMG I G B O >оw,CAB@YBm*@B>9B>yBHw?-}?@c¿@`ɺ?_r?Yn??ɨB@B ^;B*CyNуBN""IIVIV:\5٢^T= ^d=9bmQ b>`` fG٣dyf" f> jNusing accuracyPremultiplier from confighWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575574]49j-'?]4YjLI ijyBaem/@jDjE>*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827409J J J J J :J 9J J G% >G B) OE >׾w,ɮ]A AIAy޵ʃB޵"IUMb@Mb@Mb@QQQ Q)QYUOn?~jt?Mb`?yU?UD=U;Q Q)UAIUAQyUAIeIeMD5٢u u%=9}Q }>y G٣y > Nusing accuracyPremultiplier from config49+?4YSI i|B?:w/@(Dj;;C4B  @WEZjFNOT Ignoring new targets: 454.20 m.BjK2;JjK2; ProNav: ac range: 454.200012 m, nav range: 230.178406 m, bearing: 18.946987 deg, approach rate: 0.091916 m/s, LOS rate: 0.155877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.193405 deg. 2j;:jhA@HeadingCmd: 4.820484 target range: 454.200012 and range: 515.00 m. jjj Will construct direction to contact in vehicle frame from tetrahedron phase data.  Will construct direction to contact in vehicle frame from tetrahedron phase data. yvH s? ?`b ¿\?9 s??@ݭ?ɨv9 @v#};ty~σB~ "II I L5٢< %s=9%Q %?)) -G٣-f8Gy-a -? =Nusing accuracyPremultiplier from config9E49=.?M4Y=XI i=~BIMM/@=.D=7;=8;=vI4 @ZjFNOT Ignoring new targets: 454.20 m.Bj";Jj";zK ]JK +9K K  K      % ProNav: ac range: 454.200012 m, nav range: 230.208084 m, bearing: 18.996368 deg, approach rate: 0.085411 m/s, LOS rate: 0.142094 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123310 deg. 2j% ;:j-c7@UHeadingCmd: 4.819261 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhYhYfYfafarfabfe^@ɛm[ɼ &XI  ɚiIo.=IipiXR)) IKj*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.isCw,Ay~уB~""I = =II]5٢%.< %K=9%Q ->11 5G٣1y5 => }Nusing accuracyPremultiplier from configy49}2?4Y}U_I i}B/@}6D}:}C:}P4B @TEZjFNOT Ignoring new targets: 454.20 m.Bj_-;Jj_-; ProNav: ac range: 454.200012 m, nav range: 230.244736 m, bearing: 19.056941 deg, approach rate: 0.091729 m/s, LOS rate: 0.151573 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156877 deg. 2j ;:j/<@HeadingCmd: 4.819847 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`} ^@=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Response Not Received E*response not receivedE,DAT read: user:1172> MBDAT read: Tx time:20:11:25.6813 M$Ping request sent.M Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:11:25.6805  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864#sw,VԫAH*5>I( I(I(I* =&I(.I(6I*P<:I*= FV@YVS@Vg9Vq^>yVHG? E?@\3?Lt?t?`?ɨV@V;Tyb΃Bb"I]Mb@Mb@Mb@YYY Y)YY]A`"?i|?5?Mb?y]?]q=]<]XA ]@)]`AI]3AYy] AImIm^S5٢} D=9FQ >   G٣ y̺ > Nusing accuracyPremultiplier from config%496?%4YeI iB%?%:--/@>D#;";X41 5@9uB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 454.20 m.Bj';Jj'; ProNav: ac range: 454.200012 m, nav range: 230.279099 m, bearing: 19.119973 deg, approach rate: 0.079991 m/s, LOS rate: 0.146707 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164254 deg. 2j^;:j==@HeadingCmd: 4.819975 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf@<^@ɛEG * j$?I G B O >@Vw,AF @YF@Ffwܻ9F1>yFH`!?C?# ?@,{ ߎ{? $??ɨF @Fň;F,CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754071yV˃BV"II^I^K5٢fk fW=9fQ j>hh jG٣jg8GynQػ n> rNusing accuracyPremultiplier from configpv49rh:?v4YrkI irBxz󯿑z/@rEDr:r7:rq^4  @Zj!-FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;] ProNav: ac range: 454.200012 m, nav range: 230.309113 m, bearing: 19.173734 deg, approach rate: 0.076688 m/s, LOS rate: 0.137345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136448 deg. 2j];:jeD9@eHeadingCmd: 4.819490 target range: 454.200012 and range: 515.00 m. jajijijiiihihyhyhyfyffrfbf [U^@ɛ-ͼ 15bI1 5Gɚ1i1I=:./=I=iE!iE:)A)A*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009048Gd/XG B O >w,A PIRLj@Yt@9)9 >yHA?@5?` fK?ېw %??k?ɨ@e;+Cy%ŃB-"IMb@Mb@Mb@ )YZd;?T㥛 ?y&1|?y?=`;rA @)AIAy3AII75٢ ,=9Q > G٣yR_ > Nusing accuracyPremultiplier from config497??4YrI iB?:^/@ND*<<f4B K@WEWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258468Zj  FNOT Ignoring new targets: 454.20 m.Bj,;Jj,;M ProNav: ac range: 454.200012 m, nav range: 230.347504 m, bearing: 19.244286 deg, approach rate: 0.082176 m/s, LOS rate: 0.150991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186806 deg. 2jM?;:jMw@@UHeadingCmd: 4.820369 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhyhhhBfffrfbf`s^@ɛ-=B-uɼ 15nI1 }5ɚiII III =&I.I6Ib<:IL F) EaEa*F?2F:FBF4JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509998G5 ҸJ] J] JY JY J] <:J] 9JY JY J] 6;am J] 7;am J] ;am J] ;au G B O >w,AV@YVR@V^9V>yVH[? ? `?y7v?? 4?ɨV@Vz;TybBb "IInIn:5٢v2  z`=9z_:Q z>x| ~G٣|y~B; ~>  Nusing accuracyPremultiplier from config49B?4YxI iB</@UD;:m4! %@!ZjAMFNOT Ignoring new targets: 454.20 m.BjU`7;JjU`7;m ProNav: ac range: 454.200012 m, nav range: 230.377045 m, bearing: 19.298552 deg, approach rate: 0.087284 m/s, LOS rate: 0.160320 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137965 deg. 2jm ;:jm{9@uHeadingCmd: 4.819517 target range: 454.200012 and range: 515.00 m. jqjqjyjyiyhyhyhhfffrfbf@^@zKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762191Vw,ѲA6@Y6D@6ϻ96'>y6H3? ?@`;?@Y`y?@K?`?ɨ6@6;6-CyNBR"IIZIZ^S5٢^1< bO=9b];Q b>dd fG٣fh8Gyf; j> 5Nusing accuracyPremultiplier from config1=495"G?=4Y5~I i5B9=𮿑E/@5]D5 ;5 ;55t4I M@IeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014317ZjFNOT Ignoring new targets: 454.20 m.BjN);JjN); ProNav: ac range: 454.200012 m, nav range: 230.409714 m, bearing: 19.359161 deg, approach rate: 0.079796 m/s, LOS rate: 0.148019 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.156987 deg. 2j+;:j3<@HeadingCmd: 4.819849 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfӢ^@ɛ>BBw޼  xyI   $ɚ i I /=Ii[is))*F?2F:FBFh0JF IGuGIBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266577H% 8>I!  I% y"II% BI! &I! .I% 7D6I% <:I% q F w,.A69@Y6@6»96 >y6H@3?k?@9)?w`Bx? ??ɨ69@6 ;6(CyNBN "I5Mb@Mb@Mb@111 1)1Y5Gz?l?{Gzt?y5p?5=5ף;1 5@)5MAI11y5 AIMIM N5٢] e@=9eɁ:Q e>ii mG٣iymZD: m> }Nusing accuracyPremultiplier from configq49uK?4YuI iuB?:䬿/@ueDu;u;un{4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769930w,1xHA^ @Y^h@^T9^m >y^H@`??`GP? cv?/?`>?ɨ^ @^e;^+CyfBf"II%I%O5٢]w ];=9]Ju:Q e>aa eG٣aym: m> uNusing accuracyPremultiplier from configq}49uP?}4YuI iuByά/@unDu:u7:u4B ?@TEZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 230.472015 m, bearing: 19.489140 deg, approach rate: 0.073441 m/s, LOS rate: 0.152866 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175469 deg. 2j;:j>@HeadingCmd: 4.820171 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf%^@ɛ)- )-ňI1 53+ɚ1i1I5c0=I=i=$i=M)9)A*F?2F:FBF0JF %yY!y%AuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022260GGa Bq O > I /w,XSbA@Y@j9S>yHB?? 4? ́`v?û?ް?ɨ@;騥*Cy޽B!IuMb@Mb@Mb@qqq q)qYuV-?~jt?~jth?yu|?u=uD;uXA q)uAIuIAqyqII~N5٢= E=9`Q > G٣i8Gy > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.27402949U?4Y2I iB ?:/@vD{;ƒ;K4B @WEZj%FNOT Ignoring new targets: 454.20 m.Bj-0;Jj-0;= ProNav: ac range: 454.200012 m, nav range: 230.502655 m, bearing: 19.553214 deg, approach rate: 0.073590 m/s, LOS rate: 0.153871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167382 deg. 2j=3;:j==@EHeadingCmd: 4.820030 target range: 454.200012 and range: 515.00 m. jAjAjAjIiIhIhIhIhUuBfQfQfQrfYbf]^@ɛm@Bm quIq }-]/ɚyiyI}U0=Ii;i[n))jHbHH7>I Im"IIBI&I.I6I<:Ii F*F?2F:FBF0JFG] OP Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527656G9 BA J] J] JY JY J] :J] [9JY JY J] <J] <J] ;J] ;O >Uw,|AyB!I)! !I-I-J5٢Eļ Ee=9EQ M>II MG٣IyU U> eNusing accuracyPremultiplier from configYm49]Y?m4Y]I i]Biim/@]}D];] ;]4y } @yZjFNOT Ignoring new targets: 454.20 m.Bj2;Jj2;= ProNav: ac range: 454.200012 m, nav range: 230.529373 m, bearing: 19.608563 deg, approach rate: 0.075375 m/s, LOS rate: 0.156128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141214 deg. 2j=L;:j=9@EHeadingCmd: 4.819573 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhIhIhIhI ]k$?I]Mj'eTFailed to parse incomplete device message.fQfqfqrfybf}@ _@ɛAB טI 2ɚiI:1=Iiij))E*Fm?2Fi:FiBFu45JFqGsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778006GiG B O >j=%w,LA6@Y6.@6v96>>y6H@@V?a?@ fH?@h.w?%??ɨ6@6h;4y>B>!IIJIJS5٢R RU=9VQ V>TT VG٣XyZM: Z> bNusing accuracyPremultiplier from config`f49bO^?f4Yb'I ibBhjj/@bDb;bX;bA4l ne@pZjFNOT Ignoring new targets: 454.20 m.Bj B1;Jj B1; ProNav: ac range: 454.200012 m, nav range: 230.558258 m, bearing: 19.668040 deg, approach rate: 0.075271 m/s, LOS rate: 0.154973 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153597 deg. 2j;:j%;@%HeadingCmd: 4.819789 target range: 454.200012 and range: 515.00 m. j!j)j)j)i)h)h)h1h1f1f1f9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031194rfQbfU7#_@ɛBB%z !%qI! %6ɚ!i)I-1=I-i5i5X)1)i*F ?2F :F BF ]0JF G G"GG IIIGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285465H 9>I  I Z"II BI &I .I 6I <:I e FBIJIRIZI =bI =jIA4g+w,կA6d@Y6 @6>96Ĝ>y6Hᄺ?c?`;t?@2f`qv??`?ɨ6d@6s;4yRBV!ImMb@Mb@Mb@iii i)iYmx&1?/$?Mb`?ym!?m=m;mA m@)mAIiiym3AIIQ5٢J8 <=99Q > G٣j8Gy: > Nusing accuracyPremultiplier from config49c?4Y>I iB"?: /@D%;#;ڞ4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj3;Jj3; ProNav: ac range: 454.200012 m, nav range: 230.588470 m, bearing: 19.736381 deg, approach rate: 0.069416 m/s, LOS rate: 0.156998 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180181 deg. 2j~;:j?@HeadingCmd: 4.820253 target range: 454.200012 and range: 515.00 m. jjj!j!i!h)h)h1h5fBf9f9f9rf9bf=@?_@ɛeDBmE imIi m!@;ɚiiqI|1=Ii+i%r0)!)!]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.536623*F?2F:FBF_0JFJ=J=J9J9J=:J=H9J9J9J=;J=;J=Q;J=Q;GBOE> 9I9zKJK+9KK K%Tgf\VPKIE@;><:84100/.-++)&&%$"  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787684O2w,BA> @Y>@>ͅ9>/>y>H`x?`?± j?9v?O? ?ɨ> @>;>)CyNBR!IIZIZ[5٢v䷼ vV=9vzQ v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 49yh? 4YwI iB   /@Da:L:4 K@ZjFNOT Ignoring new targets: 454.20 m.Bj*;Jj*; ProNav: ac range: 454.200012 m, nav range: 230.615311 m, bearing: 19.796333 deg, approach rate: 0.066882 m/s, LOS rate: 0.149373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155020 deg. 2j;:j;@%HeadingCmd: 4.819814 target range: 454.200012 and range: 515.00 m. j!j!j!j)i)h)h)h1h1fQfQfQrfYbf]`Y_@ɛEB@ 隭MI C?ɚiI^2=Ii >iy"A))*F?2F:FBFJFGBOA>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037943 ! I! 8w,2A @YK@9^m>yHg?@?ݹ@.{Y?āaw??`?ɨ @;騥+CyB!IuMb@Mb@Mb@qqq q)qYuL7A`?ˡE?MbP?yu+'?u=u:uAAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290314 u@)uIAIqqyuAII@T5٢ .=9-Q > G٣y > Nusing accuracyPremultiplier from config49bn?4YxI iB{(?:/@D<u<ͭ4B @YEZj!-FNOT Ignoring new targets: 454.20 m.Bj-5;Jj55;ZHARHAHQIQ IUG"IIUBIQ&IQ.IQ6IU<:IUx F ProNav: ac range: 454.200012 m, nav range: 230.652420 m, bearing: 19.873248 deg, approach rate: 0.076721 m/s, LOS rate: 0.158991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205894 deg. 2j:;:j1C@HeadingCmd: 4.820702 target range: 454.200012 and range: 515.00 m. jjjjihhhhDBfffrfbfex_@ɛ=FB=2 9E}IA EEɚAiAIE2=Iui}]i}O)y)y*F-?2F):F)BF)JF)G BO5>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541898>w, lA6@Y6I@696>y6H*G?`?Ͱ;?`5x? ?@?ɨ6@69l;4y^Bb!IInInV5٢vu vq=9v Q z?xx zG٣zk8Gy~d ~? Nusing accuracyPremultiplier from config 49r? 4YI iB/@D::4 @%WEZjQUFNOT Ignoring new targets: 454.20 m.Bj]K;Jj]K;u ProNav: ac range: 454.200012 m, nav range: 230.678986 m, bearing: 19.927534 deg, approach rate: 0.086890 m/s, LOS rate: 0.177536 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138025 deg. INj2ju;:j]}9@mHeadingCmd: 4.819518 target range: 454.200012 and range: 515.00 m. jijjjihhhhfffrfbfj_@zKNK]9KK K >g,znhd`XPE7( {pmɛGB( I IɚiI83=I%i%}i%4l)!)!*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794695G _vG B O >Ew,AA:@Y:@:Ļ9:bZ>y:H@!?`?Ѹj?ـ`jx??Ұ?ɨ:@:;:*CyFBF!I)H HHJAININxV5٢ZƁ; ZN=9^vQ ^>`` bG٣`yb` f> jNusing accuracyPremultiplier from configdj49fyw?n4YfI ifBln)n/@fDf ;f ;f4t v@tZj FNOT Ignoring new targets: 454.20 m.Bj;:;Jj;:;%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046883E ProNav: ac range: 454.200012 m, nav range: 230.710922 m, bearing: 19.991896 deg, approach rate: 0.080801 m/s, LOS rate: 0.162816 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168246 deg. 2jEz;:jE=@MHeadingCmd: 4.820045 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbfe`_@ɛHB # 隍 I _NɚiI]3=Iiioz))JKـ3 KKK"KJJJJJ:J9JJa@a@a@a@*FU?2FQ:FQBFU3JFQ IGnGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298593Hi Ii  Im 5"IIm BIm  =&Ii .Ii 6Im ʰ<:Im F~Kw,,-1A2l@Y2@2j»92l>y2H-?? "?^ 7Mx?? ?ɨ2l@2_;2)Cy>B>!I-=only read 0 of 1 data item for altitude. Device response is::BD, +77.24, +991.98, , 8.38, 0.00  =@= =@E E@E  E@E IMIMX[5٢]N ]@=9]29Q ]>aa eG٣aym9 m> ubBottom track data is 0.4 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq49u|?4YuI iuB+::#/@uDu\;u>u4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bji8;Jji8; ProNav: ac range: 454.200012 m, nav range: 230.745438 m, bearing: 20.060925 deg, approach rate: 0.080626 m/s, LOS rate: 0.161224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182243 deg. 2jK;:j?@HeadingCmd: 4.820290 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfϿ_@ɛ-IB-" 15ʾI1 5iSɚ1i1I54=I=i=i=U{)A)A-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551563*F?2F:FBF`5JF"G4=Gp= l$?IGzK% tOK% 9K! K%  K% h_[TNGA>630+($  G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8028139Rw,PJAn@Yn9 @n0ϻ9n >ynH? Ά?`\?@y? ? 6?ɨn@n7;ly~|B~!II I T_5٢c O=9%gQ %>!! %G٣%l8Gy-y -> =bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E495?E4Y5I i5BE :AES:E>M/@5D5Y<;5R?5$4Q U@QZjy}FNOT Ignoring new targets: 454.20 m.Bj9;Jj9; ProNav: ac range: 454.200012 m, nav range: 230.778015 m, bearing: 20.125006 deg, approach rate: 0.082681 m/s, LOS rate: 0.162613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167401 deg. 2j3;:j=@HeadingCmd: 4.820030 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`_@ɛJB' 隝 ξI YɚiIȎ4=Ii-i嗻))*Fe?2Fa:FiBFm!5JFi5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053913JJJJJ:JH9JJGxGI BQ Ou > I Xw,dAe@Y @jϻ9 >yH`?ࣆ? g?zy? ^?`;?ɨe@q;*Cyޥ~Bޥ!I ==II\5٢5.< E:=9MLFQ U>QY ]G٣Yyeb: e> }bBottom track data is 1.3 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configi49m)?4Ym4I imûB9+:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3072677/@mʰDmYI I("IIփBI&I.I6I<:I FBjMN5;JjMN5;e ProNav: ac range: 454.200012 m, nav range: 230.814896 m, bearing: 20.196979 deg, approach rate: 0.081238 m/s, LOS rate: 0.158511 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191069 deg. 2je;:jeA@HeadingCmd: 4.820444 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf_@ɛKB 隍̾I x_ɚiI5=Ii{if))*F5?2F1:F9BF=Q5JF9E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557953G XG ?G ?Gq B O >_w,OA6:@Y6 @6ػ96I >y6HJ? F? -`L?a~{?@?@?ɨ6:@6%;6+Cy>B>!I xI~OjII^5٢%h[< %W=9%0Q -> G٣y3 > bBottom track data is 1.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49틭?4YI iǻB9 :?/@ҰD';?*4 c@ZjFNOT Ignoring new targets: 454.20 m.Bj>;Jj>; ProNav: ac range: 454.200012 m, nav range: 230.847214 m, bearing: 20.259363 deg, approach rate: 0.086104 m/s, LOS rate: 0.166184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162312 deg. 2j;:j<@HeadingCmd: 4.819942 target range: 454.200012 and range: 515.00 m. jjjjihh h h f ffrfbf`@ɛ9Eh7 AEoʾIA MɘcɚIiIIMm{5=IUiUiUv)Q)QzKtMKh9KK K*F?2F:FBF_0JFGsA GsA]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810051GGBO>) = ~GQ i Y y A&ew, A2X@Y2@2߻92 >y2H`չ?]? ӹ?Xz}`j{??`?ɨ2X@2;0yNBR!IIVIV@T5bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.062002٢j jP=9jQ n>YY eG٣em8Gye e> bBottom track data is 2.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}ܐ?4Y}vI i}ʻB99JJJJJ:J9JJO/@}ڰD}J;}@}4B z@VEZjFNOT Ignoring new targets: 454.20 m.Bj7;Jj7; ProNav: ac range: 454.200012 m, nav range: 230.881165 m, bearing: 20.324038 deg, approach rate: 0.084008 m/s, LOS rate: 0.160007 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169181 deg. 2j;:j=@HeadingCmd: 4.820062 target range: 454.200012 and range: 515.00 m. j j j j i h h hhfffrfbf`@ɛELBE+ IM˾II MhɚIiIIM?5=I]i]/i]\)Y)a I*F ?2F :F BF JF GMԑWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316291G) B1 OM >H 6>I  I I I =&I .I 6D6I <:I F#lw,:Ay~B~!IA        Mb@Mb@Mb@ )YDl?Q?~jtx?yO-?u=; )3AI3AyAIIX[5٢k; <=9Q > G٣y > Nusing accuracyPremultiplier from config49P?4YI iλBT:-?:/@D ;;4 m@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj%7;Jj%7; ProNav: ac range: 454.200012 m, nav range: 230.928528 m, bearing: 20.393374 deg, approach rate: 0.109398 m/s, LOS rate: 0.160119 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183154 deg. 2j;:j?@ HeadingCmd: 4.820305 target range: 454.200012 and range: 515.00 m. j j jIjIiIhQhQhQhU*BfYfYfYrfYbf] :"`@ɛ!' 隵˾I nɚiIr6=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566095Ii|pin))EE*F?2F:FBFJF IzK- vKK- 9K) K- ! K- RKM ?JKM ?G TG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819285 sw,HAZ}@YZ#@ZI 9Z >yZHՖ?(?`] `?z}?@,? g?ɨZ}@Z ;Z)CybBb!IIjIj_5٢1 X=9ÕQ >    G٣ y 1& > %Nusing accuracyPremultiplier from config!-49%W?-4Y%zI i%һB)505/@%D% :%.:%4=B =e@=YEZjaeFNOT Ignoring new targets: 454.20 m.BjmAI;JjmAI; ProNav: ac range: 454.200012 m, nav range: 230.972153 m, bearing: 20.456428 deg, approach rate: 0.121757 m/s, LOS rate: 0.175949 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164311 deg. 2j;:j ?=@=HeadingCmd: 4.819976 target range: 454.200012 and range: 515.00 m. j9jQjQjQiYhYhYhYhafafafarfabfm #.`@ɛMB4 ̾I sɚiI6=IiRi9))*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070059JJJJJݒ:J9JJGG B I O >5yw,AyB!IEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325469EMb@Mb@Mb@AAA A)AYE&1?~jt?~jtx?yE0?ED=AEA A)EAIAAyAI]I]V5Hu7>Iq IqIqIu =&Iq.Iq6Iu<:Iu FBI1JI1RI1ZI1bI1jI5âG5٢C= '=9Q > G٣n8Gy > Nusing accuracyPremultiplier from config49?4YCI iֻBT1?:/@D;;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj@;Jj@; ProNav: ac range: 454.200012 m, nav range: 231.036072 m, bearing: 20.538823 deg, approach rate: 0.130849 m/s, LOS rate: 0.168623 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.222301 deg. 2js;:jE@%HeadingCmd: 4.820989 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!h)h)h)h-5Bf1f1f1rf1bf5`<`@ɛ5! EI ,xyɚiIe7=Ii[ie6)a)a*F?2F:FBFl0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573946G= İ˻G B) OE >cw,UA PjJߒ@YJ@J9Jx >yJH??TT@H ?u??@?ɨJߒ@JLk;J,CyRBR!II^I^^5٢bن b=9fVQ f?hh jG٣hynֻ n? vNusing accuracyPremultiplier from configpz49r?z4YrI irٻBx~ܳ~/@rDr +;r ;rt4 @Zj!-FNOT Ignoring new targets: 454.20 m.Bj57@;Jj57@;E ProNav: ac range: 454.200012 m, nav range: 231.077179 m, bearing: 20.590890 deg, approach rate: 0.132698 m/s, LOS rate: 0.168048 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131360 deg. 2jE;:jE8@MHeadingCmd: 4.819401 target range: 454.200012 and range: 515.00 m. jIjIjQjQiQhQhQhYhYfYfYfYrfabfeF`@ɛw? |^=隕 ľI &}ɚiI7=Iii1))IEUV>EU>zK̭KK9KK" K*F?2F:FBF_5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826141GGB O- >6w,A: ޒ@Y:@:6P 9:$>y:H`?o?@ ?Mu@I?۵??ɨ: ޒ@:S;:+CyBBB!IIJIJ7`5٢R< VM=9V&عQ V>XX ZG٣XyZ& ^>bWill construct direction to contact in vehicle frame from tetrahedron phase data.bI  I ;"II BI &I .I 6I <:I FG% >uG B O- >gw,4A6ْ@Y6K@6+96 >y6H?@? ?Qs?@? ?ɨ6ْ@6H;6.CyBBB!IMb@Mb@Mb@ )Y rh? rh?QQ UG٣Uo8Gy]ݤ ]> eNusing accuracyPremultiplier from configam49eh?m4YezJ ieBm,?u:uru/@eDe;e1;e4y }@yZj%FNOT Ignoring new targets: 454.20 m.Bj=@;Jj=@;m ProNav: ac range: 454.200012 m, nav range: 231.191956 m, bearing: 20.727525 deg, approach rate: 0.148961 m/s, LOS rate: 0.168444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182447 deg. 2jm4;:jm?@uHeadingCmd: 4.820293 target range: 454.200012 and range: 515.00 m. jqjqjqjqiyhyhyhyhHBfffrfbf b`@ɛ$ ezIa e ɚaiaIe8=Imim^Y iu-)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1173> - yjHN?@k?S@?sT?o?@?ɨj3ڒ@jo;j-Cy%B-!I5AA1I]I]Q5٢k= E=9BQ > G٣y'9 > Nusing accuracyPremultiplier from config 49嫭? 4YJ iB  p/@D: :?4=B =@=\E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.Bj:;Jj:; ProNav: ac range: 454.200012 m, nav range: 231.253372 m, bearing: 20.796596 deg, approach rate: 0.145194 m/s, LOS rate: 0.163247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182344 deg. 2j;:j?@-HeadingCmd: 4.820291 target range: 454.200012 and range: 515.00 m. j)j1j1j1i1h1h1h9h9f9f9fArfAbfEo`@ɛ tI ɚiI9=IiF!iR))AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:11:36.6330 $Ping request sent.yRHk? ?=@?e6mo4?@??ɨRʒ@R҆;R+Cy~B~!IMb@Mb@Mb@ )YHzG?Q?y&1|?y=*?<`;A @)AIAyIIY5٢_< =9FQ > G٣y j  > Nusing accuracyPremultiplier from config%49ﯭ?%4YJ iB-l*?-:-M-/@$D;;Z 41 5@9ZjFNOT Ignoring new targets: 454.20 m.Bj7;Jj7; ProNav: ac range: 454.200012 m, nav range: 231.330719 m, bearing: 20.880312 deg, approach rate: 0.148401 m/s, LOS rate: 0.160567 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.226248 deg. 2jd;:jEF@MHeadingCmd: 4.821057 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhIhQhQhUaBfQfYfYrfYbf b`@ɛ *I =,xɚ9i9I=~9=IEiE.Q"iEQ)A)IPExceeded connect timeout, disconnecting.E5(a=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504129*F2F:FBFB5JFJUJUJQJQJU:JU"9JQJQJUQ;JUR;JU;JU; IG >uGi By O >w,AzK>YKK>]9K<K>$ K>"**))*+*)+,())('%$#!  N ƒ@YNՙ@N!19N` >yNH D? s?@@k?bg ? }?`?ɨN ƒ@N߇;N)CyXXIbIbJH5٢j  j`=9jI(Q n>ll nG٣np8Gyrcֺ r> vNusing accuracyPremultiplier from configtz49v?z4YvI%J ivB|~_~/@v+Dv ;v;v4 $@YEZj)-FNOT Ignoring new targets: 454.20 m.Bj56@;Jj56@;E ProNav: ac range: 454.200012 m, nav range: 231.385162 m, bearing: 20.938756 deg, approach rate: 0.156578 m/s, LOS rate: 0.168045 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150478 deg. 2jE;:jEE;@MHeadingCmd: 4.819735 target range: 454.200012 and range: 515.00 m. jIjIjIjIiQhQhQhYhYfYfYfYrfabfe `@ɛNB% 隕I ɚiIW9=Ii#i@$))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755762*F?2F:FBF2JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007660G j I G B O= >'4w,hA2_@Y2™@2oW92 >y2H٧? H? =`?_*?z?`?ର?ɨ2_@2%;2+Cy>B> "I Fp=F%=IRIR85٢Z@= ^M=9^Q ^>`` bG٣`ybŻ f> jNusing accuracyPremultiplier from confighn49jĵ?n4Yj3,J ijBlnn/@j4Djz:j":j4t v@xZjFNOT Ignoring new targets: 454.20 m.Bj7;Jj7; ProNav: ac range: 454.200012 m, nav range: 231.445633 m, bearing: 21.002614 deg, approach rate: 0.151604 m/s, LOS rate: 0.160055 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166710 deg. 2j;:j=@HeadingCmd: 4.820018 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf࠘`@ɛyN 隕^I 1ɚiI%:=Ii$Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262610iUH)Q)YHI If"II BI&I.I6Iİ<:I F*F ?2F :F BF _0JF   nManaging dock network, ignoring radio surface power offGM GU ?GU >G! B1 OU >2]w,F?A*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511703>@Y>cϙ@>P9>S4>y>HY?@?`"` 2J?5CQ?@?`^?ɨ>@> ߇;>)CyFƃBF"IMb@Mb@Mb@ )YS㥛? rh?~jtx?y$?C<;J5J5J1J1J5:J5[9J1J1J54<J54<J5;J5;XA )IAI3AyfAIID5٢U$= ]3=9]I:Q ]>ai mG٣i IyAg; > Nusing accuracyPremultiplier from config49?4Y3J iB$?:ӹ/@=D;-;4B @\EZjAEFNOT Ignoring new targets: 454.20 m.BjM+;JjM+; ProNav: ac range: 454.200012 m, nav range: 231.518753 m, bearing: 21.074041 deg, approach rate: 0.153952 m/s, LOS rate: 0.150338 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189398 deg. 2jZ;:j@@HeadingCmd: 4.820415 target range: 454.200012 and range: 515.00 m. jjjjihhhhyBfffrfbf@N`@ɛ 隕WI r!ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763399G hAG GG 1 e WYa ye ABY O >_w,AFȒ@YFؙ@F}^9Fe>yFH[??\ Ԛ?h)?ϋ?? ,?ɨFȒ@F.;F(CyRσBR"IIZIZR5٢bC= bc=9f3 Q f>dd fG٣jq8GyjlP; j> nNusing accuracyPremultiplier from configlr49n ?r4Yn9J inBtvv/@nEDn:nz:n$4x zO@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj-6;Jj56;E ProNav: ac range: 454.200012 m, nav range: 231.574722 m, bearing: 21.128710 deg, approach rate: 0.163794 m/s, LOS rate: 0.159951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139154 deg. 2jE;:jE9@MHeadingCmd: 4.819538 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbfe`@ɛOB QUIQ UhɚQiQIUe:=I]i]P&i])a)a5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016692*F?2F :F BF 0JF  AIERjG-K7G B O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270491H I  I "II BI &I .I 6I q<:I V Fw,t]A6eג@Y6 @6bo96D1>y6H`θ?Y?6 /?P?@f??`G?ɨ6eג@6;6+Cy>߃BB3"I Mb@Mb@Mb@    ) Y Mb?y&1? G٣y&; > Nusing accuracyPremultiplier from config49;?4Y AJ iB ?:;0@MD;S;,4 I@Zj FNOT Ignoring new targets: 454.20 m.Bj,;Jj,;- ProNav: ac range: 454.200012 m, nav range: 231.636749 m, bearing: 21.194222 deg, approach rate: 0.143166 m/s, LOS rate: 0.151170 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171670 deg. 2j-~;:j-M>@5HeadingCmd: 4.820105 target range: 454.200012 and range: 515.00 m. j1j1j9j9i9h9h9hAhEBfAfAfArfIbfM@ѿ`@ɛy} 隅_I 4ɚiI:=IiE'il&))*F ?2F :F BF V1JF "G=G==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519524JJJJJ:Jm9JJJ;J;J;J; 9I9GM%GQGUsAG) B1 OQ vo¿w,6 AzK.KK.9K,K.& K.BK4:K4BCߒ@YB@B۞9B>yBH  ??d?Ae?Ӑ??k?ɨBCߒ@B;@yJBJ5"IIVIVH5٢ZZ; Z[=9^Q ^>`` bG٣`yb); f> jNusing accuracyPremultiplier from configdj49f?=4Yf#GJ ifB9==0@fUDfgȿw,%A6r@Y6@6<96=>y6H`U?@?`m?ep?đ???ɨ6r@6g`;4y>B>7"IIFIFxV5٢N; ND=9RQ V>TT ZG٣Zr8GyZ/; Z> bNusing accuracyPremultiplier from config\f49^ĭ?f4Y^MJ i^Bdff0@^]D^:^ :^P:4h u@yZjFNOT Ignoring new targets: 454.20 m.Bj^.;Jj^.; ProNav: ac range: 454.200012 m, nav range: 231.749802 m, bearing: 21.313568 deg, approach rate: 0.144418 m/s, LOS rate: 0.152445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164555 deg. 2j>;:jH=@HeadingCmd: 4.819981 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`@ɛ!-F 15z\I9 EٓɚAiAIMb;=Ieie@(ieֻ)a)]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284110H8>I I"II7BI =&I.I7D6Iv<:IZ FBIJIRIZI =bI =jIĆ4*F%?2F):F)BF-_5JF)GE >uG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533984DϿw,p>AB@YBk@B=9B>yBH培?-? ¿7?@!w?q? d? ?ɨB@B;B*CyNBN@"I V=V= eo$?Ia]Mb@Mb@Mb@YYY Y)YY]$C?|Q > G٣y; > Nusing accuracyPremultiplier from configU49ǭ?U4YjUJ i BUd?U:U̴]0@fDi<5i<B4eB e@e_EZj FNOT Ignoring new targets: 454.20 m.Bjp';Jjp';m ProNav: ac range: 454.200012 m, nav range: 231.810608 m, bearing: 21.382630 deg, approach rate: 0.128919 m/s, LOS rate: 0.146385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182318 deg. 2jm;:jm?@uHeadingCmd: 4.820291 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhyhyhyh}Bfffrfbf``@ɛ5QB5R 15OI1 =冕ɚ9i9I=(;=Ii )i))zK.JKs9KK' K _"RK?JK ?]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:20:11:39.8345 mTRx dataTimestamp_ set to:1736367101.225443mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.785334*Fu?2Fy:FyBF}`5JFyG vϻGq B O > ֿw,cYA2 @Y2 @2w92h>y2Hx? ?z,¿@#e?PB|??`?Ϭ?ɨ2 @2x;2+CyJBHI^I^N5٢E` ; M_=9uQ }>yy G٣y]3; > Nusing accuracyPremultiplier from config49ʭ?4Y2[J iB0@mD:n: I4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 231.857880 m, bearing: 21.436280 deg, approach rate: 0.134825 m/s, LOS rate: 0.152986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136104 deg. 2j;:j79@HeadingCmd: 4.819484 target range: 454.200012 and range: 515.00 m. jjjjihhh h f ffrfbf`@ɛERBM IMPII U=ɚQiQIU;=I]i]L)i]%)Y)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.035570JM1JMJM1JIJM4G;JM"9JM3JIam@am@am@am@*F?2F:FBF_0JF ISjGGBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.E 8DAT read: $Error in header M *Received a bad headerjH bH < checking for new query: numPingsReceived=0, elapsed TxPingTime=4.307733H 7>I  I "II FBI &I .I 6I y<:I ] F2ܿw,k*sA:J@Y:@:B9:o>y:H`?ࡃ?@3E?Q?@˧?.?[?ɨ:J@:Y;8yJBJ?"IEMb@Mb@Mb@AAA A)AYEbX9?I +?Mb`?yEE?E94=E;EA A)EIAIAAyE AI]I]E5٢m mI=9mQ u>qq uG٣us8Gy}: }> Nusing accuracyPremultiplier from config49Xέ?4YSaJ iB?:0@uDx;w;P4 @ZjUFNOT Ignoring new targets: 454.20 m.Bj] #;Jj] #;m ProNav: ac range: 454.200012 m, nav range: 231.904572 m, bearing: 21.493518 deg, approach rate: 0.116301 m/s, LOS rate: 0.142541 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146866 deg. 2jm;:jm:@HeadingCmd: 4.819672 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf`a@ɛESBM) IMTIQ UɚQiQIU;=Ii)i( ))*FE?2FA:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539570 IG ԑG B O >5w,WA:_@Y:@:ɼ9: >y:H`+;? ? aں?`?>?@1??ɨ:_@:B;8y^BbD"I)d ddfAIjrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.791695IjI5٢ k< P=9Q > G٣y%: %> -Nusing accuracyPremultiplier from config)549-ѭ?54Y-PgJ i-B15|=0@-|D-.;-.;-V4EB Ma@M\EZjiuFNOT Ignoring new targets: 454.20 m.Bj}}#;Jj}}#; ProNav: ac range: 454.200012 m, nav range: 231.950287 m, bearing: 21.549435 deg, approach rate: 0.116880 m/s, LOS rate: 0.142933 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142903 deg. 2j0;:j0:@HeadingCmd: 4.819603 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@ a@zKH@NK 9KK( Km5 n=wme]OE:73.&u,K9f2 ɛTB~ @NI ?ɚiI;=Iiy)ix))EEtA*F?2F:FBFJFG-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044248G B O5 >JU JQ JU 0JQ JU :JQ JU ـ3JQ I Dw,A>@Y>@!@>Ӽ9>Y >y>H@? ?@2@E?eȆ?y{??@?ɨ>@>:;>)Cy^B^="IIjIjL5٢~v ~L=9~bEQ ~> G٣y *t;  > Nusing accuracyPremultiplier from config49Eխ?4YmmJ iB%K%0@D ; ;]4) -@)ZjimFNOT Ignoring new targets: 454.20 m.Bju!;Jj}!; ProNav: ac range: 454.200012 m, nav range: 231.996811 m, bearing: 21.606502 deg, approach rate: 0.115294 m/s, LOS rate: 0.141393 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146353 deg. 2j;:j:@HeadingCmd: 4.819663 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf a@ɛUBߠ .\I NƚɚiI <=Ii)ik#))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298402HQIQ IU"IIUPBIU =&IQ.IU6D6IU<:IUg F*F?2F:FBF`0JFG g{G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547573.w,A @I@j@Yj$@j9j>yjH`?? ; ¿ . o?`[??s?z?ɨj@j!;hy~B~?"I ]@] ]@] ]@]  ]@e IeIedK5٢u; uB=9}uQ }>yy G٣y|: > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ح?4YsJ i$B+::>0@D 7;>c4B @_EZjQ]FNOT Ignoring new targets: 454.20 m.Bj]q;Jj]q;u ProNav: ac range: 454.200012 m, nav range: 232.045792 m, bearing: 21.666345 deg, approach rate: 0.112688 m/s, LOS rate: 0.137649 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154677 deg. 2ju;:ju;@}HeadingCmd: 4.819808 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhhhhfffrfbfp(a@ɛVBL b[I 9ɚiI @"<=I5i5)i5g)1)9*F}?2Fy:FyBF}}0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799441zKMʜOKM9KIKM) KM#3;@AAC><>:85>AzH0%  G j-G B O !Xw,A6N!@Y60@6|96>y6H ?`~? )¿`@ٻ?*ϊ?`?``?e?ɨ6N!@6;6+Cy>B>="I F=DIJIJU5٢R RY=9RQ R>TT VG٣Vt8GyZ; Z> ^bBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\b49^Mܭ?f4Y^yJ i^(Bf :dfl:f f0@^D^0;^L?^2h4l @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 232.089539 m, bearing: 21.719954 deg, approach rate: 0.113224 m/s, LOS rate: 0.138722 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135983 deg. 2j h;:j 29@HeadingCmd: 4.819482 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h9h9h9h9f9fAfArfAbfE4a@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051565ɛWB 隵daI hɚiI7<=Ii)i|w))JKm3 KS}-KK"KJJJJJ]:J9JJ qIuTj*F?2F:FBFf2JFG*G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH) RH) HM 6>II  II II II &II .II 6IM 9<:IM - F checking for new query: numPingsReceived=0, elapsed TxPingTime=6.321869O5 >w,tA6&@Y65@6]96>y6H=?}?`4¿H?Q?@?v?@?ɨ6&@6Z;6*CyFBF5"I - - -- --  - 5 5Mb@Mb@Mb@111 1)1Y57A`?X9v?Mb`?y5?5}=15XA 5@)5AI11y5=AIMIMQ5٢U ]?=9]NQ ]>aa eG٣ayeү: m> uNusing accuracyPremultiplier from configi}49mଡ଼?4YmJ im.BT:]?:$0@mDmr>;m<;mo4  @Zj15FNOT Ignoring new targets: 454.20 m.Bj==/;Jj==/;M ProNav: ac range: 454.200012 m, nav range: 232.132065 m, bearing: 21.781356 deg, approach rate: 0.106128 m/s, LOS rate: 0.153207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159360 deg. 2jMJ;:jM<@]HeadingCmd: 4.819890 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhYhahaheBfafifirfibfm`Ba@ɛYB pI Q3ɚiIN<=Ii;B)i!))*F?2F:FBFP5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.556312 aIaG'HG B O >;hw,fJA:>(@Y:7@:j9:o>y:H@O?@|?1I¿@@??8ԝ??3?ɨ:>(@:3;:+CyRڃBV-"IIZIZV5bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.807557٢jE nS=9v=Q z>xx zG٣xy~'8: ~>  Nusing accuracyPremultiplier from config 49䭜? 4YJ i4B0@D:7:zv4 %o@!ZjAMFNOT Ignoring new targets: 454.20 m.BjM$;JjM$;m ProNav: ac range: 454.200012 m, nav range: 232.171066 m, bearing: 21.837397 deg, approach rate: 0.100186 m/s, LOS rate: 0.143930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143279 deg. 2jm;:jm>:@uHeadingCmd: 4.819610 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhqhyhyhyfffrfbfMa@ɛZB¼ 隵|I ~ɚiIi<=Iik)ivU߹))zKJMKKK* K  !BK!:K%sA)= C]bGq*F?2F:FBF_0JF YyJAGGR}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060607GBJ5 J5 J5 /J1 J5 :J5 9J5 (N3J1 OE > Q IQ z w,=*(AyzӃBz$"I)   IMIMN5٢ ?=9Q > G٣u8Gy > Nusing accuracyPremultiplier from config49@魜?4YJ i:B0@D;G:}4 @ZjFNOT Ignoring new targets: 454.20 m.Bj$;Jj$;- ProNav: ac range: 454.200012 m, nav range: 232.214066 m, bearing: 21.898821 deg, approach rate: 0.100430 m/s, LOS rate: 0.143438 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159426 deg. 2j-;:j5<@=HeadingCmd: 4.819891 target range: 454.200012 and range: 515.00 m. j9j9j9jAiAhAhAhIhIfIfIfQrfQbfU`[a@ɛ}\B}R 隅%I GɚiI<=Ii(id))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315739H)I) I-"II-FBI)&I).I)6I-а<:I- F*F5?2F1:F9BF9JFaG !G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563409 = p$?I= Ujzw,mBA6y @Y60@6 R96I>y6H ?}?^@¿ 3?|?h??P?ɨ6y @6|;6(Cy>̓B>"IUMb@Mb@Mb@QQQ Q)QYUv?Dl?Mb`yU?UO=UUAA U@)UAIQQyUAImImaO5٢}׼ K=9|Q > G٣y] > Nusing accuracyPremultiplier from config49?4YJ i?B?:֬0@D);;4B *@bEZjFNOT Ignoring new targets: 454.20 m.Bj&;Jj&; ProNav: ac range: 454.200012 m, nav range: 232.252808 m, bearing: 21.957199 deg, approach rate: 0.096817 m/s, LOS rate: 0.145862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150289 deg. 2j5;:j>;@HeadingCmd: 4.819732 target range: 454.200012 and range: 515.00 m. jjjj i h h h hvBfffrfbf%uha@ɛM]BM,# IUIQ oɚiI<=Ii](ivv))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815619Gm >zK5 F'LK5 9K1 K5 + K5 RKE ?JKE ?GI BQ Om >w, [AB@YBA-@B9B>yBH ?V~?<¿ L`4ٻ???=?U?ɨB@Bև;B*CyNBN "IIVIVX5٢^Α ^X=9^0 Q b>`` bG٣`yf/r f> jNusing accuracyPremultiplier from confighn49j?v4YjJ ijEBtv⬿z0@jDj|;j*};j4| ~@~_EZj!%FNOT Ignoring new targets: 454.20 m.Bj-&;Jj-&;= ProNav: ac range: 454.200012 m, nav range: 232.289810 m, bearing: 22.012506 deg, approach rate: 0.097579 m/s, LOS rate: 0.145826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141081 deg. 2jE(;:jE9@UHeadingCmd: 4.819571 target range: 454.200012 and range: 515.00 m. jQjYjYjaiahahihqhfffrfbfcua@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067553ɛU_BU, Y]IY ]ɚYiYI]<=Ieieb(imuɺ)i)i I*F?2F:FBF`0JFG-˴G B OE >jH <bH =H I  I "II 7BI &I .I 6I <:I FBIJIRIZIbIjIɞ4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.346035w,uAyttMb@Mb@Mb@ )YMb?x&?{Gzty ?7=ףA )IAyAII{R5٢ i ;=9Q > G٣v8Gy > Nusing accuracyPremultiplier from config49?4YJ iJBn!?:孿0@±D9;6;04 @B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 454.20 m.Bj-=/;Jj-=/;= ProNav: ac range: 454.200012 m, nav range: 232.337143 m, bearing: 22.079504 deg, approach rate: 0.108259 m/s, LOS rate: 0.153206 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176138 deg. 2j=I;:j=>@EHeadingCmd: 4.820183 target range: 454.200012 and range: 515.00 m. jAjAjIjIiIhIhIhQhUYBfQfQfYrfYbf]a@ɛ`BU- 隝eI #ɚiIB<=Ii;=(i#ú))EEsA*Fm?2Fi:FqBFuo0JFqGy G}rA IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.595676JJJ1JJ]:Jm9J3JJ9;aJ:;a%Ja%Ja%GpGa Bq O >۶#w,-A6T@Y6 @6 96y>y6H?B?`m+¿` ??!??@?ɨ6T@6j;4yRBR!IIZIZL5٢؝ W=9 Q  >   G٣y& > %Nusing accuracyPremultiplier from config-49?-4YΥJ iOB)--0@ʱD ;<;ՙ41 =@9]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.847583Zjq}FNOT Ignoring new targets: 454.20 m.Bj}Z.;Jj}Z.; ProNav: ac range: 454.200012 m, nav range: 232.378891 m, bearing: 22.137672 deg, approach rate: 0.109422 m/s, LOS rate: 0.152432 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149660 deg. 2j9;:j';@HeadingCmd: 4.819721 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfƎa@ɛbB; ϱI ˪ɚiI==Ii A(i=))zKJK9KK, KBK:K*F?2F:FBFT1JFGݻGBO> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.099427,)w,OtAy%B%!IIEIET5٢Ի B=9Q > G٣y > Nusing accuracyPremultiplier from config49?4YJ iTB0@ұD::A4 @ZjquFNOT Ignoring new targets: 454.20 m.Bj});Jj}); ProNav: ac range: 454.200012 m, nav range: 232.425797 m, bearing: 22.202615 deg, approach rate: 0.107363 m/s, LOS rate: 0.148619 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169975 deg. 2j;:j>@HeadingCmd: 4.820076 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfa@ɛcBM6 ĴI ]ɚiIB==I%i%E(i-0)1)1H7>I I"II#BI&I.I6I<:Ie F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.355120*F?2F:FBFm2JFGE j-G! B) OU > I Vj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.603395J- J- J- 0J) J- }:J- "9J- ـ3J) J- ;J- ;J- ;J- ;0w,MA2.@Y2@2+92z>y2H}/??2¿ 5?t?bD?@?ફ?ɨ2.@2E;2(Cy:B:!IMb@Mb@Mb@ )YuV?x&?{Gztyr(?A @)AIIAyAI5I5R5٢aG D=9ڮQ >    G٣ w8Gy%} 5> =Nusing accuracyPremultiplier from config9E49=m?E4Y=۳J i=ZBER)?M:MM0@=۱D=;=;=4uߒB u@ubEZjFNOT Ignoring new targets: 454.20 m.Bj9;Jj9; ProNav: ac range: 454.200012 m, nav range: 232.476532 m, bearing: 22.269841 deg, approach rate: 0.122422 m/s, LOS rate: 0.162177 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.176820 deg. 2j;:j ?@5HeadingCmd: 4.820195 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h9h9h=$Bf9fAfArfAbfE`Pa@ɛeB=A 隵I ɚiIj==Iirw(i))*Fa2Fa:FaBFe_5JFauWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.855463zKiJKS9KK- K1rF0(=xRK ?JK?GE *GA BI Oe >6w,#-A6@Y6=@696>y6H@?@Y?'¿?`?@b٢? ?%?ɨ6@6p8;6*CyRBR!IIjIjZ5٢~= ~\=9~HQ > G٣y f  > Nusing accuracyPremultiplier from config49?4YJ i`B!%%0@D ;>;4) -F@)ZjQUFNOT Ignoring new targets: 454.20 m.Bj];;Jj];;m ProNav: ac range: 454.200012 m, nav range: 232.521240 m, bearing: 22.328474 deg, approach rate: 0.125327 m/s, LOS rate: 0.164331 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151054 deg. 2jm;:jmZ;@uHeadingCmd: 4.819745 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhyhyhhfffrfbf`qa@ɛfBVJ jI ɚiIŽ==Ii(iHA))  aIiWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H 8>I  I y"II BI  =&I .I 7D6I <:I | F Will construct direction to contact in vehicle frame from tetrahedron phase data. y6H@ﶹ?(?^¿պ?f??%?੫?ɨ6@6;6)CyB!IMb@Mb@Mb@ )Yoʡ?X9v?y-?}=A @)hAIAyQAIIP5٢9 >=9[Q > G٣y/ > Nusing accuracyPremultiplier from config49< ?4YJ igB-?:0@DB;;4 @]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 454.20 m.Bju7;Jju7; ProNav: ac range: 454.200012 m, nav range: 232.579010 m, bearing: 22.399078 deg, approach rate: 0.131004 m/s, LOS rate: 0.160067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186944 deg. 2j;:j|@@HeadingCmd: 4.820372 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfa@ɛ5gB5bC 15ƾI1 =崼ɚ9i9I=A==Imim)im3)i)i*F?2F:FBF_0JF =q$?IAJJJJJ̈́:JJJJ;J;JJWill construct direction to contact in vehicle frame from tetrahedron phase data.Dw,&A6A@Y6@6@>"96n >y6H 8p?R?`¿` ͚??lF?`?@?ɨ6A@6#;6(Cy>B>!I F=F=IJIJV5٢V(= V_=9VoQ Z>XX ZG٣Zx8Gy^IA b> fNusing accuracyPremultiplier from config`f49b3?j4YbJ ibnBhjj0@bDb:bz:b4vB v @z_EZjFNOT Ignoring new targets: 454.20 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Response Not Received e*response not receivede,DAT read: user:1175> mBDAT read: Tx time:20:11:47.5815 m$Ping request sent.u2Jw,G*AN@YNV@N&9N+ >yNHC?[?y3v?@B?`Ѥ??o?Ь?ɨN@N_9;N+CyZBZ!IIbIbH5٢~ ~G=9'Q >    G٣ yOֺ > Nusing accuracyPremultiplier from config%49?%4YcJ ivB!-Ȱ-0@D:L:241 5J@1ZjY]FNOT Ignoring new targets: 454.20 m.Bje;;Jje;;u ProNav: ac range: 454.200012 m, nav range: 232.685455 m, bearing: 22.527044 deg, approach rate: 0.137170 m/s, LOS rate: 0.164135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178951 deg. 2juJ;:j}W?@HeadingCmd: 4.820232 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf Na@ɛEiBEF G AEQIA MɚIiII ==Ii$*ij"))HqIq Ius"IIuBIu =&Iq.Iu6D6Iup<:IuV F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505883*F?2F:FBFJFG4λG B O > 9 I= WjJ J J J J J [9J J J J J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754167Qw,DAy}B}!I=Mb@Mb@Mb@999 9)9Y=I +?Zd;?MbP?y=94?=y==:=A =~@)=AI=A9y=AIUIU&Q5٢q; =9Q > G٣y > Nusing accuracyPremultiplier from config49b?4YJ iB4?:r0@ D;3;Y4ޒB !@bEZj FNOT Ignoring new targets: 454.20 m.BjA;JjA;- ProNav: ac range: 454.200012 m, nav range: 232.762283 m, bearing: 22.616020 deg, approach rate: 0.146443 m/s, LOS rate: 0.169543 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.242025 deg. 2j-;:j-\H@5HeadingCmd: 4.821333 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h9h9h9hE BfAfAfArfIbfMa@ɛujBu< quqIy ѩɚiIS>=Ii*i4))*F5?2F1:F9BF9JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0061925GMvAa YvAyAzKe MMKe 9Ka Ke / Ke G] G1 BA O] >EWw,^AB뿒@YBϙ@Bb49B >yBHU? Ј?@ ¿ e?%? f?@??ɨB뿒@B߁;B(CyJBN"IPPIVIV95٢^= ^=9bGQ b!?`` bG٣by8Gyf f"? rNusing accuracyPremultiplier from configpv49rU?v4YrJ irBtv z0@rDr ;r ;r14| ~8@|ZjFNOT Ignoring new targets: 454.20 m.Bjw7;Jjw7; ProNav: ac range: 454.200012 m, nav range: 232.804092 m, bearing: 22.663056 deg, approach rate: 0.142601 m/s, LOS rate: 0.160400 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116269 deg. 2j);:ja6@HeadingCmd: 4.819138 target range: 454.200012 and range: 515.00 m. I jjjjihhhhfffrfbf`a@ɛkBO 隵zI ]iɚiI>=Ii+i1=)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258773)*F?2F:FBF0JFGjH bH <H 9>I  I "II BI  =&I .I 7D6I *<:I $ FG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511524@t]w,;nxA~ܩ@Y~@~>>9~6>y~H@$^?^?@.¿iθ??@ŧ?R?`?ɨ~ܩ@~t;~+Cy ƒB "IMb@Mb@Mb@ )Ygfffff?{Gz?~jt?y33?#=D< A h@)v@IyAII;5٢ = 9=9Q > G٣yJȻ > Nusing accuracyPremultiplier from config49"?4Y J iB3?:f0@D;I;4  @ B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj3>;Jj3>;5 ProNav: ac range: 454.200012 m, nav range: 232.880264 m, bearing: 22.736335 deg, approach rate: 0.172908 m/s, LOS rate: 0.166286 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194950 deg. 2j5=;:j=A@eHeadingCmd: 4.820511 target range: 454.200012 and range: 515.00 m. jajajajaiahahihihmBfifqfqrfqbfub@ɛ lB c9  I  ɚiI> >=Ii$.-iW))! IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763627*F?2F:FBF0JFJJJJJ=:J59JJJӥ;Jԥ;J;J;G 4n/G B O >AUdw,,A:t@Y:@:?9:/ >y:H?ي?¿,?@$(???[?ɨ:t@:r;:)CyJӃBJ$"IIVIVR5٢^= ^_=9^Q b>`` bG٣`yf; f> jNusing accuracyPremultiplier from configh49j?%? 4YjJ ijBK0@j"Dj& =IiC5.iF))EY>EzKMVBJKM9KIKM0 KM  ')+/231387<=;8564//+&&$$"$$##!*F?2F:FBF4JF IGLGBWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267654O= >}jw,A2 @Y2@2׬D92{ >y2H`>O?@4?¿`}ʸ?ڡ?/? ?`?ɨ2 @29;0y>փBB("I F=F=IJIJ R5٢R< RL=9R@Q V>TT VG٣Vz8GyZ( Z> bNusing accuracyPremultiplier from config\b49^(?f4Y^J i^Bdflf0@^*D^+;^:^C4jܒB nf@neEZjFNOT Ignoring new targets: 454.20 m.Bj%@;Jj%@;5 ProNav: ac range: 454.200012 m, nav range: 233.013809 m, bearing: 22.863992 deg, approach rate: 0.177018 m/s, LOS rate: 0.168445 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175124 deg. 2j54;:j5>@HeadingCmd: 4.820165 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfb@ɛmBY5 9=זI! %ixļɚ!i!I%>=I-i-y/i- lX)))QHE8>IA IE"IIE7BIA&IA.IA6IEr<:IEX FBIJIRIZI =bI =jI¬4*F?2F:FBF%_0JF!]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521053GUKG]?G]?G) B1 OM > I Xj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770246eqw,vA6짒@Y6@6NG96^ >y6H@ N?e?@0`=и?C??`yx?|?ɨ6짒@6*;4y-B-9"IMb@Mb@Mb@ )Ykt?I +?Mb?y 0?94=<A )Iy\AII Y5٢w= 7=9Q > G٣y > Nusing accuracyPremultiplier from config 49,? 4YJ iB0?:%-0@4D;;4A E@AZj9EFNOT Ignoring new targets: 454.20 m.BjEU0;JjEU0; ProNav: ac range: 454.200012 m, nav range: 233.089142 m, bearing: 22.937083 deg, approach rate: 0.158942 m/s, LOS rate: 0.154162 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194387 deg. 2j;:jA@HeadingCmd: 4.820501 target range: 454.200012 and range: 515.00 m. jjjjihhhh6BfffrfbfY,b@ɛnB) I ƼɚiI?==IiL1izV))*F?2F:FBF4JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022866zK MK {9K K 1 K       G *UG B O >$ww,A2V@Y2@2L92} >y2H@?!?#?85`K?t?@V? o?P?ɨ2V@2{;2+Cy:B:M"I@BAAIFIFJ5٢JE= Nc=9N)\Q R>PP VG٣TyV V> ZNusing accuracyPremultiplier from configXb49Z/?b4YZvK iZBdfj0@ZI9  I= "II= UBI=  =&I9 .I9 6I= <:I= l FGA u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527904B O >ž}w,ʦAE@YE@Ee[Q9EbT >yEH?[?6`S?ꈣ?(?v?@?ɨE@El;E-CyUBUd"I Mb@Mb@Mb@    ) Y -? rh?X9v?y 5? C = < A ) 3@I IA y AI%I%Q5٢5== =2=9=MQ =>AA EG٣E{8GyEJݺ M> UNusing accuracyPremultiplier from configQ]49U2?]4YU K iU˼B]?]:]r]0@UEDUf;U;U_4mݒB m`@mbEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj0;Jj%0;5 ProNav: ac range: 454.200012 m, nav range: 233.224258 m, bearing: 23.063112 deg, approach rate: 0.170433 m/s, LOS rate: 0.154681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175934 deg. 2j5O;:j5>@=HeadingCmd: 4.820179 target range: 454.200012 and range: 515.00 m. j9j9j9jAiahahahihmJBfififqrfqbfuEb@ɛn LK>+9K<K>2 K> yBz"II%I%dK5٢5= =,=9=Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configI]49M[6?]4YMtK iMܼBaae0@MODMS.;M.;M4mܒB m1@meEZjFNOT Ignoring new targets: 454.20 m.Bj!;Jj!;- ProNav: ac range: 454.200012 m, nav range: 233.300964 m, bearing: 23.132399 deg, approach rate: 0.156392 m/s, LOS rate: 0.141220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182979 deg. 2j5;:j5?@5HeadingCmd: 4.820302 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfMTb@ɛ 隽+I :ʼɚiI}^==Ii5i+k)) IE8=JJJJJ:J9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282110*F?2F:FBF_0JFG] JiG B) OE >H 7>I  I "II ~BI  =&I .I 6I <:I f Faw,c3Afᒒ@Yf@f\9fy >yfH??`)¿Z???>?'?ɨfᒒ@f@;dyr,Br"IIzWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534227IzB5٢= M=9Q >! %G٣!y%6 %> 5Nusing accuracyPremultiplier from config)M49-,9?U4Y-K i-BYee0@-VD-];-<- 4 @ZjquFNOT Ignoring new targets: 454.20 m.Bj};Jj}; ProNav: ac range: 454.200012 m, nav range: 233.365982 m, bearing: 23.190582 deg, approach rate: 0.145198 m/s, LOS rate: 0.129898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149686 deg. 2jK;:j(;@HeadingCmd: 4.819721 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfVcb@ɛ=oB=% 9=>IA u˼ɚqiqIu==I}i}7i}|)y)EE*E"E IYjEqEurAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785987*F ?2F :F BF ^0JF GiGaBiO?w,TA2虒@Y2@2o]92>y2Hܶ?w?U¿@<`?@?9??@?ɨ2虒@2;2*Cy>@B>"I F=Fp=jWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038120Mb@Mb@Mb@ )YMb?X9v?Q?y#?<u< )v@IAy3AII0E5٢}= =9Q > G٣|8Gy: > Nusing accuracyPremultiplier from config49=?4Y K iBO#?:շ0@aDD;\C;4 @ Zj15FNOT Ignoring new targets: 454.20 m.Bj=C;Jj=C;M ProNav: ac range: 454.200012 m, nav range: 233.456650 m, bearing: 23.270732 deg, approach rate: 0.193448 m/s, LOS rate: 0.170942 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.215543 deg. 2jM;:jMD@UHeadingCmd: 4.820871 target range: 454.200012 and range: 515.00 m. jQjQjYjYiYhYhYhaheBfafafirfibfm rb@ɛg 隥I %`̼ɚ!i!I%<=I-i-9i- n)))1zK3LKh9KK3 K*F?2F:FBF_0JFGuJiG1B9O}Y> IJiJmJiJiJiJmm9JiJiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2901670 w,MnA2G@Y2@2^92>>y2H x?@\?`|¿o'׸?? -׫?2?)?ɨ2G@2<;0yBOBB"IIJIJjC5٢fw= f]=9fH^Q f>hh nG٣lyrU; r> vNusing accuracyPremultiplier from configtz49v??z4Yv&K ivBxzz0@viDv*:v:vk4 @Zj!-FNOT Ignoring new targets: 454.20 m.Bj-,;Jj5,;E ProNav: ac range: 454.200012 m, nav range: 233.519684 m, bearing: 23.326358 deg, approach rate: 0.171163 m/s, LOS rate: 0.151005 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142017 deg. 2jED;:jE:@MHeadingCmd: 4.819587 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhQfYfYfarfabfe}b@ɛ    I  ̼ɚiIg<=Ii:ia))!jHqbHu<HyIy I}(#II}BI} =&Iy.Iy6I}<:I}s F*F?2F:FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542298BFo0JFGGB O% > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794011w,&Ay_B"IMb@Mb@Mb@ )YZd;O?Q?I +?yj?<94< )`@I3AyAIIA5٢= #=9Q > G٣y > Nusing accuracyPremultiplier from config490C?4Y.K iB?:0@sD;;*%4 @B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 454.20 m.Bj%$;Jj-$;= ProNav: ac range: 454.200012 m, nav range: 233.601425 m, bearing: 23.398512 deg, approach rate: 0.163127 m/s, LOS rate: 0.143944 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.191573 deg. 2j=;:j=%A@EHeadingCmd: 4.820452 target range: 454.200012 and range: 515.00 m. jAjAjAjIiQhQhQhQhUBfYfYfYrfYbfeb@ɛpB,ݼ 隕PI ͼɚiI;=Ii6E>)  G`wAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046244*F-?2F1:F1BF5`0JF11"GU=GU= u_Yu`wAy}AzK% +KK% 9K! K% 4 K% GY Ge sAGa G9 BI Om >%w,+A IZjJ@YJ™@J9_9J>yJH?c?¿ h??߫?%??ɨJ@JE;J+CyRjBR"IttI~I~jC5٢%<= -~=95TQ = ?II MG٣M}8GyU; ] ? mNusing accuracyPremultiplier from configa}49eE?}4Ye4K ieByL0@eyDeƄ;et;e*4ڒB @hEZjFNOT Ignoring new targets: 454.20 m.Bj 7;Jj 7;JCKKـ3 KK .KCKC"KCJ-J-J)J)J-}:J-[9J)J)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298161 ProNav: ac range: 454.200012 m, nav range: 233.654358 m, bearing: 23.445407 deg, approach rate: 0.157155 m/s, LOS rate: 0.139197 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115839 deg. 2j;:j Q6@=HeadingCmd: 4.819130 target range: 454.200012 and range: 515.00 m. jAjAjAjYiYhahahahafififqrfqbfub@ɛ2Լ !%`FI! -Bͼɚ)i)I-;=I=i=[=i=B)9)A*F ?2F :F BF 0JF HaIa IeT#IIeʄBIe =&Ia.Ia6IeȰ<:Ie F Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551195GA G9 B O >PKw,EAzf’@Yz ҙ@z>]9z>yzH ??[¿ݹ?@_?@c?*??ɨzf’@z;ވ;z*CyxB "IMb@Mb@Mb@ )Yn?Mb?Mb?y?=< ;@)IAyAII>5٢{= A=9):Q > G٣y; > Nusing accuracyPremultiplier from config49H?4Yb:K i B@?:H0@DS;;(24 %@Zj!FNOT Ignoring new targets: 454.20 m.Bj";Jj"; ProNav: ac range: 454.200012 m, nav range: 233.718002 m, bearing: 23.503369 deg, approach rate: 0.156039 m/s, LOS rate: 0.142069 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149026 deg. 2j;:j;@HeadingCmd: 4.819710 target range: 454.200012 and range: 515.00 m. jjjjihhhhBff )I)f1rf1bf5b@ɛqBż aiK,))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802602*Fy2Fy:FyBF}4JFyG K7Gq B O >-w, A6Β@Y6ݙ@6[96I>y6H|?`? o¿`48?#? _?lp rG٣pyrz; r> zNusing accuracyPremultiplier from configtz49v:K?~4Yv@K iv)B0@vDv=;v >;v84  "@Zj1=FNOT Ignoring new targets: 454.20 m.BjE;JjE;U ProNav: ac range: 454.200012 m, nav range: 233.774597 m, bearing: 23.554974 deg, approach rate: 0.152156 m/s, LOS rate: 0.138708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129964 deg. 2jUc;:jUV8@eHeadingCmd: 4.819377 target range: 454.200012 and range: 515.00 m. jajajajaiahihihihifqfqfqrfqbf}@b@ɛļ 隥VJKU ? 1I9Gu.-GQuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306489BO>mYw,=A2ݒ@Y2}@2Y92/>y2H@? ~? ¿N?? 1?&O??ɨ2ݒ@2̭;2)CyNBN"IIVIVV85٢bV= bK=9bf:Q f>dd fG٣f~8Gyj; j> nNusing accuracyPremultiplier from configlr49n1N?r4Yn1FK in2Bpv۵v0@nDn:n:n?4x zu@xZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%;5 ProNav: ac range: 454.200012 m, nav range: 233.835434 m, bearing: 23.610659 deg, approach rate: 0.151813 m/s, LOS rate: 0.138921 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142198 deg. 2j5;:j5:@EHeadingCmd: 4.819591 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhIhIhIhIfQfQfQrfYbf]xb@ɛrB빼 隍x=I ̼ɚiIh:=ZHRH?AH6>I Iz#IIBI =&I.I6I5<:I) FBIJIRIZIbIjI4I=i==Y@iE݂)A)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558853*F?2F:FBFJFGjGBO> ) I1 Ja Ja Ja Ja Ja Ja Ja Ja Je ;au Je ;au } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810178Je ;a Je ;a q?w,m Ay]B]"IMb@Mb@Mb@ )Y(\?{Gz?Mb`?yz?#=;rA $@)I@IAyAII0E5٢-< -6=95Q 5>19 =G٣9y= => MNusing accuracyPremultiplier from configAM49EQ?M4YELK iE:BU?U:U۳U0@EDE;E;EG4eےB e]@eeEZjFNOT Ignoring new targets: 454.20 m.BjH;JjH; ProNav: ac range: 454.200012 m, nav range: 233.899246 m, bearing: 23.672665 deg, approach rate: 0.141553 m/s, LOS rate: 0.137507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161152 deg. 2j;:j<@HeadingCmd: 4.819921 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfb@ɛsB] =I w̼ɚiI :=Ii Ai ) )*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062020G;3G B O >zK iJK 9K K 6 K  BK sA:K % s$?I% [j mw,W#AyUBU#IIeIe=5٢uۯ< }V=9yQ }> G٣y > Nusing accuracyPremultiplier from config49T?4YRK iBB0@D;; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566045ݞw,R=AyލBލ#I%Mb@Mb@Mb@!!! !)!Y%-?ˡE?~jthy%??%'=%D% A %@)!I%A!y!I5I53A5٢EQl M==9IQ M>QQ UG٣]8Gya m> uNusing accuracyPremultiplier from configi}49mxX?}4YmPYK imJB}?:0@mDm ;m#;mU4 4@ IZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 234.015427 m, bearing: 23.785433 deg, approach rate: 0.142609 m/s, LOS rate: 0.138781 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155426 deg. 2j};:j;@HeadingCmd: 4.819821 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfb@ɛuB   =I  w˼ɚ i I 19=IiBi))JJJJJ=:J9JJJҥ;Jԥ;J;J;5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818208*F?2F:FBFJFG EG B O >lw,VA6$@Y6v4@6A'N96'>y6H.?t?&ÿ B`mɼ?p?@©??`?ɨ6$@6g;6*Cy>BB"IIJIJA5٢R Rn=9Rw,kpA6"3@Y6B@6L96A>y6H?`s?#ÿ`.5??/?`M?@K?ɨ6"3@6އ;6,CyBBB"IIJIJgG5٢f1 jH=9j:Q j>ll nG٣lyrʋ; r> vNusing accuracyPremultiplier from configtz49v_?z4YvdK ivVBxz4z0@vDv:v*:vb4 @Zj)-FNOT Ignoring new targets: 454.20 m.Bj5 ;Jj5 ;E ProNav: ac range: 454.200012 m, nav range: 234.118896 m, bearing: 23.889726 deg, approach rate: 0.138611 m/s, LOS rate: 0.139885 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145838 deg. 2jM;:jM:@UHeadingCmd: 4.819654 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhYhafafafarfabfm`b@jHbHp<HI III =&I.I6I<:I FɛuwBuI¼ y} IJe Je Ja Ja Je :Je H9Ja Ja Je ;Je ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826254Je Q;Je Q;~w,wA6|C@Y6#S@6%I96p>y6H"?Dq?P/ÿ`p?`?&"?`c?%?ɨ6|C@6;6+Cy\\uMb@Mb@Mb@qqq q)qYul?ˡE?Mbyu?quuI A u@)uv@Iu AqyuAIIJ59M:Q > G٣8Gy; > Nusing accuracyPremultiplier from config49b?4YNkK i\B?:0@D;f;yj4 ZjFNOT Ignoring new targets: 454.20 m.Bj5!;Jj5!; ProNav: ac range: 454.200012 m, nav range: 234.178848 m, bearing: 23.950506 deg, approach rate: 0.139056 m/s, LOS rate: 0.140940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157479 deg. 2js;:jE<@%HeadingCmd: 4.819857 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!h)h)h1h5Bf9f9f9rf9bf= c@ɛexBmü im[zK} jMK} 9Ky K} 8 K}  I rw,rPA2S@Y2c@29E92>y2H䤼?yp?@ÿ%?}ߟ? ɤ?j}? |?ɨ2S@2K$;2,Cy:zB:"IIFIFA5٢JO J<9NM);Q N>PP RG٣PyRΰ; V> ZNusing accuracyPremultiplier from configTZ49V:f?^4YVpK iVaB\^b0@VIJDV;V;Vp4fؒB f@fkEZjxzFNOT Ignoring new targets: 454.20 m.Bj~!;Jj~!; ProNav: ac range: 454.200012 m, nav range: 234.230026 m, bearing: 24.002628 deg, approach rate: 0.138332 m/s, LOS rate: 0.140853 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131519 deg. 2jU;:j8@HeadingCmd: 4.819404 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfic@=Will construct direction to contact in vehicle frame from tetrahedron phase data.= Will construct direction to contact in vehicle frame from tetrahedron phase data. yHcؼ?`"q? ¿@vQ?i?@f?@;Y?@?ɨOZ@ ;騅)CyޝqBޝ"I-Mb@Mb@Mb@ 1I=\j))) )))Y-+?ˡE?y&1|y-v?)-`) ))-@I-~A)y-zAIMIM~N5٢] ]0=9e :Q e>ii uG٣qyu: u> Nusing accuracyPremultiplier from config49j?4Y~xK ihB?:0@ͲDW;8;y4 h@B*** querying acoustic contact ***jjZjyFNOT Ignoring new targets: 454.20 m.BjX!;JjX!; ProNav: ac range: 454.200012 m, nav range: 234.298706 m, bearing: 24.071460 deg, approach rate: 0.140788 m/s, LOS rate: 0.141060 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181623 deg. 2j;:j?@%HeadingCmd: 4.820279 target range: 454.200012 and range: 515.00 m. j)j)j)j)i1h1h1h9h=gBf9fafarfibfm(c@ɛ{B-ռ  I f˼ɚiI7=J-J-J)J)J-=:J-9J)J)J-ӥ;J-ԥ;J-{;J-|;=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Response Not Received E*response not receivedM,DAT read: user:1176> MBDAT read: Tx time:20:11:58.5316 U$Ping request sent.U w,h"A6!b@Y6q@6>96?S>y6H@?q? ¿? o;?MΧ?p5?`?ɨ6!b@6@;6+Cy>eBB"IJWill construct direction to contact in vehicle frame from tetrahedron phase data.HiHNJDAT read: TxSync time:20:11:58.5308 Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251346IVIVP@5٢b bh=9bX;Q b>dd fG٣f8Gyj&2; j> nNusing accuracyPremultiplier from configlr49nm?r4Yn~K inmBpv౿v1@nԲDnL:n:n-4x z.@xZjFNOT Ignoring new targets: 454.20 m.Bj%2;Jj%2; ProNav: ac range: 454.200012 m, nav range: 234.349823 m, bearing: 24.122663 deg, approach rate: 0.156252 m/s, LOS rate: 0.156480 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128760 deg. 2j;:j*8@HeadingCmd: 4.819356 target range: 454.200012 and range: 515.00 m. jjjjihhh h f f frfbf z3c@ɛ|B 隕8I B˼ɚiI\7=Ii >i?ӣ;))*F=?2F9:F9BFE_0JFA IzKJK9KK9 KMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503272Gg;GY B O >w,A:E_@Y:n@:s;9:>y:Hq?t? y¿@9`?'ѝ?Kl???ɨ:E_@:&;:*CyBhBB"IININ"25٢V< VL=9ZF:Q Z>X\ ^G٣\ybd b> fNusing accuracyPremultiplier from configdj49fq?j4YfK ifrBhj챿j1@fܲDf.:f:f*4p r@rhEZj FNOT Ignoring new targets: 454.20 m.Bj Z(;JjZ(;% ProNav: ac range: 454.200012 m, nav range: 234.408936 m, bearing: 24.181519 deg, approach rate: 0.147863 m/s, LOS rate: 0.147184 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151710 deg. 2j%;:j%r;@5HeadingCmd: 4.819757 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfM ?c@ɛm}Bulp qu@&IqZHyRH}@AH5>I Is#IIBI&I.I6Ig<:IL F uE>̼ɚiI$7=Ii=i>;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884*F?2F:FBF`0JFG{/; IGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006233w, A:j;@Y:K@:>9:~a>y:H@n?z?F¿ UI?@9d?Χ??`*?ɨ:j;@:[;:+CyFYBF"IMb@Mb@Mb@ )Yp= ף?A`"? G٣!y%r %> -Nusing accuracyPremultiplier from config)549-Rv?54Y-K i-yB=%?=:=l=1@-D-1;-;-4A E@IZjiuFNOT Ignoring new targets: 454.20 m.Bj}/;Jj}/; ProNav: ac range: 454.200012 m, nav range: 234.475281 m, bearing: 24.250704 deg, approach rate: 0.147362 m/s, LOS rate: 0.153626 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182683 deg. 2j;:j?@HeadingCmd: 4.820297 target range: 454.200012 and range: 515.00 m. jjjjihhhh?BfffrfbfMc@ɛ~BO  I ̼ɚiI6=Ii* =im.":)i)q*F?2F:FBFJFG  G rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258168G 1;G?G?G B O >  t$?I zK BJK h9K K : K  w,l%A2}7@Y2$G@2u?92 >y2H*Ļ?|? ¿`*?ٟ?g? ??ɨ2}7@2M;2)CyR^BR"IIZIZ75٢b:= bb=9b(Q f>dd fG٣f8GyjE j> =Nusing accuracyPremultiplier from configlE49nz?E4Yn K in~BAM|M1@nDn|k<#w,}?A IyU_BQMb@Mb@Mb@ )YV-?&1?{Gzty-?P=ף A @)Iy@IIK5٢: %)=9%Q %>!) -G٣)y- 5> =Nusing accuracyPremultiplier from config1=495?E4Y5K i5BE.?E:EyE1@5D5;5%;54Q ]@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 454.20 m.Bj@;Jj@; ProNav: ac range: 454.200012 m, nav range: 234.606842 m, bearing: 24.383808 deg, approach rate: 0.169459 m/s, LOS rate: 0.168651 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.208169 deg. 2j|;:jC@HeadingCmd: 4.820742 target range: 454.200012 and range: 515.00 m. jjjjihhhh&Bfffrfbf hc@ɛB DI PͼɚiI!k6=Ii  ] w,QYABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266180ycB"II5I5M5٢E< En=9IQ M?IQ UG٣QyQ ]? eNusing accuracyPremultiplier from configYe49]?m4Y]K i]Biim1@]D]:]:]4y }:@yZjFNOT Ignoring new targets: 454.20 m.Bj8;Jj8; ProNav: ac range: 454.200012 m, nav range: 234.662643 m, bearing: 24.439044 deg, approach rate: 0.163288 m/s, LOS rate: 0.161595 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140855 deg. 2j;:j9@HeadingCmd: 4.819567 target range: 454.200012 and range: 515.00 m. jjjjihhqhyhyfyfyfrfbftc@ɛQU Y]hIY ]μɚYiYI]i56=Ieie;ii)i) I]j*F%?2F!:F)BF-`5JF)"G5=G5=zK GLK9KK; K),,-)*'$#$"""!J%5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518703J%J!J!J%:J%[9J!J!G Gi By O >2w,k)sA61@Y6|A@6396r >y6H!?@\?`Q :?H?|?p`?.?ɨ61@65ه;4y>gB>"IXZAI^I^V5٢fS< fS=9f;Q j>hh jG٣hyn3 n> rNusing accuracyPremultiplier from configpv49rƆ?v4YrdK irBxzz1@rDr":r:r4| ~@H%6>I! I%Z#II%τBI!&I!.I!6I%i<:I%N FZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 234.726196 m, bearing: 24.501493 deg, approach rate: 0.155471 m/s, LOS rate: 0.152729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162482 deg. 2j;:j<@ HeadingCmd: 4.819944 target range: 454.200012 and range: 515.00 m. j j j j i h hh1h9f9f9f9rf9bfE-c@ɛB 隍PI TμɚiIN6=Ii4;i|8))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770438*F2F:FBF4JF IG?:G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023055#w,>AR.@YR=@R19RcR >yRH@z?"? k?WΜ?h2?`X?੬?ɨR.@R;Py^pB^"IMb@Mb@Mb@ )YQ?I +?Mb`?y\/?94=; A )@IQAy@IIT5٢1= <=9:Q > G٣8Gy) > Nusing accuracyPremultiplier from config49 ?4YK iB/?:/1@D;F;4 g@ZjFNOT Ignoring new targets: 454.20 m.Bj%kA;Jj%kA;5 ProNav: ac range: 454.200012 m, nav range: 234.801895 m, bearing: 24.571689 deg, approach rate: 0.182415 m/s, LOS rate: 0.169099 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185705 deg. 2j5;:j=N@@=HeadingCmd: 4.820350 target range: 454.200012 and range: 515.00 m. j9jAjAjAiAhAhAhIhM3BfIfIfQrfQbfU0c@ɛ U8 Y]xIY ]μɚYiYI]x5=Ieiep:imk{^)i)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275048G zQ I G B O- >'I)w,AzKMK9KK< K D 14{k]SID:1)BK"rA:K y5yB5"IIMIMV5٢m%= uN=9}Q }> G٣y > Nusing accuracyPremultiplier from config49􎮜?4Y5K iB1@D_;g;4ՒB @nEWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528399JJJ/JJ̈́:JJ(N3JZjYFNOT Ignoring new targets: 454.20 m.Bj=2;Jj=2; ProNav: ac range: 454.200012 m, nav range: 234.871750 m, bearing: 24.636137 deg, approach rate: 0.168951 m/s, LOS rate: 0.155829 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168474 deg. 2j;:j=@HeadingCmd: 4.820049 target range: 454.200012 and range: 515.00 m. j!j!j)j)i)h)h)h1h1f1f1f1rf9bf= c@ɛB6ؼ 隽I RμɚiI5=Ii/w:iP!))E*F?2F:FBF_0JFG GtAH7>I Ia#IIԄBI&I.I7D6I<:I FG} u4G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779640GY Ba O >a50w,A 1I9yޅBޅ"IMb@Mb@Mb@ )YtV?Zd;O?ii mG٣m8Gyq u> Nusing accuracyPremultiplier from configy49}?4Y}K i}B3?:%1@}$D}r;};};4֒B P@kEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.BjVB;JjVB; ProNav: ac range: 454.200012 m, nav range: 234.955338 m, bearing: 24.712957 deg, approach rate: 0.184935 m/s, LOS rate: 0.169901 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.205564 deg. 2j4;:j%C@HeadingCmd: 4.820696 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfc@ɛ9=*м 9=+IA EμɚAiAIEZO5=IMiM:iI)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030960*F?2F:FBFJFG FG B O >V6w, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282181>s @Y>0@>/9>' >y>HO?`4?DP?]? ? f? U?ɨ>s @>VJ;>+CyrBr#II|I|٢ Y=  |=9 N:Q  ? G٣y% % ? -Nusing accuracyPremultiplier from config)549-ݖ?54Y-K i-B1=\=1@-+D-m ;-;-4A E @AZjimFNOT Ignoring new targets: 454.20 m.Bju<;Jju<; ProNav: ac range: 454.200012 m, nav range: 235.014252 m, bearing: 24.766477 deg, approach rate: 0.181907 m/s, LOS rate: 0.165210 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135706 deg. 2j;:j(9@HeadingCmd: 4.819477 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@Cc@ɛr =I ނμɚiIh5=Ii9iƒ))*Fu?2Fq:FqBFu}0JFq 1I=^jzKOK9KK= K   &9@A6.*$ RK ?JK>GJJJ0JJ}:J9Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534838GBO>y2H@?ુ?D `G? D?ͥ?]? Ǭ?ɨ2@2Z;0yNBN#IIVIVL5H`I` Ibz#IIbBIb =&I`.I`6Ib<:Ibe F٢n< nM=9nE:Q r>pp rG٣pyvl v> ~Nusing accuracyPremultiplier from config|49~њ?4Y~K i~B^ 1@~4D~:~7:~4 @Zj9=FNOT Ignoring new targets: 454.20 m.BjE;;JjE;;U ProNav: ac range: 454.200012 m, nav range: 235.086639 m, bearing: 24.831907 deg, approach rate: 0.181855 m/s, LOS rate: 0.164325 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171415 deg. 2jU;:jUC>@]HeadingCmd: 4.820100 target range: 454.200012 and range: 515.00 m. jYjYjajaiahahahihifififirfqbfuc@ɛ=B=˨ 9EA=IA E0μɚAiAIE4=IMiM9iM̺)Q)quWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787690*F ?2F :F BF 0JF "G=G= =u$?I=_jG-BͺGIGIG! B1 OU >% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040292HiCw,NAyB1#IMb@Mb@Mb@ )YB`"?S㥫?Q?y.?/]=u<A )@IyIIDP5٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config49Z? 4YK iʽB o/? : ۱ 1@>D;<;4ԒB q@nEZj9EFNOT Ignoring new targets: 454.20 m.BjEF8;JjMF8;] ProNav: ac range: 454.200012 m, nav range: 235.161316 m, bearing: 24.902373 deg, approach rate: 0.170787 m/s, LOS rate: 0.161107 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.186517 deg. 2j]!;:jel@@mHeadingCmd: 4.820364 target range: 454.200012 and range: 515.00 m. jijijijiiihihqhqhuGBfyfyfyrfybfc@ɛS 隭ة=I ͼɚiI}4=Ii 9i)))a eCH~G UYYy]B*FU?2FY:FqBFu3JFq?aAG G"GG}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290203GI BQ O} > ) I) NIw,-(AzK.-%MK.9K,K.> K.BK6sA:K6rAJ@YJq'@J+9J >yJH@ɺ?`9?`@`?H֛??|?K?@?ɨJ@J8;J*CyZńBZN#IIfIfE5٢v= v\=9v:Q z>|| ~G٣~8Gy) > Nusing accuracyPremultiplier from config%496?%4Y&K iӽB!--1@FDm; V; 49 =@9ZjyFNOT Ignoring new targets: 454.20 m.Bj5;Jj5; ProNav: ac range: 454.200012 m, nav range: 235.225708 m, bearing: 24.962582 deg, approach rate: 0.169922 m/s, LOS rate: 0.158840 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155764 deg. 2j;:j<@HeadingCmd: 4.819828 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf4c@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550096ɛ >I ̼ɚ)i1I5$4=I=i=9i=? )A)*F%?2F):F)BF-_5JF)GB O%M>H8>I I#II BI =&I.I6I5<:I) F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802252Pw,BA hIle@Y @<{+96 >yH ??@ /?Kۛ? m?DU?L?ɨe@u;)Cy-ׄB-d#IMb@Mb@Mb@ )YL7A`?~jt? rh?y+'?D=C<vA @)IyIIB5٢-= -+=9-q9Q ->11 5G٣1y5} => ENusing accuracyPremultiplier from config9M49=?M4Y=:K i=BM'?M:U沿U1@=PD=;=;=_4Y ]@Y}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.BjC1;JjC1; ProNav: ac range: 454.200012 m, nav range: 235.306656 m, bearing: 25.035750 deg, approach rate: 0.171512 m/s, LOS rate: 0.154974 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.194613 deg. 2j;:jA@HeadingCmd: 4.820505 target range: 454.200012 and range: 515.00 m. jjjjihhhhqBfffrfbf Dc@ɛ"c (>I ˼ɚiI 3=I i 9i \) )JJJJJ̈́:Jm9JJJ;aJ;aJ;aJ;a%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055440*F?2F:FBF05JFG=?G=?G BOEs>Vw,[A2@Y2H@2)92? >y2H ?? @?3? ?R^?1?ɨ2@2kՇ;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.@i@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.306716yRBR~#IIZIZMD5٢ =  u=9e:Q ?99 =G٣9yE`9 E? MNusing accuracyPremultiplier from configIU49M򪮜?U4YMK iMBy}ⲿ}1@MWDM;M;MK4 @ZjFNOT Ignoring new targets: 454.20 m.BjS-;JjS-; ProNav: ac range: 454.200012 m, nav range: 235.364441 m, bearing: 25.087771 deg, approach rate: 0.168362 m/s, LOS rate: 0.151532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131211 deg. 2j;:j8@HeadingCmd: 4.819399 target range: 454.200012 and range: 515.00 m. jjjjihh!h!h!f!f)f)rf)bf- vc@ɛQE f=隽VR>I ,_ʼɚiI^3=Ii[9iJ))I I*F?2F:FBF_0JFGB!O=Q>zKKK 9KK? K%**+*)&$#" 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558099\w,nuAH8I8 I:#II::BI: =&I8.I86I:v<:I:X FBI!JI!RI!ZI!bI!jI%N4 @Y@^(9" >yH 1[??l`?-?Q ?R??ɨ @e;+Cy}B}#IIIJH5٢_K= @=99Q > G٣8Gyۺ > Nusing accuracyPremultiplier from config49뮮?4YK iB1@`DA;Q:;4 @Zj FNOT Ignoring new targets: 454.20 m.Bj/1;Jj/1;- ProNav: ac range: 454.200012 m, nav range: 235.436554 m, bearing: 25.152222 deg, approach rate: 0.173375 m/s, LOS rate: 0.154906 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168480 deg. 2j-;:j-=@5HeadingCmd: 4.820049 target range: 454.200012 and range: 515.00 m. j1j1j9j9i9h9h9hAhAfAfAfArfIbfM d@ɛy} y}Vh>I ȼɚiI2=Ii9ibv))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811488*F-?2F):F)BF)JF) I`jGm >GGGa Bq O >J3K;|3 K;S}-K3K3"K3J J J J J J [9J J J J J ;J ;= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061978߶cw,>A:` @Y:@:%9:V >y:Hg?H?@蓻?@3r?? uY?भ?ɨ:` @:!;:*CyBBB#IMb@Mb@Mb@ )YMb?A`"?~jt?y#?Y=< A )I`@yI-I-995٢== ER=9M3:Q M>II MG٣IyU9 U> eNusing accuracyPremultiplier from configYe49]?m4Y]K i]Bm#?m:mɱm1@]hD];];]s4y }Z@yZjFNOT Ignoring new targets: 454.20 m.Bj+;Jj+; ProNav: ac range: 454.200012 m, nav range: 235.499893 m, bearing: 25.210705 deg, approach rate: 0.162748 m/s, LOS rate: 0.150230 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150588 deg. 2j3;:jI;@HeadingCmd: 4.819737 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfd@ɛB$A 隭}>I x ǼɚiIx2=Ii9i -f))E*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314110GsG B O > I iw,rAV @YVT@V#9V_ >yVH b?^?V`~?`o?3w?@Z?`?ɨV @V;V+CyfBf#IprAIzzK~9MK|K|K~@ K~Iz:5٢%'= %L=9%:Q ->)) -G٣)y5 a 5> =Nusing accuracyPremultiplier from config9E49=?E4Y="K i=BAM̱M1@=pD=:=:=o4Q U@QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566155ZjFNOT Ignoring new targets: 454.20 m.Bj%=#;Jj%=#;U ProNav: ac range: 454.200012 m, nav range: 235.565079 m, bearing: 25.270609 deg, approach rate: 0.155341 m/s, LOS rate: 0.142716 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154849 deg. 2jU;:jU;@]HeadingCmd: 4.819811 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhahahahafififirfibf@d@ɛqu$ qu>Iy }/żɚyiyI}:1=Iij9i@m))Hm7>Ii Im$IImcBIi&Ii.Ii6Imc<:ImJ FE*F 2F :F BF JF G sA G sA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819394 I G WqG ?G >GBO>rw,VA6@@Y6@6]!96 >y6H~??V`:?@:??d??ɨ6@@6_ ;6*CyB$BB#IMMb@Mb@Mb@III I)IYMʡE?:v? rh?yM?MT=MC G٣8Gye: > Nusing accuracyPremultiplier from config49T?4YL iBQ?:1@zD;;,4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj,;Jj,; ProNav: ac range: 454.200012 m, nav range: 235.643753 m, bearing: 25.343099 deg, approach rate: 0.163741 m/s, LOS rate: 0.150819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.192582 deg. 2j;:jJA@HeadingCmd: 4.820470 target range: 454.200012 and range: 515.00 m. jjjjihh JJJJJJm9JJJJJ;J;h h-Bf)f)f1rf1bf5 +d@ɛY](^ aeq>Ia e¼ɚaiaIen1=uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.070215Ii9ibR))E+=*F]?2FY:FYBFYJFaG s7]% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323115GY Ba O >-;xw,#A6@Y6V @696k >y6H@0?t?P0?@-w?@£?`f? ǭ?ɨ6@6L;6+Cy>2B>#IIFIFP@5٢R= RY=9RO:Q V>TT VG٣TyZN: Z> ^Nusing accuracyPremultiplier from config\b49^微?b4Y^ L i^Bdff1@^D^ ;^ ;^ 4h j@h vv$?ItZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 235.702972 m, bearing: 25.397463 deg, approach rate: 0.149480 m/s, LOS rate: 0.137191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138239 deg. 2jN;:j9@UHeadingCmd: 4.819521 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhYhYhihifififirfbf`D9d@ɛ]Be@ amF>Ii d=ɚiI0=Iiy:igC)))E9E9*EA"EAzKN KK]9KKA KRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574089*FM ?2FI :FI BFI JFI H 8>I  I ;$II BI &I .I 6I <:I v F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826133G= ]UGA GA GIBQOm>o0w,%A6@Y6,@6W96b >y6H ?? r``?@ ?lj?l?@?ɨ6@6;4yF8BF#IININMD5٢^x< ^+=9bzl:Q b>`d fG٣dyfW f> Nusing accuracyPremultiplier from config49~î?4YL i)B!%%1@DP:P:245ҒB 5@5qEZjFNOT Ignoring new targets: 454.20 m.Bj'+;Jj'+; Iaj ProNav: ac range: 454.200012 m, nav range: 235.779861 m, bearing: 25.467651 deg, approach rate: 0.163975 m/s, LOS rate: 0.149633 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.185679 deg. 2j b;:j M@@5HeadingCmd: 4.820349 target range: 454.200012 and range: 515.00 m. j1j1j9j9i9hAhAhIhIf)f)f1rf9bf`Jd@ɛغ  >I  (ɚ i IpA0=Ii:iU)A)IJ%J%J!J!J%}:J%[9J!J!J%;J%;J%;J%;}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079186*F?2F:FBFJFGU lZG1 B9 OU >.[w,AyAB#IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.330375 )Yv?)\(?Mb?y?Ga=< Z@)@Iv@y=@II>5٢$= 7=9Q  >  G٣8Gy > %Nusing accuracyPremultiplier from config!-49%Ǯ?-4Y%L i%2B5~?5:5V51@%D%;%(;%4=ӒB =@9ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 235.845276 m, bearing: 25.529416 deg, approach rate: 0.137049 m/s, LOS rate: 0.129368 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160432 deg. 2j;:j<@%HeadingCmd: 4.819909 target range: 454.200012 and range: 515.00 m. j!j!j)j)i)h)h)h1h5˄Bf1f1f1rf9bf= Vd@ Iɛ 9i; ˽>I ͺɚiIǹ/=Ii$:i]S)Y)Y*F?2F:FBFo0JFzK IKK 9K K B K #x~326v1gSB7*!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582145G5 OPG B O >w,|4AJ@YJF/@J9JB >yJH ??` ?u?R?`IP?j?ɨJ@J;J)CyREBV#II^I^75٢nr< r_=9v;Q v>tt vG٣tyz ; ~> Nusing accuracyPremultiplier from config 49Tˮ? 4YPL i9B1@D :;F$4 @!ZjAEFNOT Ignoring new targets: 454.20 m.BjM#7;JjM#7;HYIY I][$II]BIY&IY.IY6I]<:I]~ F} ProNav: ac range: 454.200012 m, nav range: 235.899750 m, bearing: 25.581069 deg, approach rate: 0.168896 m/s, LOS rate: 0.160112 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130108 deg. 2j};:j[8@HeadingCmd: 4.819379 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf+ad@ɛB,; 隵>I ܸɚiIsH/=Ii:iR))*Fe?2Fa:FaBFe`5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835047}PExceeded connect timeout, disconnecting. IGV'SGi B O} >6hw,QJNA*Will construct direction to contact in vehicle frame from tetrahedron phase data..yH y??` j?@|?y?@"b?I?ɨ-@9;騍*CyޝHBޥ#I5Mb@Mb@Mb@111 1)1Y5On??~jth?y5?5L=5D;5`A 5p@)5@I5I@1y5@IMIMF5٢%)I< %+=9%c;Q %>)) -G٣)y5k; 5> =Nusing accuracyPremultiplier from config9E49=Ϯ?E4Y=%L i=@BE?E:MM1@=D=;=o;=,4Y ]@Y-GB*** querying acoustic contact ***jjI }hYyy}AZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 235.972000 m, bearing: 25.647796 deg, approach rate: 0.141665 m/s, LOS rate: 0.130795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.175305 deg. 2j;:j>@HeadingCmd: 4.820168 target range: 454.200012 and range: 515.00 m. jjjjihhhḧ́Bfffrfbfqd@ɛ)5P1: 15j>I1 5,ɚ1i9I=.=I=iE9ie@Q)a)a*F2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Cw,JhA2'8@Y2G@292W >y2H@hͻ?C?@?!@???Z??ɨ2'8@2#j;0yF?BF#IIVIV-I5٢bHL fy=9j;Q j?ll nG٣n8Gyr>}; r? ~Nusing accuracyPremultiplier from configx49zӮ?4Yz*L izEB   1@zDzHv;zr];za24ԒB %F@%nEZjYeFNOT Ignoring new targets: 454.20 m.Bj/;Jj/; ProNav: ac range: 454.200012 m, nav range: 236.022339 m, bearing: 25.694332 deg, approach rate: 0.166214 m/s, LOS rate: 0.153627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114767 deg. 2j;:j*6@HeadingCmd: 4.819112 target range: 454.200012 and range: 515.00 m. jjj j i h h hhfffrfbf@{d@ɛB; 隽>zKT$OK 9KKC KJJJJJ]:J9JJa@a@a@a@I TɚiID.=EWill construct direction to contact in vehicle frame from tetrahedron phase data.E Will construct direction to contact in vehicle frame from tetrahedron phase data. yFH@+? ~?`[?@)?|?`v?d??ɨFC@F};F)CyrABr#IIzIz:5٢; G=9};Q  >    G٣ y:h; > !I) -Nusing accuracyPremultiplier from config)549-֮?54Y-1L i-KB1=g=1@-D-;-%;-94UҒB ]@eqEZjFNOT Ignoring new targets: 454.20 m.Bj!!;Jj!!; ProNav: ac range: 454.200012 m, nav range: 236.084290 m, bearing: 25.751706 deg, approach rate: 0.152150 m/s, LOS rate: 0.140871 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147261 deg. 2j[;:j:@HeadingCmd: 4.819679 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfd@ɛD;; >I %rɚ!i)I-B-=Iei8iiw;))*F2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Response Not Received m*response not receivedm,DAT read: user:1177> uBDAT read: Tx time:20:12:09.4817 u$Ping request sent.uw,ޛAyn9Br#IuMb@Mb@Mb@qqq q)qYuv?J +?~jtxyu?uH=uĻuA q)u@Iu3@qyu@II55٢ A=9Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:12:09.4809 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250846 Nusing accuracyPremultiplier from config49ۮ?4Y7L iOBZ?:`1@D;;@4 @ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;% ProNav: ac range: 454.200012 m, nav range: 236.148987 m, bearing: 25.811416 deg, approach rate: 0.146772 m/s, LOS rate: 0.135421 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154267 deg. 2j%;:j%;@-HeadingCmd: 4.819801 target range: 454.200012 and range: 515.00 m. j)j)jijiiqhqhqhqh}Bfyfyfyrfybf זd@ IbjɛB%[: !%=>I! ŮɚiIT-=Ii7ie;))*F=?2F9:F9BFAJFAJ J J J J }:J [9J J m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501656zKu :KKu 9Kq Ku D Ku  G ;Ga B O >άw,A2dJ@Y2 Z@2;92O >y2H`C_?}?@Z?`f ?@|?y?گ?ɨ2dJ@2dd fG٣f8Gyf; j> nNusing accuracyPremultiplier from confighr49jޮ?r4Yjt=L ijSBprFr1@jDj ;j ;juG4x z@xHI Ia$IIBI&I.I6I<:I_ FBIJIRIZI =bI =jI4ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;= ProNav: ac range: 454.200012 m, nav range: 236.205719 m, bearing: 25.863706 deg, approach rate: 0.148481 m/s, LOS rate: 0.136821 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132018 deg. 2j=̻;:jE8@MHeadingCmd: 4.819413 target range: 454.200012 and range: 515.00 m. jQjjjihhhhfffrfbfd@ɛ B-` : 15ܢ>I1 54Ѭɚ1i1I5|,=I=i=.7iE5;)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755163*F ?2F :F BF `0JF  I G ;G) BQ O >Ҷw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005761>=@Y>>M@>9>x>y>Hy? "y? l¿?@b~?ɓ???ɨ>=@>;>,CyJ'BJ#IMb@Mb@Mb@ )YGz?kt?I +yp? 0=94 C@)I@y@II٢v 9=9LRQ > G٣yFh > Nusing accuracyPremultiplier from config 49⮜? 4YDL iVB ? : ߱ 1@ɳD;;.O4 @ZjFNOT Ignoring new targets: 454.20 m.Bj7(;Jj7(; ProNav: ac range: 454.200012 m, nav range: 236.278580 m, bearing: 25.927366 deg, approach rate: 0.168374 m/s, LOS rate: 0.147067 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166108 deg. 2j;:j=@%HeadingCmd: 4.820008 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!h!h)h)h-BfQfQfYrfYbf] d@ɛB_ v>I) -󛪼ɚ)i)I-1,=I5i5!6i=y:)9)9EEsA*F?2F:FBF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260587 x$?I Ge .A;G9 BI Oe >w,<AV=@YVFM@V9V߯>yVH@?`k|?K¿? `?@9A?@]?I?ɨV=@VVȉ;V)CyfBf#IIvIvv35٢ X=9SY:Q >11 5G٣1y=&7 => MNusing accuracyPremultiplier from configAM49Ej殜?M4YEJL iEXBQQU1@EѳDEX:EX:EU4Y ]@a}B*** querying acoustic contact ***jyjyZj FNOT Ignoring new targets: 454.20 m.BjH&;JjH&;% ProNav: ac range: 454.200012 m, nav range: 236.342026 m, bearing: 25.982550 deg, approach rate: 0.167182 m/s, LOS rate: 0.145374 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140696 deg. 2j-;:j-9@5HeadingCmd: 4.819564 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h1hYhYfYfafarfabfe d@ɛB8 隵}>I JJJJJ :J"9JJɚiI2,=Ii 6i V.:) Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510429zK5LK5h9K1K5E K5 qpP3 )*F?2F:FBF0JFHI IH$IIBI&I.I6I<:Iy FG ':G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761924w,NA2 M@Y2\@2˩ڼ92e >y2Ht?@\|?@L@3!?'u?dT??"?ɨ2 M@2O{;2(C DIDyJBJ#IIRIRF5٢Z ZQ=9^2;Q ^>\` bG٣b8Gyb; b> fNusing accuracyPremultiplier from configdr49fꮜ?v4YfPL ifZBquu1@fسDf[I 7@ɚ!i!I%+=I%i-`5i-RP;))))*F 2F:FBFP5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014061G;Gi Bq O >kw,+A6_@Y68o@6Ƽ96C >y6Hd?|{? ֿ`؜?`v? ٘???ɨ6_@6Ί;6)CyVBV#IEMb@Mb@Mb@AAA A)AYEp= ף?:v?I +yE%?Eyy }G٣yy ; > Nusing accuracyPremultiplier from config49?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2658684YWL i\BG%?:1@D<ٕ<d4! %@!ZjIMFNOT Ignoring new targets: 454.20 m.Bj,;Jj,;% ProNav: ac range: 454.200012 m, nav range: 236.487137 m, bearing: 26.102106 deg, approach rate: 0.192127 m/s, LOS rate: 0.150934 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167186 deg. 2j%+;:j%=@ qIucj}HeadingCmd: 4.820027 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhyhhhnBfffrfbfd@ɛ15 9="{>I9 =Xɚ9i9IE.+=Ii54i;))ER>E>*F2F:FBF`5JF"G=G=JJJ/JJ]:JJ(N3JM Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517668zK OK 9K K F K Ge .A;G9 BA Oe >Dw,e7AHTIT IV)$IIVwBIT&IT.IT6IVw<:IVY Ffs@Yf'@f>J9f >yfHe?@~{?@u}`?r??M??ɨfs@f/;f*Cy~B#I p= =II-I5٢%k %O=9-)1 5G٣1y5h; 5> ENusing accuracyPremultiplier from config9E49=?M4Y=^L i=]BIM˴M1@=D=n:=7:=j4Q ]@]qEZjyFNOT Ignoring new targets: 454.20 m.Bjc2;Jjc2; ProNav: ac range: 454.200012 m, nav range: 236.561783 m, bearing: 26.161039 deg, approach rate: 0.197603 m/s, LOS rate: 0.155958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151929 deg. 2j;:jz;@HeadingCmd: 4.819760 target range: 454.200012 and range: 515.00 m. jjjjihhhhfYfafarfabfe@@d@ɛ5B5H< 9=tn>I9 =Xɚ9i9I=\+=IEiEl3iM;)I) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912*F2F:FBFN4JF iIiG- w;G B) OE >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025848Pw,=QA6iw@Y6@696 >y6Hƽ?b{? Vs[*?Yxi??WH?y?ɨ6iw@6RZ;6+CyBBB#IMb@Mb@Mb@ )YJ +?S㥛?QQ UG٣U8Gy] : ]> Nusing accuracyPremultiplier from config49?4YnfL i_B(?:1@D;;r4y }T@ZjFNOT Ignoring new targets: 454.20 m.BjG;JjG; ProNav: ac range: 454.200012 m, nav range: 236.650101 m, bearing: 26.230617 deg, approach rate: 0.173496 m/s, LOS rate: 0.136631 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.183841 deg. 2j;:j @@HeadingCmd: 4.820317 target range: 454.200012 and range: 515.00 m. jjjjihhhhNBfffrfbf d@ɛBa Ba>I O@ɚiI&+=Ii}1i 2;) )*F ?2F :F BF ^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275136 ! I) G- ;G B OE >?w,jAFPt@YF@Fה9F >yFH;?|?VXdy ?b??0?j?ɨFPt@Fʊ;F(CyvBz#III&Q5٢ a=9,;Q >! %G٣!y% %> -Nusing accuracyPremultiplier from config)549-.?=4Y-lL i-`B9EE1@-D-.;- /;-$y4I M@ImB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 454.20 m.BjK;JjK; ProNav: ac range: 454.200012 m, nav range: 236.719070 m, bearing: 26.284650 deg, approach rate: 0.227495 m/s, LOS rate: 0.178175 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137239 deg. 2j;:j`9@HeadingCmd: 4.819504 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfd@ɛAR &Z>IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527632 ɚiI*=I5i5z0i5;)1)9EAJMJMJM0JIJM:JM59JMـ3JI'TFailed to parse incomplete device message.*F?2F:FBF_0JFGrA GH9>I I $II^BI&I.I6Ij<:IP FGo;G?G>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777757 ! I% dj&w,ӄA6ln@Y6~@6KC96P >y6H@?@f}?:W`5@ӽ?OX?0?@d3?w?ɨ6ln@6y;6*CyNBR{#ITVAIZIZJ5٢b bP=9f;Q f>hh jG٣hyn: 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=xsL i=aBIUٴU1@=D=_3;=3;=;4]ВB ]l@]tEZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 236.798477 m, bearing: 26.346470 deg, approach rate: 0.196343 m/s, LOS rate: 0.152806 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160583 deg. 2j;:j<@HeadingCmd: 4.819911 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf~ e@ɛ‡Ի 9>I ɚiIq*=Ii h/i 8L;) ) *F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029803G;)) )~GGB  aY! y% aBO- >Pw,ͮA6f@Y6u@6 96J>y6H=?? e(??R?0??`?ɨ6f@6S;6(CyBB@Mb@Mb@Mb@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.281793 )Ykt? rh?Mby 0?C< 5@)@I@y@IIaO5٢-; :=9<:Q > G٣8Gy\ > Nusing accuracyPremultiplier from config492?4Y${L icB10?:1@ DR6;;4 c@ZjQ]FNOT Ignoring new targets: 454.20 m.Bj][3;Jj][3;m ProNav: ac range: 454.200012 m, nav range: 236.890961 m, bearing: 26.414003 deg, approach rate: 0.214819 m/s, LOS rate: 0.156804 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.177707 deg. 2jm:;:jm*?@}HeadingCmd: 4.820210 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhyhhh"Bfffrfbf@e@ Iɛ9=:I AE:>IA EHɚAiAIE*=Imiu6.iuy;)q)q*F-?2F):F1BF1JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534840GI G) B1 zKM .JKM +9KI KM H KM O] >|w,ⒸAHI I#IIIBI&I.I6I<:Ig FrZ@Yri@r]9rnH>yrH%޼? Ł?)?O?@? ?@~?ɨrZ@rhŊ;r&CyBx#III&Q5٢=y EU=9M:Q M>IQ UG٣Qy]5y ]> eNusing accuracyPremultiplier from configam49eM?m4YeL iedBimCu1@eDe:e:eq4y }@yZjFNOT Ignoring new targets: 454.20 m.Bj6;Jj6; ProNav: ac range: 454.200012 m, nav range: 236.975159 m, bearing: 26.474938 deg, approach rate: 0.220583 m/s, LOS rate: 0.159581 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157926 deg. 2j ;:jV<@HeadingCmd: 4.819865 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@#e@ɛ%B-ۻ )-$4>I) -cɚiIe*=IiuW-iR ;))EEtA*F-?2F):F)BF-^1JF)"G5=G5=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.785711 IGMO;G) BQ O >J J J 1J J }:J [9J 3J J a J a J a J a  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037689cw,shAyB}#I %=%=Mb@Mb@Mb@ )YʡE?+?MbPy-2?=MA K@)Iy@IIdK5٢S< A=9Q > G٣y > Nusing accuracyPremultiplier from config=49u?=4YL igB=t2?=:EwE1@D/< /<ϕ4I MS@IZjFNOT Ignoring new targets: 454.20 m.Bj3;Jj3; ProNav: ac range: 454.200012 m, nav range: 237.060303 m, bearing: 26.542921 deg, approach rate: 0.196809 m/s, LOS rate: 0.157083 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179059 deg. 2j;:j[?@HeadingCmd: 4.820234 target range: 454.200012 and range: 515.00 m. jjjjihhhh-Bfffrfbf  1e@ɛy}r 隅;>I LAɚiIw*=IiU,iƎ;))*Fe?2Fa:FaBFe'3JFauWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289904 y$?IG @;G B O >w,t@A6:I@Y6X@6Ks96o>y6H8X?'? w @ g?_v?+??ɨ6:I@6^9;6)Cy@@IJIJ&Q5٢RNj: V`=9Vj;Q V>TX ZG٣Z8GyZ Z> bNusing accuracyPremultiplier from config\b49^ ?f4Y^QL i^jBdjj1@^'D^_3;^3;^04mΒB m8@mvEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj&4;Jj&4; ProNav: ac range: 454.200012 m, nav range: 237.134796 m, bearing: 26.601714 deg, approach rate: 0.199621 m/s, LOS rate: 0.157500 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151511 deg. 2j.;:jk;@HeadingCmd: 4.819753 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@=e@ɛ L<>I +ɚ i I [*=Ii+iڷ;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543893*F?2F:FBF3JFzK-JK- 9K)K-I K-BK1:K1ZH)RH)HAIA IE#IIEDBIA&IA.IA6IE<:IEz FBIJIRIZIbIjIő3GG;GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793780 I ejtw,A:>@Y:N@:߈i9:?>y:H? ?` B?? 0??@Ķ?ɨ:>@: s;:*Cy^B^#IIjIjG5٢n= rG=9r:Q r>tt vG٣tyv?I z> ~Nusing accuracyPremultiplier from configx49z ?4Yz×L izmB䳿1@z0Dz;z;z_4 @Zj9EFNOT Ignoring new targets: 454.20 m.BjEB@;JjMB@;U ProNav: ac range: 454.200012 m, nav range: 237.219330 m, bearing: 26.667842 deg, approach rate: 0.214948 m/s, LOS rate: 0.168086 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173498 deg. 2j];:j]>@eHeadingCmd: 4.820137 target range: 454.200012 and range: 515.00 m. jajajajaiahihihihifqfqfqrfqbfuIe@ɛAEr AElL>IA MՙɚIiIIM=;*=IUi#+ih:))EE>*F}?2F:FBF_0JFGsA GJJJJJ]:Jm9JJJ9;J:;J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045863G']?;G B O >Ԟw,^A6C6@Y6E@6`96>y6H`?`b?j ?&My?p? ?ɨ6C6@6;6(CyRBR#IXX5Mb@Mb@Mb@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.297886111 1)1Y5I +?y&1?~jtx?y594?5`<5;53A 5-@)5@I5@1y5@ !I!I%I%J5٢eP= e4=9m:Q m>ii uG٣qy > Nusing accuracyPremultiplier from config49?4Y/L iqB_4?:A1@:D;k;c4ϒB @tEZj)MFNOT Ignoring new targets: 454.20 m.BjUr5;JjUr5;e ProNav: ac range: 454.200012 m, nav range: 237.320709 m, bearing: 26.741926 deg, approach rate: 0.217172 m/s, LOS rate: 0.158634 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.197345 deg. 2je;:jeA@HeadingCmd: 4.820553 target range: 454.200012 and range: 515.00 m. jjjjihhhh7Bfffrfbf5Ye@ɛK !%dd>I! ɚiI*=Ii'*i5I:))*F]?2FY:FYBF]]0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549710zK .JK K K J K RK ?JK "?G Y:Gy B O >H! I!  I% #II% IBI! &I! .I! 6I% <:I% o Fh w,9AV+@YV:@Vy%X9Vo>yVH@ h?`/?4`? T{???ɨV+@Vo;V)Cy^Bb#IIjIjO5٢r= rf=9rj:Q r>tt vG٣v8GyzV z> mNusing accuracyPremultiplier from configam49e?u4YeަL ieuBqunu1@eBDe;e;e4 @ZjFNOT Ignoring new targets: 454.20 m.Bj:;Jj:; ProNav: ac range: 454.200012 m, nav range: 237.401779 m, bearing: 26.800646 deg, approach rate: 0.225659 m/s, LOS rate: 0.163390 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151284 deg. 2jD;:jc;@HeadingCmd: 4.819749 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfCde@ɛ-B- )-q>I1 5̖ɚ1i1I5p)=I=iEU*iE&rչ)A)i*F-?2F):F)BF-_0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803840 I G-tS:G B O= >JKm3 KL.KK"KJ J J 0J J J "9J ـ3J J J J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057860w,SA~@Y~.@~P9~0>y~H*?@\?`e9?deX 5???ɨ~@~;~(Cy B #IMb@Mb@Mb@ )YtV?ˡE?{Gz?y2?'=#<A C@)I@yp@II0E5٢= :=9:Q >  G٣ y V[  > Nusing accuracyPremultiplier from config%49)?%4YL izB%3?%:%Q-1@LD;;341 5@1ZjiuFNOT Ignoring new targets: 454.20 m.Bj}8;Jj}8; ProNav: ac range: 454.200012 m, nav range: 237.491653 m, bearing: 26.869211 deg, approach rate: 0.211528 m/s, LOS rate: 0.161316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.180806 deg. 2jk;:j?@HeadingCmd: 4.820264 target range: 454.200012 and range: 515.00 m. jjjjihhhhSBfffrfbfqe@ɛ7 T>I dɚiI)=IiB**i˺))E*Fm?2Fq:FqBFu`0JFq"G}=G}=uWill construct direction to contact in vehicle frame from tetrahedron phase data.yi}A}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310093 IG'HG B O- >w,mA6 @Y6#@6F96& >y6H u?$?P$``޺?R`@XÈ?@?0?ɨ6 @6;6+CyR$BR#I Vp=Va=I^I^B5٢fݛ= f`=9f:Q f>hh jG٣hyn_o n> rNusing accuracyPremultiplier from configpv49r?v4YrIi mɚiiiIm)=Iim%*in,))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561857zKmJKm9KiKmK Km*F?2F:FBFx0JFH8>I I $II^BI&I.I6I<:I FGi"G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813745 I fj!w,cA6 @Y6k@69<96Qz>y6H`o??` @?7c@??ж?ɨ6 @6,;4yR/BR#IIZIZJ5٢bKf= bK=9b:Q f>dd fG٣f8Gyj;$ j> nNusing accuracyPremultiplier from configlr49n^ ?r4YnL inBpvv1@n]Dn ;n;n4x z@xZjFNOT Ignoring new targets: 454.20 m.Bj0;Jj0; ProNav: ac range: 454.200012 m, nav range: 237.655060 m, bearing: 26.992312 deg, approach rate: 0.205936 m/s, LOS rate: 0.154515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.168967 deg. 2j;:j=@HeadingCmd: 4.820058 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`e@ɛBe; >I ΐɚ i I Z)=I5i5<*i5])1)9*F ?2F:FBF0JFJJJJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068632J=:J9JJJӥ;Jԥ;J;J;G b(G B O F'w,d?A2@Y2,@2q,392$>y2H@.??PQ?fpe??8?ɨ2@2৊;2*CyRABR#I5Mb@Mb@Mb@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.317836111 1)1Y5K7?/$?Q?y5I,?5,=5u<1 5-@)1I11y5@I]I]K5٢m6= m@=9m:Q m>qq uG٣q Iy6 > Nusing accuracyPremultiplier from config49D$?4Y L tIiB,?:j2@fD);*(;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj7;Jj7; ProNav: ac range: 454.200012 m, nav range: 237.743118 m, bearing: 27.058487 deg, approach rate: 0.213588 m/s, LOS rate: 0.160451 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173639 deg. 2j;;:j>@HeadingCmd: 4.820139 target range: 454.200012 and range: 515.00 m. jjjjih h h h yBfffrfbf՘e@ɛ!%`; !%>I) -lɚ)iIIMH)=IUiUo*iU-)Y)YEaEesA*F%?2F!:F!BF%-5JF)G1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569799GM OPG! B1 OM >zK FJK 9K K L K H 9>I  I /$II |BI =&I .I 6I ϰ<:I F.w,*A>@Y>@>-*$9>>y>H6?U?w@@.6?m /??[?ɨ>@>iZ;>+CyVSBZ#I`bAIfIfJ5٢jĴ= jT=9n;Q r>tt vG٣xy~BP ~>  Nusing accuracyPremultiplier from config 49 '?4Y L i Bt2@ oD ; ; 4! %@!ZjFNOT Ignoring new targets: 454.20 m.Bj);Jj); ProNav: ac range: 454.200012 m, nav range: 237.822998 m, bearing: 27.118205 deg, approach rate: 0.198669 m/s, LOS rate: 0.148474 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154279 deg. 2j;:j;@HeadingCmd: 4.819801 target range: 454.200012 and range: 515.00 m. jjjjihh!h!h!f!f)f)rf)bf-e@ɛB1< 隽>I ɚiI(=Ii*iŽ))UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.823370 }z$?I*F2F:FBF5JFGxG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073707h4w,8AyvcBv$I~G1 VYyA=Mb@Mb@Mb@999 9)9Y=?Zd;O?~jt?y=f&?=j<==D<9 =C@)=@I=~@9y=@II-I5٢= 0=9Q > G٣8Gy > Nusing accuracyPremultiplier from config49,?E4YL iBM&?U:UUU2@xD<Ж<4]̒B ]@]yEZjFNOT Ignoring new targets: 454.20 m.Bj*;Jj*; ProNav: ac range: 454.200012 m, nav range: 237.912796 m, bearing: 27.187122 deg, approach rate: 0.194787 m/s, LOS rate: 0.149437 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.181860 deg. 2j;:j?@HeadingCmd: 4.820283 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfe@ɛBؤ:< >I шɚiI&(=Iif*id)) *F2F:FBF\4JF aIamWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.328152G !G B O >);w,}A:@Y:M@: 9:>y:H׹?q?` 1?uFC?!?@?ɨ:@:cA;:,CyFmBF$IIVIVA5٢^"t= ^p=9^ޘ;Q b?`` bG٣`yf|D f? jNusing accuracyPremultiplier from confighn49j1/?n4Yj^L ijBprwr2@jDj ;j\ ;j4t v@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 454.20 m.Bj%p3;Jj%p3;5 ProNav: ac range: 454.200012 m, nav range: 237.979630 m, bearing: 27.238015 deg, approach rate: 0.206071 m/s, LOS rate: 0.156877 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127823 deg. 2j5S;:j58@=HeadingCmd: 4.819340 target range: 454.200012 and range: 515.00 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfUe@ɛy< 隅p>I tɚiI?(=Ii++ig))Ea>E >JJJ/JJ̈́:J59J(N3Ja@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583021*FU?2FQ:FQBFU^0JFQ"GYG]=Hm;>ImC Im[$IImBIm =&Ii.Ii6Im<:Im FzKJK+9KKM KG}ԑGQBYOu> I IM gj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8338987Bw, A2@Y2@2$92έ >y2H ?@2?+ ^⻹?wk?T(?ҵ?ɨ2@2t;2)Cyb|Bb/$I df=IjIjjC5٢va= vG=9v:Q v>xx zG٣xyza ~>  Nusing accuracyPremultiplier from config492?4YRL iB2@D::4%͒B % @%vEZjIMFNOT Ignoring new targets: 454.20 m.BjU*;JjU*;e ProNav: ac range: 454.200012 m, nav range: 238.060730 m, bearing: 27.299419 deg, approach rate: 0.197513 m/s, LOS rate: 0.149492 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.159334 deg. 2je0;:je<@mHeadingCmd: 4.819890 target range: 454.200012 and range: 515.00 m. jijijijqiqhqhqhyhyfffrfbf-e@ɛB < 隽>I @ɚiI'=IiБ+i))*Fm?2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.w=Hw," A>w@Y>@>C޻9>t >y>H}ƹ?@?3. 7ƹ?` |@f{?3?~?ɨ>w@>;>*CyFBF@$I pIp-Mb@Mb@Mb@))) )))=Will construct direction to contact in vehicle frame from tetrahedron phase data.= G٣8Gy8: > Nusing accuracyPremultiplier from config49q6?4YL iB?:?2@D;;c4 3@ZjFNOT Ignoring new targets: 454.20 m.Bjt;Jjt; ProNav: ac range: 454.200012 m, nav range: 238.139496 m, bearing: 27.357719 deg, approach rate: 0.174228 m/s, LOS rate: 0.128916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150029 deg. 2j;:j5;@HeadingCmd: 4.819727 target range: 454.200012 and range: 515.00 m. jjjjihhh)h-܄Bf)f1f1rf1bf5e@ɛF< 隽?I A~ɚiI'=IiQ+ig))*F?2F:FBF_0JFJJJ0JJ]:J[9Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.Ha Ia  Ie $IIe ȅBIe  =&Ia .Ia 6Ie <:Ie k FBI!JI!RI!ZI!bI!jI%˹5zK JK 9K K N K RK ?JK ?fNw,g< A2@Y2[@20i927 >y2H@y?? f1hK?ƚ x?@t4??ɨ2@2BO;0y~BF$II%I%=5٢]X< ]M=9eH;Q m>q G٣y > Nusing accuracyPremultiplier from config499?4YTL iBF2@D <1N<4 @ZjFNOT Ignoring new targets: 454.20 m.Bj !;Jj !; ProNav: ac range: 454.200012 m, nav range: 238.215683 m, bearing: 27.413852 deg, approach rate: 0.191163 m/s, LOS rate: 0.140800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143531 deg. 2jB;:jG:@HeadingCmd: 4.819614 target range: 454.200012 and range: 515.00 m. jjjjihh)h1h1f1f1f1rf9bf=e@ɛ IMWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Response Not Received U*response not receivedU,DAT read: user:1178> ]BDAT read: Tx time:20:12:20.4318 ]$Ping request sent.]PUw,sJV A 8:@ @Y i@ 9  >y H??R<qͧ?d䁿ws?`B??ɨ @ ; y%B-\$IMb@Mb@Mb@ )YOn?S㥫?~jt?y?/]=< )IyIIP@5٢ =  ?=9 ;Q  > G٣y7 > -Nusing accuracyPremultiplier from config)549-=?54Y-L i-B=G?=:=C=2@-D-$;-a#;-4E˒B E@EyEZjy}FNOT Ignoring new targets: 454.20 m.Bj$;Jj$; ProNav: ac range: 454.200012 m, nav range: 238.288254 m, bearing: 27.471701 deg, approach rate: 0.180878 m/s, LOS rate: 0.144140 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148680 deg. 2j;:j;@HeadingCmd: 4.819704 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf ?e@ɛe< d ?I (qɚiIH&=Ii,i))*Fe?2Fi:FiBFm1JFi IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502193GIG) BI O} >Dx[w,p A6@Y6@6m96 >y6HL??`wNv2 ?N|E"w?Q??ɨ6@6;4yNBRc$IIZIZ25٢b< bb=9b Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49nA?r4YnjL inBpvv2@nDnu:n2:n$4x zX@xB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 238.351227 m, bearing: 27.521255 deg, approach rate: 0.169027 m/s, LOS rate: 0.132975 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123810 deg. 2j;:ju7@HeadingCmd: 4.819270 target range: 454.200012 and range: 515.00 m. jjjjihhhhfff!rf!bf% e@JJJJJJ9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754121ɛ< ?I iɚiIn&=Iic-i))1jH <bH *F!2F!:F!BF%`5JF!HI I$IIBI =&I.I6I<:I FzKa3JK9KKO KGM T I G! B1 OU >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006006_bw,s A6ܒ@Y6@6m96>y6H@?`ď? _?N~@-w? ??ɨ6ܒ@6;4yBBBb$IIJIJ%.5٢R@ RL=9RQ V>TT VG٣V8GyZB Z> ^Nusing accuracyPremultiplier from config\b49^D?b4Y^L i^Bdff2@^D^X;^;^ 4h jb@hZjFNOT Ignoring new targets: 454.20 m.Bj ";Jj "; ProNav: ac range: 454.200012 m, nav range: 238.421402 m, bearing: 27.576191 deg, approach rate: 0.181604 m/s, LOS rate: 0.142124 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139944 deg. 2j;:j9@%HeadingCmd: 4.819551 target range: 454.200012 and range: 515.00 m. j!j!j!j!i)h)h)h)h)f1f1f1rf1bf={ f@ɛamͭ< im?Ii uKcɚqiqIu &=IiL.i))*F?2F:FBFU0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271577G>uGBO>hw,У A $I&hjyBr$I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522097Mb@Mb@Mb@ )Yi|?5?y&1?I +?y?`e=94<`A )@I@yII_,5٢b= 7=9Q > G٣y > Nusing accuracyPremultiplier from config 49H? 4Y5M iB e?:q2@D<<4 @ZjaeFNOT Ignoring new targets: 454.20 m.Bj\ ;Jj\ ; ProNav: ac range: 454.200012 m, nav range: 238.494202 m, bearing: 27.634925 deg, approach rate: 0.151063 m/s, LOS rate: 0.121839 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151334 deg. 2j;;:jd;@HeadingCmd: 4.819750 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf `f@ɛY]< Y] ?IY eYɚaiaIe%=Ii.i))*F=?2FA:FABFE4JFAJJJJJ̈́:Jm9JJ- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774062G H <>I  I $II BI  =&I .I 6I t<:I X FGY Bi O >Xnw, AzK"VBJK"9K K"P K">@Y>F@>/`9>L >y>H׹??C-? l?fN?ິ?ɨ>@>!$;>(CyFBFj$IIRIR=5٢Z Z`=9^[;Q ^>\` bG٣`yb < b> jNusing accuracyPremultiplier from configdj49f3L?j4Yf M ifľBl==2@fDfhE Will construct direction to contact in vehicle frame from tetrahedron phase data.-uw,% Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.280788yޕBޕh$I%Mb@Mb@Mb@!!! !)!Y%ʡE?&1?~jth?y%?%P=%D;%IA %Z@)%@I%@!y%\@I=I=:5٢M# M3=9}Q }> G٣8Gy > Nusing accuracyPremultiplier from config49\P?4YWM iƾB5?:2@ƴD;8;c#4 @ZjFNOT Ignoring new targets: 454.20 m.BjA;JjA;u ProNav: ac range: 454.200012 m, nav range: 238.628616 m, bearing: 27.742878 deg, approach rate: 0.168638 m/s, LOS rate: 0.133985 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155145 deg. 2ju;:ju;@}HeadingCmd: 4.819817 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhhhhBfffrfbf4f@ɛ< !%?I! -bJɚ)i)I-$=I5i5:/i5oª)1)9 !I!*F-?2F):F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530042G= TGM ?GM >G B! OE >{w,a A6z#@Y6#3@6[P96< >y6H,?l?`w?[G` *? }y?M?ɨ6z#@6\;6)Cy>BB[$IIJIJB5٢Ri Rj=9R Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034173w,T9 A:/@Y:y:H??cjA? Q ??ɨ:/@:pC;:'CyBBFR$IIRIRgG5٢Z  ZI=9^G;Q ^>  G٣ y h;  > =Nusing accuracyPremultiplier from configE49`W?E4Y_M iʾBAEۯM2@ӴD#;=3;04 $@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;  ProNav: ac range: 454.200012 m, nav range: 238.750214 m, bearing: 27.841116 deg, approach rate: 0.155688 m/s, LOS rate: 0.125868 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136913 deg. 2j ì;:j U9@HeadingCmd: 4.819499 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhAhAfIfIfIrfQbfmqNf@ɛ߾< 隝?I E<ɚiI$=Ii..i 9) ) )Y eCJJJJJ:J9JJJm;aJn;aJ ;aJ ;aWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289487G*F? 2F:F9BF9JF9 M-YIyMR BG] ! I G9 BA O] >~܈w,*% Ay=B=E$IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538190-only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 20.00,1580.39  @ @ @  @ IIp;5٢G 9=9Q > G٣8Gy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49b[?4Y"M i̾B+::2@۴D1l;>64 @ZjFNOT Ignoring new targets: 454.20 m.Bj8 ;Jj8 ; ProNav: ac range: 454.200012 m, nav range: 238.819626 m, bearing: 27.897031 deg, approach rate: 0.150056 m/s, LOS rate: 0.120842 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142881 deg. 2jݥ;:j/:@HeadingCmd: 4.819602 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf\f@ɛB0|< 隅?I 5ɚiI#=Ii.i39))E*FU?2FQ:FQBFU0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790273H =>I  I $II BI &I .I 6I <:I z FG G B O >w,o> AzK2COK2 9K0K2R K26}a i7 B\D@YBT@B`;9Bh >yBHU2??<"Xۻ?઻b@J_?-?ɨB\D@B;B)CyJ|BJ/$IIvIvD5٢z ~Y=9~Y;Q ~> G٣y o;  > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%49^?%4Y(M iξB- :15w:552@D;NO? ;4Y ]@YZjFNOT Ignoring new targets: 454.20 m.BjV#;JjV#; ProNav: ac range: 454.200012 m, nav range: 238.879669 m, bearing: 27.945672 deg, approach rate: 0.176316 m/s, LOS rate: 0.142799 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.121074 deg. 2j;:j7@HeadingCmd: 4.819222 target range: 454.200012 and range: 515.00 m. jjjjihhhhf f frfbfff@ IɛIM9< QU>IQ U0ɚQiQIU#=I]i]c-ie.&;)a)a}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045729*F?2F:FBF`5JF G) G B) OM >J J J J J ]:J H9J J J 9;J :;J Q;J Q;% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297228w,0X A=N@Y=]@=#?K;9=p >y=H ??!D . ?@gik? ³?ɨ=N@={;;=(CyMnBM$I        Mb@Mb@Mb@ )Y +?&1?AA EG٣AyM.; U> ]Nusing accuracyPremultiplier from configQ]49UQc?e4YU.M iU;BeT:e]?e:ee2@UDUu ;U ;UB4q u@yZjFNOT Ignoring new targets: 454.20 m.BjA;JjA; ProNav: ac range: 454.200012 m, nav range: 238.954941 m, bearing: 28.006364 deg, approach rate: 0.171650 m/s, LOS rate: 0.138358 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157203 deg. 2j;:j;<@HeadingCmd: 4.819852 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfmI )ɚiIO#=Ii*-idxX;))  Ijj*F?2F:FBFK5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.546039G :G ?G >G B O >Fw,r A6OV@Y6e@6Цm;96k >y6H?G?`[6\?`lDմm _?"?ɨ6OV@6ԇ;4yBaBB$IIJIJjC5٢R{ Vi=9V:Q V>XX ZG٣Z8GyZ;; Z> bNusing accuracyPremultiplier from config`f49bf?j4YbM4M ib̾Bhjoj2@bDb1;bC;bH4rɒB r@r|E~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 454.20 m.Bj;Jj;% ProNav: ac range: 454.200012 m, nav range: 239.014175 m, bearing: 28.054126 deg, approach rate: 0.169093 m/s, LOS rate: 0.136312 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118439 deg. 2j-;:j-6@-HeadingCmd: 4.819176 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h1hhfffrfbf`if@ɛ BYl< 15T>I9 =7%ɚ9i9I=#=IEiERh,iES;)A)IEYEYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798765*F ?2F :F BF _0JF jHIbHM<HQIQ IU$IIU҅BIU =&IQ.IQ6IU<:IU FBI-ĠCJI-ĠCRI)ZI- =bI- =jI-._5zK6/NK9KKS KG>F; IGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050105w,ς A:XY@Y:i@:;9: >y:H@ ټ??`"r?ѐ`pM?@´?ɨ:XY@:Z;:)CyRQBR#I)T TXZAI^I^Q5٢f fH=9jF:Q j>hh jG٣lynm: n> vNusing accuracyPremultiplier from configpv49rj?v4Yr:M ir˾Bxzcz2@rDr*:r:r!P4| ~@Zj!%FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;E ProNav: ac range: 454.200012 m, nav range: 239.083115 m, bearing: 28.109584 deg, approach rate: 0.169373 m/s, LOS rate: 0.136212 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141511 deg. 2jE;:jE9@MHeadingCmd: 4.819579 target range: 454.200012 and range: 515.00 m. jIjIjIjQiQhQhQhYhYfYfYfarfabfef@ɛa< 隍P>I [ ɚiI"=Ii5+iA;))*F5?2F1:F1BF1JF1JJJJJ̈́:J59JJJ;J;J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.309687G!j;GBO> i Ii %w,O] A6y6H'?@"?`@4?CJ sJ?I?ɨ6Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.558168Q mG٣iyuE;; u> Nusing accuracyPremultiplier from config-49o?-4YAM iɾB5"?U:U]2@D< <W4a m@iZjQ]FNOT Ignoring new targets: 454.20 m.Bj];Jje; ProNav: ac range: 454.200012 m, nav range: 239.162460 m, bearing: 28.174452 deg, approach rate: 0.166677 m/s, LOS rate: 0.136220 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169727 deg. 2j;:j>@HeadingCmd: 4.820071 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfrf@ɛEBEC< AEg>I gɚiI "=I i4*iȱ;))*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810114He ;>Ia  Ie g$IIe BIe  =&Ia .Ie 7D6Ie |<:Ie _ FG @;G G G B O >Rw,< A2`@Y2@p@2ib;92>y2H??L@(?@yI`Hls?ö?ɨ2`@2!/;2+CyZ*BZ#IzK^VBJK^9K\K^T K^IjIjK5٢ŗ rQ=9v>r9Q v>tt zG٣z8GyzY z> Nusing accuracyPremultiplier from config|49~s? 4Y~GM i~ȾB   2@~ D~:~C:~O^4ʒB @yEZjAEFNOT Ignoring new targets: 454.20 m.BjM6;JjM6;] ProNav: ac range: 454.200012 m, nav range: 239.228485 m, bearing: 28.228138 deg, approach rate: 0.196538 m/s, LOS rate: 0.159762 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136197 deg. 2j]I;:j]:9@eHeadingCmd: 4.819486 target range: 454.200012 and range: 515.00 m. jajajajaiihihihihqfqfqfqrfybf}f@ɛB&q< 隥w>I ɚiI5"=Iix)i;)) |$?I*F-?2F1:F1BF5p0JF1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.062284GU{/;G)B9Om>J J J J J =:J [9J J J ӥ;J ԥ;J ;J ;% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.316964Z;w,d# Ac@Yr@5;9 z>yH%?0?` ? /Fu@G?=?ɨc@;騅)Cyޝ#Bޝ#I p=Mb@Mb@Mb@ )YJ +?v/?:vy(?T C@)@I@y@II0E5٢, /=9}:Q > G٣y!&: > Nusing accuracyPremultiplier from config49x?4YOM ižB])?:-2@D;;|f4 w@ Zj)5FNOT Ignoring new targets: 454.20 m.Bj5-;Jj=-;M ProNav: ac range: 454.200012 m, nav range: 239.317337 m, bearing: 28.299158 deg, approach rate: 0.189913 m/s, LOS rate: 0.151743 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.188167 deg. 2jMG;:jM@@UHeadingCmd: 4.820393 target range: 454.200012 and range: 515.00 m. jQjYjYjYiYhYhahihmBfififirfqbfuf@ɛBl< ,>I %"ɚ!i!I%"=I-i-8(i-q;)))1 I*F?2F:FBFn0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566722G G B O >aw,- A>-\@Y>k@>=;9>>y>H? ?ec?m`gu>?5?ɨ>-\@>ه;>(CyFBF#IIRIR R5٢^u bt=9b8Q b?dd fG٣dyf# f? nNusing accuracyPremultiplier from confighr49j|?r4YjUM ijľBprHr2@jDj ;j ;jUl4vɒB z*@z|E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 454.20 m.Bj%:-;Jj%:-;5 ProNav: ac range: 454.200012 m, nav range: 239.381241 m, bearing: 28.349878 deg, approach rate: 0.190864 m/s, LOS rate: 0.151448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127306 deg. 2j=;:j=7@EHeadingCmd: 4.819331 target range: 454.200012 and range: 515.00 m. jAjAjIjIiIhIhIhQhQfQfQfQrfYbf]@f@ɛ6@< 隍)>I WɚiI."=Iix'iʓ;))J9J=@AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818991*F?2F:FBF_5JFH9>IC I5$IIBI =&I.I6I<:Io FzKJK 9KKU K&72#  + BK-rA:K)G5w; IkjGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071479NLw,E ABX@YBrh@B먱;9B8>yBH@Լ?`?G@Be?p@5v?`?ɨBX@B B;B+CyR BR#IIrIrK5٢zs> zF=9z9Q ~>|| ~G٣~8Gy䃺 >  Nusing accuracyPremultiplier from config 49 J?4Y \M i ¾BV%2@ #D A;  B; s4) -@)ZjIUFNOT Ignoring new targets: 454.20 m.Bj]!-;Jj]!-; ProNav: ac range: 454.200012 m, nav range: 239.460190 m, bearing: 28.412190 deg, approach rate: 0.191837 m/s, LOS rate: 0.151361 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162060 deg. 2j;:j<@HeadingCmd: 4.819937 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbff@ɛn< y>I  ɚiI"=IiZ&iً;))*Fm?2Fi:FiBFm05JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326210Gmg;GIBQOm> I vw,>' A 2 M@Y2\@2;92 >y2H Dw?*?ง@ ?@y@u?`Ϲ?ɨ2 M@2;2)CynBn#ItvAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.576258Mb@Mb@Mb@ )YʡE? ףp= ?{Gzy-2?Q8=#IA )@I@yf@I I H5٢ h 1=9XQ > G٣yyK > Nusing accuracyPremultiplier from config49?4YdM iB2?:]2@-D9;7;{41 5@1ZjqFNOT Ignoring new targets: 454.20 m.Bj1;Jj1; ProNav: ac range: 454.200012 m, nav range: 239.562210 m, bearing: 28.486029 deg, approach rate: 0.214922 m/s, LOS rate: 0.155488 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.196609 deg. 2jk;:jA@HeadingCmd: 4.820540 target range: 454.200012 and range: 515.00 m. jjjjihhhhLBfffrfbf f@ɛmBmԉ; imB^>Ii u ɚqiqIu"=I}i}%i}F;)y)*F2F:FBF_5JFJK|3 KS}-KK"KJUJUJQJQJU:JUH9JQJQae@ae@ae@ae@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826067H I  I $II ^BI  =&I .I 6I °<:I FG .A;Gq B O >Zw,x}A A:'E@Y:T@:;9:K_>y:H8??=`6ϻ?擿8t? w?ɨ:'E@:C;8yFBF~#IININuZ5٢V Zs=9ZEQ Z?X\ ^G٣\ybI; b? fNusing accuracyPremultiplier from configdj49f?j4YfkM ifBhj}n2@f5Df;f;fz4  @  aIazKeLKe9KaKeV Ke *.,)RKu?JKu?ZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 239.635483 m, bearing: 28.538671 deg, approach rate: 0.212739 m/s, LOS rate: 0.152794 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133065 deg. 2j;:j8@HeadingCmd: 4.819431 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbff@ɛIM; QUl7>IQ ؙɚiI"=Ii%is;))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078984*F?2F:FBF^0JFG;Gi Bq O >u ~G Y y A Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=8.333306tw,f[ AyUBU#IMb@Mb@Mb@ )Yv?{Gz?MbPy8?#=3A -@)@Iy@II&Q5٢5q< 5=9=Q =>9A UG٣U8GyU ]> eNusing accuracyPremultiplier from configYm49]̎?m4Y]tM iYm9?m:m೿u2@]AD];]3;]4}ǒB }C@}EZjFNOT Ignoring new targets: 454.20 m.BjB;JjB; ProNav: ac range: 454.200012 m, nav range: 239.759109 m, bearing: 28.624013 deg, approach rate: 0.246575 m/s, LOS rate: 0.170128 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.231079 deg. 2j;:jF@HeadingCmd: 4.821142 target range: 454.200012 and range: 515.00 m. jjjjihhhh6Bfffrfbff@ɛ  n; E>I wɚiI'"=Ii% H$i%;)!)!*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.584278G5 ;G B O= >w,S u AV+@YVQ;@V;9V>yVH@m?? o@D ?˰` r?`̺?ɨV+@V;V(CyfBf{#IInIn)M5٢vm v=9zQ ~?|| ~G٣|y/ ?  Nusing accuracyPremultiplier from config 49 ?4Y OzM i F2@ GD ; ; 4%ȒB %@%|EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 454.20 m.Bj]9;Jj]9;m ProNav: ac range: 454.200012 m, nav range: 239.828888 m, bearing: 28.671509 deg, approach rate: 0.238405 m/s, LOS rate: 0.162227 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117633 deg. 2jm;:ju6@}HeadingCmd: 4.819162 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhyhyhhfffrfbf_g@ɛVK; 2>I !ɚiIq"=Ii $iV))E]>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835138*FM?2FI:FIBFIJFIGQ GUrAjH<bHHI I#IIIBI&I.I6I<:I F YI]ljGzKnLK9KKW K('(%""   GaBqO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086207'w,JЎ Af@Yfw*@fy};9f>yfH?`?k@C?֑o?` ?ɨf@f%;f)CyrBr#IIzIz@T5٢< I=9 βQ  >  G٣y\ > %Nusing accuracyPremultiplier from config!-49%?-4Y%M i%B1552@%QD% ;% ;%ʖ4 @ZjFNOT Ignoring new targets: 454.20 m.Bj4;Jj4; ProNav: ac range: 454.200012 m, nav range: 239.926926 m, bearing: 28.737577 deg, approach rate: 0.234764 m/s, LOS rate: 0.158143 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173308 deg. 2j;:j>@ HeadingCmd: 4.820134 target range: 454.200012 and range: 515.00 m. j j j j i hhh1h9f9f9f9rf9bfEg@ɛڣ; 隍N=>I v2ɚiI"=Ii#ij))*F?2F:FBFg0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341475Gi{G B O > U }$?IQ w,հ A:c@Y: !@:m;9:>y:Hߜ?@?i'E?m m/?3?ɨ:c@:B~;8yJBJ~#I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.590831UMb@Mb@Mb@QQQ Q)QYU5^I ?X9v?Mbp?yU8?U G٣8Gy " > Nusing accuracyPremultiplier from config49? 4YM iB-<8?5:5Z52@\D@;;49 =@9ZjFNOT Ignoring new targets: 454.20 m.Bj9;Jj9; ProNav: ac range: 454.200012 m, nav range: 240.043427 m, bearing: 28.812359 deg, approach rate: 0.252882 m/s, LOS rate: 0.162246 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.199422 deg. 2j;:jEB@HeadingCmd: 4.820590 target range: 454.200012 and range: 515.00 m. jjjjihhhh/Bfffrfbfg@ɛ ;  7>I  ɚiI"=IiN#iJw3))*F?2F:FBF`0JFJUJUJU1JQJǗ:JU59JU3JQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.841980H I  I #II ?BI &I .I 6I <:I FBIɟCJIɟCRIZI =bI =jIF:5G i"Gy B O >w,D A @6b@Y6 @6)_L;96ru>y6H`]=?`?8b@ ?e`iق??ɨ6b@6mJ;4yRBR#IIZIZ~N5٢b>< bk=9fQ f?dd jG٣hyj] j? tIvmj zNusing accuracyPremultiplier from configtz49v?~4YvM iv¾B|~2@vcDv] ;v ;vˤ4 ǒB c@ EZj)5FNOT Ignoring new targets: 454.20 m.Bj5=;Jj==;M ProNav: ac range: 454.200012 m, nav range: 240.128571 m, bearing: 28.866561 deg, approach rate: 0.259664 m/s, LOS rate: 0.165241 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137735 deg. 2jM;:jMs9@UHeadingCmd: 4.819513 target range: 454.200012 and range: 515.00 m. jQjQjQjQzKLK 9KKX KiQhhhhfffrfbf`(g@ɛIM`; Qu@>Iq uɚqiqI}iy"=I}i3$ieY))UWill construct direction to contact in vehicle frame from tetrahedron phase data.U Will construct direction to contact in vehicle frame from tetrahedron phase data. >yH? ? k?rf`d?`a?ɨ@Ç;*CyB#IMb@Mb@Mb@ )Yd;O?y&1?y&1|?y4?`<`;A )@I@y @IIDP5٢R7= *=9O?Q > G٣y%ú %> -Nusing accuracyPremultiplier from config)549-?54Y-ʙM i-ľB=4?=:=%=2@-nD-z;-;-&4I M@IZjquFNOT Ignoring new targets: 454.20 m.Bj}3;Jj}3; ProNav: ac range: 454.200012 m, nav range: 240.249008 m, bearing: 28.941858 deg, approach rate: 0.251557 m/s, LOS rate: 0.157193 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.200963 deg. 2j;:j}B@HeadingCmd: 4.820616 target range: 454.200012 and range: 515.00 m. jjjjihhhhSBfffrfbfQ7g@ Iɛs ; W>I uɚiIQk"=Ii^$i{))*F2F:FBF`5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Ow,q< A6H@Y6 @60;96>y6H`?@ُ?@@?@Q ft?G?ɨ6H@6 ;4yVBV#IIbIb R5٢jn= jx=9j~`Q n?ll nG٣r8Gyr%κ r? vNusing accuracyPremultiplier from configtz49v]?z4YvܟM ivžB|~6~2@vvDv;v;v4 @ -B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 454.20 m.BjE3;JjE3;U ProNav: ac range: 454.200012 m, nav range: 240.332321 m, bearing: 28.993662 deg, approach rate: 0.252503 m/s, LOS rate: 0.156951 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130544 deg. 2jUm;:jUk8@]HeadingCmd: 4.819387 target range: 454.200012 and range: 515.00 m. jYjYjYjaiahahahahifififirfibfu`Ag@ɛB-< 隝k>I ɚiIU"=Iis$iT))JJJ0JJ]:JJـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1179> -m Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Tx time:20:12:31.3819 } $Ping request sent.} yVH ҟ?Ő?d&T?aKb`6? L?ɨV@Vׇ;V)Cy- B5#IIIL5٢= ==9Q > G٣yG3 > Nusing accuracyPremultiplier from config49馯?4Y֧M iǾB]2@D ;: ;w4 @Zj FNOT Ignoring new targets: 454.20 m.Bj3;Jj3;% ProNav: ac range: 454.200012 m, nav range: 240.442383 m, bearing: 29.061625 deg, approach rate: 0.254791 m/s, LOS rate: 0.157262 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178983 deg. 2j%;:j-X?@5HeadingCmd: 4.820232 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h1h9h9h9f9f9fArfAbfE Og@ɛiu< qu|>Iq uAɚqiqI}:"=I}i}%i|))*FE?2FA:FABFAJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249926GmTGA BQ Om > I  w,) AZҒ@YZ@Z:9Z=yZH`V?:?`4>?@NUBǼ??ɨZҒ@ZK;Z*CynBr#IWill construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502373Mb@Mb@Mb@ )YX9v?X9v?~jt?y3?<D< Z@)@I@y@IIE5٢ = J=9sQ > G٣y$ > Nusing accuracyPremultiplier from config496?4Y=M iʾB3?:W2@D;;4 &@ZjFNOT Ignoring new targets: 454.20 m.Bj);Jj); ProNav: ac range: 454.200012 m, nav range: 240.544785 m, bearing: 29.124647 deg, approach rate: 0.241438 m/s, LOS rate: 0.148527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164171 deg. 2j;:j:=@ HeadingCmd: 4.819974 target range: 454.200012 and range: 515.00 m. j j j j i hhhhvBfffrfbf%`]g@ɛn0< 隕Ӆ>I :ݻɚiIQ"=Ii%id))*F]?2FY:FYBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758795J J J J J :J J J HQ IQ  IU #IIU SBIQ &IQ .IQ 6IU <:IQ Gu ҸG B O >w,lC A $I*nj:(Ԓ@Y:@:D89:=y:H`??`}Y?`??ɨ:(Ԓ@:;:,CyF&BF#IININ35٢V= V\=9ZΣQ Z>XX ZG٣Xy^`9 > 5Nusing accuracyPremultiplier from config)549-Z?54Y-HM i-;B9=T=2@-D-X;-;-;4UŒB U@UEZjq}FNOT Ignoring new targets: 454.20 m.Bj,<;Jj,<; ProNav: ac range: 454.200012 m, nav range: 240.642441 m, bearing: 29.184554 deg, approach rate: 0.268287 m/s, LOS rate: 0.164515 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154836 deg. 2j;:j;@HeadingCmd: 4.819811 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf hg@zKKKػ9KKZ K "-//.RK ?JK?ɛB|< >I )ֻɚiI!=I i \&i $ ) )*F?2F:FBF`0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007717GZGaBO<> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257859w,ϻ] AՒ@Y@^89Z=yHø?F? j ?_· ?i?ɨՒ@qێ;)CyMb@Mb@Mb@ )Y/$??:v?y1(?<T<IA )I@y\@II-5 1I99=Q =>AA EG٣E8GyM9 M> UNusing accuracyPremultiplier from configQ]49UӰ?]4YUqM iUѾB]X(?e:e!e2@UDUi);U';U4mƒB m @uEZjFNOT Ignoring new targets: 454.20 m.Bj&;Jj&; ProNav: ac range: 454.200012 m, nav range: 240.757675 m, bearing: 29.253693 deg, approach rate: 0.242810 m/s, LOS rate: 0.145612 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182502 deg. 2j;:j?@HeadingCmd: 4.820294 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf!xg@ɛB:N< 隭Z>I ?̻ɚiI0!=Ii'i ))*F?2F:FBF_0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511010G G G rAG B O >>w,w ABܒ@YB@B99B=yBH?? Ƹ?@{@9ܿ?L?ɨBܒ@B[;@yN5BN#IIVIVN5٢b= b<9b~:Q f ?dd fG٣dyjA/; j ? nNusing accuracyPremultiplier from configlr49n2?r4YnM inԾBpvv2@nDnL:n:n,4x z@xB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m.Bj-%;Jj-%;E ProNav: ac range: 454.200012 m, nav range: 240.835922 m, bearing: 29.300587 deg, approach rate: 0.241770 m/s, LOS rate: 0.144847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115823 deg. 2jE;:jEQ6@MHeadingCmd: 4.819130 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbf]qg@ɛfۥ< 隝>I ƻɚiID!=Ii}%(i))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763333jHbHH8>I I$IImBI =&I.I6I<:I F*FM?2FI:FQBFU1JFQ )I)Guw GIBQzKmLKm9KiKm[ Km-++)'&!!"        BK:KO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015149=$$w,^ AB@YB@B+:9B]}>yBHZ?? K ?`Č`}Vd?@?ɨB@B;B-CyN=BN#IIVIVB5٢^&= bK=9b%!;Q b>dd fG٣dyjl; j> nNusing accuracyPremultiplier from configl-49n0?-4YnM in׾B1=ܷ=2@nDn7_I9 =Teɚ9i9IEF!=IEiE$(iMߤӻ)I)I) ]Gy*F?2F:FBF`5JF YynBJmJmJiJiJm]:Jmm9JiJiJm9;auJm:;a}Jm;a}Jm;aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266034G>uGqBO>  I R*w,K A>3@Y>@>y:9>>y>HĹ?@?@a_z?@ 3@>j;>)CyFFBF#I~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5181835Mb@Mb@Mb@111 1)1Y5Pn?~jt?Mb?y5$?5=5<5A 5p@)5@I5@1y5G@IUIUm?5٢e,= e@=9e:Q m>ii mG٣m8Gyu^y; u> }Nusing accuracyPremultiplier from configy49}ƹ?4Y}M i}۾Bo$?:2@}D}3;};}4]ŒB ]@]EZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 241.029144 m, bearing: 29.420125 deg, approach rate: 0.220141 m/s, LOS rate: 0.140389 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.157903 deg. 2j;:j%U<@MHeadingCmd: 4.819865 target range: 454.200012 and range: 515.00 m. jIjQjQjQiQhQhQhYh]BfYfYfarfabfg@ɛB< l>I LOɚiI!=Ii!)i  ) ) E*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769819H9>I I5$IIBI&I.I6I<:Iz FG ̻G G &?G B O% > ~$?I oj461w, A>@Y>@>;9>; >y>H9??`?Z ?+.bwy?G?ɨ>@>%h;>'CyJJBJ#IIVIVJ5٢bw< bV=9b:Q f>dd fG٣dyj8; j> nNusing accuracyPremultiplier from configlr49n?r4YnfM in߾Bpvڴv2@nDn7 ;n;nV4x z@xZjFNOT Ignoring new targets: 454.20 m.Bj%!1;Jj%!1;= ProNav: ac range: 454.200012 m, nav range: 241.114670 m, bearing: 29.474780 deg, approach rate: 0.242412 m/s, LOS rate: 0.154859 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139094 deg. 2j=;:j=9@EHeadingCmd: 4.819536 target range: 454.200012 and range: 515.00 m. jAjAjAjAiIhIhIhIhQfQfQfQrfQbf]3g@ɛB@ < 隍Z>I WdɚiI =IiE)iq))zK}}\MK}h9KyK}\ K} :Viwzy}}z{xiZPHA6) RK ?JK?*FU?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023009GGBO%>J J J J J =:J J J J ӥ;J ԥ;J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276955e7w,! Ay-RB-#I IMb@Mb@Mb@ )YS?X9v?~jtx?y/?<;vA )3@I@y=@I%I%D5٢5< = 5(=95Q =>99 =G٣=8GyE E> UNusing accuracyPremultiplier from configIU49M?U4YM-M iMB]d?]:]]2@MŵDM;M;M4a m*@iZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 241.220917 m, bearing: 29.541080 deg, approach rate: 0.218380 m/s, LOS rate: 0.136213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173998 deg. 2j;:j>@HeadingCmd: 4.820146 target range: 454.200012 and range: 515.00 m. jjjjihhhh܄Bfffrfbfg@ɛ~< n>I ɚiI =I i Q|)i𙀻))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525946G= V'SGA GE sAG B O= >=w, A6Q@Y6)@6O;96 >y6H???@9" Siz??ɨ6Q@6;6*CyrXBr$II~I~>5٢ =  v=9?(;Q ? G٣y< %? -Nusing accuracyPremultiplier from config!-49%tï?54Y%M i%B15^52@%˵D% :%q:%4A E@AeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 454.20 m.Bj}/;Jj}/; ProNav: ac range: 454.200012 m, nav range: 241.293289 m, bearing: 29.586445 deg, approach rate: 0.217903 m/s, LOS rate: 0.136547 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111241 deg. 2jk;:j5@HeadingCmd: 4.819050 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfbg@ɛB|< q>I *$ɚiIB =Ii&g)i))}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:12:34.6202 TRx dataTimestamp_ set to:1736367155.969441ZHRH?AHI IN$IIBI&I.I6I<:I FBIiJIiRIiZIibIm =jImX}4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780158*F]?2FY:FYBF]_0JFY"Ge=Ge= IGusGQBiO>zKMKKK] K% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029926wDw, AR&@YR|6@R{;9R>yRH@iG??@@L@? < po?W?ɨR&@RNR;R(CyjYBj$II~I~P@5٢:; I=9%0:Q %>)i mG٣qyuup; u> }Nusing accuracyPremultiplier from configy49}Ư?4Y}(M i}B-2@}ӵD}5;}i%;}4 @Zj FNOT Ignoring new targets: 454.20 m.Bj;Jj%;5 ProNav: ac range: 454.200012 m, nav range: 241.383774 m, bearing: 29.643256 deg, approach rate: 0.212774 m/s, LOS rate: 0.133539 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145554 deg. 2j5K;:j5:@=HeadingCmd: 4.819649 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhAhAfIfIfQrfQbfUg@ɛyw< 隅>I ňɚiI=Ii, )iڹ))*F?2F:FBFJF JEJEJAJAJE:JE59JAJAJE;JE;JE;JE;}Will construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.297231Gܾ IG B O- >$Jw,, AnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.533740yv^Bv $IMb@Mb@Mb@ )Y+?A`"?~jtx?yv?Y= A Z@)I@IyIIS<5٢;< B=9Q > G٣y > Nusing accuracyPremultiplier from config49ʯ?4YM iB ?:2@۵Dc;;!4ÒB ^@EZj FNOT Ignoring new targets: 454.20 m.Bj[#;Jj[#; ProNav: ac range: 454.200012 m, nav range: 241.466507 m, bearing: 29.700972 deg, approach rate: 0.204795 m/s, LOS rate: 0.142819 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148275 deg. 2j;:j:@HeadingCmd: 4.819696 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf@g@ɛYeG< ae>Ia eVzɚaiiImT=Ii(i=))EE>*F2F:F BF c0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788872H8>I I[$IIBI&I.I6Il<:IP FG- {5 G5 ?G5 9?G B O% > I Qw,_F A6/@Y6Y?@6C;96 >y6H卻?`ځ?ա`U}"?q@I?`a?ɨ6/@6ӡ;4y>[B>$I F=F=IJIJF5٢Vh> V]=9V:Q V>XX ZG٣Z8Gy^@; ^> bNusing accuracyPremultiplier from config`f49bί?f4YbM ibBdfj2@bDbX:bX:b4l r@pZj FNOT Ignoring new targets: 454.20 m.Bj _;Jj_; ProNav: ac range: 454.200012 m, nav range: 241.540375 m, bearing: 29.752518 deg, approach rate: 0.199735 m/s, LOS rate: 0.139335 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129777 deg. 2j?;:jO8@HeadingCmd: 4.819374 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbflg@ɛ=B=>]< 9=>I9 E~@fɚAiAIE^n=IMiMe(iMs9)I)IzKJK9KK^ K$IPQQS[`cb^\]YK@>>;41,!  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038776*F-?2F):F)BF-0JF)GU >G) B9 OU >Je Je Je 1Ja Je ̈́:Je 9Je 3Ja Je ;Je ;Je ;Je ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289900Ww,q:` Av#4@YvC@v@;9vK>yvHF??u@D?NݓD^rʺ??ɨv#4@vγ;v,Cyim$IIIL5٢d 7=99Q  > 9IEpjAI UG٣QyeW: e> mNusing accuracyPremultiplier from configiu49mӯ?u4YmN imBy}}2@mDm_3;m4;m4ĒB @EZjAFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 241.632095 m, bearing: 29.816398 deg, approach rate: 0.191909 m/s, LOS rate: 0.133608 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166756 deg. 2jc;:j=@HeadingCmd: 4.820019 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf Mg@ɛ< g>I pMɚiI:$=I i (i lK:) )*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541936G 9G B O >]w,z A6A@Y6qQ@6 =;96?>y6H?ࢀ?ɋV?Я@tB?@?ɨ6A@6;6)Cy>ZB<Mb@Mb@Mb@ )YCl?X9v?~jtx?yd?}=A @)IyI-I-E5٢=h =V=9=:Q E>AA EG٣AyM; M> ]Nusing accuracyPremultiplier from configQe49Uׯ?e4YUN iUBe5?e:e>e2@UDU;U8;U 4q u@q B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;jH]<bH]<He7>Ia Iea$IIeBIe =&Ia.Ia6Ie<:Ie F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798871 ProNav: ac range: 454.200012 m, nav range: 241.701065 m, bearing: 29.867205 deg, approach rate: 0.188232 m/s, LOS rate: 0.138621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127563 deg. 2jD;:j7@HeadingCmd: 4.819335 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf zh@ɛ9= X< 9=D>I9 E8ɚAiAIEZ=IMimo'im:;)i)qEy*F?2F:F BF S5JF  9I9GE /:GI GI zKm LNKm 9Ki Km _ Km   % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049841G) B9 OU >dw,_ ABB@YBER@BS;9BP >yBHX$?? |`? m? \t ? ?ɨBB@B ;@y^RBb#IdfAIjIjGL5٢r33 rP=9vQ v>tx zG٣z8Gyz9 z>  Nusing accuracyPremultiplier from config49Eۯ?4Y N iB!-;-3@Dc;;#41 5+@1ZjaeFNOT Ignoring new targets: 454.20 m.BjmA#;JjmA#; ProNav: ac range: 454.200012 m, nav range: 241.774765 m, bearing: 29.921340 deg, approach rate: 0.194372 m/s, LOS rate: 0.142729 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137542 deg. 2j;:jl9@HeadingCmd: 4.819510 target range: 454.200012 and range: 515.00 m. jj j j i hh9hAhAfIfQfyrfybf}h@ɛ*< t>I $ɚiIɜ=Iim&i ;))*F?2F:FBFM4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307601 =$?IAG :G B O >jw,%ɭ A6I@Y6Y@6HP;96ke >y6Hb^??o n?d`u???ɨ6I@6i܇;4y>TBB#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557956-Mb@Mb@Mb@))) )))Y-ʡE?MbX9?y&1|?y-?-ʡ=-`;-`A -p@))I-@)y-@IEIEC5٢UG< UD=9U<,:Q U>    G٣ y ; > %Nusing accuracyPremultiplier from config%49௜?-4YN iB-?-:-ߪ-3@D;f;+4=ÒB =@=EZjaeFNOT Ignoring new targets: 454.20 m.BjmH";JjmH";} ProNav: ac range: 454.200012 m, nav range: 241.851944 m, bearing: 29.983317 deg, approach rate: 0.176735 m/s, LOS rate: 0.141878 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161058 deg. 2j};:j}<@HeadingCmd: 4.819920 target range: 454.200012 and range: 515.00 m. jjjjihhhhԄBfffrfbfh@ɛ< >I ɚiIX=Ii&iB;))*F?2F:F BF _0JF J9J=J=0J9J9J=9J=ـ3J9aM@aM@aM@aM@HYIY IYIYIY&IY.IY6I]<:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809968G- ˨;G B O- > ! I) qw, A2P@Y2Z`@2;92 >y2H I?`?ZM? R`hv "??ɨ2P@2S;0y^GB^#IIfIfD5٢vȄ vQ=9vT:Q z>|| G٣ys; >  Nusing accuracyPremultiplier from config 49 /寜?4Y N i BĪ3@  D ; y; 24! %@)ZjIMFNOT Ignoring new targets: 454.20 m.BjU!;JjU!;e ProNav: ac range: 454.200012 m, nav range: 241.917038 m, bearing: 30.035533 deg, approach rate: 0.176383 m/s, LOS rate: 0.141449 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131791 deg. 2jm&;:jm8@mHeadingCmd: 4.819409 target range: 454.200012 and range: 515.00 m. jqjqjqjqiyhhhhfffrfbf`*h@ɛ̼< 隽;>I uɚiIJ=Iib%i)o;))EEzK5VLK59K1K5` K5*FE?2FA:FyBFyJFy Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062812G!<;}G! ]Yaye(AGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314065xw,K A~P@Y~y`@~*;9~` >y~H=?@? M`U?q Ow }? ?ɨ~P@~ZW;~(CyEABM#I Iqj 5=5=IuIu-I5٢)ݼ 0=9ֻ9Q > G٣8GyK8 >  Nusing accuracyPremultiplier from config 49 ꯜ?4Y n N i Bê3@ D e: : D:4! -#@)ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 241.999954 m, bearing: 30.101787 deg, approach rate: 0.172979 m/s, LOS rate: 0.138172 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.173881 deg. 2j;:j>@HeadingCmd: 4.820144 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@:h@ɛ%B-4< )->I1 5ͺɚ1i1I=<=IEiMk$iM2j;)I)Q*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566290G !j;G B O >*'~w,\ A6Y@Y63i@6 ;96 >y6H@ڼ??`M@f[? W-z@?Բ?ɨ6Y@6W;6*Cy>?BB#IMMb@Mb@Mb@III I)IYM/$?/$?{Gzt?yM?M=Mף;MvA M@)M@IIIyM=@I]I]L5٢m mb=9u;Q u>yy }G٣yy@; > Nusing accuracyPremultiplier from config49rﯜ?4Y&N iB%?:s3@Dv";Y!;r@4 9@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bja$;Jja$; ProNav: ac range: 454.200012 m, nav range: 242.060043 m, bearing: 30.151473 deg, approach rate: 0.173847 m/s, LOS rate: 0.143713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124207 deg. 2jA;:j7@ZHRHAAH6>I IT$IIBI&I.I6I<:I FJJJJJJ9JJJa-Ja-J& ;a-J' ;a55HeadingCmd: 4.819276 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhIhMʄBfIfIfIrfQbfU\Eh@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818042ɛ< )-a>I1 5ɚ1i1I5ߤ=I=i=#i=m6;)9)I I*F?2F:FBF`0JFG G"GG}PExceeded connect timeout, disconnecting.zK vKK 9K K a K    % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069839G1 B9 O] >w,;Ayr6Br#IIzIzJ5٢H Q=9 Q  >   G٣y > %Nusing accuracyPremultiplier from config!-49%m?-4Y%.,N i%B))53@%#D%.:%;:%GG4=ĒB =@=EZjaeFNOT Ignoring new targets: 454.20 m.BjuV!;JjuV!; ProNav: ac range: 454.200012 m, nav range: 242.126740 m, bearing: 30.206422 deg, approach rate: 0.171251 m/s, LOS rate: 0.141051 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139990 deg. 2j;:j9@HeadingCmd: 4.819552 target range: 454.200012 and range: 515.00 m. jjjjihh!h!h!f!f)f)rf)bf-@!Rh@ɛ߸< (>I "ɚiIXo=Ii"i֑;))Ee>E>*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322607GBO J> Irj9w,M/A2d[@Y2 k@2>;92) >y2HB?@`? ?_`c?}w?@*?ɨ2d[@2;0yR2BR#I)T TrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.574009EMb@Mb@Mb@AAA A)AYE)\(? rh?~jth?yEG!?EC=ED;A A)E3@IE@AyE@IUIUP5٢ q  ;=9 :Q  >11 5G٣58Gy==: => ENusing accuracyPremultiplier from configAM49E?U4YE\3N iEB]7"?]:]]3@E,DE3{;Ej;EN4’B @EZjFNOT Ignoring new targets: 454.20 m.Bj";Jj"; ProNav: ac range: 454.200012 m, nav range: 242.211578 m, bearing: 30.269365 deg, approach rate: 0.176978 m/s, LOS rate: 0.131257 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.163949 deg. 2j );:j 2=@HeadingCmd: 4.819970 target range: 454.200012 and range: 515.00 m. jjjjihhhh%ƄBf!f!f!rfibfm`eah@ɛBZפ< 隽>I mlAɚiI[;=I i!i#;))*F?2F:FBF0JFGBHI IB$IIBI&I.I6I<:I FBIJIRIZI =bI =jIQ5O->JK3 K.-KK"KJ9J=J9J9J9J=9J9J9J9J9J=;J=;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825821 I w,[HA6U_@Y6n@6T;96h >y6H?`?d-?`f??ɨ6U_@6p;6)CyN&BR#IIZIZ&Q5٢b% bb=9b:Q f>dd fG٣dyj?: j> rNusing accuracyPremultiplier from configlv49n?v4Yn09N inBxzz3@n3Dn:n:n;U4 nManaging dock network, ignoring radio surface power off @ZjFNOT Ignoring new targets: 454.20 m.Bj*;Jj*; ProNav: ac range: 454.200012 m, nav range: 242.280563 m, bearing: 30.320435 deg, approach rate: 0.201531 m/s, LOS rate: 0.149149 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128350 deg. 2j;:j8@HeadingCmd: 4.819349 target range: 454.200012 and range: 515.00 m. jjjjihhh h f f f rfbfkh@ɛ9=< AEt>IA EX+ɚAiAIE=IMiMp iU@;)Q)QzKwLKKKb KRK?JK>*F?2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077964GBO$> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330143(Kw,*bAF^@YFn@FD<9FZ >yFH`? r?@@y? ՗ O?|?ɨF^@F9;F(Cyv(Bz#II5I5R5 yI٢M/)< u4=9]1:Q > G٣y > Nusing accuracyPremultiplier from config 497? 4Y@N iB1553@=D;;]4A M@IZj!]FNOT Ignoring new targets: 454.20 m.Bj!;Jj!; ProNav: ac range: 454.200012 m, nav range: 242.372391 m, bearing: 30.388141 deg, approach rate: 0.190986 m/s, LOS rate: 0.140765 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.178228 deg. 2j6;:j=?@HeadingCmd: 4.820220 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf{h@ɛMBMU< IM>II U&wɚQiYI]!=IiiJ:;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582548*F?2F:FBF`5JFG= }:G B1 Oe >|w,|Aj^b@Yjr@jǼ <9jDQ >yjH ?? 3?`Iw G٣8Gyĕ: > Nusing accuracyPremultiplier from configJ)J-J)J)J)J-H9J)J)J)J)J-Q;J-Q;MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.833934e49?e4YFN iBm?"?m:mm3@DD[<$<c4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bja%;Jja%; ProNav: ac range: 454.200012 m, nav range: 242.443497 m, bearing: 30.440730 deg, approach rate: 0.195553 m/s, LOS rate: 0.144586 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.132906 deg. 2jt;:j8@UHeadingCmd: 4.819428 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhqhuBfqfqfqrfybf@Ch@ɛ=B=*< 9=>IA EɚAiAIE= e$?IaIeim2imo;)i)i*F ?2F:FBFe0JFG!j;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. y:H? |? l?`T16?`K?ɨ:]@:<;:)CyFBF#IIfIf@T5٢n̻ r[=9r,9Q r>tt vG٣tyvpǺ z> ~Nusing accuracyPremultiplier from configx49z ?4YzMN izBȬ3@zLDz7:z7:z{j4 @ZjY]FNOT Ignoring new targets: 454.20 m.Bje,;Jje,;u ProNav: ac range: 454.200012 m, nav range: 242.515778 m, bearing: 30.493895 deg, approach rate: 0.204614 m/s, LOS rate: 0.150457 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134635 deg. 2ju;:ju9@}HeadingCmd: 4.819458 target range: 454.200012 and range: 515.00 m. jyjyjyjihhhhfffrfbf"h@ɛBg< 隽·>I 9ɚiI=Ii'iC;))*F2F:FBF_0JF"G4=G=eWill construct direction to contact in vehicle frame from tetrahedron phase data.eXw,VA:*^@Y:m@:<9:W >y:H1?ނ? @7m?@*??ɨ:*^@:;8yF BF#IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bqq }G٣yy}9 > Nusing accuracyPremultiplier from config49]?4YTN iBq&?:43@UD;/;q4 n@ZjFNOT Ignoring new targets: 454.20 m.Bj]';Jj]'; ProNav: ac range: 454.200012 m, nav range: 242.606888 m, bearing: 30.555008 deg, approach rate: 0.218224 m/s, LOS rate: 0.146321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158456 deg. 2j;:ji<@HeadingCmd: 4.819874 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfnh@ɛB{<  z>I  O9ɚiI=Iieidף;))!EIEI*F?2F:FBFJFH5>I I$IIhBI =&I.I6Iݰ<:I FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received }*response not received},DAT read: user:1181> BDAT read: Tx time:20:12:42.3335 $Ping request sent.nw, 4A6 U@Y6d@6 ?<96 >y6H?? &?ItЇ8?`?ɨ6 U@6;6,CyBBB#I)D DHJAININ)M5٢jǼ nT=9rvQ r>pp vG٣v8GyvC= v> zNusing accuracyPremultiplier from configx49zj?4YzZN ixY 3@z]Dz),;zK,;zx4 @Zj1FNOT Ignoring new targets: 454.20 m.BjO%;JjO%; ProNav: ac range: 454.200012 m, nav range: 242.690598 m, bearing: 30.610764 deg, approach rate: 0.217062 m/s, LOS rate: 0.144526 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142396 deg. 2j_;:j:@HeadingCmd: 4.819594 target range: 454.200012 and range: 515.00 m. jjjjihhh h f f frfbf`h@ɛ}B}< 隅6o>I R :ɚiIj=Iii;))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:12:42.3328 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251759zK  KK  9K K d K *FM?2FI:FIBFMo0JFIGu@;GI Ba O >Ja Je Ja Ja Ja Je "9Ja Ja am @am @am @am @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501555w,AZN@YZh^@ZV8<9Zt>yZH? `?o` ?@V@0?z?ɨZN@Z;Z)CyfBj#IIvIv<55 I٢~K  H=9 Q  > G٣y4 > ENusing accuracyPremultiplier from config1U495?4Y5aN i5Br3@5eD5|<5<54  @9ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 242.780594 m, bearing: 30.670347 deg, approach rate: 0.186992 m/s, LOS rate: 0.123755 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153870 deg. 2jݩ;:j;@HeadingCmd: 4.819794 target range: 454.200012 and range: 515.00 m. jjjjihhh!h!fIfIfIrfQbfUɻh@ɛBe Y< imH>Ii m*T=:ɚiiiImY=Iuiui}$`;)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754715*F=?2F9:F9BF=`0JF9G} 1;G ?G >GY Bi O >@w,yAZH~?ARH~@AHI I#IISBI =&I.I6D6I<:I FyB%#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005511Mb@Mb@Mb@ )YK7A`?{Gz?y+?#= A @)Iy@II?5٢-,*< -5=95Q 5>11 5G٣9y= => eNusing accuracyPremultiplier from configYu49] ?}4Y]RiN i]B}P+?}:}/}3@]oD]>;]y;]4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.BjE;JjE; ProNav: ac range: 454.200012 m, nav range: 242.888107 m, bearing: 30.736738 deg, approach rate: 0.280200 m/s, LOS rate: 0.172948 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174268 deg. 2jb;:j>@HeadingCmd: 4.820150 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf@h@ IAɛBGo< 隕PK>I Kg:ɚiIF=IiX>i g;))ER>E>*FU?2FY:FYBF]0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257314zK KK K K e K %3>CGSdgd_\WUPMJGD@=934661//,+***,'%$! G} ']?;G9 BA Oe >) gw, RA*bG>vAP jYjvAyjA~+@Y~+@~*;9~qO>y~H`?@R?0O`y?`exzU^??ɨ~+@~I#;~*Cy B #II%I%<5٢-N 5\=95cܻQ }>y G٣8Gy愼 > Nusing accuracyPremultiplier from config49 ?4YoN iB3@wDC ; ;B4 N@ZjFNOT Ignoring new targets: 454.20 m.Bj-';Jj-';] ProNav: ac range: 454.200012 m, nav range: 242.980072 m, bearing: 30.792297 deg, approach rate: 0.242783 m/s, LOS rate: 0.146619 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141802 deg. 2j]?;:j]:@eHeadingCmd: 4.819583 target range: 454.200012 and range: 515.00 m. jajajajaiahihihhfffrfbfh@ɛB(k< v6>I U):ɚiI5/=Ii"iȴ))JJJJJ: Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510596J9JJ*F}?2Fy:FyBF`5JF IIQG !j;Gy B O >w,&2A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761342B@YB(+@B@;9Bo>yBH@;?? S{k?ߓw???ɨB@B0;B(Cy^Bb{#IUMb@Mb@Mb@QQQ Q)QYUsh|?? rh?MbpyU)?UC =UUA U@)QIQQyU@ImImN5٢}ƒ }F=9}~Q }> G٣yT > Nusing accuracyPremultiplier from config49$?4YvN iB5*?:3@D;;Z4B p@EZjFNOT Ignoring new targets: 454.20 m.Bjq;Jjq;% ProNav: ac range: 454.200012 m, nav range: 243.080429 m, bearing: 30.851353 deg, approach rate: 0.231035 m/s, LOS rate: 0.135898 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152280 deg. 2j%;:j%;@-HeadingCmd: 4.819767 target range: 454.200012 and range: 515.00 m. j)jIjIjIiQhQhQhQh]yBfYfYfYrfYbfeh@ɛBK< %->I! %ޗ:ɚaiiIm=Imiuiu º)q)q*F92F9:F9BF=O5JF9H3>IC I#II?BI&I.I6I<:IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013419G% b( U $?IU tjG B O% >w,LA6D%@Y64@6 ;96ϊ>y6H:?? ѳ@R|?|R|?#?ɨ6D%@6Xb;6)CyB܄BBj#IIJIJdK5٢n nU=9rS;Q r>pp rG٣pyvwK; z> ~Nusing accuracyPremultiplier from config|49~y'?4Y~}N i~B Ӵ 3@~D~:~:~ 4 S@Zj9=FNOT Ignoring new targets: 454.20 m.BjE5;JjE5;U ProNav: ac range: 454.200012 m, nav range: 243.175079 m, bearing: 30.907050 deg, approach rate: 0.270430 m/s, LOS rate: 0.159075 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142214 deg. 2jUW;:jU:@]HeadingCmd: 4.819591 target range: 454.200012 and range: 515.00 m. jYjYjajaiahahahihifyffrfbf@h@ɛ>sF< >I Z:ɚiI =Iii))*FU?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267639zK NK ]9K K f K     RK?JK ?Gub\GIBaO>J J J J J =:J 59J J = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521263fw,eA N,@YN]<@N{<9N >yNH`v?@?x`?@hO`Y? ?ɨN,@N;LyjBnp#I pIpI~I~?5٢ J<  G=9 ;Q > G٣8GyP; > 5Nusing accuracyPremultiplier from config)U49-+?4Y-N i-B3@-D-<-o<-449 E@AZjYeFNOT Ignoring new targets: 454.20 m.Bje;Jjm; ProNav: ac range: 454.200012 m, nav range: 243.276398 m, bearing: 30.966639 deg, approach rate: 0.213524 m/s, LOS rate: 0.125527 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153876 deg. 2jK;:j;@HeadingCmd: 4.819794 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrf!bf% h@ɛBI k:ɚiI=Iiei9))*F]?2FY:FYBFaJFaGmrA GmsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773357G FGY Bi O >0w,=AjHR<bHR<HZ1>IX IZ#IIZ0BIX&IX.IX6IZ<:IZc FBIiJIiRIiZIibIijIm4y؄B f#IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025411 )YFx?:v?Mb`?y+?<;vA )`@I@y@II3A5٢%X %:=9-Q ->)1 5G٣1y= => ENusing accuracyPremultiplier from configAM49E.?M4YEUN iAU+?U:UqU3@EDE;Et;E4Y ]@a}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.BjC;JjC; ProNav: ac range: 454.200012 m, nav range: 243.390274 m, bearing: 31.030850 deg, approach rate: 0.302655 m/s, LOS rate: 0.170577 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167729 deg. 2j!;:j=@HeadingCmd: 4.820036 target range: 454.200012 and range: 515.00 m. jjjjihhhhwBfffrfbfi@ IɛBh3< >I :ɚiI=I%i%i%]e9)A)I*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277285GE 1z9zK #MK +9K K g K BK :K G1 Bi O w,mAv{@Yv$'@vR<9v˖>yvH -ͺ??}@rJ?hJ?`?ɨv{@v;ty~τB~[#II I V5٢F %]=9%9Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1E4951?E4Y5͒N i1AEƶE3@5D5;5;5Y4MB U@QZjq}FNOT Ignoring new targets: 454.20 m.Bj}&;Jj}&; ProNav: ac range: 454.200012 m, nav range: 243.486679 m, bearing: 31.084636 deg, approach rate: 0.261382 m/s, LOS rate: 0.145774 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136483 deg. 2j;:jE9@HeadingCmd: 4.819491 target range: 454.200012 and range: 515.00 m. jjjjihhhQhYfafafarfibfmi@ɛl < =I Jl:ɚiI=IiiXj))*F?2F:FBFo0JFJJJJJ̈́:J"9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530187 IG9G B O5 >Bw,BDAT read: Rx Time:20:12:45.5806 BTRx dataTimestamp_ set to:1736367166.819443Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.785151VR@YV!@V<9V0# >yVH? |?? ?Oj-%?a?ɨVR@Vj;V'Cy^фBb]#IMb@Mb@Mb@ )YB`"?y&1?Mb`?y.?`< A @)Iy(@IIJ5٢%`; %;=9%8Q ->)) -G٣-8Gy5̼ => ENusing accuracyPremultiplier from configAM49ET5?M4YEN iAM.?M:MU3@EDE ;E;E4Y ]@YZjFNOT Ignoring new targets: 454.20 m.Bj);Jj); ProNav: ac range: 454.200012 m, nav range: 243.602951 m, bearing: 31.149584 deg, approach rate: 0.264733 m/s, LOS rate: 0.147805 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.169935 deg. 2j;:j >@HeadingCmd: 4.820075 target range: 454.200012 and range: 515.00 m. jjjj)i)h1h1h1h5zBf9f9f9rf9bfEY"i@ɛB@< 隵\=I }A:ɚiI=Iii/))*F?2F:FBF{0JF"G=G=H.>I I#II&BI" =&I.I6I<:I| FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034039G *G G I ujGa Bi O >3w,3kAn@Yn@nP<9n >ynH@Y?p?@<0ٹ? ?n?ɨn@n5;n)Cy-ʄB5T#IIUIUQ5٢eO  mV=9m?Q m>qq uG٣qyu?D }> Nusing accuracyPremultiplier from configy49}x8?4Y}iN iy3@}D} ;}` ;}4 d@ZjFNOT Ignoring new targets: 454.20 m.Bj);Jj); ProNav: ac range: 454.200012 m, nav range: 243.704666 m, bearing: 31.206030 deg, approach rate: 0.267386 m/s, LOS rate: 0.148322 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144455 deg. 2j;:ji:@HeadingCmd: 4.819630 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf.i@ɛ)-E< )-=I) 5\:ɚ1i1I5=I=i=!i=:i`)9)AeWill construct direction to contact in vehicle frame from tetrahedron phase data.m8DAT read: $Error in header u*Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.301002*F]?2FY:FYBF]i4JFazKKKKKh KG}b(GQ Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537403Uw,W&A $I$f@Yf`@f8$;9f >yfH'?`5? ?qfM??ɨf@f;dyn̄BnW#IIvIvaO5٢%3< %P=9%Q ->)) -G٣1y= => MNusing accuracyPremultiplier from configAU49E;?U4YErN iAaeжe3@EDEx;E;;E4 @@ZjAuFNOT Ignoring new targets: 454.20 m.Bj;Jj;  ProNav: ac range: 454.200012 m, nav range: 243.810364 m, bearing: 31.264367 deg, approach rate: 0.234360 m/s, LOS rate: 0.129293 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150121 deg. 2j w;:j 8;@HeadingCmd: 4.819729 target range: 454.200012 and range: 515.00 m. jjjjihhhhf!f!farfabfm`n=i@ɛB= < =I uh:ɚiI=IiEaiM,)I)I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790065*F?2F:FBF1JFG= V'SG B! O= >0w,AZH.@ARH,H2,>I2C I2#II2BI2# =&I0.I25D6I2<:I2a FF@YF @Fq;9F >yFH?@? _?͕ف`E?Ҵ?ɨF@FW(;DyN҄BN^#I=Mb@Mb@Mb@999 9)9Y=K7??Mbp?y=I,?=<=;9 =@)=@I=@9y=@JJJJJ}:J9JJJ;aJ;aJ& ;aJ' ;aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041338IMIME5٢E< E:=9ECaQ E>ii mG٣m8Gyu< u> }Nusing accuracyPremultiplier from configy49}!??4Y}/N i}Bh,?:m3@}ƶD};};}C4B @EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 454.20 m. IIQBj-9;JjU9;e ProNav: ac range: 454.200012 m, nav range: 243.928177 m, bearing: 31.328311 deg, approach rate: 0.299175 m/s, LOS rate: 0.162302 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166926 deg. 2je;:jm=@mHeadingCmd: 4.820022 target range: 454.200012 and range: 515.00 m. jijqjqjqiqhqhqhyh}BfyfyfrfbfIi@ɛ!%#)< !-=I) -:ɚ)i)I-x=I5i5i5搻)1)y*F?2F:FBF05JFG%sA G! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296350G= g{GE ?GE >G B) zKU KKU ػ9KQ KU i KU Om >Vw,A6@Y6@6@;96h >y6H@¹?@? 2C?2| ~J?଴?ɨ6@6;6+CyBȄBBR#IIJIJR5٢^Y bh=9jQ j>pp rG٣pyv5 z> ~Nusing accuracyPremultiplier from config|49~A?4Y~hN i|   3@~ͶD~:~z:~r4 m@ZjQ]FNOT Ignoring new targets: 454.20 m.Bje(;Jje(;u ProNav: ac range: 454.200012 m, nav range: 244.023315 m, bearing: 31.379653 deg, approach rate: 0.273440 m/s, LOS rate: 0.147504 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129151 deg. 2juv;:ju88@}HeadingCmd: 4.819363 target range: 454.200012 and range: 515.00 m. jyjyjyjihhhhfffrfbf*Ti@ɛY]I< ae=Ia ey;ɚaiaIe=Imimim')i)*FM?2FQ:FQBFU_0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546078 AIAG5ԑG BA O >} w,t4A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797168B@YBW@B,;9BP >yBH[?V?@ @*?@g@~ G٣ym > Nusing accuracyPremultiplier from config49E?4Y N iBj-?:5[53@׶D-<-<4A ED@AZjFNOT Ignoring new targets: 454.20 m.Bj$;Jj$; ProNav: ac range: 454.200012 m, nav range: 244.134094 m, bearing: 31.443550 deg, approach rate: 0.249743 m/s, LOS rate: 0.143986 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.166790 deg. 2j;:j=@HeadingCmd: 4.820020 target range: 454.200012 and range: 515.00 m. jjjjihhhhtBfff rf bf bi@ɛqu< y}4=Iy }- ;ɚyiyI}==I idi̪))E!*F?2F:FBFJFHe(>Ia IaIaIa&Ia.Ia6Ie<:Ie] FJJJJJ]:J59JJJ8;J:;J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050045 5 $?I5 vjG bGa Bi O >Dhw,JNAr3@Yr@r{;9rT >yrHd??` ?l`n}/??ɨr3@rhR;r)Cy~фBޅ]#I =p=IIJ5٢< L=9Q > G٣yW) > Nusing accuracyPremultiplier from config49I?4YN i B}3@D/;z@;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj~-;Jj~-;- ProNav: ac range: 454.200012 m, nav range: 244.236847 m, bearing: 31.502447 deg, approach rate: 0.264733 m/s, LOS rate: 0.151679 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.151803 deg. 2j-1;:j-v;@5HeadingCmd: 4.819758 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM ni@ɛ15@&< 9==I9 =l;ɚ9i9IE=IEiE4iM~һ)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301417)zK KK ]9K K j K  (- 5`wAQ Y`wAy B*F?2F:FBFJFG% G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553393O5 > ! I! w,(hAR@YR]@Rj;9Ra >yRHX?Ȍ?;۸?@2@? ~0i?`?ɨR@R;PybքBfc#IIvIvT5٢^< V=9 !9Q  > G٣8Gy %> -Nusing accuracyPremultiplier from config)=49-M?E4Y-N i- BAEM3@-D-{;-q|;-4Q ]@YZjFNOT Ignoring new targets: 454.20 m.Bj;Jj%; ProNav: ac range: 454.200012 m, nav range: 244.335602 m, bearing: 31.558818 deg, approach rate: 0.230803 m/s, LOS rate: 0.131694 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144232 deg. 2j´;:j`:@-HeadingCmd: 4.819626 target range: 454.200012 and range: 515.00 m. j)j1j1j1i1h1h1h9h9f9f9fArfAbfE}i@ɛ!%~c+< !-=I) -;ɚ)i)I-޺=I5i5hi5qԻ)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807853*F=?2F9:F9BF9JF9G} 4λGQ jHY bH] <He &>Ia  Ia Ia Ie % =&Ia .Ia 6Ie <:Ie FB O > w,A:_@Y: @:;9: >y:H? ?@U\`N?ߔ`|߁?β?ɨ:_@:݇;8yJЄBJ\#IJUJUJQJQJU=:JU9JQJQJUҥ;JUӥ;JU& ;JU' ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057314Mb@Mb@Mb@ )Y rh??~jtx?yC+?L=; @)@I@y@IIC5٢Ҽ :=9Q > G٣y > Nusing accuracyPremultiplier from config49zK- LK) K) K- k K- #@e cyT4 A&w,aAyلBg#I) !%AI-I-P5٢=3= =U=9=Q E>AA MG٣IyU ]> uNusing accuracyPremultiplier from configi49mT?4Ym8N imB3@mDmGCI ";ɚiI=IiPi))*FU?2FQ:FQBFU`5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561650 iIiG-;3G) BQ O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813168r,w,.VAyeބBml#IMb@Mb@Mb@ )YuV?i|?5?I +?yr(?q=94< @)I3@y@IIW5٢%< %<=9)Q ->)1 5G٣58Gy1 5> =Nusing accuracyPremultiplier from config9E49=ZY?M4Y=N i=BM%)?M:MsM3@=D=e";=+ ;=4Y ]@YZjyFNOT Ignoring new targets: 454.20 m.Bj(;Jj(; ProNav: ac range: 454.200012 m, nav range: 244.644257 m, bearing: 31.741543 deg, approach rate: 0.243981 m/s, LOS rate: 0.147723 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.162243 deg. 2j;:j<@EHeadingCmd: 4.819941 target range: 454.200012 and range: 515.00 m. jAjIjIjIiIhIhIhQhUBfQfQfQrfYbf]i@ɛ15g?< ae >Ia e\'+;ɚaiaImƎ=Ii{si))H%>IC I#II!BI&I.I6I<:I~ FBIŝCJIŝCRIZI# =bI# =jIݲ5*FU?2FQ:FQBFU4JFQJqJuJqJqJqJu9JqJqJqJqJu ;Ju ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065315 IIIG Gi By O >3w,8A2ؒ@Y2|@2t;92sr>y2Hڸ?`TT VG٣XyZ* Z> ^Nusing accuracyPremultiplier from config\b49^\?b4Y^N i^Bdff3@^ D^;^;^4h n@lZjFNOT Ignoring new targets: 454.20 m.Bj y$;Jj y$; ProNav: ac range: 454.200012 m, nav range: 244.729309 m, bearing: 31.792736 deg, approach rate: 0.238986 m/s, LOS rate: 0.143795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128712 deg. 2j^;:j(8@%HeadingCmd: 4.819355 target range: 454.200012 and range: 515.00 m. j!j!j)j)i)h)h1h1h1f1f9f9rf9bf=i@ɛamk< imV>Ii m;1;ɚqiqIu{=I}ii@))EIEI Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318533*F?2F:FBF^0JFzKUiNKU 9KQKUl KU G/mGB O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570602 1 I1 :w,Ay5B5{#I =a=9IAIA٢U= U@=9]Q e>iq }G٣yy > Nusing accuracyPremultiplier from config49Xa?4YN iB3@D: :p 4 [@ZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%;% ProNav: ac range: 454.200012 m, nav range: 244.832947 m, bearing: 31.854920 deg, approach rate: 0.240631 m/s, LOS rate: 0.144321 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.161659 deg. 2j-;:j5<@MHeadingCmd: 4.819930 target range: 454.200012 and range: 515.00 m. jIjQjQjYiYhahihyhyff frfbf%`i@ɛ9]!V< ae&>Ia e;;ɚaiaImc=Iuiuiu)q)y*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821481G G G G B O >ZH RH AAH &>I C I #II +BI &I .I 6I <:I R F@w,hANג@YN@N;9N>yNH̸??`>nI?u>~?`?ɨNג@NV;N,CyVBZ#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075018Mb@Mb@Mb@ )Y r?V-?y&1? Ixjy#?m=JIKMـ3 KMKIKI"KIJUJUJQJQJǗ:JU9JQJQJU;JU;JU& ;JU' ;`e< A @)v@I@y@IIL5٢m< 3=99Q >    G٣ 8Gyb > Nusing accuracyPremultiplier from config%49e?%4YN iB%K$?%:--3@D;;U45B 5@=EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 454.20 m.Bjmh;Jjmh; ProNav: ac range: 454.200012 m, nav range: 244.938568 m, bearing: 31.918077 deg, approach rate: 0.233164 m/s, LOS rate: 0.139363 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164577 deg. 2jI;:jI=@-HeadingCmd: 4.819981 target range: 454.200012 and range: 515.00 m. j)j)j1j1i1h1h1h9h=Bf9f9f9rfAbfE@i@ɛYEp< 隵N->I D;ɚiInJ=IiԹif))*F}?2Fy:FyBF}_0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325173Ge G9 BI Oe >zK ~KK 9K K m K 2Gw,A2ݒ@Y2i@2<92w>y2H?`F?@`tx?`2@'?@?ɨ2ݒ@2:;2)Cy:B:#IIFIF{R5٢Nu]= N{=9R:Q R ?PP RG٣PyV9#; V ? ZNusing accuracyPremultiplier from configX^49Zi?=4YZN iZBAMwM3@Z#DZ-I) -pL;ɚ)i)I-/=I5i=D i=`)9)9EI*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579361 IGJGB Om >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829308AMw,7A2ْ@Y2@2<92t>y2H7?s?@`Y?Le1 `-??ɨ2ْ@2;0yZBZ#IEMb@Mb@Mb@AAA A)AYEx&1?Zd;? rh?yEA ?Ey=EC G٣y?  > Nusing accuracyPremultiplier from config49m?4YSO i#B%!?%:%Ȱ%3@,D;';"4) -@1ZjQUFNOT Ignoring new targets: 454.20 m.Bj]%;Jj]%;m ProNav: ac range: 454.200012 m, nav range: 245.116760 m, bearing: 32.025308 deg, approach rate: 0.238706 m/s, LOS rate: 0.144360 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.160473 deg. 2ju%;:ju<@uHeadingCmd: 4.819910 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhyhyhhBfffrfbfi@ɛ>{< 隽F6>I V;ɚiI;=Ii !i+))*FM?2FI:FIBFMo0JFQGQ GQHaIa Ie#IIe5BIe# =&Ia.Ia6Ie<:Ie| FWill construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >$Tw,aQA6ݒ@Y6c@6 <96>y6H? ?`@t?= ??ɨ6ݒ@6;6(CyBBB#IININ-I5٢Vx= Vc=9V:Q V>XX ZG٣Z8GyZ_: ^> Nusing accuracyPremultiplier from config%49I `;ɚiI=Ii7!i))Will construct direction to contact in vehicle frame from tetrahedron phase data.uGBO>Jm Jm Ji Ji Jm :Jm H9Ji Ji au @au @au @au @ Will construct direction to contact in vehicle frame from tetrahedron phase data. @Y>@> <9>$>y>H+? ?`@?@,@A/??ɨ> @>(;>)CyJBJ#IIRIRF5٢Z~< ^I=9^:Q ^>`d fG٣dyf: f> nNusing accuracyPremultiplier from confighr49j:u?r4YjO ij*Bprr3@jI rk;ɚiIB=I iD"i))*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1183> -jH] <bHY Ha Ia  Ie #IIe DBIe $ =&Ia .Ia 6Ie <:Ie F6aw,A6@Y6Q@6<96>y6H ??``?@Bu` ??ɨ6@6;6(Cy>BB#IMb@Mb@Mb@ ]Will construct direction to contact in vehicle frame from tetrahedron phase data.e G٣yʹ 5> ENusing accuracyPremultiplier from config9E49=y?M4Y=O i=/BM0?M:MjM3@=DD=;= <=%84B @EZj  FNOT Ignoring new targets: 454.20 m.Bj;Jj;% ProNav: ac range: 454.200012 m, nav range: 245.389023 m, bearing: 32.189723 deg, approach rate: 0.196149 m/s, LOS rate: 0.118499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152895 deg. 2j%;:je;@mHeadingCmd: 4.819777 target range: 454.200012 and range: 515.00 m. jijijijqiqhqhqhyh}Bfyfyfyrfbf` j@ɛ7< >Z>I )y;ɚiI=Ii p#i ) ) *F2F:FBF2JF"G=G)  Will construct direction to contact in vehicle frame from tetrahedron phase data. zK qkKK +9K K o K /WP`gw,(A2ڒ@Y2@2@ <92O>y2H ??@5 `]?r9@?A?ɨ2ڒ@2f;2)Cy:B:#IIFIF/5٢Nc< v`=9zݕQ z>xx ~G٣~8Gy~ >  Nusing accuracyPremultiplier from config 49'}?4YO i3B3@LD:i:>4! %e@!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 454.20 m.BjU/;JjU/;e ProNav: ac range: 454.200012 m, nav range: 245.468842 m, bearing: 32.237687 deg, approach rate: 0.254785 m/s, LOS rate: 0.153054 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119032 deg. 2je;:je6@mHeadingCmd: 4.819186 target range: 454.200012 and range: 515.00 m. jijijijiiihqhqhqhqfyffrfbfKj@ɛBx< ^>I `<;ɚiI7=Ii#i ))*F?2F:FBF^0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.u Will construct direction to contact in vehicle frame from tetrahedron phase data. y2H /??@@?͔`?2?ɨ2ϒ@2ۇ;2(CyrBr#IMb@Mb@Mb@ )Y ףp= ?Mb?:v?yQ?@=T< @)hAII@yIIdK5٢ɼ 8=9Q > G٣yP > Nusing accuracyPremultiplier from config49‰?4YH#O i6B ? : " 3@TD ;8;F4 @ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 245.567978 m, bearing: 32.293674 deg, approach rate: 0.217732 m/s, LOS rate: 0.122915 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143080 deg. 2j;:j6:@HeadingCmd: 4.819606 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!h!h!h)h-Bf)fQfQrfQbfU%j@ɛBώ< Q>I ;ɚiIn=Iia$i))El>E>H!I%C I%#II%IBI%% =&I!.I!6I%<:I%e F*F?2F:FBF]0JF yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.Lrtw,]A>ϒ@Y>Aߙ@>l;9>z >y>H ? O?@pW@`Q?*┿-~`??ɨ>ϒ@>;`d fG٣dyjkٶ j> rNusing accuracyPremultiplier from configlr49n ?v4Yn(O in9Btv%v3@n[Dn.:n:nL4x ~@|Zj%FNOT Ignoring new targets: 454.20 m.Bj%;Jj%;5 ProNav: ac range: 454.200012 m, nav range: 245.652054 m, bearing: 32.341008 deg, approach rate: 0.242112 m/s, LOS rate: 0.136259 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117139 deg. 2j5;:j=6@EHeadingCmd: 4.819153 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhIhIhIhIfQfQfYrfYbf]/j@ɛ'< 隍R>I ;ɚiIyK=IiQ%iv))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK=mNK=9K9K=p K=ynf[RI@;2.)"  q Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. y6H'?X?7`@lg?@  A?`İ?ɨ6ڒ@6F;6)CyNBR#II^I^C5٢f\ fI=9fz:Q f>hh jG٣j8Gyn_; ~> Nusing accuracyPremultiplier from config 49? 4YP/O iI ;ɚiIW'=Ii&i]~))EWill construct direction to contact in vehicle frame from tetrahedron phase data.I  I I I &I .I 6I <:I v FBIJIʜCRIZI% =bI$ =jI>95G B O >w,[^A6@Y6<@6<96M>y6Hm??@G@j?@ւ@?`?ɨ6@6i;4yBBB#I I=Will construct direction to contact in vehicle frame from tetrahedron phase data.E G٣y; > Nusing accuracyPremultiplier from config49?4Y5O i=BW?:83@kD+ ;;*[4B :@EZj FNOT Ignoring new targets: 454.20 m.Bj ;Jj ;% ProNav: ac range: 454.200012 m, nav range: 245.844055 m, bearing: 32.447546 deg, approach rate: 0.234700 m/s, LOS rate: 0.128272 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137106 deg. 2j%;:j%\9@-HeadingCmd: 4.819502 target range: 454.200012 and range: 515.00 m. j)j)j)j1i1h1h9h9h=ڄBf9fAfArfAbfEJj@ɛmBm̍< )5;>I1 5o;ɚ1i1I5 =I=i=>&i=)9)A*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.w,9 AzK&NK9KKq K:@Y:B @:ʿ!<9:n]>y:H(? ?'Z[?U7*?T?ɨ:@:;:&CyFBF#IIRIRH5٢V| Z\=9Z:Q Z>\\ ^G٣\ybW; b> fNusing accuracyPremultiplier from configdj49f?j4Yf;O if?Bhjj3@frDf:f:fa4p r@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 454.20 m.Bj;Jj;% ProNav: ac range: 454.200012 m, nav range: 245.929596 m, bearing: 32.494337 deg, approach rate: 0.230105 m/s, LOS rate: 0.125826 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115513 deg. 2j%;:j%E6@-HeadingCmd: 4.819125 target range: 454.200012 and range: 515.00 m. j)j)j)j)i1h1h1h1h9f9f9f9rfAbfE`Vj@ɛmBm< im->Iq u;ɚqiqIuO=I%i-J&i-=)))9 $?Izj*F?2F:FBFH1JF"G%=G%=UWill construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data. y^H,5?W?@q?J DI?I?ɨ^d@^͔;^*CyBt#IMb@Mb@Mb@ )Yv?V-?~jthy?<D A @)AI`@yAIII5٢ 8=9T:Q > G٣8Gy ; > Nusing accuracyPremultiplier from config49_?4YnBO i>B?: 3@zD;I;gi4B @EZj9=FNOT Ignoring new targets: 454.20 m.BjE;JjE;U ProNav: ac range: 454.200012 m, nav range: 246.036682 m, bearing: 32.550748 deg, approach rate: 0.241704 m/s, LOS rate: 0.127270 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144346 deg. 2jU;:j]e:@eHeadingCmd: 4.819628 target range: 454.200012 and range: 515.00 m. jajajajaiahihihihm߄Bfqfqfyrfybf} dj@ɛBe< 隭 >I ;ɚiI=Iie&inz))EEsA*F-?2F):F1BF5`5JF1HI I#IIDBI&I.I6I۰<:I F ImWill construct direction to contact in vehicle frame from tetrahedron phase data.iii}”w,SA6, @Y6@6/<96>y6H{?ރ?1Թ?@řZ` ? ?ɨ6, @6;6)CyB܄BBk#IIJIJM5٢Rp" R`=9V:Q V>X\ ^G٣\yb?; b> fNusing accuracyPremultiplier from configdj49f+?j4YfHO if=Blnn3@fDf 2;fc2;fo4t v@tZj FNOT Ignoring new targets: 454.20 m.Bjt;Jjt;- ProNav: ac range: 454.200012 m, nav range: 246.125046 m, bearing: 32.597303 deg, approach rate: 0.241455 m/s, LOS rate: 0.127166 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114801 deg. 2j-;:j-+6@=HeadingCmd: 4.819112 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM`pj@ɛ}B}c< y}=I b;ɚiI%=Ii'i?))Will construct direction to contact in vehicle frame from tetrahedron phase data. I  Will construct direction to contact in vehicle frame from tetrahedron phase data. yzH ?:? k?"^` ?࿭?ɨz @z/^;z(CyË́BMX#IeAaIIJ5٢ˎ ;=99Q > G٣y; > Nusing accuracyPremultiplier from config49?4YNO i;Bn4@D;;hw4 @Zj FNOT Ignoring new targets: 454.20 m.Bj ;Jj ;- ProNav: ac range: 454.200012 m, nav range: 246.230286 m, bearing: 32.652729 deg, approach rate: 0.241773 m/s, LOS rate: 0.127278 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.141393 deg. 2j-;:j-9@5HeadingCmd: 4.819577 target range: 454.200012 and range: 515.00 m. j1j1j1j9i9h9h9h9hAfAfAfArfAbfM~j@ɛBzK3< 隝$=I ;ɚiI=Iiz'iE))9*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data..ӡw,~A 0I0yƄBO#IJEJEJAJAJE:JE9JAJAJE;aMJE ;aMJAaUJAaU]Will construct direction to contact in vehicle frame from tetrahedron phase data.e!! %G٣%8Gy- -> 5Nusing accuracyPremultiplier from config1=495Ϛ?=4Y5UO i59BE%?E:EµE4@5D5j!;5';5~4MB Md@MEZjy}FNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 246.336075 m, bearing: 32.707901 deg, approach rate: 0.234125 m/s, LOS rate: 0.122050 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140631 deg. 2j;:j9@HeadingCmd: 4.819563 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf;j@ɛuBu < y}=Iy }!D;ɚyiyI}M=Ii &i ) )EJ>E>*F?2F:FBF/4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. Hw,AzKnyLKlKlKns Kn     yB=#II-I-xV5٢eu eW=9aQ e>ii mG٣iyi u> }Nusing accuracyPremultiplier from configy49}Ν?4Y}[O i}7B4@}D}:}:}\4 M@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%; ProNav: ac range: 454.200012 m, nav range: 246.432709 m, bearing: 32.758153 deg, approach rate: 0.278557 m/s, LOS rate: 0.144800 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125884 deg. 2j;:j7@HeadingCmd: 4.819306 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf j@ɛ%B%Z< !% ,=I! -o/;ɚ)i)I-=I5i5?&i1)1)9 YI]{j*F?2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq} Will construct direction to contact in vehicle frame from tetrahedron phase data.  G٣y > ]Nusing accuracyPremultiplier from configQ]49U٠?e4YUcO iU4Be0%?e:eke4@UDU;U;U4i m@yZjFNOT Ignoring new targets: 454.20 m.BjV;JjV; ProNav: ac range: 454.200012 m, nav range: 246.551926 m, bearing: 32.816672 deg, approach rate: 0.273237 m/s, LOS rate: 0.134057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.150658 deg. 2j;:jL;@HeadingCmd: 4.819738 target range: 454.200012 and range: 515.00 m. jjjjih h h1h5Bf1f1f1rf9bf=Kj@ɛBG; {w,5A6j*@Y6:@6k3<96;>y6Hc? Â?P`|@?@P^m`H??ɨ6j*@6;6'Cy^Bb#Idf@AIjIj R5٢V %X=9%8Q %>)) -G٣-8Gy-S; -> =Nusing accuracyPremultiplier from config1E495|?E4Y5KiO i51BAEM4@5D5;5;5R4Q U@QG`wA 5Y5`wAy5BZjAEFNOT Ignoring new targets: 454.20 m.BjMc;JjMc;] ProNav: ac range: 454.200012 m, nav range: 246.652908 m, bearing: 32.866436 deg, approach rate: 0.259815 m/s, LOS rate: 0.127983 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124417 deg. 2je;:je7@eHeadingCmd: 4.819280 target range: 454.200012 and range: 515.00 m. jijijijiiihihiWill construct direction to contact in vehicle frame from tetrahedron phase data.?w,U/AF}-@YF'=@FT3<9F>yFH`|?? (Ժ?Y~j6??ɨF}-@FJLJ;F)CyfBj#IIrIr{R5٢z7 zL=9~eQ ~>|| ~G٣|yu: >  Nusing accuracyPremultiplier from config 49 _?4Y  pO i .B 4@ D X: 7: Q4%B %@%EZjIMFNOT Ignoring new targets: 454.20 m.BjU%;JjU%;e ProNav: ac range: 454.200012 m, nav range: 246.763168 m, bearing: 32.920668 deg, approach rate: 0.294893 m/s, LOS rate: 0.144980 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.137810 deg. 2je;:jeu9@mHeadingCmd: 4.819514 target range: 454.200012 and range: 515.00 m. jijqjqjqiyhyhyhyhyfffrfbfnj@ɛMBU!; QUIQ UAb;ɚQiQI]$-=I]ie;O&ia)a)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH9 RH9 HE !>IA  IE #IIE BIE % =&IE HD.IA 6IE <:IE u F  I |j?&w, A @6)@Y6d9@6L.<96r>y6H/^??` ? 뙿`~Ʌ?I?ɨ6)@6h;4y^B^ #I``JJJ/JJ=:J59J(N3JJҥ;Jӥ;J;J;5Will construct direction to contact in vehicle frame from tetrahedron phase data.5qy }G٣yy} }> Nusing accuracyPremultiplier from config49w?4YxO i)B-?:4@D#;M;94 @ZjFNOT Ignoring new targets: 454.20 m.BjE;JjE;U ProNav: ac range: 454.200012 m, nav range: 246.898300 m, bearing: 32.984724 deg, approach rate: 0.291792 m/s, LOS rate: 0.138242 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167250 deg. 2jU;:jU=@HeadingCmd: 4.820028 target range: 454.200012 and range: 515.00 m. jj!j!j!i!h!h!h)h-yBf)f)f1rf1bf5$j@ɛB: (II פ;ɚiIKP=Ii%i#))9*F?2F:FBF0JFG GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >@w,p"A60)@Y68@6o,<96/>y6H Y??`x̷?ƙS ? ?ɨ60)@6w;4y>B>"IIJIJQ5٢R Ro=9V Q V?TX ZG٣Xy^I ^? bNusing accuracyPremultiplier from config`f49b̫?f4Yb$~O ib&Bdjj4@b÷Db7;bD;b14p r@pzKzKKzh9KxKzu KzT ' "ChH1 }B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.Bj`;Jj`; ProNav: ac range: 454.200012 m, nav range: 247.000504 m, bearing: 33.033020 deg, approach rate: 0.293136 m/s, LOS rate: 0.138463 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120014 deg. 2j ;:j6@HeadingCmd: 4.819203 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfj@ɛIMt QU̚IQ UA;ɚQiQIUo=I]i]%iY)a)aEErA I*F!2F!:F)BF-5JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.e% Will construct direction to contact in vehicle frame from tetrahedron phase data.- y2H`D?a?@ |?@d@+? ٯ?ɨ2&@2j;2(Cy>B>"IMb@Mb@Mb@ )Yd;O?Mb?I +y4?<94E A @)AI`@yAII R5٢r< 8=9Q > G٣8Gy? > Nusing accuracyPremultiplier from config 49? 4YUO i"B 4?:4@ͷD;p;4 @ZjAMFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 247.138718 m, bearing: 33.098206 deg, approach rate: 0.324135 m/s, LOS rate: 0.152786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.170634 deg. 2j;:j'>@HeadingCmd: 4.820087 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf j@ɛuBuLY y}dIy }P;ɚyiyI}]=Iio%i%))HI Ig#IIڄBI& =&I.I6I<:I FBIÜCJIRIZIbI% =jIM5*FM?2FI:FQBFU3JFQ IJaJeJe0JaJaJe"9Jeـ3Ja}Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mw,y6He?`? _?@?`F?ɨ6m@6j;6'Cy>tB>"I F=F=IJIJ N5٢VƠ Va=9ZJQ Z>XX ZG٣Xy^H ^> bNusing accuracyPremultiplier from config`f49b?f4Yb O ibBhjԹj4@bַDb:b:bK4rB r@rEZj FNOT Ignoring new targets: 454.20 m.Bj ';Jj ';- ProNav: ac range: 454.200012 m, nav range: 247.252365 m, bearing: 33.151487 deg, approach rate: 0.312643 m/s, LOS rate: 0.146507 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134955 deg. 2j-;:j- 9@5HeadingCmd: 4.819464 target range: 454.200012 and range: 515.00 m. j1j1j1j9i9h9hAhAhAfAfIfIrfIbfMj@ɛuB}b6 y}ԽIy }/;ɚyiI»=IiN%i]Ӻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.G1G1 $?IG B! OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. yFH`?@?'`_? o`"? ?ɨF@F;Dy^wBb"IIjIjR5٢rkZ< rG=9rQ r>tt vG٣tyzB z> ~Nusing accuracyPremultiplier from config| 49~m? 4Y~O i~B  չ 4@~߷D~?;~l0;~x4B E@EZjAEFNOT Ignoring new targets: 454.20 m.BjM';JjM';] ProNav: ac range: 454.200012 m, nav range: 247.381104 m, bearing: 33.211657 deg, approach rate: 0.312664 m/s, LOS rate: 0.146057 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155602 deg. 2j]y;:je<@eHeadingCmd: 4.819825 target range: 454.200012 and range: 515.00 m. jajijijiiihihihqhqfqfqfrfbf @hj@ɛuBu6 q}L̽Iy }T;ɚyiyI}+=Ii+%iú))EN>E >*FE?2FA:FABFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H I  I T#II ʄBI &I .I 6I Y<:I F I }jn_w,A6@Y6L&@6R<96U8>y6Hgƺ??`r2?@1` %G٣%8Gy% %> -Nusing accuracyPremultiplier from config)U49-/?]4Y-O i-B]6?]:]]4@-D-(;-;-84i mU@Zj!-FNOT Ignoring new targets: 454.20 m.BjU";Jj]"; ProNav: ac range: 454.200012 m, nav range: 247.515594 m, bearing: 33.277983 deg, approach rate: 0.288728 m/s, LOS rate: 0.142313 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.174056 deg. 2jU;:j>@HeadingCmd: 4.820147 target range: 454.200012 and range: 515.00 m. jjjjihhhh{Bfffrfbf@ak@ɛAE imӽIi m̘;ɚiiiIm=I}i} %i})y)y*F?2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.w,УA>g@Y>%@>h<9> v>y>H??`)?@ؗ@M??ɨ>g@>K;>*CyJ|BJ"I)L LIVIVS5٢Z< ^a=9^Q b>dd fG٣dyjxڹ j> nNusing accuracyPremultiplier from confighr49j;?r4YjO ijBtvv4@jDj,;j:j4x z@x B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 454.20 m.Bj%g6;Jj%g6;5 ProNav: ac range: 454.200012 m, nav range: 247.625168 m, bearing: 33.331824 deg, approach rate: 0.324683 m/s, LOS rate: 0.159468 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136637 deg. 2j5;:j=J9@EHeadingCmd: 4.819493 target range: 454.200012 and range: 515.00 m. jAjAjIjIiQhYhihqhqfyfyfrfbfk@zKuJK9KKw KVLy*I' ɛBA, I gٖ;ɚiI.=Ii%i#)) YIY*F?2F:FBF0JFJ1J5J1J1J1J559MWill construct direction to contact in vehicle frame from tetrahedron phase data.U Will construct direction to contact in vehicle frame from tetrahedron phase data. yFH"{?Æ?@z~?-R ??ɨF+ @F;F(CyPV"IMb@Mb@Mb@ )YZd;?l?~jt?y9?=D<E A @)hAII@yAI%I%jC5٢5c; 54=9=iQ =>9A EG٣AyE E> UNusing accuracyPremultiplier from configIU49Ml?]4YM)O iMB]:?]:]]4@MDM ;Mf;Mn4a m@iZjFNOT Ignoring new targets: 454.20 m.Bj[*;Jj[*; ProNav: ac range: 454.200012 m, nav range: 247.762527 m, bearing: 33.401000 deg, approach rate: 0.295899 m/s, LOS rate: 0.148936 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.182599 deg. 2j-m;:j-?@5HeadingCmd: 4.820296 target range: 454.200012 and range: 515.00 m. j1j9j9j9i9h9h9hAhEwBfAfifirfibfu'k@H >I IH#IIBI&I.I6I<:I Fɛ\ɴ I \;ɚaiaIeiV=ImimF*%im#N)i)iEy III*F=?2F9:F9BF=x0JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uݞw,AD@Y @<9 >yH??tS[~?EL"`??ɨD@Ч;&Cy-B-#II=I=GL5٢MU= MZ=9UʺQ U>YY ]G٣]8Gy], ]> mNusing accuracyPremultiplier from configam49e°?u4Ye?O ieBquݵu4@eDe5;e;e4B <@EZjFNOT Ignoring new targets: 454.20 m.Bj3;Jj3; ProNav: ac range: 454.200012 m, nav range: 247.876816 m, bearing: 33.458081 deg, approach rate: 0.315055 m/s, LOS rate: 0.157282 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146351 deg. 2j;:j:@HeadingCmd: 4.819663 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf3k@ɛBd ȕI! %R;ɚ!i!I%"p=I-i-1a%i5L)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.e Will construct direction to contact in vehicle frame from tetrahedron phase data.e AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49Uư?]4YUԺO iU!BYYe4@UDU ;U` ;U4i u@qZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 247.999359 m, bearing: 33.519101 deg, approach rate: 0.305812 m/s, LOS rate: 0.152203 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.158157 deg. 2j;:j^<@HeadingCmd: 4.819869 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf?k@ɛLJ9 隵X|I ;ɚiI =IiF%i]))*F?2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.I  I N#II ńBI &I GD.I 6I <:I FG B O > ) I) w,.9 A%Will construct direction to contact in vehicle frame from tetrahedron phase data.%yUH@ ?h?G#?ڕ 5~@/?(?ɨU@Upr;U'CymBm#IMb@Mb@Mb@ )Y-?y&1?~jt?y?5?`e=< A )IyAIIM5٢l= 4=9RQ > G٣yO > Nusing accuracyPremultiplier from config499˰?4Y+O i&B5?:4@Dl; ;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj%+;Jj%+;5 ProNav: ac range: 454.200012 m, nav range: 248.127701 m, bearing: 33.587149 deg, approach rate: 0.283196 m/s, LOS rate: 0.150075 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.179223 deg. 2j=;:j=a?@=HeadingCmd: 4.820237 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhAhAhIhMBfffrfbf Nk@ɛ9E; AEIA ;ɚiI&=Ii#&im¾))EIEMsA)I I}G*F?2F:FBFG5JFA VYyA@RAWill construct direction to contact in vehicle frame from tetrahedron phase data.|w,.%A6@Y6@6B;96p;>y6H@r??Ϫ`6W?gBH}a?ȯ?ɨ6@6ʇ;6)CyJBN&#IIZIZZ5٢b^x= bo=9bыQ b?dd fG٣f8Gyj j? nNusing accuracyPremultiplier from configlr49nΰ?r4YnwO in*Bpvʲv4@n Dn:n :n4x zX@xB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 454.20 m.Bj-Z,;Jj-Z,;E ProNav: ac range: 454.200012 m, nav range: 248.225037 m, bearing: 33.638479 deg, approach rate: 0.285845 m/s, LOS rate: 0.150681 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129116 deg. 2jE;:jE78@MHeadingCmd: 4.819362 target range: 454.200012 and range: 515.00 m. IzKFJKKKy K jIjjjihhh)h1f1f1f9rf9bf=@,Zk@ɛ GT;  @{I  1;ɚiI=I%ieő&ieһ)a)iJ J J J J =:J 9J J -Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A- Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1184> - BDAT read: Tx time:20:13:04.2322 5 $Ping request sent.5  G٣y > Nusing accuracyPremultiplier from config49o԰?4YO i2B#+?E:E!E4@+D9m<l<4I M@IZj IFNOT Ignoring new targets: 454.20 m.Bj$;Jj$; ProNav: ac range: 454.200012 m, nav range: 248.350677 m, bearing: 33.709995 deg, approach rate: 0.243018 m/s, LOS rate: 0.138258 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.189625 deg. 2jŽ;:j@@HeadingCmd: 4.820418 target range: 454.200012 and range: 515.00 m. jjjjihhh h ńBf f f rfbf` jk@ɛB%; 隍[I P;ɚiII=Ii*'iϻ))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:20:13:04.2314 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.241439*F?2F:FBF^0JFG 4λG B O > w,!YA6Ӓ@Y62@6њ;96 >y6H`{?f?`ft??lPsx9?p?ɨ6Ӓ@6&;6(CyZBZ>#IIbIby/5٢j= j~=9j2pQ n ?ll nG٣lyr r ? MNusing accuracyPremultiplier from configtU49vذ?U4YvO iv7BY]]4@v1Dv;v:v74a e!@aZjFNOT Ignoring new targets: 454.20 m.Bj$;Jj$; ProNav: ac range: 454.200012 m, nav range: 248.432114 m, bearing: 33.755824 deg, approach rate: 0.255695 m/s, LOS rate: 0.143847 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112628 deg. 2jp;:j5@HeadingCmd: 4.819075 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`sk@ɛ; @E5>*F?2F:FBF_0JF 5$?I5jGzK%KK%ػ9K!K%z K%GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745925J J J J J :J m9J J gDw,ssA2+Β@Y2ݙ@24;92 >y2H̅??@꿿6(?u@C?޾?ɨ2+Β@2-;0yNȄBNR#IIVIVGL5٢f= fL=9jQ n>pt vG٣v8Gy~Ӻ ~> Nusing accuracyPremultiplier from config%49ܰ?%4YO i=B)--4@:D];$5;U41 =!@9ZjYeFNOT Ignoring new targets: 454.20 m.Bje';Jje';} ProNav: ac range: 454.200012 m, nav range: 248.535538 m, bearing: 33.813836 deg, approach rate: 0.261419 m/s, LOS rate: 0.146574 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149151 deg. 2j}/;:j;@HeadingCmd: 4.819712 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf/k@ɛamX< imU=Ii ;ɚiIL=Ii(i]))*Fi2Fq:FqBFuw0JFy]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000161GZHI I#IIBI& =&IHD.I6Iz<:IJ FBIJIRIZI& =bI& =jI4G B O > ) I) +#w,LA:ɒ@Y:-ٙ@:l;9:>y:H``?@?@%?g "s@U?O?ɨ:ɒ@:;8NWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247932yVЄBV\#I Za=Za=EMb@Mb@Mb@AAA A)AYEV-?Dl??yE|?EO=Eyy }G٣y > Nusing accuracyPremultiplier from config549జ?54YuO iDB= ?=:==4@CD<< 4A E@IZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 248.635788 m, bearing: 33.869871 deg, approach rate: 0.226599 m/s, LOS rate: 0.126606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143223 deg. 2jǭ;:j<:@HeadingCmd: 4.819609 target range: 454.200012 and range: 515.00 m. jjjjihhhh߄Bfffrfbf k@ɛuBu'< qu=Iy }֒;ɚyiyI}=IiX)i` ))*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500076GE ܜGM rAGI G! B) OM >V)w,4,A:ϒ@Y:ߙ@:T;9:{>y:H@?f? `W-?{ v`t?:?ɨ:ϒ@:^‹;:)C `I`yzلBzf#IIIB5٢.= %P=9%:Q ->)1 =G٣9y=; E> MNusing accuracyPremultiplier from configI]49M尜?]4YMO iMJBaepe4@MKDMt;Mb;M4q }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bjn;Jjn; ProNav: ac range: 454.200012 m, nav range: 248.730408 m, bearing: 33.922694 deg, approach rate: 0.249773 m/s, LOS rate: 0.139385 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133593 deg. zKUKKh9KK{ K+KSpZG90'! 2j Q;:j 8@HeadingCmd: 4.819440 target range: 454.200012 and range: 515.00 m. jjjj!i!h!h!h)h1f1f1f1rf1bf=@&k@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752314ɛ)-6&< 15=I1 5';ɚ1i1I5=I=i=*i=)A)iE*F=?2F9:F9BF=0JFAGY G9 m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006768B O >a>0w,AHI I#IIBI&I.I6I<:If F Ijy߄Bn#I}Mb@Mb@Mb@yyy y)yY}gfffff?T㥛 ?~jt?y}3?}=}<}rA }Q@)}AI}QAyy}AIIH5٢k< =9Q > G٣8Gy > Nusing accuracyPremultiplier from config49#개?4YO iRB5?:4@TD;;4B @EZj!-FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;E ProNav: ac range: 454.200012 m, nav range: 248.846024 m, bearing: 33.986774 deg, approach rate: 0.224898 m/s, LOS rate: 0.124592 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.167338 deg. 2jE;:jE=@MHeadingCmd: 4.820029 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhUBfYfYfYrfabfe dk@ɛB>0< 隍=I ;ɚiIy=Ii+it))JJJ/JJ̈́:J"9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256926J(N3JJ;aJ;aJaJa*FU?2FQ:FQBFU1JFYG G B O >h6w,A6@Y6`@6;;96y >y6H?ы? yC@'? ^r?I?ɨ6@6j;4yBBBv#IININJH5٢V0>= V=9V i[I<RK ?JK>G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760131tyFH`G??0X]?`▖b?n?ɨFv@Fgt;F'CyNBNo#IIVIVD5٢vjټ zF=9z:Q z>|| ~G٣|yP; >  Nusing accuracyPremultiplier from config 49 ?4Y O i \B4@ aD : ,; '4-B 5@=EZjFNOT Ignoring new targets: 454.20 m.BjR;JjR; ProNav: ac range: 454.200012 m, nav range: 248.996201 m, bearing: 34.070706 deg, approach rate: 0.224173 m/s, LOS rate: 0.125300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127196 deg. 2j;:j7@HeadingCmd: 4.819329 target range: 454.200012 and range: 515.00 m. jjjjihhhhfff rf bfk@ɛ9< =I  s;ɚiI>a=Ii5=,iS) )EEtA*F?2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015969H#>I I#II&BI% =&I.I6Iܰ<:I FG  I G B O- >ZxCw,AJ4J4J60J4J4J4J6ـ3J4J4J4J4J4BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264171f @Yf@fS<9f >yfHPJ??`Et]?mu?P?ɨf @fb;dy~ՄB~a#I Mb@Mb@Mb@    ) Y S?)\(?YY eG٣e8Gye_; e> mNusing accuracyPremultiplier from configiu49m?}4YmWP im`B}?}:}}4@miDmK;m;mv/4 W@ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 249.094376 m, bearing: 34.124200 deg, approach rate: 0.222734 m/s, LOS rate: 0.121316 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135605 deg. 2j;:j%9@HeadingCmd: 4.819476 target range: 454.200012 and range: 515.00 m. jjjjihhhh&Bfffrfbf@k@ɛ%B%j< !-0=I) -d;ɚ)i)I-^=I5i5>d,i=Kj)9)9*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516238G QpG B O >Iw,j(A IB@YB,$@BK<9BA >yBH`{?`#?@az?@^0 ??ɨB@B[;@yR߄BRn#IIbIbJH5٢rd= re=9v:Q v>xx zG٣xy~; > Nusing accuracyPremultiplier from config 49 N?4Y  P i dBѯ4@ oD < ɞ< 54 @B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 454.20 m.Bj-p:Jj-p:zKujSOKuS9KqKu} Ku1)  LgR. BKy:K}tA ProNav: ac range: 454.200012 m, nav range: 249.172653 m, bearing: 34.166922 deg, approach rate: 0.203050 m/s, LOS rate: 0.110786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103314 deg. 2j;:j4@HeadingCmd: 4.818912 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf k@JiJiɛ}B}8n3< y}$=Iy ;ɚiIhY=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:13:07.5065 TRx dataTimestamp_ set to:1736367188.748790checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769300Ii],i)) *F?2F:FBF`0JFG HNG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022535ԐPw,t_BA@Y-@"c<9K|>yH?? ҆ f?֚P`?t?ɨ@N;(Cy5لB5g#IMb@Mb@Mb@ )Ysh|??~jt?~jtx?y ?=;A ~@)AIyAII-I5٢<̼ :=99Q > G٣y*; > Nusing accuracyPremultiplier from config 49? 4YP ieBU ?:ϲ4@wD;;`=4 @!H5!>I1 I5#II5+BI1&I1.I16I5<:I5 FZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; $?Ij% ProNav: ac range: 454.200012 m, nav range: 249.269623 m, bearing: 34.216456 deg, approach rate: 0.233724 m/s, LOS rate: 0.119345 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123731 deg. 2j5ϣ;:j5r7@=HeadingCmd: 4.819268 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hahahahe0Bfififirfibfmk@ɛeBm!< im=Ii m$ܢ;ɚiiqIu7X=Iui;5,i5䶺))Ea>E>*F5?2F1:F1BF1JF1JuJuJqJqJu:JuH9JqJqJu;Ju;JuP;JuQ;Will construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.288256G pG  G) B1 Q O > Y y B}Vw,y\A6.@Y6=@6ƙ%<96F>y6H@?S?|* ?`tm!? ?ɨ6.@6V;6)CyzƄBzP#IIIJH5٢(Ƚ Z=9D:Q >! %G٣%8Gy%/; %> -Nusing accuracyPremultiplier from config)549-?54Y-P i-fB9==4@-}D-;-b;-C4MB M-@MEZjq}FNOT Ignoring new targets: 454.20 m.Bj};Jj}; ProNav: ac range: 454.200012 m, nav range: 249.352554 m, bearing: 34.258933 deg, approach rate: 0.223232 m/s, LOS rate: 0.114298 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102573 deg. 2j;:jl4@HeadingCmd: 4.818899 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfk@ɛB*w; =I ;ɚiIx^=Ii3+ife9)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524210)*F?2F:FBF1JF I GݻGBzKMK9KK~ KO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775996\w,uA:8@Y:6H@:(<9: >y:HԻ??I``L5?yw?@X?ɨ:8@:;8y^Bb>#IInInMD5٢vt vM=9v:Q z>xx zG٣xy~cR; ~> Nusing accuracyPremultiplier from config 49? 4YP ihBc4@D ::J4 @ZjAEFNOT Ignoring new targets: 454.20 m.BjM;JjM;] ProNav: ac range: 454.200012 m, nav range: 249.440659 m, bearing: 34.304109 deg, approach rate: 0.221510 m/s, LOS rate: 0.113542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110668 deg. 2j]؛;:j]5@eHeadingCmd: 4.819040 target range: 454.200012 and range: 515.00 m. jajajijiiihihihqhqfqfqfyrfybf}`l@ɛ}B}:i; 隅;I ;ɚiI\p=Ii!i+i߮:))*Fm?2Fi:FiBFm_5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031564jH5<bH5p<H9I9 I=#II=!BI9&I9.I96I=<:I=x FG}: IGi B O >cw,ՏAJ&J&J$J$J&̈́:J&"9J$J$J&;J&;J&;J&;2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280135NE@YNT@N#0<9N >yNH7?l?M@`?[``??`?ɨNE@NY/;LyZB^(#IEMb@Mb@Mb@AAA A)AYE@5^I ?S㥛?MbyEb?E/ %G٣!y%c; -> 5Nusing accuracyPremultiplier from config1=495J?=4Y5!P i5eBE?E:EE4@5D5;5;5R4I M0@QZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 249.547058 m, bearing: 34.356088 deg, approach rate: 0.237986 m/s, LOS rate: 0.116213 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131057 deg. 2j;:j~8@HeadingCmd: 4.819396 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf bl@ɛB5; 隝I Ȣ;ɚiI=Ii*i/0$;))E*Fe?2Fa:FaBFeQ5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532145G ?:Ga Bi O > I .iw,׿AVR@YVDb@V7<9VD >yVH'? E?@C  \?h`@?I?ɨVR@V;Ty~B~#IIIR5٢% %O=9-:Q ->)1 5G٣58Gy5C; => ENusing accuracyPremultiplier from config9E49=%?M4Y=&P i=cBIMeM4@=D=:=s;=)Y4Y ]7@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 249.636581 m, bearing: 34.399907 deg, approach rate: 0.241223 m/s, LOS rate: 0.118028 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106595 deg. 2j;:j4@HeadingCmd: 4.818969 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf l@ɛB tI 8;ɚiIJ=Ii )i m~;) )zKJKKK K %*.mWill construct direction to contact in vehicle frame from tetrahedron phase data.iii}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785242*F?2F:FBF_0JFG`;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036115pw,JAeU@Ye>e@eJ8<9e` >yeHк?I?8` -? > }?@?ɨeU@e ;e*Cy}B}"IH>I I#IIBI& =&I.I6I<:I FBIJIRIZI% =bIjIZ45Mb@Mb@Mb@111 1)1Y5Zd;?:v?Qy5?5T<5u5 A 5@)5AI11y1IMIM?5٢]⹽ ]8=9e-8Q e>i yIyy }G٣yyU: > Nusing accuracyPremultiplier from config49< ?4Y-P i_B?:|4@D;r;`4 @ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 249.756470 m, bearing: 34.454934 deg, approach rate: 0.260340 m/s, LOS rate: 0.119435 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140188 deg. 2j;:j9@HeadingCmd: 4.819555 target range: 454.200012 and range: 515.00 m. jjjjihhhhӄBfffrfbf`+l@ɛuBu q}Iy };ɚyiyI})=Ii(i b;))*F=?2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289877]PExceeded connect timeout, disconnecting.G% g;G B O% >ww,gA6[@Y6k@6R9<96K >y6HS??G5C?@d4"*&{??ɨ6[@6Lj;6(CyRlBR"ITVAAIZIZY5٢ c=979Q  >    G٣ y; > Nusing accuracyPremultiplier from config%49 ?%4Y3P i[B)-c-4@D:7:/g45B 5@5EZjamFNOT Ignoring new targets: 454.20 m.Bjm;Jju; ProNav: ac range: 454.200012 m, nav range: 249.852295 m, bearing: 34.498889 deg, approach rate: 0.280214 m/s, LOS rate: 0.128485 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.107001 deg. 2j[;:j5@HeadingCmd: 4.818976 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@5l@ɛB Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540206I ~;ɚiI=Ii-0(iP;))EEsA*F?2F:FBFJF iImjGQG1B9OU>Jq Ju Jq Jq Jq Ju 9Jq Jq a} @a} @a} @a} @zK} LKy Ky K} K} ..00/01.)!     Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792046,}w,)BAF_@YFGo@F'N8<9Fk >yFH ?!? 9`a?7 %? ?ɨF_@FRt;F'Cyn^Bn"IIvIvxV5٢ߋ I=9%Q %>!! %G٣-8Gy-: 5> ENusing accuracyPremultiplier from config9E49=?M4Y=9P i=WBIMTM4@=D=n:=:=Rn4UB U@]EZjyFNOT Ignoring new targets: 454.20 m.Bjp ;Jjp ; ProNav: ac range: 454.200012 m, nav range: 249.962128 m, bearing: 34.549205 deg, approach rate: 0.270035 m/s, LOS rate: 0.123654 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126070 deg. 2j;:j7@HeadingCmd: 4.819309 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@Bl@ɛeBm im=Ii mg[;ɚiiqIur\=I}i}%'i}7ݤ;)y)*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048223H >I Ig#IIڄBI&I.I6Ij<:I= FGCQ; YIYGBO>cw,$A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296092 ~nManaging dock network, ignoring radio surface power offyJB"IMb@Mb@Mb@ )Y#~j?{GztI +y%?ף9vA p@) AIyAII&Q5٢ , ;=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)549-2?54Y-@P i-PB=%?=:=亿=4@-D-Y!;-;-u4A E@AZjimFNOT Ignoring new targets: 454.20 m.Bje;Jje; ProNav: ac range: 454.200012 m, nav range: 250.095230 m, bearing: 34.606005 deg, approach rate: 0.306240 m/s, LOS rate: 0.130613 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145494 deg. 2jG;:j:@-HeadingCmd: 4.819648 target range: 454.200012 and range: 515.00 m. j)j)j)j1i1h1h1h9h=Bf9f9f9rfAbfE8Ql@ɛ%BM, QUiIY ]y;ɚYiYI]=IiW%i[;))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548080G @;G ?G ? A II Gy B O >[?w,&*AF]@YF2m@FyFH?V?` V?ȧ k.`?@?ɨF]@Fk!;F)CyR2BR"IIZIZW5٢b bb=9bؗQ f>dd fG٣dyj8 j> nNusing accuracyPremultiplier from configlr49n^?v4YnFP inKBtzz4@nDn1;n1;n7|4| ~{@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj];Jj]; ProNav: ac range: 454.200012 m, nav range: 250.206085 m, bearing: 34.653146 deg, approach rate: 0.292810 m/s, LOS rate: 0.124464 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116549 deg. 2j֪;:jk6@HeadingCmd: 4.819143 target range: 454.200012 and range: 515.00 m. jjjjihhhhff!f!rf!bf%\l@ɛB8P 8=隽:I m;ɚiI.=Ii\'%iU<;))Ei>E>J5J5J1J1J5]:J59J1J1zKECMKEh9KAKE UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.800185KE*F?2F:FBF0JFGCQ;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053790)w,DAH}>Iy I}(#II}BIy&Iy.Iy6I}ð<:I}~ F IS@YLc@8A/<9V >yH@e?T? A ; ?*( 腿'??ɨS@uj;*Cy$B"IMb@Mb@Mb@ )YX9v?MbI +y3?rA h@)AIyIIY5٢h /=9tQ > G٣8GyI) > Nusing accuracyPremultiplier from config49E?4YOP iDB3?:4@ŸDz@;';d4 U@ZjFNOT Ignoring new targets: 454.20 m.Bj{ ;Jj{ ; ProNav: ac range: 454.200012 m, nav range: 250.363525 m, bearing: 34.719080 deg, approach rate: 0.335239 m/s, LOS rate: 0.140305 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.172863 deg. 2j;:jx>@ HeadingCmd: 4.820126 target range: 454.200012 and range: 515.00 m. j j j jihhhhfBfffrf!bfE$ll@ɛB- 隝kI };ɚiIk=Ii,$is;))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.304888*F?2F:FBF0JFG G B O >ωw,4_A64G@Y6V@6$<96>y6HH?@? n@e?*5?ɶ?ɨ64G@6ׇ;6(CyFBFv"IININ]5٢VH Zh=9Z/Q Z>X\ bG٣`ybٌ b> jNusing accuracyPremultiplier from configdr49fn?v4YfVP if>Bxzͻ~4@f͸Df;fX;f4B +@EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557762ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;- ProNav: ac range: 454.200012 m, nav range: 250.483017 m, bearing: 34.768792 deg, approach rate: 0.329292 m/s, LOS rate: 0.136930 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.124252 deg. 2j-;:j-7@5HeadingCmd: 4.819277 target range: 454.200012 and range: 515.00 m. j1j1j9j9i9h9h9hhfffrfbfwl@ɛÄBʼn ϬI :Zl;ɚiI=Ii#im;)) YI]j*F?2F:FBF`5JFJJJJJJ9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808084zKu KKu 9Kq Ku Ku G ']?;G B O >˩w,NyAyE BEk"IIUIUY5٢e?1 eA=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy49}?4Y}]P i}8B4@}׸D}C:}P:}4 @ZjFNOT Ignoring new targets: 454.20 m.Bj,;Jj,; ProNav: ac range: 454.200012 m, nav range: 250.626434 m, bearing: 34.828288 deg, approach rate: 0.364021 m/s, LOS rate: 0.150926 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.153572 deg. 2j(;:j;@mHeadingCmd: 4.819789 target range: 454.200012 and range: 515.00 m. jijijijiiihhhhfffrfbf l@ɛĄBc ZII U9Z;ɚQiQIU'5=I]i]E"i]).;)Y)amWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061144H%>I%C I%"II%~BI%( =&I!.I%3D6I%<:I%i F ]$?IaE-d=E1*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312023G ;GB) }GO?jAw YyA,<AyeBmb"IMb@Mb@Mb@ )YZd;O?Mbp?y&1yjqq uG٣u8Gyy }> Nusing accuracyPremultiplier from config49 !?4YphP i2BsBfffrfbfl@ɛ5ńB5O 15ÿI1 =P@;ɚ9i9IE&=IEiEl"iI)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564236E%п8=*F?2F:FBF_5JF IG ذ#;G B O >JK KKK"KJ J J J J }:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816225zKe uJKe +9Ka uw,CAK} K}3@Y+@!q;9 >yH?? @ t?敿~@?`?ɨ3@퓇;*Cy=B=Y"IIMIM]5٢t R=9UٻQ > G٣y` > Nusing accuracyPremultiplier from config49#?4YoP i.B4@Dǀ;o;D4 @5B*** querying acoustic contact ***j1j1ZjIMFNOT Ignoring new targets: 454.20 m.BjU@&;JjU@&;e ProNav: ac range: 454.200012 m, nav range: 250.951172 m, bearing: 34.966504 deg, approach rate: 0.344936 m/s, LOS rate: 0.145348 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145606 deg. 2je;:je:@mHeadingCmd: 4.819650 target range: 454.200012 and range: 515.00 m. jijijqjqiqhqhqhyhyfyfyfyrfbfl@ɛƄBͼ 隵"ȾI  ,;ɚiI#=Ii!i))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.I  I "II [BI ) =&I .I 6I ̰<:I FGm ;GQ BY Ou > w,A: @Y:@:t;9:O>y:H^r?Ԍ?|@`? ^ŔN{? X?ɨ: @:;:-CyBBBS"IMWill construct direction to contact in vehicle frame from tetrahedron phase data.U?}#<}} A }h@)}AI}Ayy}AII#U5٢| 8=97Q > G٣y > Nusing accuracyPremultiplier from config49&?4Y\xP i,B:>?:4@DA;;4 @EZj  FNOT Ignoring new targets: 454.20 m.Bj,;Jj,;% ProNav: ac range: 454.200012 m, nav range: 251.105240 m, bearing: 35.031910 deg, approach rate: 0.355635 m/s, LOS rate: 0.150884 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171284 deg. 2j%;:j%?>@-HeadingCmd: 4.820098 target range: 454.200012 and range: 515.00 m. j)j)j1j1i1h1h1h9h=;Bf9f9f9rfAbfEۯl@ɛuDŽB}ʼ y}ξIy ;ɚiI`=Ii!i*Z))*F2F:FBF^0JF"GG=G :GsAGGIBYO}Y> Will construct direction to contact in vehicle frame from tetrahedron phase data. y^H?׍?`0`6 j?@M@ x?@I?ɨ^i@^;^(CynBnU"IIvIvW5٢~ < ~V=9sֺQ >   G٣ 8Gy t  > Nusing accuracyPremultiplier from config49)?%4YP i+B!%2%4@D ;:4) -@1ZjaeFNOT Ignoring new targets: 454.20 m.Bjm}*;Jjm}*;} ProNav: ac range: 454.200012 m, nav range: 251.239670 m, bearing: 35.088608 deg, approach rate: 0.353591 m/s, LOS rate: 0.149053 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145190 deg. 2j};:j}:@HeadingCmd: 4.819643 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`l@ɛȄB:ۼ ;I ;ɚiI=Ii83"i:))*F?2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received *response not received,DAT read: user:1186> BDAT read: Tx time:20:13:15.1824 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:13:15.1816 % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246584w,y AF@YFQ@Ft+;9F7>yFH`h? ?t1?b`is`?`?ɨF@F};DyޅBލc"IZHARHA qIqH>IC I"IIKBI&I.I6I/<:I FBICJICRIZI( =bI( =jI5II~N5٢=N;= =+=9EO"Q e>ai mG٣iyme m> }Nusing accuracyPremultiplier from configq}49u$-?}4Yu$P iu*B4@u Du;u;u4 @Zj%FNOT Ignoring new targets: 454.20 m.Bj%0';Jj-0';e ProNav: ac range: 454.200012 m, nav range: 251.411438 m, bearing: 35.160362 deg, approach rate: 0.350145 m/s, LOS rate: 0.146169 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.190301 deg. 2je;:jm@@mHeadingCmd: 4.820430 target range: 454.200012 and range: 515.00 m. jijijqjqiqhqhqhyhyfyffrfbf@)l@ɛɄBEF AE¾IA MМ:ɚIiIIMq =IUiUS"iUڻ)Q)Y*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498832Gu :䛻G} ?Gy G1 B9 Oe >-w,*A2ǒ@Y2֙@2 @;92>y2HVM?`݋?m? ~@h ?&?ɨ2ǒ@2T;2)CyZBZs"I-Mb@Mb@Mb@))) )))Y-Cl?I +?Mbp?y-;??-9<-;-rA -~@)-AI-QA)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749637II)M5٢r= P=9 rQ  >   G٣yY4 5> ENusing accuracyPremultiplier from config9E49=<0?M4Y=P i=+BMQ??M:MAM4@=D=3;=;=4y O@ZjFNOT Ignoring new targets: 454.20 m.Bj+;Jj+; ProNav: ac range: 454.200012 m, nav range: 251.551926 m, bearing: 35.220265 deg, approach rate: 0.352168 m/s, LOS rate: 0.150079 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.154796 deg. 2j;:j;@HeadingCmd: 4.819810 target range: 454.200012 and range: 515.00 m. jjjjihhhhUBfffrfbfBl@ɛ " xI >ު:ɚiIZ =Ii-#i^*)!)! QIUj*F?2F:FBFJFG GsA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005654zKE |MKE 9KA KE KE :}MQLF=2Ge ̻GY Ba O >{mw,Q8A2r@Y2ƙ@2*:92 >y2Hȷ??]yM? (XP??ɨ2r@2q;0y:B:z"IIFIF0E5٢N.= Ns=9RýQ R?PP RG٣R8GyZȻ ^? nNusing accuracyPremultiplier from confighv49j2?z4YjbP ij,B5@jDj;j;j4 @B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 454.20 m.Bj  ;Jj  ;= ProNav: ac range: 454.200012 m, nav range: 251.668762 m, bearing: 35.269704 deg, approach rate: 0.332061 m/s, LOS rate: 0.140444 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123433 deg. 2jE;:jEg7@uHeadingCmd: 4.819263 target range: 454.200012 and range: 515.00 m. jqjqjqjyiyhyhyhyhfffrfbf l@ɛʄB&[μ [I t:ɚiIW!=IiE$ipA)) *F?2F:FBF0JFG׹Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257447GYBaO}Y> )I1H5>I1 I5"II5PBI5* =&I1.I16I5<:I5 F*Tw,'RA6c@Y6@6(96ҟ >y6H9?q?}U8`?@C? %f??ɨ6c@6;4yB"BB"IJrJrJpJpJr}:Jr9JpJpJr;avJr;azJr!;azJr!;az~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505599Mb@Mb@Mb@ )YZd;?X9v?y&1?y9?<`e<A h@)AIAy\AII75٢(= 7=9jQ > G٣y > %Nusing accuracyPremultiplier from config!-49%P6?-4Y%ݟP i%0B-:?5:5[u5@%'D%(<%(<%4y }_@yZjFNOT Ignoring new targets: 454.20 m.Bj.;Jj.; ProNav: ac range: 454.200012 m, nav range: 251.820328 m, bearing: 35.335062 deg, approach rate: 0.354354 m/s, LOS rate: 0.152713 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.171142 deg. 2j;:j9>@HeadingCmd: 4.820096 target range: 454.200012 and range: 515.00 m. jjjjihhhhtBff f rfbf@l@ɛquK I H:ɚiIc!=Iiy&i]))*F?2F:FBF|0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758716G {#G rAG qA 1 I1 G B O >e}w,\kA2@Y2@2/92 >y2H`T??R>`BY?s5?`c?` ?ɨ2@2ވ;2(CyB,BB"IIJIJDP5٢RT= Rb=9R;:Q R>TT VG٣TyZOo; Z> ^Nusing accuracyPremultiplier from configXb49Z09?f4YZP iZ3Bdf0f5@Z0DZ7;ZZ8;Z4h j@lZjFNOT Ignoring new targets: 454.20 m.Bjj";Jjj"; ProNav: ac range: 454.200012 m, nav range: 251.941483 m, bearing: 35.387307 deg, approach rate: 0.329443 m/s, LOS rate: 0.141995 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131845 deg. 2j;:j8@HeadingCmd: 4.819410 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf5l@ɛ˄B =I Q:ɚ!i!I%R!=I%i-%x'i-]F))))*F?2F:FBFP5JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010151GKGiBqO:>zK=cOK9K9K= K=' vgP@5-)(# "!   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262843ygw,AZ˩@YZv@Z6.,9Zi >yZH1d? ?SR2?rƅE?b?`?ɨZ˩@Z ;Xy 8B"I IHI I"IIeBI&I.I2D6Iװ<:I FIUIUQ5٢{T= ,=99Q > G٣8Gy > Nusing accuracyPremultiplier from config 49G B O >w,A6@Y6a@6݂z96\ >y6Hg??Rt@^NS?Ї`[PO?l?`?ɨ6@6;6)Cy>GBB"IUMb@Mb@Mb@QQQ Q)QYUʡE?I +? G٣y: > Nusing accuracyPremultiplier from config49'@?4YP im@ɛAE AEIA M^f8ɚIiIIM"=IU}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765774iU'*iJ))*F?2F:FBF_0JF $?IjGG B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017808'w,A:=@Y:跙@:ɺ9: >y:HW?ʐ?.{@,-?| Y?@W?`?ɨ:=@:;8yFTBF"IzKN~^NKN9KLKN KN    IVIVF5٢^= ^W=9bJǺQ b>`` bG٣`yfd f> jNusing accuracyPremultiplier from confighn49jwC?n4YjP ijABprr5@jKDj2 ;j ;j4t v7@tZjFNOT Ignoring new targets: 454.20 m.Bjx;Jjx;- ProNav: ac range: 454.200012 m, nav range: 252.332779 m, bearing: 35.559846 deg, approach rate: 0.311199 m/s, LOS rate: 0.139421 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133839 deg. 2j5];:j58@=HeadingCmd: 4.819445 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM e#m@ɛy}2 y}oIy ɚiIN"=Iiq+i3aV))*FM?2FI:FIBFIJFQG]rA G]tAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271772G5c? IG1BaH>I I"IIBI&I.I6Iɰ<:Iz FO>w,PrAJfJfJdJdJf}:Jf9JdJdJf;Jf;nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521774Jf:%;Jf;%;ygB"I!!=Mb@Mb@Mb@999 9)9Y=y&1? ףp= ?/$?y=`%?=Q8==<=A =@)=AI=zA9y=(AIUIUB5٢e= e2=9eQ e>ii mG٣m8Gyu u> Nusing accuracyPremultiplier from config49ZG?4YP iHB%?:5@UD;; 4 @B*** querying acoustic contact ***jj%~G YyBZjFNOT Ignoring new targets: 454.20 m.Bj$ ;Jj$ ; ProNav: ac range: 454.200012 m, nav range: 252.466110 m, bearing: 35.620115 deg, approach rate: 0.267324 m/s, LOS rate: 0.120772 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.155896 deg. 2jť;:j <@HeadingCmd: 4.819829 target range: 454.200012 and range: 515.00 m. j!j!j!j!i!hAhAhIhMӄBfIfQfQrfQbfU 3m@ɛ̄B'L lII VɚiIf}"=Ii.-i_U))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774297G lVG sAG sA I Gy B O >Jw,FA6"@Y6ʹ@696Y >y6H ???``"?`b?@??ɨ6"@6;4y>wBV"IIbIbI5٢fڮ= jh=9nhQ n>lp rG٣pyrԌ r> vNusing accuracyPremultiplier from configtz49vRJ?z4YvP ivMB|~-~5@v\DvM;v;v44   @ Zj)5FNOT Ignoring new targets: 454.20 m.Bj5(;Jj5(;E ProNav: ac range: 454.200012 m, nav range: 252.568619 m, bearing: 35.666275 deg, approach rate: 0.328062 m/s, LOS rate: 0.147668 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113610 deg. 2jM;:jM6@UHeadingCmd: 4.819092 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhahahihifififirfqbfu@c=m@ɛ\a 隥"+I /XɚiIȚ"=Ii;.i?~[))*F5?2F1:F1BF5p0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026599zKLK9KK KGGiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277680tw,l"A IH>I I(#IIBI+ =&I.I6I6<:I Fy=B="II}I}G5٢-7= 5*=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49McN?U4YMP iMTBYY]5@MfDM:M:M4a e|@eEZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 252.709183 m, bearing: 35.729386 deg, approach rate: 0.292018 m/s, LOS rate: 0.131039 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164415 deg. 2jܳ;:jC=@HeadingCmd: 4.819978 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfLm@ɛ̈́B% 隕I gɚiI+"=Iic/i0 [))E*FE?2FA:FABFMa0JFI"G]=G]=JJJJJ :JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530543JJQ;JR;JJGe 2ZG9 BI Oe >ow, Ay~B#I = p=Mb@Mb@Mb@ )Y+?Zd;?{Gz?yv?y=ף< ~@)AIyQAII@5٢j= c=9Q > G٣y > Nusing accuracyPremultiplier from config49Q?4YP iYBP?: 5@mD;';4 @EZjAEFNOT Ignoring new targets: 454.20 m.BjM;JjM;]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781757m ProNav: ac range: 454.200012 m, nav range: 252.804535 m, bearing: 35.775278 deg, approach rate: 0.263493 m/s, LOS rate: 0.126769 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112811 deg. 2jm;:jm5@uHeadingCmd: 4.819077 target range: 454.200012 and range: 515.00 m. jqjqjqjqiyhyhyhyhBfffrfbf bXm@ɛE% 隽HI  ɚiIM"=Ii01iX[)) Ij*F?2F:FBF}1JFGUG?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.033720w,:A2@Y2R@21h92>y2H`r??S¿`W?@L m?`.??ɨ2@2h_;2(CzKN"LKN59KLKN KNybBb #IInInB5٢v< v[=9vaQ v>xx zG٣z8Gyz ; ~> Nusing accuracyPremultiplier from config 49kU? 4YP i_B  r 5@tD:L:m 4 @ZjAEFNOT Ignoring new targets: 454.20 m.BjMG;JjMG;] ProNav: ac range: 454.200012 m, nav range: 252.903351 m, bearing: 35.822797 deg, approach rate: 0.266045 m/s, LOS rate: 0.127886 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117687 deg. 2j];:j]6@eHeadingCmd: 4.819163 target range: 454.200012 and range: 515.00 m. jajajajiiihihihihqfqfqfqrfybf}@5dm@ɛ΄Bp 隥I m5ɚiI"=Ii6g2iwO))*F!2F!:F!BF-05JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.285698GUt[HaIa IeN#IIeńBIa&Ia yIy.Ia6Ie<:Ie FBImǚCJImǚCRIiZIm* =bIm* =jIm54GBO% >Kw,TAbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.537649yB#IMb@Mb@Mb@ )Y|?5^?v/?Q?y?xi=u<A @)3AIAyABAIIG5٢}< }3=9}Q > G٣y > Nusing accuracyPremultiplier from config49Y?4YMP ieB?:>5@}D+;j;d4 "@%B*** querying acoustic contact ***j!j!ZjYeFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 253.015152 m, bearing: 35.876638 deg, approach rate: 0.236296 m/s, LOS rate: 0.113745 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136639 deg. 2j ;:jK9@HeadingCmd: 4.819494 target range: 454.200012 and range: 515.00 m. jjj j i h hhh Bfffrfbfsm@ɛ5 隭|I 3\RɚiI"=Ii4iQ))EErA*FY2FY:FYBF]`5JFauWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.789620G% U q Iq G B) OE >Bw,KnA6G@Y6ʙ@696ϕ>y6Hj?`~? )ٷ?4r ?q?S?`g?ɨ6G@6k;6'Cy>B>#IIFIFO5٢Nx= Rn=9RBQ R?TT VG٣TyV; Z? bNusing accuracyPremultiplier from config\f49^\?f4Y^lP i^iBdff5@^D^P:^ :^d4h n@lZj|FNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 253.099182 m, bearing: 35.917210 deg, approach rate: 0.257426 m/s, LOS rate: 0.124251 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.096862 deg. 2j;:j3@%HeadingCmd: 4.818799 target range: 454.200012 and range: 515.00 m. j!j!j!j)i)h)h)h)h1f1f1f1rf9bfE}m@ɛτBQ нI ŎcɚiI#=Ii4iL4))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042135JJJJJ:J9JJa@a@a@a@zK5]JK59K1K5 K5GGGGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293692"w,2sAJy˒@YJ$ۙ@Jn9JW>yJH`ep?@:? Z?X ʾq?`? ?ɨJy˒@J';J*CyjBj#IIrIrG5٢z:8; IjH <bH <H I  I m#II ߄BI &I .I 6I <:I  F E=9Q > G٣8GyO; > =Nusing accuracyPremultiplier from config1u495`?}4Y5-P i5oB5@5D58<5<5M"4 5@5EZjFNOT Ignoring new targets: 454.20 m.Bj;:Jj;: ProNav: ac range: 454.200012 m, nav range: 253.209732 m, bearing: 35.970719 deg, approach rate: 0.226993 m/s, LOS rate: 0.109822 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135643 deg. 2j;:j&9@HeadingCmd: 4.819476 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`m@ɛeЄBm~ im4ҽIi m}ɚiiqIu#=Iui} 6i})y)y*Fm?2Fq:FqBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546013G .-Gq B O >+(w,FEAbhӒ@Yb@bv蜻9bG>ybH?Έ?Q@?  s??@ ?ɨbhӒ@b{;b&CyvBv#IMb@Mb@Mb@ )YI +?T㥛 ? G٣yX; > Nusing accuracyPremultiplier from config49d?4YP itB?:<5@D;;)4 @ZjFNOT Ignoring new targets: 454.20 m.Bj :;Jj:; ProNav: ac range: 454.200012 m, nav range: 253.311020 m, bearing: 36.021151 deg, approach rate: 0.262133 m/s, LOS rate: 0.130465 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126421 deg. 2j%;:j%7@-HeadingCmd: 4.819315 target range: 454.200012 and range: 515.00 m. j)j)j)j)i1h1h1h1h=$Bf9f9f9rf9bfE@Ǚm@ɛфB ȽI nm $?IjɚiIg#=Ii`6i))EUY>EU>*F?2F:FBFJF"G=G=J J J J J :J m9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050344G "G B O- >~V.w,)#A6~ے@Y6)@6ۢ96{>y6H ? r?O`߸? 9`Ut??|?ɨ6~ے@6|;6)CyBBB#IIJIJI5٢RѼ R`=9V{zQ V?TT ZG٣XyZ>; Z? bNusing accuracyPremultiplier from config\f49^Eh?f4Y^P i^wBdff5@^D^z:^:^/4h n@lZj  FNOT Ignoring new targets: 454.20 m.Bj ;Jj;zK2KK9KK K"fmXoL;.! 5 ProNav: ac range: 454.200012 m, nav range: 253.392700 m, bearing: 36.061825 deg, approach rate: 0.240397 m/s, LOS rate: 0.119671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097169 deg. 2j5B;:j53@=HeadingCmd: 4.818805 target range: 454.200012 and range: 515.00 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfUm@ɛ҄B t߽I &ɚiI&#=I i l7i ) )*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303961 IHI I#IIBI&I.I6I<:I FGUȱ GI Bq O > @5w,WA6{@Y6&@6Q96t|>y6HQW? >? J?0Bv?z??ɨ6{@6;ψ;4yBBB#INWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.553668Mb@Mb@Mb@ )YM?Zd;O?{Gzt?yn?j<=ף;A @)AIyAIIF5٢  55=95dQ 5>99 =G٣=8GyEdd; E> uNusing accuracyPremultiplier from configiu49m1l?}4YmnQ im{B}?}:}Z}5@mDmL;mw;m74 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;5 ProNav: ac range: 454.200012 m, nav range: 253.507965 m, bearing: 36.115431 deg, approach rate: 0.246340 m/s, LOS rate: 0.114514 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135933 deg. 2j5.;:j519@=HeadingCmd: 4.819481 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhihmBfifqfqrfqbfu޳m@ɛ ӄB  I iˠɚiI3#=Ii8iܻ)!)A*F?2F:FBFm0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.805649 I GE G B! OE >g;w,A6m@Y6@65Ż96^8>y6H?ʆ? ?[`x? ?ۯ?ɨ6m@6 E;6+CyRBR #IIZIZ-I5٢z? z_=9zQ ~> G٣y;  > Nusing accuracyPremultiplier from config 49 Co?4Y Q i }B>5@ D '; .+; =4) -{@1ZjY]FNOT Ignoring new targets: 454.20 m.Bjeb;Jjeb;u ProNav: ac range: 454.200012 m, nav range: 253.597809 m, bearing: 36.157199 deg, approach rate: 0.256577 m/s, LOS rate: 0.119237 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100444 deg. 2ju;:ju4@}HeadingCmd: 4.818862 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf;m@ɛԄB>  I cɚiIB#=Ii1n8iCȻ))EJJJJJ:J:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058553*F?2F:FBF`5JFGsA GzKANKh9KK KG4λGBO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309607OBw, A 8I<HZ>IX IXIXIZ* =&IX.IZ3D6IZ<:IZ Fr@YrS @r|һ9rN>yrH? ?`? #Uz? ?`?ɨr@r T;r)Cy]B]#IImImgG5٢}>T }B=93Q > G٣yxQ; > -Nusing accuracyPremultiplier from config!e49%s?m4Y%MQ i%B5@%D%Y<%<%E4B @EZjFNOT Ignoring new targets: 454.20 m.BjX:JjX: ProNav: ac range: 454.200012 m, nav range: 253.707977 m, bearing: 36.208467 deg, approach rate: 0.226804 m/s, LOS rate: 0.105499 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128923 deg. 2jΐ;:j08@HeadingCmd: 4.819359 target range: 454.200012 and range: 515.00 m. jjj!j!i!h!h!hIhIfIfQfQrfQbfUm@ɛքBv* I m4hɚiiqIuS#=Ii8i))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562497*F?2F:FBF0JF) CGG1A u4Yqy}|AG Gq B O >CHw,:$A6@Y6u @6964a>y6H? ?l ?n} |? ?@?ɨ6@6L;4y>B>"IMb@Mb@Mb@ )YII MG٣M8GyM-{: U> ]Nusing accuracyPremultiplier from configQ]49Uv?e4YU Q iUBe?e:epm5@UDU;U;UWL4uB u.@uEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.813721Zj15FNOT Ignoring new targets: 454.20 m.Bj=;Jje;u ProNav: ac range: 454.200012 m, nav range: 253.809677 m, bearing: 36.253531 deg, approach rate: 0.281690 m/s, LOS rate: 0.124770 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110326 deg. 2juA;:ju5@HeadingCmd: 4.819034 target range: 454.200012 and range: 515.00 m. jjjjihhhh Bfffrfbf]m@ )I)ɛׄBfaY 2%I \3ϺɚiIg#=Iis9i_))*F?2F:FBFP5JFJ] J] JY JY J] }:J] [9JY JY } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065932G XG B O >YNw,=A2 @Y20@2B92'>y2H )f?`0?#ve?7~|}?@e?`?ɨ2 @2;2(CyNzBN"IIVIV^S5٢^[ bT=9bMƹQ b>dd fG٣dyf!; f> nNusing accuracyPremultiplier from confighr49jy?r4YjQ ijBpr=r5@jDj:j:jS4t z@xzK5BJK59K1K5 K5'Hc?& ZjFNOT Ignoring new targets: 454.20 m.Bj-;Jj-; ProNav: ac range: 454.200012 m, nav range: 253.910477 m, bearing: 36.298264 deg, approach rate: 0.264444 m/s, LOS rate: 0.117308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109331 deg. 2j;:jc5@HeadingCmd: 4.819017 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrf bf  Xm@ɛ؄B x =I CɚiI#=I5i=*9i=ID_)A)QEEsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319150*F=?2FA:FABFEW0JFA !I%jH>I Is#IIBI&I.I6I<:I FG 0Gy B O > Uw,"WA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569773^@Y^d @^_9^lO>y^H~??p?|?@?`?ɨ^@^/I;^'Cy~mB~"IMb@Mb@Mb@ )Y +?{Gz?y&1|y?ף<`A @)AIyAII&Q5٢:j ;=9Q > G٣y: > Nusing accuracyPremultiplier from config49$|?4Y!Q i?::5@ǹD<h<Z4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;% ProNav: ac range: 454.200012 m, nav range: 254.032898 m, bearing: 36.349470 deg, approach rate: 0.273732 m/s, LOS rate: 0.114441 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128731 deg. 2j-;:j-)8@5HeadingCmd: 4.819355 target range: 454.200012 and range: 515.00 m. j1j1j1j1i9h9h9h9hEBfAfAfArfAbfMm@ɛڄBTE YI ɚiI՞#=Ii:19i{#?))*F=?2F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821889  I GE V'SGu ?Gu ?G9 BI Oe >[w,fqAy~^B"IIIV5٢%Ԝ %V=9%Q %>)) -G٣-8Gy5 5> =Nusing accuracyPremultiplier from config1E495~?E4Y5'Q i1AAM5@5ϹD5m ;51;5ga4Q ]@YZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 254.140030 m, bearing: 36.394169 deg, approach rate: 0.299279 m/s, LOS rate: 0.124817 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109228 deg. 2jR;:j_5@HeadingCmd: 4.819015 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@m@ɛۄBj\ zI ɚiI#=Ii?69iUD))]Will construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data. IY  I] Z#II] τBIY &IY .IY 6I] <:I] FBI)JI)RI)ZI)bI)jI-̎%54bw,ЋA "@Y 2@ n79 Q>y H'?`?6.?iF{ƀ?`?`j?ɨ "@ J; +CyXB%"II5I5@T5٢= EF=9ExQ E>II MG٣IyUЯ; U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]-Q iYae񶿑e5@]ֹD]*:];]h4 @ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 254.255600 m, bearing: 36.442524 deg, approach rate: 0.256626 m/s, LOS rate: 0.107324 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120185 deg. 2jO;:j6@HeadingCmd: 4.819206 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf;n@ɛ-݄B5# 15-I1 5xɚ1i9I=O#=Ieie8ie-{)a)aEuR>Eu>*F?2F:FBFJFG GsAJK KKK"KJ%J%J%/J!J% :5Will construct direction to contact in vehicle frame from tetrahedron phase data.=!hw,AyzJBz"I)| |Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y > %Nusing accuracyPremultiplier from config!-49%?-4Y%L5Q i%B5?5:555@%߹D%;%;%p49 =@]EZjFNOT Ignoring new targets: 454.20 m.Bj[;Jj[; ProNav: ac range: 454.200012 m, nav range: 254.395721 m, bearing: 36.498172 deg, approach rate: 0.322369 m/s, LOS rate: 0.127956 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142040 deg. 2j;:j:@HeadingCmd: 4.819588 target range: 454.200012 and range: 515.00 m. jjjjihh!h!h%Bf!f)f)rf1bf]n@ɛ߄B 隭I t(ɚiIa!$=IiM8iA))*F?2F:FBF`0JFJ! J% AAE Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Response Not Received M *response not receivedM ,DAT read: user:1187> U BDAT read: Tx time:20:13:26.1325 U $Ping request sent.U C!ow,uAyr;Br"IIzIzM5٢< m=9 Q  ?    G٣8Gy ? Nusing accuracyPremultiplier from config%49?%4Y:Q iB))-5@D::v41 5@1ZjamFNOT Ignoring new targets: 454.20 m.Bjm ;Jjm ; ProNav: ac range: 454.200012 m, nav range: 254.497559 m, bearing: 36.538518 deg, approach rate: 0.310650 m/s, LOS rate: 0.123025 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.096176 deg. 2jܨ;:j3@HeadingCmd: 4.818787 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`&n@zK>BKK59KK KBK:KrAɛB{ pI :5ɚiI!V$=Ii8i))*F]?2Fa:FaBFm4JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:13:26.1317 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250992 iIiHI I;#IIBI&I.I2D6I<:I FGGqBO >J= J= J9 J9 J= -:J= 9J9 J9 J= ;J= ;J= ;J= ;] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5019370vw,'jA6;@Y6}K@6296n >y6H8? F? }?yC? ӣ?@?ɨ6;@6 ;6)Cy>/B>"IMb@Mb@Mb@ )YK7A?{Gzt?:vy "?ף;A @)zAIyQAII<5٢Z ==9+Q > G٣y@; > Nusing accuracyPremultiplier from config49h?4YAQ iB"?:5@D;;)~4  |@=B*** querying acoustic contact ***jAjAZjYeFNOT Ignoring new targets: 454.20 m.Bjm ;Jjm ;} ProNav: ac range: 454.200012 m, nav range: 254.633347 m, bearing: 36.592115 deg, approach rate: 0.310475 m/s, LOS rate: 0.122482 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135890 deg. 2j};:j}/9@HeadingCmd: 4.819480 target range: 454.200012 and range: 515.00 m. jjjjihh h h Bf ffrfbf,5n@ɛBռ 隥ಾI :vJɚiI$=Ii7iT:))E*F2F:FBF3JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754518 U$?IQG ˴GY Ba O} >2|w,)A6>'@Y66@6Y!+96>y6H xJ?@|?L¿@ zd?Q3td? B?࿫?ɨ6>'@6\+;6'CyB+BB"I F=F=ININ35٢r r]=9rwQ v>tt vG٣tyz>޻ z> ~Nusing accuracyPremultiplier from config|49~?4Y~GQ i~~B   5@~D~:~z:~4 @ZjAEFNOT Ignoring new targets: 454.20 m.BjM;JjM;] ProNav: ac range: 454.200012 m, nav range: 254.750153 m, bearing: 36.637849 deg, approach rate: 0.319296 m/s, LOS rate: 0.124958 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112324 deg. 2j];:je5@eHeadingCmd: 4.819069 target range: 454.200012 and range: 515.00 m. jijijijiiihihihqhqfqfqfyrfybf}`@n@ɛB 隵AI YZɚiI$=IiJ7i))Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007423*FU?2FQ:FQBFU_0JFQGu?:zKJK+9KK KRK% ?JK%?GIBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257816 A IA ZH RH AAH >I  I #II BI + =&I .I 6I <:I F;w, Ay]B]}"III65٢ 8=9Q >  G٣ 8Gy %> MNusing accuracyPremultiplier from configAe49E?e4YEOQ iE|Bqq}5@EDE;E;E4 @ZjFNOT Ignoring new targets: 454.20 m.Bj';Jj';  ProNav: ac range: 454.200012 m, nav range: 254.893707 m, bearing: 36.693914 deg, approach rate: 0.289284 m/s, LOS rate: 0.112916 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.143286 deg. 2j ;:j>:@HeadingCmd: 4.819610 target range: 454.200012 and range: 515.00 m. jjjjihhh!h!f!f)f)rf)bf-ePn@ɛB 隝uɾI -uɚ!i!I%%=I%i-id7i-QK))))JJJ0JJ}:JJـ3JJ;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511392JJ*F?2F:FBF@5JFG GqAG ïGy B O >cw,b'AF(@YF8@F@9F >yFH W?ං?P ?"i`???ɨF(@F͈;F)CyRBR{"IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764421Mb@Mb@Mb@ Ij )Y#~j?~jty%?D ~@)AIy(AIIJ5٢Q ?=9IQ > G٣y9 > Nusing accuracyPremultiplier from config49?4YVQ i{B%?: 5@D;;4 @Zj9=FNOT Ignoring new targets: 454.20 m.BjE;JjE;U ProNav: ac range: 454.200012 m, nav range: 255.033112 m, bearing: 36.747214 deg, approach rate: 0.362939 m/s, LOS rate: 0.138693 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135001 deg. 2jU^;:jU9@]HeadingCmd: 4.819465 target range: 454.200012 and range: 515.00 m. jYjYjajaiahahahihmBfffrfbf \n@ɛEBe< im̾Ii m˄ɚiiiIu&`%=Iui}7i})y)y*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014222G 'HG B O >Kw,2>AA67@Y6oG@6-|=96 >y6H@ͻ?@I?H_`?_ kc?mP?'?ɨ67@6;;4yF BFf"IHHIvIvX5٢ B  h=9U:Q > G٣yh; ? -Nusing accuracyPremultiplier from config!-49%5?54Y%\Q i!15Ϻ55@%D%:%:% 4A E@AZjamFNOT Ignoring new targets: 454.20 m.Bjm;Jjm; ProNav: ac range: 454.200012 m, nav range: 255.146774 m, bearing: 36.790746 deg, approach rate: 0.330163 m/s, LOS rate: 0.126392 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105723 deg. 2j{;:j4@HeadingCmd: 4.818954 target range: 454.200012 and range: 515.00 m. jzK2KK9KK K` )Z+y@ jjjihhhhfffrfbfgn@ɛB4z  ޾I ɚiIf%=Iip6iR:))*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267324 IHQIQ IU"IIU~BIQ&IQ.IQ6IU<:IU FG1G5rAG1G BI O- >J J J J J :J 9J J J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517936J !;J !;= ~GQ uw, [AT rYpyryByuMb@Mb@Mb@qqq q)qYu?MbpI +yu,?uu94uA u@)qIuAqyuAIIL59Q > G٣8Gy > Nusing accuracyPremultiplier from config49앱?4YdQ izB,?:5@D];;4 B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj 4;Jj 4; ProNav: ac range: 454.200012 m, nav range: 255.303940 m, bearing: 36.849940 deg, approach rate: 0.344236 m/s, LOS rate: 0.129571 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.152659 deg. 2jر;:j;@%HeadingCmd: 4.819773 target range: 454.200012 and range: 515.00 m. j!j!j!j!i)h)h)h1h5eBf1f1f1rf9bf=*vn@ɛmBm  quH߾Iq uAɚqiqIuo%=I}i}16i}&`:))*F?2F:FBFJF"G=Gp=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912 IG 7:G B O >Yw,tAJG@YJV@JUJ9J}m >yJH sG??xQ<Zr?iWfyJ????ɨJG@Jg<;J*CyPRg"II^I^=X5٢f: f<9fQ f?hh jG٣hynE; n? rNusing accuracyPremultiplier from configpv49r?v4YrjQ iryBxz\z5@r!Dr;rf;r4| ~@|Zj!%FNOT Ignoring new targets: 454.20 m.Bj-;Jj-; ProNav: ac range: 454.200012 m, nav range: 255.423065 m, bearing: 36.894883 deg, approach rate: 0.346886 m/s, LOS rate: 0.130810 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109952 deg. 2j;:jz5@HeadingCmd: 4.819028 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf|n@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022132ɛ-BMn QU߾IQ U aɚQiQI]gI&=I]i]5ie?q,;)a)a*F?2F!:F!BF%o0JF!zK-OK-ػ9K)K- K-      $3ALOPOKFD=80GG B! OE > i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278878HA IA  IE "IIE jBIA &IA .IA 6IE <:IE F4w,yABH@YBEX@BAO9BT >yBHS?? ON?c:?QY eG٣aye69 m> uNusing accuracyPremultiplier from configq}49u?}4Yu=rQ iqy}V5@u*Du :un:uk4 @EZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 255.569214 m, bearing: 36.949904 deg, approach rate: 0.345140 m/s, LOS rate: 0.129862 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140155 deg. 2j>;:j9@HeadingCmd: 4.819555 target range: 454.200012 and range: 515.00 m. jjjjihhh hffAfIrfQbf]1n@ɛB AEIA MɚIiIIM)&=IUiU4iUq&;)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530916*F?2F:FBF0JFG= ;GA GE 1?G1 BA O] >Ow,ȨA>C@Y>S@>)W9>k >y>H.?S?`T`?2_ ???@?ɨ>C@>x1;>)CyNBNe"I |I~j5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783158Mb@Mb@Mb@ )Ym?MbP?Mbpy.?:A h@)IAyI5I5xV5٢E; E9=9MQ M>II MG٣U8GyUȪ U> ]Nusing accuracyPremultiplier from configYe49]f?e4Y]yQ i]zBm.?m:mm5@]3D];]O;]4y }@yZjFNOT Ignoring new targets: 454.20 m.Bj?;Jj?; ProNav: ac range: 454.200012 m, nav range: 255.719727 m, bearing: 37.007102 deg, approach rate: 0.345858 m/s, LOS rate: 0.131357 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.146680 deg. 2jL;:j:@HeadingCmd: 4.819669 target range: 454.200012 and range: 515.00 m. jjjjihhhhcBfffrfbfn@ɛ T  I vڽɚiI&=Ii04i;))*FQ2FQ:FQBF]i3JFYGa GesAJJJJJ}:J9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036809G} ;Gy B O >w,A:r=@Y:M@:h]9:d >y:H@?? 5,0?vU`ܬ?@?@?ɨ:r=@:o;:&CyB BBk"IHJ@AIJIJQ5٢R< Vj=9VQ V>XX ZG٣XyZ! Z> Nusing accuracyPremultiplier from config 49? 4YdQ i{B   5@;D::D4 @!ZjquFNOT Ignoring new targets: 454.20 m.BjD;JjD; ProNav: ac range: 454.200012 m, nav range: 255.844131 m, bearing: 37.054174 deg, approach rate: 0.342748 m/s, LOS rate: 0.129624 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116333 deg. 2j;:jc6@HeadingCmd: 4.819139 target range: 454.200012 and range: 515.00 m. jjjjihhhhffzKMKh9KK K*# &9FT]goyf1rf1bf5 Ҩn@ɛBG V޾I HɻɚiI6'=Ii o3i:)) I UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286717*F?2F:FBF5JFH>I I"IIeBI&I.I6I<:Ii FBIJIRIZI+ =bI+ =jIĴ4G7:Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537989EĶw,aA:3@Y:C@:U d9:>y:H`3? ? (?D@???ɨ:3@:;:(CyFBFs"IMb@Mb@Mb@ )Y&1?~jth?y0?D; ~@)IyAI-I-O5٢=< EA=9M&zQ M>II UG٣QyUC3 U> Nusing accuracyPremultiplier from config49f?4Y5Q i~B0?:C5@ED;;4 <@Zj1=FNOT Ignoring new targets: 454.20 m.Bj=;JjE;] ProNav: ac range: 454.200012 m, nav range: 255.997437 m, bearing: 37.111502 deg, approach rate: 0.357209 m/s, LOS rate: 0.133497 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.147067 deg. 2j]<;:j]:@eHeadingCmd: 4.819675 target range: 454.200012 and range: 515.00 m. jajajajaiahahihihmtBfifqfqrfqbfun@ɛBt 隥ؾI ԻɚiIʀ'=Ii83i9))*FM?2FQ:FQBFU_0JFQ I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.790677G5:G5sAG1G B O5 >Jw,\<A61@Y6A@6i96U>y6HÞ?̆? T `WYܻ?-@;?`2?` ?ɨ61@6);6'CyBBBr"IIJIJ[W5٢VSǻ VT=9V;rQ Z>XX ZG٣Z8Gy^+ ^> Nusing accuracyPremultiplier from config49ä?4Y Q iB%L%5@MDB;B;j41 5O@1MB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 454.20 m.Bje8;Jje8;u ProNav: ac range: 454.200012 m, nav range: 256.131775 m, bearing: 37.161576 deg, approach rate: 0.357215 m/s, LOS rate: 0.133080 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125329 deg. 2ju;:j}7@}HeadingCmd: 4.819296 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfn@ɛz qھI n޻ɚiIY'=Iiv2it9))JJJJJ :JJJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042697*FU?2FQ:FQBFQJFQ"G]=G]=G}:GiByzK`NKKK Ke=# O> I m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295505ZH RH H >I C I I I &I .I 6I ư<:I v F%w,jAJ.@YJg>@Jj9JÀ>yJHළ?ಈ?@@Ļ?@ ?@9]?I?@?ɨJ.@J_;J(CyRBRx"IIZIZDP5٢re< rG=9v%Q v>tt zG٣xyzt z> %Nusing accuracyPremultiplier from config%49I?%4YbQ iB)-X-5@VD::45B 5@=EZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 256.276306 m, bearing: 37.215265 deg, approach rate: 0.342728 m/s, LOS rate: 0.127242 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136164 deg. 2j;:j99@eHeadingCmd: 4.819485 target range: 454.200012 and range: 515.00 m. jajijjihhhhf!fafarfabfn@ɛUB] Y]־IY ]ɚiIP(=Ii_2iy))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546055*Fu?2Fq:FyBF}^0JFyG !Gq B O >7w,'*A IjZWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.798167b)@Yb9@br9b)m>ybH _?@>?,`! j?LC?@jW?`?`?ɨb)@b;b'CynBr"I ==mMb@Mb@Mb@iii i)iYmi|?5?y&1?{Gzt?ym1?m`e G٣y > Nusing accuracyPremultiplier from config49?4YQ iB1?:踿5@`D;;4 x@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 256.439423 m, bearing: 37.278365 deg, approach rate: 0.360706 m/s, LOS rate: 0.139448 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.164367 deg. 2jg;:jA=@HeadingCmd: 4.819977 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfn@ɛ!% !%UξI! %Lɚ)i)I-?`(=I-i5j2i5e)1)q*F ?2F:FBF_0JFJ%J!J!J!J%:J!J!J!eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.049981G zQG B O > w,\DA240@Y2?@23p92z>y2H]?@?D@z`_һ?$G6?? ?`?ɨ240@2(;2)Cy>-BB"IIJIJ Y5٢R= Rr=9R9Q R?TT VG٣V8GyZu; Z? ^Nusing accuracyPremultiplier from config\b49^>?b4Y^Q i^B`fϸf5@^hD^ ;^G;^4h j@hZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 256.556519 m, bearing: 37.323619 deg, approach rate: 0.346058 m/s, LOS rate: 0.133680 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.110887 deg. 2j|;:j5@HeadingCmd: 4.819044 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfqn@zKMK9KK KɛAEo IM+II MEɚIiIIM(=Ii1i#9)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302794H=>I9 I="II=oBI=, =&I9.I96I=<:I=F F*Fe?2Fa:FaBFe0JFiGq GqGmu4GQ B OM >} Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՅ A checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554161gBw,r^A2*@Y29@21t92U>y2H`?? P?,F?@ꅎ?@?y?ɨ2*@2·;2(CyN0BN"I]Mb@Mb@Mb@YYY Y)YY]/$?S㥛?:v?y],?]/<]T<]A ]~@)]AIYYy]AIuIuZ5٢:1< ==9uQ > G٣y > Nusing accuracyPremultiplier from config49ư?4YQ iB3,?:5@qD ;;-4B {@EZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 256.698059 m, bearing: 37.380450 deg, approach rate: 0.326862 m/s, LOS rate: 0.131167 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.145584 deg. 2j ;:j:@HeadingCmd: 4.819650 target range: 454.200012 and range: 515.00 m. jjjj i h h h hBf)f)f)rf)bf5n@ɛ-} I ɚiI(=Iiq1i=o))*F2F:FBF0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806080G% D@G! B) OI kw,KxA>&@Y>6@>gnt9>;>y>HH? ?o?E??r?·?ɨ>&@>JL;>)Cy^:Bb"IdfAIjIjM5٢rY= rU=9ryQ v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~䳱?4Y~VQ i~B   5@~zD~:~ :~4 @E=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 454.20 m.BjM;JjM;] ProNav: ac range: 454.200012 m, nav range: 256.823578 m, bearing: 37.430670 deg, approach rate: 0.327022 m/s, LOS rate: 0.130779 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125774 deg. 2je;:je7@mHeadingCmd: 4.819304 target range: 454.200012 and range: 515.00 m. jijijijiiihihihqhqfyfyfyrfybfo@ɛBy 隵I ɚiI.)=Iiv51i\F))JJJ1JJ :J9J3J=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058235*F?2F:FBF_5JFG-zQzKRKK]9KK K  RK?JK> IG BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309934jH% <bH% p<H) I)  I- "II- BI) &I) .I) 6I- Ű<:I- s FSw,&A>%@Y>4@>s9>8>y>H w8??S@{?@D?`??ȷ?ɨ>%@>;dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49n#?r4YnVQ inBpvv5@nDn~ ;n:n4x z@xZjFNOT Ignoring new targets: 454.20 m.Bj%$;Jj%$;5 ProNav: ac range: 454.200012 m, nav range: 256.954651 m, bearing: 37.482939 deg, approach rate: 0.329337 m/s, LOS rate: 0.131263 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131911 deg. 2j5+;:j58@=HeadingCmd: 4.819411 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfM o@ɛ} QI i ɚiIR)=I i0i5\r)9)IE) C~G YylA*F?2F:FBF@5JF"G=Gp=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.562181G >G B O > I j~w,A2/@Y2-@2ps92 >y2H? ˈ?_F?E?m?? ?ɨ2/@2\և;0y>QB>"IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.813987Mb@Mb@Mb@ )YˡE?:v?y&1?y'?<`e<A )IAyII-I5٢E= ;=9sQ > G٣8Gy > Nusing accuracyPremultiplier from config49?4YQ iB(?:ݶ5@Dw;;~4 [@Zj!%FNOT Ignoring new targets: 454.20 m.Bj-M;Jj-M; ProNav: ac range: 454.200012 m, nav range: 257.095215 m, bearing: 37.538626 deg, approach rate: 0.320830 m/s, LOS rate: 0.127034 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142158 deg. 2j];:j:@HeadingCmd: 4.819590 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf`8o@ɛ!%Ќ !%uI) -ɚ)iiIm)=Iui}0i}Fٺ)y)*F ?2F :F BF |0JF UWill construct direction to contact in vehicle frame from tetrahedron phase data.Yi]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.067728GE b\GA BI Om >ew,AyVB"I %=!I5I5G5٢E< ES=9MQ M>II UG٣Qy] ]> eNusing accuracyPremultiplier from configam49e?m4YexQ ieBqqu5@eDee:e:eJ4y @ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 257.220581 m, bearing: 37.588160 deg, approach rate: 0.322994 m/s, LOS rate: 0.127556 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123714 deg. 2j;:jq7@HeadingCmd: 4.819268 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`$*o@ yIzK;LKKK KBK:KɛB 隽I ɚiI)=Ii0iH>̺))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319134H>I I#IIBI. =&I.I6I԰<:I F*Fu?2Fy:FyBF}^0JFyGi"G B OE >J% J% J% /J! J% :J% 9J% (N3J! J% ;a5 J% ;a5 J% E;a5 J% F;a5 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569935ގw,lAj@Yj-@jHn9j>yjH?`?<r@?9?ȍ?`"?&?ɨj@j;j(CyrcBv"IuMb@Mb@Mb@qqq q)qYuMbX9? rh?I +?yu!?uC =u94 G٣yø > Nusing accuracyPremultiplier from config49?4YdQ iB "?:5@D;; 4 ;@Zj!-FNOT Ignoring new targets: 454.20 m.Bj-b ;Jj-b ;E ProNav: ac range: 454.200012 m, nav range: 257.348022 m, bearing: 37.640135 deg, approach rate: 0.303228 m/s, LOS rate: 0.123607 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131035 deg. 2jM;:jM}8@MHeadingCmd: 4.819396 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhYh]لBfYfafarfabfe@7o@ɛĝ 隭I &ɚiI)=Ii20i>к))EEtA*FM?2FI:FIBFM_0JFQGQ GQ IjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822123G54ȺG B! O= >Cw,EA6#@Y623@6i96'>y6H,?;?` j?1 ?#??@?ɨ6#@6;4y>jB>"IIJIJF5٢R= R_=9Va:Q V>TT ZG٣Z8GyZ+: Z> bNusing accuracyPremultiplier from config`f49b+ı?f4YbnQ ibBdf괿f5@bDb:b:b 4l n@nEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 454.20 m.Bj . ;Jj . ;% ProNav: ac range: 454.200012 m, nav range: 257.459351 m, bearing: 37.685495 deg, approach rate: 0.303068 m/s, LOS rate: 0.123430 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.111207 deg. 2j%j;:j%5@-HeadingCmd: 4.819050 target range: 454.200012 and range: 515.00 m. j)j)j)j1i1h1h1h9h9f9f9f9rfAbfE\Co@ɛims iu;Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074886Iq %<ɚ!i!I%0*=IMiUML0iU^u)Q)Q*F?2F:FBFj0JFG i" qIqGBO >zK JK +9K K K RK ?JK &? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325861H >I  I 5#II BI , =&I .I 6I <:I a FBIəCJIəCRIZI, =bI, =jIɌ5w,zA>N@Y>-@>^}l9>>y>H@?݉?@ilC?6?h?`?@?ɨ>N@>u;>&Cy^qB^"IlnAIrIrM5٢5 = 5A=9=Q =>9A EG٣AyEź E> MNusing accuracyPremultiplier from configIU49MDZ?]4YMbQ ]tIiMBY]]6@MDM;M|;Mn4a mV@iZjFNOT Ignoring new targets: 454.20 m.BjJj ProNav: ac range: 454.200012 m, nav range: 257.587738 m, bearing: 37.737605 deg, approach rate: 0.304253 m/s, LOS rate: 0.123429 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.131438 deg. 2j:j8@HeadingCmd: 4.819403 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@Qo@ɛ9EiԼ AEvIA E*ɚIiIIM=*=I]ie$0im|}Ӻ)q)yJJJJJ-:J9JJJ;J;J;J;*F?2F:FBFo0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579798G% pG B O% > a Ia s w,F-ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.830084F@YF.@Fh9FY>yFHd ??@6Z@G??`?0??ɨF@F*;F+CyRvBR"I5Mb@Mb@Mb@111 1)1Y5ʡE?Q?Mb?y5?5\=5<5rA 1)5AI5A1y5AIMIMG5٢]c< ]H=9e:Q e>ai mG٣iymx9 m> }Nusing accuracyPremultiplier from configq}49u˱?4YuQ iuB?:6@uDu_;u1;u 4  @ZjUFNOT Ignoring new targets: 454.20 m.Bj] ;Jj] ;u ProNav: ac range: 454.200012 m, nav range: 257.708130 m, bearing: 37.786759 deg, approach rate: 0.294963 m/s, LOS rate: 0.120373 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122581 deg. 2j8;:jH7@HeadingCmd: 4.819248 target range: 454.200012 and range: 515.00 m. jjjjihhhhׄBfffrfbf^o@ɛ%B%м !%lI! -"ɚ)i)I-e*=Iuiu/iuu)q)yEV>E>*F%?2F!:F!BF%0JF!"G-=G)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,9'GA6 @Y6&@6l96h>y6HKɺ?@C?`@,`L ?5=?얍? ?ࡷ?ɨ6 @6 ;6)CyB{BB"IIJIJ^S5٢R< RW=9R$&Q R>TT VG٣V8GyZz) ^> Nusing accuracyPremultiplier from config 49 Lα?4Y 4Q i B6@ D y; ; e'4! -@)ZjQUFNOT Ignoring new targets: 454.20 m.Bj]T ;Jj]T ;m ProNav: ac range: 454.200012 m, nav range: 257.823883 m, bearing: 37.833797 deg, approach rate: 0.295588 m/s, LOS rate: 0.120063 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116238 deg. 2jmˤ;:jm`6@uHeadingCmd: 4.819138 target range: 454.200012 and range: 515.00 m. jqjyjyjyiyhyhyhhfffrfbfmjo@ɛؼ bI %ɚiI*=Ii/it)) I zKN KK]9KK KBK1:K1*FU?2FQ:FQBF]J5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.I IN#IIńBI- =&I.I1D6I<:Ij FGGBO>JSK[ G٣y >  Nusing accuracyPremultiplier from config 49 ѱ?4Y @Q i ¿BC?:@6@ ĺD H; F; /4) -@)ZjQUFNOT Ignoring new targets: 454.20 m.Bj] ;Jj] ;m ProNav: ac range: 454.200012 m, nav range: 257.953430 m, bearing: 37.886710 deg, approach rate: 0.296863 m/s, LOS rate: 0.121190 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133843 deg. 2jmW;:jm8@uHeadingCmd: 4.819445 target range: 454.200012 and range: 515.00 m. jqjqjqjyiyhyhyhyhބBfffrfbfbxo@ɛBKʼ 隽F\I =(ɚiI*=Ii/iW)) $?I j*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1188> BDAT read: Tx time:20:13:37.0826 $Ping request sent.Fw,zA2 @Y2!@2j92 >y2H? ? `?l6?{W?4??ɨ2 @2S;2+CyBBB"IIJIJxV5٢RI = Rb=9R9Q V>TT VG٣TyZݺ Z> bNusing accuracyPremultiplier from config\b49^ ձ?f4Y^Q i^ƿBdfTf6@^̺D^:^:^S54h nD@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 454.20 m.Bj ;Jj ;% ProNav: ac range: 454.200012 m, nav range: 258.060974 m, bearing: 37.930461 deg, approach rate: 0.296741 m/s, LOS rate: 0.120671 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106387 deg. 2j%;:j%4@-HeadingCmd: 4.818965 target range: 454.200012 and range: 515.00 m. j)j)j)j1i1h1h1hhfffrfbfo@Will construct direction to contact in vehicle frame from tetrahedron phase data.iAJDAT read: TxSync time:20:13:37.0818  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248191ɛ-B-dQ˼ )-NI) 5!+ɚQiQIUx*=I]i]/i]݉8)Y)aEi*F?2F:FBF_0JFG G IGzKe uKKe +9Ka Ke Ke jHy bH} <H >I  I Z#II τBI &I .I 6I <:I c F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498228G B O >j$w,%A2@Y2Z@2-r92> >y2H)7?`/?4@v|?M?jE?5??ɨ2@2;2'CyNBR"III:5٢Mq M@=9UQ U>Ya eG٣m8Gymy m> }Nusing accuracyPremultiplier from configq}49uر?4YuQ iuʿB6@uԺDu;u:u<4 Q@ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 258.189056 m, bearing: 37.982231 deg, approach rate: 0.300955 m/s, LOS rate: 0.121582 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130417 deg. 2j;:jg8@HeadingCmd: 4.819385 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfo@ɛBLYʼ NI %-ɚ!i)I-*=IMi 0i4)) *F?2F:FJJJ0JJ:J9Jـ3JJ;J;J;J;BFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752898Gr2G B O I +w,GA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002203Bb@YB@B_z9BW>yBH ? ii mG٣iyuȻ u> }Nusing accuracyPremultiplier from configy49}۱?4Y}{R i}ͿB$?:6@}ܺD}/;}j;}C4 N@ZjFNOT Ignoring new targets: 454.20 m.Bj3;Jj3;} ProNav: ac range: 454.200012 m, nav range: 258.310669 m, bearing: 38.030292 deg, approach rate: 0.299237 m/s, LOS rate: 0.118202 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119301 deg. 2j=;:j6@HeadingCmd: 4.819191 target range: 454.200012 and range: 515.00 m. jjjjihhhhلBfffrfbfbo@ɛ B5ż 15.LI1 50ɚ1i9I=1+=I=iE0iEϻ)A)i*F?2F:FBF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254211GM G! B1 OM >2w,HlAF"@YF@Fiׅ9FQ >yFH K??@< `?ag?`?r?^?ɨF"@FB;F'Cy^Bb"IIjIjY45٢Q; P=9+Q >!! -G٣)y-/; -> =Nusing accuracyPremultiplier from config1=495ޱ?E4Y5 R i5пBAEƵE6@5D5;5;5J4I U7@QZjq IFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 258.429749 m, bearing: 38.077123 deg, approach rate: 0.302593 m/s, LOS rate: 0.118949 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115617 deg. 2jD;:jI6@HeadingCmd: 4.819127 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfKo@ɛLμ GI 2ɚiId.+=Ii1i) ) EEoAH >IC Ig#IIڄBI. =&I.I6I<:Ie FzKEFKKE9KAKE KEuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507062*F?2F:FBFo0JF"GG=GҸл GG1 G) Q Y y BB O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i5 AM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762614Je Je Ja Ja Je :Je 9Ja Ja Je Q;Je R;Je !;Je !;-8w,JAR)@YR@R9Rh >yRH{? 2?V]B͹?7c?^? ??>?ɨR)@R ;Py~B"IMb@Mb@Mb@ )YZd;O?=9U:Q > G٣8Gy: > =Nusing accuracyPremultiplier from config9E49=ᱜ?E4Y=R i=ҿBE|?E:ErE6@=D=/;=;=lR4Q U&@]EZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 258.566101 m, bearing: 38.128087 deg, approach rate: 0.308151 m/s, LOS rate: 0.115115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127997 deg. 2j;:j8@HeadingCmd: 4.819343 target range: 454.200012 and range: 515.00 m. jjjjih!h!h!h%Bf)ffrfbfKo@ qIyɛBV 隝CI D5ɚiIK+=I5imk1im+ͻ)i)i}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011001*F?2F:FBF%_0JF!G= ;3G B! O= >L>w,A2W@Y2@2Zy92 >y2H̹??`wlV>?F^V?@+?@P??ɨ2W@2I;0y>B>#I Ba=Ba=IFIFDP5٢N; Rc=9R ;Q R>PT VG٣TyVb; Z> ^Nusing accuracyPremultiplier from config\b49^%䱜?b4Y^hR i^ӿB`fJf6@^D^:^X:^X4h j@huB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 258.675934 m, bearing: 38.169159 deg, approach rate: 0.300797 m/s, LOS rate: 0.112434 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.098349 deg. 2jS;:j3@HeadingCmd: 4.818825 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf.o@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262386ɛIMGҼ IM@II U6 8ɚQiQIU"i+=I]i]K1i]Q)Y)a*F=?2F9:F9BF=1JFA iIujG̻ZH! RH% @AH- >I)  I- m#II- ߄BI) &I) .I) 6I- <:I- Z FGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514929zK JK K K K !"&)+-/+,*%  RK >JK >01Ew,A2@Y2 @2ѣu92 >y2H@?ˆ?9~*?Q?.?@Tc?"?ɨ2@2&;2(CyNBN#IIVIVR5٢^< ^I=9b:Q b>`` bG٣dyfYO: f> jNusing accuracyPremultiplier from confighn49j汜?n4YjR ijտBpr?r6@jDj;j:j_4| ~@Zj1=FNOT Ignoring new targets: 454.20 m.Bj=x ;JjEx ;M ProNav: ac range: 454.200012 m, nav range: 258.802582 m, bearing: 38.216455 deg, approach rate: 0.321987 m/s, LOS rate: 0.120187 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117007 deg. 2jU;:j|6@HeadingCmd: 4.819151 target range: 454.200012 and range: 515.00 m. jjjjihhhh fffrfbf@Qo@ɛeBe% ae4Ia ej:ɚiiiIm+=Ii82ie))Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769443*F2F:FBF2JFGrA GG T i Ii G B O >WKw, /A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018073yEBM#IMb@Mb@Mb@ )Y+?Mb?{Gztyv?<ףrA ~@)IyAIIaO5٢U; 8=9Q  >    G٣ 8Gy > Nusing accuracyPremultiplier from config%49鱜?%4Y$R iֿB-{?-:-Q-6@D;;vg41 5@9ZjamFNOT Ignoring new targets: 454.20 m.Bjmo;Jjmo;} ProNav: ac range: 454.200012 m, nav range: 258.947174 m, bearing: 38.268393 deg, approach rate: 0.327387 m/s, LOS rate: 0.117532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130912 deg. 2jR;:jy8@HeadingCmd: 4.819394 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfGo@ɛEBEX Im>0Ii uy<ɚqiqIu'+=I}i}2i}ܧ)y)*F)2F):F1BF585JF1JJJJJJ9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270477Gi GA BQ Ou >?Rw,oIA2@Y2N@2Yx928 >y2H m? B>"I)@ @DFAIJIJ=X5٢RL Vc=9V Q V>XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`f49b뱜?f4Yb)R ib׿Bhjfj6@b Db; ;b ;bm4l n=@p IZjFNOT Ignoring new targets: 454.20 m.Bjy:Jjy: ProNav: ac range: 454.200012 m, nav range: 259.064270 m, bearing: 38.310284 deg, approach rate: 0.312302 m/s, LOS rate: 0.111676 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100804 deg. 2jH;:j+4@HeadingCmd: 4.818868 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfo@ɛQ]ėм Y]AIY ]"?ɚYiaIe+=IeimB2im$)i)iH >I III/ =&I.I6I<:Ii FBI˜CJI˜CRIZI. =bI. =jI¨:5}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523578zK8MK 9KK KBK:K*Fm?2Fi:FiBFu_0JFqGXGq B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777391lXw,RcA6@Y6@6$x96+ >y6H??֏| ?S?@5?`t??ɨ6@6;6(Cy^B^#IMMb@Mb@Mb@III I)IYMS?Mb?~jthyM/?IMDMA I)IIMAIyMAII Y5٢]= :=9B7Q > G٣yW9 > Nusing accuracyPremultiplier from config49K?4Y0R iٿB3?:l6@D ;;ju4 @EZj%FNOT Ignoring new targets: 454.20 m.Bj%b;Jj%b;= ProNav: ac range: 454.200012 m, nav range: 259.206207 m, bearing: 38.360936 deg, approach rate: 0.334307 m/s, LOS rate: 0.119236 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127059 deg. 2j=;:j=7@EHeadingCmd: 4.819326 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhAhIhIhMBfQfQfQrfQbf]`Zo@ɛB 隍J0I &zAɚiI+=IiI3iꙴ)) I *F%?2F!:F!BF!JF!"G-=G-=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026270G-G B O5 >b^w,&}A:@Y:\@:@j}9: >y:H??%?Y?@? ??ɨ:@:$;:)CyBBF#IININM5٢V> V]=9VdQ Z>XX ZG٣Z8Gy^ ^> bNusing accuracyPremultiplier from config`f49bv?f4Yb6R ibڿBhjj6@bDb;b;b{4nB r@rEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;- ProNav: ac range: 454.200012 m, nav range: 259.325958 m, bearing: 38.403503 deg, approach rate: 0.324455 m/s, LOS rate: 0.115280 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102830 deg. 2j-;;:j-u4@5HeadingCmd: 4.818903 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h9h9h9hAfAfAfArfIbfM p@ɛy}<ʼ y}3I OCɚiIO+=Iiٯ3iȻ))JJJJJ:J9JJ%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288291*F5?2F1:F1BF5`0JF1 I jGnʻGBO>H >I Is#IIBI. =&I.I6Iİ<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538179zKe 2KKe ػ9Ka Ke Ke RKm ?JKm $?ew,AB@YBd@B 9B,O >yBHV?? ;`Lй?Ȭ]????ɨB@B;B'CyNBN #I R=R=IVIV N5٢^< bH=9b1Q b>`d fG٣dyfh j> nNusing accuracyPremultiplier from confighr49j?r4Yj{=R ijܿBprr6@j#DjL:j7:j4x z@xZjFNOT Ignoring new targets: 454.20 m.Bj+;Jj+;5 ProNav: ac range: 454.200012 m, nav range: 259.458466 m, bearing: 38.450462 deg, approach rate: 0.326228 m/s, LOS rate: 0.115551 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115990 deg. 2j5;:j5W6@=HeadingCmd: 4.819133 target range: 454.200012 and range: 515.00 m. j9j9j9j9i9h9hAhAhAfAfIfIrfQbf] p@PExceeded connect timeout, disconnecting.ɛQU6 QU&IY ]EɚYiYI],=Ieiet24ie\ѻ))*FE?2FI:FIBFUl0JFQ-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.793975GE̻G! B1 OU > $?I kw,۰A6%@Y6@6΂96 >y6H{?@ɇ?_C͹?`?@Y??@۰?ɨ6%@6R݇;6&CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.042343yFBF #I%Mb@Mb@Mb@!!! !)!Y%Cl?Mb`y%d?%%! %@)!I%A!y%AII R5٢ :=9$Q > G٣y& > Nusing accuracyPremultiplier from config 49? 4Y~DR i޿B d? : 6@,D#;;4 @ZjIMFNOT Ignoring new targets: 454.20 m.Bj];Jj];m ProNav: ac range: 454.200012 m, nav range: 259.603851 m, bearing: 38.499987 deg, approach rate: 0.328872 m/s, LOS rate: 0.111966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123678 deg. 2jm;:jmp7@uHeadingCmd: 4.819267 target range: 454.200012 and range: 515.00 m. jqjqjqjyiyhyhyhhBfffrfbf@)p@ɛimf㾼 隕~*I ZLHɚiI3,=IiO4iDһ))EEsA*Fe?2Fa:FaBFeo0JFiGmsA GiJJJJJJ9JJ5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294129G vϻGa Bi O >rw,A DID:V@Y:@:X9:8>y:H*? ?`o?*_a?@ነ?`"?J?ɨ:V@:;:(Cy^B\IfIfgG5٢n ; n\=9rQ r>pt vG٣v8GyvP=: v> ~Nusing accuracyPremultiplier from configx~49z?4YzcJR izB   6@z3Dz2;zt2;z+4 @Zj9EFNOT Ignoring new targets: 454.20 m.BjE;JjE;] ProNav: ac range: 454.200012 m, nav range: 259.726196 m, bearing: 38.541592 deg, approach rate: 0.330583 m/s, LOS rate: 0.112366 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099942 deg. 2j];;:j] 4@eHeadingCmd: 4.818853 target range: 454.200012 and range: 515.00 m. jajajajaiahahihihififqfqrfqbf}@p@ɛBʼ 隭v)I z0JɚiIUM,=IUi]"5i]ʻ)Y)YH} >Iy IyIyIy&Iy.Iy6I}<:I}Z FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547418zK%KK!K!K% K%]g-%T_< BK1:K1*F=?2F9:F9BF=2JF9 nManaging dock network, ignoring radio surface power offGIG! B1 OM >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801307)xw,ABQ@YB@B{9B^ >yBHꜹ?~?`ʻ@`?b???@?ɨBQ@B[;B)CyL^ #IMb@Mb@Mb@ )YZd;?~jt?MbPy?D<A h@)IAyAII{R5٢2; >=9⮹Q > G٣y5: > Nusing accuracyPremultiplier from config49w?4Y(QR iB?:6@;D;;4 @EZj FNOT Ignoring new targets: 454.20 m.Bj;Jj;% ProNav: ac range: 454.200012 m, nav range: 259.862091 m, bearing: 38.590157 deg, approach rate: 0.315932 m/s, LOS rate: 0.112846 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120805 deg. 2j-;:j-7@-HeadingCmd: 4.819217 target range: 454.200012 and range: 515.00 m. j1j1j1j1i1h9h9h9h=BfAfAfArfIbfM@p@ɛLF *(I ċLɚiI`g,=Ii5i*Ļ)) yIy*F!2F!:F!BF%`5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050128G 4λG B O >8~w,7mAf@Yf@fHX9fL >yfH F?@}? N@?d????ɨf@fo;f'CyzB~#IIIgG5٢%` -S=9-Q ->11 5G٣1y569 => Nusing accuracyPremultiplier from configJJJ2JJ:J9Jc3J49?4YfWR iB6@CD;ף;4 @B*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302297ZjFNOT Ignoring new targets: 454.20 m.Bj x:Jj x: ProNav: ac range: 454.200012 m, nav range: 259.987579 m, bearing: 38.634908 deg, approach rate: 0.313304 m/s, LOS rate: 0.111675 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109374 deg. 2jH;:je5@5HeadingCmd: 4.819018 target range: 454.200012 and range: 515.00 m. j9jAjAjIiIhYhYhYhYfafafarfabfe {#p@ɛ'̼ 隕4I VNɚiI,=IiB5iE*Fi2Fi:FiBFm3JFi"GqGq iIiGU̻ZHRH?AHI Iz#IIBI/ =&I.I6I<:I FG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554236zK MK +9K K K 52* ʅw,,HAR9@YR@R@9R >yRH?େ?v ?e?@? ݍ?r?ɨR9@R=;R&Cy^Bb#I)  CuH~G hYyAI I E5٢-k; 5;=95尹Q 5>99 =G٣=8GyE ,: E> MNusing accuracyPremultiplier from configIU49M{?U4YM^R iMBQ]]6@MKDM ;M ;M4a e@aZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 260.122711 m, bearing: 38.683017 deg, approach rate: 0.311589 m/s, LOS rate: 0.110874 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.119440 deg. 2j.;:j6@HeadingCmd: 4.819193 target range: 454.200012 and range: 515.00 m. jj!j!j!i!h!h)hQhQfYfYfYrfYbf]@t*p@ɛBbż Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809222(2IA MzQɚQiQI],=I]ie6ieQ,)a)a*F?2F:FBFS5JF Q I] jG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058875G B! OU >tw,;4A6v@Y6"@6\96K >y6Hꭹ?`J?@c@?Ng?`[K?}??ɨ6v@62;6(CyZB^ #I f=fp=Mb@Mb@Mb@ )YK?MbPy^?A ~@)zAIAyIID5٢b< B=9* Q > G٣yug > Nusing accuracyPremultiplier from config49?4YdR iB^?:+6@SD@;;u4 @ZjFNOT Ignoring new targets: 454.20 m.Bj%;Jj%;5 ProNav: ac range: 454.200012 m, nav range: 260.260864 m, bearing: 38.729976 deg, approach rate: 0.335835 m/s, LOS rate: 0.114091 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115988 deg. 2j=;:j=W6@=HeadingCmd: 4.819133 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhAhAhIhIfIfQfQrfQbfU`0p@ɛ ˼ 隅(I SɚiI,=Iiz6ia4))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310243G G B) OM > A IA _Yw, NAJ(@YJ @J9JT >yJH?Z?Ҽ5M?f? c??`?ɨJ(@Jg;J'CybBb"IIjIj-I5٢r] rY=9vQ v>tx zG٣xyz8; z>  Nusing accuracyPremultiplier from config 49?4YjR iB6@ZD;H!I! I!I!I!&I!.I!6I%<:I%N F;4A EA@AZjamFNOT Ignoring new targets: 454.20 m.BjmP:JjmP: ProNav: ac range: 454.200012 m, nav range: 260.384521 m, bearing: 38.772016 deg, approach rate: 0.324575 m/s, LOS rate: 0.110294 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101247 deg. 2jc;:j;4@HeadingCmd: 4.818876 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf 6p@ɛ%ؼ L>I UɚiI,=IiF7iw))E}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563086*F]?2FY:FYBF]`0JFYGa GazKLK9KK KG1GBO=>J J J 0J J -:J 9J ـ3J J ;a J ;a 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817239J ;aU J ;a] w,gAFk@YF@Flj9Fh >yFH 4?@o?Ѿ`܌?Jd?8??@ް?ɨFk@Fd;DybBb"I IjeMb@Mb@Mb@aaa a)aYe^I +?MbP?Mb`yeX?e:ea eh@)eAIaayeAI}I}L5٢' 2=9E9Q > G٣8Gy ; > Nusing accuracyPremultiplier from config49 ?4Y rR iBX?:6@cD"&;]$;24 f@ EZj)5FNOT Ignoring new targets: 454.20 m.Bj5Y:Jj5Y:E ProNav: ac range: 454.200012 m, nav range: 260.535706 m, bearing: 38.823615 deg, approach rate: 0.327237 m/s, LOS rate: 0.111621 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.129894 deg. 2jE5;:jMT8@UHeadingCmd: 4.819376 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhQhYhYh]ބBfYfafarfibfm`d>p@ɛ";Ҽ 隝CI 4XɚiI,=IiL7i8J))*F-?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066499GM G! B) OM >Ykw,@A: @Y:@:9: >y:H@Ay?8?@dϺ?ͽa???@?ɨ: @:d;:)CyFBF#I)H HIRIRDP5٢Z< Zn=9Z9Q Z?\` bG٣`ybL; f? jNusing accuracyPremultiplier from configdj49f?n4YfOwR rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.318335ifBtvv6@fjDfz;f"{;f 4x z,@|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 454.20 m.Bj-:Jj-:= ProNav: ac range: 454.200012 m, nav range: 260.644318 m, bearing: 38.860698 deg, approach rate: 0.322198 m/s, LOS rate: 0.109960 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.086389 deg. 2jE;:jE2@MHeadingCmd: 4.818616 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhQfYfYfYrfabfe Cp@ɛjt 隍Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570287zKE &~JKE 9KA KE KE  w,IAy|B"II5I5F5٢U@) ]@=9eQ e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49u ?}4Yu}R iuB6@urDu;u2;uy4 @ZjFNOT Ignoring new targets: 454.20 m.Bjl:Jjl: ProNav: ac range: 454.200012 m, nav range: 260.782318 m, bearing: 38.907705 deg, approach rate: 0.326676 m/s, LOS rate: 0.111217 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.116133 deg. 2j;:j\6@HeadingCmd: 4.819136 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfJp@ɛCܼ NI ׹]ɚiI>-=JJJJJJ9JJJJJE;JF;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826060I5i=.p7i=Z)A)q*F=?2F9:F9BF=`0JFA IG} OPG ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076369G @?Gq B O >w,,Af|@Yf()@fJT9fB>yfH`ܺ?@O?C0?v\?V??@?ɨf|@f,;f(CyrvBr"IuMb@Mb@Mb@qqq q)qYu-?I +y&1|yu5?u94u`uA uQ@)uhAIuAqyuAIIaO5٢ܼ B=99Q > G٣8Gyl; > Nusing accuracyPremultiplier from config49 ?4YЄR iB>?:6@zD6;v<4 @ZjFNOT Ignoring new targets: 454.20 m.Bj}:Jj}: ProNav: ac range: 454.200012 m, nav range: 260.927368 m, bearing: 38.955242 deg, approach rate: 0.322283 m/s, LOS rate: 0.105563 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117719 deg. 2j;:j6@HeadingCmd: 4.819163 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfff rf bf `Qp@ɛ15d 9=ZI9 =`ɚ9i9I=h-=IMiMW7iMF)I)Q*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326286G G B O > a Ia #dzw,wAHB>I@ IBm#IIB߄BI@&I@.I@6IB<:IBQ Fyhh na=n%=IrIr[W5٢z zV=9~Q ~> G٣y  > Nusing accuracyPremultiplier from config 49  ?4Y R i %6@ D I; J; 4) 5@1ZjQ]FNOT Ignoring new targets: 454.20 m.Bj] ;Jj] ;m ProNav: ac range: 454.200012 m, nav range: 261.058868 m, bearing: 38.998253 deg, approach rate: 0.371345 m/s, LOS rate: 0.121397 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104153 deg. 2jm;:ju4@}HeadingCmd: 4.818926 target range: 454.200012 and range: 515.00 m. jyjyjyjyiyhhhhfffrfbfeWp@ɛS HZI +cɚiIY-=IiC7iD ))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578439*F2F:FBF4JFzK N KK 9K K  K GupGQBYO}>J} J} Jy Jy J} :J} 9Jy Jy J} Q;J} R;J} z;J} {; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833443iw,kA Iy=lB="IMb@Mb@Mb@ )YRQ?Mbp? G٣y >  Nusing accuracyPremultiplier from config 49 s?4Y BR i "?:6@ D ~< &< "4 @EZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 261.207855 m, bearing: 39.049502 deg, approach rate: 0.329862 m/s, LOS rate: 0.113404 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128848 deg. 2j;:j-8@HeadingCmd: 4.819357 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf@^p@ɛ15*n 15dmI1 =fɚ9i9I=-=IEiE*7iA)A)I*F2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,uA6 @Y6A0@6<196t>y6H?U? h?Y?@?H? ?ɨ6 @66;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.Bxx zG٣xy~; >  Nusing accuracyPremultiplier from config 49?4YlR iBq6@D@: :4%B %a@%E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 454.20 m.BjUC ;JjUC ;% ProNav: ac range: 454.200012 m, nav range: 261.334442 m, bearing: 39.093030 deg, approach rate: 0.356795 m/s, LOS rate: 0.122627 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105707 deg. 2j%P;:j%4@-HeadingCmd: 4.818954 target range: 454.200012 and range: 515.00 m. j)j)j)j)i)h)h1hQhQfYfYfYrfYbf]dp@ɛ,Q 隽I iɚiIr-=Ii96i/ݪ)) Ij*F?2F:FBF_0JFZHRHAAH >I IZ#IIτBI&I.I6Iu<:I3 F5Will construct direction to contact in vehicle frame from tetrahedron phase data.5zKE JKE 9KA KE KE }w,oAJ+@YJ;@J 9J|>yJH fo??@`q?`{G?`P?@??ɨJ+@J;J)CyVbBV"IXZAIIDP5٢=7 =F=9E:Q E>AA MG٣M8Gy]Z; ]> }Nusing accuracyPremultiplier from configq49uK?4YuaR iqC6@uDu5;uܜ;u4 k@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;  ProNav: ac range: 454.200012 m, nav range: 261.477264 m, bearing: 39.142177 deg, approach rate: 0.335520 m/s, LOS rate: 0.115394 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122547 deg. 2j c;:j G7@HeadingCmd: 4.819248 target range: 454.200012 and range: 515.00 m. jjj!j!i!h)h)h9h9f9f9fArfAbfE)kp@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1189> -Gq B O >Sw,;7A'@Yz7@e9>yHnN? ~?¿`-?Q??? ?ɨ'@q;'Cy=[B="IMb@Mb@Mb@ )YuV?I +?I +yr(?94<94 Q@)hAIAyAIIU5٢-0 -8=9--8Q 5>11 5G٣1y=Õ => ENusing accuracyPremultiplier from configAM49EZ?M4YER iEBU~(?U:UU6@EDE4;Ef;E4Y ]@Zj)5FNOT Ignoring new targets: 454.20 m.Bj5P;Jj5P;M ProNav: ac range: 454.200012 m, nav range: 261.630371 m, bearing: 39.195928 deg, approach rate: 0.337172 m/s, LOS rate: 0.118300 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.136343 deg. 2jM`;:jM@9@UHeadingCmd: 4.819489 target range: 454.200012 and range: 515.00 m. jQjQjQjQiQhYhYhaheBfafifirfibfudrp@ɛ 隥I pɚiI'd.=IiZY6iG))*FU?2FQ:FQBFQJFYmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250640Ge !Gu ?Gu /? $?I GQ BY O >H1 I1  I5 H#II5 BI5 - =&I1 .I1 6I5 ϰ<:I5 v F3w,QA6 @Y6*@6뉼96a>y6H?ـ?`Ms??9_?@==???ɨ6 @6bD;6)CyRVBR"IIZIZ N5٢b bf=9b:ٺQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49r?v4YrR iptv)z6@rDr:r:r4| ~4@|Zj!%FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;= ProNav: ac range: 454.200012 m, nav range: 261.755280 m, bearing: 39.239519 deg, approach rate: 0.372597 m/s, LOS rate: 0.129969 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105898 deg. 2j=d;:j=4@EHeadingCmd: 4.818957 target range: 454.200012 and range: 515.00 m. jAjAjIjIiIhQhQhQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502572hQfffrfbfxp@ɛEBE IM͋II MtɚIiI.=Ii?6iq))zKJKػ9KK K*F ?2F :F BFo0JF~GvAA =4Y=vAy=wAGEGBOE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756869`w,kA IyOB"I %=%=Mb@Mb@Mb@ )Y"~?y&1? G٣8Gy >  Nusing accuracyPremultiplier from config 49 ?4Y 6R i B4?:Ӹ6@ D 94; 1; 4! %@-EZjQUFNOT Ignoring new targets: 454.20 m.Bj];Jj];m ProNav: ac range: 454.200012 m, nav range: 261.920135 m, bearing: 39.297242 deg, approach rate: 0.371640 m/s, LOS rate: 0.130044 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.148245 deg. 2jm~;:jm:@uHeadingCmd: 4.819696 target range: 454.200012 and range: 515.00 m. jqjqjqjyiyhyhyhhBfffrfbf`~p@ɛb 隽XI xɚiIL.=Ii%#6ih))*Fm?2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007746Gb(G B O >Ew,VA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258450JpJrJr/JpJpJr9Jr(N3Jpaz@az@az@az@ymRBm"III55٢ZD< Q=9Q > G٣y > Nusing accuracyPremultiplier from config49 ?4YkR iB6@D;K;m 4 q@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bjc;Jjc;  ProNav: ac range: 454.200012 m, nav range: 262.066467 m, bearing: 39.348337 deg, approach rate: 0.374252 m/s, LOS rate: 0.130606 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128387 deg. 2j D;:j8@HeadingCmd: 4.819349 target range: 454.200012 and range: 515.00 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5p@ɛBt^ ?I {ɚiI/=Ii6i)) )I-j*F?2F:FBFZ4JFG GjH<bHp<H  >I  I ;#II BI . =&I .I 6I <:I e FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884GpGrAGG B O >zK JK 9K K K tw, CAV @YVo@VT9V>yVH`?Î?@`.ݺ?q? A?i??ɨV @Vi;V*Cy^QBb"IIfIf[5٢nȻ rV=9r*Q r>tt vG٣tyvP z> ~Nusing accuracyPremultiplier from config|49~"?4Y~nR i~B 6@~ǻD~:~:~4 @Zj1=FNOT Ignoring new targets: 454.20 m.Bj=;Jj=;M ProNav: ac range: 454.200012 m, nav range: 262.209412 m, bearing: 39.397944 deg, approach rate: 0.375097 m/s, LOS rate: 0.130101 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123925 deg. 2jU;:jUy7@]HeadingCmd: 4.819272 target range: 454.200012 and range: 515.00 m. jYjYjYjYiYhYhahahafafifirfibfm`.p@ɛ߄B? 隽I ^ɚiIM/=Ii06iMݔb)Q)Y]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766769*F?2F:F!BF% 5JF) IGIGA BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014360w,[ A6@Y6m@6;96L>y6Hc7?@?\ K?ǘq?`偒?G? ?ɨ6@6gT;6%CyBXBB"I)D DDDMb@Mb@Mb@ )Y"~?Mbp?y&1|y;` A h@)hAIzAyAI-I-:\5٢= ?=9Q > G٣8Gy( > Nusing accuracyPremultiplier from config49%?4YIR iB3?: 6@лD;;4 @ZjaeFNOT Ignoring new targets: 454.20 m.Bjm;;Jjm;; ProNav: ac range: 454.200012 m, nav range: 262.373505 m, bearing: 39.452820 deg, approach rate: 0.372058 m/s, LOS rate: 0.124348 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.139713 deg. 2j;:j9@HeadingCmd: 4.819547 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf bp@ɛބB. 隭܅I dɚiI'/=IiI6iu))*F2F:FBF5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267130JJJ0JJ:J9Jـ3J I G g{Ga Bi O >H I  I 5#II BI &I .I 6I <:I FBIJIRIZIbIjI4w, A>m@Y>@>y풼9>m >y>Hm@>f;>'CyttI~I~[W5٢ G  T=9 9Q > G٣y^9 > -Nusing accuracyPremultiplier from config!-49%&(?54Y%eR i%B9==6@%ٻD%'[;%[;%L4I M@MõEZjiuFNOT Ignoring new targets: 454.20 m.Bj};Jj}; ProNav: ac range: 454.200012 m, nav range: 262.522125 m, bearing: 39.502412 deg, approach rate: 0.398252 m/s, LOS rate: 0.132813 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123876 deg. 2jK;:jw7@HeadingCmd: 4.819271 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`7p@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522829ɛU݄BU[ QUIY ]ɚYiYI]y/=Ieiep6iegф)a)i*F-?2F):F)BF-_0JF)"G5=G5p=zKeJQJKe]9KaKe Ke<\jkjlkliebb^YYRF7/,(#BKq:KqGMG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774951  I mw,A2@Y2K @2t?92, >y2H? V? Jc?p?ધ?v??ɨ2@2$J;2(CyBeBB"IMb@Mb@Mb@ )Y"~?{Gzt?MbPyף;\ A @)AIyAI-I-uZ5٢%y= A=9 /Q > G٣yN > Nusing accuracyPremultiplier from config49*?4Y3R iB3?:6@D;;&4 >@ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ;% ProNav: ac range: 454.200012 m, nav range: 262.685608 m, bearing: 39.556748 deg, approach rate: 0.386644 m/s, LOS rate: 0.128427 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138093 deg. 2j%F;:j%9@-HeadingCmd: 4.819519 target range: 454.200012 and range: 515.00 m. j)j)j)j)i1h1h1h9h=Bf9f9fArfAbfE`p@ɛm܄Bm8 iunIq uɚqiqIu/=I}i}H6i))*F ?2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026701GPGBO>w,# A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278427>@Y>g@>ꔼ9> >y>Hs?;?ظ@/'l?\)p? ?@o? ?ɨ>@>q;>&CJrJrJr/JpJr :Jr9Jr(N3Jpy-jB-"II=I= N5٢M2< MP=9U8Q U>QQ ]G٣]8Gye9 e> mNusing accuracyPremultiplier from configiu49mj-?}4YmnR imBy6@mDmC;mXD;m-4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 262.837372 m, bearing: 39.607062 deg, approach rate: 0.385237 m/s, LOS rate: 0.127644 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126042 deg. 2j3;:j7@HeadingCmd: 4.819309 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`Ip@ɛ%ۄB%0 !%aI! -Xɚ)i)I-a0=I5 IjiB6iL))*Fm?2Fi:FiBFiJFiZHRHH >I I;#IIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533624GXGa Bq O >zK rMK 9K K K #  RK ?JK ?w,-y ABz@YB& @B9B2 >yBH@ݹ?@?ݽ -F?r?`{?H?ذ?ɨBz@BQ9;B)CyZzBZ"IIbIbU5٢j= jR=9j Q n>pp rG٣tyz׺ z>  Nusing accuracyPremultiplier from config 49/?4YR iB-6@D::f44 @ZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 262.988708 m, bearing: 39.657044 deg, approach rate: 0.372137 m/s, LOS rate: 0.122834 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125045 deg. 2j;:j7@HeadingCmd: 4.819291 target range: 454.200012 and range: 515.00 m. jjjji h hhhfff!rf!bf%۫p@ɛMڄBM QUV@IQ URɚQiYI]?0=I]ie\J7ie͆)a)a]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.783843*F?2F:FBF%{0JF! IjG5G1G1G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035077 w,*V: A6@Y6c@61962 >y6Hǹ? ?x1?yr? %? ??ɨ6@6 ;6&Cy>BB"I Mb@Mb@Mb@    ) Y M?Mb?~jtx?y n2? < ;  Q@) I hA y AI%I%#U5٢5RS= 5D=9Q > G٣y5M > Nusing accuracyPremultiplier from config492?4YuR iBs2?:غ6@D;;;4B Q@Zj  FNOT Ignoring new targets: 454.20 m.Bj;Jj;- ProNav: ac range: 454.200012 m, nav range: 263.152924 m, bearing: 39.711447 deg, approach rate: 0.398373 m/s, LOS rate: 0.131895 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138293 deg. 2j- ;:j-9@5HeadingCmd: 4.819522 target range: 454.200012 and range: 515.00 m. j1j1j1j1i9h9hAhAhEBfIfIfIrfIbfMhp@ɛ}لB}: y}'I 8lɚiI^0=Ii7i!))*F-?2F):F)BF-0JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286544JJJ0JJ}:J9Jـ3JGҸ IG B O1 H >I C I N#II ńBI , =&I .I 6I ǰ<:I q Fw,2T A6b@Y6@6s96B>y6H0?@H?}?ct?%? ˸?`?ɨ6b@6) ;6'Cy>B>#IIFIF[W5٢R= RT=9VnQ V>TX ZG٣Z8GyZ Z> bNusing accuracyPremultiplier from config`f49b5?f4Yb6R ibBdf񺿑f6@bDb:bX:b^B4l ]q@YZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538587 ProNav: ac range: 454.200012 m, nav range: 263.295013 m, bearing: 39.758328 deg, approach rate: 0.367513 m/s, LOS rate: 0.121191 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115753 deg. 2jX;:jN6@HeadingCmd: 4.819129 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`p@ɛׄBּ 隕I LɚiIsv0=Ii8i$̻))ErAE*FM?2FI:FIBFM`5JFIzK}LK}9KyK} K}BK:KsAGIGI BQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790457O} > I w,#n AB=@YB@B 9B®>yBH .t?@4?@ ?wTu?`Ó?YY ]G٣Yye3 e> mNusing accuracyPremultiplier from configi}49m7?}4YmR im B},?}:} }6@mDmGD;mB;mI4 @ZjFNOT Ignoring new targets: 454.20 m.Bj$;Jj$; ProNav: ac range: 454.200012 m, nav range: 263.455597 m, bearing: 39.810205 deg, approach rate: 0.390319 m/s, LOS rate: 0.126019 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130725 deg. 2j;:jr8@HeadingCmd: 4.819390 target range: 454.200012 and range: 515.00 m. jjjjihhhhʄBfffrfbf@&p@ɛքB ļ 隽ӽI ~ɚiI0=Ii&8iRػ))*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043666G G ?G>G B O >N!w,R AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296364 "@Y @ _9 ˞>y HZs?K? [?t??D? -?ɨ "@ _; y5B54#IIEIE~N5٢U= ]K=9]7n9Q e>aa eG٣aym m>JuJuJqJqJu:Ju9JqJq Nusing accuracyPremultiplier from configq49u9?4YuS iuB6@uD 9I9uzK KK 9K K K ) (w, A2@Y2@292>y2H R?D? @L`ù?4u?/?@?཮?ɨ2@2;2&Cy:B:D#IIbIbO5٢jN= jS=9nXdQ n>pp rG٣r8Gyrʨ v> zNusing accuracyPremultiplier from configtz49vE5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.799320*F?2F:FBF_0JF U$?I]jG߻G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050858f6.w, Ay~΄B~Y#IMb@Mb@Mb@ )Y"~j?MbP{Gz?yS#?#< A $@)IzAyII-I5٢Ś= <=9Q > G٣y > Nusing accuracyPremultiplier from config49W>?4YS iBY#?:ڼ6@)D;';<_4 @ƵEZjFNOT Ignoring new targets: 454.20 m.Bj-;Jj-; ProNav: ac range: 454.200012 m, nav range: 263.910614 m, bearing: 39.955754 deg, approach rate: 0.360823 m/s, LOS rate: 0.114090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.123865 deg. 2j;:jw7@HeadingCmd: 4.819271 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf@p@ɛm҄B ؾ I  ΊɚiIX0=Ii?:i )!)!*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.302897JJ@A YIYG UG B O >HM >II  IM #IIM BII &II .II 6IM <:IM l F.5w,b AyB%u#I)-DAI5I5JH5٢E= EP=9AQ M>II MG٣IyQ U> eNusing accuracyPremultiplier from configam49eY@?m4YeS ie Biqu7@e1De":e:ef4}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561807A EO@AZjiuFNOT Ignoring new targets: 454.20 m.Bju:Jju: ProNav: ac range: 454.200012 m, nav range: 264.052551 m, bearing: 40.000549 deg, approach rate: 0.339344 m/s, LOS rate: 0.107038 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109499 deg. 2j;:ji5@HeadingCmd: 4.819020 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf qp@ɛфBf "=I MɚiIz0=Iiʿ:i))*F?2F:FBFJFzK/KK9KK KBKsA:KrAG5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807965J J J J J }:J b9J J J ;a J ;a% J /.;a% J 0.;a% G) BA Om > A II \;w,] A (*@F@YF@FcH9F/`>yFH¢??@¿j ?|Dq??`D?r?ɨF@FT;F+CybBb#IUMb@Mb@Mb@QQQ Q)QYU`"?Mbp?{Gz?yU?U;QQ UQ@)QIQQyUfAIiIi٢}k= }F=95:Q > G٣8GyB; > Nusing accuracyPremultiplier from config49~B?4Y S i%B?:7@9D;+;Hm4 @ZjFNOT Ignoring new targets: 454.20 m.Bji;Jji; ProNav: ac range: 454.200012 m, nav range: 264.188904 m, bearing: 40.044359 deg, approach rate: 0.352321 m/s, LOS rate: 0.113142 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106548 deg. 2jK;:j4@HeadingCmd: 4.818968 target range: 454.200012 and range: 515.00 m. jjjjihh h h +Bfffrfbf@p@ɛЄB9 =I ɚiIb0=Ii,;iӐ))E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059982*F?2F:FBFo0JFG;3Ga Bq O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310360@Bw,s !A6#@Y6@6Q96Aw>y6H5?Մ?¿ n ?Dp?ɒ?!?]?ɨ6#@6*;6(Cy>Bz#IIIH5٢0= R=99Q > G٣!y-T7 -> 5Nusing accuracyPremultiplier from config1=495D?=4Y5&S i5)BAAE7@5@D5 ;5p;5t4I M@IZjquFNOT Ignoring new targets: 454.20 m.Bj}!:Jj}!: ProNav: ac range: 454.200012 m, nav range: 264.318573 m, bearing: 40.085927 deg, approach rate: 0.333065 m/s, LOS rate: 0.106718 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099830 deg. 2jz;:j4@HeadingCmd: 4.818851 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`p@ IɛτB =I YnɚiI`G0=Ii;ikŻ))*F?2F:FBFV1JFZHRH?AH>I I#II+BI+ =&I.I6Iw<:I8 FBIęCJIęCRIZI, =bI, =jIV5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563870G5mG=?G=>G) B1 O] >zK FJK 9K K K iHw,{J#!A>@Y>j@>J9>9>y>H? 1?` ¿.@n?ih???@%?ɨ>@>'I;>)CyFBF#IIRIRB5٢V+= ZQ=9Z;Q Z>\\ ^G٣\ybo; b> fNusing accuracyPremultiplier from configdj49fF?j4Yf-S if-Bhjtj7@fHDf:f:fz4p r@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 454.20 m.Bj^:Jj^:% ProNav: ac range: 454.200012 m, nav range: 264.447998 m, bearing: 40.127484 deg, approach rate: 0.331487 m/s, LOS rate: 0.106384 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099795 deg. 2j%;:j%4@-HeadingCmd: 4.818851 target range: 454.200012 and range: 515.00 m. j)j)j)j1i1h1h1h1h9f9f9fArfAbfEp@ɛm΄Bm8 im>Iq uΠɚqiqIu~'0=I}i}J;i))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815554*F?2F:FBFP5JFJJJ/JJ :J9J(N3JJQ;JR;Jo#;Jp#; IGU̻GBO=> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066518wNw,'=!A:@Y:@:9:AL>y:H@H? ?(`¢? d?o?? ?ɨ:@:;:(CyFBF#IMb@Mb@Mb@ )Yi|?5?I +?{Gzt?y?94<ף;rA ;@)hAIhAy=AI5I5D5٢E< EA=9M:Q M>II UG٣U8GyU; U> eNusing accuracyPremultiplier from configYu49] I?u4Y]\3S i]1Bu?}:}}7@]PD]6c;]a;]S4 N@ɵEZjFNOT Ignoring new targets: 454.20 m.Bj%:Jj%: ProNav: ac range: 454.200012 m, nav range: 264.580017 m, bearing: 40.171133 deg, approach rate: 0.311047 m/s, LOS rate: 0.102791 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.106070 deg. 2j;:j4@HeadingCmd: 4.818960 target range: 454.200012 and range: 515.00 m. jjjjihhQhQh]CBfYfYfYrfYbfe&p@ɛ̈́B >I  ɚiI0=Ii;i))EsAE*F?2F:FBFD5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318969 IjGG B O >H I  I #II SBI &I .I 6I <:I J F|Uw,KW!A6 @Y6b@696,>y6Hv?@?¿ ̺?]??`O?V?ɨ6 @6A;6*CyRBR#IIZIZaO5٢b< bS=9f:Q f>hh jG٣hyn: n> rNusing accuracyPremultiplier from configpv49rMK?v4Yr!9S ir4Btvz7@rWDrn:r:r4| ~@Zj!%FNOT Ignoring new targets: 454.20 m.Bj-;:Jj-;:= ProNav: ac range: 454.200012 m, nav range: 264.700928 m, bearing: 40.211095 deg, approach rate: 0.312582 m/s, LOS rate: 0.103264 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.095018 deg. 2jE;:jEW3@MHeadingCmd: 4.818767 target range: 454.200012 and range: 515.00 m. jIjIjQjQiQhQhQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.570547hhfffrfbf@[p@ɛ ̄B ?  z>I Vɚ1i1I5/=I=i=]J J J 0J J :J 9J ـ3J J j;J k;J z;J {; I s[w,p!Af@Yf*@f9fs>yfH?@? W`5?8jO?/?? ?ɨf@fl;f%Cyr!Br#IMb@Mb@Mb@ )YuV?I +?Mbp?yr?; )IAyfAIIG5٢ = ;=9:Q > G٣y؂; > Nusing accuracyPremultiplier from config49M?4Y8?S i7B{?:7@^DF;:;4 @Zj%FNOT Ignoring new targets: 454.20 m.Bj-:Jj-:= ProNav: ac range: 454.200012 m, nav range: 264.828094 m, bearing: 40.253326 deg, approach rate: 0.291090 m/s, LOS rate: 0.096620 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101817 deg. 2j=;:jEP4@EHeadingCmd: 4.818886 target range: 454.200012 and range: 515.00 m. jAjIjIjIiIhIhQhQhUTBfQfYfYrfYbf]q@ɛ  *>I) 5ɚ1i1I5/=I=i=;i=)9)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.075676*F?2F:FBF_0JFG HNG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326361bw,]Š!AyI-I-B5٢UE; UR=9]Q ]>YY ]G٣]8Gye e> mNusing accuracyPremultiplier from configi yIy49mO?4YmDS im:B7@meDmܚ;m;m4 @ZjFNOT Ignoring new targets: 454.20 m.Bj6:Jj6: ProNav: ac range: 454.200012 m, nav range: 264.941406 m, bearing: 40.290887 deg, approach rate: 0.289196 m/s, LOS rate: 0.095824 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087823 deg. 2j;:jP2@HeadingCmd: 4.818642 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfWq@ɛ-˄B-\ߋ )5L,>I1 5nɚ1i1I5/=I=i=/;i=Ն)A)AEMV>EM>*F?2F:FBFJFjHm<bHm<Hu >Iq Iu$IIuhBIu, =&Iq.Iq6Iu<:IuR FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578339Gm$GA BQ Om >`hw,B!AzK"GMK"h9K K" K" dP, J3@YJhC@Jl9J>yJH`? ~?N¿@0?M@? ??ɨJ3@J+;J(CyRBR#IIZIZB5٢bѝ fT=9f.h;Q f>hh jG٣hyj?< n> rNusing accuracyPremultiplier from configpv49rR?v4YrJS irI jɚiIs/=Iif;iJJ:))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832207*FU?2FQ:FQBFUm0JFYJJJJJ:Jm9JJJ;J;J;J; IG5i"GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.  G٣y > Nusing accuracyPremultiplier from config49T?4YPS i>B?:𸿑7@sD;;4 @ɵEZjIMFNOT Ignoring new targets: 454.20 m.BjU:Jj]:e ProNav: ac range: 454.200012 m, nav range: 265.179962 m, bearing: 40.370085 deg, approach rate: 0.286679 m/s, LOS rate: 0.094858 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100874 deg. 2jm3;:jm-4@uHeadingCmd: 4.818869 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhyhyhyh}HBfffrfbfq@ɛmʄBm qu >Iq ud<ɚqiqI}Q/=I}i}d:iˠ9))*FE?2FI:FIBFMk0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.Iq  Iu )$IIu wBIu + =&Iq .Iq 6Iu <:Iu L FG B O >4uw,H!A6L@Y6\@6&Z96;c>y6H@)u?y? =0¿} ?:+e`o^?_?ج?ɨ6L@6;6)CyRBR#I Z=Z=IbIb>5٢jo j[=9j/=;Q j>ll nG٣n8GyrI< r> vNusing accuracyPremultiplier from configtz49vV?z4Yv8US iv?Bx~~7@vyDvE;v;vk4 >@ Zj15FNOT Ignoring new targets: 454.20 m.=Will construct direction to contact in vehicle frame from tetrahedron phase data.EIa e1;ɚaiaIeJ6/=Ii(:ivU;))E*FM?2FI:FIBFM0JFIzKLKKK K    Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1190>  BDAT read: Tx time:20:13:58.9828  $Ping request sent. |w,l!Ay B#IMb@Mb@Mb@ )Y rh?~jt?~jty ?<DA )IyAIIJ5٢L +=9Q > G٣y > Nusing accuracyPremultiplier from config 49/Z?4Y \S i>B ?:ߴ7@D,;|;´4̒B %@!ZjAMFNOT Ignoring new targets: 454.20 m.BjM:JjM:] ProNav: ac range: 454.200012 m, nav range: 265.424042 m, bearing: 40.454179 deg, approach rate: 0.286561 m/s, LOS rate: 0.101349 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120151 deg. 2j];:je6@eHeadingCmd: 4.819206 target range: 454.200012 and range: 515.00 m. jajijijiiihihqhqhuCBfyfyfrfbf`!q@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:20:13:58.9820 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248530ɛIMV QU >IQ U*QɚQiQIUN/=I]i]V9i];;)Y)a*F?2F:FBF0JFG! G%tAG g;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499594ۂw, "AJcKky5H ? w?:¿?/l3?@g)?q?ɨ57[@5G;5'CyuBu#IIIP@5٢J a=9/:Q > G٣y; > Nusing accuracyPremultiplier from config49\?4Y9aS i7@D:*:4  @ Zj)5FNOT Ignoring new targets: 454.20 m.Bj5:Jj=:M ProNav: ac range: 454.200012 m, nav range: 265.527557 m, bearing: 40.490876 deg, approach rate: 0.284473 m/s, LOS rate: 0.100808 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.085234 deg. 2jM^;:jM1@UHeadingCmd: 4.818596 target range: 454.200012 and range: 515.00 m. jQjQjQjYiYhYhYhYhafafafarfabfm&q@ɛɄBF 隥=I  _ɚiIG/=Ii{8irD;))ZHRHAAH%>I! I%"$II%rBI!&I!.I!6I%<:I%P F*FM?2FI:FIBFM/5JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751644Gm.A;Gi Bq O >Fw,%"A:@@Y:P@:EQh9:K>y:H 4? ?QQ?1 ?@??ɨ:@@:;:&CzKNLKN9KLKN KN Xyd@sW o $  K  4=7IIvyVBZ#IIbIbm?5٢jϜ j[=9jsQ j>lY ]G٣]8Gye] e> mNusing accuracyPremultiplier from configiu49m_?u4YmfS iiq}}7@mDm ;mX;m4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 265.639465 m, bearing: 40.530165 deg, approach rate: 0.288441 m/s, LOS rate: 0.101224 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.093003 deg. 2j;:j 3@HeadingCmd: 4.818732 target range: 454.200012 and range: 515.00 m. jjjjihhhhff f rf bf )-q@ɛY]= ae=IiWill construct direction to contact in vehicle frame from tetrahedron phase data.չiսAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004384 mP~ɚi)I-/=I5i57i=:)9)9EIEI $?I*F 2F:FBF3JFG% @;e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255687G B O- >f0w, ?"A6>@Y6qN@6Po96>y6H;?k?`D?>? ? ?ɨ6>@6;4yB|#IMb@Mb@Mb@ )Y㥛 ? G٣y" > Nusing accuracyPremultiplier from config49:c?4Y+mS i?:ݲ7@D$;#;:4 @ Zj)-FNOT Ignoring new targets: 454.20 m.Bj5:Jj=:U ProNav: ac range: 454.200012 m, nav range: 265.764709 m, bearing: 40.575804 deg, approach rate: 0.298415 m/s, LOS rate: 0.108692 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112040 deg. 2jU0;:jU5@]HeadingCmd: 4.819064 target range: 454.200012 and range: 515.00 m. jYjYjajaiahahahihmBfififirfbf4q@ɛ9En>6 AM`=II Uhe}ɚQiQIU.=IuiuUT7iu:)q)y*FU?2FQ:FQBFU_0JFQ"G]=G]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509105JJJJJ]:J9JJ IG t:G ?G >H >I C I $II cBI * =&I .I 6I <:I i FBIJIRIZI+ =bI+ =jI^4G B O >w,aY"A%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759947&K@YZ@S\9l >yH g? ? D`b?Z?@.??ɨ&K@K;)Cy߄Bn#II5I5[5٢EP E5=9M%;Q M>QQ UG٣QyUE[; ]> eNusing accuracyPremultiplier from configYe49]g?m4Y]tS iYiuu7@]D];];]4}͒B }@}̵EZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 265.899231 m, bearing: 40.624865 deg, approach rate: 0.297271 m/s, LOS rate: 0.108362 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122294 deg. 2j;:j=7@mHeadingCmd: 4.819243 target range: 454.200012 and range: 515.00 m. jijijijqiqhqhqhqhyfyfyfyrfybf];q@ɛʄBP 隍 )=I |ɚiI$.=Iix6i>;))zKpPK9KK KR.oWE5)zwsof_]\YZTRPLMJC?>:73-&$!*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013628 I G g:Ga B O >܌w,t"AyޥĄBޥL#IEMb@Mb@Mb@AAA A)AYET㥛 ?Q?~jtyE!?E\=AE A A)EhAIAAyEAIUIU:\5٢e  mO=9uQ }> G٣8Gy > Nusing accuracyPremultiplier from config49j?4YzS i?BM!?:s7@D;; 4 @ZjFNOT Ignoring new targets: 454.20 m.Bj_;Jj_; ProNav: ac range: 454.200012 m, nav range: 266.027740 m, bearing: 40.670994 deg, approach rate: 0.324997 m/s, LOS rate: 0.116603 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113507 deg. 2j ;:j5@HeadingCmd: 4.819090 target range: 454.200012 and range: 515.00 m. jjjjihhh h Bf f frfbfcAq@ɛ9E҅ AEGIA E|ɚAiAIM.=IMiM5iU/~4;)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263602*F?2F:FBF_0JFG ;G B O% >M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515787J J J 1J J J 9J 3J A IM jQow,h"AyeBeJ#IIuIu^S5٢l< [=9Q > G٣y > Nusing accuracyPremultiplier from config49m?4YS i7@D;;4 @ZjamFNOT Ignoring new targets: 454.20 m.Bjm;:Jju;:} ProNav: ac range: 454.200012 m, nav range: 266.148407 m, bearing: 40.714193 deg, approach rate: 0.310566 m/s, LOS rate: 0.111134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104725 deg. 2j;:j4@HeadingCmd: 4.818936 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfGq@ɛ| I }ɚiI0/=Ii"5i))jH%<bH%<H->I) I-#II-DBI-) =&I).I-3D6I-<:I-V F*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767762GGGG B O >*w,("A:uZ@Y:"j@:K9: >y:H? }?H@ ?'j`N`?I? ϱ?ɨ:uZ@:%;:'CzK^OK^h9K\K^ K^!L`l7s$\Gk3vR5zh[WQJC?;4y~B3#II5I5V5٢e eM=9mO1;Q m>qq uG٣qy}R; }> Nusing accuracyPremultiplier from config49q?4Y$S i57@D7;X;4ΒB @ɵEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 266.278107 m, bearing: 40.760738 deg, approach rate: 0.335829 m/s, LOS rate: 0.120459 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114752 deg. 2jV;:j)6@HeadingCmd: 4.819111 target range: 454.200012 and range: 515.00 m. jjjj i h h h hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019638ff!f!rf!bf%@Mq@ Iɛ̝ ]I }ɚ i I q/=Ii14iB;))*F?2F:FBF0JFGm ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271504Ga By O >zw,"A6W@Y6g@6dO96` >y6Hͼ?T}?w S`q?vh f? q?ϱ?ɨ6W@65;6&CyBBB$#IDD}Mb@Mb@Mb@yyy y)yY}MbX?X9v? rhy}*?}<}Cy y)}QAI}Ayy}AII[5٢gh F=9W)Q > G٣yC > Nusing accuracyPremultiplier from config49Ou?4YKS i>B*?:K7@DS;;4 @Zj FNOT Ignoring new targets: 454.20 m.Bj ;Jj ;5 ProNav: ac range: 454.200012 m, nav range: 266.421753 m, bearing: 40.811174 deg, approach rate: 0.350883 m/s, LOS rate: 0.123134 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126414 deg. 2j;:j7@HeadingCmd: 4.819315 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfTq@ɛ˄B%s !%쟽I! -7~ɚiiqIu.8/=Iui}D3i};;)y)yE%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523754 IjJJBAJ J J 0J J }:J "9J ـ3J *F%?2F!:F!BF%0JF!H5 >I1  I5 #II5 &BI5 ( =&I1 .I1 6I5 <:I5 c FGE =͚;G B) OE >lw,z"ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776275yB#III^5٢-3 -R=9-Q 5>11 =G٣=8Gy= => ENusing accuracyPremultiplier from configAM49Ex?M4YES iE=BQQU7@EȼDEz:E:E4Y e@e̵EZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 266.557159 m, bearing: 40.858616 deg, approach rate: 0.348388 m/s, LOS rate: 0.122002 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117441 deg. 2ju;:j6@HeadingCmd: 4.819159 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`Zq@ɛ  I OɚiIU/=I iy2iڄ;))!*F2F:FBF5JFzK2PK9KK K,#zwtqoigb`^\WZVSSRONMKHEDCC>@@AAB@<BKY:KYG 1;G?G ?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028282Gq IB Om >ռw,"Ay޵B޵#IEMb@Mb@Mb@AAA A)AYEkt?/$?~jtyE 0?Eyy }G٣yy > Nusing accuracyPremultiplier from config49|?4Y S i<0?:t7@ѼDD;;O4 @ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279574 ProNav: ac range: 454.200012 m, nav range: 266.722778 m, bearing: 40.914349 deg, approach rate: 0.371929 m/s, LOS rate: 0.125081 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.142281 deg. 2j;:j :@ HeadingCmd: 4.819592 target range: 454.200012 and range: 515.00 m. j jjjihhhh=Bf9fAfArfAbfEObq@ɛ؂ 隕`ԽI ӀɚiI+}/=Iib1i))*Fq2Fq:FyBF}P5JFyG A~;= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532069GQ Ba O} > I w,#AyB#I p= =II^5٢}u \=9Q > G٣y > Nusing accuracyPremultiplier from config49?4YƣS i7@ڼD;6;4 8@Zj1=FNOT Ignoring new targets: 454.20 m.Bj=O ;Jj=O ;] ProNav: ac range: 454.200012 m, nav range: 266.861847 m, bearing: 40.961029 deg, approach rate: 0.363041 m/s, LOS rate: 0.121795 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115154 deg. 2j],;:j]86@eHeadingCmd: 4.819118 target range: 454.200012 and range: 515.00 m. jajajajaiahahihihififqfqrfqbf}@gq@ɛм 隥I 1ɚiI_/=HI I#IIBI&I.I6I<:I] FIiu?0iu=ƅ;)q)qErAErA*FE?2FA:FABFE_0JFA) -H~GIa WYyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783810 @EAGm @;GA BQ Ou >w,w)#A^5@Y^PE@^f9^% >y^H??Χ @?T!Q`?v? ?ɨ^5@^/;^'CyjBlzK~NK~h9K|K~ K~<<97854331/.//.-*())&'$&%$#"!" $*,*(&&$&#!!#"" RK JK ?II^5٢-~ -P=9-fQ 5>11 =G٣=8Gy=/ => ENusing accuracyPremultiplier from configAM49E킲?M4YEȪS iAQUU7@EDE. ;E ;E4Y ]<@a}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 267.007751 m, bearing: 41.009448 deg, approach rate: 0.381628 m/s, LOS rate: 0.126575 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120363 deg. 2j;:j6@HeadingCmd: 4.819210 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf mq@ɛr̼ `Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035710I BPɚiIQ/=I i 40i 0kW9)  U$?IYJJJJJ̈́:J9JJJ;aJ;aJ ;aJ ;a) *F?2F:FBFJFG GsAG #; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289446G sAG G B O% >Hw,TC#A2',@Y2;@2m92m >y2H`:q?t?@›@S?<'8???ɨ2',@2;0y:B:#I%Mb@Mb@Mb@!!! !)!Y%K?{Gz?Mby%^:?%#<%% A %@)%v@I!!y%QAI=I=]5٢Mm MH=9MQ M>QQ UG٣Qy]9 ]> eNusing accuracyPremultiplier from configam49e?m4YeS ie>Bme:?u:uau7@eDeI I#IIBI&I.I6Iհ<:I FG +:GY Bi O >w,)]#A6Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792521BC!@YB0@Bzms9BV >yBH?̓? `^?&?em? O|?`J?ɨBC!@BK;B&Cy^B^"IddIhIh٢r vQ=9vcQ v>xx zG٣xyz^ ~> Nusing accuracyPremultiplier from config 49㈲? 4YS i?B  7@D::4 @ZjAEFNOT Ignoring new targets: 454.20 m.BjM;JjM;] ProNav: ac range: 454.200012 m, nav range: 267.333832 m, bearing: 41.112809 deg, approach rate: 0.439996 m/s, LOS rate: 0.138989 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126729 deg. 2j]ƾ;:j]7@mHeadingCmd: 4.819321 target range: 454.200012 and range: 515.00 m. jijijijqiqhqhqhyhyfyfyfrfbf@zq@ɛ#s׼ 隵 I jɚiIE 0=IiӬ/i))EqEq*F ?2F :F BF p0JF zKuNKu9KqKu Ku!!#3,#!! BK:KrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044292 1I9GM'HJJJJJ]:Jm9JJJ8;J9;J;J;GI Bi O >!w,w#A]@Y]C&@]y9] >y]H@ź?`? ?oI?@)9?Mn??ɨ]@]h;]'Cyiu"IMb@Mb@Mb@ )YGz?{Gzt?Mbpyp=?ף;/ A @)IyIIX[5٢%,; %7=9%dQ %>)1 5G٣58Gy5? 5> ENusing accuracyPremultiplier from config9M49=?U4Y=S i=ABUr=?U:UU7@=D=dI;=%H;=m4Y ]@aZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 267.521515 m, bearing: 41.170853 deg, approach rate: 0.420747 m/s, LOS rate: 0.130032 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.149196 deg. 2jz;:j;@HeadingCmd: 4.819713 target range: 454.200012 and range: 515.00 m. jjjjihhhhuBfffrfbfԁq@mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.295723ɛʄBͼ 隕 I "ɚiI30=IiX/i<))*F=?2F9:FABFE0JFAG} ˴G ?G ?GY Ba O >  I % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549196w,]ߐ#A6@Y6@6b96 >y6HX? ?ߌ``?V?a?o??ɨ6@6‡;6(Cy>B>#IIFIFa5٢N < Rg=9RbQ V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config`f49bo?f4Yb}S ibBBdf麿f7@bDb:b:b$4l nY@lZj|FNOT Ignoring new targets: 454.20 m.Bj;Jj ; ProNav: ac range: 454.200012 m, nav range: 267.671326 m, bearing: 41.216897 deg, approach rate: 0.424044 m/s, LOS rate: 0.130254 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113240 deg. 2jȲ;:j5@HeadingCmd: 4.819085 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfЇq@ɛ!-HIӼ 1=I9 =ɚ9i9I=HR0=jHqbHqH}>Iy I}m#II}߄BIy&Iy.Iy6I}ϰ<:I} FBIEšCJIEšCRIAZIE( =bIE( =jIEK4Ii/ia}))*F-?2F):F)BF-`5JF)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799473G Z#GBO >1w,#AJ@YJ@Jd9Jn >yJH?l?JHh?\FY?@m ? r? ?ɨJ@J4s;J'CyVBV #I Z=Z=IbIb:\5٢f< fG=9jMQ j>zKLKh9KK KRK% ?JK%?IQ UG٣QyU ]> eNusing accuracyPremultiplier from configYe49]T?m4Y]S i]DBimm7@]D]:]n:] ,4}ВB }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj/;Jj/; Ij ProNav: ac range: 454.200012 m, nav range: 267.851471 m, bearing: 41.272018 deg, approach rate: 0.423686 m/s, LOS rate: 0.129553 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.140438 deg. 2jұ;:j9@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051654HeadingCmd: 4.819560 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`Uq@ɛ ɼ !%lI! %˥ɚ!i!I-Sp0=I-i5H/i5`k)1)1EAJJJJJ̈́:J9JJJ;J;J{;J{;*F?2F:FBF5JFGxGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303590:w,)#Ay~B~#IMb@Mb@Mb@ )Y~jt?{Gzy;?# @)@IAyzAII{R5٢q= ;=9Q > G٣8Gy > Nusing accuracyPremultiplier from config49?4YS iFB ;? :  7@D&;;q34 L@Zj9=FNOT Ignoring new targets: 454.20 m.BjE;JjE;U ProNav: ac range: 454.200012 m, nav range: 268.034882 m, bearing: 41.325569 deg, approach rate: 0.433358 m/s, LOS rate: 0.126443 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135730 deg. 2j];:j])9@eHeadingCmd: 4.819478 target range: 454.200012 and range: 515.00 m. jajajajaiahahahihmBfifyfyrfybf}q@ɛɄB,P 隭XI CɚiIۈ0=Ii{.0i⏻))*Fm?2Fi:FiBFmZ0JFi IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556441HI III) =&I.I6I<:I] FGI젻GGG B O >Aw,;m#A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808400:@Y:@:\9: >y:Hvr?։?[Ź?cc??i?Ʋ?ɨ:@:>;8yFBF)#IININ&Q5٢Vy= V`=9Z"Q Z>XX ^G٣\y^ b> jNusing accuracyPremultiplier from configdj49f?n4YfS ifHBln n7@f$Df4;f#;f94t v@tZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 268.193481 m, bearing: 41.371510 deg, approach rate: 0.433626 m/s, LOS rate: 0.125532 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112928 deg. 2jM;:j5@HeadingCmd: 4.819080 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf=q@ɛ]ȄB]X Y]HIa eͯɚaiaIe0=ImimѪ0imNA߻)i)*F-?2F1:F1BF5_0JF1 IzKN KK 9KK KBK:KsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059622GmJJJJJJ59JJJJJ;J;GI BQ O nw,X#AeB@Ye@e{l9eM} >yeH5?lj?ٟ|?0e?_?`? ?ɨeB@e';ayޥBޥ5#IA=Mb@Mb@Mb@999 9)9Y=n?MbpMbp?y=6?==;= A 9)=v@I=QA9y=AIUIUxV5٢]-= ]1=9eﻹQ e>ai mG٣iyu! u> }Nusing accuracyPremultiplier from configy49}?4Y}wS i}LB6?:?7@}/D};};}A4 @ZjFNOT Ignoring new targets: 454.20 m.BjC ;JjC ; ProNav: ac range: 454.200012 m, nav range: 268.386353 m, bearing: 41.427961 deg, approach rate: 0.419271 m/s, LOS rate: 0.122628 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.144418 deg. 2jQ;:jg:@HeadingCmd: 4.819629 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf Cq@MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.311788ɛ|J 8I ɚiI0=IiU1i))*F]?2FY:FYBF]^0JFaG GY Ba I O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563546&Sw,#$A6_ܒ@Y6 @6596 >y6H4?`? &YN?Lg?`??`M?ɨ6_ܒ@6/K;6)CyBBBC#IININ R5٢VF= Vk=9V$Q Z?XX ZG٣Z8Gy^5 ^? bNusing accuracyPremultiplier from config`f49b?f4YbS ibNBhj_j7@b7Db:b :bG4l r?@pZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 268.532166 m, bearing: 41.470455 deg, approach rate: 0.402411 m/s, LOS rate: 0.117209 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102598 deg. 2j;:jm4@HeadingCmd: 4.818900 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf$q@ZHRH@AH%>I! I%#II%BI%( =&I!.I!6I%v<:I%? Fɛ}DŽB} y}pIy %ɚiI0=Ii1ij))*Fm?2Fi:FiBFm`0JFieWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.815889G5>uG= ?G=?G B O= >} w,~,$A2ג@Y2y@2Oc92 C >y2H Ѹ?`"?@ոH@*?h;h?`7?q? ?ɨ2ג@2Y;0yBȄBBR#IIJIJ#U5٢R;n= RK=9RyaQ V>TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\b49^5?b4Y^tS i^RBdfqf7@^@D^;:^:^N4h j@jҵE !I%juB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067652zKJK9KK K $$!"  &*) ProNav: ac range: 454.200012 m, nav range: 268.701660 m, bearing: 41.519683 deg, approach rate: 0.415085 m/s, LOS rate: 0.120481 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122778 deg. 2j^;:jO7@HeadingCmd: 4.819252 target range: 454.200012 and range: 515.00 m. jj!j!j!i!h!h!h)h)f)f)f)rfbf q@ɛƄB9腼 ;I ɚiIy0=IUi]2i] )Y)i*F?2F:FBF_0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322992G RG B OE >ew,E$AyՄBa#IMb@Mb@Mb@ )Y@5^I ?y&1|~jth?yb0?`廹D; A )@IyzAII@T5٢w_= 5=9Q >! %G٣!y% %> -Nusing accuracyPremultiplier from config)549-x?=4Y-S i-UB=e0?=:==7@-JD-;-;-V4A E@IZjyFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 268.887024 m, bearing: 41.572894 deg, approach rate: 0.429084 m/s, LOS rate: 0.123090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.134710 deg. 2j;:j9@HeadingCmd: 4.819460 target range: 454.200012 and range: 515.00 m. jjjjihhhhʄBfffrfbf@q@ɛńBR{m E> I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571731JJJJJJm9JJa@a@a@a@H5>I5C I5#II5BI1&I1.I16I5<:I5N FG͔ G B O > ~G  - Y1 y5 AA=w,_$AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823525:В@Y:;@:Ԉ9:>y:H?@D?¿`s?h?_???ɨ:В@:-;:'CyFBF#IIRIR~N5٢Z> Zd=9^Q ^>`` bG٣b8GybE! f> jNusing accuracyPremultiplier from configdj49f@?n4YfT ifWBlnn7@fRDf ;fK ;f]4t v@tZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 269.034882 m, bearing: 41.615170 deg, approach rate: 0.413328 m/s, LOS rate: 0.118113 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101943 deg. 2j;:jU4@HeadingCmd: 4.818888 target range: 454.200012 and range: 515.00 m. jjjjihhhhff f rf bf q@ɛ}ĄB^C/ 隅=I  dɚiI0=Ii5T4i5)1)9*F?2F:FBF.2JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.nw,Vy$Aǒ@Yי@ۉ9@^>yHsS?+?¿ Ͱ?wj? E;? ?`?ɨǒ@;騭(CyB#IMb@Mb@Mb@ )Y%C?I +?yZ$?94<E A )QAIAyAIIuZ5٢N= ,=9Q > G٣y > Nusing accuracyPremultiplier from config49?4YT i\B`$?:/7@[D;p;be4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.%$w,l$A6cʒ@Y6ڙ@6 96 >y6Hg?^??+¿@ 4¸?g? $?L ??ɨ6cʒ@6F;4yB BB#IIJIJ@T5٢V> Vu=9Vj.:Q V?XX ZG٣XyZk: ^? Nusing accuracyPremultiplier from config 49V? 4YT i`B  & 7@bD :*:Zk4ђB =8@=յEZjFNOT Ignoring new targets: 454.20 m.Bj7:Jj7:jHbH<HI I#II+BI&I.I6IW<:I) F ProNav: ac range: 454.200012 m, nav range: 269.344604 m, bearing: 41.704778 deg, approach rate: 0.377047 m/s, LOS rate: 0.108940 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087874 deg. 2j;:jR2@HeadingCmd: 4.818643 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf%`q@ɛeÄBmd im>Ii mn΅ɚqiIT0=Ii;6i5@ ))E*F-?2F):F)BF-]0JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Response Not Received E*response not receivedM,DAT read: user:1191> -Mf*w,F$A6s˒@Y6 ۙ@6܇96X>y6H@xo?@?@+¿waʸ?fg?@g? ??ɨ6s˒@6z;6'C DIDyFBF#IIVIVR5٢j= jH=9n<`8Q r>pp rG٣r8Gyv9 v> zNusing accuracyPremultiplier from configx~49z\?~4YzT izeB"7@zkDz ;z ;z`r4  B@ %B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 454.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:14:09.9329 $Ping request sent.I ɚiI)0=Ii,7iC))*F?2F:FBF^0JFG G"GGM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251448GY Ba O >B1w,!$Ay%$B%#IMb@Mb@Mb@ )YK? G٣y   > -Nusing accuracyPremultiplier from config549?54Y!T ijB5v?=:=^=7@sD1;k8;z4I M@IZjiuFNOT Ignoring new targets: 454.20 m.Bj}:Jj}: ProNav: ac range: 454.200012 m, nav range: 269.649139 m, bearing: 41.795361 deg, approach rate: 0.340957 m/s, LOS rate: 0.104401 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114373 deg. 2jL;:j6@HeadingCmd: 4.819105 target range: 454.200012 and range: 515.00 m. jjjjihhhh$Bfffrfbfq@ɛ„B\? B>I WɚiI2/=IiQ8i)) }$?I}j*Fm?2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503268GYBaJcKkm3 KkS}-KcKc"KcJJJJJM:J9JJO}7>H>I I#IISBI' =&I.I6IȰ<:I| FBIǛCJIǛCRIZIbIjID4] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7552557w,2!$A2@Y2ə@2H,92a# >y2HH?`d?9H?/t?L?`?`c?ɨ2@2;2*Cy~8B~#I a= R=IIGL5٢%X= %X=9-Z/Q ->11 5G٣1y5綻 => ENusing accuracyPremultiplier from config9M49=k?M4Y='T i=oBIMM7@={D=e ;= ;=4Y ]@YZjFNOT Ignoring new targets: 454.20 m.BjZ:JjZ: ProNav: ac range: 454.200012 m, nav range: 269.779968 m, bearing: 41.835191 deg, approach rate: 0.348143 m/s, LOS rate: 0.105941 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.094621 deg. 2ji;:jI3@HeadingCmd: 4.818760 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfq@ɛaK: k>I 큼ɚiIV/=Ii(9ioW@))EsAE*Fe?2Fa:FaBFe`0JFaGBOA> QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008144zK]KK]h9KYK] K]BK:KpAm>w,$A5@Y5rљ@5>95B >y5H8"?3? (Q?t??y??ɨ5@5m;5&Cy ?B #IMb@Mb@Mb@ )Yi|?5?+?y&1?y?=`e< @)IyAII95٢< 2=9Q > G5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263323٣m8Gyu; u> }Nusing accuracyPremultiplier from configy49}?4Y}.T i}vB ?:7@}D};}-;}4 @ZjFNOT Ignoring new targets: 454.20 m.Bj-l:Jj-l:= ProNav: ac range: 454.200012 m, nav range: 269.926331 m, bearing: 41.883503 deg, approach rate: 0.302667 m/s, LOS rate: 0.099851 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.120043 deg. 2j= ;:j=6@EHeadingCmd: 4.819204 target range: 454.200012 and range: 515.00 m. jajijijiiihihihqhu:Bfqfqfyrfybf} q@ɛQ AEz>IA EɚAiIIMu/=IMiUTz:iU8.)Q)Q*Fu?2Fq:FqBF}_0JFyGrAGoAGqBO> Q IU j Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515295J J J J J ̈́:J J J eDw,%AF ǒ@YF֙@F}9F7>yFH9L? ? + ?@Fq?4?@B?/?ɨF ǒ@Fۋ;F'CyRFBR#IIZIZN5٢b+= bu=9b˝:Q b?dd fG٣dyj; j ? rNusing accuracyPremultiplier from configlv49ns?v4YnD3T inzBxzz7@nDn;nj;n4~ҒB ~@ֵEZj!%FNOT Ignoring new targets: 454.20 m.Bj-:Jj-:E ProNav: ac range: 454.200012 m, nav range: 270.024292 m, bearing: 41.915808 deg, approach rate: 0.315761 m/s, LOS rate: 0.104090 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.072065 deg. 2jEߎ;:jE0@MHeadingCmd: 4.818367 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhIhQhQhQfQZHYRH]AAHm>Ii Im)$IImwBIm( =&Ii.Ii6Im°<:Imx Fffrfbfq@ɛpn; Ճ>IQ ]DH}ɚYiYI]:/=Ieim8;im%)i)*F-?2F):F)BF- 1JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767219GmmGI BQ Ou > 9 IA Kw,e.%A6ג@Y6H@6w96 >y6H?и?̅?3¿I`*?bHf?@??@?ɨ6ג@6x;4yBJBB#IDFAIJIJDP5٢R< RL=9V'7;Q V>TT ZG٣XyZ~; Z> bNusing accuracyPremultiplier from config`f49b?f4Yb79T ibBhjfj7@bDb:b:b4l r@p~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 454.20 m.Bj ):Jj):% ProNav: ac range: 454.200012 m, nav range: 270.147827 m, bearing: 41.956646 deg, approach rate: 0.308456 m/s, LOS rate: 0.101922 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.097645 deg. 2j%;:j%3@-HeadingCmd: 4.818813 target range: 454.200012 and range: 515.00 m. j)j)j)j)i)h1h1h1h1f9fAfArfAbfMq@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019173ɛS; K>I yɚiI.=I%i%;i%N" )!)!zKUMKKU9KQKU KU%**,()*,*(*(&'%#$""  RKe?JKe?*F=?2F9:F9BF=_5JF9GGBOG>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2716790Rw,whH%A2q@Y2@2߀929>y2HIf?@?O¿`ⶹ?V??Y3?༫?ɨ2q@2 ;2+CyVSBV#IEMb@Mb@Mb@AAA A)AYEB`"?kt?{Gz?yE?E 0=E#=9m ;Q u>qq uG٣u8Gy}r; }> Nusing accuracyPremultiplier from config49?4Yo?T iBK?:鲿7@D3;;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 270.275024 m, bearing: 41.999696 deg, approach rate: 0.296664 m/s, LOS rate: 0.100359 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.104275 deg. 2j;:j4@HeadingCmd: 4.818929 target range: 454.200012 and range: 515.00 m. jjjjihhhhgBfffrfbf`q@ɛ; > II 2uɚiI.=IiIa IeN$IIeBIe& =&Ia.Ie4D6Ie<:Ieq FG "G ?G >G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775418 3Xw,cb%APExceeded connect timeout, disconnecting.6@Y6@696>y6Hv?@|?Fj¿"ع?)+R??N?Ū?ɨ6@6ne;6(CyB[BB$IININ^S5٢V4= VV=9V՜9Q Z>XX ZG٣Xy^c: ^> bNusing accuracyPremultiplier from config`f49b ?f4YbDT ibBhjٲj7@bDb: ;b ;b4l np@lZj FNOT Ignoring new targets: 454.20 m.Bj:Jj:% ProNav: ac range: 454.200012 m, nav range: 270.388214 m, bearing: 42.037983 deg, approach rate: 0.296802 m/s, LOS rate: 0.100354 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.090000 deg. 2j%;:j%2@HeadingCmd: 4.818679 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`3q@ɛ15ʫ; 1=>I9 =qɚ9i9I=g.=Ieiep\^w,=|%Ab@Yb@bat9bf>ybH ?~?\¿Ng?@>?f?@?ɨb@bO;b'Cy WB$I ====IeIeR5٢= =4=9m:Q u>yy }G٣yy}X; > Nusing accuracyPremultiplier from config49ᄇ?4YKT iB7@D:C:̫4 @Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279406ZjFNOT Ignoring new targets: 454.20 m.BjEi:JjMi:} ProNav: ac range: 454.200012 m, nav range: 270.525116 m, bearing: 42.084412 deg, approach rate: 0.290687 m/s, LOS rate: 0.098535 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.114404 deg. 2j?;:j6@HeadingCmd: 4.819106 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf r@ɛ,N; >I =*mɚ9i9I=.=IEiE5=iE4ҋ)A)I*F?2F:FBFJF IG 4λ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531194G B O >>ew,%A6K@Y6@6"u96>y6HS?}?@¿ޚ? ?m?ຩ?ɨ6K@6;6&Cy>^BB $IjH|bH~<H>I Ig$IIBI' =&I.I6Iϰ<:I F5Mb@Mb@Mb@111 1)1Y5Zd;O?I +?~jth?y5~ ?594=5D;5/ A 5@)1I5A1y5zAIMIMH5٢e= eZ=9e4Q e>ii mG٣m8Gym ; u> }Nusing accuracyPremultiplier from configy49}?4Y}PT i}B ?:7@}D}&;};}94ӒB L@5ٵEZjyFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 270.629761 m, bearing: 42.120376 deg, approach rate: 0.273139 m/s, LOS rate: 0.093833 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.083035 deg. ) 2jˀ;:j%1@GGHeadingCmd: 4.818558 target range: 454.200012 and range: 515.00 m. j Yy Bjjjihhh)h-TBf)f)f)rf1bf5@Q r@ɛ!%; )-ɛ>I) -f4iɚ)i)I5-=I5i5Z=i=lw)9)9%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784520 EnManaging dock network, ignoring radio surface power off*F?2F:FBF]0JFG= sGE sAGE sA I jG! B1 OM >Zgkw,ԯ%Ay~VB~$II I #U5٢ %O=9-Q ->)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E49=FŲ?E4Y=gVT i=BIIM8@=D=;=o;=#4Q U@Q}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035230B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 454.20 m.Bj5:Jj5:J=J=J9J9J=:J=9J9J9J=l;aMJ=m;aMJ=[ ;aMJ=\ ;aMe ProNav: ac range: 454.200012 m, nav range: 270.742554 m, bearing: 42.159062 deg, approach rate: 0.287911 m/s, LOS rate: 0.098708 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.091197 deg. 2je|;:je2@mHeadingCmd: 4.818700 target range: 454.200012 and range: 515.00 m. jijijijiiihqhhhfffzKRKK9KK Krfbfr@ɛ]ÄBe; ae>Ia eeɚiiiIm{-=IiUw=i~))*FQ2FY:FYBF]_0JFY"Gm=Gm=- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287359G g{G B O >6?rw,l%A2 @Y2=0@2q92Z>y2H?`%}?S¿#W?l=C"?@:?`?ɨ2 @2V!;2'Cy>\B>$I)@ @DFAEMb@Mb@Mb@AAA A)AYEʡE?X9v?~jth?yE?E}=AEE A E@)EhAIAAyEAI]I]V5٢m+< mG=9u:Q u>qq }G٣yy}; }> Nusing accuracyPremultiplier from config49hɲ?4YX\T iB~?:8@D3;m ;J4 v@ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 270.857635 m, bearing: 42.201399 deg, approach rate: 0.295853 m/s, LOS rate: 0.108794 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102144 deg. 2jT;:j\4@HeadingCmd: 4.818892 target range: 454.200012 and range: 515.00 m. jjjjihhhhfBfffrfbf r@ɛ1=4< 9=x>I9 =VbɚAiAIEPG-=IEiM4N=iM:)I)I ]$?IY*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540660JaJe@AH%>I! I%t$II%BI%% =&I!.I!6I%<:I%h FGG) B9 O] >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791863uxw,${%AM&(@YM7@Mn9M>yMH aQ?{?]¿Z@瑻?rM[Ѝ?E?`:?ɨM&(@M~;Iy]PB]#IIuIu N5٢i^ G=99Q > G٣8Gy; > Nusing accuracyPremultiplier from config49Ͳ?4YLbT iB8@ýD$;7%;t4 ,@ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 270.972900 m, bearing: 42.243800 deg, approach rate: 0.281595 m/s, LOS rate: 0.103542 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102334 deg. 2j;:j c4@ HeadingCmd: 4.818895 target range: 454.200012 and range: 515.00 m. jjjjiyhyhhhfffrfbfr@ɛĄBv;  >I  {^ɚ iI-=I=i==iE,)A)I*F?2F:FBF0JF 1I1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043191JeJeJaJaJe}:Je"9JaJaJe;Je;Je;Je;GG% ?G% 8?zK N KK h9K K K G B O >~w,B%%AV2@YVrB@V@i9V>yVH`ॻ?@kz?h¿>?WF??yQ? ժ?ɨV2@V;V&Cy^KB^#IIvIvL5٢μ S=9!3:Q > G٣yO; > 5Nusing accuracyPremultiplier from config)49-Ѳ?4Y-`hT i-B[8@-˽D-<-G<-4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295416ԒB @ֵEZjamFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 271.090546 m, bearing: 42.287115 deg, approach rate: 0.260761 m/s, LOS rate: 0.095966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.105075 deg. 2j;:j4@HeadingCmd: 4.818943 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@#r@ɛAm̅; im͆>Ii mZɚiiqIu,=I}i}؋{w,&AHdId IdIdIf& =&Id.Id6IfP<:If& FBIJIRIZI& =bI& =jI5yDB#I )-p=%Mb@Mb@Mb@!!! !)!Y%X9v?~jt?MbPy%?%=%% A !)!I!!y%GAI5I5-I5٢E E9=9MQ M>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configam49ePղ?u4YenT ieBu?u:uز}8@eҽDe1;e;e4 @ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 271.218079 m, bearing: 42.329632 deg, approach rate: 0.336005 m/s, LOS rate: 0.111966 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102679 deg. 2j;:jo4@HeadingCmd: 4.818901 target range: 454.200012 and range: 515.00 m. jjjjihhhhSBfffrfbf)r@ɛńB; }>I  WɚiI.,=I%i%, ! I) :w,]0&Ayr:Br#IIzIzV5٢ ES  a=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!549%]ز?54Y%sT i%B1158@%ٽD%B;%zD;%O4EՒB E@EٵEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052124B*** querying acoustic contact ***jjZj J=J=J9J9J=:J=9J9J9J=;J= ;J=[ ;J=\ ;FNOT Ignoring new targets: 454.20 m.Bju*:Jj}*: ProNav: ac range: 454.200012 m, nav range: 271.330383 m, bearing: 42.367006 deg, approach rate: 0.291942 m/s, LOS rate: 0.097115 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.087262 deg. 2jL;:j;2@HeadingCmd: 4.818632 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfK0r@ɛ=ƄB=D:; AEh>IA ETɚAiAIMG,=Imiu;iq)q)qzKKK9KK K*F?2F:FBFO0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303261G= 9GA GA G B OM >w,`J&A2>;@Y2J@2jn92ͷ>y2HA?@{??¿K7(?5R ̍?&?`V?ɨ2>;@2h;0y>4B>#I]Mb@Mb@Mb@YYY Y)YY]Cl?+?y&1|y]d?]=]`Y Y)]QAI]QAYy]AimAAIuIuR5٢Z B=9@(Q > G٣8Gy ; > Nusing accuracyPremultiplier from config49ܲ?4 IjYzT iB?:8@D;;4  @ZjFNOT Ignoring new targets: 454.20 m.Bj5;Jj5; ProNav: ac range: 454.200012 m, nav range: 271.467712 m, bearing: 42.412692 deg, approach rate: 0.342360 m/s, LOS rate: 0.113837 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.112176 deg. 2j@;:j5@HeadingCmd: 4.819067 target range: 454.200012 and range: 515.00 m. jjjjihh!h!h%4Bf!f)f)rf)bf5 v6r@ɛDŽB ;  [>I QɚiI2,=Ii =;iâ:))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555755*F?2F:FBF_0JF"G=G=H>I Ia$IIBI&I.I6I]<:I1 FGG B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808035aw,Gd&ARwB@YR%R@Rk9R :>yRH"?@z?.¿@@_?Vy?6?`?ɨRwB@R;R(Cy^!B^#III[W5٢-ѿ -P=95f9Q 5>11 ]G٣Yy]8; ]> mNusing accuracyPremultiplier from configau49e߲?u4YeT ieBy}8@eDee;ef;e4 6@ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 271.596497 m, bearing: 42.455520 deg, approach rate: 0.325655 m/s, LOS rate: 0.108247 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.103609 deg. 2j;:j4@HeadingCmd: 4.818917 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf5I OɚiI+=Ii:i:))!E9 I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061908JJJJJ:JJJJl;Jm;JJG .r:zK FJK h9K K K BK :K G! B) OM >w,t~&A2HC@Y2R@2Xo92M>y2H*)?{?r ¿g` h?JQ?`?&?ɨ2HC@2;2'CyR%BV#IIbIbV5٢j< jP=9jQ n>pt vG٣tyzم9 ~> Nusing accuracyPremultiplier from config %49 )㲜?-4Y T i B1==8@ D  ; ; r4a e@iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315122ZjIUFNOT Ignoring new targets: 454.20 m.Bj]:Jj]: ProNav: ac range: 454.200012 m, nav range: 271.724701 m, bearing: 42.498085 deg, approach rate: 0.280651 m/s, LOS rate: 0.093135 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.102821 deg. 2j;:ju4@HeadingCmd: 4.818903 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf8Dr@ɛ=ɄB=C 9=j8>I9 E4LɚAiaIe:+=Imim99ii)i)q*F?2F:FBFJF IG :G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564528G B O >#ʥw,H&AH4I6C I6H$II6BI6% =&I4.I46I6Ѱ<:I6 Fr>E@YrT@rZq9r>yrH8? }?@ ,x?wK*?@?z?ɨr>E@rƇ;r(Cy~B~#IMb@Mb@Mb@ )Y}?5^I?S㥛? G٣8GyI: > Nusing accuracyPremultiplier from config49沜?4Y.T iw"?:F8@D];;4 @ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 271.875732 m, bearing: 42.545890 deg, approach rate: 0.393842 m/s, LOS rate: 0.124591 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118521 deg. 2j;:j6@HeadingCmd: 4.819177 target range: 454.200012 and range: 515.00 m. jjjjihhhhBf f f rf1bf5 ]Jr@ɛʄBo 隅>I  KɚiIς+=IiH9i& ;))*F?2F:FBFc0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816615G% : I G B O% >w,T7&A:B@Y:dR@:s9: >y:H$?x~?o$f?A7u???ɨ:B@:L;:'CyNBN#IIVIV[5٢^ b[=9bMǹQ b>dd fG٣dyfjY j> nNusing accuracyPremultiplier from configlr49n鲜?r4YnVT inBprPr8@nDn:n:nv4x zt@zܵEZj%FNOT Ignoring new targets: 454.20 m.Bj%;Jj-;= ProNav: ac range: 454.200012 m, nav range: 272.007019 m, bearing: 42.587321 deg, approach rate: 0.371256 m/s, LOS rate: 0.117104 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.099420 deg. 2j=;:j=3@EHeadingCmd: 4.818844 target range: 454.200012 and range: 515.00 m. jAjAjAjAiAhIhIhIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067372hIfafafarfabfmOr@ɛ˄B 隝>I IɚiI^+=Ii8i:))EEsA*Fe?2Fi:FiBFm5JFizKK9KK K3?-   GY:GiB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321427Ou >ݲw,&A2oC@Y2S@2t928 >y2HX*?{?ܧZl?@; ? r??ɨ2oC@2y+;2*CyNBR#I !I!EMb@Mb@Mb@AAA A)AYECl?qy }G٣yy}4Y9 > Nusing accuracyPremultiplier from config49천?4YT iB/?:ḿ8@ DV</<4 %;@!]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 272.176361 m, bearing: 42.637546 deg, approach rate: 0.380329 m/s, LOS rate: 0.112732 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.125769 deg. 2j;:j7@HeadingCmd: 4.819304 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbf2Wr@ɛ]̄B]ݰ Y]=IY ] HɚaiaIe':+=I i 8i ;))mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.571349J!J%BAJ5J5J5/J1J5}:J5ľ9J5(N3J1aE@aE@aE@aE@*F?2F:FBF1JFHiIi Im/$IIm|BIi&Ii.Ii6ImS<:Im+ F~G9Q Yy*AG :G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823594w,Y&A2s<@Y2!L@2)z92 >y2H ?`>?8?*?T[?`fo??ɨ2s<@2;2'CyBBB#IHJ@AIJIJ\5٢%j %O=9-oQ ->)) -G٣-8Gy5 5> eNusing accuracyPremultiplier from configYe49]ﲜ?m4Y]#T i]Bimm8@]D]:]n:] 4q }@ZjFNOT Ignoring new targets: 454.20 m.Bjd ;Jjd ;] ProNav: ac range: 454.200012 m, nav range: 272.335205 m, bearing: 42.684472 deg, approach rate: 0.409793 m/s, LOS rate: 0.120991 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115882 deg. 2j];:j]S6@eHeadingCmd: 4.819131 target range: 454.200012 and range: 515.00 m. jajajijiiihihhhfffrfbf{]r@ɛ΄BEݻ =I FɚiI+=IiV|7ih:)) -$?I5j*F?2F:FBFP5JF"G=G=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075484Gm ;zK% LK% 9K! K% K%  GA BQ Om >x6w,&A @>;@Y>J@>@|9> >y>H??@h4.?h(6?@Ň?f?@?ɨ>;@>i";\\ bG٣`ybݹ b> zNusing accuracyPremultiplier from configt~49v?~4Yv(T it8@vDv;v:v4 גB H@ٵEZj9EFNOT Ignoring new targets: 454.20 m.BjUL ;JjUL ; ProNav: ac range: 454.200012 m, nav range: 272.491272 m, bearing: 42.730449 deg, approach rate: 0.407683 m/s, LOS rate: 0.120035 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113039 deg. 2j;:j5@eHeadingCmd: 4.819082 target range: 454.200012 and range: 515.00 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330998hhhQhYfffrfbf kdr@ɛτB\f =I FɚiI+=IiD6i:))EV>E>*FY2FY:FYBF]*4JFY IG :?:} Will construct direction to contact in vehicle frame from tetrahedron phase data.y iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579626G B O >JE JA JE 0JA JE y:JA JE ـ3JA w,C'AHI I$IIcBI&I.I6Ix<:IF FN6@YNF@N9N >yNH@Jƻ?@ ?H\?FC? .?@i?۲?ɨN6@NV;N)CyVBZ~#IEMb@Mb@Mb@AAA A)AYEgfffff?Mb?MbyE33?Eqq uG٣yyݞ > Nusing accuracyPremultiplier from config49?4YT iBB3?:L8@%DET;S;4 @ܵEZjIUFNOT Ignoring new targets: 454.20 m.Bju;Jj}; ProNav: ac range: 454.200012 m, nav range: 272.663879 m, bearing: 42.780938 deg, approach rate: 0.394374 m/s, LOS rate: 0.115285 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.126558 deg. 2j<;:j7@HeadingCmd: 4.819318 target range: 454.200012 and range: 515.00 m. jjjjihhhh΄Bfffrfbfvjr@ɛ5ЄB5! 15_=I1 =JbEɚ9i9I=*=IEiE6iE4,8:)A)I*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831476G- G: I G B O5 >Cw,Tq3'A2-@Y2S=@2싂923 >y2H`|?`?࢒`ɻ?t0Q?@PQ?\t?m?ɨ2-@2F;2'Cyn߄Brn#IIvIv]5٢   P=9[Q > G٣%8Gy%; %> -Nusing accuracyPremultiplier from config)549-w?=Will construct direction to contact in vehicle frame from tetrahedron phase data.EG7:GWill construct direction to contact in vehicle frame from tetrahedron phase data. &,w,fNM'A TIVjf'@Yf7@fv9f- >yfHO? ?6- Y?eV?? 'w?M?ɨf'@f;f&CyttMb@Mb@Mb@ )Y1Zd?~jtxQy";?Ļu A )3@Iy@IIW5٢Im: >=9QQ > G٣yֺ > Nusing accuracyPremultiplier from config49(?4YUT iB.;? :  8@8D;^;t*4 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 454.20 m.BjM ;JjM ;e ProNav: ac range: 454.200012 m, nav range: 273.014343 m, bearing: 42.880525 deg, approach rate: 0.446143 m/s, LOS rate: 0.124046 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133366 deg. 2jmC;:jm8@uHeadingCmd: 4.819437 target range: 454.200012 and range: 515.00 m. jqjqjqjqiqhyhyhyh}Bfffrfbf`Dwr@ɛ-ӄB-o+ 15 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1192>  BDAT read: Tx time:20:14:20.8830  $Ping request sent.  G٣y > Nusing accuracyPremultiplier from config49?4YT iB8@BD: :14  @ZjQ]FNOT Ignoring new targets: 454.20 m.Bj]~ ;Jje~ ; I ProNav: ac range: 454.200012 m, nav range: 273.204712 m, bearing: 42.933350 deg, approach rate: 0.433497 m/s, LOS rate: 0.120207 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.133551 deg. 2j;:j8@HeadingCmd: 4.819439 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf`]~r@ɛUԄBUX? Y]@;IY ]DɚYiYI]*=Iei5i3))*F=?2F9:F9BFAJFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:20:14:20.8822 mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250691G >G! G! zK fOK 9K K K MX.y-hD% |wpic\ZXROKFDA?<?<862120/,*('%G BK :K sAB O >9yRHsp?? `[̺?@e? ;??`P?ɨR @RHR;R%Cyf߄Bfn#IInInC5٢vJC= vh=9zOQ z>xx ~G٣~8Gy~ ~>  Nusing accuracyPremultiplier from config 49?4Y5T i}8@JDw;;84ؒB @ߵEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504348Zj FNOT Ignoring new targets: 454.20 m.Bjb:Jjb:% ProNav: ac range: 454.200012 m, nav range: 273.357452 m, bearing: 42.975338 deg, approach rate: 0.372914 m/s, LOS rate: 0.102456 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.101081 deg. 2j%;:j%54@MHeadingCmd: 4.818873 target range: 454.200012 and range: 515.00 m. jIjQjQjQiQhQhQhYhYfYfYfYrfabfe)r@ɛՄBm. jH bH p<H% >I!  I% #II% ?BI% $ =&I% GD.I! 6I% <:I% q Ffw,ٚ'AR@YR]@R9RI>yRH ?i?¿`!`p?@1p??6?@9?ɨR@R;R&Cy^Bbu#IUMb@Mb@Mb@QQQ Q)QYU\(\?y&1|yU:?UU`U/ A Q)QIUI@QyQImImE5٢< A=9JFQ > G٣yy > Nusing accuracyPremultiplier from config49?4YST iB:?:ڻ8@TDU;;n?4 9@ZjaeFNOT Ignoring new targets: 454.20 m.BjeA!;JjmA!;} ProNav: ac range: 454.200012 m, nav range: 273.544159 m, bearing: 43.027092 deg, approach rate: 0.508935 m/s, LOS rate: 0.140979 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.130344 deg. 2j};:j}d8@HeadingCmd: 4.819384 target range: 454.200012 and range: 515.00 m. jjjjihhhhBfffrfbfŊr@ɛ5քB5V! 15nw,'AyrBrw#IIzIzD5٢ <  R=9 Q > G٣%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257082y -> 5Nusing accuracyPremultiplier from config1=495?=4Y5T i5BAAE8@5]D5R;5,;5;F4I M @IZjy}FNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 273.715759 m, bearing: 43.074529 deg, approach rate: 0.458629 m/s, LOS rate: 0.126702 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.117407 deg. 2j;:j6@HeadingCmd: 4.819158 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf r@ɛׄB Mxw,΍'A Iy~Bz#IMb@Mb@Mb@ )YMb?Mb`?y&1|y@?; @)I@Iv@yf@II{R5٢f%< @=9Q > G٣8Gy > Nusing accuracyPremultiplier from config49?4Y"T iB@?:8@gD5;N3;M4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 273.908051 m, bearing: 43.127848 deg, approach rate: 0.425541 m/s, LOS rate: 0.117913 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.135032 deg. 2j ء;:j 9@HeadingCmd: 4.819466 target range: 454.200012 and range: 515.00 m. jjjjihhhhBf!f!f!rf!bf%`r@ɛU؄B]h Y]8=IY ][ACɚaiaIeUD*=Ieiml6ii)i)q5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762132*F?2F :F BF ]0JF GrA GrAHI I#II:BI% =&IHD.I6IҰ<:I FG TG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012887w,si'Art@Yr"@r᠝9r6)>yrHf?څ?@ ֹ?u?̳?e??ɨrt@r;r'Cy%B-#IImImQ5٢P= K=9ۺQ > G٣yɻ > Nusing accuracyPremultiplier from config49 ?4Y!T iBֻ8@qD::T4ْB @EZj!-FNOT Ignoring new targets: 454.20 m.Bj-;Jj-;E ProNav: ac range: 454.200012 m, nav range: 274.092651 m, bearing: 43.178639 deg, approach rate: 0.488600 m/s, LOS rate: 0.134342 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.127456 deg. 2jEe;:jE7@MHeadingCmd: 4.819333 target range: 454.200012 and range: 515.00 m. jIjIjIjIiQhQhQhYhYfYfYfYrfabfer@ɛ 隍<=I nBɚiI*=Ii6id))EE > Ij*FM?2FI:FIBFU_0JFQEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265704JJJ/JJ}:J9J(N3JJ;aJ;a J;a J;a Gu)G B O >zK &MK h9K K K Bw,C(A2@Y2>@292>y2H@n? J?KIܹ?s?q_?`?@ ?ɨ2@2;2&Cy:B:#IININY5٢  q= T=9Z:Q >!) -G٣)y5P9 5> ENusing accuracyPremultiplier from config9E49= ?M4Y=T i=BIMѻM8@=zD=C:=":=p[4Q U-@YZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 274.267273 m, bearing: 43.226582 deg, approach rate: 0.452433 m/s, LOS rate: 0.124137 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.118923 deg. 2jc;:j6@HeadingCmd: 4.819184 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbf@)r@ɛ%لB-'y 9E0=IA MPAɚQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519699iQIV)=I im7iY׻))*F?2F:FBFJF I G E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769111G B O% >H I  I #II ?BI $ =&I .I 6I <:I c Fϴw, (A) J~GT` z YxyzdBU@YU@Uߚ9UK>yUH79?N?¿3?s?@[?@?x?ɨU@U\;U'CyޝBޝ#IMMb@Mb@Mb@III I)IYMZd;?~jt?Mb?yM9?MD G٣8Gy > Nusing accuracyPremultiplier from config492?4Y3U iB9?:8@DD;;Ec4ڒB W@ߵEZjFNOT Ignoring new targets: 454.20 m.Bj ;Jj ; ProNav: ac range: 454.200012 m, nav range: 274.461884 m, bearing: 43.281011 deg, approach rate: 0.437054 m/s, LOS rate: 0.122150 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.138359 deg. 2j;:j9@HeadingCmd: 4.819523 target range: 454.200012 and range: 515.00 m. jjjj i h h hhׄBfffrfbf Gr@ɛEڄBEp IM0=II ?ɚiI޺)=Ii8iL))*Fm?2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021165 IG G B O > w,v5(A:ޒ@Y:C@:Ӛ9:>y:H ? q?<¿G v?@>t?@4Z? m??ɨ:ޒ@:K!;:%CyF'BF#IIRIR~N5٢V = Zm=9Z7Q Z?\\ ^G٣\ybN f? jNusing accuracyPremultiplier from configdj49f?n4YfU ifBlrr8@fDfr;f;fOi4t v4@tWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273092Zj!%FNOT Ignoring new targets: 454.20 m.Bj- ;Jj- ;= ProNav: ac range: 454.200012 m, nav range: 274.612274 m, bearing: 43.322906 deg, approach rate: 0.432266 m/s, LOS rate: 0.120352 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.100803 deg. 2j=1;:j=+4@MHeadingCmd: 4.818868 target range: 454.200012 and range: 515.00 m. jIjIjIjIiIhQhQhQhQfYfYfYrfabfeհr@ɛ R 隍>I L=ɚiI)=Ii8i))EJJJ0JJJ=9Jـ3JJJJ*;J*;*F12F1:F1BF50JF1zK؞KK9KK K %-176*$ GYG1BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527879O > $?I iw,kO(A2Ւ@Y2{@2g92>y2H`?` G٣y" > Nusing accuracyPremultiplier from config49?4YU iBW3?:q8@D ;x;p4 .@ZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 274.789581 m, bearing: 43.373969 deg, approach rate: 0.412392 m/s, LOS rate: 0.118688 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.128276 deg. 2j;:j 8@ HeadingCmd: 4.819347 target range: 454.200012 and range: 515.00 m. j j jjihhhhBfff!rf!bf%r@ɛUۄBU M: ]=]L9>IY ]`;ɚYiYI]<)=Ieieq9imS)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777962*F?2F:FBFJFHm >Ii Im $IIm^BIi&Ii.Ii6Imװ<:Im FG- JG= ?G= ?G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029044w,*i(A~Β@Y~lޙ@~9~>y~Hj??6¿d?@o~v?Ó?`E??ɨ~Β@~'W;|yHB#II%I% N5٢5= 5N=9=!ܹQ =>99 EG٣E8GyE E> MNusing accuracyPremultiplier from configIU49M?]4YMU iMBY]]8@MDM ;M6;Mw4mےB m,@mE-B*** querying acoustic contact ***j1j1ZjI aIejuFNOT Ignoring new targets: 454.20 m.Bj}:Jj}: ProNav: ac range: 454.200012 m, nav range: 274.952881 m, bearing: 43.420807 deg, approach rate: 0.388300 m/s, LOS rate: 0.111308 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.115618 deg. 2jǘ;:jI6@HeadingCmd: 4.819127 target range: 454.200012 and range: 515.00 m. jjjjihhhhfffrfbfr@ɛAEB; imY>Iq uP8ɚqiqIu(=I}i}ih:i}&)y)*F}?2Fy:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281775JJJJJJľ9JJJJJ;J;G ZGy B O >zKU LKU 9KQ KU KU d w,(A2 Β@Y2ݙ@2{92v>y2H`˃?dž?@1¿` ?Iv?'? ?`?ɨ2 Β@2;2'Cy>SB>#I B=@IFIF{R5٢NZ= RW=9RW9Q R>PT VG٣TyV$n V> ^Nusing accuracyPremultiplier from configXb49Z?b4YZU iZB`bb8@ZDZ;ZJ;Zn~4h j@hZjFNOT Ignoring new targets: 454.20 m.Bj;Jj; ProNav: ac range: 454.200012 m, nav range: 275.109467 m, bearing: 43.465603 deg, approach rate: 0.418641 m/s, LOS rate: 0.119696 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.109497 deg. 2jJ;:ji5@HeadingCmd: 4.819020 target range: 454.200012 and range: 515.00 m. jjjj i h h h hff1f1rf9bf=r@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536967ɛ5܄B=; IuHm>Iy ?c5ɚiI(=Ii5+M;i1)1)iErAEsA qIq*F=?2F9:FABFE_5JFA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785341Ge G9 BI Ha Ia  Ie 5$IIe BIa &Ia .Ia 6Ie <:Ie FBI)JI)RI)ZI-$ =bI-$ =jI-4O >_'w,Uj(AysB$$IMb@Mb@Mb@ )YE?:v?~jt?y&?<< @)I`@yII~N5٢[> 6=9Q > G٣y   > Nusing accuracyPremultiplier from config49?4Y$U iB&?%:%?%8@D;;E4) -@)ZjYeFNOT Ignoring new targets: 454.20 m.Bje&;Jje&;} ProNav: ac range: 454.200012 m, nav range: 275.280975 m, bearing: 43.514817 deg, approach rate: 0.396787 m/s, LOS rate: 0.113786 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.122736 deg. 2j}.;:j}N7@HeadingCmd: 4.819251 target range: 454.200012 and range: 515.00 m. jjjjihhhh@B1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeqCTransitioning to midcourse guidance. Received last range of 515.000000 m 5.004865 min ago.qCCfffrfbf@\r@ɛ݄BW< ;>I 1ɚiI~9(=Iin -w,F(AJ&J&J$J$J&y:J&9J$J$J&;J&;J&;J&;v+В@Yvߙ@v9v>yvH@Ք?Q?8¿{?)t?@/?@%?@v?ɨv+В@vKS;v$Cy{B.$IIIS5٢%= %C=9%:Q ->)) -G٣-8Gy5": 5> =Nusing accuracyPremultiplier from config949="?4Y=+U i=B78@=D=&<=&<=4 @ZjFNOT Ignoring new targets: 454.20 m.Bj:Jj: ProNav: ac range: 454.200012 m, nav range: 275.441467 m, bearing: 43.560786 deg, approach rate: 0.376796 m/s, LOS rate: 0.107863 deg/s, cmd heading: 275.975187 deg, new cmd heading: 276.113015 deg. 2j ;:j5@HeadingCmd: 4.819081 target range: 454.200012 and range: 515.00 m. jjjjihhh h rh @C  Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange1C  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangefffrfbf8r@ɛބBF#< 隍 >I T-ɚiI)'=Ii =i))El=zK5m$JK1K1K5 K5*F-?2F):F)BF-_0JF)"G5=G5=MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543552G G B I O >ް4w,ͬ(A6AԒ@Y6@6m96.>y6H@k??@9¿aJ?q?i?@?r?ɨ6AԒ@6;6'CynBnH$ImMb@Mb@Mb@iii i)iYm/$?kt?/$?ym?m 0=m G٣y: > Nusing accuracyPremultiplier from config49s%?4Y>2U iB&?:h8@¾D-;1;۔4ܒB @EIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalqBAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D Uninitialize.D1EqEZTransitioning guidance mode to: UNINITIALIZED*jq=zAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance= {Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>}Initialize.1? ~Initialize.=ggHBg{ Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )= q? ~:Initialize WaypointComponent.~ZNavigating to waypoint: 36.903300,-122.119000fffrfbfr@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793022ɛB!, 89I -ɚiIX'=i%)!E)E)*E1"E1HI Ig$IIBI&I.I6I<:I| FEl>E>*F?2F:FBF4JFG G"GGm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045561G= ?G= > I G B OU >Z;w,(A6ܒ@Y6@6/966>y6H?3?@]¿ ]?m?@?? ?ɨ6ܒ@6;4y>BB\$IIHIH٢R= RI=9R:Q R>TT VG٣TyZv+; Z> bNusing accuracyPremultiplier from config\f49^(?f4Y^8U i^BdfDj8@^ʾD^T:^:^4l n@lzB*** querying acoustic contact ***jxjxhhh?"h*hggg f f f rf bf r@ɛ9= AE=II MF,ɚIiIIMy'=UЋUμɠUI]iY ]>](kpHeading = 0.400000)]:e(kiHeading = 0.001000ia)e?e?)a#u PauseEuEuEEWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.297039GBO`>zK XKK h9K K K   BBw,x )AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548915ߒ@Y@p9z>yH?? ¿d r?j?5? V?d?ɨߒ@,;騭(CyMBui$I IjMb@Mb@Mb@ )Y"~? ףp= ?Q?y?Q8=u< A )I`@yII R5٢$= "=9 I:Q > G٣8Gy@: > Nusing accuracyPremultiplier from config49 -?4YN@U iBw?:8@ӾD; ;Ƥ4 @h h "h*hgggfffrfbf@$r@ɛIMA QUxY=IQ Uv+ɚQiQIUl'=]컼]ɠe8Ieſiaie\<)e@?e@?)iGYBiO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801021JJJJJv:J9JJa@a@a@a@HI I$II؅BI&I.I6I<:I_ FHlHw,T#)A2@Y2@2S92i>y2H୑? ?`:¿Y?k\?;?`? }?ɨ2@2ƴ;2'CyBBBv$IIbpIb@5٢r= r=9v g;Q v?tx zG٣xyz<; ~?  Nusing accuracyPremultiplier from config 49/? 4YEU iB޲8@پD);;;4 %d@!hAhA"hA*hAgIgIgIfIfIfQrfQbfU$r@ɛy} 隅=I @+ɚiIN'=缼ɠ(c׻Ii˿ii\=)iK?頥iK?)GqByO=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053684 I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305027Nw,k'=)A6@Y6 @6gy96(n>y6H`,??@T8¿TT VG٣TyZpu; Z> ^Nusing accuracyPremultiplier from config\b49^3?b4Y^JU i^Bdff8@^D^;^^;^4jݒB j%@jEhaha"ha*hagagigifqfqfqrfqbf}@r@ɛBQ x=I )ɚiIj)'=5t:ɠ)I5ֿii=)>?>?)zKKK9KK KRK?JK>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.557477G]NGYBO> qI}j|Uw,W)A2@Y2E"@2c923>y2H ? ?,¿ 5?Pw?p?@?ɨ2@2ۇ;2(CyRBR$I-Mb@Mb@Mb@))) )))Y-K7?~jt?I +?y-I ?-D=-94<) -@)-`@I-@)y-@IIII٢]< e?=9eK;Q e>ii mG٣m8Gym ; m>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808820 Nusing accuracyPremultiplier from configq49u6?4YuQU iuB% ?%:%%8@uDuI I$IIBI&I.I6I~<:IL FJmJmJiJiJm}:Jm9JiJiJm;aJm;a !Jia-Jia-1Q }YyAhh"h*hgggfffrfbf-r@ɛuBu%و y}=Iy }RZ(ɚyiyI>'=lɠ[v=I'ii/ >)Ǥ?頭Ǥ?)GO <G9BIOmW>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061802 e $?Ia [w,vp)A6"@Y6x2@6$P96e>y6H&?=~?@.¿`)W?"d ? ?@?ɨ6"@6#;6&Cy^Bb$IIj{Ij5٢; O=9>;Q > %G٣!y%"; -> =Nusing accuracyPremultiplier from config9E49=2:?E4Y=VU i= BAEM8@=D=":=:=4Q U@QmB*** querying acoustic contact ***jijihyhy"hy*hygggfffrfbfr@ɛH =I Q'ɚiI&=ɠ8mbIG{ii$>)kY?kY?)GsA GsAG9.=GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313036zKE MKKE ]9KA KE KE J @)!;Lo~xtjYD0$] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564788}bw,C)AF2@YFA@FRP:9F$>yFH`?@s|? 2¿`»?p`I?`%?෬?ɨF2@Fk;F(Cyf…Bj$II y I I ?5٢$; /=9oA;Q >!! -G٣)y5; ]> mNusing accuracyPremultiplier from configi49mk>?4Ymq]U imB8@mDm%)}X?}X?)Gm =G)B1OMS>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817319He">Ia Ie$IIeBIa&Ia.Ie5D6Ie<:Iex FJJJJJy:Jľ9JJJ;J;J;J;ihw,h)Ay~B~}$IMb@Mb@Mb@ )Y/$?I +?~jth?y ?94=D; A )I@Iv@y@IhI{5٢  ]=9Q > G٣8Gy   > Nusing accuracyPremultiplier from config49|A?4YbU iB| ?:%8@D<<4 .@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069787h)h1"h1*h1g1g9g9f9fAfArfAbfM{ s@ɛB`&_ 隕=I -$ɚiIĬ&=D<ɠ0Iiio>)?頥?) IGL=GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320833Gnw,vm)A6@Y6@6q96z>y6H9?@? -sHA?`5w)~?@)p??ɨ6@6Z;6&CyBBBo$IIJIJʏ5٢R+ Rb=9V.TT ZG٣XyZz Z> bNusing accuracyPremultiplier from config\b49^~D?f4Y^gU i^Bdjӱj8@^D^E;^uE;^k4ߒB %@!hyhy"hy*hygggfffrfbfs@ɛٲ =I 4#ɚiI&= ޿  Ծɠ xI_iilw>)5bp?5bp?)9"GM=GM=G- =G1G5rAGB!zK-hOK-9K)K- K-sO}aG-yvv{{wri\SNJIEBA><9761/./-)'OM>5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.576162 Iuw,N)A:ƒ@Y:ՙ@:9:t=y:HhE??`.LC?-[w,Uu?`M? ?ɨ:ƒ@:;8y^B^i$I}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824874Mb@Mb@Mb@ )YQ?{Gz?~jtxy\?#=Ļ @)`@I`@y@I I ̍5HI I$IIBI# =&I.I6I<:Iv FBIJIRIZIbIjI4٢M M2=J]J]JYJYJ]v:J]9JYJYJ]S;J]T;J] ;J] ;9mY;Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49!H?4YanU i?:8@ D;;~4 <@hh"h*hgggfffrfbf@1s@ɛB# 隭,=I "ɚiI&=3ɠ¼Iɼ ii >)@ ?@ ?)G$>GyBO=>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 x@Y>@> 9>=y>Hߵ??`·ҵ?ybb?䒹??ɨ>x@>k;>'CyfBjL$IIvIv75٢z ~c=9~ G٣y "ؼ  > Nusing accuracyPremultiplier from config%49J?%4YsU i)-崿-8@D\::45B 5@=EMB*** querying acoustic contact ***jIjIhYhY"hY*hYgagagafafafirfibfms@ɛBW 隥ОGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.aa mG٣m8Gym m> uNusing accuracyPremultiplier from configq49uN?4Yu{U iuB?:Z8@uDuE;uC;u4 @hh"h*hgggfffrfbf4(s@ɛ5B5 15>GBO5q>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1193> BDAT read: Tx time:20:14:31.8331 $Ping request sent.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501304J J J J J J 9J J a @a @a @a @!1w,0?*Af̏@Yf:ܖ@f<9fgc    G٣ y > Nusing accuracyPremultiplier from config%49Q?%4YeU i B)-O-8@*D::49 =@Ahh"h*hgggfffrfbfm3s@ɛB5S 1=*I9 Eh#ɚAiAIEJ'=MļM9ɠM^iIM'!iIiI)U`?U`?)YG;u>GBO>zK=$tMK=h9K9K= K= RKM>JKM>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753286 Iw,XY*A2`@Y2@2V><92?y2H@x9?Z? 3ㇿ@ʇm_n?ɨ2`@2,ڈ;2$CyV_BV $I5Mb@Mb@Mb@111 1)1Y5Zd;?y&1?qy }G٣}8Gy}& }> Nusing accuracyPremultiplier from config49Q?4Y:U iB4?:ƿ8@2D,3;1;:4 "@H#>I I$IIBI&I.I6I<:Io Fhh"h*hgggfffrfbf :s@ɛB7u I * $ɚiI0'=.Ƽ)Rɠ (I t'i i ) ? ?)IGVȃ>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257280 I Cw, ns*A2ٍ@Y2@@2Mn<92üy2H$?3?)yMoɍ p?ɨ2ٍ@2;2%Cy>MBB#IIJIJ5٢R0 RX=9R;Q V>TT VG٣TyZ2 Z> ^Nusing accuracyPremultiplier from config\b49^Q?b4Y^jU i^Bdfʿf9@^9D^;^P:^4jB jM@jEvB*** querying acoustic contact ***jtjthh"h*hgggfffrfbf@K@s@ɛB ؽI ]i%ɚ i I (=5Ǽ5Ijɠ5m;I5,i9i9)=?=?)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.iimAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509576JK|3 KS}-KK"KJMJIJIJIJM:JIJIJIEG >zK LK s9K K K BK rA:K qAG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765432*w,G*AR.ތ@YR@RW<9R,yRH`[綿?Z? ` J: R?ɨR.ތ@RǷ;R'CyZ?B^#IIvIvH5٢ C=9%')) 5G٣1 AIEjy5D E> UNusing accuracyPremultiplier from configI49MP?4YMSU iMBο9@MBDM3=)= CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017864HI I$IIÅBI&IGD.I6Iܰ<:I F1I 3οYy@AG >G B O >UTw,d!*A>?ً@Y>@>Z<9>*mXy>H?l?Ýj`m?ɨ>?ً@>Չ;>%Cyb7Bb#ImMb@Mb@Mb@iii i)iYm#~j?{Gz?~jtym%?mף G٣8Gy$ > Nusing accuracyPremultiplier from config49N?4YU iB&?:Կ9@KD<t<4B @Ehh"h*hgggfffrfbf`Ms@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269340ɛ}B}O y}I GB)ɚiI1)=f˼ɠlI7ii)? 9IA?)QEYEY*Ea"Ea Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521321J J J J J J 9J J G G ?G ?G B O > w,*ABъ@YB@B<9B[yBH5ÿ? ?`cÿ A=lU?ɨBъ@B։;B'CyN)BR#IIZIZ5٢b3 bQ=9b[dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49nK?r4YnU inBtv ٿv9@nSDn:nD;nd4x z@|h!h!"h!*h!g!g!g)f)f1f1rf1bf5@Ss@ɛ]B](< ae,Ia e2+ɚaiaIe9)=m@ͼu6ɠu^Iu IGBO>w,*A2ɉ@Y2ِ@2X4<92,y2Hǿm?@O?3o`wǿ|V`LEL?ɨ2ɉ@2=;2(CyNBN#InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025406H!I! I%[$II%BI!&I!.I!6I%a<:I%9 FMb@Mb@Mb@ )Y rh?I +?Zd;Oy,?94<j@ @)@I@y=@II5٢- -6=9599 =G٣9yEM E> MNusing accuracyPremultiplier from configIU49MG?U4YMU iMB],?]:]޿]9@M\DM;M;M?#4a e@ahh"h*hgggfffrf bfMP[s@ɛu}Bu> uc=}|IIy }}<.ɚyiyI}"*= мɠGICii)??)G>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282121O> I ϼw,*A2@Y2͏@2S =92$ܼy2H˿ ;?+?@Z8˿ZJ`q~ ?ɨ2@2و;0yBBB#IIJIJ5٢r9 rb=9v:|| ~G٣~8Gy  > Nusing accuracyPremultiplier from config-49]C?-4YBU iB15㿑59@dD8<<)4B @EB*** querying acoustic contact ***j!j!h)h)"h)*h)g)g1gQfQfYfYrfYbf]Ias@ɛ{BQμ MI $0ɚiI/Y+=*ҼʿɠHI2Hii) ? ?)"G%4>G%)> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533382JJJJJ}:Jy9JJG5>G=rAG=sAGBO5>zK] INK] 59KY K] K] 6plB~sf\SKC<6/-)($  C\+  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785292 y I} jw,$+Ay B#II%I%آ5٢] e2=9uQ }> G٣y > Nusing accuracyPremultiplier from config49>?4YYU iBqqu9@nDu<<14y }U@hh"h*hgggfffrfbf`hs@ɛyBc̼ "XI 3ɚiI 7,=ռɠ;uI D@ii).x?.x?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:14:35.1794 TRx dataTimestamp_ set to:1736367276.476623checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038385H ">I  I /$II |BI &I .I 4D6I C<:I " FBIyJIyRIyZI}# =bI}# =jI}34Ge>G! B) OU >w,ys)+Ay]B]#IMb@Mb@Mb@ )Yn?I +?AA EG٣AyA M> UNusing accuracyPremultiplier from configI]49M9?]4YMU iMB]|.?]:e࿑e9@MwDM;Mw;Mo84i m@iuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289587hh"h*hgggfffrfbf`ins@ɛwBҼ BMI =6ɚiIm,=ؼɠ.ýI?@ii)#?#?) IEu==Gy Gy% Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 20:14:35.1794 LVL= 26400, 28769, 17282, 32755, AGC= 70, IDX= 445,-0.14,-2.068, 0.489,-0.979,-1.219, PHS=-0.761, 1.755, 0.237, RAW= 306.8, -11.2, CAL= 311.8, -15.4, ROT= 198.2, 15.4 e Ygot valid direction response: 20:14:35.1794 LVL= 26400, 28769, 17282, 32755, AGC= 70, IDX= 445,-0.14,-2.068, 0.489,-0.979,-1.219, PHS=-0.761, 1.755, 0.237, RAW= 306.8, -11.2, CAL= 311.8, -15.4, ROT= 198.2, 15.4 } DAT read: Range 10 to 50 : 706.6 m (Round-trip 942.2 ms) speed -0.5 m/s  ,DAT read: user:1194>  BDAT read: Tx time:20:14:36.2831  $Ping request sent. % uY@% +H % X$@)% I% ;d]@i% >! ! % F*F.,ߦȿ)% vAI% ~H>i% ޼y?% ,m?! !  :publishing transmit ping timeء  Fpublishing direction and range info! 9% k"}?=f`?vcky! ! ! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! G % F*F.,ߦȿ)! I! i! ! ! ! G B O >=w,Z*D+AZ@YZ@ZO=9Z;yZHӿ@dl?`OcPӿ౴5x?Q?ɨZ@Z9+;Z%CybBb#IInIn5٢v vY=9M)=Q U>QQ UG٣U8Gy]~ ]> eNusing accuracyPremultiplier from configa49e3?4YeU ieB29@eDe;e;e3?4 5@ku ?k*>u k k>+A:k0DBkn/DZkI@"9m@ru@Mk"}?=f`?vckJk޼y?Rk,m?**p@CM:s T?Wۿ5 "kי*kCkl|۱ ?kQvu 2kDkUk?k$zH kRkCk>hh"h*hgggfffrf@bfh?ɛ uB Ƶ˼ LI 8ɚiI+-=-ܼɠE$ԽIEs9@iAiA)Edc?Edc?)IEDa=zKNKKK KU}wsqolhhe`^YQIA93,%" Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:20:14:36.2823 $?IG GB OM >!w,]+AH4I4 I6$II6cBI6$ =&I4.I46I6<:I6T FBWill construct direction to contact in vehicle frame from tetrahedron phase data.J%J%J!J!J%v:J%9J!J!J!a-J!a5J%;a5J%;a5y=B=#IUMb@Mb@Mb@QQQ Q)QYUq= ףp?~jt?~jtyU+?U G٣y > Nusing accuracyPremultiplier from config49,?4Y8U iB+?:9@D;/;F4 %@EL Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseLEntering Midcourse tracking update period 60.000000 s sec at 706.599976 m (mode 0.000000 count ).L1Mhh"h*hgggfffrfbfR?ɛ%sB-˼ )-EI) 5;ɚ1i1I5a.==߼=ɠ=bQI=4@i9iA)E!?E!?)AEE*E"E"G}0>G}0>5Will construct direction to contact in vehicle frame from tetrahedron phase data. IG 2>Gq B O >oow,Zx+A6@Y6/@6;{=96j#ll rG٣pyr? r> vNusing accuracyPremultiplier from configtz49v%?z4Yv U ivB|~M~9@vDv ;v` ;v.M4 @2lN@1MqMh1h1"h1*h1g1g1g9f9f9f9rfAbfE[?ɛmqBm˼ mz*=mF7Iq u =ɚqiqIu/=}%x㼩}ɠ}I;/@ii)?項?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>GBO`> Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I= jzKU !nNKU 9KQ KU KU    BKa :Ke oASw,!#+ABx@YB@BSx=9B'YA@밿@x??ɨBx@B25;B(CyN#BR#IIjIjm5٢= >=9s4 %G٣%9GyU ]> Nusing accuracyPremultiplier from config49?4YU iBu9@Dw<p<.U4 @:lYqM]M]haha"hi*higiggfffrfbf`?ɛnBh I ?ɚ i I Ka1=輩%(ɠ%@IMG(@iIiQ)U?U?)YH-#>I) I-#II-NBI-# =&I).I-5D6I-<:I- FeWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ~JJJy:Jf9JJJ;J;J:J:GG B O >}w,+A2E@Y2@2=92%[ G٣y%g %> -Nusing accuracyPremultiplier from config)549-?54Y-U i-B=>%?=:==9@-D-y;-);-[4A Eq@ABlYM]]tCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseL] ]Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcoursehihi"hi*higigigqfyfyfrfbfࡡ?ɛlBo 隵6!I AɚiI 2=켩u4ɠ]Is#@ii)W?W?)GF>G?G?GBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.&ew,+A:@Y:@:0=9:4XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`f49bg ?f4Yb!U ib~Bdjj9@bDb4;bZ4;b?b4rB r@rEhh"h*hg g g f f frfbf+@ɛ=iBEd AEIA EX_CɚAiIIM 3=MF񼩠Ud?ɠUbIe@iii)-?項-?)Q $?IjWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLKKK KEc=GA G H! I!  I% #II% DBI! &I! .I! 6I% <:I% Z FGa Bi O >w,++AWill construct direction to contact in vehicle frame from tetrahedron phase data. Yy BJFJFJF/JDJFv:JFľ9JF(N3JDJFS;JFT;JF;JF;V7@YV=@V=9VK& G٣9Gy[ > %Nusing accuracyPremultiplier from config!-49%?-4Y%U i%pB5?5:5459@%D%;%;%:j4=B =n@EEhaha"ha*hagagagafififirfibfm3@ɛfB֩ 隥I PEɚiIR5=_DMɠ$I@ii)a?頽a?)EW^= IGA>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>:w,+A6>}@Y6@6=96׎[}@6P;4yFXX ^G٣\y^- ^> fNusing accuracyPremultiplier from config`f49b?j4YbU ibeBhj,j9@bDba:b:brp4p r[@ph h "h *hgggfffrfbf`@ɛEdBM IMII MEFɚIiQIUܝ6=]2]Xɠ],I].@iYia)e?e?)a5Will construct direction to contact in vehicle frame from tetrahedron phase data.Eff=G F>G G G B I O > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK +9K K K ϰw,,A2>B{@Y2ΰ@2^_=92H~B{@2i;0yf?Bf#IIrIr|5٢G<  E=9H1I MG٣Qye m> Nusing accuracyPremultiplier from config499천?4YU iVB(9@¿DE;;w4B @Ehyhy"hy*hygygygfffrfbf0 @ɛaB 䆽I eGɚiIXp8=eɠ7I @i)i))-%?-%?)1EaEa*Ea"EaHI I#IIIBI&I.I4D6I<:I~ FEWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJJ9Jـ3JJJJ;J;GQ G1 B9 Oe >c w,/,A $?I>PFy@Y>ײ@>)=9>ĂH@}o? fBT oBb`6oB??ɨ>PFy@>́;FWill construct direction to contact in vehicle frame from tetrahedron phase data.JBDAT read: Rx Time:20:14:39.6256 JTRx dataTimestamp_ set to:1736367280.764734>'CyRBBV#I ^=\=Mb@Mb@Mb@999 9)9Y="~?qq uG٣u9Gyu }> ENusing accuracyPremultiplier from configyE49}ಜ?M4Y}V i}GBM?M:M M9@}ʿD}j<};}4Q ]@Yhyhy"hy*hgggfffrfbf r@ɛ^B UȚ=p^I %Gɚ!i!I%:=--rɠ-ZBI-@i)i1)5ף?5ף?)YGy=Will construct direction to contact in vehicle frame from tetrahedron phase data.GYBaO>k@w,qI,A:Pw@Y:,@:X=9:kqwhh jG٣hyn` n> rNusing accuracyPremultiplier from configpv49rֲ?v4YrV ir:Bxz z9@rѿDr :r:r@4 @h)h)"h)*h)g1g1g1f1f9f9rf9bf= @ɛm[Bmߣ{ im+Ii mEHɚqiqIuo;=}Թ}~ɠ}KI}s@iyi)Y]?項Y]?) 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.zKJKh9KK K>?2' RK ?JK>GGG?GBO5q>H I  I #II SBI &I .I 5D6I <:I n FBIiJIiRIiZIibIijImʱ4e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:14:39.6256 LVL= 30512, 25233, 18674, 32755, AGC= 69, IDX= 388, 0.31,-0.364, 2.008, 1.426, 0.751, PHS=-1.027, 1.303, 0.671, RAW= 285.2, -9.1, CAL= 290.6, -14.3, ROT= 219.4, 14.3  Ygot valid direction response: 20:14:39.6256 LVL= 30512, 25233, 18674, 32755, AGC= 69, IDX= 388, 0.31,-0.364, 2.008, 1.426, 0.751, PHS=-1.027, 1.303, 0.671, RAW= 285.2, -9.1, CAL= 290.6, -14.3, ROT= 219.4, 14.3  PDAT read: Bearing 219.4, 14.3 (Local) J1 J5 J1 J1 J1 J5 9J1 J1 J1 J1 J5 [ ;J5 \ ;U ~Local bearing/azimuth received: Bearing 219.4, 14.3 (Local) kw,HQc,AJDAT read: Range 10 to 50 : 703.7 m (Round-trip 938.3 ms) speed -0.4 m/s ROu@YR@R=9R| BDAT read: Tx time:20:14:40.7332  $Ping request sent. ڑڑەHZ0f#?eirFĿ)ەˆ8@Iە8">iە>ە`?ۑۑ:publishing transmit ping time Fpublishing direction and range infoؑ9ؕ\1?IuN?6Ă_yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەHZ0f#?eirFĿ)ۑIۑiۑۑۑۑmMb@Mb@Mb@iii i)iYm/$?y&1|~jtxym ?m`廹mĻmA mQA)m AIm$@iymAII5٢H= ,=9;Q > G٣ yEЄ E> ]Nusing accuracyPremultiplier from configQe49ULȲ?e4YU9 V iU*B ?:9@UٿDURk`?*.@} dT6^xUEL?;ο"k%*k,uAk'ӷ?k(g 2kGkkH k[kCk ^>hh"h*hgggfffrf@bf?ɛeWBm`[ imIi mHɚiiqIu==}W }Ȇɠ}WI?ii)?頥?) %$?I%jWill construct direction to contact in vehicle frame from tetrahedron phase data.G A>G B O >^w,&},A6Us@Y67@6m=96p=UUɠU_IU`?iQiQ)??)%Will construct direction to contact in vehicle frame from tetrahedron phase data.E8=  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.GE F>zK LK 9K K K BK :K sAG! BI Om >#|%w,`,A-q@YeL@I=90;yH% ?@83R@ }??ɨ-q@j;&CyMMBM#IIIH5٢M\; M3=9}:Q > G٣yɔ > Nusing accuracyPremultiplier from config49o?4YV iB9@DW;x;4 9@hqhy"hy*hygygygyfffrfbf?ɛ5QB5uP 9=@I9 =}Hɚ9i9I=@=jHM<bHM<HQIQ IU $IIU^BIQ&IQ.IQ6IU<:IU] Fs ɠ/gkI^?ii) ?頝 ?)%Will construct direction to contact in vehicle frame from tetrahedron phase data.EX=G G G oAG B O > I ++w,ܰ,A6 o@Y6.)}@6}=96y2 G٣y > Nusing accuracyPremultiplier from config49?4Y>V iB?:9@Dw;; 4B 4@Ehqhy"hy*hygygygyfffrfbf82?ɛ5NB52ZM 9=oI9 E~HɚAiAIEaMB=M$Mɠm(tImL?iqiq)u?u?)qEyEy*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJO9JJa@a@a@a@G= P>G B! OE >2w,q,A6l@Y6{@6՚=965?df½`??ɨ6l@6 ;4yBMB@IRIR5٢ZG: Z_=9Z,;Q ^>\\ ^G٣^9GybD b> fNusing accuracyPremultiplier from configdj49fᘲ?j4YfV ifBlnn9@fDf ;fT ;fr4p r1@phaha"ha*hagagigifffrfbf@} ?ɛKBIE  4;I  Hɚ i I -C=?ɠ}Iz ?ii)c?c?)! $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKJKs9KK K-5;,)&$1ERX[^_\[VTPRQNKHEA>;764.*# GF>GqBO>Hm $>Im C Ii Ii Ii &Ii .Ii 6Im <:Im FU Will construct direction to contact in vehicle frame from tetrahedron phase data.H8w,O,A:zk@Y:5y@:=9:``%'!%A %zA)%AI%@!y%AI=I={5٢M~c MB=9UJ;Q U>QQ ]G٣Yy]~ ]> mNusing accuracyPremultiplier from configam49eB?u4YeV ieBu>u:uKu9@eDe;e';eӰ4ޒB @ EhAhA"hA*hAgIgIgIfIfIfQrfQbf}A@ɛ=GB=ȧW AEZIA EGIɚIiIIME=]Fr]ɠ]6I]?iaia)e?e?)i IWill construct direction to contact in vehicle frame from tetrahedron phase data.GG?G>GqByO>`>w,.,Ay8B#II-I-E5٢=. =K=9EQ E>AA MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]49UK~?e4YU*#V iUڿBaae9@UDU ;U ;Uٷ4y }j@yhh"h*hgggfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛDBUf QU@ǼIQ ]u`IɚYiYI][G=e9#eɠe҈Ie?iaii)mp?mp?)iJJJJJy:J"9JJGGBO> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] NK] 9KY K] K]         *vEw,-ABpJg@YBiu@Bx=9BZ;yBHpk?@͸K`,=|??ɨBpJg@B8;@yJ1BJ#IIuIu5٢q D=9Y;Q > G٣9GyZ > %Nusing accuracyPremultiplier from config4) 9o?4-~GAQYP&V i̿Bi  YyRAm"9@DT=R=V4ݒB @ Ehh"h*hgggfffrfHI I$IIYBI&I.I6I<:Ia Fbf`F@ɛ@Bg%Will construct direction to contact in vehicle frame from tetrahedron phase data. )-0I) -Iɚ1i1I5I==I-)=ɠ= I=~I?i9i9)=~I?U~I?)a PExceeded connect timeout, disconnecting.G A>G G sAG B O > I Kw,L1-ABWill construct direction to contact in vehicle frame from tetrahedron phase data.yr&Br#I@ Mb@Mb@Mb@ )Yx?S㥫/]tA A)AIiII5٢\ F=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 2b?4Y )V i B>:#9@  D V; -; _4! %z@!hIhI"hI*hIgIgIgQfQfYfYrfYbf] @ɛ=B  隍 9I ,UJɚiI K=-ɠI?ii)??)!GK>5Will construct direction to contact in vehicle frame from tetrahedron phase data.GiByO>JK KKK"KJJJJJv:J9JJRw,XX ZG٣XyZA( ^> bNusing accuracyPremultiplier from config`f49bxU?f4Ybf+V ibBdf'f9@bDb:b :b4l n*@phh"h*hggg f f f rfbf @ɛE9BE* E=E IA UjKɚQiI֬L=12ɠ[I?ii)??)  =$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:14:44.0708 TRx dataTimestamp_ set to:1736367285.300603zK0NK}9KK K9CpaXNGA94."   GyGYBO >H %>I  I #II IBI &I .I 6I <:I FE Will construct direction to contact in vehicle frame from tetrahedron phase data.Xw,=e-AJa@YJUo@J=9JH-}y}C}A }3A)}+AI}@yy}AII5٢ ;=9[MQ > G٣9Gy > eNusing accuracyPremultiplier from configYm49]D?m4Y].V i]Bu>u:}q*}9@]D]Px;]x;]4ܒB }@E nManaging dock network, ignoring radio surface power offh h"h*hgggfffrfbf w@ɛe5Bml 隍x½I LɚiIqN=]L7:ɠI$?ii)$?頥$?) 9IQWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:14:44.0708 LVL= 19904, 20465, 13266, 27091, AGC= 69, IDX= 371,-0.39,-2.019,-0.238, 0.429,-0.558, PHS=-1.372, 0.367, 0.984, RAW= 255.4, 0.2, CAL= 258.3, 1.0, ROT= 251.7, -1.0 Ygot valid direction response: 20:14:44.0708 LVL= 19904, 20465, 13266, 27091, AGC= 69, IDX= 371,-0.39,-2.019,-0.238, 0.429,-0.558, PHS=-1.372, 0.367, 0.984, RAW= 255.4, 0.2, CAL= 258.3, 1.0, ROT= 251.7, -1.0 PDAT read: Bearing 251.7, -1.0 (Local) ~Local bearing/azimuth received: Bearing 251.7, -1.0 (Local) DAT read: Range 10 to 50 : 700.0 m (Round-trip 933.4 ms) speed -0.1 m/s ,DAT read: user:1196> BDAT read: Tx time:20:14:45.1832 $Ping request sent.ٝm{?ٝl@ٝd; ڝC@)ڝ5GI BQ Ou >!_w,v-A6_@Y6m@6A =96T! G٣y啽 > Nusing accuracyPremultiplier from config496?4Y00V iBU,9@D:\:a4Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:14:45.1824 ݒB @ Ek?k? JyJ}J}/JyJyJ}9J}(N3Jyk kqs-A:k/DBk-DZk.?"jzC@b5 nBs|!}?HmֿoJk紿Rk?*1=X /k@JSu`T¿\,?/^"k\C*kk)?ktz? 2kkkkDkCk>hh"h*hgggfffrf@bfoE?ɛE1BM imhIq uNɚqiqIuߘP=}y<}$ɠ}'I}?ii)?項?)G GtAGF> 5$?I5jGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK bCNK 9K K K  &  G  | `>Go"fw,QN-AfB[@Yf j@f=9f[9yfH` ?`on WZ߿  $ lp1?`?ɨfB[@f>;f&CyrۄBri#IIzIz5٢ھ K=9 uQ  >    G٣y > }Nusing accuracyPremultiplier from configI49M?(?4YM2V iMB.09@M%DMԳI I#II+BI" =&I.I6I <:I FBIuÝCJIuÝCRIqZIqbIqjIuÓ4ɛ-B N#I 2PɚiItR=%#B%+ɠ%sI%b?iAiI)Mb?Mb?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.E5*= ! I) GQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BA O] >lw,GT-AZY@YZGg@ZNk=9ZZb;yZH2 ? yݿ@^+@@Ps? ]?ɨZY@Z>;Z)CybBbA#IhjA]Mb@Mb@Mb@YYY Y)YY]^I +?A`"/$y]X>]Y]]A ]A)]AI]@Yy]AIu Iu5٢ 4=9߻Q > G٣9GyƗ > Nusing accuracyPremultiplier from config49 ?4Y)4V itB >:<19@,D;@; 4 @Ahh"h*hgggfffrfbf@?ɛ(B ʚ  D\I  ˫SɚiIjG9 BI Om >sw,U-A2԰W@Y21e@2=92B>4#IIJIJ5 `I`٢rY rV=9vQ v>tt vG٣xyz) z> Nusing accuracyPremultiplier from config 49x? 4Y5V ifBJ39@2D;:4ےB %@%EhAhA"hA*hAgAgAgIfIfIfIrfQbfU?ɛ}%B}x 隅iI TVɚiIU=L ɠeհI{?ii){?頝{?)uWill construct direction to contact in vehicle frame from tetrahedron phase data.zKOKs9KK K&w3~kXH<6/.+),D :%vdXJ?4-("   E="G->G- >H+>IC I#IIBI! =&I.I6I<:I F- Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 G F>J J J 0J J J J ـ3J J a J a J f;a J g;a GY Bi O >yw,-AFVU@YFc@F*%=9F G٣yۊ > %Nusing accuracyPremultiplier from config!-49%}?-4Y%7V i%RB-x?5:5259@%9D%R;%5;%g49 =@9hYhY"ha*hagagagififqfyrfybf}b?ɛ BpP 隭I EZɚiINW=5^S5Jɠ5I=?i9i9)=?=?)AEAEA*EI"EI $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G= A>G B! OU >0w,n.A6S@Y6a@6=96//ؿ@ܜqonq(? ?ɨ6S@6;6'CyBBB"I F=DIJ0IJʴ5٢VL  Vd=9VQ V>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from config`j49b籜?j4YbQ9V ibCBhj4j9@b?Dbp;bI;b4rWill construct direction to contact in vehicle frame from tetrahedron phase data.vڒB v@vEhh"h*hgggfffrf!bf%4@ɛMBU QUxIQ U˨]ɚQiYI]OY=JYJ]AAm4Xm,ɠmVIm`|?iiii)u`|?u`|?)qG%F> $?IGB1Oew>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] +NK] ŷ9KY K] K] `En=0d}Ak# BKi :Km tA-Ɔw,i.A%Q@Y%F `@%=9%W9 G٣9Gyǃ > Nusing accuracyPremultiplier from config49Ա?4Y!;V i/B69@GDe: :4   @hh"h*hgggfffrfbf`@ Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ%BMo imҭIi u%cɚqiqI}`q[=JJJJJs:Jy9JJJ;J;J8:J9:j`ɠˈI?ii)?頽?)G% K> I G! B) Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,?6.A6P@Y6.^@6c=96ud G٣yv > Nusing accuracyPremultiplier from config49ı?4YGiGiGIBYOu>Zٓw,$P.A "$?I : N@Y:/@\@:y=9: rdd fG٣dyj j> nNusing accuracyPremultiplier from configlr49n?r4Yn=V inBpv8v9@nSDnC:n :n4x zb@xh!h!"h!*h!g!g!g!f)f)f)rf)bf-` @ɛB3. ̾I MlɚiIS^=5l5'ɠ5R˾I5?i1i1)=?=?)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}OK}@9KyK} K}/ACB@>=><:61.011521/,)(&#   RK?JK>GK>=~GaG -`Y1y5BBYH*>I I(#IIBI&I.I6I<:I FO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J y:J 9J J J ;J ;J f;J g;w,i.AVAL@YV aZ@V=9VT'j)1 5G٣5 9Gy5 => EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M49=袱?M4Y=,?V i=BU+:QU:Uc:U9@=ZD=+;;=>=4]גB e@e Ehh"h*hgggfffrfbfG;@ɛ] B]/ Ye4ӾIa eqɚaiaIe2p`=X sɠоI J?ii) J?頝 J?) 5$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:14:48.5211 TRx dataTimestamp_ set to:1736367289.836736GF>GBO>w,̓.ArWill construct direction to contact in vehicle frame from tetrahedron phase data.y*B"II=I5٢Ek MI=9UQ U>QQ eG٣aye e> ubBottom track data is 0.8 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}49md?}4Yms@V imB} :y:9@maDm9;m T?mp4 @hh"h*hgggfffrfbf?@ɛB9 ھI owɚiIb= yɠg2־I?ii)??)  !I!GK>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerzK MK K K K     BK :K pA8w,.AFVH@YFquV@FV=9F~-H9I=C I="II=yBI=! =&I9.I96I=<:I=e F G٣y[ > 5bBottom track data is 1.3 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config =49 }?=4Y AV i B=99=U:=J>E9@ iD ; ? "4M֒B M@m#Ehh"h*hgggffWill construct direction to contact in vehicle frame from tetrahedron phase data.frfbf'@ɛ=B=S/ AEھIA E)~JuJuJqJqJuv:Ju9JqJqJuS;JuT;Ju1;Ju2;ɚAiI- d= ɠ%ܾI?ii)??)  $?I G5 F>G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.QUw,}.A6bF@Y6lT@6Md=96:ȑQQ UG٣U 9GyU U> Nusing accuracyPremultiplier from config 49Zl? 4YBV iԾB T:*?:=9@oD ;" ;C)4ՒB  @&Eh9hA"hA*hAgAgAgIfIfIfIrfIbfU@ɛ}B^J 隅I ɚiI }e=9 ɠYI|?ii)|?頝|?)G GsAGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I b3w,|.AB$dD@YBR@BVW=9Bǂ`` bG٣dyf j> nNusing accuracyPremultiplier from configlr49n[?r4YnVCV inɾBtv?v9@nvDnU;nf;n/4x z[@xhh"h*hgggf!f!f!rf!bf%`@ɛ]B]I Ye$Ia e_ɚaiaIeAf=mmmɠmUIm?iqiq)u?u?)q=Will construct direction to contact in vehicle frame from tetrahedron phase data.GAzKLK9KK K 7G RK>JK ?GB!O=Q>H->IC I"IIUBI =&I.I6Ij<:IJ FBIǞCJIǞCRIZI =bI =jI4 Will construct direction to contact in vehicle frame from tetrahedron phase data._w,.AyB]"IMb@Mb@Mb@ )YB`"?Q?I +y?u<94vA A)AIAy(AIHI5٢} 9=9Q > G٣y > Nusing accuracyPremultiplier from config49VG?4YvDV iB?:=9@~D;T;N74 ԒB (@ )Eh)h)"h)*h) u$?Iyg)ggfffrfbf@ɛB @ )-LI) -l懼ɚ1i1I5νh===ɠEqIEw:?iAiA)Ew:?Ew:?)IMWill construct direction to contact in vehicle frame from tetrahedron phase data.GQG)B1O]>Ew,V/ARWill construct direction to contact in vehicle frame from tetrahedron phase data.RAiPJ%J%J!J!J%}:J%9J!J!a-@a-@a-@a-@y]B]\"IIRIS5٢ N=9Q > G٣ 9Gy > Nusing accuracyPremultiplier from config494?4YyEV iB9@D.:;:B>4 5@hh"h*hgggf f f rf bf b@ɛ=BEL AE:IA EɚAiIIMBj=MU:ɠUIU9?iYiY)]9?]9?)Y"Gm>Gm> m$?IiG}K>GYBiO{>UWill construct direction to contact in vehicle frame from tetrahedron phase data.zK MK @9K K K c_f{(S!veSF8/(" BK :K rAow,1/A2 >@Y2iL@2Rx=92'@{ I ? X W? ?ɨ2 >@2;2)CyRBRc"II^1I^5٢f< fZ=9fӼQ f>hh jG٣hyjv n> rNusing accuracyPremultiplier from configpv49rs#?v4YrEV irBtvCz9@rDrz:r":rD4~ҒB ~@~,EH.>I I"II 隕8I 썼ɚiIk=_gɠ I>?ii)>?Will construct direction to contact in vehicle frame from tetrahedron phase data.>?)G5P>G= ?G="? aIaG B) O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.w, 9/AN<@YNJ@Ngs=9N҈qq uG٣qy}j }> Nusing accuracyPremultiplier from config49?4Y)FV iB ?:F9@DU;;:L4ђB h@/Ehahi"hi*higigigifqfqfrfbf`#@ɛBOK I ZɚiI9m=痽ɠ7Ip?ii)%p?%p?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.JEJEJE/JAJEs:JEľ9JE(N3JAGuK>GQBaO> E $?II w,R/A6:@Y6H@6h=96]Ŕhl nG٣n 9Gyru r> vNusing accuracyPremultiplier from configpz49r ?z4Yr2FV irBxzHz9@rDrw;r;rR4 2@h!h!"h!*h!g)g)g)f)f)f1rf9bf=z @ɛe܄BeRNM amݾIi m=HɚiiiIm%xn=u u ɠ}RI}?iyiy)}?}?)G G}Will construct direction to contact in vehicle frame from tetrahedron phase data.GP>zKpNK9KK KRK-?JK-?GBO-o>HI I"II7BI&I.I6I<:I| F- Will construct direction to contact in vehicle frame from tetrahedron phase data.)w,l/A:8@Y:lF@:m\=9: G٣yo > Nusing accuracyPremultiplier from config49)개?4YEV tIiB?:D@:@D;L ;dZ4ВB @2E $?Ihh"h*hgggfffrfbf@ɛ%քB%GsAGGqBO~>@w,/A2O6@Y2D@20rR=92 XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49bذ?f4YbFEV ibBdjC@j:@bDb:b:b`4rWill construct direction to contact in vehicle frame from tetrahedron phase data.p r@tJ J J 0J J y:J 9J ـ3J h1h"h*hgggfffrfbf @ɛ5ЄB=@ 9=kϾI9 =[㘼ɚ9i9IE2-q=Ew`M\'ɠMIMޮ?iIiI)Mޮ?Mޮ?)q IGGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.)) - C .~G UֿY y Aw, /AzK}KK}]9KyK} K}BK0:K2tA:P4@Y:C@:u'I=9:shh jG٣j 9Gyn n> rNusing accuracyPremultiplier from configpv49rHŰ?v4YrDV irBxz+A@z:@rDprC:r1h4~ϒB ~@5EH%/>I! I!I!I!&I!.I!6I%<:I%g FhYhY"hY*hagigigqfff rf1bf5 l!@ɛ}ʄBW9 隅˾I ̛ɚiIr=W*ɠpIpH?ii)pH?頽pH?)Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IG1G B O- >} Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,T/A:b'3@Y:FA@:,?=9:ܼY G٣y > Nusing accuracyPremultiplier from config49?4Y@CV iB ?:;@:@D/;;o4 @h!h!"h!*h!g!g!g!f)f)f)rf)bf-|["@ɛĄBQ? ľI Y<ɚiIs=-ɠ Ië?ii)ë?ë?)Will construct direction to contact in vehicle frame from tetrahedron phase data.iAJ9J=J9J9J9J=9J9J9GA>G?G:?GiByO> I w,//A:O1@Y:mn?@:p6=9:a~xdd fG٣dyf j> nNusing accuracyPremultiplier from confighr49jڠ?r4YjBV ij}Bpv:@v:@jDj/;j;j4v4zΒB zC@z7Ehh"h*hgggfffrfbf"#@ɛB%ثB )-žI) 5ɚIiIIMt=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]PױeT0ɠe Iep?iaia)ep?ep?)izK}JK}9KyK} K} ZbJvL}8Sce]L:RK ?JK?GF>H]2>I]C IYIYI] =&IY.IY6I]<:I]m FGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.aw, /AV/@YVq=@V.=9Vk~ G٣9Gy^ > Nusing accuracyPremultiplier from config49?4Y!@V iwB?:uQ6@:@D<<}4͒B @:Ehh"h*hgggfffrfbf@$@ɛ=B=@\3 9E!IA E8ɚAiAIE!v=m"ضm]3ɠm}Iu?iqiq)u?u?)yG GeWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>dw,K0AbWill construct direction to contact in vehicle frame from tetrahedron phase data.y=B=["IiiI3Iu5٢꠻ M=9Q > G٣y > Nusing accuracyPremultiplier from config49z?4Yl>V irB:@D0;k;ބ4 @hIhI"hI*hIgIgIgQfQfYfYrfYbf] $@ɛ B|Y7 ,I ɚiI5Ew=%#}%"6ɠ%I%?i!i!)%?-?)) 5$?I1GQG)B9OU>uWill construct direction to contact in vehicle frame from tetrahedron phase data.[ w,!0A @:+@Y::@:E =9:HXX ZG٣Xyb b> fNusing accuracyPremultiplier from configdj49fZj?j4YfIp Ir"IIrABIr =&Ip.Ip6Ir<:Ira FBIJIRIZIbI =jIC52@:@fDf;f;f\4 ˒B @ =EzKOKŷ9KK K{Dn\H6( wqkeb]YXSOLIIE??=96011.))*BKsA:KsAhh"h*hgggfff1rf1bf=%@Will construct direction to contact in vehicle frame from tetrahedron phase data.J3K;} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1198>  BDAT read: Tx time:20:14:56.1333  $Ping request sent.  G٣9Gy > Nusing accuracyPremultiplier from config49U?4Y:V ifB?:1@:@DH;;4 @h)h)"h)*h)g1g1g1f1f1f9rf9bf=w&@ɛeBe!= im=Ii m0ɚiiiIu y=u>Žu;ɠ}I}?iyiy)}?}?)"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:14:56.1325 GGBO>  $?I w,zU0A6z>(@Y6]6@6~=96ʸr(@6V;6(Cy^B^;"IIfIf۞5٢n rq=9r%3Q r?tt vG٣tyv+ z? UNusing accuracyPremultiplier from configx]49zG?]4Yz8V izaBae.@e:@zDzaH2>I III =&I.I6I°<:I FGB)OMt>zK9OK9KK K(&%"!"     +8>@>:730-,)(+'&"!RK ?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data.J1 J5 J5 0J1 J1 J5 9J5 ـ3J1 J1 J1 J5 \ ;J5 \ ;Hw,So0A2m&@Y24@2=922%;y2HZ`*Կ@*&?^a^?@k> d??ɨ2m&@2o;2$CyBރBB2"I PITMb@Mb@Mb@ )Y|?5^?{Gz~jty ?ףD A )AIAyI+I5٢1  ==9tQ > G٣y > Nusing accuracyPremultiplier from config494?4Y-5V iZBS?:]+@:@D);6;4 @hh"h*hgggfff!rf!bf%@(@ɛMBMB= QUIQ ULϮɚQiQI]{=]νe5@ɠeIeI?iaia)eI?mI?)qEWill construct direction to contact in vehicle frame from tetrahedron phase data.G]F>G1BAO]v>/"w,+0A>qc$@Y>΂2@>4<9>;y>H?qֿ@KC?_?V |? ?ɨ>qc$@>秉;>%CyJ؃BJ*"IRWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPIZIZF5٢b  b\=9fIQ f>dh jG٣j9Gyj j> rNusing accuracyPremultiplier from configpv49r\%?v4Yr2V irUBxzU)@z:@rDr.:r.:r4~ɒB @CEh!h!"h!*h!g!g!g)f)f)f)rf)bf5x(@ɛeBeE aeIa m'ɚiiiIm|=uRӽuLBɠupIu(?iqiy)}(?}(?)yG GoA $?IGA>GBO_>UWill construct direction to contact in vehicle frame from tetrahedron phase data.dZ(w, 0A6l"@Y6x0@6<96h]FID IF"IIF7BIF =&ID.ID6IF<:IF FyrуBr""IIzBIzǸ5٢ F=9 Q  >   G٣y > ENusing accuracyPremultiplier from config9E49=k?M4Y={/V i=OBIM_'@M:@=D=~:=:=4UȒB ]e@]@Ehh"h*hgggfffzKMKŷ9KK K BK%rA:K%qArfbfM )@Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ}:J9J3JJ;J;J1;J2;ɛmBm: qu庾Iq u㳼ɚqiqIu}=}cٽ}Dɠ}6;IGޟ?ii)Gޟ?頥Gޟ?) $?IjGF>G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data..w,-0AyB "IMb@Mb@Mb@ )YV-?X9vQy ?}uE A ) AI`AyI!Ix5٢Т ==9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y,V iHB? : i)@ :@D8;5;e4-ƒB -l@5CEhQhQ"hQ*hQgQgQgYfYfYfYrfYbfe \s*@ɛB.N 隕aƾI AɚiI~=^޽Fɠ#I䣞?ii)䣞?頭䣞?)Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO> i Ii l5w,b0A:@Y:,@:Kc<9:m\\ bG٣b9Gybc) b> fNusing accuracyPremultiplier from configdj49f;?j4Yf)V ifBBln%@n:@fDf;fI;fǼ4t v@xhh"h*hgggfffrf!bf%(-+@ɛMBMN IM[¾IQ UɚQiQIU=]ٯ⽩]Hɠe" Ieژ?iaia)eژ?eژ?)i"G >G >Will construct direction to contact in vehicle frame from tetrahedron phase data.]-Gq pYy:AGEA>G!B1O]T>HI I"II(BI =&I.I6I<:I FzK5KK59K1K5 K5 RK}?JK}? Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J =:J 9J ـ3J J ӥ;J ԥ;J & ;J ' ; ] $?IY B;w,0A>@Y>a*@>W<9>9Hz #.ݿ $? x=?A5a??ɨ>@>f;>(CyfBf"IMb@Mb@Mb@ )Y?i|?5I +y ?q9 A  A)I Ay3 AII٢_ 8=9Q > G٣y > Nusing accuracyPremultiplier from config49⯜?4Y)&V i9B ?:$@:@D;f;4ŒB @ FEhh"h*hgggfffrfbf,@ɛ-xB-B )-þI1 5oɚ1i1I5W=E=轩EJɠE*e"IMW?iIiI)MW?MW?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.GYGe?Ge>G9BAO>e~Bw,u 1A:@Y:(@:<9:4dd fG٣dyf j> nNusing accuracyPremultiplier from confighr49jԯ?r4Yj#V ij2Bpr,"@v:@jDj ;j? ;j4x z@xhh"h*hgggfffrfbf`G,@ɛ%rB5HGV 9=k̾I9 =׽ɚ9i9IE%Ҁ=EMLɠM#IMX?iIiI)MX?MX?)Q ~$?IGF>GqBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,P$1AH I  I"s"II"BI &I .I 6I"Ұ<:I" FV@YVd'@Vp<9VIj5٢ "\  E=9Q > G٣9Gy%! %> -Nusing accuracyPremultiplier from config)549-vů?54Y-V i-*B15R @=:@-D- ;-X;-*4EĒB E@EIEhaha"ha*higigigifififqrfqbfu@!-@zK]]KK]s9KYK] K]>LE<62.-+()$#! 'NYA' BK:KrAɛmjB}(lP 隅XоWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:14:59.4700 TRx dataTimestamp_ set to:1736367300.689150I ɚiI^=󽩠NɠF%I3?ii)3?頝3?)JJJJJ}:J9JJJ;J;J\ ;J\ ; IG G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,4>1AJ(@YJG%@J<9J28 G٣y > Nusing accuracyPremultiplier from config49V?4YV i"B ?:@:@#D:;;4 @hh"h*hgggfffrfbfv.@ɛdBqV ξI :UüɚiI߁=BfPɠ<&I0?ii ) 0? 0?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:14:59.4699 LVL= 24624, 27009, 12866, 32755, AGC= 64, IDX= 441,-0.12, 2.772, 2.373,-1.960,-2.988, PHS=-0.436,-0.876, 1.024, RAW= 197.2, 3.4, CAL= 197.3, -4.5, ROT= 312.7, 4.5 Ygot valid direction response: 20:14:59.4699 LVL= 24624, 27009, 12866, 32755, AGC= 64, IDX= 441,-0.12, 2.772, 2.373,-1.960,-2.988, PHS=-0.436,-0.876, 1.024, RAW= 197.2, 3.4, CAL= 197.3, -4.5, ROT= 312.7, 4.5 GG%rAG%rADAT read: Range 10 to 50 : 699.3 m (Round-trip 932.5 ms) speed 0.4 m/s ,DAT read: user:1199> BDAT read: Tx time:20:15:00.5833 $Ping request sent.)ڥ|٠Iڥ@iڥ|٠=ڡڡۥ&C? ('?[-5?)ۥ3?Iۥqiۥٿۥ>ۡۡE:publishing transmit ping timeؙEFpublishing direction and range infoء9إ7"龿S߻ą;пyءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ&C? ('?[-5?)ۡIۡiۡۡۡۡ }$?IUw,X1A6T@Y6Xt#@6'U<96re?I< ?9?ɨ6T@6;6'CyZBZ!IIfCIf5٢r  rU=9rUQ r>tt vG٣tyz m> uNusing accuracyPremultiplier from configq}49uI?}4YunV iuBy}@}:@u)Du :u.:uv4ÒB K@KEk@?k_" k kbL1A:k.DBk-DZkѥY?"U .e7"龿S߻ą;пJkٿRk>*wC4{@Tm@ްgU?\t(?b<ѿ"kC*k0CkMA?kBKJ" 2k#kl|۱ ?k$zH kk^Ckg>hh"h*hgggfffrf`fڅ@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:15:00.5825 ɛ%]B%AX !%zξI) -]żɚ)i)I-_=5~5Rɠ=(I=7?i9i9)=7?=7?)AH6>I IT"IIBI =&I.I6I<:I FBIşCJIşCRIZI =bIjIŶ4GGqByO>zKMK}9KK KRK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. I 4[w,q1A2o@Y2ˡ!@2<92ն99 EG٣E9GyE E> MNusing accuracyPremultiplier from configIU49M?]4YMV iMB]s?]:]O@]:@M1DM;MA;M4a m@ihh"h*hgggfffrfbf ?ɛUBS ;I ȼɚiIj=Sɠp)Iz?ii)z?z?)"Gu>Gu>Will construct direction to contact in vehicle frame from tetrahedron phase data.GUA>G)B9O]>wbw,1A2Will construct direction to contact in vehicle frame from tetrahedron phase data.JVJVJTJTJVv:JV9JTJTaZ@aZ@aZ@aZ@f&@Yf@f2<9f  G٣y% %> -Nusing accuracyPremultiplier from config)549-ˌ?54Y-HV i-B1=@=:@-7D-,;-;-g4E’B E@MNEhahi"hi*higigigifqfqfqrfqbfu ]?ɛOBeZ 隭|ȾI ˼ɚiI_=5?='Uɠ=*I9i9i9)99)A ]|$?IYG}F>GQBaO{>Will construct direction to contact in vehicle frame from tetrahedron phase data.H% 7>I!  I% ;"II% BI%  =&I! .I% 7D6I% <:I% v Fvhw,ܛ1Ay%B%!II5I5y5٢Eɼ MF=9MQ M>IQ UG٣QyU ]> eNusing accuracyPremultiplier from configYm49]~?m4Y]v V i]Biim:@]>D]!;]g;]4B @KEhh"h*hgggfffrfbfF?ɛGBS "ƾI ͼɚ i Iu =}2Vɠ#+Iii)頉zKKK9KK K(58;;;7431.-+*('# BK:K)}Will construct direction to contact in vehicle frame from tetrahedron phase data. IIIGA>GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.$ow,1AJ5 @YJT@J-<9Jii mG٣iy > Nusing accuracyPremultiplier from config49q?4Ya V iB Z? : @:@ED;;4 @haha"ha*hagagagifffrfbf2?ɛ?BbK ԹI (@мɚiIl=% -Xɠ-s,I)i)i)))))1GA GErAuWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJ9JJGF> 1I5jGaBqO>vw,N1A>H @Y>9h@><9>H}.@+!Z@ ?@*?L`}??ɨ>H @>Wk;tt vG٣v9Gyz餽 z> ~Nusing accuracyPremultiplier from config|49~f?4Y~V i~B@ :@~KD~2 ;~ ;~w4B {@NEh1h1"h1*h9gAgAgAfAfAfIrfIbfM@'@ɛu8Bu8WR y}Iy }?ҼɚyiyI=& 3Yɠ-Iii)頉)eWill construct direction to contact in vehicle frame from tetrahedron phase data.GA>H<>IC I("IIփBI =&I.I6I<:I FGyBOa>zK- xMK- }9K) K- K- RK] ?JK] ? Will construct direction to contact in vehicle frame from tetrahedron phase data. 5 {$?I1 3|w,*1ABrS@YBr@B'<9B G٣y > Nusing accuracyPremultiplier from config49`Y?4YHV iBK?:@:@SD;c; 4 @hh"h*hgggfffrf bfl@ɛ0BC JI ԼɚiIm=%(%aZɠ%.I!i)i)))))1eWill construct direction to contact in vehicle frame from tetrahedron phase data.GQG1BAOu>Uw, 2A6j@Y66@6V<96hh jG٣hyn2 n> rNusing accuracyPremultiplier from configpv49rN?v4YrKU irBxz@z:@rYDr(;r8GGGBO>)Y YuWill construct direction to contact in vehicle frame from tetrahedron phase data.H~G! ] YY ye J B ? AH ?>I C I ""II уBI  =&I .I 8D6I _<:I R F~Fw,X&2A:}@Y:@:B <9:`d fG٣f9Gyf f> rNusing accuracyPremultiplier from configlr49nfC?r4YnU inBtv@v:@n`Dn:n :n4x z@|hh"h*hggg!f!f!f)rf)bf-@ @ɛ!BB> hI nؼɚiIc=-7;-B\ɠ-!50I)iAiA)AA)QzKuKK9KK KBK:KsAWill construct direction to contact in vehicle frame from tetrahedron phase data. z$?IGGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,@2A:ܔ@Y:8@:I<9:=9;Q > G٣yY > Nusing accuracyPremultiplier from config49(8?4YU iBj?: @:@gDY;; 4 y@hh"h*hgggfffrfbf@ɛ B 3 15ˁI1 59ڼɚiiqIu=}c}]ɠ}'0Iyiyiy)yy)Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJv:J9JJG IGiByO>Xw,Z2A:@Y:L@:H<9:"tt vG٣tyvS z> ~Nusing accuracyPremultiplier from configx49z.?4YzU izB   @ :@zmDz:z:z&4B x@hh"h*hgggfffrfbf`M'@ɛ B d, \YI fۼɚiI([=%%]ɠ-c1I)i)i))))5Will construct direction to contact in vehicle frame from tetrahedron phase data.)9GI GMsAHm@>Ii IiIiIi&Ii.Ii6Im<:Imk FG]<>G1BAOuy>zK JK ŷ9K K K -cqXC4(  $HQNKF@=;:5212:>>?<9RK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. I Ăw,_yt2Ay~B~"IMb@Mb@Mb@ )YS?I +Mbp?y?94;\ A  A)I AyQ AI.IY5٢k= ;=9Q > G٣9Gy > Nusing accuracyPremultiplier from config49,#?4YUU iB?: @:@uDa;;g.4  ;@h1h1"h1*h1g1g1g9f9f9f9rf9bfE`m@ɛ B8 隵 I @ܼɚiI҇=Tt^ɠ1Iii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.GF>GsAGGBO>hw,L2A> ?Y>;$ @>Ik<9>|H%k[PV?"ޢ?? n?ɨ> ?>Q3;>(CyNBN!IRWill construct direction to contact in vehicle frame from tetrahedron phase data.VATIZ)IZ=5٢bC f^=9f%;Q f>hh jG٣hyj j> vNusing accuracyPremultiplier from configpv49rs?z4YrU irBxz@z:@r|Dr:r:r44 @h!h!"h!*h!g!g)g)f)f)f)rf1bf5K@ my$?ImjɛuBu"  quR$Iy }ݼɚyiyI}K==q ^ɠK2Iii)頉)GGBOj>]Will construct direction to contact in vehicle frame from tetrahedron phase data.He B>Ia  Ie 5"IIe BIe  =&Ia .Ia 6Ie g<:Ie Z FBI-ˡCJI-ˠCRI)ZI- =bI- =jI-l5w,J(2A6 H?Y6`C @6=96D"11 =G٣9yEȏ E> UNusing accuracyPremultiplier from configQe49U?e4YU1U iUݽBim9@m:@UDU;UΆ;U$<4y @hh"h*hgggfffrfbf @ɛBD I c޼ɚiI?=ʐ# ;_ɠ 2I i i )  )zK$NK9KK Will construct direction to contact in vehicle frame from tetrahedron phase data.K754-&&%%!!!      BK:KrA aIiJJJJJs:JJJJ;aJ;aJg;aJg;aGyGQBaO}z>] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,S2A2R?Y2o@2=92(ǃB>"I Mb@Mb@Mb@    ) Y (\?DlMb`?y z? O ;  / A) AI  A y z AI%)I%=5٢5>= =G=9=9Q =>AA EG٣E9GyE E> UNusing accuracyPremultiplier from configI]49M?]4YMyU iMٽB]?]:]?]:@MDMJ;M;MGC4mB m3@mTEh1h1"h1*h1g1g1g9f9f9f9rf9bfE@ɛBkQ 隵lI %޼ɚiI?&=w&V_ɠ2Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.աiեA 1I9G5A>G=?G=>G B) OE > w,2AZ2?YZt@Z:=9ZY3??ɨZ2?Z;Z&Cyr҃Br$"II $I "5٢-Y= -M=9=Q:Q E>AA EG٣IyM M> ]Nusing accuracyPremultiplier from configQ]49U"?]4YUU iUֽBae?e:@UDUX:U:UFJ4i m@ihh"h*hgggfffrfbf@L4@ɛBX .I "4߼ɚiI=|O)U_ɠ2Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I T"II BI &I .I 6I #<:I ) FGGB O-p>zK ;rMK @9K K K /9CKNQOMJFA;6-('% $2<GOS[RK- >JK- ? ] x$?Ie j Will construct direction to contact in vehicle frame from tetrahedron phase data.JKm3 KS}-KK"KJ J ~J J J p:J f9J J J ;J ;J :J :ؼw,P2A2&?Y2ղ@2=92؃B>*"IMb@Mb@Mb@ )Yףp= ?ˡE~jth?y?什D;rA )+AI AyG AII5٢8< ==9:Q > G٣yۉ >  Nusing accuracyPremultiplier from config 49 C?4Y *U i ѽB ?:?:@ D ; ; Q4%B -@-QEhIhI"hI*hIgIgIgIfQfQfQrfQbf]@ɛU߃BeNz amZIi uM߼ɚqiqIu=},%_ɠ2Iii)頁)G GWill construct direction to contact in vehicle frame from tetrahedron phase data.GF>GBO>ضw,!3A:?Y:@:x=9:ZX\ ^G٣^9Gy^ġ b> jNusing accuracyPremultiplier from confighn49j%?r4YjU ijνBpr?r:@jDjQ;j;jX4t zB@x Ih!h!"h!*h!g!g!g)f)f)f)rf1bf5x_@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ׃BsH TI %hR߼ɚ!i!I%S=-r#/-^ɠ-O2I)i)i1)11)YGGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.H C>I  I m"II BI &I .I 6I J<:I F Fw,)3A ,,^?Y^@^=9^, G٣y%p %> -Nusing accuracyPremultiplier from config)549-쮜?54Y-U i-ʽB9=,?=:@-D-:-.:-t_4EB E@ETEhaha"ha*hag g g f ffrfbf@ @ɛ=΃BEQ(μ AEGaBqO}> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,UC3ANc&?YNe?Nl=9N_Iyy }G٣yy: > Nusing accuracyPremultiplier from config49-殜?4YU iýB)?:?:@DT ; ;f4 @hh"h*hgggfffrfbf@]@ɛŃB)Ǽ ,=I &޼ɚiI=n 5]ɠ1Iii))"GG> IGF>UWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,((]3A6sq?Y6)?6"=96zTX ZG٣Z9GyZ( Z>e~G ]Nusing accuracyPremultiplier from configyd49fஜ?4YfU ifB?:@fDf=fpGBO> I zKE NKE ж9KA KE KE =;;9:7/0..-,,,)$!    RKM ?JKM ?J J J J J s:J 9J J J ;J ;J 1;J 2; Will construct direction to contact in vehicle frame from tetrahedron phase data."w,ew3Av?Yv?v- =9v  G٣ y{ > 5Nusing accuracyPremultiplier from config!=49%ڮ?=4Y%ڬU i%BEH.?E:E?E:@%D%|O;%>/;%u4UB U@UQEhqhq"hy*hygygygyfyffrfbf!@ɛB8n 隵=I ݼɚiIً=ξ:\ɠ;0IiAiI)II)QWill construct direction to contact in vehicle frame from tetrahedron phase data.GGaBqO>w,q3A6/?Y6m?6o =96e+dh jG٣hyj j> rNusing accuracyPremultiplier from configlr49nR֮?v4YnU inBtvI?v:@nDn:nX:nm{4x ~@|Will construct direction to contact in vehicle frame from tetrahedron phase data.h!h)"h)*h)g1g1g1f1f9f9rfAbfE F;"@ɛmBmD iub=Iq uݼɚqiqIum0=}J=}[ɠw/Iii)頁)G1 G1GYG1BAO]v>Will construct direction to contact in vehicle frame from tetrahedron phase data.AijH bH 4=H D>I  I "II #BI &I .I 6I <:I y F1w,3AN?YN\?N =9Nlp rG٣r9Gyr r> zNusing accuracyPremultiplier from configtz49vҮ?~4YvbU ivB|~?~:@vDv ;v ;v4  @ h)h)"h1*h1g1g1g9f9f9f9rf9bfE0 #@ɛmBmr im@V=Ii uJLݼɚqiqIuS=}7@}Zɠ}./Iyii)頁) qIq5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMMKM9KIKM KMBK:KG}F>GYByOa> Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,l3A2 ?Y2?2 =92c G٣y > Nusing accuracyPremultiplier from config49ͮ?4YU iB=+?:??:@DU;;4B ^@SEhh"h*hgggfffrfbf#@ɛB%.ü !%h;=I! %hܼɚ!i!I-=-C5Yɠ5^.I1i5#+i5 >)19)9 qIqGyMWill construct direction to contact in vehicle frame from tetrahedron phase data.GQJeJeJe1JaJe}:Je9Je3Jaam@am@am@am@ByO~>Aw,rp3A:&?Y:Re?:=9:tx zG٣xyzS z> Nusing accuracyPremultiplier from config|49~ʮ? 4Y~UU i~B  ? :@~D~:~7:~4 @hh"h*hgggfffrfbf$@ɛB! R=I ܼɚiI\= ]E Xɠ͋-Ii5i5v>)19)9"GIGM>Will construct direction to contact in vehicle frame from tetrahedron phase data.G-->G B!O= >HUF>IUC IUy"IIUBIU =&IQ.IU9D6IU<:IUv FBIJIġCRIZI =bI =jI`J5 Q IQ E Will construct direction to contact in vehicle frame from tetrahedron phase data.zK iLK K9K K K RK ?JK ?bqw,5b3A}?Y?=9ߖYa eG٣e9Gym) u> Nusing accuracyPremultiplier from config49~Ǯ?4YU iB$?:z?:@D;;4B 6@PEhh"h *h gggfffrf!bf- T%@ɛeBetϼ imP)99)AWill construct direction to contact in vehicle frame from tetrahedron phase data.GMڀ>G B) OE > 1 I5 j!Tw,'4A6?Y6t ?6=96=XX ZG٣Xy^~Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received ,DAT read: user:1200> BDAT read: Tx time:20:15:11.5333 $Ping request sent.J%J%J%0J!J%p:J%9J%ـ3J!=KVɠK+Ii%ui%‹^>)!!)IG-N|>GBO )>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:15:11.5326 ZHI RHI HU E>IU C IU `"IIU BIU  =&IQ .IU 8D6IU <:IU z F7 w,,4Ay~vB~!II I 5٢ C=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=495î?E4Y5|U i5lBAAE:@5D5:5:54I U@Qhyhy"hy*hygygygfffrfbf'@ɛ5sB5ؼ 15;I9 =Iܼɚ9i9I=̒=E'?NEwUɠE*IAiEںiI)II)qG GtA I Will construct direction to contact in vehicle frame from tetrahedron phase data.zKĂKK9KK KG}l>GQBYO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data.,hw,E4AyޕcBޕ!I5Mb@Mb@Mb@111 1)1Y5ףp= ?V-+y5?555 A 5 A)5+AI5 A1y5 AIEIE%5٢]+ ]8=9aQ e>aa mG٣m9Gyi m> }Nusing accuracyPremultiplier from configq}49u(?}4YuuU iu_B4?:/?;@u Du3;u;u­4 #@hh"h*hgggfffrfbf@'@ɛiBxJ LI `ܼɚiI=W)QGTɠs)I i Bni )  )G2a>GBO+> IWill construct direction to contact in vehicle frame from tetrahedron phase data.J=J=J9J9J=v:J=9J9J9Dw,_4A6eB?Y6?6=96k-)!)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.HB>I I5"IIBI =&I.I6I<:I FGZd_>GqBO~> I% Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= KK= 9K9 K= K= 7w,vy4A?Y?Ba=9 G٣y %> =Nusing accuracyPremultiplier from config1E495¾?U4Y52iU i5HBU?U:]?];@5D5ʠ;5;54a e@ahh"h*hgggfffrfbf)@ɛVBR I e9ܼɚaiaIeGӏ=mVmQɠuê'Iqiuωiq)qq)y"G=G >G}S>G9BAOe4>}Will construct direction to contact in vehicle frame from tetrahedron phase data. I jy$w,44A6?Y6:?6Ν =96_|=y6H@=m??`S?ג s ? %?ɨ6?6};6(CyB4BBa!IININ\5٢R Vd=9V;Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49bѾ?f4YbcU ib>Bdf?f;@bDnWill construct direction to contact in vehicle frame from tetrahedron phase data.b:b-i;b4p r@pJ~}J~}J|J|J~[j:J~S9J|J|h!h!"h!*h!g)g)g)f)f1f1rf1bf5sO*@ɛ]MB]r ae GIa ejݼɚaiaIe4=uXuOPɠu&Iyi}Ini},%>)yy)yG./9>G ?G>GBO=) C.~G  = Y9y= BWill construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H A>I  I !II BI  =&I .I 6I ư<:I F*w,H4Ay~+BU!II(I5٢%7 %C=9%Q %>)) -G٣-9Gy- 5> =Nusing accuracyPremultiplier from config1E495㾮?E4Y5]U i52BAAE;@5&D5;5:5F4Q U@Qhqhy"hy*hygygygyfffrfbf#+@ɛCB4 隵CI VݼɚiI=[Nɠs%Ii{Ai)) 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.zK}JK}@9KyK} K} Gx6>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.C1w,!4A60?Y6n?6=96U=y6HX? M?a?]?? vlƢ?(?ɨ60?6-;6&CyB BBI!IeMb@Mb@Mb@aaa a)aYeHzG?Zd;OQye= ?ejeeA e A)eAIe AayaI}3I}u5٢SG D=9;Q > G٣yS > Nusing accuracyPremultiplier from config492?4YWU i'B ?:;?;@-D;;4 8@hh"h*hgggfffrfbf/+@ɛ%9B%w !%CI! %Ϊݼɚ)i)I-=5 n^50Mɠ5 '$I1i5:i= >)99)9G GGX,,>GiBqO> )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.Jm|JmzJiJiJm;g:Jm9JiJiV7w,4A6U?Y6 ?6.=96M=y6HN?뇤???w?z5??ɨ6U?6 6;6%CybBbB!IIj+Ij5٢rټ rV=9r):Q r>tt vG٣tyzƐ z> ~Nusing accuracyPremultiplier from config|49~?4Y~:RU i~B ɼ? ;@~4D~y;~;~@4 @hh"h*hgggfffrfbf`,@ɛE/BEH AEII MݼɚIiIIM=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Ba]Kɠ]"Iaieia)aa)iHH>IC I!IIBI&I.I6I{<:Im FGF%>GrAGsAGBO> IPExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} LK} ŷ9Ky K} K}  +,)(TbUp4 >w,4A hhmX?Ym?m?=9m(=ymH?q?9?`7G?@Π?ۙD??ɨmX?mk;m'Cy޽B޽6!IEMb@Mb@Mb@AAA A)AYE{Gz?V-~jtyE?EEEA A)AIE AAyAI])I]=5٢e0 m4=9m"n8Q m>qq uG٣u9Gy}n }> Nusing accuracyPremultiplier from config49Į?4YLU iB#?:?;@eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO%N>  I Dw,5A> ?Y>\?>=9>5=y>HST?`ޑ??Թ?'?a5? ?ɨ> ?>#;>&CyJBJ:!IIRIR5٢Z@< Zk=9^Q ^?bWill construct direction to contact in vehicle frame from tetrahedron phase data.dd fG٣dyf* j? nNusing accuracyPremultiplier from confighv49jƮ?v4YjsGU ij Bxz]?z;@jADjk;jRl;jK4| ~@hh!"h!*h!g!g!g!f)f)f)rf)bf-X.@ɛ]B] aeVIa mVA޼ɚiiiIm^=uTfu0Hɠu& Iqi}ji}J=)yy)"GG=G} >GQBYO}=uWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH @AH M>I C I !II gBI  =&I .I 9D6I o<:I k FBIQJIUɢCRIQZIQbIU =jIUX6Kw,`.5A6?Y6pC?6o^=96H=y6H`k?@????@)? ? ?ɨ6?62;6'Cy^Bb;!IIf&If5٢; D=9sѺQ > G٣y%o %> -Nusing accuracyPremultiplier from config)549-Mʮ?54Y-AU i-B9=I?=;@-HD-$;-X);-4I M@Ihihi"hi*higqgqgqfqfyfyrfybf},/@ IjɛB^ؼ 隽`)} Will construct direction to contact in vehicle frame from tetrahedron phase data.Rw,vkH5A6 ?Y6xK?6 =96\\=y6H^?k?Й?@m??apC? V?ɨ6 ?66;;6#CyBB@ Mb@Mb@Mb@    ) Y V-?J +{Gzy |> H # A / A) AI  A y I-I-#5٢r B=9[7Q > G٣9Gya > Nusing accuracyPremultiplier from config49ή?4YGIBQO}> IWill construct direction to contact in vehicle frame from tetrahedron phase data.G.Xw, Pb5A6:?Y6y?6=96d=y6H@Lu?q ? |??0?@??ɨ6:?6(‰;6'CyB BBH!IIJ IJ?5٢R"c= V[=9V菻Q V>TX ZG٣XyZ1r ^> bNusing accuracyPremultiplier from config`f49bҮ?f4Yb7U ibBdf?j;@bUDb:b7:bp4nB n=@nGEhh"h*hggg f f f rfbfa0@ɛ=B=eW AE=IA EpݼɚAiAIE=MmMfBɠMIQiU~(w8iUW=)QQ)YGi Gi=Will construct direction to contact in vehicle frame from tetrahedron phase data.GMm=G BH5N>I1 I5!II5WBI5 =&I1.I16I5<:I5~ FOU= qIy Will construct direction to contact in vehicle frame from tetrahedron phase data.J ~J |J J J {m:J @9J J J ;;J <;J z:J {:zK NK 9K K K _zX3#  RKE ?JKE ?Y^w,1|5Aym"BmK!IMb@Mb@Mb@ )YFx?:vMbP?y ?T:A )+AIy=A)-BAI)I)٢=< ='=9EQ E>II MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]59Uٮ?e5YU0U iUBeh ?e:eQ?e;@U]DUp;U;U}5q u@qhh"h*hgggfffrfbf@0@ɛuB} y}=I (ܼɚiIS=p?ɠcIi7/9i)頱)MWill construct direction to contact in vehicle frame from tetrahedron phase data.G] w=G9 BA a Ie jOm >=ew,5ARWill construct direction to contact in vehicle frame from tetrahedron phase data.y8Bf!IIUIU5٢m]> mn=9iQ u?qq uG٣u 9Gyy ? Nusing accuracyPremultiplier from config59Iݮ?5Y5,U iB;@cD/; ;~5B @DEhh"h*hgggfffrfbf@571@ɛ B Hj  r$>I  gۼɚiI8=r=ɠOIiu9i!)!!)!G=GBO>UWill construct direction to contact in vehicle frame from tetrahedron phase data.jH- <bH- p<H= M>I9  I= !II= RBI9 &I9 .I9 6I= <:I= Fkkw,;5AB?YB?B<9B[`=yBH V? _L?`?`??`` ??ɨB?B;B$CyN>BNm!IIVIV5٢^< bU=9bQ b>dd fG٣dyf j> I   Nusing accuracyPremultiplier from configt59v㮜?5Yv&U ivB?;@vjDv;vP';v5) -E@)hIhI"hI*hQgggfffrfbf͟1@ɛEۂBEi[Z IMXF>II U0ڼɚQiQIU8{=u6Juu;ɠuIqiu9iuX=)yy)y"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.JK3 K.-KK"KJ{JxJ1JJd:J9J3JJ";J#;J%:J&:zKMKs9KK K (q+}`A0%  Gݔ=GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.>Srw,5Af?YfMߦ?fZ<9f[K=yfH?P?`n?`?|f?Yאg??ɨf?f};f)CyrFBrw!IuMb@Mb@Mb@qqq q)qYu㥛 ?&1Mb?yu?uPu %G٣!y-H -> =Nusing accuracyPremultiplier from config1=595ꮜ?=5Y5{ U i5BE?E:E?E;@5sD5;5;5 5I U@Qhqhq"hq*hqgqgqgyfyfyfyrfbf 2@ɛЂB/ 隽k>I ؼɚiI=w8ɠIiƵ9i)) x$?IG}ܒ=GBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data. G  DѿY y 7Ayxw,?5AN߈?YN?N}C;<9N0C=yNH#? @ ?`? ڿ?Hb@Nh@Zc?`*?ɨN߈?N u;N(CyZQBZ!IIbIb5٢jm= jY=9n1ZQ n>pp rG٣r!9Gyv z> ~Nusing accuracyPremultiplier from config|59~,?5Y~BU i| ? ;@~yD~;~ :~5B +@AEh1h1"h1*h1g9g9g9fAfAfArfAbfErh2@ɛ}ƂB}|uλ y}>I Z׼ɚiIŔ=^yc6ɠ|Ii(9iq'=)頑)]Will construct direction to contact in vehicle frame from tetrahedron phase data.G}'\=GQBaO=HP>I I!IIBI =&I.I:D6I\<:I_ F I Will construct direction to contact in vehicle frame from tetrahedron phase data.Je }Je zJe 0Ja Je [j:Je 9Je ـ3Ja Je ;Je ;Je O:Je P:~w,R5AzKJNKJ9KHKJ KJ )naUD3 {ofaVNGA?=8532/,+*')'&&('%#"yލaBލ!IMb@Mb@Mb@ )YPn?+Q?y$?u< E A)AI\ AyAI-I-{5٢== =)=9EQ E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQm59U?m5YUU iUBuq$?}:}5?};@UDU ;Ur;U$5 .@hh"h*hgggfffrfbf 2@ɛBT먻 >I /ԼɚiI=ڣ| 3ɠ #;I i 9i ) )mWill construct direction to contact in vehicle frame from tetrahedron phase data.G= @Z= I G1 BA O] >#w,J@6A:^F?Y:?: 99:UT=y:H`.?L[?`l? ?5@!??ɨ:^F?:e;:%CyBoBB!IIJIJ~5٢V= Z=9Z@Q Z ?\\ ^G٣\bWill construct direction to contact in vehicle frame from tetrahedron phase data.yf f ? jNusing accuracyPremultiplier from confighn59j?n5YjU ijBpr?r;@jDj ;jK ;j5vB v?@v>Eh h "h *hgggfffrf9bf= 73@ɛBPV,; e= ?>I  Ҽɚ i I ==̐~=0ɠ=ej I9i=H(9i=V<=)AA)AGpI=GBO>uWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH Q>I  I !II BI  =&I .I 6I <:I / Fʵw,16A 0I6jFK?YF8?F,!̻9F+uf=yFHr?qtv?q|?xe? y?ʬ??ɨFK?FU;F'CyR|BR!IIZIZ5٢b= fI=9fQ f>hh jG٣j"9Gyj j> rNusing accuracyPremultiplier from configpv59r?v5YrU irBtv?v;@rDr:r:r|5x ~i@|h!h!"h!*h!g!g)g)f)f)f)rf1bf5 3@ɛ]B] ; ae0>Ia e мɚaiaIeҔ=mXm-ɠu/ Iqiu8:iq)qq)Will construct direction to contact in vehicle frame from tetrahedron phase data.G(=GBO5q>zKOK9KK K   Will construct direction to contact in vehicle frame from tetrahedron phase data.םw,J6A2?Y2?2(0R92~|=y2H`?@`{?Dl?`)?E?`'?`?ɨ2?2];2%Cyb}Bb!IUMb@Mb@Mb@QQQ Q)QYUX9v?~jt~jt?yU3?UļU G٣yn > Nusing accuracyPremultiplier from config59?5YU iB3?:(?;@Df;;95B n@I ̼ɚiIW=8*ɠEyIiA :i)頩)"G=G= ]y$?IaGq=GG>GBO >JJyJJJ :J9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.ǘw,d6AyB!II-I-d5٢Eu= EN=9EQ M>II UG٣Qy] ]> mNusing accuracyPremultiplier from configam59e?u5YeT ieBqqu;@eDeX:eg;e 5 @hh"h*hgggfffrfbfq4@ɛBP#< h>I ɼɚiIH='ɠ Ik?ii)k?k?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.HiIi Im("IImփBIm =&Ii.Ii6Im<:Im) FBIUãCJIUãCRIQZIU =bIU =jIUE5 AIAEM= Will construct direction to contact in vehicle frame from tetrahedron phase data.G _x=G B O% >w,~6AzK"MK"}9K K" K"yޕBޕ!IEMb@Mb@Mb@AAA A)AYEMbX9?y&1|:v?yEA?E`廹ETqq }G٣}#9Gyy }> Nusing accuracyPremultiplier from config59}"?5YT iBA?:l?;@D>;;$5 @hh"h*hgggfffrfbf4@ɛ}B(n#< 隅 ?I DeżɚiI]= 烾 #ɠ2Iқ?iie<)қ?қ?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Ef=G G"GG 1 I1 G B O >٥w,M6AJFzJDJDJDJF`:JDJDJDRWill construct direction to contact in vehicle frame from tetrahedron phase data.Z0?YZޞ?Z9Zo=yZHU?b7@c4?B?`T?@x`*?\?@?ɨZ0?ZA2;Z&CybBb!IIjIj5٢vX v~=9vQ v ?xx zG٣xyzP: ~ ? Nusing accuracyPremultiplier from config 59S)? 5YT i B  ?;@D.;0;'5%B %$@%8EhAhA"hA*hAgIgIgIfIfIfQrfQbfU<5@ɛ}xB} < d=隅 ?I y¼ɚiIB=Ŧ"!ɠIfx?ii*1<)fx?頥fx?)EZ==GBOb>UWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<Hm R>Ii  Im N"IIm BIm  =&Ii .Ii 6Im [<:Im _ F % z$?I% j6w,f6A2A?Y2_?22"923=y2H?{.@I?49?@?`V@R?@絴??ɨ2A?2{;0ynBr!IIzIz5٢%< H=9 ᆼQ  >   G٣y > %Nusing accuracyPremultiplier from config!-59%2?-5Y%T i%B15$?5;@%D%:%:%5+5=B E@E6Ehaha"ha*hagagagafififirfibfu@35@ɛlB;< 隥?I нɚiI=ɠyI6?ii)6?頽6?)EsAEsAE y=GWill construct direction to contact in vehicle frame from tetrahedron phase data.BO>zKKK9KK K] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Response Not Received m *response not receivedm ,DAT read: user:1201> u BDAT read: Tx time:20:15:22.4834 u $Ping request sent.u  G٣$9Gy > -Nusing accuracyPremultiplier from config)559-;?55Y-T i-B5G?5:5?=;@-D-;-;-I/5A E@Ahh"h*hgggfffrfbf6@ɛ^B< e?I ɚiI^;=EEɠMxPIMʜ?iIiI)Mʜ?Mʜ?)QJJ|J1JJp:J@9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:15:22.4827 Em \c=GA BQ Om >dw,e6A>}y?Y>1?>S9>ѳ=y>H*;?aͰ?$??߳m?*k?`?ɨ>}y?>yň;>&CyJBJ!IIRIRW5٢Zi ^x=9bWQ b?dd fG٣dyf j? nNusing accuracyPremultiplier from confighr59jB?r5YjT ij&BpvD?v;@jDjo;j;j.25x z@xhh"h*hgggfff!rf!bf%q6@ɛUUBU< Y]?IY ]kɚYiaIeҒ=mܢm4ɠmImL?iiimr)mL?mL?)qE}E}*Ey"EyWill construct direction to contact in vehicle frame from tetrahedron phase data.HQ>I If"II BI&I.I6Iݰ<:I F IGm = Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BI Om >U@w,6AzKb>KKb9K`Kb Kb 3?Y Vr? f9 =y H@Z?Zgܳ? ?? Dڬ?@? )?ɨ 3? ; yUB]!IIIǓ5٢v 9=9*0Q > G٣y > Nusing accuracyPremultiplier from config59L?5YT i2B?;@D,<)<?65 *@ 3Ehyhy"h*hgggfffrfbfz6@ɛGB< %?I ɚiI9=ȈXɠI?ii)??)G +=5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOL> {$?I(w,7AJ2|J2zJ20J0J2;g:J29J2ـ3J0BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fݹ?YF?F̵u9FF=yFH?@(޲??$?K?hz??ɨFݹ?F G٣%9GyZ > Nusing accuracyPremultiplier from config59T?5YT i=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHN>I III =&I.I9D6I=<:IF F I j Rw,37A6L#?Y6a?6bM96(=y6H`V?? ? j?&?`??ɨ6L#?6jU;6'CyBBB!IININ5٢V V`=9Vw Q V>XX ZG٣Xy^|N ^> fNusing accuracyPremultiplier from configdj59f\?j5YfT ifFBhn?n;@fDfA;fB;f<5t vS@th h "h*hgggfffrfbf%7@ɛM1BMW< IM!'?II U?㩼ɚQiQIU,=Yo ɠOI~ ?ii)~ ?~ ?)"GC=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G%u4GB)O{>zKUJKUs9KQKU KUE Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,M7Aj ~?Yj?j 9jҬ=yjHk%?!?C?`б?k`?\??ɨj ~?jO);j%CyruBr!I}Mb@Mb@Mb@yyy y)yY}S㥛?Q?Mby}D?}u<}}nA }`A)yI}Ayy}=AII5٢B ;=9קQ > G٣y> > Nusing accuracyPremultiplier from config59f?5YT iOBD?:Z?;@D;;@5 @ Ijhh"h*hgggfffrfbf8@ɛ $B< (?I ɚiI]=s% ɠ%۾I%9?i!i%ɮ)%9?%9?)IG%׹GB O5.>Will construct direction to contact in vehicle frame from tetrahedron phase data.cw,bg7A:Q~?Y:\?:m9:v=y:H@i??@5?'??9a@_J?|? ?ɨ:Q~?:z;:$CyFnBF!IIRIR5٢Z Z[=9Z\ûQ Z>\\ G٣&9Gy% %> 5Nusing accuracyPremultiplier from config)=59-Un?E5Y-ET i-XBAE"?E;@-D-W;-`;-C5UB U^@]-Ehh"h*hgggfffrfbf 7{8@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ B K< X;=*?I LᠼɚiI#=%?-Sɠ-W־I-K?i)i))-K?5K?H=M>I9 I=Z"II=BI= =&I9.I96I=X<:I=X F) I G+I,G?G+?GBO>J J yJ J J J 9J J J Ԋ;a J ֊;a J :a J :a  Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,A7AF2~?YFW?FSF9F=yFH~R??@z??Q !ű? (?e?ɨF2~?F5Ì;F&CyReBR!III/5zK]BoJK] 9KYK] K] "$ 08==<8643٢W$  6=9UQ ]>ii G٣y; > Nusing accuracyPremultiplier from config592x?5YtT idB?;@DA;A;G5-B 5@5*Ehyh"h*hgggfffrfbf8@ɛ Bw< d-?I! -ɚ)i)I-1=50<5ɠ5"оI5?i1i9)=?=?)9GsA GsA Will construct direction to contact in vehicle frame from tetrahedron phase data.GGyBOb> |$?Iyuw,+7A6Will construct direction to contact in vehicle frame from tetrahedron phase data.FB~?YF_?F2K9F̱=yFH`N?Q?`?@!?`Q`kE?r??ɨFB~?Fȋ;F%CyR[BR!I=Mb@Mb@Mb@999 9)9Y=S?~jtxI +y=/=?=Ļ=94=A 9)9I=XA9y=AIMIM5٢eU mU=9uQ u> G٣y': > Nusing accuracyPremultiplier from config593?5YT ikB56=?5:5?=;@Dĕ<< K5A E@Ahh"h*hgggfffrfbfR9@ɛ B j< 15-?I1 5ɚ1i1I5X===#ɠ=/̾IE?iAiE\)E?E?)IGuNWill construct direction to contact in vehicle frame from tetrahedron phase data.HEP>IA IEA"IIEBIA&IA.IE:D6IE<:IE~ FBIJIRIZI =bI =jIȐ5GqBO> I hw,7A::T~?Y:h?:rŕ9:BC=y:H I?@^¶???Jh?#?.?ɨ::T~?:ԓ;:'CyvRBv!II~I~+5٢ *  P=9Q > G٣'9Gy% ;: %> -Nusing accuracyPremultiplier from config)559-È?55Y-ӕT i-tB1=?=;@-%D-L;-R;-N5Q U-@Qhqhq"hq*hygygygyfyffrfbf$9@ɛBJ= 隵G/?I !xɚiI=ﳎɠ ǾI?ii)??)J]}J]wJ]1JYJ][j:J]9J]3JYJ];J];uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:20:15:25.8145 }TRx dataTimestamp_ set to:1736367326.940847J]:J]:E0f=GrGsAGGiBzKNMK9KK K0-++*&89K^t{`4 ])\C\#vP1o]N=+OU>- Will construct direction to contact in vehicle frame from tetrahedron phase data.xw,l7AyJB{!I IMb@Mb@Mb@ )YtV? G٣y > %Nusing accuracyPremultiplier from config!559%>?=5Y%eT i%{B=2?=:=w?=;@%/D%x;%v;%QR5EB M@M$Ehihi"hi*higigigifqfqfqrfybf}:@ɛB>=< 隥1?I 5:ɚ1i1I5L8==9EɠE٘IE$˧?iAiA)E$˧?E$˧?)IEM=="G]=G]=}Will construct direction to contact in vehicle frame from tetrahedron phase data.GuGGI BY Ou >ڴw,97Ay>Bm!II=I=5٢]{ ]V=9aQ e>ii uG٣qy > Nusing accuracyPremultiplier from config59ƚ?5YT iB;@8D ;M;U5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 695.1 m (Round-trip 926.8 ms) speed 0.4 m/s ,DAT read: user:1202> BDAT read: Tx time:20:15:26.9335 $Ping request sent.I I""IIуBI =&I.I6IE<:IN F) 5~@1hQhQ"hQ*hQgQgQgYfYfYfYrf]̸@bfe?ɛځB= 隝1?I mɚiI=NɠׯI֨?ii.)֨?֨?)EE*E"E m}$?ImjG] G]"GeGeJm |Jm {Jm 0Ji Jm ;g:Jm -9Jm ـ3Ji Jm Պ;Jm ֊;Jm :Jm : Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:15:26.9328 G B O% >w,8A>7k?Y>N?>{9>>y>H?@;??w8?뾿`4 ??d?ɨ>7k?>;>&CyV9BZh!I)\ \IbIb5٢j jS=9j:^Q n>pp vG٣tyv8< z>  Nusing accuracyPremultiplier from config%59?%5Y6T iB)-?5;@@Dd;e;Y5Q ]@azK;PK59KK K~wqmh_[XVSNHGC?>=;97773.---,+*)(%#!!hh"h*hgggfffrfbfs?ɛéBea= i隍6?I 焼ɚiI=ɠAIҩ?ii)ҩ?ҩ?)GG ?GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O%> aIaw,`8A&Will construct direction to contact in vehicle frame from tetrahedron phase data.yM0BM\!IMb@Mb@Mb@ )Yx&?Q롿 rhy7)?\C=A A)AIyp AIIQ5٢%C( %7=9%Q ->)) -G٣-(9Gy5 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=zT i=BM)?M:M?U;@=JD=g;=`e;=\5a eX@ahh"h*hgggfffrfbf?ɛ=B== 9=+8?I9 =6ɚAiAIE)=MΑM1ɠMÍIm=?iiiq)u=?u=?)qGiBqO>HN>I I "IIBI =&I.I9D6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data. I II w,kG68A6$?Y6Ȝ?6596t>y6H 4?@ 6G?t?`'?3 ?.??ɨ6$?6;4y^4B^a!IIfIf5٢v=< z`=9~{>Q >   G٣y< > 5Nusing accuracyPremultiplier from config)E59-?E5Y-%tT i-BIM?M;@-RD-;-;-+`5eB e*@e!Ehh "h *h g g gfffrfbf@E?ɛeBe= m#=m)@?Ii "wɚiI{B=0yɠI?ii)?頝?)J={J=|J9J9J=d:J=@9J9J9J=!;J=#;J=z:J={:uWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=zKNK9KK K      Will construct direction to contact in vehicle frame from tetrahedron phase data.Xw,@P8A6)؀?Y6?6w9601>y6H{?g???3{,?`??ɨ6)؀?6ӫ;6$C xIxy~-BX!IMb@Mb@Mb@ )YS㥛?MbI +y$&?@94SA A)AIyz AIIڠ5٢ <=95ݹQ > G٣yq; > Nusing accuracyPremultiplier from config59?5YjmT iB&?:>?;@[Dr;j;c5B @Ehh"h*hgggfffrfbf`:f?ɛEBM@= IMC?II UclɚQiQIUgj=]a2]%ɠ]꨾I]?iYia)e?e?)a}Will construct direction to contact in vehicle frame from tetrahedron phase data.Gp6ϼ~GGrAGrA`wA) iY`wAy6AGBO>Qw,"i8ARۀ?YR?R9R>yRHgz? q5?? ,?@ `ش???ɨRۀ?Rz;R%Cyf2Bf_!III 5٢%x< %V=9-\;Q ->)) 5G٣5)9Gy59 => ENusing accuracyPremultiplier from config9E59=UƯ?M5Y=ogT i=BIMB?M;@=bD=:=:=?g5Q ]=@Yhh"h*hgggfffrfbf F@HI I!IIBI =&I.I6Is<:Il FWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛB7= K?I UbɚiI\=ɓeɠQI?iiG[)? ?) GGB ~$?IjO> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,(у8A6?Y6,?66 96=>y6H`\r? ?@ ??`⿿? ?`,?ɨ6?6;6&Cyb    G٣ y ȴ: > Nusing accuracyPremultiplier from config%59ϯ?%5Y.aT iB!%T?%;@kD::j51 5@1zK5LK59K1K5 K5 6]teXK>6RKe?JKe>hh"h*hgggf!fIfQrfYbfe@n@ɛB.+= X?I Vɚi)I5漇=={=cɠ=悟I=?i=_9i9)E?E?)iWill construct direction to contact in vehicle frame from tetrahedron phase data. IE==GrA GsAJK KKK"KJY J] vJY JY JY J] ϣ9JY JY am @am @au @au @ Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;+G B O >9'w,8A @6?Y6QZ?6򅣽96ߋ>y6H0]?/ ?h?${?@)`/k?@?@u?ɨ6?6l;6'CyRCBRs!I]Mb@Mb@Mb@YYY Y)YY]9v?:vMbp?y]?]T];]=A ]QA)]@IYYy]AIIפ5٢-< -=95:Q 5>11 =G٣=*9Gy=0; => MNusing accuracyPremultiplier from configAU59Eٯ?]5YEYT iEB}?}:?;@EtDE  III*-w,iT8AyvQBv!II~I~,5٢M= Mp=9UQ U?QQ ]G٣Yy] e? mNusing accuracyPremultiplier from configam59e௜?u5Ye(UT ieBqqu;@e{De:e":eCr5 f@hh"h*hgggfffrfbf * @ɛrB|= o?I  >ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.I3=Zɠ I %?i i ) %? %?)EE*E"E'eTFailed to parse incomplete device message. Will construct direction to contact in vehicle frame from tetrahedron phase data.G T[G B O- > U $?IY 4w,;8ABҁ?YBz?B19B>yBH?`Խ?@E?`#?} ?5??ɨBҁ?BW;B&CyRTBR!IBK|:K|}Mb@Mb@Mb@yyy y)yY}Cl? rh~jthy};?}C}D}&A }@)}AI}+Ayy}3 AIIզ5٢"v< D=93;Q > G٣y2\< > Nusing accuracyPremultiplier from config59#ꯜ?5YNT iǽB. ?:\?;@D{;f=;u5 +@Ehh"h*hgggf f f rf bf @ɛEdBE1d= AE!x?IA M O1ɚIiIIM=UTVUUɠUIUJ|J|JJJ;g:J@9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.H= P>I9  I= "II= ̃BI=  =&I9 7:w,8A.Im:D6ImI<:ImP FBI1JI1RI1ZI1bI1jI5&652Will construct direction to contact in vehicle frame from tetrahedron phase data.RN?YR:?R\P9R>yRH? G?(?A?@x`?`ώ? ?ɨRN?Rƈ;Py~kB!III5٢Mg= MP=9Uc;Q U>YY ]G٣Yye< e> mNusing accuracyPremultiplier from configiu59m?u5YmIT imνBy}ڐ?;@mDmY;m1h;mTy5B @Ehh"h*hgggfffrfbfS@ɛWBՁ= ?I Ij #ɚ i I 54=Um䖾]ɠ]eI]C?iiii)mC?mC?)Will construct direction to contact in vehicle frame from tetrahedron phase data.G- 1|G B O5 >Aw,O9A^?Y^Z;?^B9^8!>y^H@{?ɿ?7?ŏ?@j??ւ?ɨ^?^[;^#C'TFailed to parse incomplete device message.y޵B޵!III٢-V= -==9=n;Q E>Ya eG٣e+9GymF< m> %Nusing accuracyPremultiplier from configM59?M5YBBT iֽBQU?U<@DR;_;W}5Y ]@a}Will construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbfW6@ɛGB~= 隕?I dɚiI= ɠMIt?ii)t? It?) GM GM"GQGQG B O >J }J J J J [j:J J J % Will construct direction to contact in vehicle frame from tetrahedron phase data.G Hw,n!9Ay~B~!IMb@Mb@Mb@ )YMbX9?Q뱿MbP?y!?\:A `@)AIAy AII5٢= N=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-?55Y-ZHRHHI IG"IIBI =&I.I6I<:I F}Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I7Nw,;9A6{n?Y6.?6:96ߕ+>y6H?!`?@U?K?o?I?v?ɨ6{n?6׈;6&CyRBR!IIZIZd5٢bj > f_=9fN;Q f>dh jG٣hyj< j> rNusing accuracyPremultiplier from configlr59n ?v5Yn7T inBtv?v<@nDn:n:nÃ5x ~@|hh"h*h!g!g!g)f)f)f)rf)bf5@ɛ]/B]~O= Ye?Ia eɚaiaIeG=mtmɠmcQ|Iu7o?iqiq)u7o?u7o?Will construct direction to contact in vehicle frame from tetrahedron phase data.)G1B9Oe=zKu3MKu9KqKu Ku RK?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ Aiՙ I Uw,xU9AR&?YRe?R8l9R/>yRHv? &@?d?@gw?@`3ɲ?`?q?ɨR&?R3;R'Cy~B~"IMb@Mb@Mb@ )YuV?/$Mb`?yr(?;=A I@)IyII/5٢϶= .=9[;Q > G٣,9GyD< > Nusing accuracyPremultiplier from config59?5Y/T iB)?:K?<@D;';ڇ5B @Ehh"h*hgggff!f!rf!bf% @ɛ}B}= y}R?Iy  ĻɚiIV=XɠbpIH÷?ii)H÷?頕H÷?)J~JzJJJ{m:J9JJGBO#>Will construct direction to contact in vehicle frame from tetrahedron phase data.H M>I  I "II BI  =&I .I 9D6I J<:I N FH[w,So9A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:?Y:KC?:y>9:3>y:H ? 2 v?v?M ?rઃ? 4?m?ɨ:?:^;:&CyB؃BF+"IIJIJ5٢V(> Vt=9VO;Q V?XX ZG٣XyZ< ^? bNusing accuracyPremultiplier from config`f59bT ?f5YbY*T ibBhj+?j<@bDb:b:bʊ5l n@l aIahh"h*hgggfffrfbf`We@ɛ-B-Pi= )5?I1 MiɚQiQIs3~=tɠ)hI?ii)?頥?)Er =GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.3bw,d=9A>ʆ?Y> ?>%9>QO5>y>Hԯ?<ʆ?>;>$CybBb@"III5zKLK9KK K  Bj."7JpZL@7-& ٢?= 6=9[;Q >!) 5G٣1y=Z< E> eNusing accuracyPremultiplier from configY59]*?5Y]#T i]B?<@]D]h<]c<]Ȏ5 @hh"h*hgg!g!f!UWill construct direction to contact in vehicle frame from tetrahedron phase data.f!frfbfF@ɛ-B-~= )-߹?I) 5~nɚ1i1I5׼{==.=ɠ=h\I=? M$?IMji9ie㒽)e?e?)aE=c<GB!OMS>) &= C Will construct direction to contact in vehicle frame from tetrahedron phase data. ~G 5 DֿY1 y5 AZhw, 9AynBna"ImMb@Mb@Mb@iii i)iYmGz?Zd;y&1|?ym0?mym`;i m@)mAImAiym AII5٢> R=9Q > G٣-9Gy > Nusing accuracyPremultiplier from config59(3?5YT iBV1?:?<@D;m;5B Z@ Ehh"h*hg g g f f f rfbf@ɛ%B%= -<5<-?I) -#ɚ)i)I5y==Nc= ɠ=FSIE?iAiA)E?E?)ijHbHp<HK>IC I"IIPBI =&I.I6I^<:IZ FeWill construct direction to contact in vehicle frame from tetrahedron phase data. AIAEu<GsAGsAG B O >?nw,t9AN^|?YN?N9N*6>yNHEg?g? f?p?R~ 6 ?? l?ɨN^|?N;N%CyVBVy"IIbIb5٢jq= jW=9n5ll rG٣pyrb= r> vNusing accuracyPremultiplier from configtz59v ;?z5Yv/T iv B|~_?<@vDv%;vA;vm5  @h1h1"h1*h1g1g9g9f9f9f9rfAbfE/@ɛmBmI= iu?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJJJ;;aJ<;aJO:aJP:a I׵ɚ1i1I5ow==ߺ=~|ɠ=II='?iAiA)E'?E'?)AEUsAEUsAEN<GBO >zK 8MK +9K K  K } Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I- jwruw,9A>n?Y>Ƭ?>"9>5>y>H@?vv ???e;u? ?`In?ɨ>n?>; G٣y< > Nusing accuracyPremultiplier from config59cD?E5YUT iBMIr?ii)r?頍r?)Will construct direction to contact in vehicle frame from tetrahedron phase data.Er<H} I>Iy  I} "II} BI}  =&Iy .Iy 6I} g<:I} _ FG jG ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. I G! B1 OM >|w,9Ay-;B5"IIEIE5٢]= ]@=9]Q ]>aa eG٣e.9Gym m> Nusing accuracyPremultiplier from config59M?5YzT i!B<@D;;5 @hh"h*hgggfffrfbfcR @ɛ%ˀB%e= !%?I! -:ɚ)i)I-_r=5X5`ɠ573I5K?i9i9)=K?=K?)9E]E]*EY"EYG#Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJy:J9JJJ;J;J;J;GBO>w, :AzKzKKz9KxKz Kz   Ud?Y? n9w5>yH:?a?@(?`N?|ο?܆?r?ɨUd?l؈;騽&Cy%VB%"IMWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I=Mb@Mb@Mb@999 9)9Y=S㥛? rhQ?y=D?=C =u<9 9)=zAI=rA9y=G AII٢= '=9 P G٣y= >  Nusing accuracyPremultiplier from config 59V? 5Y)S i.BE?:?<@D;I;05B %I@%E=B*** querying acoustic contact ***j9j9hIhI"hI*hQgQgQgYfafafirfibfuJ!@ɛBŸ= 隭?I .W;ɚiIo=u꛾XQɠGz'I,?ii),?頽,?)G% ␽ Will construct direction to contact in vehicle frame from tetrahedron phase data.  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.G B) OE >%w,\&:A6o?Y6ĭ?6^96o5>y6H%?G?R?bd?9 Y? ?Ps?ɨ6o?6];4y>pB>"IIJIJ.5٢n)> n=9nS ;隥3?I dՐ;ɚiI}m=(GɠSI(?ii)(?(?)H5A>I5C I5;#II5BI5 =&I1.I58D6I5h<:I5X FBIâCJIâCRIÔCZI =bI =jIá5mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078467 IG GQBaO}z> w,9@:A2?Y2:ڪ?2OO9236>y2H@8?`?`?TT VG٣V/9GyZ<< Z>JbJbJ`J`Jb}:Jb9J`J`Jb;Jb;Jb& ;Jb' ;nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.332445 vNusing accuracyPremultiplier from config\v59^c?z5Y^S i^@Bxzդ?z<@^D^w9;^&@;^K5 c@ Ehh"h*hgggfffrfbf`˹"@ɛB > ?I <;ɚiI[j=w;ɠ:IC6?ii)C6?C6?)!G␽zKUYLKU+9KQKU KUGBO > IjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.5864459w,Z:AR׏?YR?R#8?9RC9>yRH ?@h?`T&?a6?ǵ`?` ?q?ɨR׏?RZƈ;PyZB^#IEMb@Mb@Mb@AAA A)AYEMbX?X9vI +?yEJ?EE94=9}Qyy }G٣y< > Nusing accuracyPremultiplier from config59ak?5YS iIBJ?:զ?<@ Dx<R<5! %L@!hh"h*hgggfffrfbf`͘#@ɛB8> ^?I I;ɚiI;h=%ǜ%.ɠ%E I-{?iQiQ)U{?U{?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837583GGiByO>H- ;>I- C I- m#II- ߄BI-  =&I) .I- 7D6I- p<:I) $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. yvH {?@B|?M9??Ts`-֥?(?6q?ɨv?vK;v$CyB#II-I-פ5٢E5= EN=9E%II MG٣IyU&< U> ]Nusing accuracyPremultiplier from configYe59]#r?e5Y]S i]QBim?m<@]D]:]u:]5uB u%@uEhh"h*hgggfffrfbf`V$@ɛB#2#> @I u<ɚiIe=2!ɠ#pI?ii)??)E<GsA GsAJJJJWill construct direction to contact in vehicle frame from tetrahedron phase data.6Jw,}̍:AEo?YE?E9E3;>zK]&(KK]9KYK] K]yEH,??`L? ?'W?`FX?Hp?ɨEo?E;E&CyB#II 9IAI5]Will construct direction to contact in vehicle frame from tetrahedron phase data.] G٣09Gy< > Nusing accuracyPremultiplier from config59y?5YS iZB!%m?%<@!D ; ;5q }@yhh"h*hggg f f f rf bf N%@ɛ]qB]9> Y]@IY e8<ɚaiaIeb=_MɠhI?ii)?頕?)EX;G  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1203>  BDAT read: Tx time:20:15:37.8836  $Ping request sent. uw,ﭧ:Ay~B~(#IMb@Mb@Mb@ )Y> ףp=?I +{Gz?yQ?9#<&A )AI Ay(AI5I5h5٢=2= ET=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]S i]aBeR?m:m?m<@]+D]];];]5q uM@uEhh"h*hgggffH7>IC I#IIBI =&I.I6Io<:IS Ffrfbf J&@ɛ]bB]3G%> 隥@I U<ɚiIB`=dɠ?ٽI?ii)??)EE*E"E !I-jeWill construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:20:15:37.8829 mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251028G G G  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503351J J J J J y:J 9J J J ;J ;J 1;J 2;G B OU>[w,:AN,?YNk?N<9N=>yNH ? q?p?~a?@f?@ߍ?p?ɨN,?Nб;N$CyZBZ6#IIbIb5٢jW= jA=9nll nG٣pyrO= v> zNusing accuracyPremultiplier from configx~59z?~5YzS izhB?<@z6Dz7:z:z5  @hh"h*hgggfffrfbf&@ɛTB->  @I p<ɚiI]=%%[ɠ%eŽIM>W?iIiI)M>W?M>W?)QG] G]"GYGYzK]JK9KK K )I1uWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756228G BO-p>w,{:Aj.~G^X?Y^?vvA^.޼9^7->y^H`X?՞?"?u? ě?@??ɨ^X?^F;^'C -пY-vAy-Ay=B=1#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006618mMb@Mb@Mb@iii i)iYmM?I +MbP?ymnR?m94m:i i)mAIm AiymAII.5٢' 2=9 G٣19Gy < > Nusing accuracyPremultiplier from config59티?5YS imBsR?:?<@BD(;#;5 @hh"h*hgggfffrfbfx'@ɛ%CBp'> 隭D @I zu<ɚiIZ=,ꝾۿɠI?ii)?頽?)GBO$>H5>I I#IIBI =&I.I6D6I}<:I\ F ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257982⩽w,/O:A:ؗ?Y:P?:9: />y:H@&? g?@,? V??@?@?ɨ:ؗ?:i";8yZBZ5#IIfIf5٢n < nl=9rD> quW@Iq u2<ɚyiyI}X= ǿɠwßI.?ii).?頍.?)G?G?GQBaO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510149 = $?I9 zK] uJK] 9KY K]  w, y;A&Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768549KeEq.?YE#m?Ev9EO3>yEH` G٣yո< > Nusing accuracyPremultiplier from config59?5YS iR?:?<@WDI;;5 @Ehh"h*hgggfffrfbfg)@ɛ%BDG,> !%V@I) -a<ɚ1i1I5U=E]5EhɠE﹊IEr?iAiI)Mr?Mr?)IGABIOm>JJJJJv:J9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018024w,.-;A2?Y2NӶ?2qK927>y2Hi,?- ^?_?c?'m? ?|?ɨ2?2 ;;2&CyZBZ8#IIbIb5٢jx< jm=9n};v5  @ ZHRHAAH2>IC III! =&I.I6I<:I| Fhh"h*hgggfffrfbf%2'*@ɛeBma@> im@Ii m~<ɚiiqIu?S=8S"ɠ2vI?ii)?頥?) IjuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270730GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522924أw,F;AJY?YJ F?J_9J;>yJH`d?3`K?m?"K?x }? Q?v?ɨJY?J;HyZB^2#IIfIf5٢rs rI=9v>Rtt vG٣tyz]< z> ~Nusing accuracyPremultiplier from config|59~?5Y~S i~mB  ? <@~kD~C:~:~:5 @h1h9"h9*h9g9g9gAfAfAfArfAbfM*@ɛuBD> @I <ɚiI;P=%{m%ڃɠ%RI-L?i)i))-L?-L?)1GmrAGiGIBYOu= IzK].JK]9KYK] K]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776204w,M`;A:b?Y:Y?: 9:>>y:Hɾ?~8z?? e)?Ϙ`?ˮ? r?ɨ:b?:;8yVBV#IMMb@Mb@Mb@III I)IYM(\?Qyy G٣y|< > Nusing accuracyPremultiplier from config59?JKـ3 KKK"KJJJJJy:Jy9JJ5YS iiB*N?:з?<@vDA;;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026148hh"h*hgggfffrfbf`+@ɛB47> @I  <ɚiIN=%%u[ɠ-3/I-]?i)iQ)U]?U]?)YGiByO>H}1>Iy I}#II}BIy&Iy.Iy6I}}<:I}X FBI=ǟCJI=ǟCRI=ǓCZI= =bI= =jI=O5 I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278138w,z;A60ž?Y6?6m6;96r?>y6Hu????? f?p?ɨ60ž?6ɍ;4yVBZ#IIbIb5٢j[7 jU=9n`M G٣%39Gy%< -> 5Nusing accuracyPremultiplier from config)=59-դ?=5Y-lS i-dB9=1?E<@-D-B;-;-X5I M@MEhihi"hi*higigqgqfqfqfyrfybf}@=,@ɛBlM> 隽X@I <ɚiIK={3ɠ|GI?ii)??)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530213 I jw,;A"Will construct direction to contact in vehicle frame from tetrahedron phase data..BDAT read: Rx Time:20:15:41.2023 2TRx dataTimestamp_ set to:1736367342.3319366checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787442zK>JK>h9K<K> K>B4?PUXYH-f?w]I90*)).-+)',7AA>=;730.+'!BK:KsA?Y;?*;9?@>yH? xF 7??@?Ͳ@`?o?ɨ?Ì;yލBޕ#IMb@Mb@Mb@ )YPn?y&1:vyD?`弹ԼA ~@)I3Ay=AAAII5٢ "=9! G٣y< > Nusing accuracyPremultiplier from config59?5Y~S i[BVD?:r?<@DB;5;5  @h1h1"h1*h1gAgIgQfYffrfbf v-@ɛ-B-X3> 15@I1 5?<ɚ1i1I]cH=m駞mɠm5 мIu+?iqi)+?頝+?)GBOe>JJJJJp:J9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034080^ w,R;A2P?Y2?2dG<92@>y2H` ?LL?Y? 3%?th숿s?@tn?ɨ2P?2/;0yVBV#II^I^J5٢f f=9f(nI! I%m#II%߄BI%" =&I!.I!6I%<:I% F9 =V@9haha"ha*hagigigifififqrfqbfu Z&.@ɛB%b_c> %hQ%@I! %E=ɚ!i!I-F=-U8ɾɠUI]?iYi]])]?]?)a yIyUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286434GiByO= Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 20:15:41.2023 LVL= 14096, 18785, 16370, 24867, AGC= 72, IDX= 289,-0.29,-0.806,-2.681,-1.243,-1.659, PHS= 0.941,-0.975, 0.413, RAW= 134.5, -4.5, CAL= 140.1, -14.8, ROT= 9.9, 14.8 E Ygot valid direction response: 20:15:41.2023 LVL= 14096, 18785, 16370, 24867, AGC= 72, IDX= 289,-0.29,-0.806,-2.681,-1.243,-1.659, PHS= 0.941,-0.975, 0.413, RAW= 134.5, -4.5, CAL= 140.1, -14.8, ROT= 9.9, 14.8 E 8DAT read: $Error in header M *Received a bad header X#Rx 1: Read direction message, but no range. `direction in FSK: [-0.037708,-0.643944,0.764143] 9 zN{gs/urs?  7 aI  ?) #aI Hi `p? y t> <@ |٠  C~@) AI ;0>i A>  e?{?G) Ӂ>I ş=i п r^w,,;A61?Y6ɾ?6ډ<96 }A>y6H?@7Ru"? y?`>?w.W? ;@ ? m?ɨ61?6ˊ;4yZ{BZ"IIfIfԨ5٢nd nI=9r;pp rG٣v49Gyv< v> zNusing accuracyPremultiplier from configx=59z,?E5YzLpS izKBAE?M<@zDz3 -5&@I1 ==ɚ9i9I=2kD=M MwɠM IjmWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}41OKyKyK} K} RK>JK?w,;Af?Yf?fj<9fA>yfHs/?XW@/?q?`?~?̕A ? 0l?ɨf?f;dyvqBv"IJJJJJs:Jľ9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YCl?lX9vyd;?A )`AIAyAII(5٢7 8=9$ %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=595B?=5Y5gS i5?BE;?E:E?E<@5D5;5M;55MB M@MEhihi"hq*hqgqgqgqfyfyfyrfybf} n/@ɛSBM@K> QU@IQ U=ɚQiQIUA=]m]NɠeqIe?ii)?頕?)GBO>H!I! I%H#II%BI!&I!.I%5D6I%<:I%k F $?Im Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,;Ay~_B~"II I 5٢%5 %[=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=ٳ?E5Y=`S i=5BIIM<@=D=:=:=5Q U@Qhh"h*hgggfffrfbf=N0@ɛ54B5qS> 9=@I9 ==ɚ9i9I=?=E3EO=ɠEp[&;IMɻ?iIiI)Mɻ?Mɻ?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.Er;G ~ I G B O- >#w,yH`ߪ? a"?@?@F?@?@?`sk?ɨ?;y XB"IMb@Mb@Mb@ )YFx?I +Mby+?94 @)vAIy AIIB5٢-^ -/=95[19 =G٣=59Gy="= => MNusing accuracyPremultiplier from configAM59E?U5YElXS iE'BUV,?U:U:?U<@EDE;E^;E5Y eJ@ahh"h*hg g g f f frfbf(0@ɛBڊF> 隍,@I f'"=ɚiI~ ==ٰO>ɠZ&I9  I= #II= BI9 &I9 .I= 6D6I= l<:I= L FG B O >( w,2?Y6}?6bA =96Uq@>y6HED?e??"?E֙?Pgq? k?ɨ6>?6G;6%Cy>MB>"I LILIF IF 5٢]g ]L=9]T&aa eG٣aye< m> uNusing accuracyPremultiplier from configq}59u︰?}5YueQS iuBy}_?<@uDuL:uL:u5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf`(1@ɛ~B]> @I a)=ɚiI+:=  {>ɠ ו w,YLy6H?@g ,??J?4? F?h?ɨ6dV?6T;4yREBR"IInIn5٢v$ vR=9v>xx zG٣xy~ < ~> UNusing accuracyPremultiplier from configQ]59U?e5YUbJS iU Baex?e<@UDUq ;U ;U5i m@uEhh"h*hgggfffrfbf 1@ɛ~B>[> @I Q1=ɚiI8=Μ>ɠyNHYp? p? ?}(?K??@j?ɨN^b?N$;N(Cyj?Bj"IMb@Mb@Mb@ )YNbX9?QMby%?unA h@) AIzAyAI!Ix5٢-pȼ 57=9599 EG٣E69GyE= M> ]Nusing accuracyPremultiplier from configQe59Ub?e5YUBS iUBm&?m:m?m<@UDUB;UA;U5y }@hh"h*hgggfffrfbf 21@ɛ~BJWV> @I Y:=ɚiI/26=Ŋ?ɠʥ?in\9i)N>?頵N>?)GBO#>H!I! I%"II%~BI%! =&I!.I!6I%<:I%k F IWill construct direction to contact in vehicle frame from tetrahedron phase data.  w,yyNH _b?t Ev??֕?`Y?@몿8Z?@j?ɨNwJ?N`;N%CyZ2BZ"IIbIby5٢jI jd=9jWtt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|59~8?5Y~ 隅H@I A=ɚiI 4=t{3?ɠ=I?i6-9i)?頕?)GsAGGBJJJ0JJy:J9Jـ3JJ;J;Jf;Jg;O=Will construct direction to contact in vehicle frame from tetrahedron phase data. I  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK 59K K  K )9<>ImarZ<! sqyoI&w,_ G٣y > Nusing accuracyPremultiplier from config 59 i?5Y 5S i ޽B?:ټ?<@ D  ; ; 5! -@)hIhI"hI*hIgIgIgQfQfQfQrfYbf]2@ɛ-k~B-1Z> 15@I1 5=J=ɚ1i1I51==eb=T?ɠ==?*=IE?iEf8iA)E?E?)IG!B1OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH p<H% .>I!  I% "II% `BI% " =&I! .I% 5D6I% <:I% o FBIʞCJIʞCRIZI" =bI" =jI&4{q,w,0y:HXd w )A?\?oс?@M?:?h?ɨ: %?:ח;:'Cyf*Bf"IInIn5٢v': v]=9zxx ~G٣|y~x = >  Nusing accuracyPremultiplier from config 59°?5Y/S iϽB?<@Dv::5! %/@%E}Will construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf s,3@ɛ5M~B=p> 9=u @I9 =jR=ɚ9iAIE//=EKMo?ɠM?=IM?iM,P8iMU)M?M?)QG)B9Om=}PExceeded connect timeout, disconnecting.JJJJJs:Jy9JJJ;J;J8:J9:- Will construct direction to contact in vehicle frame from tetrahedron phase data.M[3w,+y2H[΄Vx`])??k`? !?GW2?f?ɨ2?2Ԅ;2%CyN(BN"IIV2IV<5٢^< ^M=9b7`d fG٣f79Gyf< f> nNusing accuracyPremultiplier from confighn59jİ?r5Yj=)S ijBpr?r<@jDjK ;j:j5t zE@xhh"h*hggg!f!f!f!rf!bf-3@ɛU-~BU$p> QUA"@IY ] bZ=ɚYiYI]{-=e1eJ?ɠesV=Ie@?im*3ii)m@?m@?)iG?G?GBO= IjWill construct direction to contact in vehicle frame from tetrahedron phase data.zK3bOKs9KK Kf]SK@5  = Will construct direction to contact in vehicle frame from tetrahedron phase data.ԃ9w,y2H` `Rx?U?mq?1?c?ɨ2?2bs;2&Cy^&Bb"IMb@Mb@Mb@ )Y/$?x&/$y?7 )/ AIAyAICI5٢K 9=9l* G٣yq< > Nusing accuracyPremultiplier from config 59nư? 5Y%"S iB ? : -?<@D;<r5 r@hh"h*hgggfffrfbf"4@ɛ~Bx*d> !%K$@I! %d=ɚ!i!I%:+=-+5_?ɠ5p=I5?i5ji1)5?5?)9G)B1OM>HI I"IIPBI&I.I6I<:In F IWill construct direction to contact in vehicle frame from tetrahedron phase data. m nManaging dock network, ignoring radio surface power offk@w,"=A2$?Y2*?2ۧ=92:>y2HOŘx]???^0$?`a?ɨ2$?2%p;0yN-BN"IIb0Ibʴ5٢M= MU=9e3y G٣y < > Nusing accuracyPremultiplier from config59ǰ?5YS iB#?<@D=;=;5 @hh"h*hgggfffrfbf^e4@ɛ%}B%)}> !%&'@I! -l=ɚ)i)I-!)=55i?ɠ5I=I=&?i=6i9)=&?=&?)AJJJJJy:J"9JJJ;J;J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.G}GQBaO}{> I Will construct direction to contact in vehicle frame from tetrahedron phase data.!Fw,=AzK"M;MK K K" K"BK.sA:K.rAj?Yj?j=9j;>yjHT w@? ?? eˏ@n?;].?@ ^?ɨj?j;j%Cyr+Bv"IMb@Mb@Mb@ )YX9v?L7A`尿y&1y?+`eA @) AIQAyQAI)I=5٢ ?=90 G٣89GyGr< > Nusing accuracyPremultiplier from config 59 ɰ?5Y S i B?:%?%<@  D ny; ;  5A E@Ihihi"hi*higigigqfqfqfqrfybf}@J4@ɛ}Bu> 隭)@I 31u=ɚiIK&=ȝb?ɠ=I{?id%,i){?頽{?)G=I]GB1Om5>Will construct direction to contact in vehicle frame from tetrahedron phase data.I  I "II ABI ! =&I .I 6D6I N<:I 8 F I Lw,k5=AR3?YR?R =9R]e;>yRHU!v?@?Fȿ?Z x6?![?ɨR3?Rr-;R$CyZ,BXIf9Ifɶ5٢nO; n]=9r+tt zG٣xyz< z> Nusing accuracyPremultiplier from config|59~ʰ? 5Y~ S i~B  ? <@~D~L:~n:~5 @E=Will construct direction to contact in vehicle frame from tetrahedron phase data.hAhA"hA*hAgIgIgIfIfIfIrfQbfU`/5@ɛ%}B%̀> !%8+@I! -6}=ɚ)i)I-F$=UUp?ɠU=I];M?i]Y`iY)];M?];M?)aGlSGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.Sw,\VO=A:?Y:?:=9::>y:H`ꦿ`u??`?yK?`Y?ɨ:?:x;:&CyF0BF"IIR1IR5٢Z< ZO=9Z\\ ^G٣`ybn< b> fNusing accuracyPremultiplier from configdj59f˰?j5YfS ifoBln?n<@fDf ;f ;f85t v@xh h"h*hgggfffrf!bf%`5@ɛM}BM> IM-@IQ U=ɚQiQIU"=]Yz]?ɠ]ޤ=Ie?ie~ia)m?m?)qG G"GG yIj}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1205> -~G % Y! y- $AJ J BAJ J J J J v:J ľ9J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Tx time:20:15:48.8337 % $Ping request sent.- yBH.3\v`m? ?ʊ`$?. $? Y?ɨBe?B";@yR8BR"IMb@Mb@Mb@ )Y r?y&1 G٣99Gyb< > Nusing accuracyPremultiplier from config59̰?5YS i]B:$?:?<@%D<;w;V5 I@h1h1"h1*h9g9g9g9f9fAfArfAbfE 6@ɛ\}By> 隵J1@I o=ɚiI> =C#?ɠ=I?ii)??)HyIy I}"II} iIiuWill construct direction to contact in vehicle frame from tetrahedron phase data.=`w,=A6\?Y6 ?6y =968>y6Hݮ u@ ?? ?R ??dY?ɨ6\?6S-;6%CyN7BR"IIZIZE5٢f޻ fm=9fj;Q j?hh jG٣hynt< n? rNusing accuracyPremultiplier from configpv59r+Ͱ?v5YrR irOBtz ?z<@r,DrL:r:rN5| ~\@|hh!"h!*h!g!g!g)f)f)f1rf1bf5c6@ɛ]@}Be> ae2@Ia em==ɚaiaImk,=mPu|?ɠuɺ=Iu{?iuziq)u{?u{?)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO== YIa Will construct direction to contact in vehicle frame from tetrahedron phase data.fw,=AzK` NK9KK K  Mzn?YM+?M=9M5>yMH #v@??c@@#? T{? UZ?ɨMzn?M-T;Iye;Be"IMb@Mb@Mb@ )YK7A`?v/{Gzy+?xi#=A @)+AIyp AIFI5٢%< %6=9-;Q 5>99 EG٣AyMs< > Nusing accuracyPremultiplier from config59Ͱ?5YR i;B+?:5?<@6DQ;;e5  @hIhQ"hQ*hQgQgQgQfYfYfYrfYbf]6@ɛ}B~> 5@I ӑ=ɚiI=]ޜ{?ɠ=I1X?i4;ݹi)1X?1X?)GBO(>JJJJJJ9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.jHe <bHe 4=Hm 0>Ii  Im "IIm ABIi &Ii .Ii 6Im <:Im _ F A IA mw,U=A>ն?Y>4?>v=9>5>y>H곿wq>?տ??ਂ?@}X?ɨ>ն?>I^;\\ ^G٣^:9Gyb< b> fNusing accuracyPremultiplier from configdj59fͰ?j5YfR if-Bln?n<@f=Df. ;f ;fV 5rB vz@vEh h "h *h gggff=Will construct direction to contact in vehicle frame from tetrahedron phase data.frfbf/67@ɛ|Bi> :#A7@I 7=ɚiIa=IZ@ɠ=Ig?i%>Bi!)%g?%g?)!G)B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.]sw,[=A6Z?Y6 ?6i=96)T5>y6H`[@oe??*>?~n?VV?ɨ6Z?6"#;6&CyB9BB"IIJ8IJ5٢RN< RK=9R/TT VG٣TyZh< Z> ^Nusing accuracyPremultiplier from config\b59^Ͱ?b5Y^R i^BdfU?f<@^FD^Q>;^>;^#5l nQ@lh|h|"h|*hgggff f rf bf `7@ɛ5|B5M > 9=9@I9 =i=ɚAiAIEE=Mm{M@ɠUX =IU?iUbiQ)U?U?)Y IjGYBaO}=MWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLKs9KK K J J J J J y:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.!zw,F~=AV0k?YV?Vh=9V5>yVH q @kT??5Q?`}?R?ɨV0k?V|;V'Cy G٣y-u< > Nusing accuracyPremultiplier from config59&̰? 5YR iB 8? : ? =@PD[i<_i<'5q }'@yhh"h*hgggfffrfbf`F8@ɛ=|B=a> AE<@IA ER=ɚAiAIE1=my5m@ɠu2=Iu6l?iuliq)u6l?u6l?)yG ?G?HI III" =&I.I6Iٰ<:I FBIJIRIZI! =bI! =jI54GB IO">UWill construct direction to contact in vehicle frame from tetrahedron phase data.[w,P>A:D?Y:p?:+9=9:4>y:H`Z`^i@?-? J?y@]?`Q?ɨ:D?:辉;:&Cyb;Bb"IIj.IjY5٢%+ %Y=9%;Q %>)) -G٣-;9Gy5< 5> =Nusing accuracyPremultiplier from config9E59=ʰ?E5Y=rR i=BAE?M=@=YD=z:=:= +5Q U.@Qhqhq"hq*hqgygygyfyffrfbfk8@ɛ|Bb> 隽e>@I g=ɚiI=@ɠWf=I ?i[i) ? ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.Eq9GB!OMt> Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,8>AzKVRLKV9KTKV KV*SP<& -g==z2U r_PB70&  BKjrA:KjsAC?YL?~=984>yH`ݮdD?̡?@P?@ [?O?ɨC?~N;y5!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=595Ȱ?=5Y5R i5ڼB=D?E:E?E=@5cD5;5M;5.5I M!@MߵEhihi"hq*hqgygygyfffrfbfY8@ɛg|Bk> A@I |2=ɚiI[=^@ɠ=0=I f?i N6+i)f?f?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.JcKk|3 KkS}-KcKc"KcJJJJJ}:J9JJGQBOa>ZH RH @AH 4>I  I I I ! =&I .I 6I <:I o F I j[w,8>A:C?Y:^?:2=9:4>y:H' ;_?@?cZ? ?\?M?ɨ:C?:q;:'CyB7BB"IININ5٢V Vf=9V;Q V>XX ZG٣XyZֳ< ^> rNusing accuracyPremultiplier from configlr59nư?v5YnR inƼBtv?v=@nlDnX:nz:n25x zt@|%Will construct direction to contact in vehicle frame from tetrahedron phase data.h!h!"h!*h)g)g)g)f)f1f1rf1bf579@ɛeJ|Bm4> im9B@Ii mYI=ɚiiqIu =}e~}!@ɠ}m>I}d?i}m4iy)d?項d?)EE*E"EG5rAG5tAGB O%M>Will construct direction to contact in vehicle frame from tetrahedron phase data.2Dw,Q>Ay~3B~"II )I =5٢ %C=9%Q %>!) -G٣-<9Gy- 5> AIA MNusing accuracyPremultiplier from configIU59Mİ?U5YM.R iMBQY]=@MvDMF-;M-;M55a e@ihh"h*hgggfffrfbf`9@ɛ%|BCz> D@I =ɚiI)# =6(@ɠI?i@i)??)GBO%=5Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5!OK59K1K5 K5 Will construct direction to contact in vehicle frame from tetrahedron phase data.J J @Apw,Tk>A^n?Y^N?^=9^>y^Ht`sO`֮?@?[ cx?`UĽ`?F?ɨ^n?^n;^#Cyn(Bn"IMb@Mb@Mb@ )YMbX?+X9vyJ?"A v@)AIAy AII5٢ M <=9- %G٣!y%= %> 5Nusing accuracyPremultiplier from config)559-?=5Y-FR i-B='K?=:=M?==@-D-;-;-r95A E^@Ihahi"hi*higigigqfqfqfqrfqbf}:@ɛ%{B%v> IM2E@II M.=ɚIiIIM=U嚾U.@ɠ] >I]=?i]Mi]R&)]=?]=?)aH8>IC I"II7BI =&I.I7D6Im<:IT F 1I1GaBiO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,V>A2?Y2?2v@=92Fj7>y2H`8G ?Rw?C`o?u {?C?ɨ2?2;2&CyRBR"IIZ,IZ5٢bs bb=9f;Q f>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr59n?r5YnR inzBtv{?v=@nDn:n*:n<5| ~@ܵEhh!"h!*h!g!g!g!f)f)f)rf)bf-n:@ɛU{B> E@I =ɚiI2=  4@ɠ >I 'p?idVi)'p?'p?)1G?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ~JJJ:Jf9JJJ;aJ!;aJ:aJ:aGIBYOu= I%jE Will construct direction to contact in vehicle frame from tetrahedron phase data.w,>A)h nC]GzKJK+9q Yy BKK KeĿ?Y?K=98>yHc¿`=@ym?@i?@P@ܕ?k>-?@ ??ɨeĿ?2;$Cy5B5w"IMb@Mb@Mb@ )YV-?I +Q롿yM?94\KA QA)AIAy3AI#I5٢V +=9;Q >  G٣=9Gy< %> 5Nusing accuracyPremultiplier from config1=595m?=5Y5ܣR i5WB=N?E:E?E=@5D5;5A;5@5I M{@Qhh"h*hgggf9f9fArfAbfE:@ɛ{BK> G@I ~=ɚiI_g=CB;@ɠ>I]??ibi) ]?? ]??)Will construct direction to contact in vehicle frame from tetrahedron phase data.GQBqOb>jH <bH <H =>I C I "II (BI  =&I .I 6I x<:I a F I w,M>A6?Y6>?6>96:9>y6H2ÿ c2[?"[?@%?! G?`:?ɨ6?6~;6&CyB BBg"IIJIJͰ5٢r rt=9rw vG@I e=ɚiIt$=%%@@ɠ%o>I%6?i%Cji))-6?-6?))G[GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJp:Jy9JJJ;J;J8:J::w,k'>A:9?Y:x?: >9:R;>y:H"ſ&)I?`K?@¿@c? 1V7?o5?ɨ:9?:|+;:%CyFBF["IIRIR5٢Z,A ZN=9Z;Q Z>\\ dId fG٣dyfo< j> nNusing accuracyPremultiplier from confighr59jȶ?r5YjR ij!Bpv?v=@jDjw;j;j-G5x z@xhqhq"hq*hqgqgqgfffrfbfE;@ɛp{BP> H@I Q=ɚiIP:<x%E@ɠ% >I%j?i%Ksi!)-j?-j?))GUk<Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBQO>zK!MKh9KK! K|C"  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J w,>AZV?YZZ?Z.>9ZG<>yZH6ƿv2?` G٣>9Gy< > Nusing accuracyPremultiplier from config59E?5YƋR iBM?:?=@DF;;J5 0@ٵEh h "h *hgggfffrfbf<@ɛMJ{BM> IMH@II M=ɚQiQIU <]^]K@ɠ]">I]?i]}-|ia)e?e?)aHuB>IuC Iu`"IIuBIu =&Iq.Iu8D6Iu <:Iu F IjG]3,)Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BAOew>w,?A:?Y:F?:t>9:>>y:H`[ǿ@ ?,?jĿ *? Hg?@+?ɨ:?:j5;:$CyF؃BF+"IIR.IRY5٢Zʽ Z\=9Z;Q Z>\\ ^G٣\yb0< b> fNusing accuracyPremultiplier from configdj59f ?j5Yf$R if߻Bhn?r=@fDfe;fe;f8N5t v]@xhh"h*hgggfffrf!bf%r<@ɛM({BMf> IMH@II Ul=ɚQiQIUGIe]?ieځie8)m]?m]?)iuWill construct direction to contact in vehicle frame from tetrahedron phase data.J|J{JJJ;g:J-9JJJԊ;JՊ;J:J:EEGI GI"GIGI $?IG B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.:w,V ?AzKMLK9KK" K y-ŃB-"IMb@Mb@Mb@ )Y/$?X9vS㥫yL?}/]x!A A)AIyAI1I5٢~ *=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 C?5Y RzR i BM?:m?=@ D D; ; iR5%B %~@-ܵEhqhq"hq*hygyggfffrfbfC<@ɛzBu> eH@Ia eѮ=ɚiiiImIq?i,fi)q?頥q?)}Will construct direction to contact in vehicle frame from tetrahedron phase data.EUGBOe>He G>Ia  Ie ."IIe ܃BIe  =&Ia .Ia 6Ie P<:Ie M FBI ɠC I JI ɠCRI ɔCZI  =bI  =jI I6mw,:?AnWill construct direction to contact in vehicle frame from tetrahedron phase data.yrBr!IIz:Iz5٢]J ]i=9aQ e>aa eG٣e?9Gyi m> uNusing accuracyPremultiplier from configq}59u?}5Yu&sR iuB=@uDu ;u? ;uxU5 @hh"h*hgggfffrfbf`G=@ɛ zB >  IH@I  U=ɚiI<%"V%[@ɠ%/>I%\?i-%i))-\?-\?))E9E9*E9"E9GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.JzJyJJJ`:J9JJJn;Jo;J:J:uw,itT?A I:s?Y:"?: >9:=>y:HFʿ`H??Pƿ@_? 1¿D?"?ɨ:s?:݈;8yFBF!IINJIN5٢V׽ VV=9ZXX ^G٣\y^#~= b> fNusing accuracyPremultiplier from configdj59f奰?j5Yf\kR iftBhjo?j=@fDf:f*:fX5p r @rٵEh h "h *h gggfffrfbf@=@ɛEzBM> IMG@II M =ɚIiQIU<]]`@ɠ]3>I]?i]ɋiY)e?e?)aGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.izKXKK59KK# K  Will construct direction to contact in vehicle frame from tetrahedron phase data.) w,Mn?ABw?YBA?B?>9B^<>yBH$˿`?? ǿ'?¿ l)???ɨBw?B}H;B'CybBb!IMb@Mb@Mb@ )YPn? rhv/yD?CxiI"A KA)AIAyAI>I5٢vͽ ;=9 G٣y< > Nusing accuracyPremultiplier from config59?5YbR iLBhE?:?=@D;;\5 @hh"h*hgggfffrfbf>@ɛzB > G@I #=ɚiI &< IjH%N>I%C I%!II%BI% =&I!.I%9D6I%D<:I%K FMUf@ɠU8>IU]4?iU>iQ)U]4?U]4?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.GlL=GsAGsAGBO>w,'?A6~?Y6?6X>96+;>y6H ]̿x??eȿ@?`Gÿ;? ?ɨ6~?6;6#CyRcBR!IIZ[IZQ5٢~.1 ~V=9@   G٣ @9Gy i<  > Nusing accuracyPremultiplier from config%59w?%5Yb[R i)B!%?-=@D*;u*;_51 5@1hYhY"hY*hYgagagafafafirfibfm@Dz>@ɛlzBf> 隝E@I `=ɚiIL<<j@ɠ';>Iǽ?izi)ǽ?頭ǽ?)Gl&Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Ie Will construct direction to contact in vehicle frame from tetrahedron phase data./w,?ATv?Y?S>9:>yH@(Ϳ@/@?@s?bɿ 9\? ÿ`w??ɨTv?و;zKoKKh9KK$ K騍&CyPB!I ==uMb@Mb@Mb@qqq q)qYuOn?~jtv/yu8?uqu$A uA)uI"AIqqyuzAIeI5٢Q 2=9+ G٣yJ< > Nusing accuracyPremultiplier from config59?5YRR iB+:?:?=@D;;c5 @hh"h*hgggfffrfbf`i>@ɛ=zBM> R隽DF@I w=ɚiI<o@ɠ?>I\d?isi)\d?\d?)JJ|JJJJ@9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data. IjH L>I  I !II bBI &I .I 6I Ͱ<:I FGe G! B) OM >TGw,?A6W?Y6?6 %>96;Q9>y6HͿ??`%ʿ`?Ŀ d??ɨ6W?6.;6$CyB0BB\!IIJNIJp5٢VO> Vp=9ZGy UۼUC@IQ ]y=ɚYiYI]Im?imͥii)m?m?)iG G"GGGBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data. I 2w,?A^[:?Y^ y?^kP*>9^N#7>y^Hܪο p??ʿ?0ſt?@?ɨ^[:?^;^"CyjBj@!IIvxIv5٢~׽ ~E=9J  G٣ A9Gy <  > 5Nusing accuracyPremultiplier from config!U59%?U5Y%ER i%BQU?]=@% D% ;%6;%j5i m@@ihh"h*hgggfffrfbfҲ?@ɛyB^> %C@I ``>ɚiI4^< Ix@ɠݠF>Ig?iiƸ)g?g?)GiBqO=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%~GYy ʿYyAzKeJKeػ9KaKe% KeJ ~J J J J {m:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.TXw,?AB?YB?Ba%0>9B5g4>yBH>Ͽ`c?u?j˿t?@ſ S?* ?ɨB?BxW;B%Cy^B^ !IdfA-vonly read 0 of 1 data item for BIT error. Device response is::TS,25010812170489,35.0, +100,1493.1, 0  v@v v@v v@v  v@z IxIx٢W @=9c[ G٣yX=< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YL=R iB+:l:B?=@DX;{>m5%B %@%ٵEhihi"hi*higigi yIygqffHG>IC IA!IIBI =&I.I8D6I<:I Ffrfbf`@@ɛ-yB-r> )5B@I1 5*>ɚ1i1I5ؾ<]V]|@ɠ]bJJ>I]?i]͡ia)e?e?)a=Will construct direction to contact in vehicle frame from tetrahedron phase data.EGBO >?w,mo @A:ǣ?Y:v?:^5>9:T2>y:HϿ@@磿?+x?@o1̿N?ƿ??ɨ:ǣ?:s;8yFނBF IININ.5٢Z3 Z\=9Z`\\ ^G٣\yb< b> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdj59fs?n5Yf6R ifgBn :ln?:r?r=@fDf9;fK?fo5t v@th h "h *hgggfffrfbfj>@@ɛMyBMC> QU@@IQ UH>ɚQiQIU8eZ@ɠe\M>Ier?ie$ia)er?mr?)iEmWill construct direction to contact in vehicle frame from tetrahedron phase data.G1BAOU= }$?IU Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Response Not Received ] *response not receivede ,DAT read: user:1206> u BDAT read: Tx time:20:15:59.7838 u $Ping request sent.u 19 =G٣EB9GyE M> Nusing accuracyPremultiplier from config59ه?5Y-R i8BT:(?:?=@'D ;;ht5 ?@ֵEhh"h*hgggf!f!f!rf!bf%1@@JeJeJaJaJep:Jey9JaJaWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:15:59.7831 ɛyyBހ> A@I >ɚiIû< Q @ɠ ~Q>I 1?ix7i1)51?51?)9 iImjZHRHHD>IC I II΂BI =&I.I6I<:I~ FE} M Will construct direction to contact in vehicle frame from tetrahedron phase data.G G?G>GBO?`w,lvD@A2A?Y2?2k'C>92X;>y2H-ѿ਑`}Ŀ?`T9?`)ο@L?@1?ȿ?n?ɨ2A?21ʈ;2$Cy>BB IIJWIJn5٢R+2 RJ=9R=Q V>TT ZG٣XyZ/Q= Z> ^Nusing accuracyPremultiplier from config\b59^,?b5Y^o'R i^BdfB?f=@^/D^;^2;^w5h j?Alh|h|"h*hgggf f f rf bf ?@@ɛ=VyB=n> 9=H?@I9 E >ɚAiAIEͺ<?F@ɠ5+T>I??ifi)????)EE*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data.G6GaBqO|> I1w,,^@A:T4?Y:s?:G>9:8>y:Hѿcm?"?  Ͽ ?`ȿ??ɨ:T4?:C;:'CyFBF IRWill construct direction to contact in vehicle frame from tetrahedron phase data.IN`INm5٢Z ZJ=9^`6`` bG٣`yb< f> jNusing accuracyPremultiplier from configdj59f$?n5Yf R ifBln)?n=@f7Df? ;f ;fG{5t vAthh"h*hgggf!f!f!rf!bf- @@ɛU/yBU8> QU{>@IQ ]bk >ɚYiYI]ҶIe?imii)m?m?)qGsA GrAzKeLKe9KaKe' KeGEGYBiO]>JJJzJ|J1JJ`:J@9J3JUWill construct direction to contact in vehicle frame from tetrahedron phase data. I HE N>IE C IE IIE BIE  =&IA .IE 9D6IE <:IE FBI ˢCJI ˢCRI ˓CZI  =bI  =jI 6[w, x@A6 ?Y6J?6[K>96"6>y6Hѿ};? ?@Ͽ@]?@Mɿ =9} G٣C9GyD{< > Nusing accuracyPremultiplier from config59{?5YR iȹB#?: ?=@@D}; ;5 Ahh"h*hgggfffrfbf`A@ɛ yB :> >@I s>ɚiI̲<%_%@ɠ%%Y>I%r?i%6ɭi!)%r?-r?))Will construct direction to contact in vehicle frame from tetrahedron phase data.GGrAGrAGqBO~>e Will construct direction to contact in vehicle frame from tetrahedron phase data.C$w,@A6R?Y6~?67R>965>y6H` ҿj}C?#?Iп@ ?@ʿ ?@?ɨ6R?65;4yR_BR[ II^I^%5٢f fV=9jhl nG٣lyn; r> vNusing accuracyPremultiplier from configpv59rw?z5YrR irBxzG?z=@rGDr3:r:r]5 lA Ihh"h*hgggfffrfbfHRA@ɛ5xB5> 9=>@I9 =%>ɚAiAIEIM)?iMriI)M)?U)?)QGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK N KK s9K K ( K 9m*w,@A2?Y2> ?2W>924>y2H`EMҿx@mh?? i0п@?gʿw?@?ɨ2?2L;2#Cy:MB>D IEMb@Mb@Mb@AAA A)AYEMb?/$y&1yE ?E,E`E,A Et A)E1AIE AAyEAWill construct direction to contact in vehicle frame from tetrahedron phase data.II5٢-룽 -6=95!B<JUuJUsJU0JQJU[Q:JU9JUـ3JQQ e>aa mG٣iym< m> Nusing accuracyPremultiplier from config59yr?5Y R i~B!?:Z?=@PD;;`5 AӵEhh"h*hggg!f!f!f!rf)bf- A@ɛxB%> 隝>@I XC>ɚiI<k@ɠS^>IF?ii)F?F?)"G =G > qI}jHY>IC I. II;BI =&IFD.I:D6I<:I FGGq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.U1w,@A6=.?Y6l?66]>962>y6H@tҿu?? nUп.0?o˿??ɨ6=.?6 |;6"CyF2BF$ IININD5٢V Vg=9V^zXX ZG٣ZD9Gy^ < ^? bNusing accuracyPremultiplier from config`f59bLn?f5Yb|R ib`Bhj?j=@bWDb :b*:bb5nB nAnֵEhh"h *h g g g f ffrfbfA@ɛExBE> AEE=@IA MY>>ɚIiIIM֡IUd?iU,벺iY)]d?]d?)Y-Will construct direction to contact in vehicle frame from tetrahedron phase data.GnG?GGYBaOY> YIY7w,s@A6H?Y6 ?6b>962>y6H@ҿmY? ^? ͒п Ӏ?̿j?@h?ɨ6H?6q;6&CBWill construct direction to contact in vehicle frame from tetrahedron phase data.y>BF IININ5٢% %C=9%F9)) -G٣)y5j<< 5> =Nusing accuracyPremultiplier from config9E59= i?E5Y=R i=;BIMR?M=@=_D=.:=:= 5Y ]pAYhyh"h*hgggfffrfbf IA@ɛgxB@p> 隽V=@I >ɚiIz<RC@ɠb>I?i#iZ)??)GEzKJK+9KK) KGBOf>5Will construct direction to contact in vehicle frame from tetrahedron phase data. M $?II H _>I C I II BI  =&I .I ;D6I ~<:I =w,N@A6O?Y6a?6f>96$3>y6H`hҿqf *s? p?п ?^̿?`?ɨ6O?6;6$CyN BRI]Mb@Mb@Mb@YYY Y)YY]"~j?V-~jty]S#?]]].A ] A)]5AI] AYy]3AIuIuy5٢ɽ D=9< G٣y< > Nusing accuracyPremultiplier from config59fc?5YwQ iB#?:Q?=@gD;;5 Ahh"h*hgggfffrfbf!B@ɛ>xB4> K=@I %[N>ɚ!i!I%Cw<--V@ɠ-c>I-G?i-+.i1)5G?5G?)9G zWill construct direction to contact in vehicle frame from tetrahedron phase data.G BO- >JcKkm3 KcKcKc"KcJ sJ uJ J J K:J 9J J J e;a J e;a J f:a% J g:a% E Will construct direction to contact in vehicle frame from tetrahedron phase data.TDw,kAA2?Y28?2k>921>y2HW/ӿ`'``h??eѿ%?4Ϳ?ɯ?ɨ2?24;2#C dIdynBnIIvIvx5٢% %O=9%?)) -G٣)y57< 5> ]Nusing accuracyPremultiplier from configYe59]]?e5Y]7Q i]Bim?m=@]oD]:] :].5q uAhh"h*hgggfffrfbf UB@ɛ5xB5ɷ> QU<@IQ ]>ɚYiYI]Iez?ie6ia)mz?mz?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.) G%fGsAGtAMGGa YymBG)B1OM>? AzK JK 9K K * K ɻJw, -AA>7~?Y>?>\p>9>1>y>H@VsӿX ?? EѿY?@Ϳk?+?ɨ>7~?>(Έ;>&CyR݁BRI-Mb@Mb@Mb@))) )))Y-p= ף?Zd;O~jty-%?-j)-(0A -+A)-7AI-E A)y-G!AI=I=5٢M+ѽ MJ=9U*QY ]G٣]E9Gy]QB< e> mNusing accuracyPremultiplier from configau59eW?u5YeQ ieҸBuK%?u:}?}=@ewDe-;e,;e5 }AӵEhh"h*hgggfff=Will construct direction to contact in vehicle frame from tetrahedron phase data.rfqbf}@B@ɛwBX$> =@I  _!>ɚ i I <=#=9@ɠEf>IE?iE- iI)M?M?)qG G"GG IHf>IC IIIBI =&I.I Will construct direction to contact in vehicle frame from tetrahedron phase data.JQw,FAA6?Y6SS?6t>96.>y6HӿQe? L~?ѿ ?09ο#??ɨ6?6͈;6$CyNсBNIIVIV5٢zRp zP=9z%| G٣yh?< > Nusing accuracyPremultiplier from config 59 Q?5Y Q i BR?=@ D  ;  ; 5! -A)hIhI"hI*hIgIgIgIfQfQfYrfYbf]jB@ɛwBi> 隍=@I 8#>ɚiI?<z@ɠ_h>I*?ii)*?頥*?)GBO=JJnJ1JJJ99J3JJe;JJR:JS:EWill construct direction to contact in vehicle frame from tetrahedron phase data. IjWw,U`AA2"?Y2?2!x>92_->y2HӿuH``?Uj?@-ѿ`?tο6??ɨ2"?20;0yBBBIIJIJ%5RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢Z ZO=9Z!`` bG٣`yfO< f> jNusing accuracyPremultiplier from confighn59jK?n5YjQ ijBpr?r=@jDj;j;j5t vAvֵEh h "h *hgggfffrfbfB@ɛwBN> c=@I &>ɚiIS<Z?ޑ@ɠdi>I!s?iQi)!s?!s?)!G BO5=zK=a3JK=9K9K=+ K=UWill construct direction to contact in vehicle frame from tetrahedron phase data. I H g>I  I SII BI =&I .I 6I <:I F]w,_zAA6G?Y68?6{>96~+>y6HV7Կ@PA R?X?pҿ ?`A-Ͽ??ɨ6G?6݈;6(CyRBRxI5Mb@Mb@Mb@111 1)1Y5Q?:vMby5\/?5T55l3A 5A)5>AI5 A1y5z$AIIII٢]ܬ ]@=9eaa mG٣mF9Gym'< m> Nusing accuracyPremultiplier from configq59uD?5YuQ iucBp/?:?=@uDu qu=@Iy }r(>ɚyiyI}<@ɠej>I?iAi)?頍?)GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O=J rJ oJ J J G:J K9J J J _;J _;J :J :e Will construct direction to contact in vehicle frame from tetrahedron phase data. dw,rAA &$?I$RW?YRA?R'>9R(>yRHԿ`6 ?IC? 1uҿ@*? Ͽ{Z?g?ɨRW?RH;R'Cy^Bb[IIjIj|5٢r  rR=9rtt vG٣tyzrp< z> Nusing accuracyPremultiplier from config| 59~=? 5Y~Q i~>B  F?=@~D~;~;~5 Ah9hA"hA*hAgAgAgAfIfIfIrfIbfM:UC@ɛ}LwB}'7> 隅4=@I *>ɚiI*U<%P<@ɠ8k>I?iӷi)?頝?)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.q kw,NAA2?Y2?2Z>92JC(>y2HԿ `.J? 1?@ֲҿ`?`Ͽ F??ɨ2?27;0zK>JK>h9K<K>, K>yFBJLIUMb@Mb@Mb@QQQ Q)QYUV-?:vyUh1?U̼UԼU5A U?A)UGAAIUAQyU&AIiIi٢}n }A=9}H G٣y)< > Nusing accuracyPremultiplier from config59|6?5YQ iB1?:?=@D8;s6;b5 J AӵEhh"h*hgggfffrfbf`C@%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛU wBU2g> QUb>@IY ]->ɚYiYI]'Ie=?imXii)m=? =?)G!G! IIQG)B1O]>Hui>Iq IuIIuQBIq&Iq.Iq6Iu<:Iu FBIçCJIæCRIÔCZI =bI =jIa6 Will construct direction to contact in vehicle frame from tetrahedron phase data.qw,_'AA6M?Y6?6z>96(>y6Hտ!±??@wӿA?0пT? ?ɨ6M?6;6$CyJmBJ1IIRIR 5٢Z  ZX=9^`d fG٣fG9GyfWv< f> jNusing accuracyPremultiplier from confighn59j/?r5YjQ ijBpr?r=@jDj;jO;j5vB z AzֵEhh"h*hgggf!f!f!rf!bf%C@ɛvB_X> <2>@I ɚiIO%<CV@ɠm>IR}?i ˹i ) R}? R}?) GB O==JoJjJ0JJ>:J9Jـ3JJ{O;J~O;J:J:%Will construct direction to contact in vehicle frame from tetrahedron phase data. AIEj_xw, AA6?Y6??6m>96#*>y6H!dտ@g?@!?5Hӿ?^п@1w? s?ɨ6?6;6%CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yRVBRIIZIZa5٢bw bI=9f;Q f>dd jG٣hyj^< j> rNusing accuracyPremultiplier from configlr59n(?v5Yn Q inBtvP?v=@nDn:nz:n>5x ~ A|h!h!"h!*h!g)g)g)f)f)f1rf1bf5C@ɛ]vBeW> ae=@Ia aɚiiiIm`Iu_?iu꽺iy)}_?}_?)yGBO=zKu KKqKqKu- Ku 5Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I1 Hm j>Ii  Im IIm BIm =&Ii .Ii 6Im <:Im FtG~w,AA6?Y6z?6T>96@)>y6H"տ?@?@ӿ@?п@_?S}?ɨ6?6ƈ;6$Cy^yy }G٣yc< > Nusing accuracyPremultiplier from config59&!?5YиQ iB6?:x?=@DJ;D;5 u Ahh"h*hgggfffrfbf~&D@ɛvBH> 隭v=@I ɚiIlH<U@ɠ)p>I)?i콺i))?)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO5 >= Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I p-w,JBA:k?Y:?:R>9: *>y:H@ֿ@6??ӿ`'?`п@o?@w?ɨ:k?:n;:(CyV&BZIIfIf5٢Mܽ MM=9U/;Q U>yy G٣H9Gyo< > Nusing accuracyPremultiplier from config59?5YQ i_BI?=@D4;5;~5 % Ahh"h*hgggff f rf bf  ZD@ɛ}yvB}iU> y}D=@Iy ɚiI(<܋Ė@ɠ:q>IF?i#i)F?頕F?)Will construct direction to contact in vehicle frame from tetrahedron phase data.E G 圼G B O >Ww,ڒ/BAzKBiLKBs9K@KB. KB  N]L?YN ?NZ>9N%+>yNHaֿ 1@u??aAԿ`NY?@п`? jp?ɨN]L?N\;N&CyVBVI--only read 0 of 1 data item for altitude. Device response is::BD, +80 +8.76, 10.84, 0.00  -@5 5@5 5@5  5@5 I=I=5٢M MJ=9Md;Q M>QQ UG٣QyUf<JpJgJJJA:J9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data. >  bBottom track data is 0.4 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config593?55YQ i.B=+:9=q:=?==@D;[>w5A E AMӵE Ijhh"h*hgggfffrfbf`D@ɛKvB"I> 隕O<@I ɚiI䷐<+Ti@ɠAr>I?i0@i)?頭?)ZHRH?AH!I%C I%II%܀BI% =&I!.I!6I%<:I% FEKGiGYBiOZ> Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,oIBA:e?Y:S?:i>9:-->y:HPֿhٮ?@?OԿ?п? j?ɨ:e?:^=;:%CyNBNIIZIZ5٢b bS=9b;Q f>dd fG٣dyj7< j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59nd ?v5YnΤQ inBz :xzC:z?z=@nDnj[;nI?n5~B  AֵEh!h!"h!*h!g)g)g)f1f1f1rf1bf5@ҾD@ɛe(vBeN7e> ae;@Ia iɚiiiImWIu?i}iy)}?}?)y*E="E=E=U<G`%GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. I bG! 9 kw,QcBA &ĿY$y*;A2Will construct direction to contact in vehicle frame from tetrahedron phase data.F?YF?F%W>9F<.>yFH ֿ@?6?@Կ?9ѿB?@d?ɨF?FsP;DyzՀBzvI) II?5٢%4  %D=9-e;Q ->)) -G٣5I9Gy5S!< 5> EbBottom track data is 1.2 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM59E?M5YEΝQ iEҶBU9QU:UV?]=@EDEJ;EZ?E5a eAahh"h*hgggfffrfbfID@ɛuBL> :@I ɚiIՠ<jw@ɠs>I?i軺i)??)E]<Ga Ga"GaGazKKK9KK/ K RK?JK#?JqJlJ1JJD:J9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data. IH k>I  I 4II BI &I .I 6I <:I FG B O >#w,M2}BAy5B5NI        Mb@Mb@Mb@ )Y5^I ?J +v/y8?Hxi?A hA)QAI?Ay0AII5٢ ==9 Q  >   G٣y > Nusing accuracyPremultiplier from config%59?%5YQ iB-T:-9?-:-?-=@Dj;0;G51 =A9hYhY"hY*hYgYgYgafafafarfabfmY+E@ɛuBE> \=9@I ɚiI|<%"މ%)@ɠMu>IM@?iM-iI)M@?M@?)QEYEY*E]"E]mWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. } $?Iy {w,BA> S?Y>?>>9><&>y>HNF׿A?@?jEտq? п@?q?ɨ> S?>;>&CyVBV%IIjIj5٢v#8 v_=9vQ z>xx zG٣xy~z< ~> Nusing accuracyPremultiplier from config 59? 5YLQ ijB,?=@D::|5 Ah9hA"hA*hAgAgAgAfIfIfQrfQbfUoZE@ɛuB[> 7@I ɚ i I s%<[j@ɠu>I"z?i5Kdi1)="z?="z?)9G1B9O]=Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw,BAzKj`LKhKhKj0 Kj BKl:KnrAfj?Yf?f0>9f >yfH+f׿n?o?Mտ` +?п1M?~?ɨfj?f;f%CyzxBzIJUsJQJU0JQJUK:JQJUـ3JQMb@Mb@Mb@ )Y5^I ?MbT㥛 yBA  A)IAy2AIIs5٢ ==9ϻQ > G٣J9GWill construct direction to contact in vehicle frame from tetrahedron phase data. Ijy; M> UNusing accuracyPremultiplier from configI]59M?]5YMQ iM.B]~9?]:]?]=@MDM;M;Mf5i mAihh"h*hgggfffrfbf@>E@HI IIISBI =&I.I6I<:I FɛtuB;> 7@I ɚiI<f׈@ɠJSw>I?ini)??)GB)OM1>} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,,BA2?Y2W?2C>92>y2H&׿@I?`?Ǵտ ?`_п`??ɨ2?2;0yNXBRIIZIZ5٢b* b\=9bW&Q b>dd fG٣dyjc; j> nNusing accuracyPremultiplier from configlz59n毜?~5YnQ inB|~?~=@nDn֥;n*;n5  A hh"h*hgggfffrfbf E@ɛPuBA\> 6@I ɚiIk͚<%,i%@@ɠ-gx>I- ?i-̾i))- ?- ?)1GQBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1207> I BDAT read: Tx time:20:16:10.7339 $Ping request sent.%?Y>9?>^>9>Je>y>HJ׿W? ?տ ,?@Nпx?`ژ?ɨ>%?>;\\ bG٣`yb#; b> fNusing accuracyPremultiplier from configdj59f߯?j5Yf{Q ntIif̵Bln?n>@f Df;f;f5p vAth h"h*hgggfffrf!bf%E@ɛM'uBMN> IM4@IQ QɚQiQIU7<]V]@ɠ]jy>IeM?ieGia)eM?eM?)aE<GBO%n>zKuMLKqKqKu1 KuRK}?JK}?JqJpJJJD:J^9JJ IWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I ~II BI &I .I 6I V<:I z FBI}ɨCJI}ɨCRI}ɓCZI} =bI} =jI}ɉ55Aw,]mBAZ_2?YZ q?ZMm>9Z>yZH ׿`@o? .?ֿ@:?п5??ɨZ_2?ZS;Z$CybBfI)h h]Mb@Mb@Mb@YYY Y)YY]=9w9Q > G٣K9Gy^; > Nusing accuracyPremultiplier from config59د?5YtQ iB4?:_?>@D;;5 Ahh"h*hgggfffrfbf+F@ɛtBTK<> 3@I ɚiIC< \ ל@ɠ 'z>I ?i $i))5?5?)1]Will construct direction to contact in vehicle frame from tetrahedron phase data.E 9g=GBO )> ~$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,KCAy~BbIII5٢%0 %Q=9%Q ->)) 5G٣1y= => ENusing accuracyPremultiplier from configAM59Eѯ?M5YEnQ iEeBIIU>@EDE:E:E55Y ]A]ӵEhyhy"h*hgggfffrfbf]F@ɛtBI^O> 1@I ɚiIz<}熾@ɠ}*|>I?ii)??)EE*E"EG9BI]Will construct direction to contact in vehicle frame from tetrahedron phase data.OmW>w,B2CAv@?Yv?v3v>9vM>yvH Oؿ`(@$??:ֿ!t?zο?`?ɨv@?v;v&CyB3I qIujzKua3JKu59KqKu2 KuWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YCl?T㥛 :vy/?TCA %A) TAIAyp5AII5٢=M+ =9=9=OQ =>AA EG٣AyMs< M> UNusing accuracyPremultiplier from configQ]59UPʯ?]5YUfQ iU3Be1?m:m?m>@U$DUo;Uo;U5 AյEHQIQ IU!IIUBIQ&IQ.IQ6IU;<:IUg Fhh"h*hgggfffrfbfwF@ɛ=tBE^W3> AE<0@IA AɚAiIIM|IU/?iU-hiQ)}/?}/?)GQBYO:>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,KCAy~WB~II  I 5٢b? _=9%Q %>!) -G٣-L9Gy- -> 5Nusing accuracyPremultiplier from config1=595į?E5Y5`Q i5 BAAE>@5+D5y;5;5@5I MAQhh"h*hgggfff!rf!bf% F@ɛmttBmQ> ?<隕7.@I ɚiI]<Y؅@ɠX~>Ikk?i(i)kk?頭kk?)GBO>JUoJUfJQJQJU>:JU9JQJQJQa]JQa]JU:a]JU:ae iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.w,reCAWill construct direction to contact in vehicle frame from tetrahedron phase data.R1:?YRx?RNj>9R>yRH`^ؿ @"?`? ֿC?@ͿI??ɨR1:?R;R%Cy^%BbIIj Ij5٢vX vM=9z9Q z>xx ~G٣|y~i >  Nusing accuracyPremultiplier from config 59?5YPZQ i޴B?>@4D: :5! %A!hAhA"hA*hAgIgIgIfIfIfQrfQbfU"F@ɛJtBG> 隽-@I ɚiIq3<]@ɠm>I?iui)??)GBO= YIYJaJeAAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKIKK9KK3 K ,>N\hwRK?JK?HQ IQ  IU IIU ~BIQ &IQ .IQ 6IU <:IU F=3w, CAn ?YnR?nd>9n[C>ynHTؿVt??0ֿk?@U̿? ?ɨn ?nGS;n$Cy ~B IMb@Mb@Mb@ )Yn?i|?5ktyV.?q 0DA /'A);SAIhAy 7AII45٢QĽ :=9 qPQ  >  G٣y>- > %Nusing accuracyPremultiplier from config%59s?-5YSQ iB-U/?-:-?->@=D;;5A EgAAhh"h*hgggfffrfbf2G@-Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛutBu0"6> q}.@Iy yɚyiyI}=<ń]@ɠJ>I?iUi)?頭?)GBO!> E }$?IA Ju pJu hJu 1Jq Ju A:Ju Ȇ9Ju 3Jq Ju T;Ju T;Ju Ӭ:Ju Ԭ: Will construct direction to contact in vehicle frame from tetrahedron phase data.w,yCAy~B II-.I-5٢Uv ]V=9]Q ]>aa eG٣eM9Gym m> uNusing accuracyPremultiplier from configq}59uӮ?}5YuLQ iuBy>@uEDum ;u ;u5B Ahh"h*hgggfffrfbfsaG@ɛsBDI> *@I ɚiI-<Q@ɠWʀ>I4?i i ) 4? 4?) )= C YyBEWill construct direction to contact in vehicle frame from tetrahedron phase data.E};=GQBaO}z>Lw,)CA tIxWill construct direction to contact in vehicle frame from tetrahedron phase data.yޭ^~BޭnIzK2NKKK4 Kzrjg`WTNLHA;977864110/14785421.,9QXUPKIFC@?><==:EMb@Mb@Mb@AAA A)AYEGz?y&1X9vyE0?E`eEE\EA E(A)EQAIE AAyE7AI]*I].5٢mG  m9=9iQ u>qq uG٣qyy }> Nusing accuracyPremultiplier from config59羚?5YEQ i_Be1?:?>@ND ;;5 Ahh"h*hgggfffrfbfΙG@jH<bH<HI IxIIn~BI&I.I6Ig<:I FɛsB~4> )@I ɚiI(<@ɠZ>It?i)i ) t? t?)1E<GBOL>U Will construct direction to contact in vehicle frame from tetrahedron phase data.h*w,GCAJh?YJV?J|QJ>9J>yJH[ؿ`~i?@?C׿ ?`% ɿfY??ɨJh?J~;J'Cyr5~BrVIIzIz5٢* f=9 Q  >  G٣y; > %Nusing accuracyPremultiplier from config!-59%z?-5Y%?Q i%?B)-?->@%VD%:%:%51 =vA9hYha"ha*hagagigififqfqrfqbfuG@ɛsBsJ> <隥)@I ɚiIa<H=@ɠ*ˁ>I ?i7i) ?頽 ?)EE*E"E IjJK3 KA.KK"KJ5rJ1J5/J1J5G:J1J5(N3J1J5_;J5_;J1J1Will construct direction to contact in vehicle frame from tetrahedron phase data.G?G?GYBaOZ>+Uw,$CAWill construct direction to contact in vehicle frame from tetrahedron phase data.N?YN?ND>9Nj >yNH ؿx??``׿G?ZȿU? ?ɨN?NW;N%CyZ}BZ1II*I.5٢My MF=9MtQ M>QY ]G٣]N9Gye; e> }Nusing accuracyPremultiplier from configq59u옯?5Yu8Q iuB?>@u_DuQ;uQ;u5 aAhh"h*hgggfffrfbfCG@ɛ5isB5FF8> 15)@I9 9ɚ9i9I=ۦI?iޱi)??)GBO> IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMvNKMh9KIKM5 KM8500.-,*.4:ELR[`dkt}}~}{y{{zxxwuqHI I'II}BI&I.I6I0<:I` FL>w,KDA6'?Y6?60=>96p >y6HYؿgrTy? ?׿]? ^ǿ[3?=(?ɨ6'?6Ը;6&CyB}BBIMb@Mb@Mb@ )Y-?S㥫y&1y?5?/]`FA C+A);SAI#Ay:AI.I5٢ B=9oQ > G٣y_; > Nusing accuracyPremultiplier from config59鐯?5Y`1Q iB5?:?>@hD%;;*5 EA h1h1"h1*h1g1g1g9f9f9f9rf9bfEX2H@ɛm;sBm{9> imd(@Iq qɚqiqIu<}1}z@ɠ}Ȃ>I}9: >y:H ؿ@Xl@S??׿@3? 1ƿ =?0?ɨ:?:;:%Cy^u}B^IIf)If5٢n1M n[=9rQ r>pp vG٣tyviD; v> ~Nusing accuracyPremultiplier from configx59zƉ? 5Yz*Q izٳB  ? >@zpDzO;z);zk5 tAh9h9"h9*h9gAgAgAfAfAfIrfIbfM bH@ɛsB@> :&@I ɚiI< 殁 @ɠ 3>Iw?iNi)w?w?)G)G)GBO5==Will construct direction to contact in vehicle frame from tetrahedron phase data.! w,4DA HILWill construct direction to contact in vehicle frame from tetrahedron phase data.C?YB?R1>9 >yH iٿ e;? e?׿@?ƿ$k?7?ɨC?E;騕"CyޭU}BޭIzKeNKes9KaKe6 Keoqrvupa_^]\]`ba`b`^ZOA988642231//..,((((('%'%  Hj>I IIIp}BI&I.I6Ir<:I FBIQJIQRIQZIQbIU =jIU4Mb@Mb@Mb@ )YCl?v/:vyd;?xiԼHA ,A)QAI%Ay3;AI!I05٢0 -=9'IQ > G٣O9Gyf'; > Nusing accuracyPremultiplier from config 59h? 5Y"Q iB@{D;;5 Ah9hA"hA*hAgAgAgAfIfIfIrfIbfMYH@ɛ]rB](> ae'@Ia aɚaiiIm=<v @ɠÃ>IO?ii)O?頥O?)E <E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Hxw,NDA6M?Y6T?6oO+>96]>y6H[(ٿE[ޯ?`?z׿ z?dPſ ?@>?ɨ6M?6G;6&Cy>}BBIIHIH٢n'D nt=9nؕQ r?pp rG٣pyvH; v? zNusing accuracyPremultiplier from configx~59zy?~5YzQ izB ?>@zDze ;z ;zx5   A h)h)"h)*h)g1g1g1f1f1f9rf9bf=@1H@ɛmrBm"@R> qu%@Iq qɚqiqI}3<<4.@ɠ%>I?i:᰺i)?項?)E<<GiBy IjO=Will construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data.Mw,c}hDAyU|BUIIu%Iu5٢ ?=9Q > G٣y > Nusing accuracyPremultiplier from config59(q?5YQ ivB>@D;:85 !Ahh"h*hgggfffrfbfI@ɛ-rB- Y3> 15%@I1 1ɚ1i1I5<=f=˥@ɠ=>IEr:?iE9iA)Er:?Er:?)I IjEz<G?G?J5oJ5iJ50J1J5>:J5ڈ9J5ـ3J1aU@aU@aU@aU@Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zKONK+9KK7 K           HI III|BI&I.I6I<:I Fω w,BDABPExceeded connect timeout, disconnecting.>?Y>?>Oo >9>U>y>H@qٿ[If?N?9ؿ$P?ÿ?L?ɨ>?>͉;qq G٣y#< > %Nusing accuracyPremultiplier from config!-59%@%D%;% ;%5Y ]"Aahh"h*hgggfffrfbf 6I@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=UrB=x2> 9=%@I9 9ɚAiAIEQIMt?iuSuiq)ut?ut?)yEE*E"EGBO> {$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.e&w,F#DA:' ?Y:^?:>9:>y:HYٿ @?@2?gؿ`8?@fÿ?R?ɨ:' ?:;:$CyFm|BF=IIRIRN5٢ZS- ZU=9ZyAQ Z>\\ bG٣bP9Gybn; b> fNusing accuracyPremultiplier from configdj59f~`?j5YfQ if=Bln?n>@fDft;f;f 5t z#Axhh"h*hgggf!f!f!rf!bf%cI@ɛM-rBUVD> QU$@IQ YɚYiYI]䘤Imc?im3ii)uc?uc?)qG9BQO=Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A,w,DA I JznJzjJxJxJz|;:Jz9JxJxWill construct direction to contact in vehicle frame from tetrahedron phase data. ?Y N? I>9 h_ >y Hٿ5?@{?nؿuB?¿6l??Y?ɨ ? ި; H9I9 I=FII=||BI9&I9.I96I=e<:I= FzKmx+MKm9KiKm8 Km     yޭ:|BޭIMMb@Mb@Mb@III I)IYM$C?I +L7A`堿yM:?M94M+MKA M.A)MPAIMv*AIyMG=AIeIe5٢u7ͽ u%=9}Q }>yy G٣y.; > Nusing accuracyPremultiplier from config59U?5Y8P iB:?:?>@D;';X5 ]$Ahh"h*hgggfffrfbf`%I@ɛqB_"> $@I ɚiI@<%&|%@ɠ%>I-?i-蹯i))-?-?))GB!O=Q> unManaging dock network, ignoring radio surface power off% Will construct direction to contact in vehicle frame from tetrahedron phase data.k3w,sDA2W?Y2 ?2T>92 >y2Hٿ+@??ؿ`w?r¿a? ]?ɨ2W?2;2%CyR{BRII^ I^5٢fg f=9f2Q f ?hh jG٣hyn< n ? rNusing accuracyPremultiplier from configpv59rO?v5YrP irBtv ?z>@rDr:ra:r5~B ~z%A~صEhh"h*hgggfffrfbf I@ɛqB3 N> " ;1"@I ɚiI<t{&@ɠ>I& ?idi) & ? & ?) GBO= 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.9 Q i ĿY y uA= Will construct direction to contact in vehicle frame from tetrahedron phase data./9w,DAr$?Yr{c?r>9re >yrH`Gڿ@#@\?T?pؿ? ¿ %q?`?ɨr$?r-;r'Cy~{B~III5٢%t %D=9-,Q ->)) 5G٣5Q9Gy5ۡ; => ENusing accuracyPremultiplier from configAM59EE?M5YEZP iEBIMf?M>@EDE:Ez:E5Y ]\&AYhyhy"hy*hygyggfffrfbf J@ɛ=qB=1> AE!@IA AɚAiAIEm;Iu:?iu,殺iq)u:?u:?)yGBO= =z$?IEjJ oJ gJ 1J J >:J 9J 3J Will construct direction to contact in vehicle frame from tetrahedron phase data.H1I1 I5II5|BI1&I1.I16I51<:I5c FzK% &MK% +9K! K% 9 K% @w,EAy{BIMb@Mb@Mb@ )Yn?Q롿ly6?\MA -A)OAI,Ay=AI"Ih5٢ ?=9Q > G٣y  }> Nusing accuracyPremultiplier from config59*@D;;5 +'AյEhh"h*hgggfffrfbf@9J@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ lqB .>  !@I  ɚiIk<˗y@ɠ>Ih?igwi!)%h?%h?)!GBO > 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,^gEA6?Y68?6 >96[| >y6HRUڿY? ?R?ٿ?@jW? g?ɨ6?6&X;4yNG{BRIIZ4IZe5٢bF- b_=9biQ f>hh jG٣hyn-< n> 5Nusing accuracyPremultiplier from config)559-04?=5Y-P i-B9=v?E>@-D-~ ;- ;-5I M)(AIhqhq"hq*hqgqgqgyfyfyfrfbf`hJ@ɛCqB=> 隵A @I ɚiI0G<x@ɠ'>I?ii)??)Will construct direction to contact in vehicle frame from tetrahedron phase data.E]<GBOn> ! I! Z4Mw,9b7EAJhJjfJhJhJhJj9JhJh]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHI III~{BI&I.I6I<<:Ik Fy{BiIzKEqKKE9KAKE: KE !$#" Mb@Mb@Mb@ )Ykt?I +~jty 0?9 -0A)PAI-Ay ?AI6I5٢ƽ #=9Q > G٣R9Gy > Nusing accuracyPremultiplier from config595)?5YP iB|0?:?>@D;Y;"5B (AصEhh"h*hg g g f f frfbf෦J@ɛ= qB="> AE @IA AɚAiAIEqIU^?iUaiQ)U^?U^?)YE]X;G)B9O}Y>Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,QEA:v3?Y:9@:\>9: >y:H@ڿ`F?)?@ڇٿ?j?@k?ɨ:v3?:);:&CyFzBJ>IIR>IR5٢Zrh Z=9Z@gQ Z?\\ ^G٣\ybk< b? fNusing accuracyPremultiplier from configdj59fO"?j5YfP ifsBhnO?n>@fDf:f" ;f$5p r*Aphh"h*h g g gfffrfbf@J@ɛEpBE`K> IM@II IɚIiIIM;I]J?i]ݬiY)]J?]J?)a y$?ImWill construct direction to contact in vehicle frame from tetrahedron phase data.EǤ;GGsAGYBiOZ> Will construct direction to contact in vehicle frame from tetrahedron phase data.Y>Zw,jEAJw?YJ?[@J>9J >yJH ڿ@?`?ধٿo?y?@[l?ɨJw?J>c;J$CyrzBr"IIGI5٢!ٽ D=9WQ > %G٣!y%/; %> -Nusing accuracyPremultiplier from config)559-?55Y-P i-WB9=?=>@-D-;-] ;-\(5MB M*AMյEhihi"hi*higigigqfyffrfbf8K@ɛpB-> 隽@I ɚiI)<aux@ɠ>I?ii)??)EE*E"E IGBWill construct direction to contact in vehicle frame from tetrahedron phase data.Ouy>JJkJ0JJJ9Jـ3JHI IXIIzBI&I.I;D6IO<:Iz FBIJIRIZIbIjIǵX4zKm ^MKm s9Ki Km ; Km  +;N #  Ak"|k A s } w r*'aw,քEA:5}?Y:]@:e>9:a>y:H`Tڿ`` :?@?ٿ`}?J ?`uk?ɨ:5}?:U ;:#CyJ{zBJ ImMb@Mb@Mb@iii i)iYmQ?~jt~jtym(?mDimZNA m0A)m+OAIiiyiIXI_5٢ B=99Q > G٣S9Gyk9 > Nusing accuracyPremultiplier from config59Y?5Y6P i@D;p; ,5B L+AصEhh"h*hgggfffrfbf8K@ɛ-pB-.> 1=|@I9 9ɚAiAIEI].?ieXia)e.?m.?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Ij Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1208>  BDAT read: Tx time:20:16:21.6840  $Ping request sent. 96g>y6Hڿ*Q1??ٽٿy?e`?k?ɨ6Ǭ?6B;6(CyNAzBNIIZ[IZ 5٢bj bX=9f(Q f>dh jG٣hyj{; n> rNusing accuracyPremultiplier from configpv59r?v5YrQP ir$Btv?z>@rDr:r:rX/5| ~4,A|hh"h*hg!g!g!f!f!f)rf)bf-`3iK@ɛ]VpBeCm6> ae@Ia aɚaiiImsu@ɠuŞ>I:?ii):?:?)G ?G >G BO5=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:16:21.6833 I {mw,EA-l?MWill construct direction to contact in vehicle frame from tetrahedron phase data.Y- @-gl>9-;>y-H )ڿ`@C?=?ٿ@u?z?@k?ɨ-l?-Yg;-&CjH<bH<HI IIIvzBI =&I.I6I<:I FyzBIzKMߩPKM+9KIKM< KM7kzo5`A" }uqld^[][VTOLKJIGHHCC@B@??>==<;;QxmMb@Mb@Mb@iii i)iYm)\(?I +V-ymG!?m94mmOA m1A)mnRAIm.Aiym@AI&IK5٢ܧ %=9bQ > G٣y:D; > Nusing accuracyPremultiplier from config59?5YP iBy!?:?>@D;;35 -,A)hh"h*hgggfffrfbfK@ɛpBT> 隭 @I ɚiI+<q@ɠe>I6?i@i)6?6?)GBO%o>Will construct direction to contact in vehicle frame from tetrahedron phase data.btw,eEA2N?Y2{@2->92Z>y2Hۿ[r??ٿz??`i?ɨ2N?2ݕ;2%CyByBBIIJ+IJg5٢R) R=9R8LQ V?TT VG٣VT9GyZ; Z? bNusing accuracyPremultiplier from config\f59^c?f5Y^`P i^Bdf?f>@^D^+;^:^[65h no-AlhYhY"ha*hagagagafafifirfibfm K@ɛoBU> @I ɚiIg< q@ɠv@>ID?i&i)D?D?) =x$?I9G BO5=JnJlJJJ|;:J9JJJJ;aJJ;aJaJaMWill construct direction to contact in vehicle frame from tetrahedron phase data. Will construct direction to contact in vehicle frame from tetrahedron phase data.Uzw,5BEA6?Y60@6i>96>y6H`97ۿ@3?@?k#ڿ??,?k?ɨ6?6ۇ;6'CyRyBRIIZ4IZe5٢b  bH=9b:Q b>dd fG٣dyj@< j> vNusing accuracyPremultiplier from configpv59ri쮜?z5YrJP ir߱Bxz1@z>@rDrX:r:r95B -A۵Eh!h!"h!*h!g)g)g)f)f)f)rf1bf5@eL@ɛoBB6>  @I ɚiI^< o J@ɠ >IY?ii)Y?Y?)GmrAGmoAG)B9OU= )I)mWill construct direction to contact in vehicle frame from tetrahedron phase data.Hk>I IIIzBI =&I.I6I<:I FzK 9[OK 59K K = K |ztplgb_\VTSLC93,&$" tw,mFA6B?Y6@6*:>96 >y6Hۿ?گ? Dڿ:?@|?@.k?ɨ6B?6݇;6%Cy^yBbIMb@Mb@Mb@ )YK?{GztQy^?ףu 2A)I-0AyGAAIId6٢e+ }3=9}d|;Q }> G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59⮜?5YP iɱBk?:q@>@D <g<=5B 6.AصEhYhY"hY*hagagagafafifirfibfAL@ɛoBM%> -7<O#@I ɚiI <-n-@ɠ-^ń>I-p?i56i1)5p?5p?)1G!B)OM1> IjJ pJ gJ 1J J A:J 9J 3J J T;J T;J =:J ?:m Will construct direction to contact in vehicle frame from tetrahedron phase data.]w,FA6?Y6՞@6>96ٜ >y6HڿR?Z?-ٿ ?|?Wi?ɨ6?6,C;6&CyRyBRIIZIZd6٢b6 fi=9f@;Q f?dh jG٣jU9Gyj&» j? =Nusing accuracyPremultiplier from config1)I MCm595ۮ?u5Y5P i5BH~GO@>@5 D5<5Y<5A5 YyA v.A h1h1"h1*h1g9g9g9f9f9fArfAbfEOpL@lUJTimed out from 2025-01-08T20:06:24.3Zq6UlUfCompleted lineCaptureHoming:MicromodemComms:CheckIn16U lUAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkUVCompleted lineCaptureHoming:MicromodemCommsɛaoBxID> $@I ɚiIh7<Mm@ɠʓ>I у?i Ti ) у? у?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.E;GG>GBO>  v$?I ͍w,9FAF)?YF{@F? >9Fc >yFHڿ`b?`q?ٿ?:Zwt? g?ɨF)?FG;F%CyjyBn|I%Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHAAHI IIIyBI&I.I6I<:I FI-I-6٢Qy 1=9;Q > G٣yb > Nusing accuracyPremultiplier from config59Ѯ?5Y%P iB,@>@(D::E5 .AhIhI"hI*hIgQgQgQfQfQfYrfYbf]ನL@5eknAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6zK#NKKK> K     ɛ+oB0> &@I ɚiI$<;ln@ɠX>I?ihi)??) E/C<GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O- >"w,nUFA \I\yzyBzuIMb@Mb@Mb@ )Y~jt?{Gz{Gzty?#ףPA A4A)UAI2Ay\CAII5٢= H=9Q > G٣y > Nusing accuracyPremultiplier from config59'ɮ?5YRP iB?:?>@0D;;H5B /A۵Eh!h!"h)*h)g)g)g)f1f1f1rf1bf5;L@ɛ]nBeo?> ae(@Ia aɚiiiImגIu7?iub8iy)}7?}7?)yEE*E"EMWill construct direction to contact in vehicle frame from tetrahedron phase data.JUrJQJU0JQJUG:JQJUـ3JQJU_;JU_;JQJQG BO=q> Will construct direction to contact in vehicle frame from tetrahedron phase data.3Hw,QoFA:X?Y:K@: >9: >y:H@ݣڿ@D,?`?@ٿ@n?gx?b?ɨ:X?:i@;8yFyBFpIIRIRc6٢Z] Z_=9Z%\\ bG٣bV9Gyb9 b> fNusing accuracyPremultiplier from configdj59f?j5YfP if}Bln?n>@f7Df4;f-N;fK5x z2/Axhh"h*hgggfff!rf!bf%E M@ɛMnBMjG> QU+@IQ QɚQiQIU<]zje@ɠe>Ie?ieꤺii)m?m?)qGsAGtAGBO= ImWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IdIImyBI&I.I6I<:I FzK PLK 9K K ? K RK ?JK >0w,.FAFDD?YFvA@F>9F >yFH ڿ ?(?{ٿ?@¿t?a?ɨFDD?F.;DyRyBRsIMMb@Mb@Mb@III I)IYMZd;?y&1I +?yM?M`eM94=9}ay;Q > G٣y > Nusing accuracyPremultiplier from config59?5YP ilB ?:P?>@@D;;O5B '/AصEWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:16:24.9632 TRx dataTimestamp_ set to:1736367386.200825hh"h*hgggfffrfbf`\AM@ɛnB<8> .@I ɚiIZ]<Qei@ɠ>Ip?ii)p?p?)GBO5 > u$?IJSK[(3 K[(.KSKS"KSJu oJq Jq Jq Ju >:Jq Jq Jq Ju {O;Ju ~O;Jq Jq  Will construct direction to contact in vehicle frame from tetrahedron phase data.Zw,F FAyvyBvpI)x xI~I~6٢M[A MN=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam59e?m5YeP ie\Biim>@eGDe.:e:eS5y }:/Ayhh"h*hgggfffrfbf@%tM@ɛ jnBL> %T1@I) 1ɚAiAIMI@isi) @ @)9GBO!>Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 20:16:24.9632 LVL= 16928, 24273, 14322, 24915, AGC= 73, IDX= 462,-0.32,-1.708,-2.597,-1.027,-1.674, PHS= 0.054,-0.876, 0.644, RAW= 172.7, 2.7, CAL= 173.1, -5.9, ROT= 336.9, 5.9 MYgot valid direction response: 20:16:24.9632 LVL= 16928, 24273, 14322, 24915, AGC= 73, IDX= 462,-0.32,-1.708,-2.597,-1.027,-1.674, PHS= 0.054,-0.876, 0.644, RAW= 172.7, 2.7, CAL= 173.1, -5.9, ROT= 336.9, 5.9 U8DAT read: $Error in header U*Received a bad headerX#Rx 2: Read direction message, but no range.`direction in FSK: [-0.150207,-0.974367,0.167474] 9  9ÿ.Mo?   B ^ 7) SaI Ii /]= A` /$? b@@ A= ZA@) BҽI )@i B=  [MYe?Uɴh?E*2r??) #4k?I ABi ܿ  N, I jw,FAjH"<bH H0I0 I2RII2OyBI0&I0RWill construct direction to contact in vehicle frame from tetrahedron phase data..I06I2<:I2 FBIJIRIZIbIjI4}?Y})@}3>9}|>y}H`̀ڿ ? ?@\ٿ?h¿i?Z\?ɨ}?}H;}$CyޭyBީzK%KK%9K!K%@ K%Mb@Mb@Mb@ )Yq= ףp?~jt:v?y+?T<VA 6A)$XAI5AyFAIIu5٢j: (=9;Q > G٣W9GyC > Nusing accuracyPremultiplier from config59?5YP iFB+?:?>@RD;p;BW5B 0/A۵Eh h "h *h gggfffrfbfM@ɛM.nBMZ8> IM5@II QɚQiQIUȍ<]"g]:@ɠ].>Ie@ieiia)e@e@)aGYBqO:>MWill construct direction to contact in vehicle frame from tetrahedron phase data.lw,FA IBs)?YB4@B>9BT>yBH#ڿ ??@;aٿ`'?F¿*?5Z?ɨBs)?B;@yR~yBZoIII٢솻 W=9 #;Q U>aa eG٣aym: m> }Nusing accuracyPremultiplier from configq59u?5YuayP iu4B?>@uZDu:uX:Will construct direction to contact in vehicle frame from tetrahedron phase data.uZ5! %6/A!hAhA"hA*hAgIgIgIfIfIfQrfQbfU~M@ɛmBK> 隍(8@I ɚiIV< fq@ɠtZ>I5@i{ji)5@頝5@)GBOD>e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie A4w,ZFA6a0?Y67@6>>96>y6H`ˊڿ\ @?`u?`1`ٿ@V?¿b?X?ɨ6a0?6;6%CyNyBNpIIVhIV5٢z ; zs=9~;Q ~? G٣y*:  ? Nusing accuracyPremultiplier from config 59 ?5Y tP i %B?>@ aD m ; ; ]5! -./A)hQhQ"hQ*hYgYgYgYfYfafarfabfe N@ɛmB#n> 隕:@I ɚiI<CI;G@ibti);G@頭;G@)GB t$?IjO==JumJueJqJqJu\8:Ju9JqJqa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.HI IKIIEyBI&I.I6I<:I FzK KK h9K K A K ~w,v GA2[?Y2L@2&E>92ǩ>y2H`ڿ@˰??Wrٿs?¿??*W?ɨ2[?24̉;0yBuyBBiIMMb@Mb@Mb@III I)IYMn?J + G٣X9GyI; > Nusing accuracyPremultiplier from config59?5YlP iBv6?:?>@kD'W;V;9a5 ]/Ahh"h*hgggfffrfbf'DN@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5mB5޻M> 55<=@I1 9ɚ9i9I=IEa@iEiI)Ma@Ma@)IGIBYOu= I Will construct direction to contact in vehicle frame from tetrahedron phase data.ۨw,*R$GAy~yyB~lIIZI5٢%2< %P=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=І?M5Y=eP i=BIIM>@=sD=:=.:=d5Q ]K/AYhh"h*hgggfffrfbf{wN@ɛ]omBevV> ae@@Ia iɚiiiIm{<*cD@ɠc>I{@iPi){@頭{@)G BO5 >-Will construct direction to contact in vehicle frame from tetrahedron phase data. IZHA RHE ?Aw,->GAJoJcJJJ>:Jx9JJHyIy IyIyIy&Iy.Iy6I}<:I} FFWill construct direction to contact in vehicle frame from tetrahedron phase data.ykyBdIeMb@Mb@Mb@aaa a)aYey&1?MbX9Mbpye`E?eʡeeYA e;A)e]AIeV8AayeJAIKI~5٢ )=9Q > G٣y >zK]JK 9KKB K Nusing accuracyPremultiplier from config59|?E5Y\P iڰBMiF?M:M?M>@D<p<h5Q U/AYhyhy"hy*hygygygyfffrfbf N@ɛ1mB'-E> C@I ɚiI=<%Ӷa%@ɠ%A>I-o@i5i1)5o@5o@)15Will construct direction to contact in vehicle frame from tetrahedron phase data.E 0:D<Ga Bi O > I Ȼw,R XGAy ayB ]II%bI%5٢5 5{=91Q 5 ?99 =G٣=Y9GyA E ? MNusing accuracyPremultiplier from configI]59Mu?]5YMVP iMŰBaae>@MDMS;MS;Mk5i m/Aihh"h*hgggfffrfbfN@ɛ mB|> gE@I ɚiI < ` @ɠ >I@iLi)@@)E8<Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO5 >~G ſYy2A= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,mrGA^U?Y^@^>9^l>y^HH ۿ`C+??ٿ?)ÿI?S?ɨ^U?^I4;\yrMyBrQII~GI~5٢D  I=9 &;Q  > G٣!y5~< E> MNusing accuracyPremultiplier from configIU59Ml?5YMNP iMB?>@MDM AEqG@IA AɚAiAIEQIUd@iU3`iQ)]d@]d@)YHl>I I?II0yBI&I.I6Iְ<:I FJ%mJ%hJ!J!J%\8:J%Ȇ9J!J!J%D;aMJ%D;aUeWill construct direction to contact in vehicle frame from tetrahedron phase data.EJ%Ӭ:aJ%Ԭ:aGB O%>zK JK s9K K C K 31//..,+('(%! w,YGA>?Y>-@>c'>9>&>y>H@^3ۿ @?ѐ?` ڿ?P2ÿ`?S?ɨ>?>1~;>'Cy^4yBbBIMb@Mb@Mb@ )Y rh?MbyL?̼9\A  >A)aAI9AyGMAIJIE5٢g B=9E':Q > G٣y; >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config%59c?-5YiFP iB- N?-:-a?->@Dx;w;r59 =^0A9hYhY"hY*hYgYgagafafafarfibfm`wHO@ɛmlBmX> 隍[I@I ɚiI<^@ɠx>I@irli)@頥@)EE*E)"E) iIiGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,WGA2.?Y2@2y>92#>y2H Rۿ@ ??%ڿ@J?Eÿ ?R?ɨ2.?2Ƌ;2$Cy>yBB,IIJLIJ5٢R R`=9R:Q V>TT VG٣VZ9GyZ; Z> ^Nusing accuracyPremultiplier from config\f59^\?j5Y^W?P i^jBpv?z?@^D^w;^;^"v5 0Ah)h)"h)*h)g)g)g)f1f1f1rf1bf=`#wO@ɛrlBp> I@I ɚiI]N}<o]%@ɠ%>I%$@i%ri))-$@-$@))GIBYOu= Will construct direction to contact in vehicle frame from tetrahedron phase data. YIYjH <bH <H k>I  I ,II yBI  =&I .I 9>yH`gۿP@kB?@Xs?vڿ"?bÿI?P?ɨM?;y%xB%IMb@Mb@Mb@ )Y(\?B`"۹yzT?νL\A 3=A)aAI9AyIHI5٢/ =9 Q:Q  > G٣y6< > %Nusing accuracyPremultiplier from config-59MP?-5Y4P i8B-nV?-}:5W?5?@D%;;z59 =1A9zKM|f>jWH=3'hihi"hi*hqgqgqgqfqfyfyrfybf}@O@ɛ3lBL> 隭6K@I ɚiIK2z<7G\O@ɠ?>IN@iaGi)N@頽N@)G?G>GBOF>Will construct direction to contact in vehicle frame from tetrahedron phase data. E r$?IA w,rNGAF: ?YFp@Fo>9FG>yFHۿ?h?ڿ.=?`Lÿ`?@,P?ɨF: ?Fq;DynxBnIIv^Iv5٢~, ~=9o=;Q ?  G٣ y <  ? Nusing accuracyPremultiplier from config59OI?5Y.P iB!%?%?@D ;q ;K}5) -h2A1hQhQ"hQ*hQgYgYgYfYfafarfabfe@TO@ɛ lB=>  '隕YJ@I ɚiIy+v<js[Ū@ɠ͝>Ig@i!i)g@頥g@)GyBO=uWill construct direction to contact in vehicle frame from tetrahedron phase data.% Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,CGA:c?Y:1@:ok>9:Q>y:Hۿ)t:?^?jڿMZ?`ÿ?O?ɨ:c?:0;:&CyBxBBIIN_IN5٢V2 VO=9Z;Q Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from config`j59b&@?j5Yb&P ibBhj?n?@bDb ;b" ;b5p r2Aphaha"ha*hagagagifififqrfqbfu P@ɛkBp~`> JԿOK@I ɚiIr< IjbQZW@ɠ>Iq@i㤺i)q@q@)G!B)OM=H}l>Iy I}II}xBIy&Iy.I};D6I}<:I} FBI9JI9RI9ZI9bI9jI= 5Will construct direction to contact in vehicle frame from tetrahedron phase data.zK $SNK s9K K E K   RK ?JK >w, HAy]SxB]IWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y X9v?1ZdV-y S? "۽ h `A `?A) ZdAI 99 =G٣E[9GyE M> eNusing accuracyPremultiplier from configYm59]5?u5Y]P i]ïBu?V?u}:un?u?@]D]l;]4T;]5 3Ahh"h*hgggfffrfbf>&P@ɛkBX> 隕FK@I ɚiIIo<K Y @ɠˢ>Iٮ@i¤i)ٮ@頽ٮ@) IGBO%>JM oJM cJI JI JM >:JM x9JI JI a] @a] @a] @a] @ Will construct direction to contact in vehicle frame from tetrahedron phase data.D w,D&HA> ?Y>X#@>>9>f,>y>H@(7ܿp%?I?ۿ@? +ÿ`{?@qL?ɨ> ?>)>;>'Cyb xBbIIjyIj5٢rI vc=9vg;Q v>xx zG٣xyzc< ~> Nusing accuracyPremultiplier from config 59-? 5YZP iB  ? ?@D:P:܇5B %4A%ݵEhIhQ"hQ*hQgQgQgYfafafarfabfm@H=P@ɛpkB/m> 隽I@I ɚiIװk<X@ɠ >I@i8iq)u@u@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.E=9GB!O=r> IZH RH AAH m>I  I II GxBI &I .I  G٣y > Nusing accuracyPremultiplier from config59"?5Y P iiB%?@D:&:55B 56A5ڵEhYhY"hY*hYgYgYgafafafarfibfm\[P@ɛ4kBnP> 隝*I@I ɚiI4h<V9@ɠs>I@iUi)@頭@)EE*E"EzKqLK59KKF KWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1210> BDAT read: Tx time:20:16:32.6341 $Ping request sent. q$?I Vw,ZHAF?YFv@F">9FO>yFHx}ܿs@ug?44?IۿC ?@>Ŀ ? G?ɨF?F ;F#Cy^wB^8I}Mb@Mb@Mb@yyy y)yY}v/?+(\µy}xI?}}}aA }~@A)}fAI}$ G٣\9Gyc< > Nusing accuracyPremultiplier from config59?5Y"P i@BK?:??@D;<;"5 7Ahh"h*hgggf f f rf bf UrP@ɛ=kBEl> AEG@IA AɚIiIIMdeIUl@iUiY)]l@]l@)YJ%kJ%bJ!J!J%2:J%t9J!J!G1BAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:20:16:32.6333 Ou= Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,?stHA2`r?Y2@24I">92>y2Hܿ p"?`?yۿ{%?@p3Ŀ? F?ɨ2`r?2̓;2&CyN(wBNIIVYIV5٢bv bY=9btQ b>dd fG٣dyj[< j> nNusing accuracyPremultiplier from configlr59n?r5Yn'O inBpv?v?@nDn ;n:nh5x z8Axhh"h*hg!g!g!f!f!f)rf)bf- UP@ AIEjɛjBN_> UE@I ɚiIUb<ݹTv@ɠĊ>I5@iyfi)5@5@)GBO=H-n>I) I-KII-wBI- =&I).I)6I-<:I- FeWill construct direction to contact in vehicle frame from tetrahedron phase data.zK JK h9K K G K xh#w,fKHAB?YB@BJ">9B>yBHAݿ{Y??ۿ #?3Ŀ?`RR?ɨB?B؁;B"CyޝvBޝIWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYES?x&Zd;OyE/=?E7EjEbdA EAA)EiAIAAyE SAI]I]6٢m m&=9/7Q > G٣y; > Nusing accuracyPremultiplier from config59?5YpO i߮Bj??:l??@D;;ʖ5B 9AݵE 5p$?I1hIhI"hI*hIgQgQgQfQfQfYrfYbf]۪P@ɛjBgG> 隍CE@I ɚiI\`<\Sn@ɠ>I=-@ii)=-@頥=-@)GBO=>J5 lJ5 _J1 J1 J5 <5:J5 =h9J1 J1 m Will construct direction to contact in vehicle frame from tetrahedron phase data.) Cm .~G vA 3ؿY vAy A/)w,)HAy~vBIIkI5٢5. 5w=9=Q = ?AA MG٣M]9GyM M ? ]Nusing accuracyPremultiplier from configYm59]{?m5Y]O i]Biiu?@] D]A;]A;]5 :Ahh"h*hgggfffrfbf \P@ɛijBOs> FB@I ɚiI\< yR i@ɠ >I :@i i ) :@:@)GBO==Will construct direction to contact in vehicle frame from tetrahedron phase data. I!jH! bH! H- o>I- C I- II- vBI-  =&I- ED.I) 6I- <:I- Fz0w,*HA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:5?Y:*:@:$>9:8 >y:H&ݿ`5r? ?ܿ|?{Ŀv??J?ɨ:5?:j;:%CyF?vBFpIININ&6٢bDI fR=9j;Q n>ll rG٣pyr; r> vNusing accuracyPremultiplier from configtz59v=?z5YvO ivB|~?]?@vDvw 隽A@I ɚiIswZ<t2Q\@ɠ5>IN@ii)N@N@)zKJK9KKH KGBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data. I 6w,HARg*?YR4@R'>9RC>yRHݿ s?,?@p?ۿRy?mĿ_?D?ɨRg*?RH;R!Cy^vB^JIEMb@Mb@Mb@AAA A)AYE rh?I +ˡEyE,?E9E什A A)EjAIE;=AAyESAII% 6٢$  ;=9P;Q > G٣yO > Nusing accuracyPremultiplier from config59魜?5YeO ieB-?:/@?@DU;;Ѡ5B #=AݵEhh"h*hg!g!g!f!f!f!rf)bf-P@ɛUiBUa> Y]V@@IY YɚYiYI]FWImN@immii)mN@mN@)qMWill construct direction to contact in vehicle frame from tetrahedron phase data.GQJejJecJaJaJe.:Jex9JaJaBqO= Will construct direction to contact in vehicle frame from tetrahedron phase data.A9J&>yJHݿ@u??ۿq?ſ?>?ɨJj ?J\ט;J&C PIVjyZuBZIIbIbw 6٢jjV j[=9n;Q n>lp rG٣r^9GyvU v> zNusing accuracyPremultiplier from configx59zfଡ଼?5YzO iz@B.@ ?@z%Dz0;zJ0;z5 c>Ah1h1"h1*h1g9g9g9f9fAfArfAbfE Q@ɛuiBu\> q}l>@Iy yɚyiI:JU<e+OE@ɠ&щ>IR@i)ği)R@頍R@)G?G>GQBaO=HI I^II"vBI&I.I6I<:I F]Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} &~JK} h9Ky K} I K} ȶCw,ޓIA @2?Y25.@2E,>92K>y2Hrݿ@uW?? 4ۿ B?Hhſ?`49?ɨ2?2;2$CyNxuBRIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y~jt?y&1|?S㥫y?`;/]fA )mAIyTAIIv6٢ :=9:;Q > G٣y@ >  Nusing accuracyPremultiplier from config 59խ?5YO iBE?:@?@-D ;;5! %K?A!hAhA"hA*hAgIgIgIfIfIfIrfQbf(Q@ɛiBr7H> >@I ɚiIS<  M f@ɠ >I6P@ii)6P@6P@)! o$?IG BOE>u Will construct direction to contact in vehicle frame from tetrahedron phase data.J lJ J /J J <5:J J (N3J Iw,uw)IAF(?YF3@Fn.>9F\>yFH;ݿu#p? ?@$ۿР?@޲ſU?3?ɨF(?F9;F'CyV(uBVIIfIfX6٢rW r\=9v;Q v>xx ~G٣|y~dh: >  Nusing accuracyPremultiplier from config }59 ̭?}5Y O i By@?@ 4D v< v< -5B @AEB*** querying acoustic contact ***jjhh"h*hgggfffrfbf@@Q@ɛ^iBdY[> <@I ɚiIńQ<L @ɠ >I qM@i Fi ) qM@ qM@)G1B9O]=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. I~jZH RH ?AH I  I II WuBI  =&I .I 6I ְ<:I FBIʩCJIʩCRIZI =bI =jI5Pw,NCIA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:20:16:35.9016 &TRx dataTimestamp_ set to:1736367397.060773*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784006 +(?Y h3@ 0>9 :U>y Hݿv%Q??ۿ ?ƿ` r?A/?ɨ +(? ߗ; %CyeuBmII#I6٢-A U7=9];Q e> G٣_9Gyn޷ > Nusing accuracyPremultiplier from config559?55YAO iۭB9E@E?@=D&<d<@5B AAݵEhh"h*hgggfffrf)bf-@_Q@ɛuiB}pA> }ݯ<}[>@Iy yɚyiyI\}P<K@ɠnȇ>IJ@i{_i)J@頕J@)GGsAzK}VBJK}9KyK}J K}GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034831 u n$?Iq +Vw,_&]IA2?Y2'@2+3>92t>y2Hݿz@_? ?~ۿ$?AIyM=VAIeIeu6٢}]F }V=9};Q > G٣y > Nusing accuracyPremultiplier from config59?5YO iŭBK?:@?@CD;;a5 NBAhh"h*hgggfffrfbf~tQ@ɛ hB j>  O<@I ɚiI4N<8J%ɨ@ɠ%>I%@@i%Ŝi!)%@@%@@))eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.290206GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 20:16:35.9016 LVL= 18736, 27313, 13762, 27347, AGC= 75, IDX= 326,-0.07, 2.584, 1.621,-3.027, 2.619, PHS= 0.053,-0.951, 0.634, RAW= 171.2, 3.8, CAL= 171.5, -5.1, ROT= 338.5, 5.1 E Ygot valid direction response: 20:16:35.9016 LVL= 18736, 27313, 13762, 27347, AGC= 75, IDX= 326,-0.07, 2.584, 1.621,-3.027, 2.619, PHS= 0.053,-0.951, 0.634, RAW= 171.2, 3.8, CAL= 171.5, -5.1, ROT= 338.5, 5.1 M PDAT read: Bearing 338.5, 5.1 (Local) U ~Local bearing/azimuth received: Bearing 338.5, 5.1 (Local) ] DAT read: Range 10 to 50 : 647.4 m (Round-trip 863.3 ms) speed 0.4 m/s e ,DAT read: user:1211> m BDAT read: Tx time:20:16:36.9841 m $Ping request sent.m 9J>yJH_ܿ|? ?ۿ3p?ƿ`[?-)?ɨJ1?J;J&CyVtBVoII~7I~6٢{ F=9;Q >  G٣ y  W > Nusing accuracyPremultiplier from config%59训?%5YO iB!%@%?@JD <;<5 BAEk-B%4av?k-Z[; k) k-.7tIA:k-!DBk- DZk->"-~\CRaԷ^@-҈77ƿ^qHX'K?Jk-߿Rk-C*-b.@m"h@K'H@-dW?aE> <>@I ɚiICM<wI@ɠx%>Iq8@i盺i!)%q8@%q8@)!Hmn>ImC Im}IImtBIi&Ii.Im;D6Im<:ImFG9BAOe4>J#K+|3 K+S}-K#K#"K#J=kJ=iJ=0J9J=2:J=ڈ9J=ـ3J9J=9;aMJ=9;aMUWill construct direction to contact in vehicle frame from tetrahedron phase data.J9aeJ9aezK JK }9K K K K RK ?JK ?dw,HܐIA. ?Y.t@.5>9.>y.H Eݿ pj@F?@Q?ۿ`t? ƿ `?`I)?ɨ. ?.+;.$CyotBRIWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y  rh?Zd;O?Mb`?y C ? j<= ; hA EA) I h?A y \WAI%I%X6٢5 5D=9YQ > G٣`9GyD< > Nusing accuracyPremultiplier from config59?5YO iB ?:@?@RD-;,;5 kCA IM  Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1N%Entering Terminal tracking update period 2.000000 s sec at 647.400024 m (mode 0.000000 count ).1N%qN%h)h1"h1*h1g1g1g11>5 |=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq>=|=rTransitioning to terminal guidance at range 647.400024 m q>=>=fAfAfArfAbfE ?ɛuhBu-Y> qu>@Iq yɚyiyI}K<nHv@ɠ+>I)@ili))@頝)@)EጹGBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.k/jw,NIAJu?YJ @Jh]7>9J.>yJHVݿd?@?Cۿ@?@^ƿ? !?ɨJu?JE];HyVStBVAII^I^ 6٢fE fd=9f;Q j?hh jG٣hyn2; n? rNusing accuracyPremultiplier from configpv59r,?v5YrxO irBxz@z?@rXDr:r :rƼ5y }CAyZl@qNNB*** querying acoustic contact ***jjhh"h*hgggg@>|Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1> |Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangefff!rf!bf% t{?ɛmRhBmP_> 隵 @@I ɚiIřI<mGt@ɠ]>I@ioři)@@)E0;GBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O*> l$?IjHa bHe <Hm m>Ii  Im +IIm 0tBIm  =&Ii .Ii 6Im <:Im Fqw,uIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246752J&mJ&aJ$J$J&\8:J&p9J$J$J&D;J&D;J&:J&:J_"?YJ@J9>9Jʂ>yJHsݿ@^@?@?ܿ?ǿ? ?ɨJ_"?J'˔;J&CyVGtBV:II^I^> 6٢f fJ=9f;Q j>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv59rD?z5YrO irvBx~ @~?@r_Drp/;rO;rN5  DA blNNI%~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqB--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideC-5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D55Initialize.qD55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD5 5Initialize.D51E5B5h=h7h=h7qDEEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlDEhAhEBM$Terminal guidance.BMqEUUInitialize.UdInitializing internal variables to default values. ZTransitioning guidance mode to: UNINITIALIZED*j]DRollout timeout set to 300.00 sec.mVIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE*j?q=zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance= { Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide> } Uninitialize.1?5q?5~5>Uninitialize WaypointComponent.f9fAfIrfqbf} ?ɛ=GtB=9> ==`I9 =7TɚAiEAww,lIA6?Y6խ@6;>96>y6H`nݿ`0`/?@*?ܿ +V?\ǿ`??ɨ6?6Ǯ;6$CybAtBb6IMMb@Mb@Mb@III I)IYM(\?I +?y&1?yM?M94=M` G٣a9Gyȹ > Nusing accuracyPremultiplier from config59?5Y`O igB?:;@?@fD;;5 %DAjlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal addTargetRange:: Added new target pos. range: 647.400024 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 BjպJjպ Added new target pos. range: 647.400024 m, bearing: 18.013804 deg, lat: 36.908285 deg, lon: -122.124163 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ZjFNOT Ignoring new targets: 647.40 m.Bj Jj  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.202545 m, bearing: 28.574444 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.574444 deg. :jW>%HeadingCmd: 0.498718 target range: 647.400024 and range: 647.40 m. j%@j%j)j)i)h)h)h1h1-G`wA -V߿Y-`wAy-A5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750816fQfQfYrfYbfe)Q?ɛHtBo Lr=ԻI `֩ɚiIR Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002797 I }jd}}w,IAR5?YR@R>>9R>yRH'eݿ b㚧??ܿ ?ǿ@?~?ɨR5?R=;R%CyZ%tB^%IIfIf{6٢n^ nS=9n;Q r>rr rG٣pyvus v> zNusing accuracyPremultiplier from configx~59z,~?~5YzO izZB6@?@zmDz ;z ;zk5  DAZj9=FNOT Ignoring new targets: 647.40 m.BjEܺJjEܺU  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.215240 m, bearing: 28.537144 deg, approach rate: 0.032749 m/s, LOS rate: -0.096215 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.537144 deg. :jU>]HeadingCmd: 0.498067 target range: 647.400024 and range: 647.40 m. jYjYjYjYiYhahahahafififirfibfm@]e?]e?]et=]e6@ɛ& 隥 I 8ɚiI%\I IIIsBI&I.I6Iܰ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256020J]jJYJYJYJ].:JYJYJYJ]}4;J]4;JYJYE5"#5ResumingB O >zK5 KK5 h9K1 K5 M K5 Xw,;JA6_`?Y6@6I?>96->y6HąݿzY֨?`(?ܿ m?`ǿ 3:??ɨ6_`?6z;;6'Cy>#tB>#I=Mb@Mb@Mb@999 9)9Y=l?Mb?qq uG٣qyu; u> Nusing accuracyPremultiplier from configy59}s?5Y}O Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508699i}KB ?:@?@}uD};}6;}5 DAZj FNOT Ignoring new targets: 647.40 m.BjJj溝=  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.223969 m, bearing: 28.494195 deg, approach rate: 0.020440 m/s, LOS rate: -0.100577 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.494195 deg. :j=g>EHeadingCmd: 0.497318 target range: 647.400024 and range: 647.40 m. jA Uk$?IjAjjihhhhfffrfbf@X@] ?] ?]0]=]c@ɛ' 隝I 5ɚiIfE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758952Iw,J,JAF?YF0@F-A>9F%>yFHݿK@9?ܴ?@"ܿ`і?ȿ@h/?G?ɨF?FJ;F&CyRtBRIIZTIZ|5٢br bV=9bG;Q b>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr59ni?r5YnޟO in=Bpv@v?@n|Dn:nu:nk5~B ~DA~EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 647.40 m.Bj-Jj-ﺝ=  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.232666 m, bearing: 28.455004 deg, approach rate: 0.023258 m/s, LOS rate: -0.104798 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.455004 deg. :j=F>EHeadingCmd: 0.496633 target range: 647.400024 and range: 647.40 m. jAjAjAjAiIhIhIhIhIfQfQfYrfYbf]S@]y]y]y]}e@ɛItBi 隕,:I PĸɚiInkoI C I II sBI  =&I .I 6I ˰<:I F] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263932npw,N FJAJ iJ `J /JJ +:J bl9J (N3JJ /;J /;J ):J *:F6?YFn-@F#$B>9FS,>yFH ݿ`?W??N*ܿ?]ȿ??ɨF6?FĮ;DyNtBNIIVdIV5٢bܻ bI=9f\;Q f>dh jG٣hyj~; j> rNusing accuracyPremultiplier from configlr59n_?v5YnpO in.Btv@v?@nDn ;n ;n5x ~DA|ZjFNOT Ignoring new targets: 647.40 m.BjHJjH뺝  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.242615 m, bearing: 28.413303 deg, approach rate: 0.024538 m/s, LOS rate: -0.102849 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.413303 deg. :jZ>HeadingCmd: 0.495906 target range: 647.400024 and range: 647.40 m. jjjjihhh h fffArfIbfU`= @]q]q]q]u@ɛJtB%W )-IIq udɚqiqIu{{w,@O`JA2^?Y2N@2کA>92L2>y2H`bݿ 5Tj?`l?\1ܿ`f?Zȿ?E?ɨ2^?2e;2$CyBtBBIMb@Mb@Mb@ )YMb?Q?y ?\=VpA \KA)7{AIEAy3_AI%cI%5٢5흼 5@=9=돺Q =>9A EG٣AyE$; E> Nusing accuracyPremultiplier from config59T?5Y O iB ?:@?@D;#;5 DAZjFNOT Ignoring new targets: 647.40 m.Bj@Jj@%  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.240234 m, bearing: 28.365559 deg, approach rate: -0.005389 m/s, LOS rate: -0.108082 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.365559 deg. :jM!z>UHeadingCmd: 0.495072 target range: 647.400024 and range: 647.40 m. jQjQjQjQiQhQhQhYhYfYfafarfabfe@"@] ?] ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766970]/3]@ɛKtB Î  oI  1[Bɚ iIX؝w,8zJAyrtBrIIzIIz 5٢%< -L=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM59EJK?M5YExO iE BIIU?@EDEP:E:E05Y eDAaZjFNOT Ignoring new targets: 647.40 m.BjJj  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.238312 m, bearing: 28.323856 deg, approach rate: -0.004993 m/s, LOS rate: -0.108296 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.323856 deg. :j>HeadingCmd: 0.494345 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbf@]]]]ɛLtB*~ NI iɚiIOIy I}II}sBI} =&Iy.I}zKU KKU 9KQ KU O KU Ƥw, JA2?Y2@2;>920>y2HJ*޿`% f?)?yܿ`?Qǿ?@4?ɨ2?2 ;2(Cy>tB>IMb@Mb@Mb@ )Y/$?~jt rh?y1(?D5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523003 IC<vA )d}AIGAyaAIDI5٢%) %;=9-a]Q ->-L?5L? 5G٣1y5; 5> MNusing accuracyPremultiplier from configI]59MA@?e5YṀO iMBmF(?m:m@m?@MDMa;M;M5q uDAqZjFNOT Ignoring new targets: 647.40 m.BjJj  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.233551 m, bearing: 28.274239 deg, approach rate: -0.010804 m/s, LOS rate: -0.112599 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.274239 deg. :j9>HeadingCmd: 0.493479 target range: 647.400024 and range: 647.40 m. jjjjihh!h!h!f)f)f)rf)bf5rg@ɛNtB9Rw ]I .ɚiIww,ͭJA>& ?Y>@>W<6>9>k.>y>HK޿~z?Ü?ܿ2? Ϩƿ@N?`t ?ɨ>& ?>Đ;>$CyR tBRIIZ?IZ5٢rq  vb=9vAmQ v>xx zG٣xyz; ~> ]Nusing accuracyPremultiplier from configQ]59U6?e5YU*O iU߬Bae1@e?@UDUZ;U|;UE5i uDAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 647.40 m.Bj}Jj}  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.230194 m, bearing: 28.232319 deg, approach rate: -0.009066 m/s, LOS rate: -0.113209 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.232319 deg. :jSI>HeadingCmd: 0.492747 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbf;@ɛOtBֱ  I  sɚ i I ((Iq  Iq Iq Iu  =&Iq .Iq 6Iu S<:Iu F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278900#ӱw,PJA2+?Y2(@2?0>92W+>y2Ha޿@ Q?8? ܿ 6?)ſ?;?ɨ2+?25;0yb tBbIIjKIj~5٢%:; -F=9-khQ ->11 5G٣5b9Gy5; => ENusing accuracyPremultiplier from configAM59E,?M5YE|O iEˬBIMC@U?@EDE:E.:E5Y ]DA]EZjFNOT Ignoring new targets: 647.40 m.BjJj  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.227020 m, bearing: 28.186888 deg, approach rate: -0.007911 m/s, LOS rate: -0.113241 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.186888 deg. :je>HeadingCmd: 0.491954 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbfv@ɛQtB I ĹɚiInw,JAy~sB~IMb@Mb@Mb@ )Y?MbI +y,?94 yA MA)AIEJAy(dAI9I5٢^ A=9Q > G٣y > Nusing accuracyPremultiplier from config59F#?5YDuO iB-?:??@D:;'8;z5 PEAZj!%FNOT Ignoring new targets: 647.40 m.Bj-Jj-=  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.204224 m, bearing: 28.138097 deg, approach rate: -0.053810 m/s, LOS rate: -0.115177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.138097 deg. :j=q>EHeadingCmd: 0.491102 target range: 647.400024 and range: 647.40 m. jAjAjAjAiAhIhIhIhIfQfYfYrfYbf]@T#@ɛStB߻ 隕̾I .ɚiIʚ I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.066879(w,NbJA6*L?Y6h@6D!>961*>y6HE޿ ? ?ݿ&?c$Ŀ ?*?ɨ6*L?6;6%CyBsBBIIJ=IJd5٢n4 nZ=9rQ r>pp vG٣tyvL-; v> ~Nusing accuracyPremultiplier from configx~59z?5Yz=oO izB??@zDz;z;z5 B EAEZj1=FNOT Ignoring new targets: 647.40 m.BjEJjEU  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.184479 m, bearing: 28.094784 deg, approach rate: -0.052814 m/s, LOS rate: -0.115862 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.094784 deg. :jU>]HeadingCmd: 0.490346 target range: 647.400024 and range: 647.40 m. jYjYjajaiahahahihifififirfqbfu`@ɛUtBs 隥I nɚiII III&I.I6It<:I FG2<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.319280GBOj>w,G;KAzK.JK.9K,K.Q K.RK6?JK6?BV?YB@B>9B&>yBHN޿K@ ?M?3%ݿ@א?(ÿ~?8?ɨBV?B(;B$CyJsBJI !I!Mb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570866Y&1?(\µ+y0? zA OA)M|AIMAydAIm<Im+5٢^ !=9{Q  > G٣c9Gy%(&: %> =Nusing accuracyPremultiplier from config1595?5Y5fO i5lB2?:??@5D5<5<575B  FAEZjFNOT Ignoring new targets: 647.40 m.BjJj   ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.149780 m, bearing: 28.034641 deg, approach rate: -0.065933 m/s, LOS rate: -0.114294 deg/s, cmd heading: 117.894557 deg, new cmd heading: 28.034641 deg. :j > HeadingCmd: 0.489297 target range: 647.400024 and range: 647.40 m. jjjjihhhhff!f!rf!bf%@@ɛMWtBU QUIQ U.5ɚQiQI]qa_w,/KAy-sB-IIU0IU5٢]gֽ ey=9eQ e?ii mG٣iyu u ? }Nusing accuracyPremultiplier from configy59}?5Y}jaO i}SB?@}D}f;}b;} 5 FAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 647.40 m.Bj Jj   ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.127991 m, bearing: 27.996537 deg, approach rate: -0.070354 m/s, LOS rate: -0.123039 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.996537 deg. :j->HeadingCmd: 0.488632 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbf@ɛYtBu 6I `RɚiIAI IIIsBI =&I.I6Iv<:I FG B O >?w,PoIKA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326874BR2?YB|@Bn >9Ba>yBH`޿'?~? d[ݿ6?/ V,?X?ɨBR2?B-;@y~sB~II&IK5٢Eʤ EM=9EQ E>II MG٣IyU7 U> }Nusing accuracyPremultiplier from configy59} ?5Y}ZO i}5B??@}D}:}:}5 GAZjFNOT Ignoring new targets: 647.40 m.BjJj  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.100891 m, bearing: 27.949510 deg, approach rate: -0.066489 m/s, LOS rate: -0.115390 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.949510 deg. :j\>HeadingCmd: 0.487811 target range: 647.400024 and range: 647.40 m. jjjjih1hQhahifqfyfrfbf@@ɛ\tB.p 隭ZI UɚiIojw,{NcKAyTsBIMb@Mb@Mb@ )Y-?:vZd;y?5?ԽywA PA)vAINAycAI57I55٢Eν E;=9MQ M>II UG٣Ud9GyU ]> eNusing accuracyPremultiplier from configYe59]?m5Y]ISO i]Bm7?m:m8?m?@]DJ}hJ}`J}0JyJ}(:J}bl9J}ـ3Jy]@;]7;]X5 GAZjFNOT Ignoring new targets: 647.40 m.Bj Jj   ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.064636 m, bearing: 27.896701 deg, approach rate: -0.083999 m/s, LOS rate: -0.122367 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.896701 deg. :jI>HeadingCmd: 0.486889 target range: 647.400024 and range: 647.40 m. jjjjihhhhff f rfbf@XX@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.831746ɛU_tBU QUFIQ ]pɚYiYI]msw,9(}KA^D?Y^b@^=9^>y^H@޿@  G٣y :  > Nusing accuracyPremultiplier from config59﬜?%5YMO iB!!%?@D7;'8;5) 5HA1ZjQ]FNOT Ignoring new targets: 647.40 m.Bj]N Jj]N u  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.034821 m, bearing: 27.852946 deg, approach rate: -0.083580 m/s, LOS rate: -0.122667 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.852946 deg. :juu>}HeadingCmd: 0.486126 target range: 647.400024 and range: 647.40 m. jyjjjihhhhfffrf1bf5 ]l @ɛ]atBe˼ aeIIa eɚaiiIm?<H}s>Iy I}II}osBI} =&Iy.Iy6I}Z<:I} FIiJ_iM<))*Fi2Fi:FiBFm0JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.335149GG B O >m{w,eKA (I(>`?Y>@>F=9>A>y>H@޿?3? ݿ?@仿??ɨ>`?>lA;RKf ?JKf>5Mb@Mb@Mb@111 1)1Y5l?J +V-y57?5Ƚ5h5uA 1)5tAI5QA1y5\cAI]=I]d5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586730٢ 3=98Q > G٣y;: > Nusing accuracyPremultiplier from config59䬜?5YEO i̫B%:?:??@DH;J;5 ;IAZjaeFNOT Ignoring new targets: 647.40 m.Bjm Jjm }  ProNav pure pursuit: ac range: 647.400024 m, nav range: 329.000824 m, bearing: 27.796479 deg, approach rate: -0.072152 m/s, LOS rate: -0.119853 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.796479 deg. :j}Hd>HeadingCmd: 0.485140 target range: 647.400024 and range: 647.40 m. jjjjihhhhfff)rf)bf- \!@ɛ etB EǼ I RɚiIdڷw,KAyUrB]OIImAImG5٢ ]=9Q > G٣e9Gy > Nusing accuracyPremultiplier from config59ܬ?5Y>O iB?@D%;+Z;5 IAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 647.40 m.Bj Jj   ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.973969 m, bearing: 27.751492 deg, approach rate: -0.075423 m/s, LOS rate: -0.126354 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.751492 deg. :j%^>%HeadingCmd: 0.484355 target range: 647.400024 and range: 647.40 m. j!j)j)j)i)h)h1h1h1f1f9f9rf9bf="@ɛuhtBu: qu6ϾIq u1 ɚyiyI}5IC III2sBI =&I.I6I<:I FBIUȩCJIQRIQZIU =bIU =jIU4GBO>J gJ ]J 1J J %:J _9J 3J J K$;a J M$;a J j:a J k:a h~w,uKA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342789J?YJ@JL=9JB'>yJH޿@p?@?@y޿`I? @?`V?ɨJ?JV;HyR|rBR IIEI*5٢2G T=91Q =>AA EG٣AyE; M> UNusing accuracyPremultiplier from configIU59MӬ?}5YM7O iMBy}4?}?@MDMd;M;M5 2KAZj  FNOT Ignoring new targets: 647.40 m.Bj=Jj=}  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.946289 m, bearing: 27.703446 deg, approach rate: -0.068479 m/s, LOS rate: -0.118876 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.703446 deg. :ju>HeadingCmd: 0.483516 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrf bf "@ɛMltBM  QUIQ UY#ɚQiQIUվE> IIIzKfONK}9KKT K<830,*'# "     %*'#! *F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.595505G] 8P<G9 Bi O >w,~KAy=TrB=IMb@Mb@Mb@ )Y7A`?RQ㥛 y6?½sA QA)sAITAyIXI_5٢ᶽ 9=9Q > G٣y  > Nusing accuracyPremultiplier from config59ʬ?5Yl0O inB9?%:%?%?@D-;&; 5=B =KAEEZjyFNOT Ignoring new targets: 647.40 m.BjJj  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.916870 m, bearing: 27.649802 deg, approach rate: -0.068860 m/s, LOS rate: -0.125574 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.649802 deg. :j>HeadingCmd: 0.482580 target range: 647.400024 and range: 647.40 m. jjjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.848218hIhIhIfIfQfQrfYbf]c#@ɛotBFn' I w=ɚiIw,KAF?YF @F=9FAP >yFH߿`.?)?9A޿HJ? w߱?Q?ɨF?FTە;F%CyNrBNII^bI^5٢b f_=9f|Q f>hl nG٣lyn%: n> rNusing accuracyPremultiplier from configpv59r?z5Yr*O irUBxz?z?@rDre ;r ;r&5~B ~LAEZj!5FNOT Ignoring new targets: 647.40 m.Bj51Jj51E  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.892517 m, bearing: 27.604648 deg, approach rate: -0.067513 m/s, LOS rate: -0.125190 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.604648 deg. :jEq>MHeadingCmd: 0.481792 target range: 647.400024 and range: 647.40 m. jIjQjQjQiQhQhQhYhYfYfYfYrfabfek$@ɛrtBC 7N=隕7I %WɚiIJI IQIIrBI =&I.I=D6I<:I F*Fa2Fa:FaBFe5JFaJEfJEcJE0JAJE|":JEx9JEـ3JAJE;JE;JE:JE:Will construct direction to contact in vehicle frame from tetrahedron phase data. f$?I vw,LA2?Y2@2Ɂ=9229 >y2H޿`?@?D޿߾?o6@P??ɨ2?2ϕ;0zKVޓMKV9KTKVU KVy^qB^I`bAMMb@Mb@Mb@III I)IYMV-?L7A`尿x&yM-?M+M7MtA I)M(nAIM=VAIyMbAIeqIe5mWill construct direction to contact in vehicle frame from tetrahedron phase data.m G٣f9Gy, > ENusing accuracyPremultiplier from configAM59ET?M5YE"O iE9BU:/?U:U)?U?@E#DE;E;E5Y ]MAYZj  FNOT Ignoring new targets: 647.40 m.Bj"Jj"m  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.874756 m, bearing: 27.551948 deg, approach rate: -0.038047 m/s, LOS rate: -0.112896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.551948 deg. :jm4>uHeadingCmd: 0.480872 target range: 647.400024 and range: 647.40 m. jqjqjqjqiyhhhhfffrfbf@`%@ɛwtBO8 /%I  ɚiI& 5 BDAT read: Tx time:20:16:47.9343 5 $Ping request sent.5 l w,sg2LA2y?Y2@2ei=92l >y2H޿Z?`@?`eC޿5D?(@%?ཨ?ɨ2y?2>;2&CyRqBRIIZxIZv5٢r r`=9vQ v>tt zG٣xy~K ~>  Nusing accuracyPremultiplier from config 59쮬? 5YO i$B??@+DL::;5EB EwNAEE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 647.40 m.Bjr Jjr   ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.860382 m, bearing: 27.509553 deg, approach rate: -0.040739 m/s, LOS rate: -0.120165 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.509553 deg. :j>HeadingCmd: 0.480132 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbf&@ɛMztBMcj Q]3IY ] ɚYiYIeN< IIiʌ'ib<))*FM?2FI:FIBFM0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:16:47.9335 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250683ZHRH@AHx>I I II]rBI =&I.IJe gJe ]Je 1Ja Je %:Je _9Je 3Ja Je K$;Je N$;Je j:Je k: PExceeded connect timeout, disconnecting.= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501183w,@LLAyEqqBE{IIUdIU5٢m mB=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59'?5YO i B?@4D:C:5 \OAZjFNOT Ignoring new targets: 647.40 m.Bj* Jj* E  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.843872 m, bearing: 27.460264 deg, approach rate: -0.040166 m/s, LOS rate: -0.119919 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.460264 deg. :jM$c>}HeadingCmd: 0.479272 target range: 647.400024 and range: 647.40 m. jyjyjyjyiyhyhhhfffrfbf@&@ɛtBX_ |CI vɚiI+ G٣g9Gy, >  Nusing accuracyPremultiplier from config59=?5YM O iB$?:@?@@D;c;5%B %APA%EZjIUFNOT Ignoring new targets: 647.40 m.Bj]Jj]e  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.836243 m, bearing: 27.395236 deg, approach rate: -0.012753 m/s, LOS rate: -0.108701 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.395236 deg. :jmb>}HeadingCmd: 0.478137 target range: 647.400024 and range: 647.40 m. jyjyjyjyiyhyhhhfffrfbft(@ɛtB]e 隽RI ĻɚiII C I II qBI =&I .I =D6I <:I FG G B O >7"w,QMLA6?Y6@6=96ږ>y6H޿`? ?uJ޿?= D??ɨ6?6И;4yBpBB-IIJkIJ5٢RF R`=9ViQ V>JK3 KA.KK"KJ^fJ^ZJ\J\J^|":J^S9J\J\J^;J^;J^Uu:J^Xu:ll nG٣lyr r> zNusing accuracyPremultiplier from configtz59v?z5Yv O ivB|~@~@@vGDv:vG:v!5B \QA EZj)5FNOT Ignoring new targets: 647.40 m.Bj5Jj= MnManaging dock network, ignoring radio surface power offU  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.831390 m, bearing: 27.356459 deg, approach rate: -0.014412 m/s, LOS rate: -0.115175 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.356459 deg. :jUu>]HeadingCmd: 0.477460 target range: 647.400024 and range: 647.40 m. jYjYjYjaiahahahahifififqrfqbfu(@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509154ɛ=tB=Bӕ aeeIa m ٻɚiiiImh*)(w,#LAyUpBU!IMb@Mb@Mb@ )Y333333?~jt+y?DlqA PA)hAIjXAy`AII~6٢" #=9Q > G٣h9Gy > %Nusing accuracyPremultiplier from config-59"?55YO iҪB5?5:=@=@@PD;8v;l%5Q UQAQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013294Zj!%FNOT Ignoring new targets: 647.40 m.Bj-(Jj-(캝5  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.835419 m, bearing: 27.304485 deg, approach rate: 0.008001 m/s, LOS rate: -0.103232 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.304485 deg. :j=>HeadingCmd: 0.476553 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbf@)@ɛtBR flI 7%ɚ i I .w,bJLA @@6@?Y6@6 9<96(>y6H`I޿>@7? q,?zݿ?FcS?|?ɨ6@?6 ;4yJpBJIIRIRa6٢^ ^x=9^Q ^?`` bG٣`yb߼ f? =Nusing accuracyPremultiplier from config1=5958{?=5Y5^N i5ȪBAE[@E@@5WD5:5:5a(5I UqRAQB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 647.40 m.BjqJjq  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.836517 m, bearing: 27.269158 deg, approach rate: 0.003241 m/s, LOS rate: -0.104231 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.269158 deg. :j>HeadingCmd: 0.475937 target range: 647.400024 and range: 647.40 m. jjjjih h h h fffrfbfws*@ɛetBjHbHH{>I I|IIsqBI&I.I6I<:I_ F~3 yI oFɚiI - c$?I1 h5w,LANk?YN@NVP<9Njb>yNH޿`u[?`-=? Aݿ6?Bɚ??ɨNk?N~;N"CyVpBVIEMb@Mb@Mb@AAA A)AYEI +?{Gz?~jtyE9?Eףyy }G٣yyU > Nusing accuracyPremultiplier from config59 q?5YN iªB%d?%:%J@%@@^D<]<,51 5RA1ZjYeFNOT Ignoring new targets: 647.40 m.mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769353Bju޺Jju޺zKJK 9KKX K BKqA:K  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.848969 m, bearing: 27.227442 deg, approach rate: 0.029079 m/s, LOS rate: -0.097424 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.227442 deg. :jN>HeadingCmd: 0.475208 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbfL+@ɛtB I ;ɚiIJU iJU \JU 0JQ JU +:JU [9JU ـ3JQ ae @ae @ae @ae @ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021104;w,LA67?Y6m@6ƍ<96i>y6Hݿ@.?I?@~ݿ2?4Q?`?ɨ67?6XZ;6%CyBpBBIIJIJ6٢fM fV=9fQ f>hh jG٣ji9Gyn n> rNusing accuracyPremultiplier from configpv59rg?v5YrN irBtv@z@@reDrL:r:rU/5| ~SA~EZj!%FNOT Ignoring new targets: 647.40 m.Bj-Jj-򺝊E  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.859894 m, bearing: 27.189029 deg, approach rate: 0.030185 m/s, LOS rate: -0.106125 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.189029 deg. :jE>MHeadingCmd: 0.474538 target range: 647.400024 and range: 647.40 m. jIjIjIjIiQhQhQhQhYfafafarfabfe ,@ɛUtBUJ Y]IY ]] ɚYiYI]|I IJII"qBI&I.I6I<:I FBI]ȫCJI]ȫCRIYZI] =bI] =jI]ȮK5GI BQ Ou >=Bw, MAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525137ylpBII-I-~6٢A >=9Q > G٣y > Nusing accuracyPremultiplier from config596]?5Y0N iB@@mD0;2:35B zSAEZjFNOT Ignoring new targets: 647.40 m.Bj  Jj  庝%  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.872375 m, bearing: 27.145626 deg, approach rate: 0.028794 m/s, LOS rate: -0.100123 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.145626 deg. :j%]>-HeadingCmd: 0.473781 target range: 647.400024 and range: 647.40 m. j1j1j1j1i1h1h1h9h9f9f9fArfAbfEB,@ɛmtBuŪ qu솿Iq u*%/ɚqiyI}ZJK>G B O >|Hw,%MAybpBIMb@Mb@Mb@ )YGz?Q?Mb`y?\=VpA QA)bdAI\Ay`AII 6٢ H=9Q > G٣y > Nusing accuracyPremultiplier from config59PR?5YN iB?:@@@uD;;65 SAJhJ^J1JJ(:Jd9J3JZjYeFNOT Ignoring new targets: 647.40 m.BjܺJjܺ  ProNav pure pursuit: ac range: 647.400024 m, nav range: 328.890839 m, bearing: 27.102472 deg, approach rate: 0.041151 m/s, LOS rate: -0.096177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 27.102472 deg. :j0>HeadingCmd: 0.473027 target range: 647.400024 and range: 647.40 m. jjjjihhhhfffrfbf`-@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031793ɛ=tB]pS aeሿIa e d?ɚaiiIm Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:16:51.1745 LVL= 29552, 25313, 16690, 32755, AGC= 73, IDX= 125, 0.26, 1.123,-0.027, 1.945, 1.089, PHS= 0.122,-1.069, 0.853, RAW= 172.1, 1.1, CAL= 173.0, -7.2, ROT= 337.0, 7.2  Ygot valid direction response: 20:16:51.1745 LVL= 29552, 25313, 16690, 32755, AGC= 73, IDX= 125, 0.26, 1.123,-0.027, 1.945, 1.089, PHS= 0.122,-1.069, 0.853, RAW= 172.1, 1.1, CAL= 173.0, -7.2, ROT= 337.0, 7.2  PDAT read: Bearing 337.0, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 337.0, 7.2 (Local)  DAT read: Range 10 to 50 : 627.0 m (Round-trip 836.0 ms) speed 0.4 m/s  ,DAT read: user:1213>  BDAT read: Tx time:20:16:52.2843  $Ping request sent. A@)ڝ Iڝ `7@iڝ >ڙ ڙ ۝ V?rA?hj??)۝ ch?I۝ !!Ow,u?MAiؿ7R:publishing transmit ping time9RFpublishing direction and range info9()x$k﾿li)?(?y )Ii )IiV?rA?hj??)Ii-?Y-?"@-E`<9->y-H@urݿ`@6?`~h?ݿ@ܱ?o z ??ɨ-?-;-$CyeepBeIIIF6٢%,; %D=9%ܱQ ->)) -G٣-j9GZH9RH=?AH9I9 I=+II=pBI= =&I9.I96I=<:I= Fye> e> Nusing accuracyPremultiplier from config59H?5YN iB@@@}DW,<d,<c:5B SAEkl?kD^{8 k k=MA:kDBkDZkK>"3Ry!/\@()x$k﾿li)?(?JkؿRk7*,S@[[\ck@jPA@nW?Y]?hX!P?"k[C*kDkOm?kT8 2kBkMA?k-7; k#kCk> addTargetRange:: Added new target pos. range: 627.000000 m, deltaT: 15.152014 s, deltaX: -20.400024 m, approachRate: -1.346357 m/s, rangeRepo size: 2  Added new target pos. range: 627.000000 m, bearing: 20.489385 deg, lat: 36.909739 deg, lon: -122.123697 deg, deltaT: 15.152014 s, deltaX: -20.400024 m, approachRate: -1.346357 m/s, posRepo size: 2 ZjFNOT Ignoring new targets: 627.00 m.BjJj5 ProNav: ac range: 627.000000 m, nav range: 493.143097 m, bearing: 22.794724 deg, approach rate: 0.000000 m/s, LOS rate: -0.096177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776276 deg. 2j5:j5@=HeadingCmd: 2.055584 target range: 627.000000 and range: 627.00 m. j9j9j9j9i9h9hAhAhAfififirfm@bfu=?ɛtB&z WI z=NɚiID ) )EMrAEI*F2F:FBF5JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:16:52.2835 Gm sAGi GA Bq O > ! I! Vw,__YMAu޶?Yu@u"w2<9u>yuH@Oݿ;?q?`ܿy?`N td??ɨu޶?u;u"CyޅnpBޅIeWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YGz?ˡE?~jt?zKȚMK9KKZ K  y'=D< RA)IyaAIdI5٢< 3=9ɻQ > G٣y3 > Nusing accuracyPremultiplier from config59m=?5YN iB5 ?5:5g@5@@D<6<V>5A EiSAAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 493.180664 m, bearing: 22.765311 deg, approach rate: 0.085963 m/s, LOS rate: -0.067298 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806326 deg. 2j8:jG@HeadingCmd: 2.056108 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf?ɛ5tB5ɱ 15鈿I1 =j\ɚ9i9I=J- gJ- \J- 0J) J- %:J- [9J- ـ3J)  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.3\w,0+sMA6_?Y6+@6G;96 >y6HG{ݿ#&`xL? f? *ݿ 9?`ui? ?ɨ6_?6c;6&CyBfpBBIIJIJF6٢j=ڼ j=9nQ n?lp rG٣pyra < r? vNusing accuracyPremultiplier from configtz59v5?z5YvN ivB|~@~@@vDv;v;v@5  SA Zj15FNOT Ignoring new targets: 627.00 m.Bj=wJj=wM ProNav: ac range: 627.000000 m, nav range: 493.206482 m, bearing: 22.745536 deg, approach rate: 0.088160 m/s, LOS rate: -0.067522 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.835234 deg. 2jM\9:jM@UHeadingCmd: 2.056613 target range: 627.000000 and range: 627.00 m. jQjQjQjQiYhYhYhahafafafarfibfm?ɛtB|Խ 隝I fɚiIkeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994638H9I9 I=II=pBI= =&I9.I96I=<:I= F\cw,MA2!?Y2$0@2;92\ >y2H@zݿ%Z?e?@6ݿiT?@Vc n?a?ɨ2!?2ؓ;2$CyNlpBNI^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246505IVZIV5٢j}< jJ=9nQ n>lp rG٣pyr57: r> zNusing accuracyPremultiplier from configt~59v+?~5YvN ivB@@@vDv2;v 3;vD5 B kSA EZj15FNOT Ignoring new targets: 627.00 m.Bj=ДJj=ДM ProNav: ac range: 627.000000 m, nav range: 493.241028 m, bearing: 22.719199 deg, approach rate: 0.085334 m/s, LOS rate: -0.065052 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815551 deg. 2jM2:jM@UHeadingCmd: 2.056269 target range: 627.000000 and range: 627.00 m. jQjYjYjYiYhYhYhahafafafirfibfm?ɛtBӘ 隥}I VuɚiI7oE>*FI2FI:FIBFMv5JFIG!B)Om> ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498853zK} ǑLK} 9Ky K} [ K} )  m GG vA  Y vAy HBhGiw,-MAZN?YZ`F@ZŚ`99Z>yZH9ݿ !?`?@KPݿ d?X,??ɨZN?Zf;Z&Cy5{pB=IMb@Mb@Mb@ )YzG? rh??y ?C =<lqA QA)5bAI^AyIU|IUY5٢}j= }3=JfJJ1JJ|":JJ3J9 Q %>)) -G٣-k9Gy59; 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=QN i=BEm?E:M@M@@=D=;=W;=H5UB U:SAUEZjyFNOT Ignoring new targets: 627.00 m.BjaJja ProNav: ac range: 627.000000 m, nav range: 493.279266 m, bearing: 22.686643 deg, approach rate: 0.079784 m/s, LOS rate: -0.067922 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796896 deg. 2ju::j@HeadingCmd: 2.055944 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf/?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750852ɛtB&U I #ɚiI} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002550yRH)mݿ* ?j?-ݿh?!M?@?`_?ɨRX?Rĕ;R$CyZpBZIIfIf5٢n:= ng=9nWLQ r>pp rG٣pyv v? zNusing accuracyPremultiplier from configx~59zX?~5YzN izƪBg@@@zDz;z;zK5  RA Zj9=FNOT Ignoring new targets: 627.00 m.BjEJjEU ProNav: ac range: 627.000000 m, nav range: 493.305450 m, bearing: 22.664003 deg, approach rate: 0.078657 m/s, LOS rate: -0.068006 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826641 deg. 2jU::jU@eHeadingCmd: 2.056463 target range: 627.000000 and range: 627.00 m. jajajajaiahihihihifqfqfqjH<bH<HI I+IIpBI&I.I6I<:I Frfqbf=@ɛtBU[ 隵I $cɚiIESWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255471 I vjivw,MAz?Yz@zjH 9z>yzH Nݿh2@8/?`r?`ݿ`ܭ?` a?@?и?ɨz?zΩ;z&Cy pB IMb@Mb@Mb@ )Yjt?L7A`?S㥛?y ?+=/<rA TA)KcAI`AyfbAIIH6٢z= <=98?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506528Q > G٣y > Nusing accuracyPremultiplier from config595 ?5Y?N iΪB#!?:@@@D;;O5B RAEZjzK-JK-9K)K-\ K-EFNOT Ignoring new targets: 627.00 m.BjEJj ProNav: ac range: 627.000000 m, nav range: 493.341980 m, bearing: 22.630725 deg, approach rate: 0.078940 m/s, LOS rate: -0.071909 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794730 deg. 2jfE:j@HeadingCmd: 2.055906 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf͞@ɛtB AEIA E=3ɚIiIIM r|w,MA2~?Y2@20n92rG>y2H)7ݿT7l?`x? ܿ P$?m?@R?`?ɨ2~?2;2$CyNpBRIIZlIZ5٢b< b]=9b჻Q b>dd fG٣fl9Gyf{ j? nNusing accuracyPremultiplier from confighr59j?v5YjJN ijԪBtv@v@@jDjv=;j >;jR5x ~|RA|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 627.00 m.Bj-Jj- ProNav: ac range: 627.000000 m, nav range: 493.369141 m, bearing: 22.605745 deg, approach rate: 0.079381 m/s, LOS rate: -0.073005 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819619 deg. 2jiH:j@HeadingCmd: 2.056340 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbfk[@ =`$?I9ɛMtBM Ƚ QUJIq u^ɚqiyI}/H{>I IDIIqBI =&I.I6I<:I FJ J ^J 0J J J d9J ـ3J J a J a J :a J :a `xw,NABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262508R_?YR%@R:C9R>yRH/)ݿJ9Lξ? |?ܿ>?`u?@>??ɨR_?R8;PypB II-kI-5٢u4= }?=9}3wQ }> G٣yS > Nusing accuracyPremultiplier from config59?5Y$N i۪B@@@D;;cV5 /RAZj]FNOT Ignoring new targets: 627.00 m.Bj]Jj]m ProNav: ac range: 627.000000 m, nav range: 493.402710 m, bearing: 22.574775 deg, approach rate: 0.077964 m/s, LOS rate: -0.071922 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801654 deg. 2jmoE:ju@HeadingCmd: 2.056027 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf @ɛ5tB=η 9=ԄI9 =Wɚ9iAIEPꡉw,f(NA2a?Y28@2G92>y2H *ݿ`S8?{?ܿ~?}??@ڷ?ɨ2a?23>;2#Cy>pB>IMb@Mb@Mb@ )Ysh|??I +??y)?94<<sA QA)aAIaAyaAIoIx5٢Q= C=9Q > G٣y+$9 >  Nusing accuracyPremultiplier from config 59뫜? 5YN iB *?:@%@@D;; Z5-B -QA)ZjQUFNOT Ignoring new targets: 627.00 m.Bj]Jj]m ProNav: ac range: 627.000000 m, nav range: 493.427948 m, bearing: 22.542629 deg, approach rate: 0.060631 m/s, LOS rate: -0.077223 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798124 deg. 2jmS:jm@}HeadingCmd: 2.055965 target range: 627.000000 and range: 627.00 m. jyjjjihhhhfffrfQbfUu,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766922ɛtBy  I  ɚiI))E E *F2F:FBF0JF =_$?I9G Bv4G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018596]w,UBNA2h?Y2@2|K92p >y2H@,ݿ5׎?z?`ܿt?]? ??ɨ2h?2P;2$CyNpBN/IXXIXI_5٢$= X=9xQ >!! %G٣%m9Gy% : -> 5Nusing accuracyPremultiplier from config)=59-⫝̸?=5Y-ѩN i-B9=@=@@-D-;-;-X]5I MQQAIZHQRHUAAH]}>IY I]]II]@qBIY&IY.IY6I]<:I] FBIJIRIZIbIjI 5ZjFNOT Ignoring new targets: 627.00 m.BjkJjk ProNav: ac range: 627.000000 m, nav range: 493.450867 m, bearing: 22.513638 deg, approach rate: 0.059931 m/s, LOS rate: -0.075807 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807586 deg. 2jP:j@HeadingCmd: 2.056130 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf@ɛ tB 2ý 9EIA E;ɚAiAIE֘  I w,75\NAypB0IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524373Mb@Mb@Mb@ )Y㥛 ? G٣y > Nusing accuracyPremultiplier from config59 ֫?5Y&N iB5?:@@@D;M;Xa5 JQAZjFNOT Ignoring new targets: 627.00 m.BjGJjG- ProNav: ac range: 627.000000 m, nav range: 493.471924 m, bearing: 22.476050 deg, approach rate: 0.046600 m/s, LOS rate: -0.083178 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781800 deg. 2j-Vd:j5D@5HeadingCmd: 2.055680 target range: 627.000000 and range: 627.00 m. j1j9j9j9i9h9h9hAhAfIfIfIrfIbfMR@zK&~JK9KK^ Kɛ=tBE& AE_IA E ɚAiAIM=IIiU;iU+~<)Q)Q*F2F:F!BF%0JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777590G= ?43GA GA G! B) Oe >ޜw,yNH`8lݿ@`^?i?`Bݿm?`~?`??ɨN8?Na;LyVqBVAII^YI^5٢jQ= jp=9jQ n?pp rG٣pyvR< v? zNusing accuracyPremultiplier from configx~59z̫?~5YzqN izB|~@@@zDz;zu;zSd5 B PA E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 627.00 m.Bj=黺Jj=黺U ProNav: ac range: 627.000000 m, nav range: 493.488800 m, bearing: 22.448036 deg, approach rate: 0.049485 m/s, LOS rate: -0.082142 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810516 deg. 2jU~a:jUz@]HeadingCmd: 2.056181 target range: 627.000000 and range: 627.00 m. jYjYjajaiahahahihifififirfqbfu @ɛuBHƽ 隥{I )ɚiIC=Ii>i6T)) ^$?IE]i>E]>*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027464HI III}qBI =&I.I6I<:I FGX<G B O5 >ȣw,U܏NAJfJ]JJJ|":J_9JJJ;J;Jj:Jk:2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278783FE?YFs+@FWy9F>yFH2zݿt@?e?SݿQ^?Α??=?ɨFE?F;F"CynqBnBI)p pIvGIv5٢; <=9Q > G٣n9Gyf; > Nusing accuracyPremultiplier from config59]?5Y-N iB&@@@DL:L: h5 PAZj1=FNOT Ignoring new targets: 627.00 m.Bj=Jj=M ProNav: ac range: 627.000000 m, nav range: 493.510742 m, bearing: 22.412349 deg, approach rate: 0.050158 m/s, LOS rate: -0.081573 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787501 deg. 2jM_:jU@UHeadingCmd: 2.055780 target range: 627.000000 and range: 627.00 m. jYjYjYjYiYhYhYhahafafafirfibfmNo@ɛ uB !}I <ɚiI=IiBỉ)) I*F2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530776G- >uG B O= >zKE JKE 9KA KE _ KE w,,NAVO?YV'G@VB靼9V@>yVHݿ@c -?`Q_? uoݿɨ? ؼ? ?@7?ɨVO?VC͑;V#Cyf$qBfLIMb@Mb@Mb@ )YS?I +~jtx?y/=?94;tA RA)I`Ay=bAIEI*5٢ = H=9/Q > G٣y!; >  Nusing accuracyPremultiplier from config =59 ?E5Y  N i B}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783932M6=?:B@@@ D XD= C= k5B PAEZjFNOT Ignoring new targets: 627.00 m.BjJj  ProNav: ac range: 627.000000 m, nav range: 493.533051 m, bearing: 22.377277 deg, approach rate: 0.048650 m/s, LOS rate: -0.076481 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789345 deg. 2jQ:jl@-HeadingCmd: 2.055812 target range: 627.000000 and range: 627.00 m. j)j1j1j1i1h1h1h9h9f9fYfarfabfe`p@ɛuBl> 隽{I dǼɚiI+=Ii,Fi)) Itj*Fm?2Fi:FiBFm5JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034613Gu UG} ?G} ?GI jHU <bHU 4<H] |>IY  I] II] qBIY &IY .IY 6I] װ<:I] FBy O >{w,5NAyI<I+5٢: 5=9Q > %G٣!y% -> =Nusing accuracyPremultiplier from config1E595[?M5Y53N i5BIIM@@5D5*;5 +;5o5UB ]PA]EZjy}FNOT Ignoring new targets: 627.00 m.BjܺJjܺ ProNav: ac range: 627.000000 m, nav range: 493.557770 m, bearing: 22.338729 deg, approach rate: 0.061824 m/s, LOS rate: -0.096405 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778919 deg. 2jR:jq@HeadingCmd: 2.055630 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf@ɛuBʽ }I %ͼɚiIS=IiXHi)) *F}?2Fy:FBFF5JFJJZJJJJS9JJJJJUu:JXu:EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.288569GҸ M ]$?II Gy B O > w,NA:G?Y:}@:R9:<>y:Huݿ`` G٣o9Gy/ <  > =Nusing accuracyPremultiplier from configm59y?u5Y N ~Gi`wA6A?:@@@D<d<!s5zK  KK 9K K ` K  8c$!L~z];tpnN1 vrlls~) ->PA) eYm`wAymAZjq}FNOT Ignoring new targets: 627.00 m.Bj}SJjS ProNav: ac range: 627.000000 m, nav range: 493.573975 m, bearing: 22.303840 deg, approach rate: 0.037223 m/s, LOS rate: -0.080139 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789893 deg. 2j[:j@HeadingCmd: 2.055821 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf!@ɛ=$uBe_ amzIi mMԼɚiiiIm%=Iqi}Ii}#8)y)*F2F:FBF]5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.793096G ^G B O > 9 I9 dɽw,VNA2?Y2@2y>˼92,>y2Hݿ`v3?K? ݿ?`$g??`?ɨ2?2;2%Cy>6qB>WIIJOIJa5٢zS  z]=9Q >  G٣ y ;  > Nusing accuracyPremultiplier from config59U?%5YcxN iB!%@%@@DS;;^v5) -KPA1MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 627.00 m.Bje6޺Jje6޺u ProNav: ac range: 627.000000 m, nav range: 493.589630 m, bearing: 22.271439 deg, approach rate: 0.046936 m/s, LOS rate: -0.097137 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797357 deg. 2juT:ju@HeadingCmd: 2.055952 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf@ɛ+uB;=Խ }I  ټɚiIV=IiIOJi))*FU?2FQ:FQBFU05JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042736G-yG1G5rAGBO)>H}>I IIIqBI&I.I6I<:I FJ9 J9 J= 1J9 J9 J9 J= 3J9 J9 J9 J9 J9 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=7.2945496w,>OA2?Y2ߪ@2}׼92>y2H@ݿ`G`?F?@Lݿ?`#?R?ཬ?ɨ2?2A;2#CyBAqBB^IIJFIJb5٢j'< jL=9vzQ z>xx zG٣xy~t>; ~> Nusing accuracyPremultiplier from config 59M? 5Y.qN iB@@@D::y5 PA%EZjAEFNOT Ignoring new targets: 627.00 m.BjMAȺJjMAȺe ProNav: ac range: 627.000000 m, nav range: 493.607147 m, bearing: 22.236290 deg, approach rate: 0.043628 m/s, LOS rate: -0.087539 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789112 deg. 2jeOp:je[@mHeadingCmd: 2.055808 target range: 627.000000 and range: 627.00 m. jijijqjqiqhqhqhyhyfyfyfrfbf*@ɛ3uBbŽ 隵|I gɚiI=IiStJiXl)) I*Fm?2Fq:FqBFuQ5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549624Gu@KGQBYO}>zKm IOKm 9Ki Km a Km qh_WTPGC;9610.*'!  w,-OAB=?YB-@B@9B>yBHBݿf?#B?ݿxB?` ?B? +?ɨB=?B ;B'CyJKqBJdIMb@Mb@Mb@ )Yjt?+ rhy@?C RA)^AIKcAyIQI5٢#< ==9zQ > G٣p9Gy3; > Nusing accuracyPremultiplier from config59}?5YviN iBA?:@@@"D;h;}5B OAEZj %Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800784=FNOT Ignoring new targets: 627.00 m.BjMǺJjMǺ} ProNav: ac range: 627.000000 m, nav range: 493.623932 m, bearing: 22.198773 deg, approach rate: 0.039100 m/s, LOS rate: -0.087393 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782009 deg. 2j}o:j}S@HeadingCmd: 2.055684 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf `@ɛ]>uBeώ ae|Ia eoɚiiiImM=Iqius Jiuص 8)q)y*F?2F:FBF5JF \$?IsjGb\G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050655ZH RH @AH I  I II qBI  =&I .I 6I <:I Fw,=cGOANR?YN@N@9Nq>yNH`4޿Ţ? h??ݿ???%?ɨNR?NC;N"CyZ>qBZ\IIfNIf(5٢j jY=9niQ v>xx zG٣xy~d: ~> Nusing accuracyPremultiplier from config 59qs? 5YbN i @@@+DL::5 1PA!ZjAMFNOT Ignoring new targets: 627.00 m.BjMǺJjUǺe ProNav: ac range: 627.000000 m, nav range: 493.639099 m, bearing: 22.165684 deg, approach rate: 0.039995 m/s, LOS rate: -0.087249 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795294 deg. 2jeo:je @mHeadingCmd: 2.055916 target range: 627.000000 and range: 627.00 m. jijijijiiqhqhqhyhyfyfyfyrfbfd @ɛFuBս 隵倿I 0ɚiI =IibIiv:))*Fm?2Fq:FqBFut5JFq%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.302746G]zQGe?Ge>G1BQO}> Ivw,LaOABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.555147yDqB`IMb@Mb@Mb@ )YZd;?ktZd;Oy9? 0j QA)`AIbdAy cAIUI5٢%RH< %7=9%Q ->)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=g?E5Y=ZN i=BEF:?M:MR@M@@=5D=;=;=҄5UB UPA]EZjyFNOT Ignoring new targets: 627.00 m.Bj;Jj; ProNav: ac range: 627.000000 m, nav range: 493.654510 m, bearing: 22.128154 deg, approach rate: 0.034686 m/s, LOS rate: -0.084467 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781968 deg. 2jg:jP@HeadingCmd: 2.055683 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf iH!@zKEijMKE9KAKEb KEBKUrA:KQɛPuBƽ zI ɚiI~ =Ii}HinU9))*F2F:FBF$1JFJK K.KK"KJgJJ0JJ%:JJـ3Ja@a@a@a@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806608G 9G B O > I 5w,{OA6'9?Y6@6)`96M>y6Hjݿ@`L?A?ݿ?T+?̸??ɨ6'9?6k;6$Cy^>qB^\IIfVIf5٢- -\=9-AǻQ ->11 5G٣5q9Gy=g => ENusing accuracyPremultiplier from configAM59Eg^?M5YEvTN iEBIUD@U@@E>DE:E:E5Y ].PAYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 627.00 m.BjeJje ProNav: ac range: 627.000000 m, nav range: 493.667328 m, bearing: 22.096829 deg, approach rate: 0.034415 m/s, LOS rate: -0.084103 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800586 deg. 2jf:j@HeadingCmd: 2.056008 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf"@ɛYuBW׽ ^I ɚiIc =I i QHi ) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.058875*F?2F:FBF5JFGsA GrAHiIi ImIImqBIm =&Ii.Ii6Im<:Im FBI)JI)RI)ZI)bI)jI-*F4GqGIBYOu>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310540w,OAV^6?YV@V9Vj >yVH ݿ` x?A? BݿRK??? ?ɨV^6?VST;V%Cyr@qBr]IIzUIz5٢%; %J=9-1Q ->)1 5G٣1y5\ 5> MNusing accuracyPremultiplier from configAU59ES?U5YEkMN iEBQUB@]@@EGDE;E-;E5eB e2PAeEZjFNOT Ignoring new targets: 627.00 m.Bj{Jj{ ProNav: ac range: 627.000000 m, nav range: 493.681427 m, bearing: 22.062688 deg, approach rate: 0.034929 m/s, LOS rate: -0.084577 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792137 deg. 2j-h:j8@HeadingCmd: 2.055861 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf "@ɛbuB ][$?IYeӽ aeRIa eɚaiiImS =IiiCHi?))E*Fq2Fq:FyBF}1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562832Ge*G B O >zK ^ LK 9K K c K   RK ?JK %?)w,ϮOAy ! %G٣!y% %> -Nusing accuracyPremultiplier from config)559-I?=5Y- FN i-B=&5?=:=w?=@@-QD-;-;-c5EB M9PAMEZjiuFNOT Ignoring new targets: 627.00 m.Bj}Jj} ProNav: ac range: 627.000000 m, nav range: 493.691376 m, bearing: 22.027144 deg, approach rate: 0.022970 m/s, LOS rate: -0.082063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787927 deg. 2jFa:j@HeadingCmd: 2.055787 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf ҷ#@ɛnuB̽ 'I -ɚiI] =I)i5Gi1)1)9 QIUrj*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. jHa bHe p<Hm |>Ii  Ii Ii Im  =&Ii .Ii 6Im ϰ<:Im Fw,ضOA6U?Y6z@6 96 >y6Hݿq? J?ݿ ?;?e?@?ɨ6U?6v;6"Cy^BqB^^IIfYIf5٢nu< n`=9rSQ r>pp rG٣rr9Gyvֻ v>  Nusing accuracyPremultiplier from configx59z@?5Yz?N izB'?@@zYDzS;z);z5! %"PA!ZjIMFNOT Ignoring new targets: 627.00 m.BjU3Jj]3m ProNav: ac range: 627.000000 m, nav range: 493.699280 m, bearing: 21.997228 deg, approach rate: 0.021505 m/s, LOS rate: -0.081395 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804808 deg. 2jmq_:jmؖ@uHeadingCmd: 2.056082 target range: 627.000000 and range: 627.00 m. jqjqjqjqiyhyhyhyhyfffrfbf@p$@ɛ5vuB=| 9=yI9 =\ɚ9iAIE$:=IAiMCHiMCv$)I)Q*F?2F:F BF O1JF "G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,OA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:2Acoustic response timeoutBQuerying Benthos address 50 with one ping in standard two-way mode.y}DqB}_IMb@Mb@Mb@ )YM?~jtyn2?L )]AIyaAI-_I-5٢=c; =6=9EQ E>QQ ]G٣Yyu }> Nusing accuracyPremultiplier from config595?%5Y8N i-2?-:-?-@@cD<<5i uPAqzKFLKh9KKd KBK:KZj -FNOT Ignoring new targets: 627.00 m.Bj5~Jj5~M ProNav: ac range: 627.000000 m, nav range: 493.710236 m, bearing: 21.960138 deg, approach rate: 0.022144 m/s, LOS rate: -0.074966 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.783290 deg. 2jMM:jU@]HeadingCmd: 2.055706 target range: 627.000000 and range: 627.00 m. jyjyjyjihhhhfffrfbfq%@ɛuB5ͽ ߇I! %N ɚ!i!I%GQ=I)i-Ii-H)))1*F5?2F1:F9BF=0JFAJfJ]J1JJ|":J_9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1214> -%2\w,;OA2?Y2i@2992 >y2Hݿ 8? S?[ݿ`J?0?f_?Ȯ?ɨ2?2;2%Cy>NqB>fIIDID٢Nh< Nk=9R/Q R?PP RG٣TyV? V? ^Nusing accuracyPremultiplier from configX^59Z-?^5YZe2N iZB`b8?b@@ZkDZ7:Z:Z5fB MOAMEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 627.00 m.BjrĺJjrĺ ProNav: ac range: 627.000000 m, nav range: 493.717896 m, bearing: 21.932601 deg, approach rate: 0.023888 m/s, LOS rate: -0.085873 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811948 deg. 2jk:j@HeadingCmd: 2.056206 target range: 627.000000 and range: 627.00 m. j j j j i h h hhfffrfbf`r&@ɛuB 隕I OɚiI,=Ii>JiXꖻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:17:03.2344 $Ping request sent.5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249825C=w,PAJq?YJa@J69J >yJHݿb?U?ݿl3?`?`c?[?ɨJq?J1ۏ;J$CyVDqBV_II^;I^5٢j˼ jH=9jGQ j>ll rG٣rs9Gyr} r> vNusing accuracyPremultiplier from configtz59v$?z5Yv+N ivB|~(?~@@vtDv ;v;v5B "PA EZj9=FNOT Ignoring new targets: 627.00 m.BjEºJjEº] ProNav: ac range: 627.000000 m, nav range: 493.727142 m, bearing: 21.899417 deg, approach rate: 0.023735 m/s, LOS rate: -0.085177 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795004 deg. 2j]i:j] @eHeadingCmd: 2.055911 target range: 627.000000 and range: 627.00 m. jajajijiiihihihqhqfqfq Ifqrfbf&@ɛ-uB5 15,IQ ]eɚYiYI]#=IaieRLie)a)i*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504895)  Cu.~G|uAA Y|uAy'A=?=AGuԑG) B9 O] >zK KK +9K K e K RK >JK >Dk w,/PAyUGqB]bIJ}hJ}^J}0JyJ}(:J}d9J}ـ3JyWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755984%Mb@Mb@Mb@!!! !)!Y%@5^I ?~jtYa eG٣aye e> %Nusing accuracyPremultiplier from config559?=5Y#N iE0?E:ef?e@@D!<<F5q uPAqZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 493.738586 m, bearing: 21.861256 deg, approach rate: 0.023482 m/s, LOS rate: -0.078300 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780078 deg. 2jV:jƏ@HeadingCmd: 2.055650 target range: 627.000000 and range: 627.00 m. j!j!j!j!i!h!h)h)h)f1f1f9rf9bf=['@ X$?IqjɛmuBmޟս imiIq uKɚqiqIuD=IiOiON))*FM?2FI:FQBFU0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005751ZH RH AAH% {>I!  I% II% rBI%  =&I! .I! 6I% <:I% FGq Gy Gy Gi By O >7uw,OJPA6?Y6Pb@6'*96v>y6Hfݿ D 0?T?@!ݿ@O=?R??y?ɨ6?6ø;6"Cy>PqB>gIIF=IFd5٢RR< Re=9R\QQ R>TT VG٣TyZ 9 Z> bNusing accuracyPremultiplier from config\f59^?f5Y^N i^Bdn`?n@@^D^s;^;^35t vOAtZjq}FNOT Ignoring new targets: 627.00 m.Bj}Jj} ProNav: ac range: 627.000000 m, nav range: 493.746735 m, bearing: 21.834413 deg, approach rate: 0.024099 m/s, LOS rate: -0.079390 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814028 deg. 2jY:j{@HeadingCmd: 2.056243 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf`(@ɛ=uB= AEXIA MٴɚIiQIU=IiimQim)i)q*F?2F:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258601 IG7GB O% >w,'dPAWill construct direction to contact in vehicle frame from tetrahedron phase data.i"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514185uQ?Yu5H@u+9u>yuH`/ݿ@ [?Z?TݿaZ? y? [? ?ɨuQ?uF=;u#Cyލ`qBލqIMb@Mb@Mb@ )YMbX?+y&1|y*?`lqA QA)\AIy`AI=aI=^5٢M&= M2=9UA-Q U>QQ UG٣]t9Gy]c ]> eNusing accuracyPremultiplier from configam59eO?m5YeN ieBu +?u:uS?u@@eDe;e;e45B OA%EZjFNOT Ignoring new targets: 627.00 m.BjڪJjڪzK&~JK9KKf K ProNav: ac range: 627.000000 m, nav range: 493.759949 m, bearing: 21.798928 deg, approach rate: 0.027812 m/s, LOS rate: -0.074686 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788104 deg. 2jM:j@%HeadingCmd: 2.055790 target range: 627.000000 and range: 627.00 m. j9j9jAjAiAhAhAhIhIfIfIfQrfQbfU@y)@ɛuB ܽ  I ɚiI6$=IiUUTiǻ))*F]?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761810 y I pjG ԑGq By O >w,S}PA6?Y6 @6g)96>y6HZݿo?g?nݿ Ә?`r+??@;?ɨ6?6l!;6"Cy>lqB>xIIJ_IJ5٢R = Vk=9V:Q V?XX ZG٣XyZ' Z? bNusing accuracyPremultiplier from config`f59bH?f5YbN ibBhj?j@@bDbe:b:bB5t v|OAt B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 627.00 m.Bj%Jj%5 ProNav: ac range: 627.000000 m, nav range: 493.769318 m, bearing: 21.771867 deg, approach rate: 0.029286 m/s, LOS rate: -0.084588 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813375 deg. 2j55h:j5K@=HeadingCmd: 2.056231 target range: 627.000000 and range: 627.00 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU *@ɛuBڼ I ( ɚiI=I i Wi ) )1EA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809*F2F:FBF0JFHz>IC III rBI&I.I6I<:I FG4λG?G>GB O% >Jm gJm \Ji Ji Jm %:Jm [9Ji Ji Jm K$;au Jm N$;au Jm Ձ:a} Jm ց:a}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265798%w,ȗPAF݂?YF@Fm'9Fq>yFH2ݿ#l?r?Eݿ@,?L??`u?ɨF݂?Fm;F$CyRqBRIIZeIZA5٢bO= bH=9fv:Q f>dd jG٣hyjܻ j>  Nusing accuracyPremultiplier from config 59 ?5Y b N i B? %W$?I!%@@ D ; ; ݮ55B 53OA5EZjFNOT Ignoring new targets: 627.00 m.BjʪJjʪ ProNav: ac range: 627.000000 m, nav range: 493.779785 m, bearing: 21.739883 deg, approach rate: 0.024435 m/s, LOS rate: -0.074659 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798608 deg. 2jL:j@HeadingCmd: 2.055974 target range: 627.000000 and range: 627.00 m. jj!j!j!i!h!h!h)h)f)f)f)rfbf*@ɛ}uBܦ 隅I $ɚiI =IiP]i9))*FI2FI:FIBFU0JFQUWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529752Gm ZGA BI zKe FJKe 9Ka Ke g Ke  Ou >k+w,wPAy5qB5IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769972]Mb@Mb@Mb@YYY Y)YY]Zd;O?L7A`堿MbP?y]~*?]+]:]rA ]RA)][AIYYy]aAImI5٢: /=9Q > G٣u9Gy > Nusing accuracyPremultiplier from config593ꪜ?5YN i B*?:r?@@D;;5B *OAEZjFNOT Ignoring new targets: 627.00 m.Bj Jj  ProNav: ac range: 627.000000 m, nav range: 493.793823 m, bearing: 21.704339 deg, approach rate: 0.031789 m/s, LOS rate: -0.080487 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.787928 deg. 2j\:j@HeadingCmd: 2.055787 target range: 627.000000 and range: 627.00 m. jj!j!j)i)h)h1h9hAfAfIfQrfQbf]2+@ IɛEuBE| AEIA M(ɚIiIIM=IQi}Lci}0k4)y)*FU?2FQ:FQBFQJFQE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021731jHy bH} <H y>I  I II *rBI  =&I .I 6I <:I FBIAJIARIAZIE =bIE =jIE;5G .-Gq B O >I2w,5yPA:?Y:ګ@:(9:, >y:H`ݿ),9?~?@ݿϷ?`?T?`?ɨ:?:S%;:&CyFqBFIIRVIR5٢Z]= Zq=9^?)Q ^?`` bG٣`yb f? jNusing accuracyPremultiplier from configdj59fb⪜?n5YfM ifBtv?v@@fDf{;f;f۵5x ~NA|Zj%FNOT Ignoring new targets: 627.00 m.Bj%Jj-E ProNav: ac range: 627.000000 m, nav range: 493.803589 m, bearing: 21.678066 deg, approach rate: 0.028542 m/s, LOS rate: -0.076786 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815739 deg. 2jER:jE@MHeadingCmd: 2.056273 target range: 627.000000 and range: 627.00 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbfe,@ɛuBv 隍ljI Ma+ɚiI=Ii}hi,f))*FU?2FQ:FQBFU0JFQJ1J5[J1J1J1J5W9J1J1J1J1J5|:J5|:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273821 !I!Gu-,G}rAG}sAGQBaO}>m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5291569w,PA?Y@*+9$ >yHݿ).?o}?`ݿoݙ?`c?w?ū?ɨ?a;騅%CyޕqBޕIMb@Mb@Mb@ )Ym?L7A`堿y&1|?y.?`;lqA QA)IbdAy`AIaI^5٢b< )=9ޠQ > G٣ys9 > Nusing accuracyPremultiplier from config 59ת? 5YM iB .? : ?@@D;;5 NAZjAEFNOT Ignoring new targets: 627.00 m.BjMJjM] ProNav: ac range: 627.000000 m, nav range: 493.817993 m, bearing: 21.639843 deg, approach rate: 0.029909 m/s, LOS rate: -0.079364 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.779891 deg. 2jeY:je@mHeadingCmd: 2.055647 target range: 627.000000 and range: 627.00 m. jijqjqjqiqhqhyhyhyfyffrfbfy-@ɛuB<0 隵I I/ɚiI=Ii1pi]))zKKKh9KKh K*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777696 I G :_G B O > ?w,;sPAyqBI)! !I5SI5D5٢E&= Ek=9EQ E?II MG٣Mv9GyM U? ]Nusing accuracyPremultiplier from configYe59]Ϊ?m5Y]M i]Biim@@]D];](;]5uB }NAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 493.828430 m, bearing: 21.612433 deg, approach rate: 0.030060 m/s, LOS rate: -0.078944 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812328 deg. 2jX:j@HeadingCmd: 2.056213 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf@H+.@ɛuBX 隍I 2ɚiI==Iivi w^))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030004H]z>IY I]II]HrBIY&IY.IY6I]<:I] F*F?2F:FBF0JFG _G B O >J- hJ- ^J) J) J- (:J- d9J) J) J- );J- );J- :J- : Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281818Fw,NQA:HF?Y:t@:O/9:EQ>y:H ݿM ` |?``x?,ݿ@ĵ???`O? FV$?IFojɨ:HF?:e;:$CyNqBNIIVWIV'5٢jq= jQ=9nlp rG٣pyrT; r> zNusing accuracyPremultiplier from configtz59vŪ?~5YvM iv#B|~3?~@@vDv>;v;v5 .NA Zj)5FNOT Ignoring new targets: 627.00 m.Bj5-Jj5-M ProNav: ac range: 627.000000 m, nav range: 493.840668 m, bearing: 21.581617 deg, approach rate: 0.031451 m/s, LOS rate: -0.079198 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802110 deg. 2jMiY:jM@UHeadingCmd: 2.056035 target range: 627.000000 and range: 627.00 m. jQjQjYjYiYhYhYhahafafafirfibfmy.@ɛvB 隝I 6ɚiI=Ii4|iKK))*FY2FY:FaBFaJFi-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.540529GqG}?G}:?GQBaO>zK N KK 9K K i K  *4Lw,/3QAf|S?Yf@f$^19f>yfHݿ?v?1ݿz?)?@??ɨf|S?f ;f#CyvqBvI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Ai]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786092Mb@Mb@Mb@ )Y-?~jt~jtx?y?5?ļ; )ZAIKcAyQ`AIUDIU5٢u< }2=9?_Q > G٣yne: > Nusing accuracyPremultiplier from config59?5YM i*B[5?:@@@Di@;;5 MAZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 493.860748 m, bearing: 21.543864 deg, approach rate: 0.043477 m/s, LOS rate: -0.081735 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781303 deg. 2j ``:j@ IHeadingCmd: 2.055671 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf/@ɛ=vB=|V 9=I9 Ei:ɚAiaIe=Iiim*ŁimH)q)q*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037816H1 I1  I5 II5 qrBI5  =&I1 .I1 6I5 <:I5 FGU f AGy B O >Sw,MQAyqBI -=)I5/I5J5٢]j= e^=9eQ e>ii mG٣iym m> }Nusing accuracyPremultiplier from configq59uư?5YuM iu1BA@uDu;ug;u5 MAZjFNOT Ignoring new targets: 627.00 m.Bj-Jj-U ProNav: ac range: 627.000000 m, nav range: 493.876801 m, bearing: 21.513969 deg, approach rate: 0.042613 m/s, LOS rate: -0.079358 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804875 deg. 2j]Y:j]ݖ@mHeadingCmd: 2.056083 target range: 627.000000 and range: 627.00 m. jijijijiiihqhyhhfffrfbf@Q0@ɛ!vB 隽UI W{=ɚiIc=IQiUP~iUdI)Q)YJJBAJiJJ1JJ+:JJ3JJ/;J/;JJuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290981*F2F:FBF0JF IGM |HG! B1 OM > ~G- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544954MYw,6gQA`wAJA %Y`wAyA?Y! @t99,>yHWݿO ?f?`qݿ?E4?5(?`?ɨ?p;騭&CyqBI 5@5 5@5 5@5  5@5 I];I]5٢m׍ m,=9uQ u>qy G٣w9Gyn < > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YM i9B+:r:@A@DQ:;>5B MAEZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 493.899384 m, bearing: 21.474847 deg, approach rate: 0.048467 m/s, LOS rate: -0.083958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777198 deg. 2j zf:j @HeadingCmd: 2.055600 target range: 627.000000 and range: 627.00 m. jjjjihhhhf!f!f!rf!bf%0@ɛM/vBUnU Ye/Ia e=AɚaiaIm5&=IiiuA҆iuU )q)qEzK:6LKػ9KKj K*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.793910 ] U$?Ia G5 ~7IG= sAG9 G B O5 >,`w,QAyqBII-6I-5٢E[c= Ew=9MQ M?II MG٣QyU U? ebBottom track data is 0.8 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm59]@?m5Y]M i]?Bm :iuD:quA@]D][0;]N?]5}B }}MA}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 627.00 m.Bj/Jj/ ProNav: ac range: 627.000000 m, nav range: 493.914978 m, bearing: 21.448064 deg, approach rate: 0.047642 m/s, LOS rate: -0.081825 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814207 deg. 2j`:j@HeadingCmd: 2.056246 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf1@ɛ :vBi v="I jDɚiIC=I!i%i%)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046672HI I+IIrBI =&I.I6I<:I F*F?2F:FBF0JFGjGBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297812 Y Ie nj]fw,SQAyUqBUIIeIe5٢Vջ B=9Q > G٣y > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YM iFB 9  :  A@D <Ν?5! -MA)ZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 493.935181 m, bearing: 21.413667 deg, approach rate: 0.045327 m/s, LOS rate: -0.077170 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791371 deg. 2jS:j@HeadingCmd: 2.055847 target range: 627.000000 and range: 627.00 m. jj j j i h h hhfffrf!bf-h1@ɛUHvBU Y]HIY ]6gHɚaiaIe- =Iiim䊺im])i)q*FM?2FQ:FQBF]0JFY"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553889G w Gq By O >zK JK 9K K k K k% a  2 u,Q8v`Ӏlw,;qQA2 J?Y2UD@2?927>y2H`ݿj?XY?ݿx??B?@?ɨ2 J?26ˏ;0y:rB>IJ5gJ5]J50J1J5%:=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.801654J5_9J5ـ3J1aM@aM@aM@aM@        Mb@Mb@Mb@ )Y1Zd?MbMb`y";?rA OA)YAI5bAy_AII5٢== :=97bQ > G٣x9G Iy; > Nusing accuracyPremultiplier from config59r?%5YYM iMB%T:%.;?%:%@%A@D7%;/#;55B 5/MA5EZjQ]FNOT Ignoring new targets: 627.00 m.Bj] ͺJje ͺu ProNav: ac range: 627.000000 m, nav range: 493.962830 m, bearing: 21.376249 deg, approach rate: 0.066235 m/s, LOS rate: -0.089631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782310 deg. 2ju v:jui@}HeadingCmd: 2.055689 target range: 627.000000 and range: 627.00 m. jyjyjyjyiyhhhhfffrfbf`1@ɛUvB0 隽`I  LɚiI:!=IIiMSiU|û)Q)aEsAE*F92F9:F9BFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053698jH bH <H |>I C I >II rBI &I .I 6I <:I FG (G B O% >isw,@QQA6Sz?Y6y\@6B96cy>y6H7ݿ? S?aݿ[?@\?Y? ?ɨ6Sz?6JϏ;4yN rBRIIVIVM5٢< m=9:Q  ?    G٣ y΍; ? Nusing accuracyPremultiplier from config59{?5Y1M iSB@A@ D::5 MAZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 493.985687 m, bearing: 21.346104 deg, approach rate: 0.064224 m/s, LOS rate: -0.084698 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804123 deg. 2jh:j@ HeadingCmd: 2.056070 target range: 627.000000 and range: 627.00 m. j j j j ihhhhfff!rf!bf%RS2@ɛMavBM QUIQ U!BOɚQiQI]!4"=IYi].Jie6)a)iMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306155 T$?IEBJ=*FI2FI:FIBFU`5JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560396Ge ҸG B O]>zw,fQAyvrBvI ~=~=Mb@Mb@Mb@ )Y/$? rh:vy G٣y > Nusing accuracyPremultiplier from config59fn?5YװM iXBtw,RA6?Y6Ϭ@6 TL96g`>y6Hbݿ ?@?`޿܋?͇?N6? \?ɨ6?6R";4yBrBBIIJ!IJ05٢R< Ra=9RpλQ V>TT VG٣Vy9GyZy]< Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.062223 jNusing accuracyPremultiplier from confighn59j3d?n5YjM ij\Bln_@rA@j!Dj;j;jP5vB vMAvEB*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 627.00 m.BjtºJjtº- ProNav: ac range: 627.000000 m, nav range: 494.042694 m, bearing: 21.274135 deg, approach rate: 0.069694 m/s, LOS rate: -0.085002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801319 deg. 2j-Xi:j-ٕ@5HeadingCmd: 2.056021 target range: 627.000000 and range: 627.00 m. j1j9j9j9iAhAhAhIhIfIfIfQrfQbfU+3@H}>I IQIIrBI =&I.I6I<:I FBIMCJIIRIIZIM =bIM =jIM95ɛvBn 隽㍿I 4WɚiIl$=Iii\m))EE*E"EE!>E>*F12F9:F9BF=5JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313831 S$?I mjG TG B O >-w,`!RA2wL?Y2@2hy2H ݿ@?? 9? V޿@ ?@?@%??ɨ2wL?2;2"CyZ rBZIIb-Ib5٢jG j==9jQ j>ll nG٣lyrd; r> vNusing accuracyPremultiplier from configp~59r.X?~5YrM ir`B|x@A@r+DrzKbOKh9KKm K,)'(()&&$$#!! !  ,5JK KKK"KJ fJ J 0J J |":J J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819303  I w,0-;RA6QG?Y6@6S96>y6HMݿ`MQ ?@:?@o޿?y]?*??ɨ6QG?6M;4y^rB^I)d dhjAMb@Mb@Mb@ )Y$C?MbP?y&1y:?:`eVpA NA)jXAIKcAy^AI)I5٢"&= <=9̺Q > G٣y > Nusing accuracyPremultiplier from config 59 rK?5Y M i fB%%:?%:@A@ 5D N< ƣ< 5B LAEZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 494.112091 m, bearing: 21.200820 deg, approach rate: 0.088876 m/s, LOS rate: -0.084212 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784125 deg. 2j-g:j@HeadingCmd: 2.055721 target range: 627.000000 and range: 627.00 m. j!j!j!j!iAhAhIhIhIfIfQfQrfQbfU@4@ɛvB 隍䏿I l_ɚiIį&=Ii+imR))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069802*FQ2FQ:FQBFUq5JFQHI IWIIrBI&I.I6I<:I FG 'HG B O% >w,^TRA6e?Y6@6cW96Q>y6H@޿>@?\6? #-޿?F??`?ɨ6e?6;6#CyRrBRIIZIZ5٢ff f\=9jhh nG٣nz9GynW!; n> vNusing accuracyPremultiplier from configpv59r@?z5YrzM irjBxz@zA@r>Dr:rz:r5 LAZj!-FNOT Ignoring new targets: 627.00 m.Bj-IɺJj5IɺE ProNav: ac range: 627.000000 m, nav range: 494.144745 m, bearing: 21.170250 deg, approach rate: 0.093993 m/s, LOS rate: -0.087988 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802853 deg. 2jMq:jMI@UHeadingCmd: 2.056048 target range: 627.000000 and range: 627.00 m. jQjQjQjQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321675iQhhhhfffrfbfl4@ɛvB 隝I [bɚiI '=Iipi/:)) R$?IE*F?2F:FBF5JFGSnM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574090G B9 O >)w,NnRA2#k?Y2@2F^[92>y2HE޿`6?`G5?@.2޿_?mh??@?ɨ2#k?2;2%CyN!rBRIMb@Mb@Mb@ )Yx?{Gzt{GzyK7?ףף?oA rLA)SWAIaAy\AI;I5٢  =  8=9Q > G٣y9 > -Nusing accuracyPremultiplier from config!559%O4?55Y%M i%nB=_7?=:=@=A@%HD%8;%U";%5EB ELAMEZjiuFNOT Ignoring new targets: 627.00 m.BjuIJjuI ProNav: ac range: 627.000000 m, nav range: 494.181885 m, bearing: 21.133563 deg, approach rate: 0.083328 m/s, LOS rate: -0.082306 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784503 deg. 2ja:j @HeadingCmd: 2.055727 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf4@zKMK 9KKn K=;8673./11/./1331,-*)(&"  ɛuvBup quIq }fɚyiyI}(=Ii4i<:))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827031JiJaJJJ+:Jp9JJ*Fe?2Fa:FaBFeV5JFi IG :Ga Bi O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e I, I.]II.rBI,&I,.I,6I.<:I. FBI~?YBs@B_9BZ >yBH@޿ ;˧?`2?`=޿?1?k?k?ɨBI~?B[ȏ;B$CyNrBNIIV<IV+5٢^ ^_=9^EQ b>`` bG٣`yf: f> nNusing accuracyPremultiplier from configlr59n)?r5YnM inrBpv@vA@nQDn0;n;n35zB zLA~EB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 627.00 m.Bj%ļJj%ļ ProNav: ac range: 627.000000 m, nav range: 494.212860 m, bearing: 21.103259 deg, approach rate: 0.084350 m/s, LOS rate: -0.082516 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803652 deg. 2jb:j@HeadingCmd: 2.056062 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf`<5@ɛ=vB=  AEIA MEjɚIiIIM)=IaimimAУ:)i)i*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.8;w,QRAyllIz>Iz5٢\y: H=9Q > G٣%{9Gy% %> -Nusing accuracyPremultiplier from config)559-k?55Y-M i-vB19=A@-ZD)I I-.;- ;-5 LA~G FYy7AZj1=FNOT Ignoring new targets: 627.00 m.Bj=Jj=M ProNav: ac range: 627.000000 m, nav range: 494.247437 m, bearing: 21.069599 deg, approach rate: 0.079795 m/s, LOS rate: -0.077677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793581 deg. 2jM  BDAT read: Tx time:20:17:14.1845  $Ping request sent. ʮw, RA5g?Y5F@5g;h95! >y5H޿\`?g4? 8޿0^?q?A? ?ɨ5g?5;5#CyErBEIMb@Mb@Mb@ )YS?~jth?{Gzy/?D; )I5bAyG]AI5I5٢ӻ )=9ىQ > G٣yݸ > Nusing accuracyPremultiplier from config59?5YtyM i{B./?:[@A@dD;;5 LAZjFNOT Ignoring new targets: 627.00 m.BjJj%- ProNav: ac range: 627.000000 m, nav range: 494.290283 m, bearing: 21.031575 deg, approach rate: 0.093383 m/s, LOS rate: -0.082864 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780496 deg. 2j5yc:j5@=HeadingCmd: 2.055657 target range: 627.000000 and range: 627.00 m. j9j9j9j9i9hAhAhIhIfIfIfQrfQbfU`(6@ɛ}vB}k! 隅뙿I zrɚiIB,=Iii{:))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:20:17:14.1837 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.244901*Fm?2Fi:FiBFmb5JFqHI IcIIrBI&I.I6Iװ<:I FG Gq By O >w,\RAbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.495914yn)rBrIIzIz15٢-?Q= -h=95Q 5>11 5G٣9y= E> MNusing accuracyPremultiplier from configAM59Eq?U5YEsM iE~BQQUA@ElD aIekjE:EMu;E5mB mLAmEZjFNOT Ignoring new targets: 627.00 m.BjݲJjݲ ProNav: ac range: 627.000000 m, nav range: 494.321594 m, bearing: 21.003904 deg, approach rate: 0.088476 m/s, LOS rate: -0.078187 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811547 deg. 2jV:jŘ@HeadingCmd: 2.056199 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf}v6@ɛvB CI 9vɚ i I U-=Iii&:))*FI2FI:FIBFMO5JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748392G/:G ?G?G B O] > ջw,àRA:b?Y: @:y9:k>y:H@3޿??%?@ p޿݇?`P1?`fA??ɨ:b?:@);:$CyF4rBFI%Mb@Mb@Mb@!!! !)!Y%v/?{Gz?Mby%x)?%#<%%jA !)%=VAI%aA!y%[AI5PI55٢E$< MI=9M+Q M>IQ UG٣U|9Gye < e> mNusing accuracyPremultiplier from configiu59mN?u5YmmM imB})?}:}9@}A@muDm;mN;m5B yLAEZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 494.360535 m, bearing: 20.972908 deg, approach rate: 0.095957 m/s, LOS rate: -0.076372 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801578 deg. 2jQ:j@HeadingCmd: 2.056026 target range: 627.000000 and range: 627.00 m. jjjjihQhYhahafafifirfibfm6@zKuKKu 9KqKup KuɛwBD 왿I ^pzɚiIy.=IiO܉i{;))E>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001291J)J-BA ]O$?IY*F2F:FBF_5JFG }:G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252450H }>I  I jII rBI &I .I 6I <:I F,w,Q SAb5?Yb@:@b\9b>ybH[޿k?? ڛ޿؈??v??ɨb5?b@;b&Cy>rBII-%I-5٢E< EJ=9EiQ M>II MG٣IyU; u> }Nusing accuracyPremultiplier from configy59})?5Y}}gM i}Bf@A@}}D}n:}:}15 PLAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 627.00 m.Bj ƩJj ƩE ProNav: ac range: 627.000000 m, nav range: 494.400177 m, bearing: 20.942050 deg, approach rate: 0.095349 m/s, LOS rate: -0.074215 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801990 deg. 2jEK:jE @MHeadingCmd: 2.056033 target range: 627.000000 and range: 627.00 m. jIjIjIjihhhhfffrfbf M7@ɛwB I ~ɚiI /=Ii쇺i;))*Fy2Fy:FyBFq5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504442 9I9JEgJEcJE0JAJE%:JEx9JEـ3JAJEK$;a]JEN$;a]JE:a]JE:a]G e;Gy B O >w,.W%SA6%?Y6a @6H96K >y6H`D޿K]9??`_޿O?e???ɨ6%?6#&;6%CyRCrBRIIZQIZ5٢z3< zP=9zQ ~>|| G٣y >  Nusing accuracyPremultiplier from config %59 橜?%5Y aM i B!%L@%A@ D ]; ^; 55B 59LA5EZjQ]FNOT Ignoring new targets: 627.00 m.BjeJjeu ProNav: ac range: 627.000000 m, nav range: 494.437836 m, bearing: 20.912528 deg, approach rate: 0.098770 m/s, LOS rate: -0.077425 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805996 deg. 2juT:ju/@}HeadingCmd: 2.056103 target range: 627.000000 and range: 627.00 m. jyjyjyjyiyhhhhfffrfbf7@ɛ!wB ʛI ɚiI0=Ii%ie;))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771454*F}?2F:FBF4JFG{/;GBO>zK- 2KK- 9K) K- q K-  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007760 ) I) kw,C?SA>?Y>*@>X9>1 >y>H&޿ @A?`'? lh޿?y?h?ȣ?ɨ>?>;>#CyJPrBJI=Mb@Mb@Mb@999 9)9Y=p= ף? G٣}9Gy > =Nusing accuracyPremultiplier from config)=59-ک?E5Y-[M i-BE+%?E:E @EA@-D-&;-0;-t5Q ULAQZjyFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 494.478546 m, bearing: 20.879859 deg, approach rate: 0.091930 m/s, LOS rate: -0.073766 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796556 deg. 2jJ:j|@HeadingCmd: 2.055938 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffrfbf8@ɛ2wB  aeIIa mIɚiiiIm1=Iqiuiu &;)q)yE*F%?2F!:F!BF-o5JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260763ZHiRHm?AHyIy I}vII} sBIy&Iy.Iy6I}<:I} FBI%ūCJI!RI!ZI% =bI% =jI%3G ;G B O >w,0 YSA6%Z?Y6a@6M~96q >y6H@ݿo?`3?<޿8?ϯ?8??ɨ6%Z?6Ò;4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511874 `IdJeJ[JJJ\:JW9JJJ;J;J|:J|:yMkrBUIIeNIe(5٢uZ= uP=9}5:Q }> G٣yb > Nusing accuracyPremultiplier from config59Щ?5YUUM iB@A@D ; ; 5 KAZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 494.513214 m, bearing: 20.851569 deg, approach rate: 0.091112 m/s, LOS rate: -0.074344 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809693 deg. 2jL:j>@HeadingCmd: 2.056167 target range: 627.000000 and range: 627.00 m. jjjjihhhhf f f rf bf }8@ɛBwBΪ 隽㚿I AɚiI3=Ii@ijG))*F2F:FBFR5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764693G;Gi B O >%w,srSA6.?Y6f@6`b96>y6Hݿ ?=?@޿~??? ^?ɨ6.?6);6%CyB|rBB IMb@Mb@Mb@ )Y}?5^I?y&1?yM"?`e<iA )RAIaAy=ZAI-II- 5٢]W+= ]L=9]uQ e>aa eG٣aymXۻ m> uNusing accuracyPremultiplier from configq}59ueƩ?}5Yu}OM iuBW"?:@A@uDu ;u;uM5B \KAZjQUFNOT Ignoring new targets: 627.00 m.Bj]ӝJj]ӝm ProNav: ac range: 627.000000 m, nav range: 494.549652 m, bearing: 20.822476 deg, approach rate: 0.086415 m/s, LOS rate: -0.068990 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807284 deg. 2jc=:j@HeadingCmd: 2.056125 target range: 627.000000 and range: 627.00 m. jjjjihhhhfffzK&~JK9KKr K  *GSUXSQrfbf 8@ɛmSwBmy imךIq uZɚqiqIu44=Iyi}yi}8 )y) N$?IjjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017390*Fu?2Fq:FqBFup5JFqG #9G ?G >GY Bq O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267954Hq Iq  Iu IIu 2sBIq &Iq .Iq 6Iu <:Iu F w,ÌSA6?Y6u@6J96S>y6H`Kݿ@ ;?G?iݿP{??` ??ɨ6?6;6"CynrBn5IIzQIz5٢= Q=9DQ >    G٣ ~9Gyٻ > %Nusing accuracyPremultiplier from config-59D?-5YIM iB)-@-A@D ;;59 ]JAYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 627.00 m.BjJj ProNav: ac range: 627.000000 m, nav range: 494.584808 m, bearing: 20.793997 deg, approach rate: 0.092136 m/s, LOS rate: -0.074631 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809126 deg. 2jL:j@HeadingCmd: 2.056157 target range: 627.000000 and range: 627.00 m. jjjjihhhhfff!rf!bf%@3M9@ɛEbwBES IMxIi ug:ɚqiqIuT5=Iyi};i}h)y)ErAEsA*F%?2F!:F!BF-c5JF) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520098J%jJ%YJ!J!J%.:J%[O9J!J!J%~4;J%4;J%+n:J%-n:G- pG B) OM >5w,MSA2X?Y2K@2(92>y2H@ݿ^@S?nQ?iݿy?j?4??ɨ2X?2֕;2&Cy^rBb?IIf>If5٢r'= rL=9v;*9Q v>tt vG٣tyzһ z> ]Nusing accuracyPremultiplier from configQe59U?e5YUCM iUBim@mA@UDUEs;Un;UR5 JAZjFNOT Ignoring new targets: 627.00 m.BjmJjm ProNav: ac range: 627.000000 m, nav range: 494.621094 m, bearing: 20.764150 deg, approach rate: 0.088984 m/s, LOS rate: -0.073187 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805025 deg. 2jH:j@HeadingCmd: 2.056086 target range: 627.000000 and range: 627.00 m. jjj j i h h Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:20:17:17.4097 -TRx dataTimestamp_ set to:1736367438.6737305checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774300h9h9f9fAfArfAbfMǵ9@ɛswB@ 隽I KɚiI$6=IQi]ieͻ))*F2F:FBF3JFzKe 5MKe +9Ka Ke s Ke LKFDCC<;;=:5/(     M$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023749G G B O >w, zSAyrBTI = = Mb@Mb@Mb@    ) Y NbX9?Mbp?~jtx?y %? ; ; (nA EJA) QAI 5bA y 3[AIe6Ie5٢= 1=9Q > G٣y > Nusing accuracyPremultiplier from config 59 ?5Y  BDAT read: Tx time:20:17:18.5345 $Ping request sent.@%HeadingCmd: 2.055862 target range: 627.000000 and range: 627.00 m. j!j!j!j!i!h)h)h)h)f1f1f1rf5=@bf=ܡ?ɛ wB <    I  ύɚiIk7=IYi]i@i]û)Y)a*F2F:FBF0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:17:18.5337 G 4λG G J= gJ= [J= 1J9 J= %:J= W9J= 3J9 J= K$;J= N$;J= |:J= |:G B O >w,SA:?Y:@:b9: >y:H Sݿ ]? ^?ݿgu?`)?@??ɨ:?:;:$CyrrBrfII7I5٢u= uD=9u׼Q }>yy }G٣}9Gy > Nusing accuracyPremultiplier from config59?5Y6M iɫB`@A@D<<5 IAkr+bDk?k| < k k@SA:kDBkDZk>"Zuxf_^GS1Y@Əh\ɿ 0RmtSpC?JkRk**Kd@2k+d@py-@e)?8&h?#s?"ky'C*kDknl?k8k; 2k,Bknl?kk,BkdDk>] addTargetRange:: Added new target pos. range: 615.700012 m, deltaT: 26.207960 s, deltaX: -11.299988 m, approachRate: -0.431166 m/s, rangeRepo size: 3  Added new target pos. range: 615.700012 m, bearing: 15.788382 deg, lat: 36.910904 deg, lon: -122.123697 deg, deltaT: 26.207960 s, deltaX: -11.299988 m, approachRate: -0.431166 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 617.571777 m, bearing: 16.447347 deg, approach rate: 0.000000 m/s, LOS rate: -0.070603 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810583 deg. 2j:j@ HeadingCmd: 2.056183 target range: 615.700012 and range: 615.70 m. j j!j!j)i)h)h)h1h9f9fAfArfIbfMX?%.~GEvAY WYvAy}BɛwB 隕II ɚiI9=Ii60ia))EE>*F?2F:FBF_1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G vϻG B O >uC[/JMb@Mb@Mb@ )Y rh?I +:v?y,?94T<jA )RAI`AyZAI I 5Will construct direction to contact in vehicle frame from tetrahedron phase data.٢%= %@=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=/M i=իBM,?M:M@MA@=D=. ;= ;=!5]B ]$IA]EZjFNOT Ignoring new targets: 615.70 m.Bj}Jj} ProNav: ac range: 615.700012 m, nav range: 617.620605 m, bearing: 16.421189 deg, approach rate: 0.119540 m/s, LOS rate: -0.064035 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816088 deg. 2j/:j@HeadingCmd: 2.056279 target range: 615.700012 and range: 615.70 m. jjjjihihihqhqfqfqfyrfybf}`?ɛwB: )-I1 5`tɚ9i9I=r&:=IIiM)iU?Y)Q)Q*F?2F:FBF3JFG׹GqBO>H} |>Iy  I} II} sBI}  =&Iy .Iy 6I} <:I} F Will construct direction to contact in vehicle frame from tetrahedron phase data.$w, `TA:?Y:)@:c9: >y:H`iݿ`?WW?hݿ:hj?? ?Y ? ?ɨ:?:R;:'CyF9sBJILNAIRIR5٢Z= Ze=9ZQ ^>\\ bG٣`yb; b> fNusing accuracyPremultiplier from configdj59f?j5YfF*M if߫Bln@nA@fDf ;f* ;f$5p rlHAvE B*** querying acoustic contact ***j j PExceeded connect timeout, disconnecting.Zj!%FNOT Ignoring new targets: 615.70 m.Bj-xJj-x= ProNav: ac range: 615.700012 m, nav range: 617.661926 m, bearing: 16.399284 deg, approach rate: 0.115017 m/s, LOS rate: -0.060967 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828848 deg. 2j=]':jE@EHeadingCmd: 2.056501 target range: 615.700012 and range: 615.70 m. jAjIjIjIiIhIhIhQhQfQfQfYrfYbf] O w,S@+TA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501532yYsBII=I=5٢e= e?=9mQ m>ii uG٣u9Gyu }> Nusing accuracyPremultiplier from configy59}`}?5Y}#M i}BA@}D}:}:}z(5 GAZjFNOT Ignoring new targets: 615.70 m.Bj Jj  ProNav: ac range: 615.700012 m, nav range: 617.711609 m, bearing: 16.373059 deg, approach rate: 0.115922 m/s, LOS rate: -0.061185 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815887 deg. 2j':j@UHeadingCmd: 2.056275 target range: 615.700012 and range: 615.70 m. jYjYjajaihhhhfffrfbf ^?ɛ=wB=s AEEIA m.ɚiiiIm\<=Iqiu}i})y)yE*F92F9:F9BF=3JF9 YIY5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753622zK==\PK=h9K9K=u K=yqfI3ymf_YSMF:0-+/5/% JufJuaJu0JqJu|":Jup9Juـ3Jqa}@a}@a}@a}@GE ;3G B! OE >7w,ETAy~lsB~IMb@Mb@Mb@ )Yd;O?I +Mb?y4?9<kA \KA)PAIaAy=ZAIMIM5٢]0= e;=9aQ e>ii mG٣iyq u> }Nusing accuracyPremultiplier from configy59}Ar?5Y}2M i}B4?:@A@}D};}o;}I,5 GAZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 617.760193 m, bearing: 16.344956 deg, approach rate: 0.112610 m/s, LOS rate: -0.065133 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810254 deg. 2j2:jg@HeadingCmd: 2.056177 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf`@HI IIIsBI&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005593ɛwB' ፿I ɚiIn==Ii iVi ) ) *F2F:FBFq5JF nManaging dock network, ignoring radio surface power offG I II Ga Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257640Kaw,E^TA:?Y:@:9:_ >y:H=ݿ~ Bz?a?`[ݿh?P?s? ?ɨ:?:꽍;:$CyBsBBIIRIR35٢V= Zk=9ZMQ Z?\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fii?j5YfYM ifBhn@nA@fDf ;fy;fU/5rB rFArEZj  FNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 617.798462 m, bearing: 16.322463 deg, approach rate: 0.109705 m/s, LOS rate: -0.064476 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827082 deg. 2j0:j7@HeadingCmd: 2.056471 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf@ɛ}wB}I y}⊿Iy ɚiI;x>=Iiwpiȴ+)))*F?2F:FBFm5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510031G>uG B) Om >:w,xTA6?Y6G@6/96 >y6H`1ݿ? ?d?9ݿi? b??"?ɨ6?6ʈ;6#Cy^sBbI rK$?IpMb@Mb@Mb@ )Y+?X9v~jt?yv>?D<iA /IA)I^AyXAII5٢E= 8=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7629509 UQ  > G٣9Gy > %Nusing accuracyPremultiplier from config!-59%]?-5Y%cM i%B->?-:5!@5A@J=iJ=[J=1J9J=+:J=W9J=3J9%D%;%ۤ;%>35UB UFAUEZjyFNOT Ignoring new targets: 615.70 m.BjJjzKOKKKv K~|ytokhfdc^WUPKFCB@@???>=;94.-./-,*(*()'('&%#" ProNav: ac range: 615.700012 m, nav range: 617.847046 m, bearing: 16.291960 deg, approach rate: 0.107741 m/s, LOS rate: -0.067638 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803056 deg. 2j9:jX@HeadingCmd: 2.056051 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbfm@ɛwB# |I $jɚiI?=I i \i  G2))EE*FE?2FA:FABFEp5JFAH {>I  I 8II DtBI =&I .I 6I ɰ<:I FBIJIRIZIbIjIǒ4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013581G "G B O >Qr$w,rTA:?Y:@:9ҋ9: >y:H&ݿF 5?lg?@yݿ:h?v?.??ɨ:?::\;:$CyFsBFIIN IN5٢V= Vb=9ZaQ Z>XX ^G٣\yb b> fNusing accuracyPremultiplier from configdn59fLT?r5YfM ifBxz@~A@fDf;f@;fd65 EA-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 615.70 m.BjEuJjEuU ProNav: ac range: 615.700012 m, nav range: 617.886047 m, bearing: 16.267431 deg, approach rate: 0.107361 m/s, LOS rate: -0.067519 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820973 deg. 2jUZ9:jUw@eHeadingCmd: 2.056364 target range: 615.700012 and range: 615.70 m. jajajijiiihihihqhqfqfqfyrfybf}kO @ɛxB 隭džI ɚiI@=Ii4iH;))*Fq2Fq:FqBFui4JFq Ihj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265874G-,GBO>*w,TA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517643B?YB@Bv獽9BXQ>yBHO-ݿf ?e?`ۂݿc?L???ɨB?B7v;B&Cy^sBbIIjIj5٢rR= rG=9v "Q v>tx zG٣xyz: z> Nusing accuracyPremultiplier from config|59~I? 5Y~M i~(B  @ A@~ D~":~:~95B EAEZjAEFNOT Ignoring new targets: 615.70 m.BjMݝJjMݝ] ProNav: ac range: 615.700012 m, nav range: 617.930786 m, bearing: 16.239481 deg, approach rate: 0.110467 m/s, LOS rate: -0.069008 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810713 deg. 2jep=:je@eHeadingCmd: 2.056185 target range: 615.700012 and range: 615.70 m. jijijijiiihihihqhqfffrfbf@X @ɛ"xB 5I9 E؝ɚAiIIUºA=Iiipi63))*F2F:FBFp5JF J$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769673J]fJ]\J]0JYJ]|":J][9J]ـ3JYzK] NK] 9KY K] w K] "" !     G I6G B O >F1w,\TAZy?YZ@Zb9Zb >yZH`<3ݿ ?ub?`ݿeI?p(? S??ɨZy?Z;Z'CybtBbIuMb@Mb@Mb@qqq q)qYuE?l񢿺I +?yuF?uu94 G٣9Gy: > Nusing accuracyPremultiplier from config=59>?E5YL i5BMF?M:M?UA@D<<=5y }JEAyHIC IjIItBI =&I.I6I<:I FZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 617.977783 m, bearing: 16.209150 deg, approach rate: 0.102015 m/s, LOS rate: -0.065834 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803570 deg. 2j%4:j%}@5HeadingCmd: 2.056060 target range: 615.700012 and range: 615.70 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfE@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.021732ɛ6xB tI ɚiIB=IiiZ-))E>E!>*F?2F:FBFo5JF I G =2G B O % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2736547w,lTA>C?Y>@>^9>w>y>H`6ݿ Y?@`?ϒݿ&6?g??@h?ɨ>C?>ʌ;>#CyF tBF"IININ5٢n= nU=9vG%Q v>tt zG٣xyz 7: z> ~Nusing accuracyPremultiplier from config|59~3? 5Y~L i~BB  ? A@~D~;~2;~A5 DAZj9EFNOT Ignoring new targets: 615.70 m.BjEJjEU ProNav: ac range: 615.700012 m, nav range: 618.020264 m, bearing: 16.181851 deg, approach rate: 0.121586 m/s, LOS rate: -0.078127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812667 deg. 2j]xV:j]@eHeadingCmd: 2.056219 target range: 615.700012 and range: 615.70 m. jajajajiiihihihqhqfqfqfyrfybf}@ɛExBP! s=隭I -ɚiIC=Iiik*))*FQ2FQ:FYBF]1JFYeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.525752G-,GQBYO>f=w,ITA ,I2gjf?Yf@fGU9f >yfHEݿB ?c\?`MݿJ m?U??ɨf?f ;dy 5tB /I -=-p=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778484Mb@Mb@Mb@ )Yq= ףp?i|?5~jtx?yK?q;gA HA)OAIyWAJK KKK"KJJ_JJJJ=h9JJBAI5I55٢E6= E7=9M Q M>II UG٣QyUV; ]> eNusing accuracyPremultiplier from configau59e(?u5YeL ieNB}L?}:}?}A@e)DeM;eE;eD5B DAZjFNOT Ignoring new targets: 615.70 m.Bj了Jj了 ProNav: ac range: 615.700012 m, nav range: 618.062683 m, bearing: 16.149189 deg, approach rate: 0.094778 m/s, LOS rate: -0.072972 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796577 deg. 2jRH:j}@HeadingCmd: 2.055938 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbfN@zKMK 9KKx K ɛ[xB 隝I  'ɚiID=Iiui))*F2F:FBFh5JFHIC IIItBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030438G G G G B O >;Dw,oUA:F?Y:p@:>9:: >y:HPݿ`?@X?@Lݿh]Z?`nj??ɨ:F?:Y;:%CyRFtBR9II^I^p5٢j@= je=9j7+Q n>ll rG٣r9Gyr; r> vNusing accuracyPremultiplier from configtz59v?z5Yv%L ivYB|~?~A@v2Dvx;v;vH5 DDA %B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 615.70 m.BjEJjEU ProNav: ac range: 615.700012 m, nav range: 618.096863 m, bearing: 16.123090 deg, approach rate: 0.095894 m/s, LOS rate: -0.073218 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816265 deg. 2j]H:j]@eHeadingCmd: 2.056282 target range: 615.700012 and range: 615.70 m. jajajajaiahahihihififqfqrfqbfu @ɛjxBn" 隥I —ɚiI8E=IiSifV))E ]I$?IY*FY2FY:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281842GZ)}F= }|CGB~G ) O5 > U YY y] BcJw,-UA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533744>?Y> @>.瘽9> >y>H\ݿ@w?IU?@Sݿc`Z?Ĉ? ?ɨ>?>L;>$Cy QtB @II5I5u5٢E< MC=9MQ M>IQ UG٣QyU; ]> eNusing accuracyPremultiplier from configYm59]?m5Y]L i]eBim?mA@]=D]q:]:]K5y }DAyZjFNOT Ignoring new targets: 615.70 m.BjIJjI ProNav: ac range: 615.700012 m, nav range: 618.137512 m, bearing: 16.092455 deg, approach rate: 0.097039 m/s, LOS rate: -0.073127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802658 deg. 2jH:j;@HeadingCmd: 2.056044 target range: 615.700012 and range: 615.70 m. jjjjihhhhff f rf bf m@ɛE~xBE IMII MEiɚIiIIMF=Ii[iT)) AIIEpu=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787381*F?2F:FBF?1JFzKm #LKm 9Ki Km y Km !"##',,0234667740$ !#&%',,022..6Keuyuojecceb\VQLG@=6G G B O >#Rw, KUA2/?Y26@2qؚ92bY >y2Hoݿ[ ? O?ݿ$gUV???ɨ2/?2;2&Cy:ctB:KIBABAHjy>IjC IjIIjuBIh&Ih.Ih6Ij°<:Ij FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037698EMb@Mb@Mb@AAA A)AYE rh?X9v~jthyEL?E}EDEiA EGA)AIE^AAyAI]I]V5٢m= u%=9}Q }> G٣y2; > Nusing accuracyPremultiplier from config59?5YvL iqB)M?:?A@JD@;;P5 CAEZjFNOT Ignoring new targets: 615.70 m.BjϥJjϥ- ProNav: ac range: 615.700012 m, nav range: 618.186035 m, bearing: 16.055963 deg, approach rate: 0.096384 m/s, LOS rate: -0.072482 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.785087 deg. 2j-F:j54@5HeadingCmd: 2.055737 target range: 615.700012 and range: 615.70 m. j1j9j9j9i9h9h9hAhAfIfIfIrfIbfUAk@ɛxBjH 隽WI hɚiI#H=Ii]FiC))E=*FQ2FQ:FQBFU3JFY Ifju Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292318J J \J J J J [9J J J ;a J ;a J Ձ:a J ց:a G= JG9 BA Oe >Xw,dUA:W;?Y:<@:P9: >y:H`tݿ? M?0ݿ,m}?2??ɨ:W;?:֌;:%CyRptBRSIIZIZ75٢b+= bj=9fQ f?hh nG٣n9Gynu: r? vNusing accuracyPremultiplier from configpv59rI?z5YrL irzBxz?zA@rRDr:rz:rS5~B CAEZj!-FNOT Ignoring new targets: 615.70 m.Bj-sJj-sE ProNav: ac range: 615.700012 m, nav range: 618.220337 m, bearing: 16.030323 deg, approach rate: 0.100857 m/s, LOS rate: -0.075384 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817641 deg. 2jEN:jE@MHeadingCmd: 2.056306 target range: 615.700012 and range: 615.70 m. jIjIjIjIiIhQhQhYhafafafarfabfm#@ɛxBd' 隝ƆI ɚiIgI=Ii}i))EE*E9"E9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541718EsAEtA*F?2F:FBFL1JF H$?I G U} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794267G B O >6_w,FUAzKm{ENKiKiKmz Km1-+$#      BKy:Kyy}qtBޅTI-Mb@Mb@Mb@))) )))Y-K7?+YY ]G٣aye e> uNusing accuracyPremultiplier from configiu59m-?u5YmL imB}I?}:}2@}A@m^Dm;m;mfw,>UA6?Y6c@6h96@ >y6H`ݿ`@8? C?L޿u'?Nj??ɨ6?6(;6$CyBttBBVI TITIJIJ5٢^J; ^i=9bQ b>`` fG٣dyf; f> jNusing accuracyPremultiplier from confighr59jb樜?r5Yj:L ijBprY@vA@jgDj*;j+;jKZ5x zCAzE B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 615.70 m.Bj-+Jj-+= ProNav: ac range: 615.700012 m, nav range: 618.319641 m, bearing: 15.971052 deg, approach rate: 0.121579 m/s, LOS rate: -0.071764 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818792 deg. 2jEE:jEؚ@MHeadingCmd: 2.056326 target range: 615.700012 and range: 615.70 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbf]@ɛ=xB= g' 9=TIA EɚAiAIEBSK=IIiM1&iM 욻)I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300362JJ[JJJJW9JJJJJ|:J|:*F)2F1:F1BF5M5JF1GmGA BQ Om >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549579BLlw,UA>?Y>{@>@綠9>k` >y>H`7ݿ:?@!=?޿޺|3?`{o?ט?ɨ>?>6 ;y G٣ 9GynO; > mNusing accuracyPremultiplier from configa59e٨?5YeL ieBp@A@esDeE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802878*Fe?2Fa:FaBFe_5JFizK}N?MK}]9KyK}{ K} = 59BzT=/! G G B O >jH- <bH- 4=H1 I1  I5 II5 kuBI1 &I1 .I1 a*sw,FUA6Iud<:Iu FBIMCJIMCRIIZIM =bIM =jIM~4Jױ?YJ9x@Jyn9J >yJHݿ z? G٣y׹ > Nusing accuracyPremultiplier from config59Ψ?5YL iBC?:7?A@}D ;8;a5B LCAZjIUFNOT Ignoring new targets: 615.70 m.Bj]Jje ProNav: ac range: 615.700012 m, nav range: 618.421753 m, bearing: 15.909244 deg, approach rate: 0.112143 m/s, LOS rate: -0.071052 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807895 deg. 2j C:j@HeadingCmd: 2.056136 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf N @ɛxBs( 隍GI XɚiIMM=Iiiig))*F5?2F1:F1BF5p5JF1 IejWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305569J gJ J J J %:J J J J K$;J N$;J J G g{G B O >3\yw,cBUA6G?Y6q@6ͣ96J>y6H|ݿ`?g9?3'޿+@??`;?ɨ6G?6e;6$CyBtBBcIJAJAININ:5٢RX; Vo=9ZsĻQ Z?\\ ^G٣\y^: b? fNusing accuracyPremultiplier from config`j59bŨ?j5YbɣL ibBhjJ?jA@bDb>;b;bd5p rBCApZjFNOT Ignoring new targets: 615.70 m.BjJj%= ProNav: ac range: 615.700012 m, nav range: 618.459839 m, bearing: 15.885270 deg, approach rate: 0.114330 m/s, LOS rate: -0.071963 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822639 deg. 2j=E:jE@UHeadingCmd: 2.056393 target range: 615.700012 and range: 615.70 m. jQjQjQjQiQhYhYhahafafifqrfqbfuN @ɛm yBmb/ im-Iq u}EɚqiqIuN=Iyi}V4i}xh)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557838*F-?2F):F)BF-4JF)GexGA q Iq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809690J J @A;w,VA^1?Y^fw@^9^>y^H ݿ5?:?!޿/??Ȓ?ɨ^1?^ .;\yjtBjhIeMb@Mb@Mb@aaa a)aYeV-?=9xQ > G٣9Gy > Nusing accuracyPremultiplier from config598?5Y2L iB8=?:@A@D4<3<h5  CA ZjIUFNOT Ignoring new targets: 615.70 m.zKU/>NKUh9KQKU| KU  BKa:KaBjueJj}e ProNav: ac range: 615.700012 m, nav range: 618.511108 m, bearing: 15.856176 deg, approach rate: 0.115864 m/s, LOS rate: -0.065742 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807284 deg. 2jy4:j@HeadingCmd: 2.056125 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf!@ɛ5 yB5) 15I1 5TCɚ9i9I=O=IAiE%iE)A)AEQ*F2F:FBF45JFHx>I IIIuBI =&I.I6I<:I F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.061656Gg{G B O >gw,VA E$?Ij?Yjw@jf9j >yjHݿ?9? %޿e?@?n?ɨj?j!;hy!%iII5I55٢E; EO=9M>Q M>II MG٣QyUi7 U> eNusing accuracyPremultiplier from configYe59]̯?e5Y]@L i]BiimA@]D]:]:]l5uB }CA} EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 615.70 m.Bj螺Jj螺 ProNav: ac range: 615.700012 m, nav range: 618.558167 m, bearing: 15.829563 deg, approach rate: 0.122834 m/s, LOS rate: -0.069463 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814722 deg. 2j>:j@HeadingCmd: 2.056255 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf`*"@ɛ3yBd1 I ɚiI%P=I!i%i-A))))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313810JfJJ1JJ|":JJ3JJ;J;JJ*F?2F:FBF{0JFG GsAGGGGBO >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565767w,)4VAy%tB-mI M=III5٢-< 5==9=Q E>QY ]G٣aym u> Nusing accuracyPremultiplier from config59?5YuL tIi¬BB@D-< <o5 Idj}B CAEZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 618.611084 m, bearing: 15.799706 deg, approach rate: 0.112806 m/s, LOS rate: -0.063641 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804995 deg. 2j.:j@HeadingCmd: 2.056085 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbfN#@ɛKyBLE*  I FɚiIQ=I!i%i!)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817803*F?2F:FBFP5JFzKqKK9KK} K.rErC' GE xG! BA O] >H w>I  I II uBI &I .I 6I <:I Fyw,!NVA>x?Y>[@>p9> >y>H݆ݿm@ ?`)>?`?޿N*?`^?I?ɨ>x?>;QQ ]G٣]9Gy]! ]> eNusing accuracyPremultiplier from configam59e?5YeL ieʬB1?:;@B@eDe;e;ess5 ZjFNOT Ignoring new targets: 615.70 m.Bj .Jj. ProNav: ac range: 615.700012 m, nav range: 618.658691 m, bearing: 15.774455 deg, approach rate: 0.125428 m/s, LOS rate: -0.066523 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818808 deg. 2j%6:j%ٚ@-HeadingCmd: 2.056326 target range: 615.700012 and range: 615.70 m. j)j)jIjIiQhQhQhQhYfYfYfYrfYbfeR$@ɛ_yB3 I /ɚiIPS=IiRi)) *F2F:FBF65JF QIQWill construct direction to contact in vehicle frame from tetrahedron phase data. .~G `wA Y `wAy Aw,QihVA6 \?Y6RM@6-U96 >y6H^yݿ\?@?`b޿{7(?S?৑?ɨ6 \?6K;6%CyDFnIIZIZ5٢f: j<9jeuQ n>pp rG٣pyv v> ~Nusing accuracyPremultiplier from config| 59~? 5Y~L i~ѬB ,@B@~D~L;~%L;~v5) -CA)ZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 618.701233 m, bearing: 15.751859 deg, approach rate: 0.114868 m/s, LOS rate: -0.061007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826774 deg. 2jy':j @ HeadingCmd: 2.056465 target range: 615.700012 and range: 615.70 m. j j j j i hhh1h9f9f9f9rf9bfE`%@ɛryB9 隍嚿I ɚiIxT=Ii7Ƴi[ϻ))Will construct direction to contact in vehicle frame from tetrahedron phase data. Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ  y2H@-bݿT?E?kݿg}ͷ?H?-?ɨ2Z)?2N;0y>tB>yIMb@Mb@Mb@ )YHzG?~jtQy=*?DuKcA BA)GAIy=RAIIr5٢% = %6=9%(Q %>)) -G٣)yUa U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]yL i]ܬBeO*?m:m@@mB@]D]a;];]z5B BA EZjFNOT Ignoring new targets: 615.70 m.BjJjzKMK9KK~ K7y- _= ProNav: ac range: 615.700012 m, nav range: 618.757507 m, bearing: 15.724712 deg, approach rate: 0.128779 m/s, LOS rate: -0.062118 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813123 deg. 2j*:j9@%HeadingCmd: 2.056227 target range: 615.700012 and range: 615.70 m. j!j!j!j!i!h!hIhIhIfQfQfQrfQbfU (%@ɛyB2 I 2ɚiIDU=Iii@))Hv>I IIIuBI&I.I 5BDAT read: Tx time:20:17:29.4846 5$Ping request sent.5 Y IY mw,y6HGݿ+o?@K? wݿ땿S??u?ɨ6?6v ;4yJtBJ~IIRIR5٢r[< v`=9v3KQ v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59|? 5YStL iB "@B@D;;}5 BA=B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 615.70 m.BjM_JjM_e ProNav: ac range: 615.700012 m, nav range: 618.802368 m, bearing: 15.702920 deg, approach rate: 0.127228 m/s, LOS rate: -0.061799 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.829186 deg. 2jm)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:20:17:29.4838 }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250203:j}ѝ@HeadingCmd: 2.056507 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf`&@ɛyBH7  ?I  Fɚ i I jV=Iii))9*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500652G% >uG B O >e߬w,VA6?Y6W&@6ƽ96-^>y6H@SݿHU?E? JݿƘ?Ӹ? a?2?ɨ6?6Bq;6#Cy>tB>IIFIF=5٢R7< VP=9ZQ  >    G٣ 9Gy_; > Nusing accuracyPremultiplier from config%59r?%5YmL iB)-1@-B@D+;=;35]B eBAmEZj!5FNOT Ignoring new targets: 615.70 m.BjEJjE C$?Iu ProNav: ac range: 615.700012 m, nav range: 618.853149 m, bearing: 15.678425 deg, approach rate: 0.117850 m/s, LOS rate: -0.056842 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821077 deg. 2ju :ju@}HeadingCmd: 2.056366 target range: 615.700012 and range: 615.70 m. jyjyjyjyiyhhhhfffrfbf'@ɛyB9 I X\ýɚi!I% W=IiSRiL))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754244JpJaJ0JJA:Jp9Jـ3J*F]?2FY:FYBF]4JFaGi GmtAzKe MKe 9Ka Ke  Ke   G (G G GY Ba H u>I  I II uBI  =&I .I 6I I<:I FO >Ƴw, VAB?YB@B%ʽ9B >yBHfFݿ l?G?ݿӗ1:?`f? /?ɨB?B;B$CyJtBNIrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004727UMb@Mb@Mb@QQQ Q)QYUK7A?Q~jtxyU "?UuUĻUaA UAA)QIQQyUGQAII 5٢B= 7=9DiQ > G٣y > %Nusing accuracyPremultiplier from config-59Sh?55YvgL iB="?=:=@EB@D;G;5]B ]/BAe EZjFNOT Ignoring new targets: 615.70 m.Bj\Jj\ ProNav: ac range: 615.700012 m, nav range: 618.902954 m, bearing: 15.653363 deg, approach rate: 0.119340 m/s, LOS rate: -0.060046 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819379 deg. 2j$:j@HeadingCmd: 2.056336 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf)S(@ɛuyBuJ? quݞIq }"9ŽɚyiyI}X=Ii,i@ ))*F%?2F!:F!BF%0JF) IcjWill construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256912G ZG B O >w,@VAN6?YN:@N'ͽ9N+b >yNH`bݿ5+? >?L޿HЮ?(? [?ɨN6?Nˏ;N Cy^tB^IIrIr@5٢-{= -V=9=RQ =>99 EG٣AyE; E> MNusing accuracyPremultiplier from configIU59Mq_?U5YMaL iMBY]@]B@MDM ;M ;MR5a eAAaZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 618.946716 m, bearing: 15.631638 deg, approach rate: 0.117210 m/s, LOS rate: -0.058185 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.829383 deg. 2j:jߝ@HeadingCmd: 2.056511 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf)@ɛyBny? _I DǽɚiIթY=Iii))E!*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508909GGB I O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760674J iJ bJ 1J J +:J t9J 3J w,WAb?Yb<@bMν9b >ybH0ݿ ?K?@\ݿ@졛@?p??ɨb?b=;b$CytB IMb@Mb@Mb@ )YK7A?MbP?y: `A AA)DAIYAyPAII5٢= A=9Q > G٣9Gy= => ENusing accuracyPremultiplier from configAM59ET?M5YEi[L iEBM "?U:U@UB@EDE;Et;E5Y ]AAYZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 619.002563 m, bearing: 15.606815 deg, approach rate: 0.128566 m/s, LOS rate: -0.057138 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820097 deg. 2j:j7@HeadingCmd: 2.056349 target range: 615.700012 and range: 615.70 m. jjjjihhDReached init depth of 61.242031 m.hhfffrfbf`)@ɛyBR: I sUɽɚiI|Z=Ii i )) )zK-LK-h9K)K- K-*F?2F:FBF~0JF"G=G=H=r>I=C I=,II=uBI= =&I9.I96I=i<:I= FBIJIRIZI =bI =jI@5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012776GmGA BQ Om > I w,gWA6a?Y6A@6Ͻ96h >y6Hݿ`?hV?@ݿ@z?[ ?@?ɨ6a?6t;6&CyBuBBIIJIJ5٢RAt= R_=9Vp Q V>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\b59^AL?b5Y^2VL i^Bdf@jB@^D^zD;^4;^55l n9AAn EzB*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 615.70 m.Bj MJj M ProNav: ac range: 615.700012 m, nav range: 619.047302 m, bearing: 15.586634 deg, approach rate: 0.126280 m/s, LOS rate: -0.056959 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834018 deg. 2j\:j2@HeadingCmd: 2.056592 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbf*@ɛ- zB-<_A )-^I) 5C˽]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265349ɚqiqIu[=Iyi}i}mR)y)*F?2F:FBF0JFGM{#G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516630-w,E7WA6?Y6E@6Ǜѽ961l >y6H ܿ@/[?Vc?zݿ'? zH??ɨ6?6^Ǝ;6#CyNuBNIIZIZ95٢f?(= fH=9fQ f>hh jG٣hyn n> vNusing accuracyPremultiplier from configpz59rcB?5Yr#PL ir-B@B@rDr;r ;rʒ5! %@A)ZjQUFNOT Ignoring new targets: 615.70 m.Bj]cJj]cm ProNav: ac range: 615.700012 m, nav range: 619.098389 m, bearing: 15.563229 deg, approach rate: 0.123460 m/s, LOS rate: -0.056560 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824345 deg. 2jmD:jmn@uHeadingCmd: 2.056423 target range: 615.700012 and range: 615.70 m. jqjqjqjih!h)hYhafi B$?Ibjffrfbf@Ð+@ɛ"zB: `I ȜͽɚiI]=Ii>źi))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770188JJJJJJJJ*F?2F:FBF0JFzK  LK K K K G KG B O >H% q>I!  I% KII% vBI%  =&I! .I! 6I% f<:I% Fsw,QWAfWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022410yBuBIMb@Mb@Mb@ )Yx&1?~jtx?~jtx?yA ?;;"aA )CAIyI-I-u5٢== =5=9EQ E>AA MG٣M9GyM M> ]Nusing accuracyPremultiplier from configQe59U7?e5YUIL iU=BmE ?m:m@uB@UDU.;U;U5B u@A EZjFNOT Ignoring new targets: 615.70 m.BjJj ProNav: ac range: 615.700012 m, nav range: 619.155823 m, bearing: 15.537830 deg, approach rate: 0.126383 m/s, LOS rate: -0.055885 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818367 deg. 2ji:j@HeadingCmd: 2.056319 target range: 615.700012 and range: 615.70 m. jjjjihhh h Bf ffrfbfl,@ɛBuBͽ [=0I ڜͽɚiI\]=I i ɺi"|)) I*F?2F:FBFJFGrA GsAG|GYBiO{>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272668?w,jWAFU{?YF\@Fv׽9FN >yFHܿ E?m?Nݿ!֠ ?`~?@?ɨFU{?Fng;F$CyRWuBRI V=V=IZIZ5٢b4e= bf=9fQ f>dd jG٣hyjI j> rNusing accuracyPremultiplier from configlr59n.?v5YnbDL inJBtv@zB@nDnN3;n3;nי5B @A EZj!-FNOT Ignoring new targets: 615.70 m.Bj-냺Jj-냺E ProNav: ac range: 615.700012 m, nav range: 619.200562 m, bearing: 15.517749 deg, approach rate: 0.128487 m/s, LOS rate: -0.057666 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834319 deg. 2jEM:jEH@MHeadingCmd: 2.056597 target range: 615.700012 and range: 615.70 m. jIjIjIjIiIhIhQhQhQf1f1f1rf9bf="-@ɛ%CuB%մʽ !%p} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:17:32.6883  TRx dataTimestamp_ set to:1736367454.048659 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777799)w,WAE^?YEN@E۽9E0 >yEHČܿZ#X?@`o?@Eݿ ¡19 =G٣9y= => MNusing accuracyPremultiplier from configAM59E#?U5YE=L iE]B]c$?]:]@]B@EDEE;ED;EƝ5a e?AiZjFNOT Ignoring new targets: 615.70 m.BjJj󃺝m ProNav: ac range: 615.700012 m, nav range: 619.258423 m, bearing: 15.491747 deg, approach rate: 0.128368 m/s, LOS rate: -0.057680 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816559 deg. 2jmW:jm4@uHeadingCmd: 2.056287 target range: 615.700012 and range: 615.70 m. jqjqjyjyiyhyhyhh}BzKKKKK KBK:KfffrfbfR .@ɛxƽ H=I ~ͽɚiI\=IAiEҺiMq)I)IHp>I IjII6vBI =&IFD.I6Iv<:I F*F?2F:FBFJFGBOa>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028888 A$?I Qw,pWA6^?Y6N@6A7߽96d >y6H`1ܿ@ `i?m?bJݿR^ػ?$?"?ɨ6^?6;6&CyRuBRII^I^5٢~= ~a=9~ɵQ > G٣9Gy 6  > Nusing accuracyPremultiplier from config59?5Y98L ilB!%@%B@D2 ; ;5) ->A)UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 615.70 m.BjeσJjeσ} ProNav: ac range: 615.700012 m, nav range: 619.305237 m, bearing: 15.470751 deg, approach rate: 0.128480 m/s, LOS rate: -0.057619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.831573 deg. 2j},:j}@HeadingCmd: 2.056549 target range: 615.700012 and range: 615.70 m. jjjjihhhhfffrfbfʵ.@ɛDuBǶ =I ^ͽɚiI\=Ii0Bֺiߚ))=Will construct direction to contact in vehicle frame from tetrahedron phase data.JlJaJ0JJ<5:Jp9Jـ3JJI?;aJL?;aJ:aJ:aDAT read: 20:17:32.6883 LVL= 32752, 32081, 20690, 32755, AGC= 73, IDX= 183, 0.40, 3.113, 2.158,-2.533, 3.030, PHS= 0.172,-0.825, 0.717, RAW= 170.4, -1.0, CAL= 171.9, -8.9, ROT= 338.1, 8.9 Ygot valid direction response: 20:17:32.6883 LVL= 32752, 32081, 20690, 32755, AGC= 73, IDX= 183, 0.40, 3.113, 2.158,-2.533, 3.030, PHS= 0.172,-0.825, 0.717, RAW= 170.4, -1.0, CAL= 171.9, -8.9, ROT= 338.1, 8.9 PDAT read: Bearing 338.1, 8.9 (Local) ~Local bearing/azimuth received: Bearing 338.1, 8.9 (Local) DAT read: Range 10 to 50 : 599.6 m (Round-trip 799.5 ms) speed 0.7 m/s ,DAT read: user:1218> %BDAT read: Tx time:20:17:33.7847 %$Ping request sent.-=33S=P7?=V>@=5 =@@)=I=Լ@i=>99=GJۧe? a?e)=,*a?I=و Will construct direction to contact in vehicle frame from tetrahedron phase data.t{w,rWA6S?Y6?I@696 >y6Ḧ́ܿf?m?JݿIN?`s?Ȁ?ɨ6S?6F;6$CyBuBBIDFAIRIR5٢U@L= }E=9},Q }> G٣ynS > Nusing accuracyPremultiplier from config59?5Y1L i~B@B@ D;0;5 aIeaj  m>AkmRB.^?kmcR5 ki kmaTWA:kmDBkmDZkmE>"m(yHRf?!_@m$[FVP)￞^2?JkmӿRkmpZ*m6Lh@,2jJk@6-\C@m%E?)&N?5?"kmWZC*km@ Dkm.j_?km5 2kmBkikmT8 kmBkmDkm>] addTargetRange:: Added new target pos. range: 599.599976 m, deltaT: 15.376183 s, deltaX: -16.100037 m, approachRate: -1.047076 m/s, rangeRepo size: 4  Added new target pos. range: 599.599976 m, bearing: 21.404604 deg, lat: 36.910904 deg, lon: -122.123381 deg, deltaT: 15.376183 s, deltaX: -16.100037 m, approachRate: -1.047076 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 627.413513 m, bearing: 17.916296 deg, approach rate: 0.000000 m/s, LOS rate: -0.057619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808073 deg. 2j:jǗ@HeadingCmd: 2.056139 target range: 599.599976 and range: 599.60 m. jjjjihhhhfff)rf-̼@bf-a?EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛEuBg 隥=I  ͽɚiIb\=Ii7[ܺiΝ))E|^=*F?2F:FBF{0JFG B O >zK uJK K K K  !/457754021,(&#   RK ?JK >H I  I II }vBI &I .I 6I <:I Fyew,pWANWill construct direction to contact in vehicle frame from tetrahedron phase data.y-uB-)IMb@Mb@Mb@ )YK7?Mbp?y&1?yI,?;`e< 9A)AAIYAyLAI I 5٢i2= >=9Q %>!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595?=5Y5E+L i5BET,?E:E{@EB@5)D5;58;5X5MB MU>AQZjFNOT Ignoring new targets: 599.60 m.Bj-Jj-E ProNav: ac range: 599.599976 m, nav range: 627.457458 m, bearing: 17.890674 deg, approach rate: 0.121946 m/s, LOS rate: -0.071095 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817696 deg. 2jE*C:jE@uHeadingCmd: 2.056307 target range: 599.599976 and range: 599.60 m. jqjqjqjqiqhqhyhyheBfffrfbfbb?ɛFuBP >I ̽ɚiI&\=I)i-@ni))))1E9E9*E9"E9 E@$?IAEMWill construct direction to contact in vehicle frame from tetrahedron phase data.JK3 KS}.KK"KJjJbJJJ.:Jt9JJJ}4;J4;JT:JU:*F ?2F :F BF p0JF G #)G rAG oAGBO>Uw,WAF K?YF@F]9F >yFH`ܿ`S? J?ݿ@$mc?ь?'x?ɨF K?F7{;F#CyRuBR>II^rI^j5٢f= f7=9jOQ j>ll nG٣n9Gynz< n> vNusing accuracyPremultiplier from configpv59r?z5YrO$L irBxz@zB@r2DrK ;r;r=5| =AWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj9=FNOT Ignoring new targets: 599.60 m.BjE፺JjE፺] ProNav: ac range: 599.599976 m, nav range: 627.505859 m, bearing: 17.863895 deg, approach rate: 0.112110 m/s, LOS rate: -0.062021 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814228 deg. 2j]B*:j]@eHeadingCmd: 2.056246 target range: 599.599976 and range: 599.60 m. jajajajaiihihihqhqfqfqfyrfybf}`]?ɛGuBC 隭'>I 2̽ɚiI[=Iii$K))*F?2F:FBF0JFGUGaB IO?>Will construct direction to contact in vehicle frame from tetrahedron phase data.AiԼw,|{ XA69?Y6<@696`>y6H ܿ?@L? ݿ@p7p?.?dw?ɨ69?6eӋ;6!CyR)vBRcI V=T}Mb@Mb@Mb@yyy y)yY}tV?~jtx?Q?y}2?};}u<}]A }h?A)}AAI}ZAyy}fNAzKMK9KK K'.6XeV}wn]B' II)5٢> ==9'Q > G٣yȞ > Nusing accuracyPremultiplier from configHI IIIvBI&I.I6I<:I F59?5YPL iB2?:@B@I yE̽ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J% iJ% lJ% 1J! J% +:J% 9J% 3J! J% /;J% /;J% (:J% ):w,V%XA>?Y>W@>%9>>y>Hܿ ?MP?ݿD9r? ?v?ɨ>?>;>$CyKvBwII5I55٢Ex= MR=9MMQ M>QQ UG٣QyU6# ]> eNusing accuracyPremultiplier from configam59e䧜?m5YeL ieѭBqu@uB@eDDe*:e:en5y }TIy }˽ɚyiyI}Z=IiDio))*F?2F:FBF!JF!EWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G% _G B O% > ?$?I 'w,yH(ܿ]?M?`&ݿ t?@?u?ɨ/?Q;騩y]vBIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490250Mb@Mb@Mb@ )YS?~jtQ?y/=?D\A ;=A);=AIyzLAII5٢"= 4=9Q > G٣9Gy: > Nusing accuracyPremultiplier from config59Jا?5Y#L iB?=?:~@B@OD;;c5B I `˽ɚiI68Z=Iiiwc))*F2F:FBFJFzKNK9KK K`I. }|yrokgd`^[WTQQNKIJGEB===978864/++**$"Ho>IC III*wBI&I.I6I<:I FBIǩCJIǩCRIZI =bI =jI4G vE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743403G B O >$w, YXA2W?Y2&@2x92F>y2H8ܿ?I?@_ݿMQ?:?`u?ɨ2W?2;0yRvBRI`bAIpIp٢{>  l=91:Q ?)) 5G٣1y=b; => ENusing accuracyPremultiplier from configAM59EΧ?M5YE L iEBQU@UB@EWDE:Eu:Et5a e?;AmEZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 627.683411 m, bearing: 17.759487 deg, approach rate: 0.105085 m/s, LOS rate: -0.066289 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824907 deg. 2j5:j@HeadingCmd: 2.056432 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrf bf V?@ AIE`jɛMuBt ]>I rʽɚiIͱY=Ii ӓi ܹR) )1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994518JmJdJJJ\8:J|9JJJD;JD;J~:J:G:_GGsAG B O- >#w,prXA6?Y6@6-96M>y6H ݿ?@?`ݿv}xS??@u?ɨ6?6;4yBvBBIIJIJ+5٢R[= RQ=9VQ V>TX ZG٣Xyb; b> fNusing accuracyPremultiplier from configdj59f=ħ?j5YfSL ifBhj@jB@f`D~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246221f:fI OʽɚiIY=Iii51)) )I)EY=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498876*F ?2F :F BF 2JF H p>I  I 8II wBI &I .I 6I <:I FG *UzK-NK- 9K)K- K-   GBO>W$w,6XARf?YR@R%Z9R2>yRHZ.ݿ?`9?j ޿(DX??@&u?ɨRf?R6ڈ;R&CyZvB^IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:20:17:36.9923 }TRx dataTimestamp_ set to:1736367458.332608checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751111Mb@Mb@Mb@ )Y+?~jtMb?yv>?<]A )IjXAy(LAII5٢f= =9{Q > G٣9Gy%R; %> -Nusing accuracyPremultiplier from config)559-?55Y-qK i-*B=>?=:=@=B@-nD-f;-;-5I M::AIZjFNOT Ignoring new targets: 599.60 m.BjFJjF  ProNav: ac range: 599.599976 m, nav range: 627.787537 m, bearing: 17.696039 deg, approach rate: 0.111941 m/s, LOS rate: -0.067439 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781266 deg. 2j!9:j@HeadingCmd: 2.055671 target range: 599.599976 and range: 599.60 m. jjjjihhAhAhEՄBfIfIfIrfIbfM@.@ɛSuBl i>I vɽɚiIUX=I i i)) =$?I- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003645Ee 3=JE lJA JE 0JA JE <5:JA JE ـ3JA JE I?;JE L?;JA JA *F ?2F :F BF G4JF G-,GBO?;W,w,³XAB.?YB6@B~9B>yBH`Pݿt?`$1?/,޿NX }]??Qv?ɨB.?B,;B"CyJvBJI R=R%=IVIV5٢^= ^6=9b#Q b>`` fG٣dyfڪ; f>nWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:17:36.9923 LVL= 32752, 28913, 16962, 32755, AGC= 69, IDX= 480,-0.22, 2.974, 2.145,-2.542, 2.967, PHS= 0.096,-0.774, 0.771, RAW= 175.8, -1.4, CAL= 176.9, -9.1, ROT= 333.1, 9.1 Ygot valid direction response: 20:17:36.9923 LVL= 32752, 28913, 16962, 32755, AGC= 69, IDX= 480,-0.22, 2.974, 2.145,-2.542, 2.967, PHS= 0.096,-0.774, 0.771, RAW= 175.8, -1.4, CAL= 176.9, -9.1, ROT= 333.1, 9.1 PDAT read: Bearing 333.1, 9.1 (Local) %~Local bearing/azimuth received: Bearing 333.1, 9.1 (Local) -DAT read: Range 10 to 50 : 602.6 m (Round-trip 803.5 ms) speed 0.4 m/s 5,DAT read: user:1219> =BDAT read: Tx time:20:17:38.0847 =$Ping request sent.=llnhd?x?0)nuy?In2"n$ 4Dx@9WѴWQ@n^Mgq*쟒A￲^D{1?Jkn4ѿRkn*n+U9@ǀnan@wmcH1nyf(>D??d|?O4"kn sC*kn Dkn-]?kn\2 2kn/BklklklknDkn[۝>} addTargetRange:: Added new target pos. range: 602.599976 m, deltaT: 4.284268 s, deltaX: 3.000000 m, approachRate: 0.700236 m/s, rangeRepo size: 4 M Added new target pos. range: 602.599976 m, bearing: 23.797320 deg, lat: 36.910904 deg, lon: -122.123381 deg, deltaT: 4.284268 s, deltaX: 3.000000 m, approachRate: 0.700236 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 602.60 m.BjUJjY ProNav: ac range: 602.599976 m, nav range: 627.839905 m, bearing: 17.665101 deg, approach rate: 0.000000 m/s, LOS rate: -0.067439 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797495 deg. 2j:j@HeadingCmd: 2.055954 target range: 602.599976 and range: 602.60 m. jjjjihh9hAhAfAfAfArfMԂ@bfMм?ɛVuB& 隝> II HȽɚiIW=IiiD))EE*E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:17:38.0839 E *F1 2F1 :F1 BF= 0JF9 H I  I qII wBI  =&I .I 6I I<:I ~ FzKupMKu9KqKu Ku O[. G GBOQ5w,RXAWill construct direction to contact in vehicle frame from tetrahedron phase data.jG?Yj@j9jN>yjH̥ݿP`z.?@?`&x޿˧ ?೰??ɨjG?j䳈;j#Cyr %G٣%9Gy%,< %> 5Nusing accuracyPremultiplier from config)559-☧?55Y-K i-ZB=>?=:= @=B@-D-/;-;-5EB M8AMEeB*** querying acoustic contact ***jajaZj FNOT Ignoring new targets: 602.60 m.Bj 5Jj 5 ProNav: ac range: 602.599976 m, nav range: 627.896240 m, bearing: 17.628281 deg, approach rate: 0.103814 m/s, LOS rate: -0.067847 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.784104 deg. 2j@::jE@EHeadingCmd: 2.055720 target range: 602.599976 and range: 602.60 m. jIjIjIjIiIhIhIhQhUDŽBfQfQfYrfYbf]3g?ɛYuB:` >I %ǽɚ!i!I%V=I)i5Zi5%)1)1 <$?I_j*F?2F:FBF 1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.~GvA .Y vAy :BG AGy B O >;;w,XA2$"?Y2^@292T>y2H ݿ @?? ̍޿`B]?A? [?ɨ2$"?2';2$CyNlwBN)IITIT٢^> ^d=9b:Q b>`` bG٣`yf; f> jNusing accuracyPremultiplier from confighn59j4?n5Yj`K ijjBpr7@rB@jDj;j:j5vB v7AvEZj%FNOT Ignoring new targets: 602.60 m.Bj%Jj%= ProNav: ac range: 602.599976 m, nav range: 627.933472 m, bearing: 17.604331 deg, approach rate: 0.109179 m/s, LOS rate: -0.070226 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822712 deg. 2j=@:j=@EHeadingCmd: 2.056394 target range: 602.599976 and range: 602.60 m. jAjAjAjAiAhIhIhIhIfQfQfQrfYbf]&3?ɛ[uBJh 隍9?I  ƽɚ1i1I5 V=I9i=Zi=%ߺ)9)9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996575*F?2F:FBFb5JFGV'SGGGyBO=> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250499J= jJ= aJ9 J9 J= .:J= p9J9 J9 aM @aM @aM @aM @ Bw,cYAy~wB~?IMb@Mb@Mb@ )Y-?ˡE{Gzt?y5>?'ף;ZA j G٣y > Nusing accuracyPremultiplier from config59߃?5YK i~B>?:@B@D^;$;5 K7AZj%FNOT Ignoring new targets: 602.60 m.Bj%Jj% ProNav: ac range: 602.599976 m, nav range: 627.973267 m, bearing: 17.575190 deg, approach rate: 0.091337 m/s, LOS rate: -0.066879 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807140 deg. 2j7:j@HeadingCmd: 2.056123 target range: 602.599976 and range: 602.60 m. jjjjihhhhBfffrfbf@ f?ɛE_uBE4;y AE^ ?IA EcŽɚIiIIM)U=IQiUi[iUA)Q)YEaEaHIC III=xBI =&I.I6Ic<:I FzKNKػ9KK K*F2F:FBFp5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499445G*G B O > I JHw,"YA6?Y6@6961 >y6H@ݿ`@??r޿wB>[IIFIF)5٢N= R^=9RmNTT VG٣V9GyVr Z> ^Nusing accuracyPremultiplier from configXb59ZTz?b5YZ'K iZBdf@fB@ZDZB;Z*C;Z5h n6AlZjFNOT Ignoring new targets: 602.60 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751990 ProNav: ac range: 602.599976 m, nav range: 628.006592 m, bearing: 17.550552 deg, approach rate: 0.086746 m/s, LOS rate: -0.064131 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820645 deg. 2j 0:j_@ HeadingCmd: 2.056358 target range: 602.599976 and range: 602.60 m. j j j j ihh1h9h9fYfafarfabfe ?ɛbuB] ?I GĽɚiIgT=Iii\))*F%?2F!:F!BF%o5JF!u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005054G 2 G B O >tNw,fy6H@ ݿ `? })?O޿@Ep"P?@=??ɨ6?6;4y>wBBsIIJIJ5٢R= RJ=9VP XX ZG٣XyZE ^> bNusing accuracyPremultiplier from config`f59bo?f5YbK ibBdf?jB@bDb:bX:b`5nB n6AlZjFNOT Ignoring new targets: 602.60 m.Bj =Jj = ProNav: ac range: 602.599976 m, nav range: 628.042847 m, bearing: 17.523401 deg, approach rate: 0.093539 m/s, LOS rate: -0.070045 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813109 deg. 2jI@:j8@%HeadingCmd: 2.056227 target range: 602.599976 and range: 602.60 m. j!j!j)j)i)h1h1h1h1 e;$?Iaff)frfbf=@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255801ɛfuBJ J eJ 1J J J 9J 3J rc ?I BýɚiI% S=IIiMFiM)I)Q*F?2F:FBF72JFH I  I II xBI &I .I 6I <:I FG V'SG ?G >zK JK 9K K K G B O >\Uw,J}VYAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507511y-xB-IMb@Mb@Mb@ )Yףp= ?i|?5~jtx?y>?q;$XA :A)ITAyHAII5٢C= 7=9Q >Q UG٣Qy] ]> eNusing accuracyPremultiplier from configam59ed?m5YeK ieBmR??u:u?B@eDe;ej;e_5 F5AB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 602.60 m.Bj%wJj-w] ProNav: ac range: 602.599976 m, nav range: 628.076050 m, bearing: 17.492549 deg, approach rate: 0.070321 m/s, LOS rate: -0.065337 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802006 deg. 2j]\3:j] @eHeadingCmd: 2.056033 target range: 602.599976 and range: 602.60 m. jajajajaiahihihh Bfffrfbf@3@ QI]^jɛiuBG *?I  ½ɚiITR=Ii Wi -l) ) ER>E>*F?2F:FBFp5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759920G TG B O% >[w,YpYA2??Y2w@2׽92 >y2Hהݿ @?-?H޿ۜ?2??ɨ2??2R;0yB3xBBIIJIJ5٢R= Rb=9RtTT VG٣TyZ9 Z> ^Nusing accuracyPremultiplier from config\b59^\?b5Y^nK i^Bdf?fB@^D^;^:^m5jB j4AhZjFNOT Ignoring new targets: 602.60 m.Bj1Jj1 ProNav: ac range: 602.599976 m, nav range: 628.101624 m, bearing: 17.468951 deg, approach rate: 0.072100 m/s, LOS rate: -0.066528 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823764 deg. 2j6:jD@HeadingCmd: 2.056413 target range: 602.599976 and range: 602.60 m. jjjjihhh h f f f rfbfm@ɛluBQ& 隅1?I ɚiIIR=Iii ))5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012589*F)2F):F)BF-(4JF) 9I9G1G B Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266156J= mJ= cJ= 0J9 J= \8:J= x9J= ـ3J9 4nbw,1YA6p?Y6@6ҽ96A >y6Hݿ\?n*?T޿AN? k??ɨ6p?6*J;6!CyBYxBBIEMb@Mb@Mb@AAA A)AYEV-?~jt~jtx?yE=9uc;Q u>qq }G٣}9Gy}@6; > Nusing accuracyPremultiplier from config59 R?5YK iϮB=?:?B@D;;/5 +4AZjFNOT Ignoring new targets: 602.60 m.Bj Jj  ProNav: ac range: 602.599976 m, nav range: 628.125977 m, bearing: 17.440067 deg, approach rate: 0.059360 m/s, LOS rate: -0.070401 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807908 deg. 2jCA:j@HeadingCmd: 2.056136 target range: 602.599976 and range: 602.60 m. jjjjihhhhBfffrfbf  @ɛ5puB=. 9=G:?I9 EɚAiAIE9@Q=IIiMdiMj)I)IH9I=C I=&II=yBI= =&I9.I96I=<:I9BI¨CJIRIZIbI =jIŠ4*F2F:FBF3JFGrA GsAzK%JK%9K!K% K%EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515562G!G B O > - :$?I- ]jԘhw,YA:I?Y:p@:oͽ9:^ >y:Hݿ$g_?`(?m]޿\䘿 v?\? ?ɨ:I?:=P;: CyFxBFIHJAININ5٢Z&= ZW=9Z;Q ^>\\ bG٣`yb'; b> fNusing accuracyPremultiplier from configdj59f8I?j5Yf̭K ifݮBln?nB@fDf;f;f5rB r3AtZj  FNOT Ignoring new targets: 602.60 m.BjJj% ProNav: ac range: 602.599976 m, nav range: 628.147888 m, bearing: 17.414525 deg, approach rate: 0.057649 m/s, LOS rate: -0.067198 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817933 deg. 2j%x8:j-@5HeadingCmd: 2.056311 target range: 602.599976 and range: 602.60 m. j1j1j1j9i9h9h9hAhAfAfAfIrfIbfM@'@ɛutuBu|w y}C?Iy }ZZɚyiyI}rzP=Iii8))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:17:41.2883 TRx dataTimestamp_ set to:1736367462.616672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768583*F5?2F9:F9BF=p0JF9GUHNG1B9O]>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019596tnw,WYA dIh%u?Y%@%Ƚ9% >y%Hݿ? &?g޿? s9? ˍ?ɨ%u?%R;%$Cy5xB=IIMIM5٢]~= ]?=9];Q e>aa eG٣ayz); > Nusing accuracyPremultiplier from config59??5YK iB%?B@D:X:W5 3AZjFNOT Ignoring new targets: 602.60 m.BjjJjj5 ProNav: ac range: 602.599976 m, nav range: 628.173706 m, bearing: 17.385057 deg, approach rate: 0.058757 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806155 deg. 2j58:j5;@=HeadingCmd: 2.056105 target range: 602.599976 and range: 602.60 m. j9j9j9j9iAhAhAhQhQfYfafqrfqbfu@ɛxuBa% 隭I?I =뽽ɚiIO=Iii))*F)2F):F1BF1JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.JiJaJJJ+:Jp9JJ]DAT read: 20:17:41.2883 LVL= 32752, 32753, 21842, 32755, AGC= 70, IDX= 488,-0.43, 2.785, 1.839,-2.794, 2.691, PHS= 0.181,-0.805, 0.795, RAW= 172.3, -2.5, CAL= 173.9, -10.1, ROT= 336.1, 10.1 eYgot valid direction response: 20:17:41.2883 LVL= 32752, 32753, 21842, 32755, AGC= 70, IDX= 488,-0.43, 2.785, 1.839,-2.794, 2.691, PHS= 0.181,-0.805, 0.795, RAW= 172.3, -2.5, CAL= 173.9, -10.1, ROT= 336.1, 10.1 mPDAT read: Bearing 336.1, 10.1 (Local) u~Local bearing/azimuth received: Bearing 336.1, 10.1 (Local) DAT read: Range 10 to 50 : 599.6 m (Round-trip 799.5 ms) speed 0.4 m/s ,DAT read: user:1220> BDAT read: Tx time:20:17:42.3847 $Ping request sent.ٵ{NٵK?ٵv@@ٵ¸2 ڵ?B@)ڵJ4Iڵ@iڵJ4>ڱڱ۵"ⵊņ?xZlP?V4)۵Bi?I۵ 1=i۵5Ͽ۵9۱۱M:publishing transmit ping timeMFpublishing direction and range infoر9صD?1 oډ?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵"ⵊņ?xZlP?V4)۱I۱i۱۱۱۱GOPH) I- C I- ^II- cyBI-  =&I) .I) 6I- <:I- FG B O >zK BoJK h9K K K RK ?JK ?M Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:20:17:42.3839 [uw,YA2]?Y2@2NwĽ92$ >y2Hݿ.e? ?޿"ߔ`F?76??ɨ2]?2F;2"CyFxBJIMb@Mb@Mb@ )YS?~jt{Gz?y/=?#<UA 7A)IOAyEAI I ٢ = >=9%;Q ->)) -G٣-9Gy5_; 5> =Nusing accuracyPremultiplier from config9E59=65?E5Y=SK i=BM2>?M:MQ?MB@=D=;=;=5Q U2AQk >X?k1 k kYA:kDBkDZk>" xʴ>#EJh ]Z@D?1 oډ?Jk5ϿRk9*B`'@zpo@=j!8@Շ'7?V9J- addTargetRange:: Added new target pos. range: 599.599976 m, deltaT: 4.286444 s, deltaX: -3.000000 m, approachRate: -0.699881 m/s, rangeRepo size: 4 m Added new target pos. range: 599.599976 m, bearing: 24.821205 deg, lat: 36.910545 deg, lon: -122.123097 deg, deltaT: 4.286444 s, deltaX: -3.000000 m, approachRate: -0.699881 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 599.60 m.Bj} IJj ProNav: ac range: 599.599976 m, nav range: 598.684753 m, bearing: 20.812977 deg, approach rate: 0.000000 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806126 deg. 2j:j9@HeadingCmd: 2.056105 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrf̼@bfaR?ɛ}uBf 隥Q?I ybɚiIN=Ii??i}))*F?2F:FBF4JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G $G ?G 4?G B O >x{w,RYAF?YF@F^½9FR>yFH@"޿@E0?? ޿5?V?c?`/?ɨF?F}Ԉ;DyRxBRIIZkIZ5٢b= be=9f&;Q f>dd fG٣dyj7< n> rNusing accuracyPremultiplier from configpv59r,?v5YrߗK irBtz?zB@rDr:r:r5| ~1A~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 599.60 m.Bj-CJj-CE ProNav: ac range: 599.599976 m, nav range: 598.691589 m, bearing: 20.787664 deg, approach rate: 0.020336 m/s, LOS rate: -0.075302 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818619 deg. 2jEN:jE˚@MHeadingCmd: 2.056323 target range: 599.599976 and range: 599.60 m. jIjIjIjIiIhIhQhQhYfYfafarfabfe kT?ɛuB Lļ =隕Z?I IɚiI4 N=IiSi1X;))EEWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FQBFU0JFQ 9$?IG5'HGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.962835w,  ZA:(?Y:3@:L9:W>y:HZC޿?$ ?c޿vՉ? M? ?ɨ:(?:;:%Cy^xBbIMb@Mb@Mb@ )Y/$?ʡE{Gzt?yii mG٣iyu; u> }Nusing accuracyPremultiplier from configy59}!?5Y}K i}B=?: ?B@}D}3;}^;}5B 1AEZjFNOT Ignoring new targets: 599.60 m.BjEJjEHq>I IIIyBI&I.I6Ik<:I F ProNav: ac range: 599.599976 m, nav range: 598.700989 m, bearing: 20.755416 deg, approach rate: 0.020548 m/s, LOS rate: -0.070498 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797813 deg. 2jA:jؔ@HeadingCmd: 2.055960 target range: 599.599976 and range: 599.60 m. j j j j i h hhhfffrfbf??ɛUuBUY QU\?IQ ]ɚYiYI] )M=Iaie+dieݿ;)a)a*F2F:FBFp0JFzKJK9KK K  BK:KsA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213266 I \jG !j;G B O >ww,T%ZA6?Y6Mj@6Ϲ96!>y6Ht޿ l zg= GG9;;Q ->1IQY mG٣m9G}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464416JrJcJJJG:Jx9JJJ_;aJ_;aJ:aJ:a Xyn < > Nusing accuracyPremultiplier from config Yy BE59 ?E5Y K i "BIMx?MB@ D < S< 5 0AZj9=FNOT Ignoring new targets: 599.60 m.BjE3JjE3u ProNav: ac range: 599.599976 m, nav range: 598.710144 m, bearing: 20.727906 deg, approach rate: 0.021851 m/s, LOS rate: -0.065657 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812027 deg. 2ju=4:ju@}HeadingCmd: 2.056208 target range: 599.599976 and range: 599.60 m. jyjyjjihhhhfffrfbf@mM?ɛuB i?I  ɚiIGL=IIiMiM;)Q)Y*F ?2F :FBFJFGsA G- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716353G% ;G) G- qAG B O- >w,+5?ZA 0I4:ws?Y:Y@:]9:t >y:H@/h޿@ȫ?'?k޿yX\ ^G٣\yb= b> fNusing accuracyPremultiplier from configdj59f?j5Yf"K if-BhjV?nB@f Df7 ;f ;f5p r0ArEZj FNOT Ignoring new targets: 599.60 m.Bj%Jj%- ProNav: ac range: 599.599976 m, nav range: 598.718567 m, bearing: 20.702249 deg, approach rate: 0.025279 m/s, LOS rate: -0.077000 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817589 deg. 2j-`S:j-@5HeadingCmd: 2.056305 target range: 599.599976 and range: 599.60 m. j1j1j9j9i9h9h9hAhAfAfAfArfIbfM Ɂ?ɛuuBudm i?I ݶɚiIK=I i i ;) )Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.974744E·3=EE>*Fu?2Fq:FqBFuo0JFqHI IIIzBI&I.I6Ie<:I FG Z,;zK LK h9K K K ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225417G B O >~,w,YZAjC?YjA@jĪ9j >yjH`U޿`I'? ?I޿ǵIR?#?@?ɨjC?j&;j%CyrGyBvMIMb@Mb@Mb@ )YZd;?{GzMb`y9?ףnRA 5A):AIMAy(DAIsI5٢%= %0=9%);Q %>)) 5G٣1y52N 5> =Nusing accuracyPremultiplier from config9E59=:?E5Y=yK i=9BM:?M:M?MB@=D=F;=;=5Q ]0AYZjyFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 598.727356 m, bearing: 20.669870 deg, approach rate: 0.018955 m/s, LOS rate: -0.069829 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797420 deg. 2j?:j@HeadingCmd: 2.055953 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf`@ 8$?IɛuB6 l?I gɚiIBJ=I!i%Qi%s;))))E%G=*F2F:FBFy0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.476356J}lJ}bJ}1JyJ}<5:J}t9J}3JyJ}I?;J}L?;J}S:J}U:G} ;GY Ba O} >Rw,sZA>!?Y>0@>H9>5>y>HH޿@@??޿U$w?@??ɨ>!?>_;>$CyFjyBFcIIRjIR5٢Z= Zf=9Z\\ ^G٣^9Gybv? b> fNusing accuracyPremultiplier from configdj59f?j5YfsK ifABhjw?nB@fDf:fX:f5t v/At B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 599.60 m.Bj۞Jj۞- ProNav: ac range: 599.599976 m, nav range: 598.733948 m, bearing: 20.645093 deg, approach rate: 0.018474 m/s, LOS rate: -0.069441 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820225 deg. 2j5>:j5A@5HeadingCmd: 2.056351 target range: 599.599976 and range: 599.60 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM @ɛuB 隅"t?I еɚiIxI=Ii܀i93;))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728499 I*F2F:FBFp0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986197G CQ;G G ?G B O5 >9w,rZA6& ?Y6$@696>y6H@޿?Q?@&޿ڧ|෺?;?I?ɨ6& ?6:;6&CyfiyBfbI]Mb@Mb@Mb@YYY Y)YY]Q?T㥛 y&1|y](=9;Q > G٣ydк > Nusing accuracyPremultiplier from config59Y?5YkK iJB?9#Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234477 I[jGM !j;G! B1 OM >cw,bZA>?Y>@>19>2=y>H:޿p?a?޿Vyvٲ??`j?ɨ>?>?;>$CyFqyBJgIIVtIV5٢^|< ^X=9b`d fG٣dyfú f> nNusing accuracyPremultiplier from confighn59j覜?r5Yj%eK ijRBpr~?rB@j1Dj ;j. ;j 5x z/AzE-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485919JK (3 K (.KK"KJMkJM`JM0JIJM2:JMbl9JMـ3JIJM9;JM9;JM):JM*:ZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 598.763794 m, bearing: 20.588106 deg, approach rate: 0.035635 m/s, LOS rate: -0.068015 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814525 deg. 2j::j@HeadingCmd: 2.056251 target range: 599.599976 and range: 599.60 m. jjjjihhhQhYfYfYfYrfabfe @ɛuB 隵r?I cmɚiIH=IitiI[;))*FM?2FI:FIBFM0JFIGMq;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737202GI BQ Ou > 7$?I Mw,EZA2r?Y2@2Џ92=y2H@8޿ A ?@&? ޿Pnk@O?^H?C?ɨ2r?20];2"Cy:}yB>nIIFhIF35٢N< NL=9RpPT VG٣V9GyV# V> ZNusing accuracyPremultiplier from configXb59Zߦ?b5YZ^K iZYBdfu?fB@Z:DZ7;Z7;Zj5h j/AhZjFNOT Ignoring new targets: 599.60 m.Bj rJj r% ProNav: ac range: 599.599976 m, nav range: 598.778625 m, bearing: 20.559923 deg, approach rate: 0.038291 m/s, LOS rate: -0.072760 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810009 deg. 2j%G:j%U@-HeadingCmd: 2.056173 target range: 599.599976 and range: 599.60 m. j)j)j)j)i)h)h1h1h1f9f9f9rfAbfEӀ@ɛuBщ qt?I )ɚiIG=Ii6izQ;))*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.995684HI IIIazBI&I.I6I'<:Ic FBIǩCJIRIZIbI =jIRE4GEg;GQGUsAG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.240304zK :KMK 9K K K uw,ZA2?Y2 @292)}=y2Hy0޿0g?"?`9}޿"`?Fi??ɨ2?2;2$CyRsyBRhIMb@Mb@Mb@ )YZd;?Zd;Oy&1y9?j<`e/OA 5A)+9AI|IAyAAIsI5٢- -4=95i;Q 5>99 =G٣9y=/Ϻ => MNusing accuracyPremultiplier from configAM59ElӦ?U5YEVK  YIYiE`BeC:?e:e-@eB@EEDE;E;Ec5i m/AqZjFNOT Ignoring new targets: 599.60 m.BjJj= ProNav: ac range: 599.599976 m, nav range: 598.802856 m, bearing: 20.528363 deg, approach rate: 0.051899 m/s, LOS rate: -0.067592 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799882 deg. 2j=9:j=o@EHeadingCmd: 2.055996 target range: 599.599976 and range: 599.60 m. jAjAjAjAiAhIhIhihu؄Bfqfqfqrfybf}@@ɛ uB J` 5p?I (ɚiI-G=Iii%MT);)!)!E5rAE5sA*F2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.493245JaJefJaJaJaJe9JaJaJaJaJe:Je:G 7eD;G B O >Ġw,4ZA:z?Y:@:9:tX=y:H`;޿e? ]!?@޿e?@R??۰?ɨ:z?:*P;:!CyFyBFpIINtIN5٢V_= Vf=9VVXX ZG٣Xy^: ^> fNusing accuracyPremultiplier from configdj59fHʦ?j5YfOK ifeBln8@nB@fMDf;f;f5rB r/AtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.BjJj- ProNav: ac range: 599.599976 m, nav range: 598.822144 m, bearing: 20.503685 deg, approach rate: 0.056287 m/s, LOS rate: -0.072020 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820523 deg. 2j-E:j5V@5HeadingCmd: 2.056356 target range: 599.599976 and range: 599.60 m. j9j9j9j9i9h9hAhIhIfIfIfQrfQbfU@@ɛ}uBxI2 隅Zr?I 0᫽ɚiIʛF=IiiY;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.745713*F?2F:FBF1JF IIIG1G BOE>U Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=5.002121w,[A2h?Y2~@2v92o=y2Hp%޿ǣ?`)?@.c޿fmy?|?̿?`?ɨ2h?2;2"CyfuyBfiI]Mb@Mb@Mb@YYY Y)YY]n?X9vy]6?]]̼Y ]E4A)YI]hEAYy]z@AIuxIu5٢ּ ==9 G٣9Gy > Nusing accuracyPremultiplier from config59?5YHK ihBM6?:@C@WD6;HIC IIIkzBI =&I.I6Iİ<:I F;C5 /AZjFNOT Ignoring new targets: 599.60 m.Bj Jj % ProNav: ac range: 599.599976 m, nav range: 598.851257 m, bearing: 20.474476 deg, approach rate: 0.066945 m/s, LOS rate: -0.067161 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806935 deg. 2j%]8:j%t@HeadingCmd: 2.056119 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf@ɛUuBUٷ QUm?IQ ]!ɚYiYI] F=Iaie)iex:)a)i*F%?2F!:F!BF%0JF!"G-=G-=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.249267zKJK+9KK K =6$?I=ZjGm q;GA BQ Om >'w,|([AB?YB@BSh9B,=yBH`*޿v?)?(a޿#??q׿? ?ɨB?BY;@yReyBR`I Za=Za=IbIb5٢n rU=9r tt zG٣xWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.501694y =3: > -Nusing accuracyPremultiplier from config!=59%?E5Y%BK i%jBAE@MC@%`D%;%;%5Y ]0AYZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 598.877747 m, bearing: 20.448057 deg, approach rate: 0.067991 m/s, LOS rate: -0.067808 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815303 deg. 2j$::jؙ@HeadingCmd: 2.056265 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf@H@ɛuB# Lh?I ɚiI1E=Ii-oi-@ ;)))1*F=?2F9:FABFE0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.753728G G:GY Bi O >  I! mw,B[AyayB]II-I-5٢=8 =E=9=Q E>AA EG٣AyM M> ]Nusing accuracyPremultiplier from configQ]59U?e5YU-;K iUmBiimC@UiDUu`;U|4;U= 5y },0A}EZjFNOT Ignoring new targets: 599.60 m.BjYJjY ProNav: ac range: 599.599976 m, nav range: 598.905762 m, bearing: 20.420312 deg, approach rate: 0.069014 m/s, LOS rate: -0.068345 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811325 deg. 2j;:j@HeadingCmd: 2.056195 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf@ɛuB \  e?I  HɚiI E=Iii%B} ;)!)!*F?2F:FBF<3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.007078JIJMaJM/JIJIJMp9JM(N3JIau@au@a}@a}@HI III&I.I6Ij<:I FG;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.256329zKU uJKU 9KQ KU KU w,x\[ARK ?JK?yuYyBuXI ImMb@Mb@Mb@iii i)iYmV-?ymh1?mimMA i)m:AImDAiymQ@AII)5٢- 6=9Q > G٣9Gy > Nusing accuracyPremultiplier from config59?5Y3K ipB1?:I@C@sD;;,$5 J0AZjFNOT Ignoring new targets: 599.60 m.BjʖJjʖ  ProNav: ac range: 599.599976 m, nav range: 598.949280 m, bearing: 20.390766 deg, approach rate: 0.097094 m/s, LOS rate: -0.065916 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805925 deg. 2j 4:j *@HeadingCmd: 2.056101 target range: 599.599976 and range: 599.60 m. jjjjihhhh%Bf!f!f)rf)bf-@ɛUuB] ima?Iq }VɚAiAIE D=IAiMiI)I)IH~G`wA 5Y=`wAy=A*F]?2FY:FYBF]0JFYGi GiWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.509761G t:G sAG G B O >7w, ynH4޿2?2?`;޿? ?? ?ɨn?n];n#Cy_yB\II%I%5٢5D< =e=9EAI MG٣IyMXm M> UNusing accuracyPremultiplier from configQ59U?5YU2.K iUqB4@C@U{DU|0AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.Bj Jj % ProNav: ac range: 599.599976 m, nav range: 598.983704 m, bearing: 20.367261 deg, approach rate: 0.092558 m/s, LOS rate: -0.063194 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824048 deg. 2j%z-:j%X@-HeadingCmd: 2.056417 target range: 599.599976 and range: 599.60 m. j)j)j)j1i1h9h9h9h9fAfAfArfAbfE`1@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.760506ɛuuB% +=隅a?I RɚiI8/D=Iiidn:))E*F-?2F):F)BF-o5JF) 5$?IGu;GI BY Ou >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=7.012543Ja Je cJe 0Ja Ja Je x9Je ـ3Ja w,,*[AR?YRJ@R.9R>yRH`y޿o`?6? +޿'? ܥ? ? ۷?ɨR?R7;R"Cy^XyB^XIHYIY I]II]WzBIY&IY.IY6I]<:I]FMb@Mb@Mb@ )Y rh?/$?X9vyC+?<KA 2A)9AIBAy>AII~5٢  A=9  G٣y ֺ > Nusing accuracyPremultiplier from config59?5Y'K irB+?:;@C@D;;*5 W0AEZj)5FNOT Ignoring new targets: 599.60 m.Bj5Jj5E ProNav: ac range: 599.599976 m, nav range: 599.032043 m, bearing: 20.340562 deg, approach rate: 0.117738 m/s, LOS rate: -0.065026 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814463 deg. 2jE2:jE@MHeadingCmd: 2.056250 target range: 599.599976 and range: 599.60 m. jQjQjQjQiQhQhQhYh]nBfYfYfarfabfe@ɛUuBU QU]?IQ ]ǢɚYiYI]C=Iai69i9))*F=?2F9:F9BF=3JF9}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.264630zK5QJK1K1K5 K5  BKA:KErA IYjG% 7:G B O% >w,[ANS?YNt@NB"9N.>yNH`޿ @v?5? ,޿?A?@?`?ɨNS?Nć;Lyb_yBb\InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.516506IzIzb5٢,< X=9    G٣9Gy: > %Nusing accuracyPremultiplier from config%59|?-5Y!K iqB)-C@-C@D:X:M.51 ==0A9Zj1=FNOT Ignoring new targets: 599.60 m.BjEJjEU ProNav: ac range: 599.599976 m, nav range: 599.075562 m, bearing: 20.316655 deg, approach rate: 0.107515 m/s, LOS rate: -0.059060 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822841 deg. 2jU!":jU@]HeadingCmd: 2.056396 target range: 599.599976 and range: 599.60 m. jYjYjYjYiahahahahafififqrfqbfu`s@ɛuB~ ]?I fiɚiIC=Iii:))*F%?2F!:F!BF%p5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.769778G 9G ?G >GY Bq 3$?I O >w,u[A>'[?Y>@>9>>y>H:޿Y?'[?>A;\\ ^G٣\ybR b> jNusing accuracyPremultiplier from configdr59fq?r5YfK ifpBpr)@rC@fDfw;f];f15t z0AxZjFNOT Ignoring new targets: 599.60 m.Bj%Jj%5 ProNav: ac range: 599.599976 m, nav range: 599.120361 m, bearing: 20.291861 deg, approach rate: 0.122224 m/s, LOS rate: -0.067636 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820183 deg. 2j59:j5>@=HeadingCmd: 2.056350 target range: 599.599976 and range: 599.60 m. j9j9j9j9i9hAhAhAhAfIfIfIrfQbf] @ɛuB 隍W?I (ɚiI[C=IiY7iԏ))Will construct direction to contact in vehicle frame from tetrahedron phase data.J-jJ-^J-1J)J-.:J-d9J-3J)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.036331E9=EsAE*FU?2FY:FYBF]~1JFYHIC III9zBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.272442G }: PExceeded connect timeout, disconnecting.Gy B O >AA EG٣AyE M> UNusing accuracyPremultiplier from configIU59Mqd?]5YM6K iMsBe%?e:e@eC@MDMb6;M3;M55}B }/0AEZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.178894 m, bearing: 20.263655 deg, approach rate: 0.125245 m/s, LOS rate: -0.060349 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809946 deg. 2j%:jP@HeadingCmd: 2.056171 target range: 599.599976 and range: 599.60 m. jjjjiQhYhYhYh]TBfafafarfabfm @ɛuB䘾 gZ?I tɚiI5'C=Ii!i))E+,=*Fa2Fi:FiBFmp5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.524443G U Ga Bq O >[w,[AB?YB@Bs9B>yBHݿ`a?G?`ݿ ?@9? =?η?ɨB?B܇;B$CyJXyBJXIIVIVa5٢Zϼ ^f=9^`` bG٣b9Gyfӻ f> jNusing accuracyPremultiplier from configdr59fqZ?r5YfK ifuBpr@rC@fDf-;f/#;f85t zT0AxZjFNOT Ignoring new targets: 599.60 m.BjcJjc- ProNav: ac range: 599.599976 m, nav range: 599.222900 m, bearing: 20.242272 deg, approach rate: 0.126301 m/s, LOS rate: -0.061368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830411 deg. 2j5v(:j5*@5HeadingCmd: 2.056529 target range: 599.599976 and range: 599.60 m. j9jjjihhhhfffrfbf *!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.776440ɛ=uB=(c 9=jV?IA ECɚAiAIEB=IIiMiM %#)I)QEyEy*Ey"Ey 2$?IXj*F?2F:FBF 3JFJ kJ dJ 0J J 2:J |9J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.035353G >G G G B H I  I II zBI  =&I .I 6I <:I FBĮCJIRIZI =bI =jI_4O= >$w,\An?Yn:@n wƼ9nD>ynH`ݿ "?$P?@ݿ@ ?BΘ? R?`V?ɨn?n;ly~jyB~cIMb@Mb@Mb@ )YNbX9?~jt?:vy%?TMA 0A):AI?Ay=>AII5٢M= /=9E G٣y_ M> ]Nusing accuracyPremultiplier from configI]59ML?e5YM K iMwBe%?e:eh@mC@MDM=;M;M=5uB u0AqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.Bj銺Jj銺 ProNav: ac range: 599.599976 m, nav range: 599.282654 m, bearing: 20.212873 deg, approach rate: 0.123435 m/s, LOS rate: -0.060723 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806370 deg. 2j&:jJ@HeadingCmd: 2.056109 target range: 599.599976 and range: 599.60 m. jjjjihhhhcBfffrfbf >"@ɛvB  D  X?I  ɚ iI7B=Iii))E-l>E->=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.281310 UnManaging dock network, ignoring radio surface power off*F?2F:FBF05JFzKNK9KK K       IGpG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.532344[ w,-\AZ?YZ_@Z箼9Z!>yZHݿ@ֿ?OY?ݿ ? ܕ? I?f?ɨZ?Z ;Z#CybryBbhIInIn(5٢rf< vX=9z;Q z>|| ~G٣|y~Ż ~>  Nusing accuracyPremultiplier from config59B?5YK ixBC@C@D" ;C ;@@5 %/A!ZjQUFNOT Ignoring new targets: 599.60 m.Bj];Jj]; ProNav: ac range: 599.599976 m, nav range: 599.327026 m, bearing: 20.190854 deg, approach rate: 0.122659 m/s, LOS rate: -0.060863 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828505 deg. 2j':j@HeadingCmd: 2.056495 target range: 599.599976 and range: 599.60 m. jjjjihhhhfff)rf)bf-@R#@ɛ]vB]tq YeX?I ^TɚiIB=Iii'Ļ))*F=?2F9:F9BF=3JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.785643Gug{ IG B O >w,5cG\A6sd?Y6Q@6096>y6Hݿ?\? ݿ` ? Å??@i?ɨ6sd?6y<;6%CyR|yBRnIIZIZ5٢bN< bN=9fҼ;Q f>dd jG٣j9Gyj  j> =Nusing accuracyPremultiplier from config1E595 7?E5Y5J i5yBAE5@EC@5D5;5:5C5Q U/AQZjqFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.376892 m, bearing: 20.166021 deg, approach rate: 0.122665 m/s, LOS rate: -0.061083 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820062 deg. 2j':j5@HeadingCmd: 2.056348 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf$@ɛvBxj +Y?I KɚiIB=Iiiջ))Will construct direction to contact in vehicle frame from tetrahedron phase data.m Will construct direction to contact in vehicle frame from tetrahedron phase data.m y2H|ݿ O?^e?\ݿ^T??K?׸?ɨ2S?2ԇ;2"CyVyBV{IEMb@Mb@Mb@AAA A)AYE}?5^I?V-?yEM"?EAAyEG=AI]I]b5٢mC= m@=9uc;Q u>qq }G٣yy} }> Nusing accuracyPremultiplier from config59+?5YJ i|By"?:@C@D~;L;rG5 w/AEZjFNOT Ignoring new targets: 599.60 m.Bj%Jj%E ProNav: ac range: 599.599976 m, nav range: 599.422119 m, bearing: 20.141204 deg, approach rate: 0.106752 m/s, LOS rate: -0.058571 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820113 deg. 2jE :jE8@MHeadingCmd: 2.056349 target range: 599.599976 and range: 599.60 m. jIjIjIjIiQhQhQhYh]WBfYfYfarfabfe$@ɛ !vB y )5 \?I1 5nɚ9i9I=B=IiiL ))E*FE?2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.Yw,P{\AB?YB'@BBn9B`2>yBHvݿ"Of?Kg?vRݿ@dd fG٣dyfؚ j> nNusing accuracyPremultiplier from confighr59j!?v5Yj?J ij~Btv @vC@jDj<;j=;jJ5x z.A|Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Response Not Received -*response not received-,DAT read: user:1221> 5BDAT read: Tx time:20:17:53.3348 5$Ping request sent.5$w,<\AyfyBfIMb@Mb@Mb@ )Y?ii mG٣m9Gym u> }Nusing accuracyPremultiplier from configy59}?5Y}XJ i}Bl&?:@C@}D}&;};}N5B .AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.Bj۔Jj۔ ProNav: ac range: 599.599976 m, nav range: 599.505005 m, bearing: 20.090347 deg, approach rate: 0.096022 m/s, LOS rate: -0.065070 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810180 deg. 2j2:ja@HeadingCmd: 2.056175 target range: 599.599976 and range: 599.60 m. jjjjihhhhiBfffrfbf@&@ɛ%2vB-,* )-c?I) 5|ɚ1i1I5B=I9i=Ri=V )9)A5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116*F2F:FBFp0JF IzK-LK9KK K  )F= mCGJM ~G] vAq Y vAy 3AG B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753959J mJ J J J \8:J J J J D;J D;J J )+w,Ϯ\Ab$ybH yݿ@=! Ԃ?4b?hݿ`??C?ʼ?ɨb$19 =G٣9yE*t; E> MNusing accuracyPremultiplier from configAU59E ?U5YEJ iEBQU @UC@EDE:E6;EQ5eB eR.AmEZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.538574 m, bearing: 20.067905 deg, approach rate: 0.091983 m/s, LOS rate: -0.061489 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827235 deg. 2j(:jB@HeadingCmd: 2.056473 target range: 599.599976 and range: 599.60 m. jjjjihhhhff f rf bf Y'@ɛu;vB}cл y}lh?Iy }ɚyiyINB=Ii{iA))*Fm?2Fi:FiBFiJFi=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005841 u0$?IyG}Gi Bq O >E2w,\A2?Y2&@2JwP92WB>y2Hvݿo$@>?@g?ZOݿڨ? ? ??ɨ2?2;2%Cy>yB>IIJ^IJ5٢Rk= RS=9Rn;Q R>TT VG٣TyZ{j Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^J i^Bdf@fC@^D^:^7:^VU5h j-AlZj FNOT Ignoring new targets: 599.60 m.Bj _Jj _% ProNav: ac range: 599.599976 m, nav range: 599.573914 m, bearing: 20.044108 deg, approach rate: 0.091129 m/s, LOS rate: -0.061361 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823170 deg. 2j%r(:j%@-HeadingCmd: 2.056402 target range: 599.599976 and range: 599.60 m. j)j)j)j)i)h1h1h9h9f9f9fArfAbfE@(@ɛ5DvB5ʻ 15k?I1 =ɚ9i9I=B=IAiE:iE)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258473*F?2F:FBFJFHI IIIMzBI&I.I6I<:I FG >uE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510077Gi B O5 > a Ii c;8w,\AzK.LK.h9K,K. K.:?Y:"@: E9:V>y:H sݿ$`"? h?Iݿf?@.?:?`?ɨ:?:;:$CyB)zBFIMb@Mb@Mb@ )YQ?Ay=>AI-[I-Q5٢== =A=9E:Q E>AA EG٣E9GyM M> UNusing accuracyPremultiplier from configQ59U ?5YUjJ iUB)?:@C@UDU8e>w,`\A>D?Y>@>(9>{>y>HVݿ_-_Ѿ?o?*ݿ`??఩? ڹ?ɨ>D?>A;>&CyJ:zBJIIRIR5٢Z<6= ZT=9Z;Q Z>\\ ^G٣\yb b> jNusing accuracyPremultiplier from confighn59jz?n5YjbJ ijBpr@rC@jDja#;j#;ji\5t v,Az!EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013948ZjFNOT Ignoring new targets: 599.60 m.BjߓJjߓ ProNav: ac range: 599.599976 m, nav range: 599.633423 m, bearing: 19.993366 deg, approach rate: 0.075260 m/s, LOS rate: -0.064640 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821742 deg. 2jr1:j@HeadingCmd: 2.056377 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf)@ /$?Iɛ5WvB]v: Y]x?Ia e_ɚaiaIeIB=IiimQLimD-)i)*F-?2F):F)BF-0JF)Gu׹Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265944Gi B O >H r>I  I II zBI  =&I .I 6I <:I FT\Ew,{]A2z?Y2@2 92*>y2H 5ݿ 5?`x?@dݿ?"??s?ɨ2z?2ٙ;2#CyRYzBRI5Mb@Mb@Mb@111 1)1Y5?/$~jt?y5,?5,5<5KA 50A)5 >AI5j=9eÓ;Q e>ii mG٣iym m> Nusing accuracyPremultiplier from configq59u䥜? 5Yu^J iuB 3-? : ]? C@uDuF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771927J J cJ J J J x9J J J J J :J :qwKw,"0]ANq?YN7@N{9N, >yNH*1ݿ@05E?@y?ܿ? ^}?T?`d?ɨNq?N;N&CyVzBVIIbIb5٢f(> jV=9j9;Q j>hl nG٣lyr= r> vNusing accuracyPremultiplier from configpz59rܥ?z5YrJ irBxzS?zC@r Dr :r:rc5 +AZj)5FNOT Ignoring new targets: 599.60 m.Bj5隺Jj5隺M ProNav: ac range: 599.599976 m, nav range: 599.666321 m, bearing: 19.941057 deg, approach rate: 0.042613 m/s, LOS rate: -0.067717 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820649 deg. 2jM9:jM`@UHeadingCmd: 2.056358 target range: 599.599976 and range: 599.60 m. jQjQjQjihhhhfffrfbfa+@ɛUjvBU`Z; Y]8?IY ]6ɚYiYI]B=Iaiecii)i)i*F)2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021904 IGhAGBO >^Rw,oI]A21t?Y2b@2Ի92 >y2H>2ݿ n4`?y?@:ܿ,{?tz?@|5?s?ɨ21t?2E.;2#Cy>zBB)I)D DINwIN5٢Vy= VM=9V*;Q V>XX ZG٣Z9GyZ;9 ^> Nusing accuracyPremultiplier from config%59ҥ?%5YiJ iB)-U?-C@Dq::g51 5+A1ZjaeFNOT Ignoring new targets: 599.60 m.Bjm|Jjm| ProNav: ac range: 599.599976 m, nav range: 599.683105 m, bearing: 19.914594 deg, approach rate: 0.040893 m/s, LOS rate: -0.064470 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815169 deg. 2j0:jϙ@HeadingCmd: 2.056263 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf`+,@ɛtvBU; ?I VɚiIdA=Ii8|iCK))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274811*FQ2FQ:FQBFU0JFQHAIA IEEIIEzBIA&IA.IA6IE<:IE FBI ũCJI RI ZI  =bI  =jI Q4Gu\LG1BAO]>- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526237 I Xw,c]AzK.FJK.h9K,K. K.>k?Y>@>ǻ9> >y>H'@ݿ10҄?+v?@aݿ@?x? |R?|?ɨ>k?>;>%Cy^zB^=IMMb@Mb@Mb@III I)IYM-?#~jI +?yM?5?M㥽M94=9j:Q > G٣y ; >  Nusing accuracyPremultiplier from config 59ɥ? 5YǷJ iBs6?:?C@D5;;j5! %*A%!EZjAMFNOT Ignoring new targets: 599.60 m.BjMJjM} ProNav: ac range: 599.599976 m, nav range: 599.686951 m, bearing: 19.885019 deg, approach rate: 0.008870 m/s, LOS rate: -0.068222 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805831 deg. 2j}G;:j}#@HeadingCmd: 2.056100 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbfs -@ɛvB; 隥?I KɚiIA=Iiyi5=))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777945*F2F:FBF0JFG KG B O >N^w,r}]A>?Y>S@>)9>r >y>HOݿ + ƿ?`9r?ݿq?=7w?0??ɨ>?> ;>$CyJzBJKIIRdIRP5٢^ot= ^W=rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0298909U:Q U> e.$?Iaaa mG٣iym3; m> uNusing accuracyPremultiplier from configq}59u{?5YuJ iuB=?C@u'Du: ;u ;u>n5 9*AZjFNOT Ignoring new targets: 599.60 m.BjNJjN ProNav: ac range: 599.599976 m, nav range: 599.690796 m, bearing: 19.858790 deg, approach rate: 0.009953 m/s, LOS rate: -0.067890 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815872 deg. 2j^::j@HeadingCmd: 2.056275 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf .-@ɛ%vB%~< !%h?I! -rɚ)i)I-YqA=I1i5i=p/)9)9*F?2F:FBF1JFGKG ?G+?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282174JKـ3 K .KK"KJlJeJJJ<5:J9JJa@a@a@a@G Bq O >H= s>I9  I= wII= -{BI9 &I9 .I= =D6I= <:I= Few,ʍ]ARL?YRp @RV9RF>yRHoqݿ Q?yi?4ݿ`'?@"w?@??ɨRL?Rd;Py^zB^VIUMb@Mb@Mb@QQQ Q)QYUV-?zGế~jtx?yU G٣9Gy; > Nusing accuracyPremultiplier from config59?5Y1J iB>? : 1? C@1D;;q5B )AE5B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 599.60 m.BjM䢺JjM䢺] ProNav: ac range: 599.599976 m, nav range: 599.687805 m, bearing: 19.828753 deg, approach rate: -0.007090 m/s, LOS rate: -0.071206 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804445 deg. 2j]yC:je@eHeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. jajijijiiihihqhqhuBfqfyfyrfybf}.@ɛvB(< 隵T?I σɚiIn8A=Iii))ErAEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535026 IIMUj*F2F:FBF=2JFzKKK9KK KG +I,G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785878kw,i]Ay={B=bIIMdIMP5٢]9= eS=9eQ e>ii mG٣iyu }> Nusing accuracyPremultiplier from configy59}?5Y}J i}BC@}:D}:}:}Qu5 )AZjFNOT Ignoring new targets: 599.60 m.BjyJjy ProNav: ac range: 599.599976 m, nav range: 599.685242 m, bearing: 19.801104 deg, approach rate: -0.006625 m/s, LOS rate: -0.071460 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811610 deg. 2j+D:jʘ@HeadingCmd: 2.056201 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfm/@ɛ%vB-v< )-L?I) 5ɚ1i1I5@=I9i=>i=)9)A*F ?2F :FBFp5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037898 9I9GMܜG! B1 OM >3rw,9]A6t?Y6Y@6J969>y6H@Rݿ ?@\?Afݿ`d? 4v?`r??ɨ6t?6ᒇ;6"Cy>{BBhIIJeIJ5٢R< RX=9Re:Q R>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^J i^B`f?fC@^CD^;^;^x5nB n)An!EZjFNOT Ignoring new targets: 599.60 m.Bj QJj Q ProNav: ac range: 599.599976 m, nav range: 599.683899 m, bearing: 19.774197 deg, approach rate: -0.003541 m/s, LOS rate: -0.070954 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813834 deg. 2jB:jm@HeadingCmd: 2.056239 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf0@eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.291049J}mJ}bJ}1JyJ}\8:J}t9J}3JyɛvB1Q< 隭0?I )ɚiIɴ@=Ii7i))HI IIIt{BI =&I.I6I<:I F*Fm?2Fi:FqBFqJFyG GG EG G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541961 - -$?I) G B O >xw,e]A:-?Y:f@:؎9:>y:H@ݿ@m?AIUgIU5٢m< m1=9uF:Q u>yy G٣9Gyn: > Nusing accuracyPremultiplier from config59y?5Y$J iBD?:?C@ODߣ;;|5 Y)AZj)-FNOT Ignoring new targets: 599.60 m.Bj5Jj5 ProNav: ac range: 599.599976 m, nav range: 599.684753 m, bearing: 19.740028 deg, approach rate: 0.001801 m/s, LOS rate: -0.072016 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792051 deg. 2jE:j2@HeadingCmd: 2.055859 target range: 599.599976 and range: 599.60 m. jjjjihhhhBBff f rf bf `Ֆ0@ɛvB\J+< 隍?I  /|ɚiIpy@=Iii_))ER>E>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795518*Fe?2Fa:FaBFe2JFiG [6GY Bi O >w,o]A6q?Y6@6E96~F>y6H/ݿ  ?[R?`Bݿ+?CVs?` ? ?ɨ6q?6;4y>{B>nIIRhIR35 hIhrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.050906٢ç V=9%:Q > G٣y; > Nusing accuracyPremultiplier from config59?5YJ iB?C@XDV;;5B n)AEZj=FNOT Ignoring new targets: 599.60 m.Bj=eJj=eM ProNav: ac range: 599.599976 m, nav range: 599.686157 m, bearing: 19.712250 deg, approach rate: 0.003808 m/s, LOS rate: -0.075359 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811221 deg. 2jUN:jU@}HeadingCmd: 2.056194 target range: 599.599976 and range: 599.60 m. jyjyjyjyiyhyhhhfffrfbf@0@ɛvB< ?I yɚiI/@=I i i ) )Q*F?2F:FBF\5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301846JlJeJJJ<5:J9JJG ҸG B O >H t>I  I II {BI &I .I 6I <:I Fw,^A^v?Y^@^.9^>y^H_ݿx`W?N?˖ݿ'I?p???ɨ^v?^uɈ;^%Cyf/{BfyIeMb@Mb@Mb@aaa a)aYeK7?y&1 rhyeI?e`役eCeLA e10A)aIaaye=AIvIM5٢7= L=9:Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y J iBK?:?C@bD;Y;5B  )A!EB*** querying acoustic contact ***jjZjiuFNOT Ignoring new targets: 599.60 m.Bj}Jj} ProNav: ac range: 599.599976 m, nav range: 599.687622 m, bearing: 19.681807 deg, approach rate: 0.003514 m/s, LOS rate: -0.073026 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803227 deg. 2jwH:jd@HeadingCmd: 2.056054 target range: 599.599976 and range: 599.60 m. jjjjihhhh;Bfffrfbf\1@ɛ]vBe r< 隅f?I T7uɚiI?=Ii2i%T)) ITjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555255*F-?2F):F1BF5O5JF1"G==G==zKJK9KK K$/"G} xG ?G >GY Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806225w,"2^AV*?YV^@V]9V:|>yVH`ݿ@HSʿ?J?@Ʀݿ? nk??ư?ɨV*?V';V$Cy^{BbeI f=dIjwIj5٢vz vW=9v:Q v>xx zG٣z9GyzP; ~> Nusing accuracyPremultiplier from config 591? 5Y{J iB  ?C@lD::҆5 )AZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.689453 m, bearing: 19.652872 deg, approach rate: 0.004785 m/s, LOS rate: -0.075614 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807752 deg. 2jO:j@HeadingCmd: 2.056133 target range: 599.599976 and range: 599.60 m. jjjjihhhh f f f rf bfb1@ɛ=vB=< 9=?IA ErɚAiAIE?=IIiM>iM)I)QEa*F ?2F :F BFp0JF ,$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058028GV'SGBO >Kw,|L^A6dX?Y6{@6-.96 >y6H޿ /\?A?rݿ`ί?e? ?[?ɨ6dX?6;4yB {BBcIIJ]IJþ5٢R RO=9V:Q V>TT ZG٣XyZ; Z> bNusing accuracyPremultiplier from config`f59b {?f5YbsJ ibBhj?jC@bvDb7:bz:bH5l r)ApZj  FNOT Ignoring new targets: 599.60 m.BjJj% ProNav: ac range: 599.599976 m, nav range: 599.692261 m, bearing: 19.622772 deg, approach rate: 0.007421 m/s, LOS rate: -0.079558 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804258 deg. 2j%fZ:j%@-HeadingCmd: 2.056072 target range: 599.599976 and range: 599.60 m. j)j)j)j)i1h1h1h1h1fAfAfIrfIbfM`S2@ɛvBu< ?I nɚiIo?=I!i% i%v׹)!))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.310907JukJudJu0JqJu2:Ju|9Juـ3Jq*F?2F:FBFo0JFHI III{BI&I.I6I<:I FGBGBO> I Sj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561934&w,bf^Ay~zB~QIzKU*LKUh9KQKU KUMb@Mb@Mb@ )YK7?:vS㥛yԽ/ݼPA )?AI>Ay?AI-qI-15٢Ex E3=9EQ M>IQ UG٣Qy] ]> mNusing accuracyPremultiplier from configi}59m%p?}5YmjJ imzB}K?:?C@mDm`a;m^;mI5B 1*AEZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.699890 m, bearing: 19.587988 deg, approach rate: 0.016598 m/s, LOS rate: -0.075673 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790204 deg. 2jO:j@HeadingCmd: 2.055827 target range: 599.599976 and range: 599.60 m. jjjjihhhhNBfffrfbf`2@ɛvB< ?I! -kɚiIC?=Iii >2))mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.814622*F?2F:FBFJFG GG zQG G rAG B O > w,8^A IB?YBM@B׸9Bߋ >yBH4޿@ܐ? 6?Mݿu?P?C?!?ɨB?BP;B#CyNzBNEIIVnIV5bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.065982٢f|] fg=9f9;Q j>hh jG٣j9Gyn < n> rNusing accuracyPremultiplier from configpv59rg?v5YrcJ irrBtz?zC@rDr*:rL:r`5B {*A"EZj!-FNOT Ignoring new targets: 599.60 m.Bj-:Jj-:E ProNav: ac range: 599.599976 m, nav range: 599.706726 m, bearing: 19.561165 deg, approach rate: 0.019410 m/s, LOS rate: -0.076160 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814089 deg. 2jEQ:jM@MHeadingCmd: 2.056244 target range: 599.599976 and range: 599.60 m. jIjQjQjQiQhQhQhihqfqfqfqrfybf} 2@ɛvB@sy< 隭Sx?I J>hɚiI7?=Ii+ui*k;))EsAEtA*F-?2F):F)BF)JF)uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319289Ge*JlJaJJJ<5:Jp9JJGi By O >H} s>Iy  I} II} {BI}  =&Iy .Iy 6I} I<:I} | FBIIJIIRIIZIM =bIM =jIMb3;w,["^Az ?YzN!@z>rW9zB >yzH T޿ -X?-?>޿` 1?GJ?F?@ ?ɨz ?zQk;z!CyzB AIMb@Mb@Mb@ )Yy&1?333333Mby`E?LA -0A)>AI:Ay=AI}I5٢s 7=9.9Q > G٣ y ';  > Nusing accuracyPremultiplier from config59O\?5Y[J iiB%zF?%:%?%C@D;;B51 5*A1MB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 599.60 m.BjuϨJjuϨ ProNav: ac range: 599.599976 m, nav range: 599.728088 m, bearing: 19.528382 deg, approach rate: 0.048087 m/s, LOS rate: -0.073792 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796212 deg. 2jJ:jc@HeadingCmd: 2.055932 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf-_3@ɛwBP>; Hs?I dɚiI>=Iii\w;)) *$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570046*F%?2F!:F!BF%p0JF!zKiJK9KK K&=JKIFB@?:8740-**)'$!BK:KGE :G! B1 OU >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822436aw,^AR(?YR3@RFP9RTD >yRH@d޿y@?<)?`޿f? 8?Z?Z?ɨR(?R^;R"CyjzBj0II~I~5٢%X %Z=9% :Q %>)) -G٣)y5D; 5> MNusing accuracyPremultiplier from config9U59=R?U5Y=TJ i=aBQU?UC@=D=/;=#;=5a e+AaZj FNOT Ignoring new targets: 599.60 m.Bj ZJj Z= ProNav: ac range: 599.599976 m, nav range: 599.746582 m, bearing: 19.500721 deg, approach rate: 0.047159 m/s, LOS rate: -0.070533 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811577 deg. 2j=A:jEȘ@UHeadingCmd: 2.056200 target range: 599.599976 and range: 599.60 m. jQjqjqjqiqhyhyhyhyfffrfbfX3@ɛ5wB5<< 15)i?I9 =Kaɚ9i9I=>=IAiEiE;)A)Q*F?2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074720G!j;G?G>G B O >uIw,T^Ay zB III5٢5Խ 5I=95Q =>AA EG٣E9GyM M> UNusing accuracyPremultiplier from configQ]59U=H?]5YULJ iUXBaaeC@UDU;UR;U5mB m+AiZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.766785 m, bearing: 19.470677 deg, approach rate: 0.051918 m/s, LOS rate: -0.077207 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804428 deg. 2jS:j@HeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf &4@ɛwB; y[?I $_ɚiI>=I i i ;) )E%a>E%>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.327723*F?2F:FBF0JFH)I) I-II-{BI)&I).I)6I-v<:I- FG5CQ;GBO=> IRj Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578237{ww,д^A2?Y2 b@2A992b >y2H@޿ Ayf>AII5zKbMK]9KK K    ٢u >=9:Q > G٣y(; > Nusing accuracyPremultiplier from config 59 ?:<@C@ D ; '; ֟5! %&,A)ZjFNOT Ignoring new targets: 599.60 m.Bj*Jj* ProNav: ac range: 599.599976 m, nav range: 599.796448 m, bearing: 19.440412 deg, approach rate: 0.066053 m/s, LOS rate: -0.067391 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803765 deg. 2j8:j@-HeadingCmd: 2.056064 target range: 599.599976 and range: 599.60 m. j)j)j)j)i1h1h1h1h=Bf9f9f9rf9bfE4@ɛ-wB HQ?I \ɚiI>=Iidiϥ;))JMkJM`JIJIJM2:JMbl9JIJIJIaeJIaeJM):amJM*:amuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837705*F?2F:FBFp0JF G b}S;G B O > )$?I [w,0_A2D?Y2{@2f^:92V >y2H]޿ 2? ?[޿?C`d=?[?ɨ2D?2xo;2#Cy>9zB>IIFIF5٢Ne Rd=9R9Q R>TT VG٣TyV; V> ^Nusing accuracyPremultiplier from configX^59Z3?b5YZ>J iZEB`bS@bC@ZDZC ;Z ;Z5d j -AhrWill construct direction to contact in vehicle frame from tetrahedron phase data.v=I1i="i=<)9)9*F?2F:FBF0JFG;GGsAWill construct direction to contact in vehicle frame from tetrahedron phase data.H t>I  I II A{BI &I .I 6I p<:I FHw,{_Ae?Ye @e W:9eF%>yeH޿ ?`?b޿AIE:AAyEp=AI]I]5 iIi٢u-  u/=9}S9Q }>y G٣9GyQ: > Nusing accuracyPremultiplier from config59&?5Y%7J i=Ii>iN <))E!) cCu~G YyA*F?2F):F9Mw@UBBF=u0JFazKLK9KK KJU lJU bJQ JQ JU <5:JU t9JQ JQ JU I?;JU L?;JU S:JU U: Will construct direction to contact in vehicle frame from tetrahedron phase data. w,K6_AJ?YJP@J9:9Jr>yJH߱޿@w`i?W?uk޿ g?` R f?`ϸ?ɨJ?J%;J&Cy=zB=IIMIMH5٢fν S=9P:Q > G٣y: > Nusing accuracyPremultiplier from config59?5Y0J i4B@C@D.F;F;p5 -AZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.901367 m, bearing: 19.358228 deg, approach rate: 0.096165 m/s, LOS rate: -0.068428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817944 deg. 2j;:j@HeadingCmd: 2.056311 target range: 599.599976 and range: 599.60 m. jjjjih h h hfffrfbf95@ɛESwBM ՞ IMe+?II U$UɚQiQIU/>=IYi]yi]<)Y)a*F2F:FBF 0JF  IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received }*response not received,DAT read: user:1222> BDAT read: Tx time:20:18:04.2850 $Ping request sent.w,*P_Ay~yB~III5٢%3 %Q=9-Q ->)1 5G٣1y5 => ENusing accuracyPremultiplier from config9E59=?M5Y=X*J i=-BIIMC@=D=:=:=ܭ5]B ]:.A]"EZjyFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 599.938110 m, bearing: 19.332150 deg, approach rate: 0.093949 m/s, LOS rate: -0.066673 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816329 deg. 2j7:j#@HeadingCmd: 2.056283 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf/6@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:18:04.2842 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251061ɛawB 隝#?I bRɚiI>=Iiri<))HEs>IA IERIIEzBIA&IA.IA6IEܰ<:IE F*F?2F:FBF0JF"G=G= ($?IQjGMh <G?G? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502509G B O >w,ii_AbE2?Ybk@b79:9b+>ybHk޿ nW?@~ ?޿?@&'X? ?ɨbE2?b;b#CyryBrIMb@Mb@Mb@ )YMbX? G٣9Gy; > Nusing accuracyPremultiplier from config59?5Y#J i(B*?:@C@D;;5 B .A$EZj9=FNOT Ignoring new targets: 599.60 m.BjEɎJjEɎU ProNav: ac range: 599.599976 m, nav range: 599.994080 m, bearing: 19.305435 deg, approach rate: 0.130777 m/s, LOS rate: -0.062417 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814418 deg. 2jUX+:jU@]HeadingCmd: 2.056249 target range: 599.599976 and range: 599.60 m. jYjYjYjYiahahahahexBfififirfqbfu6@ɛmowB(; 隝?I  PɚiI*.?=Iii:<) )EyE}rAJjJaJJJ.:Jp9JJJ}4;J4;J:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754140*F?2F:FBF0JFG G B I O >w,p̓_A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006308>l?Y>@>D7:9>*8>y>H޿`?q?Ű޿ ?`F[?Լ?ɨ>l?>;>"CyFyBFIIRxIR5٢V Z_=9Z Q Z>\\ ^G٣\ybٟ; b> jNusing accuracyPremultiplier from confighn59jB?n5YjXJ ij$Bpr@rC@jDj;j>;j˴5t v@/AtZjFNOT Ignoring new targets: 599.60 m.BjJj- ProNav: ac range: 599.599976 m, nav range: 600.042480 m, bearing: 19.282562 deg, approach rate: 0.132367 m/s, LOS rate: -0.062549 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825942 deg. 2j-+:j-@5HeadingCmd: 2.056451 target range: 599.599976 and range: 599.60 m. j1j1j1j9i9h9h9hAhAfAfAfIrfIbfM`6@ɛe|wBm. imC ?Ii m>GOɚiiqIuQ?=IiniQ<))*F)2F):F)BF--5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258411GM)<G) H9 I9  I= II= zBI9 &I9 .I9 6I= ߰<:I= FB O >w,S_A YIYebZ?Yez@e9ev>yeH@޿`aر??ɨebZ?e2݈;e%Cy}yB}yImMb@Mb@Mb@iii i)iYm)\(?+?QymG!?m=mumEJA m-0A)m>AImj G٣ya > Nusing accuracyPremultiplier from config59?5YJ i!B!?:@C@D^7;5;۸5 /A'EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 600.110046 m, bearing: 19.255288 deg, approach rate: 0.144615 m/s, LOS rate: -0.058368 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812746 deg. 2j: :j@HeadingCmd: 2.056220 target range: 599.599976 and range: 599.60 m. jjj!j!i!h!h!h)h-[Bf)f1f9rf9bf=hr7@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522233ɛwBv R=v?I  FMɚiI?=Ii iiOE<))*F?2F:FBF0JFG GrAzK-LK- 9K)K- K-G} iG<G rAG rAJ lJ dJ J J <5:J |9J J J I?;J L?;J ~:J :] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774029Ga B O >&yFH`o޿z?? (q޿5d?!K?o?ɨF?F+;F"CybyBbsIIjIj5٢ i=9 ;Q  >Y ]G٣]9Gy]" e> mNusing accuracyPremultiplier from configam59e㤜?u5YeJ ieBqu@uC@eDe:e ;e5 /AZjFNOT Ignoring new targets: 599.60 m.Bj愺Jj愺 ProNav: ac range: 599.599976 m, nav range: 600.161926 m, bearing: 19.234046 deg, approach rate: 0.141899 m/s, LOS rate: -0.058096 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830835 deg. 2j{:jI@HeadingCmd: 2.056536 target range: 599.599976 and range: 599.60 m. jjjjihhhhff f rf bf 7@ɛ=wB=G 9EY>IA EcLɚAiAIE?=IIiMiM0c<)I)QEaEe>*F?2F:FBFR5JF ]'$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026032GQG) B9 OU >$w,b_A2iQ?Y2G@2%;92pX>y2H@v޿`?h$?H-޿@x?b)?w?ɨ2iQ?2;2$Cy>~yBRoIIZIZ5٢fՀ fM=9js;Q j>hh jG٣hyn> n> rNusing accuracyPremultiplier from configpv59rؤ?z5YrH J irB|~g@~C@rDrI;rI;rh5B 0A %EZj)5FNOT Ignoring new targets: 599.60 m.Bj5Jj5E ProNav: ac range: 599.599976 m, nav range: 600.216492 m, bearing: 19.211280 deg, approach rate: 0.142563 m/s, LOS rate: -0.059475 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826266 deg. 2jMD#:jM@MHeadingCmd: 2.056456 target range: 599.599976 and range: 599.60 m. jQjQjQjQiQhQhYhihifffrfbf@138@ɛwBa R>I JɚiI?=Ii"i;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.295355HI IIIMzBI =&I.I6Iİ<:I FBIJIRIZI =bI =jI4*Fq2Fq:FqBFu4JFqGM1X<G)BQOA> 9I9E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.546027Uw,XV_AB?YB @BSd;9Bl>yBH`?޿@ t?/3?xݿiڰ?l? [?ɨB?B;B#CyZoyB^fIuMb@Mb@Mb@qqq q)qYu+?Q?Mbpyuv?u\=uuKA q)qIu;AqyqII5٢  ==92;Q > G٣yj > Nusing accuracyPremultiplier from config59̤?5YCJ i?:@D@ D;zK%KK%h9K!K% K%+;.5i m=0Am'EZjFNOT Ignoring new targets: 599.60 m.Bj!{Jj!{ ProNav: ac range: 599.599976 m, nav range: 600.273438 m, bearing: 19.186289 deg, approach rate: 0.125081 m/s, LOS rate: -0.054889 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819588 deg. 2j:j@HeadingCmd: 2.056340 target range: 599.599976 and range: 599.60 m. jjjjihhhAhELBfAfAfArfIbfMi8@ɛwB8 h>I  ~HɚiI=!]@=IAiEiE_;)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.799214E4/=E  &$?I% Pj*F% ?2F! :F! BF% 0JF! "G- =G- =] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y iY m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.053615G O <G ?G >GBO>w, `AR?YR@Ra;9Ra>yRH ݿ@ V?L?ݿh{?u`??ɨR?R~;R%Cy^uyB^jIIfIf5٢nc\< n0=9r;Q r>tt vG٣v9Gyvl z> ~Nusing accuracyPremultiplier from configx~59zW?e5YzJ izBae>@eD@zDzhI  JGɚiI@=Ii_iRc))!EQ=JJjJJJJ9JJa @a @a @a @*F?2F:FBF2JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.302817H5t>I1 I5II5zBI5 =&I1.I5 I |w,P$`Ay%yB%rI}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.554051Mb@Mb@Mb@ )YZd;O?v/?{Gz?yj?xi=#<KA 1A)>AIn    G٣ y > %Nusing accuracyPremultiplier from config!-59%?-5Y%I i%B-?-:5` @5D@%D%;%&;%59 =/AA=B*** querying acoustic contact ***j9j9ZjQ]FNOT Ignoring new targets: 599.60 m.Bje|Jje| ProNav: ac range: 599.599976 m, nav range: 600.397339 m, bearing: 19.134398 deg, approach rate: 0.142252 m/s, LOS rate: -0.055091 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819673 deg. 2j<:j@HeadingCmd: 2.056341 target range: 599.599976 and range: 599.60 m. jjjjihhhheBfffrfbf@B9@ɛUwBUr樼 Q]>IY ]EɚYiYI]9'A=Iai<i'4))EE*E"EzKJKKK K )7;@IPSV_qz{xz|}~BK:KtAJJBA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.806787*F 2F :F BF 0JF I G ,!;GBO>w,C`Ay-yB5|IIEIEE5٢]= ],=9aQ e>aa mG٣iyi u> }Nusing accuracyPremultiplier from configq}59u?5YugI iu#BD@u%Du:u:u45B /A*EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.058497ZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 600.466736 m, bearing: 19.107584 deg, approach rate: 0.147860 m/s, LOS rate: -0.057125 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814123 deg. 2j:j@HeadingCmd: 2.056244 target range: 599.599976 and range: 599.60 m. jjjjihhhhffyfyrfbf7:@ɛwBqT >I DɚiIɜA=I i ti ))*F?2F:FBF0JFG<J#K+3 K+.-K#K#"K#JqJucJqJqJqJux9JqJqGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.309908H I  I II zBI &I .I =D6I ְ<:I Fw,]`A DF@ %$?IOj"?YY@!;9>yHbiݿ`3@N)?k?X#ݿ?/dui2? ?ɨ"?:؈;$Cy%yB%{IMb@Mb@Mb@ )YX9v?Q?:v?y?<T<MJA )I;Ayp=AII5٢=_  2=9 bQ  > G٣9Gy^ > %Nusing accuracyPremultiplier from config-59̚?-5YI i&B5,?5:5@5D@.DQ;O;45EB E/AE'EZjimFNOT Ignoring new targets: 599.60 m.BjuJju ProNav: ac range: 599.599976 m, nav range: 600.520081 m, bearing: 19.081088 deg, approach rate: 0.123680 m/s, LOS rate: -0.061424 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815078 deg. 2j(:jș@HeadingCmd: 2.056261 target range: 599.599976 and range: 599.60 m. jjjjihhhh]Bfffrfbfv:@ɛUwBU㪜 Y]y>IY evBɚaiaIeA=IiimTim%)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.562554iG  YyB*F?2F:FBF%k1JF!zK N NK +9K K K wmfcZWPLHC>;<@JNSWTMFB>:852.*&$! G %Gy B O >7<w,4w`A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=4.814112:?Y:@:b;9:5>y:H(Aݿd>?u? ܿ?`s@?Ǿ?ɨ:?:;:!Cy%yB%II5I55٢E= Em=9EQ M?II MG٣IyUN U? eNusing accuracyPremultiplier from configYu59]ݑ?}5Y]I i](By@D@]5D]3;];]85 /AZjFNOT Ignoring new targets: 599.60 m.Bj>Jj> ProNav: ac range: 599.599976 m, nav range: 600.559814 m, bearing: 19.061107 deg, approach rate: 0.114096 m/s, LOS rate: -0.057371 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834618 deg. 2j~:j^@HeadingCmd: 2.056602 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf:@ɛxBW >I ŞAɚiI`,B=Iiib$B)) I*F2F:FBF`5JFG>uG?G>GYBaO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.065901X%$w,c`A:Ys?Y:@:{;9:4>y:H1ݿBT?y?@ܿ ? |o`??ɨ:Ys?:ˈ;:"CyFyBFIININ5٢V= VT=9Z Q Z>XX ZG٣Xy^1 b> fNusing accuracyPremultiplier from config`f59bꇤ?j5YbI ib+Bhj@jD@bI d@ɚiI;lB=IiiK))JEnJEjJAJAJE|;:JE9JAJA*F?2F:FBF0JF-%EpFailed to parse device response: 62.99,10.1745,3.084.00 UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.318070G=׹ $$?IGABqO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.5699892Q*w,E`Ay~yB~IMb@Mb@Mb@ )YS㥛?{Gzt?Mb?y$?ף;<KA 10A)>AI:AyG=AIIJ5٢>$= :=9Q > G٣9Gy > Nusing accuracyPremultiplier from configM59|?M5Y I i.BM$?U:U$@UD@EDx<<<i5a e.Aa}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 599.60 m.BjmJjm ProNav: ac range: 599.599976 m, nav range: 600.645081 m, bearing: 19.012188 deg, approach rate: 0.090712 m/s, LOS rate: -0.058763 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814729 deg. 2jP!:j@HeadingCmd: 2.056255 target range: 599.599976 and range: 599.60 m. jjjjihhhhtBfffrfbf ̤;@ɛ%xBU >I >ɚiIB=I i .i nI) )zK/ NKKK K !(('&$"!     *F?2F:FBF4JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.822016GKG B O > I =61w,<`A6rP?Y6@6y:96H>y6Hy"ݿE|D?`}?`ܿ ?>/^?@ɿ?ɨ6rP?6;6$Cy>yB>IIFIF5٢N= R^=9RWQ R>TT VG٣TyV= Z> bNusing accuracyPremultiplier from config\b59^s?f5Y^zI i^1Bdf@fD@^MD^;^;^5h nJ.AlZjyFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 600.679565 m, bearing: 18.989770 deg, approach rate: 0.093467 m/s, LOS rate: -0.060758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827306 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0745822j&:jG@HeadingCmd: 2.056474 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrf bf @<@ɛ4xB  0>I =ɚiI1B=Ii.ieZ)) *F?2F:FBFo0JFJYJ]eJYJYJYJ]9JYJYGIGsAGH5 u>I1  I5 II5 /zBI1 &I1 .I1 6I5 ư<:I5 Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=6.326788G B O >`7w,`Azc?Yz@zǟ99z>yzH*ݿ}A5ļ?{? ܿ?:x/?`>?ɨzc?z,;z#C YIayޅzBޅIIyI5٢uU= }0=9}'JQ }> G٣y: > Nusing accuracyPremultiplier from config597h?5Y~I i5B@D@WD;\:5 -A-EZj15FNOT Ignoring new targets: 599.60 m.Bj=Jj=M ProNav: ac range: 599.599976 m, nav range: 600.723145 m, bearing: 18.961606 deg, approach rate: 0.094778 m/s, LOS rate: -0.061248 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810071 deg. 2jM#(:jUY@UHeadingCmd: 2.056174 target range: 599.599976 and range: 599.60 m. jQjYjYjYiYhYhYhahafafafirfibf|<@ɛFxB >I ;;ɚiI@C=IiOiBP))IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.578597*F?2F:FBF3JF zK ;rMK 9K K K G% KG B O% >Y=w,`AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.830229>p?Y>@>@9> >y>H0ݿ@H=5f?p?>~; G٣9Gye: >  Nusing accuracyPremultiplier from config592_?5YXI i6B)?: @D@_D;;5%B %v-A%*EZjAMFNOT Ignoring new targets: 599.60 m.BjUJjUe ProNav: ac range: 599.599976 m, nav range: 600.748596 m, bearing: 18.937239 deg, approach rate: 0.067885 m/s, LOS rate: -0.064990 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821458 deg. 2jeh2:je@mHeadingCmd: 2.056372 target range: 599.599976 and range: 599.60 m. jqjqjqjqiqhqhqhyh}Bfyfyfrfbf<@ɛeVxBeZ 隅>I u:ɚiIiC=IiieK)) U#$?IUNj*F5?2F1:F1BF=o0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.081978G "PG B O% > sDw,~aA:?Y:"@:-!9:3>y:HLݿu2@? s?Pݿ@u?@d?d?@?@?ɨ:?:Ɉ;8y^9zBbIIjuIj5٢ro_= v[=9vNQ v>xx zG٣xyzJ; ~> Nusing accuracyPremultiplier from config 59V? 5Y|I i7B  +@D@gD;0;L5 #-AZjAEFNOT Ignoring new targets: 599.60 m.BjMJjMe ProNav: ac range: 599.599976 m, nav range: 600.773438 m, bearing: 18.914000 deg, approach rate: 0.067176 m/s, LOS rate: -0.062838 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824844 deg. 2je,:je@mHeadingCmd: 2.056432 target range: 599.599976 and range: 599.60 m. jijijijiiihihqhqhqfyfyfyrfybf7=@ɛdxB0 隭>I p(9ɚiIC=Ii i.))HI IIIkzBI =&I.I6I:I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.334287*Fi2Fq:FqBFup0JFq iIqG\LG ?G8?GqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5873088Jw,ׄ,aA>?Y>*@>W9>* >y>H`FYݿ+?o?`ݿ3ɭ?HVp?7?@z?ɨ>?>;>$CyNbzBRI-Mb@Mb@Mb@))) )))Y-V-?&1:v?y-h1?-P-T<-MA ))->AI->A)y->AIMcIM5٢]= ]C=9]dmQ e>aa eG٣aym; m> uNusing accuracyPremultiplier from configq}59uL?}5YunI iu9B1?:f?D@upDu ;u;u5 x,A-EZjFNOT Ignoring new targets: 599.60 m.Bj9Jj9 ProNav: ac range: 599.599976 m, nav range: 600.794128 m, bearing: 18.886337 deg, approach rate: 0.049445 m/s, LOS rate: -0.066105 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811569 deg. 2jux5:juǘ@}HeadingCmd: 2.056200 target range: 599.599976 and range: 599.60 m. jyjyjyjyihhhhBfffrfbf@<=@ɛevxBe\[ ae>Ii X7ɚiIC=Iixi"&))zKMLKM9KIKM KMJ)J-hJ)J)J)J-Ȇ9J)J)J-J;aEJ-J;aEJ-Ӭ:aMJ-Ԭ:aM*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.838768G F5 q Iq G B O >HQw,\FaA6?Y6#@6$"96E >y6HKtݿ "`j}?@h?*:ݿY?;w?Z?6?ɨ6?60];6#Cy>pzB>I Fp=Fp=IJpIJ5٢V= VV=9VFQ Z>XX ZG٣Z9Gy^; ^> fNusing accuracyPremultiplier from config`f59b:D?f5YbI ib;Bhj?jD@bxDbX:b:bI5l rB,Ap~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 599.60 m.Bj JjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.090806 ProNav: ac range: 599.599976 m, nav range: 600.813599 m, bearing: 18.861111 deg, approach rate: 0.050989 m/s, LOS rate: -0.066059 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818883 deg. 2jW5:jޚ@HeadingCmd: 2.056327 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf, >@ɛxBp} 隅>I _5ɚiI-C=IiGi ))*Fu?2Fq:FqBFur0JFqG9"HI I,IIzBI&I.I6I<:I FBIJIRIZIbIjI4M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.342043Gi Bq O > Ww,B`aAJ2?YJ8@J9J >yJH ݿ/ ۿ? c?yOݿҬ?~?t?8?ɨJ2?J;J"CyzzB !I)]IIgI5٢J= 8=9Q > G٣yh4; > Nusing accuracyPremultiplier from config59Z9?5YI i>B?D@Dn::j5’B +A*EZjQ]FNOT Ignoring new targets: 599.60 m.Bj]Jj] ProNav: ac range: 599.599976 m, nav range: 600.838257 m, bearing: 18.829910 deg, approach rate: 0.051347 m/s, LOS rate: -0.064969 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800957 deg. 2jY2:j@HeadingCmd: 2.056015 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfು>@ɛxB<> 隕>I t3ɚiIC=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.594938IiiW))*F}?2Fy:FyBF}o0JFyG GsAzK] KK] 9KY K] K] G ͔ G G sAJE mJE jJA JA JE \8:JE 9JA JA JE D;JE D;JE :JE :Gq B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.847960]w,zaA>tl?Y>U@>;9>%O >y>H`Nݿi@?]?`mݿ?_G?@[??ɨ>tl?>(;>#Cy~zB~*IMb@Mb@Mb@ )Y~jt?(\µ{Gz?y;?#<KA )?=AI>Ay=>AIeI5٢ Yj= D=9“Q >! %G٣!y%; %> =Nusing accuracyPremultiplier from config1E5950?E5Y5I i5?BE@ɛxB ػ B?I |2ɚiIC=Ii iɻ)) "$?IMj*F%?2F!:F!BF%0JF!uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.098186G >uG B O >Odw,-|aA6?Y6>u@6896 >y6HEݿ@r @?U?`ݿ@/?Z?`R? ?ɨ6?6R;6"CyFzBF1IHHIR[IRQ5٢VX= Zc=9ZyQ Z>\\ ^G٣^9Gybٰ; b> fNusing accuracyPremultiplier from configdj59f(?j5YfuI if@Bhn ?nD@fDf;fI;f5rB r$+Ar-EZjFNOT Ignoring new targets: 599.60 m.BjDJjD- ProNav: ac range: 599.599976 m, nav range: 600.859192 m, bearing: 18.777250 deg, approach rate: 0.028751 m/s, LOS rate: -0.070058 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819153 deg. 2j-R@:j-@=HeadingCmd: 2.056332 target range: 599.599976 and range: 599.60 m. j9j9j9j9i9hAhAhAhAfAfIfIrfIbfM`U=?@ɛuxB}DȻ y}v?I 1ɚiIC=Iii<))HAIA IEXIIEzBIA&IA.IA6IE<:IE FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.351418*FM?2FI:FIBFM0JFI IG»GBOM >)u = q ~G 9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.604149 Y y A kw,PaA2?Y2@2S92t >y2H@4ݿD`_?P? ٟݿ?w??&?ɨ2?2_;2 CyNzBN8I]Mb@Mb@Mb@YYY Y)YY]Zd;?EԸy]>?]ƽ]]ZNA ]0A)] >AI]~@AYy]?AI}NI}p5٢t< >=9RxQ > G٣y=; > Nusing accuracyPremultiplier from config59&?5YsI i?B@?:?D@D];;5 *AZjFNOT Ignoring new targets: 599.60 m.BjoJjo ProNav: ac range: 599.599976 m, nav range: 600.868530 m, bearing: 18.746342 deg, approach rate: 0.021719 m/s, LOS rate: -0.071881 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801837 deg. 2jRE:j@ HeadingCmd: 2.056030 target range: 599.599976 and range: 599.60 m. j j j j i hhhh9Bf!f!f!rf!bf%?@ɛMxB% >I C/ɚiImC=Ii r^i zr) )1zKMKKM 9KIKM KM5rcO<0*$ BKY:K]rAJJAAJnJeJJJ|;:J9JJJJ;JJ;J:J:*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.854049GE ) $?I G! B) OM >qw,t'aA6#$?Y6Y@6xr964>y6Hݿa?.G?@ݿ#ª?`&S?#? "?ɨ6#$?6ψ;6"CyBzBBKIIJSIJ5٢R= RZ=9R٤Q R>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\%59^?%5Y^I i\)-?-D@^D^Vp<^gp<^51 5|*A1=Will construct direction to contact in vehicle frame from tetrahedron phase data.EWill construct direction to contact in vehicle frame from tetrahedron phase data.yNH@ݿ x?\C? ݿ@mk????ɨNyC?Nӈ;LyޝzBޥNIIgI5٢m74< u1=9m@Q > G٣9GyO; > Nusing accuracyPremultiplier from config59( ?5YI i?D@D;;*5’B o*AZj9EFNOT Ignoring new targets: 599.60 m.BjEJjM] ProNav: ac range: 599.599976 m, nav range: 600.889526 m, bearing: 18.685285 deg, approach rate: 0.025978 m/s, LOS rate: -0.074341 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791855 deg. 2j]L:je$@eHeadingCmd: 2.055856 target range: 599.599976 and range: 599.60 m. jijijijiiihihqhqhqfqfyfyrfybf}@B@@ɛxB! >I +ɚiIJjC=IiiT))MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQUJ lJ cJ J J <5:J x9J J J I?;J L?;J :J : Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1223>  BDAT read: Tx time:20:18:15.2350  $Ping request sent. Ay=>AIMI75٢< 1=9Q %>!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595?=5Y5I i5>BEG?E:E??ED@5D5r#;5!;5 5Y ]O*AYZjFNOT Ignoring new targets: 599.60 m.BjDJjD ProNav: ac range: 599.599976 m, nav range: 600.901733 m, bearing: 18.652092 deg, approach rate: 0.027052 m/s, LOS rate: -0.073556 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794980 deg. 2jI:j @HeadingCmd: 2.055910 target range: 599.599976 and range: 599.60 m. jjjjihhhh&Bfffrfbf}@@ɛeyBe4$ ae>Ia mk)ɚiiiImRC=Ii}i8))MWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:20:18:15.2342 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251057*F]?2FY:FYBF]0JFYG G G GA BQ Om >Cw,bA: ?Y:N@:_Q9: >y:H >'޿@j?!8?`;޿@D?i???ɨ: ?:;:#CyZzBZPIIj(Ij5٢r' r=9vQ v?tA EG٣AyUA< U? ]Nusing accuracyPremultiplier from configYe59]p?e5Y]{I iYim?mD@]D]8;]b:;]5y }f*AyHI IIIt{BI =&I.I6I<:I FZjFNOT Ignoring new targets: 599.60 m.BjꦺJjꦺ ProNav: ac range: 599.599976 m, nav range: 600.911133 m, bearing: 18.628709 deg, approach rate: 0.029330 m/s, LOS rate: -0.072964 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824408 deg. 2jLH:js@HeadingCmd: 2.056424 target range: 599.599976 and range: 599.60 m. jjjj!i!h!h!h)h)f)f)f1rf1bf5@@@ɛmyBm im>Ii u(ɚqiqIu,C=Iyi}lAi}$:)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.511334*F?2F:FBFa5JF $?IG >G B O% >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762686gw,/bA:S0?Y:q7@:{~9:̎ >y:Htf޿`c8?&?=I޿?g? c? =?ɨ:S0?:;:$Cy=zB=QIMb@Mb@Mb@ )YJ +?J +y&1|yH?Ƚ`/OA 1A)?=AI>Ay\?AI 3I u5٢m|; m5=9mQ u>qy }G٣}9Gy}#< }> Nusing accuracyPremultiplier from config59?5YzrI i=BFJ?:?D@D;c;5 Z*A0EZjFNOT Ignoring new targets: 599.60 m.Bj{Jj{ ProNav: ac range: 599.599976 m, nav range: 600.927917 m, bearing: 18.595555 deg, approach rate: 0.039057 m/s, LOS rate: -0.077146 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795097 deg. 2jS:j@HeadingCmd: 2.055912 target range: 599.599976 and range: 599.60 m. jjjjihhhhHBfffrf bf @@@ɛ=%yBE. AE?>IA EF5'ɚAiIIMlC=IQiUeiU1);)Q)YzKMBOKM 9KIKM KM IA6yZ9NZU V  C[>- *F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015623  I G :G B O! oOw,IbA:3e?Y:Q@:C'9:[>y:H}޿ -?K ?e޿\I %ɚiIB=Iiid*;))*F?2F:FBFo0JFJmJfJJJ\8:J9JJa@a@a@a@HI III{BI =&I.I6I<<:Is FG5{/;G= ?G=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518733G B O5 >  I [}w,cbAJ?YJt@JǼ9J^>yJHǛ޿\Yg?@?C޿@? ???ɨJ?Jˉ;J#CyrzBvAII-AI-5٢uƇ }>=9OQ > G٣yɟ; > Nusing accuracyPremultiplier from config59ܣ?5YI _$ɚiIB=Iigi<))*F-?2F1:F1BF5`5JF1zK ; PK 9K K K GU ~q; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022927G B O >w,)bA~cy~HFk޿@-=?`$? W޿r]?e?? ?ɨ~c G٣9Gy޻ > Nusing accuracyPremultiplier from config59ϣ?5YYI iI X#ɚi I  B=I iMoi;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275206*FU?2FQ:FQBFQJFQG 1X<Gi Bq O > w,|cbAJ,J,J,J,J,J,J,J,H8I8 I:II:{BI: =&I8.I86I:<:I: FBI!JI!RI!ZI% =bI% =jI%:4R7?YR:@R՗Ƽ9R=>yRH h޿[J?@p%?]U޿8?@[Ҙ??E?ɨR7?R>;R$Cy^zBb6IIj_Ij45٢rR! r=9rGQ v ?tt vG٣ty=? =? ]Nusing accuracyPremultiplier from configQe59Uxǣ?e5YUlSI iU;Bae?eD@UDUq:U:U 5 +AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526825ZjFNOT Ignoring new targets: 599.60 m.Bj&Jj& ProNav: ac range: 599.599976 m, nav range: 601.006409 m, bearing: 18.474531 deg, approach rate: 0.057316 m/s, LOS rate: -0.076127 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820381 deg. 2jP:jL@HeadingCmd: 2.056354 target range: 599.599976 and range: 599.60 m. jjjjihh!h!h!f!f)fIrfQbfUA@ɛpyBj 隝>I g2"ɚiI`B=Ii8iن;))E*Fe?2Fa:FaBFeo0JFiGmrA Gi $?IJjG=~q;GErAGAGB9OUT>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7781192w,)bA6/?Y6(7@6ɼ96>y6He޿@x'E?=&? ;S޿A? >???ɨ6/?6};6!CyRzBRI]Mb@Mb@Mb@YYY Y)YY]%C?v//$y]ZD?]xi]]MA ]0A)]jAIuXIu5٢ A=9J~Q > G٣y > Nusing accuracyPremultiplier from config59l?5YKI i9BD?:{?D@D(;;W$5ĒB +A-EZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 601.039062 m, bearing: 18.444395 deg, approach rate: 0.080533 m/s, LOS rate: -0.074318 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804155 deg. 2jL:j @ HeadingCmd: 2.056070 target range: 599.599976 and range: 599.60 m. j jjjihhhh Bf!f!f)rf)bf-A@ɛyBq1 >I +O!ɚiItB=Ii0i;))zK JK K K  K *F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030269 IGG;G B O >;w, bAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282212 j{??Yj?@jм9j >yjH`Ql޿n?8$? g]޿:?`?t?Z?ɨj{??jʉ;j$CyvzBvIxzAIrIj5٢D R=9Y Q > G٣y%k: %> -Nusing accuracyPremultiplier from config)559-?55Y-DI i-7B9=?=D@-D-c;-;-'5A E+AAeB*** querying acoustic contact ***jajaZjimFNOT Ignoring new targets: 599.60 m.Bju঺Jju঺ ProNav: ac range: 599.599976 m, nav range: 601.070007 m, bearing: 18.416083 deg, approach rate: 0.079736 m/s, LOS rate: -0.072948 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809625 deg. 2j@H:j9@HeadingCmd: 2.056166 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfSB@ɛyB@ {>I ɇ ɚiIgB=Ii~i;))*F?2F:FBFp0JFHaIa IeIIe{BIa&Ia.Ia6Ie<:Ie FJnJeJJJ|;:J9JJJJ;aJJ;aJ:aJ:aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534700GCQ;GBO> $?I Dw,bA~G u6Yqyuk B5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785941y=gzB=I @ @ @  @ IRIS5٢s =9Q >    G٣ 9Gy  > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59ʣ?%5Y:I i5B-+:)-_:)-D@DE9;?+51 5,A50EZjFNOT Ignoring new targets: 599.60 m.Bj桺Jj桺 ProNav: ac range: 599.599976 m, nav range: 601.112732 m, bearing: 18.377269 deg, approach rate: 0.077908 m/s, LOS rate: -0.070773 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778122 deg. 2jHB:j6@HeadingCmd: 2.055616 target range: 599.599976 and range: 599.60 m. j j j j i h h hhfffrfbfWB@ɛEyBM` IM7>II MɚIiIIUtB=IQiUi]R;)Y)Y*F?2F:FBFo0JF"G=G=zKE BJKE ]9KA KE KE "`F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038014G {/;G ?G ?G B O >sw,cA26?Y2I:@2׼92+>y2Hg޿` ??@0%?O\޿??&?`?ɨ26?2";2 C HILyZIzB^IIjsIj5٢z˽ ~=9~??Q ~? G٣y ? bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Yr5I i4B% :!%5:%{?%D@"DK(;-S?*-5) 5,A1ZjQ]FNOT Ignoring new targets: 599.60 m.Bj]uJj]um ProNav: ac range: 599.599976 m, nav range: 601.136047 m, bearing: 18.356111 deg, approach rate: 0.085005 m/s, LOS rate: -0.077136 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.831086 deg. 2juS:ju\@}HeadingCmd: 2.056540 target range: 599.599976 and range: 599.60 m. jyjyjyjyiyhyhhhfffrfbf` {B@ɛyB;  >I hɚiI)wB=Ii!iu;))*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.290289GGBO>H I  I II U{BI &I .I 6I u<:I FJsK{ـ3 K{KsKs"KsJ mJ gJ J J \8:J 9J J J D;J D;J =:J ?:dw, cAf)*?Yf[4@f1ڼ9f>yfH b޿@~?`&?X޿?sB?a?N?ɨf)*?f1;f#CWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542208y=@zB=I Ea=Ea=IM~IM5٢" C=94Q > G٣yb > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y-I i2B9:n?D@-D*;U?&/5ŒB +-A.EZjamFNOT Ignoring new targets: 599.60 m.BjmLJjmL ProNav: ac range: 599.599976 m, nav range: 601.170410 m, bearing: 18.324926 deg, approach rate: 0.078662 m/s, LOS rate: -0.071384 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801007 deg. 2jC:j•@HeadingCmd: 2.056015 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf`B@ɛUyBU QUT=IQ ]ɚYiYI]+B=IaieieLӖ;)a)a $?IIj*F?2F:FBF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794316GM G;Ga Bi O >;w,5cA6?Y62*@6ܼ96>y6HY޿``t?@(?` P޿Y?`g? ??ɨ6?6j;4yFzBFI       % %Mb@Mb@Mb@!!! !)!Y% ףp= ?A!y%p=AI=vI=M5٢E6 MN=9MZQ M>QQ UG٣U9Gy]g̺ ]> eNusing accuracyPremultiplier from configam59e?m5Ye'I ie0BmT:my8?m:u@uD@e6De;e;e25y }-A}0EZjFNOT Ignoring new targets: 599.60 m.BjnJjn ProNav: ac range: 599.599976 m, nav range: 601.217041 m, bearing: 18.298561 deg, approach rate: 0.122497 m/s, LOS rate: -0.069255 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815467 deg. 2j>:j@HeadingCmd: 2.056268 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf +B@J@AJ@AɛyB U=I [ɚiIB=Ii[i+΅;))zKyMKػ9KK KIbG(!   BK:KsA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046949*Fa2Fa:FaBFe0JFi yIyG;Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298155w,SOcA6?Y6@6B ߼96=y6HO޿@ vH?v+?jG޿@?? ~ʿ? ?ɨ6?69;4ynyBnIIzIz5٢ O=9 4Q  >    G٣y > Nusing accuracyPremultiplier from config%59Zz?%5Yd I i.B)-@-D@?Dn::651 59.A1UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 599.60 m.Bjm6Jjm6 ProNav: ac range: 599.599976 m, nav range: 601.264282 m, bearing: 18.271840 deg, approach rate: 0.119962 m/s, LOS rate: -0.067848 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814401 deg. 2jA::j@HeadingCmd: 2.056249 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfC@ɛyB @m;I ɚiIB=IiW i?h;))*F}?2Fy:FyBF}0JFyHI IkII{BI =&I.I6If<:I FJoJbJJJ>:Jt9JJJ|O;J~O;JS:JU:G5k;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.550837GBO5> i Iq w,^icAN?Yn@^9 =yHC޿Ji?`.?@I<޿?f?? ?ɨN?V;騽 Cy yB I}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.802366Mb@Mb@Mb@ )YQ?Q?~jty\/?u<ļKA )I;=Ay G٣y > Nusing accuracyPremultiplier from config59l?5YI i-B/?:@D@IDl; ;:5 ĒB .A 3EZjFNOT Ignoring new targets: 599.60 m.BjPJjP- ProNav: ac range: 599.599976 m, nav range: 601.327942 m, bearing: 18.241942 deg, approach rate: 0.129682 m/s, LOS rate: -0.060900 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804871 deg. 2j--':j-ݖ@UHeadingCmd: 2.056083 target range: 599.599976 and range: 599.60 m. jQjQjQjQiYhYhYhYh]qBfafafarfabfmsUC@ɛzB* 830-+)&$# 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054127G !j;G B O5 > M $?II ׿w,$cAJ?YJ=@JX9J=yJHD޿J@M ?y.?@)=޿?+ ?5|? ?ɨJ?J;J"CyVyBVII^I^d5٢fq ft=9jQ j?ll nG٣n9Gyr 9 r? vNusing accuracyPremultiplier from configtz59vYc?z5YvI itx~@~D@vQDv` ;v ;v=5 /AZj!-FNOT Ignoring new targets: 599.60 m.Bj=۝Jj=۝e ProNav: ac range: 599.599976 m, nav range: 601.373901 m, bearing: 18.220438 deg, approach rate: 0.147492 m/s, LOS rate: -0.069005 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830049 deg. 2jen=:jm@uHeadingCmd: 2.056522 target range: 599.599976 and range: 599.60 m. jqjqjqjqiqhqhyhyhyfyffrfbf|C@ɛ zB \; 隵I R>ɚiI:3C=Ii irF;))*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306152Gm.A;GIBQOu>H} t>Iy  I} ?II} zBI}  =&Iy .Iy 6I} <:I} Fw,cAJ?YJO@JTۼ9J=yJHB޿?I/?!9޿?i? v?)?ɨJ?J;J$CyRyBVIIbIb5٢jP jM=9j|:Q j>ll nG٣lyrJ r> vNusing accuracyPremultiplier from configtz59vW?z5Yv I iv,Bx~@~D@vYDv;v;v@5ŒB !/A 0E%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558159ZjAEFNOT Ignoring new targets: 599.60 m.BjM!JjM!e ProNav: ac range: 599.599976 m, nav range: 601.428406 m, bearing: 18.194938 deg, approach rate: 0.135614 m/s, LOS rate: -0.063441 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818065 deg. 2je'.:je@mHeadingCmd: 2.056313 target range: 599.599976 and range: 599.60 m. jijijqjqiqhqhqhyhyfyfyfrfbfگC@ɛ4zB!H? 隽I cɚiIuC=IiTi;;)) !I%HjPExceeded connect timeout, disconnecting.*F?2F :F BFo5JFGU']?;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814103G) B1 OU >w,cAy~yB~I ==Mb@Mb@Mb@ )Y~jt?X9v?/$y$?<EJA \/A)9AIj G٣y > Nusing accuracyPremultiplier from config59K?5Y:I i$?:`@D@bD7;;LD5 b/A3EZjJpJgJ/JJA:J9J(N3Ja@a@a@a@FNOT Ignoring new targets: 599.60 m.Bj&Jj &% ProNav: ac range: 599.599976 m, nav range: 601.491516 m, bearing: 18.168921 deg, approach rate: 0.140141 m/s, LOS rate: -0.057766 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816514 deg. 2j-:j-1@UHeadingCmd: 2.056286 target range: 599.599976 and range: 599.60 m. jQjQjQjQiYhYhYhYhe?Bfafafarfabfm`C@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062165ɛmMzBmG imIq u4 ɚqiqIuC=Iyi}6i}=;)y)zK@MKKK K      # $'()% I*F?2F:FBF%1JF!GA GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314093w,SXcA2S?Y2p@2vؼ92=y2HN޿ ?@,?D޿C(?@ ??W?ɨ2S?2_ԇ;0yByBBIIJIJ5٢R'D R_=9R/z:Q V>TT VG٣V9GyZ; Z> ^Nusing accuracyPremultiplier from config\b59^bA?b5Y^I i\dfn@fD@^jD^h;^^;^G5h j/Ah~B*** querying acoustic contact ***j|j|ZjFNOT Ignoring new targets: 599.60 m.BjƈJjƈ ProNav: ac range: 599.599976 m, nav range: 601.544983 m, bearing: 18.147018 deg, approach rate: 0.145960 m/s, LOS rate: -0.059788 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828853 deg. 2j $:j@HeadingCmd: 2.056501 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfZD@ɛM_zBMIZ IU>IQ uS ɚyiyI}D=Iiizrs;))*F?2F:FBF`5JFHYIY I]II]zBIY&IY.IY6I]M<:I] FBI JI RI ZI bI jI K4=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566115G7; $?IG B O >  nManaging dock network, ignoring radio surface power off^w,C:cAU?Y)@{Rؼ9=yHY޿`? )?P޿ ?` ?耿?۾?ɨU?(;#CyuyBIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818145I٢s< -=98Q > G٣y: > Nusing accuracyPremultiplier from config59 4?5Y H i z@D@tD;;K5 /AZjFNOT Ignoring new targets: 599.60 m.BjFJjF ProNav: ac range: 599.599976 m, nav range: 601.614380 m, bearing: 18.118741 deg, approach rate: 0.147286 m/s, LOS rate: -0.060007 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809735 deg. 2j$:jA@HeadingCmd: 2.056168 target range: 599.599976 and range: 599.60 m. jjjjihhh h f f frfbfUD@ɛwzBNV ?PI Ѕ!ɚiI܄D=Ii8ߺi;))*F?2F:FBFp5JFJ sJ J 0J J K:J J ـ3J E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070299G l;zK] FMK] +9KY K] K] &%" !  S c *io( < I G B O >w,dA @2?Y2+@2tټ92=y2H`3[޿ ?(?Q޿@.?-?? 5?ɨ2?2F;2"Cy:yB>I)@ @EMb@Mb@Mb@AAA A)AYEZd;?{Gz?~jtyE?E#=EDEGA E-0A)E&9AIAAyE\;AII_5٢  [=9¹Q > G٣y9 > Nusing accuracyPremultiplier from config59)?5YH i.BU?:h@D@{D;+;N5 /A6EZj%FNOT Ignoring new targets: 599.60 m.Bj%mJj%mE ProNav: ac range: 599.599976 m, nav range: 601.670410 m, bearing: 18.097344 deg, approach rate: 0.157321 m/s, LOS rate: -0.060073 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830371 deg. 2jE$:jE'@eHeadingCmd: 2.056528 target range: 599.599976 and range: 599.60 m. jajajajiiihqhqhyh}Bfyfyfrfbf`D@ɛzBj 隵oI ."ɚiIoD=Iiv޺i(;))EY>E>*F=?2F9:FABFEn0JFA"Ge=Gep=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322320G;G B O >HA IA  IE IIE kzBIA &IA .IA 6IE "<:IE a F#w,dAR?YR@R5 ؼ9R>yRHL޿``a?@v,?^A޿??`64?8?ɨR?R;PyZyBZIIfIf5٢n< nZ=9n9Q r>pp rG٣r9Gyv^- v> zNusing accuracyPremultiplier from configx~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.57411259z@? 5YzH iz0B X@D@zDz(;z;z(R5! %/A!ZjIMFNOT Ignoring new targets: 599.60 m.BjUXJjUXe ProNav: ac range: 599.599976 m, nav range: 601.726624 m, bearing: 18.075838 deg, approach rate: 0.148947 m/s, LOS rate: -0.056978 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830045 deg. 2jej:je@mHeadingCmd: 2.056522 target range: 599.599976 and range: 599.60 m. jijijqjqiqhyhyhyhyfffrfbf D@ɛzBWk 隽VzI "ɚiI>E=Ii/ݺiN`_;) }$?Iy)*F ?2F :F BFo0JF)5&= 5]C.~G eYiymBAG;Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.830992GBQ Ou >SL w,7dA6?Y6@6rռ96L>y6HH޿@y 椿?-?@<޿?G?@-??ɨ6?6=;6!CyFyBFIMb@Mb@Mb@ )Y333333?Q?Mb`?y?<;GA `/A)Z8AInII MG٣IyUm@ U> eNusing accuracyPremultiplier from configYe59]X?m5Y]H i]4Bm?m:m<@mD@]D]+;];]U5ƒB N/A3EZjIMFNOT Ignoring new targets: 599.60 m.BjUtJjut ProNav: ac range: 599.599976 m, nav range: 601.783081 m, bearing: 18.052576 deg, approach rate: 0.129451 m/s, LOS rate: -0.053333 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824776 deg. 2jh:j@JlJoJ1JJ<5:JK9J3JHeadingCmd: 2.056430 target range: 599.599976 and range: 599.60 m. jjjjihhhh$Bfff rf bf`2D@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078549ɛ=zB=րd 9=5~IA E#ɚAiAIEٷE=IiimۺimcV;)q)q qIuGjzKu[PKu9KqKu Ku > i Q-9F\8s]K=3' zvtuu*F?2F:FBFJFG% g;G B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.3300833w,QdAV ?YVK @VЯѼ9V'>yVH>޿:?u0?1޿@?`>5?`'? ǻ?ɨV ?V;V#Cy~yB~II I 5٢1< %M=9%':Q %>!) -G٣)y- -> =Nusing accuracyPremultiplier from config1E595 ?E5Y5H i59BAE0@ED@5D5 ;5 ;5JY5MŒB U//AU6EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 599.60 m.Bj,Jj, ProNav: ac range: 599.599976 m, nav range: 601.836853 m, bearing: 18.030374 deg, approach rate: 0.142063 m/s, LOS rate: -0.058651 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827957 deg. 2j!:jw@HeadingCmd: 2.056486 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfE@ɛ%zB%Nu !-I) - $ɚ)i)I-F=IQiUںi]/;)Y)a*F?2F:FBFJFHI IIIWzBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582010G1 aIaG B O- >^w,kdAF?YF @Fϼ9F=>yFH@޿ q?/? 3޿?? j?8?ɨF?FKɆ;F$CyRyBRIIjIj5٢= %K=95t :Q E>QQ G٣9Gyܦ9  >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837506 Nusing accuracyPremultiplier from configI59Mz?5YMH iM=B3@D@MDM;%;)9)9*F?2F:FBFJFJq Ju eJq Jq Jq Ju 9Jq Jq G $;% Will construct direction to contact in vehicle frame from tetrahedron phase data.- ?=?@;:BvX1Ue|e=~?"!%2O >E!w,*VdA:?Y:@:&μ9:J>y:He7޿ n?2?*޿@L/?$ę? ?6?ɨ:?:d;8y^yBbIMb@Mb@Mb@ )YQ?I +? rh?y(?9<C< )+9AI?=Ay\;AII5٢-|= @=9:Q > G٣y׺ > ]Nusing accuracyPremultiplier from configQ]59U?e5YUH iUEBeR?e:e@eD@UDU? ;U ;U`5i u5.AqZjFNOT Ignoring new targets: 599.60 m.Bj;Jj; ProNav: ac range: 599.599976 m, nav range: 601.947876 m, bearing: 17.982898 deg, approach rate: 0.133448 m/s, LOS rate: -0.059552 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825592 deg. 2jz#:jɜ@HeadingCmd: 2.056444 target range: 599.599976 and range: 599.60 m. jjjjihhhhQBfffrfbf@;E@ɛzB\n xI %rR&ɚ!i!I% F=I)i-g@غi-F;)))1*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II kzBI  =&I .I 6I <:I F'w,`sdA6G?Y6j @6Nϼ96B>y6H?޿sJ?<0?03޿@I? S? ?`?ɨ6G?6;6 CyBzBBIIJIJ5٢RB= R[=9VQ V>TT ZG٣XyZi: Z> bNusing accuracyPremultiplier from config\b59^ꢜ?f5Y^H i^KBdf@fD@^D^;^;^c5lrWill construct direction to contact in vehicle frame from tetrahedron phase data.v --w, dA6?Y69@6GҼ96>y6H7޿@r? Z2?c+޿@?$H?`?P?ɨ6?6};6"Cy^GzB^IMMb@Mb@Mb@III I)IYM?~jth:v?yM ?MDMAIyM G٣9Gy > Nusing accuracyPremultiplier from config59~࢜?5YH iTB# ?:_@D@D;;g5ƒB -A6EZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 602.038025 m, bearing: 17.937701 deg, approach rate: 0.105966 m/s, LOS rate: -0.059244 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819518 deg. 2j":j @HeadingCmd: 2.056339 target range: 599.599976 and range: 599.60 m. jjjjihhh h Bf f f rfbfE@ɛE#{BEb AM$\II M'ɚiIG=Iiպipg;)) Will construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: Tx time:20:18:2.15 $Ping request sent.;78510440-'      *F?2F:FBFp0JFG5 !j;G B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2513504w,dA6?Y6O @6ؼ96>y6H>޿??@O0?@3޿ l?@?L?@L?ɨ6?6%\;4y>OzB>II~AI~5٢ <  Q=9wQ > G٣yץ: > -Nusing accuracyPremultiplier from config!-59%֢?-5Y%,H i%]B15g@5E@%D%;:%:%j5A E,AAeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 599.60 m.BjuJju ProNav: ac range: 599.599976 m, nav range: 602.079102 m, bearing: 17.914863 deg, approach rate: 0.105067 m/s, LOS rate: -0.058412 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826047 deg. 2jY :j@HeadingCmd: 2.056453 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfF@ɛ7{B&bm ihI |(ɚiIC,H=IiԺi;<;))*F?2F:FBF 1JFHI I IIzBI =&I.I6Is<:I FJJcJ0JJJx9Jـ3JJI?;aJK?;aJ:aJ:a-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506320 $?IG;GBO>.:w,dA:"?Y:0@:9:r>y:H^޿ տ?'?W޿? ?!?X?ɨ:"?:Ԇ;8yZzBZIIbNIbp5٢jl> jN=9jWQ j>ll nG٣lyrϻ; r> vNusing accuracyPremultiplier from configtz59vB͢?z5YvhH iveBx~@~E@vDvEP;vKf;vbn5! -+A59EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759161Zj%FNOT Ignoring new targets: 599.60 m.BjMjJjMj] ProNav: ac range: 599.599976 m, nav range: 602.121521 m, bearing: 17.891665 deg, approach rate: 0.093726 m/s, LOS rate: -0.051253 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824967 deg. 2je :je@mHeadingCmd: 2.056434 target range: 599.599976 and range: 599.60 m. jijijijihhhhfffrfbf@nZF@ɛR{BL[ 隽DI @)ɚiImH=I i Һi Έ;) )*F?2F:FBF0JFGsA GrA% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007355 I FjG ']?;G% sAG% rAG B zK- vMK- h9K) K- K-  .rH     {jUB.OE >5Aw,yeA2M?Y2 F@2,92E>y2Hq޿ h?!?l޿e?k?;?@(?ɨ2M?2;2$Cy>zB>!IMb@Mb@Mb@ )YMbX?S㥛V-?y*?/ݼ<GA `/A)Z8AIy\;AI-I 5٢%&= -F=9-_lQ ->11 5G٣59Gy=aP; => ENusing accuracyPremultiplier from configAM59E+â?M5YEH iEoBU +?U:UY@UE@EDE;E';Eq5Y ]+AYZj!-FNOT Ignoring new targets: 599.60 m.Bj5#Jj=#u ProNav: ac range: 599.599976 m, nav range: 602.159424 m, bearing: 17.865734 deg, approach rate: 0.101688 m/s, LOS rate: -0.069564 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816769 deg. 2ju>:juD@}HeadingCmd: 2.056291 target range: 599.599976 and range: 599.60 m. jyjyjyjyiyhhhhBfffrfbftF@ɛ5g{B=d 9隅GI )ɚiIH=Ii:-Ѻi/;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261043*F?2F:FBF0JFG @;H I  I RII zBI &I .I 6I /<:I j FBIYJIYRIYZIYbIYjI]ʳ*4G1 BA Oe >J kJ gJ J J 2:J 9J J J 9;J 9;J =:J ?:QGw,? eAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512696y=zB=BI YIYIMgIM5٢m+> uF=9uQ }> G٣y > Nusing accuracyPremultiplier from config59 ?5YUH iyBE@D;::u5 *AZjquFNOT Ignoring new targets: 599.60 m.Bj}Jj} ProNav: ac range: 599.599976 m, nav range: 602.197571 m, bearing: 17.839735 deg, approach rate: 0.091541 m/s, LOS rate: -0.062386 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816564 deg. 2jB+:j5@HeadingCmd: 2.056287 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfAF@ɛ~{BJMw,P:eA:$?Y:1@:.9:D>y:HQ_޿g@;#?@2&?`]޿Ġ?@&?]/? 4?ɨ:$?:rq;:#CyFzBFVIHJAMb@Mb@Mb@ )YGz?A`"~jt?yp=?Y=|IA )I@y)A15AAI5pI55٢E= EM=9M`Q M>II UG٣QyU^M U> mNusing accuracyPremultiplier from configiu59m?}5Ym;H imB},>?}:}w?E@mDm3;m 2;my5ǒB `*AZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 602.228760 m, bearing: 17.811837 deg, approach rate: 0.082375 m/s, LOS rate: -0.073677 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810870 deg. 2jAJ:j@HeadingCmd: 2.056188 target range: 599.599976 and range: 599.60 m. jjqjqjqiqhqhqhyh}Bfyffrfbf`F@ɛzBPn* I 9c*ɚiI$RI=Ii ͺi (;) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016348 U$?I]Ej*F?2F:FBF`5JFzKhOKs9KK K (FH71)! zuphaYSPMGB=;:8540//.,)&'&$'$G ;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269435Tw,SeA6-?Y666@6961>y6H-c޿] "?%?@b޿???}'?W?ɨ6-?6z;6"Cy]{B]gIIfI5٢= D=9Q > G٣9Gy-: > Nusing accuracyPremultiplier from config59t?5YЧH iB?E@D;:;|5 )AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.BjJj- ProNav: ac range: 599.599976 m, nav range: 602.261658 m, bearing: 17.782700 deg, approach rate: 0.079008 m/s, LOS rate: -0.069972 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807151 deg. 2j-@:j-@uHeadingCmd: 2.056123 target range: 599.599976 and range: 599.60 m. jqjqjqjyiyhyhyhyhfffrfbf"G@ɛ" IY I]II]U{BI] =&IY.IY6I]<:I]< F*Fu?2Fq:FyBF}5JFyJlJhJJJ<5:JȆ9JJJI?;JL?;JӬ:JԬ:Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519334 9I9GmCQ;GI BQ O} >e ~Gy ` Y y B_Zw, neA2?Y2 /@2sW92~>y2H\޿`?@&?R]޿@L+?6j?@? ?ɨ2?2;2&CyN0{BRzIIVaIV5٢b= fX=9ncQ r>tt vG٣xyz蕺 z> Nusing accuracyPremultiplier from config| 59~˚? 5Y~H i~Br?E@~D~8;~2;~ 5! %z)A!ZjAMFNOT Ignoring new targets: 599.60 m.BjUFJjUFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774288 ProNav: ac range: 599.599976 m, nav range: 602.291870 m, bearing: 17.755934 deg, approach rate: 0.079085 m/s, LOS rate: -0.070062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814261 deg. 2jT@:j@EHeadingCmd: 2.056247 target range: 599.599976 and range: 599.60 m. jIjijqjqiqhyhyhyhyfffrfbf`[G@ɛzB |e=I *ɚiIYI=Ii$ʺi ;)) *F2F:FBF05JFG  I % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026458G B O >Naw,heAzKOKh9KK K" 8IEA?9610,*&" ! yO{BIMb@Mb@Mb@ )Y+?L7A`尿I +?yv>?+9< 10A)+9AI@y+AIMI75٢= ==9Q > G٣y > Nusing accuracyPremultiplier from config595?5Y;H iBK??:?E@D; ;̓5 (AZjFNOT Ignoring new targets: 599.60 m.BjJj5 ProNav: ac range: 599.599976 m, nav range: 602.321716 m, bearing: 17.725591 deg, approach rate: 0.065374 m/s, LOS rate: -0.066458 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803532 deg. 2j5p6:j5{@=HeadingCmd: 2.056060 target range: 599.599976 and range: 599.60 m. j9j9j9jAiAhAhAhihm BfififqrfqbfuG@ɛ"U ̯=I )ɚiII=IiȺiT;))!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281232*F2F:FBF3JFGrA GsAG G B H I  I II {BI &I .I 6I <:I FO= >J tJ cJ J J ;N:J x9J J J {j;J }j;J :J : hw,áeA R$?IPbK?YbE@b 9b>D=ybH`o޿@? !?s޿⎞?@2?`ο?ܻ?ɨbK?b=;b$CrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531401yvn{BzII=I5٢= T=9UQ >! %G٣%9Gy%.e; %> -Nusing accuracyPremultiplier from config)559-?55Y-FH i-B9=?=E@-D-t;-;-*5I M(AM8nw,eAy~x{B~IMb@Mb@Mb@ )YK7?I +Mb?yI?9<HA )IAy,AI>I5٢< @=9Q > G٣y > Nusing accuracyPremultiplier from config59 |?5Y H iBJ?:??E@D;;5ȒB _(A9EZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 602.374512 m, bearing: 17.666428 deg, approach rate: 0.057113 m/s, LOS rate: -0.071738 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798650 deg. 2jD:j@HeadingCmd: 2.055974 target range: 599.599976 and range: 599.60 m. jjjjihhhh Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288796uw,~eAVZ?YVL@V 9V>yVHDv޿J?`? z޿??*??ɨVZ?V)@;V"Cyb{BbIdfAj@Aj@AIjDIj95٢rH< rY=9vκQ v>tt zG٣xyz2: z> Nusing accuracyPremultiplier from config| 59~r? 5Y~H i~BN?E@~D~o7;~7;~-5! %4(A!ZjAMFNOT Ignoring new targets: 599.60 m.BjMJjUe ProNav: ac range: 599.599976 m, nav range: 602.397400 m, bearing: 17.638097 deg, approach rate: 0.064107 m/s, LOS rate: -0.079349 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809566 deg. 2jeY:je4@mHeadingCmd: 2.056165 target range: 599.599976 and range: 599.60 m. jijijijiiihqhqhqhyfyfyfyrfybf`!H@ɛzB؊ 15 >I1 5c(ɚ1i9I=cI=I9iE ºiE ;)A)A*F ?2F :F BF JF H=t>I9 I=II=|BI9&I9.I96I=<:I= F }$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539446Gu~q;GA BQ Om >H{w,SeA6g?Y6)S@6 96>y6H{޿@??c޿`??,q?B?ɨ6g?6;4yB{BBIIJ.IJY5٢ReZ= VO=9Vo޹Q V>XX ZG٣XyZ̃: Z> bNusing accuracyPremultiplier from config`f59bh?f5Yb{H ibBhj\?jE@b!Db:b:b5nǒB n'ArI (ɚiI tI=Iiki9;))*F]?2FY:FaBFaJFaJK3 KS}.KK"KJlJgJ1JJ<5:J9J3Ja@a@a@a@ q Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046044G O;G B O >A0w,- fABa?YBb@B9B>yBH޿@??ࠍ޿`?? ? ?ɨBa?Bt-;B#CyJ{BHzK^+LK^9K\K^ K^UMb@Mb@Mb@QQQ Q)QYUv/?ʡEMbpyUxI?UUUMJA U.A)QIU>AQyU G٣9Gy8; > Nusing accuracyPremultiplier from config59f]?5YrH iBoJ?:z?E@,D#;;h5 'AZjiFNOT Ignoring new targets: 599.60 m.Bj2Jj2 ProNav: ac range: 599.599976 m, nav range: 602.453979 m, bearing: 17.576003 deg, approach rate: 0.072012 m/s, LOS rate: -0.072212 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797608 deg. 2j I ΍'ɚiIydI=Ii@i;))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.296521*F=?2F9:F9BF9JFAH1 I1  I5 II5 ?|BI1 &I1 .I1 6I5 a<:I5 FGe ;GY Bi O > Y IY `w,"#fA6?Y6j@696>y6HQ޿?? ޿?@7?W??ɨ6?68;4yR{BRIZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547491 ~=~=IDI95٢%Ϊ -P=95,غQ 5>99 =G٣9yEU: E> MNusing accuracyPremultiplier from configIU59MS?U5YM;kH iMBY]?]E@M6DMO;M;Mۘ5eɒB e(Ae9EZjFNOT Ignoring new targets: 599.60 m.BjDzJjDz ProNav: ac range: 599.599976 m, nav range: 602.483826 m, bearing: 17.546452 deg, approach rate: 0.078935 m/s, LOS rate: -0.078149 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805909 deg. 2jV:j)@HeadingCmd: 2.056101 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf#H@ɛzBD >I T''ɚiITI=Iii;))E*F}?2Fy:FyBF}0JFyGsA GuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802234G*;G B O >샎w,?Y>u@>h9>?>y>Hݙ޿ ??V޿?t? Ձ?@9?ɨ>?>G;> CyN{BRIeMb@Mb@Mb@aaa a)aYeQ?Q뱿QyeH?e\eueHA e`/A)e6AIe?=Aaye ;AI}BI}Ǹ5٢; E=9EQ > G٣y: > Nusing accuracyPremultiplier from config59H?55YVcH iB=I?=:=?=E@ADƕ<<|5EȒB E'AEIQ US&ɚQiQIUBI=IYi]'0i]<)Y)a*F?2F:FBF0JFzKKKKK K 0<FNR\gr}&$ -OYTF1! BK:KrAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303290nw,qVfAM?YMd@MS9M>yMH`޿@tm??޿ڝ?@xi?~4?ླྀ?ɨM?MB;M#Cy]{{BeII}HI}5٢Ui J=9_9Q > G٣9Gy) > Nusing accuracyPremultiplier from config59N=?5Y[H iB?E@KD ;;5 X(AZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 602.552612 m, bearing: 17.485469 deg, approach rate: 0.089309 m/s, LOS rate: -0.079370 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804405 deg. 2jY:j@HeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf)I@ɛ%{B%' !-X=I) M?&ɚIiIIM6I=IQiUG i]Y;)Y)YHs>I I-IIS|BI&I.I6I?<:Is FBIJIRIZI =bI =jI 4*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555228G 1X<G B O >Zw,pfAr?Yr_@rK9r;>yrH@څ޿v?5?޿d??9?~?ɨr?r?ņ;r&Cyzn{BzII VI 65٢j R=9%@Q %>!) -G٣)y-i -> ]Nusing accuracyPremultiplier from config1m5952?u5Y5?TH i5B?E@5UD5W<5W<5i5 (AEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810314EB*** querying acoustic contact ***jAjAZjFNOT Ignoring new targets: 599.60 m.Bj%Jj-= ProNav: ac range: 599.599976 m, nav range: 602.585388 m, bearing: 17.456424 deg, approach rate: 0.070416 m/s, LOS rate: -0.062397 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807426 deg. 2j=J+:j=@EHeadingCmd: 2.056128 target range: 599.599976 and range: 599.60 m. jAjAjAjaiihihihihqfqfqfqrfqbf}6dI@ɛ%{B% )-=I) -!%ɚ)i)I-N-I=I1i5psi5;)1)9*F?2F:FBF0JFJJjJ1JJJ9J3J I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059350G] &;Ge ?Ge >GI BQ Ou >w,fAzKfv OKf+9KdKf Kf~|}}zqkigk~zoijosqmkedc_]XUQNLHHD?=711,**&%"RKn?JKn?eT?YxI@9~>yH@r޿@?S?z޿@?喢?@a?`1?ɨeT?1E;"Cyo{BIMb@Mb@Mb@ )YMb?S㥫S㥛yC?/]/ݼ GA .A)Z8AInai mG٣iym2 u> }Nusing accuracyPremultiplier from configq}59u%?5YumKH iuBC?:@E@uaDu;u;u5ɒB (AZjFNOT Ignoring new targets: 599.60 m.BjúJjú ProNav: ac range: 599.599976 m, nav range: 602.631775 m, bearing: 17.421672 deg, approach rate: 0.114145 m/s, LOS rate: -0.085509 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790308 deg. 2jj:j@HeadingCmd: 2.055829 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfififirfibfm`II@ɛ{B2 隽=I ؇%ɚiIY#I=IiXiΣ;))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312733*F?2F:FBF0JFH I  I 3II ]|BI &I .I 6I J<:I | FG o; $?I G B O >tw,fABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.563380yEY{BEIIU`IUm5٢me mp=9uQ u? G٣9Gy ? Nusing accuracyPremultiplier from config59?5Y-EH iBE@iD};h;5 (AZjFNOT Ignoring new targets: 599.60 m.BjͤJjͤ ProNav: ac range: 599.599976 m, nav range: 602.664795 m, bearing: 17.397053 deg, approach rate: 0.096631 m/s, LOS rate: -0.072041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820704 deg. 2jE:jd@HeadingCmd: 2.056359 target range: 599.599976 and range: 599.60 m. jjjjih h h h fffrfbf3I@)EF= EcCNG!Q Yy!Aɛ {BR 隝=I R%ɚiII=Iiii;))*F?2F:FBFc5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815668G ;G B O >w,vfAb7?Yb ;@bA9bM>ybH@f޿"`ye?@"?@o޿-?Ǣ??N?ɨb7?b…;b$CynB{BnImMb@Mb@Mb@iii i)iYmCl?X9v:vymd;?mmԼm|IA m,A)m6AIiiymf:AIbI޿5٢F^ G=9@kQ > G٣y1 > Nusing accuracyPremultiplier from config59?5Y>H i;?:@E@sD(;;-5 @)AJjJaJ0JJ.:Jp9Jـ3J 9I=BjZjFNOT Ignoring new targets: 599.60 m.Bj5Jj5 ProNav: ac range: 599.599976 m, nav range: 602.710815 m, bearing: 17.368921 deg, approach rate: 0.107419 m/s, LOS rate: -0.065661 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810166 deg. 2j?4:j`@HeadingCmd: 2.056175 target range: 599.599976 and range: 599.60 m. jjjjihhhhԄBfffrfbfI@ɛm {Bu] qulV=Iq u"%ɚyiyI}pI=Iyisid;)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067353)*F]?2Fa:FaBFeP5JFazKUNKUh9KQKU KU    BKY:KYG ;GY Bi O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322502̵w,aPfAR7?YR:@Rv9Rø>yRH e޿@ W?@"?`(p޿"? X֢?y ?۹?ɨR7?Rh;R"Cyn<{BnIIz^Iz5٢y U=9Q >    G٣ y 8 > Nusing accuracyPremultiplier from config%59%?%5Yo7H iB!!-E@|D::55ȒB =U)A=?EZjaeFNOT Ignoring new targets: 599.60 m.BjmJjm} ProNav: ac range: 599.599976 m, nav range: 602.754333 m, bearing: 17.342439 deg, approach rate: 0.119045 m/s, LOS rate: -0.072438 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815116 deg. 2j}F:j}˙@HeadingCmd: 2.056262 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf'J@ɛ{B 4=I 2%ɚiII=Iivgi˱;))HQIQ IU IIU?|BIQ&IQ.IQ6IQ:IQ*Fm?2Fi:FiBFun0JFq -$?I)J-AAJ)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574286G5CQ;GIBaO>w,$fA:?Y: /@:9:;%>y:H[޿@c? x%?@e޿=9?@آ??`m?ɨ:?:-ц;8yF#{BFrIIRUIR5٢Z  ZP=9ZMQ Z>\\ ^G٣^9Gyb5 b> fNusing accuracyPremultiplier from configdj59fj?j5Yf0H idhj@nE@fDf;f ;f5p r)ApZj  FNOT Ignoring new targets: 599.60 m.BjڝJjڝ- ProNav: ac range: 599.599976 m, nav range: 602.798767 m, bearing: 17.315349 deg, approach rate: 0.113188 m/s, LOS rate: -0.069002 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813293 deg. 2j-l=:j-E@5HeadingCmd: 2.056230 target range: 599.599976 and range: 599.60 m. j1j1j1j1i1h9h9hAhAfAfAfIrfIbfM YJ@ɛu{B}$ y}0^w, gA2b?Y2@2DŽ92D>y2H"A޿> d? ,?J޿R???e?ɨ2b?2 ;2$Cy> {BBpIzKMK9KK KMMb@Mb@Mb@III I)IYMi|?5?/$:vyM1?MIMGA M-A)M5AIM;AIyM9AIeoIe5٢uѻ u?=9u@:Q }>yy G٣yX > Nusing accuracyPremultiplier from config59?5Y)H iB1?:r@E@D5;3;5ɒB )AHQ IQ  IU IIU |BIQ &IQ .IQ 6IU r<:IU F  I JE kJE dJA JA JE 2:JE |9JA JA JE 9;aU JE 9;aU JE ~:aU JE :aU Cw,%gA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579426:?Y:@:9:7>y:H@Y-޿`#?1? !7޿?_?8?i?ɨ:?:;8yF{BFgIINuIN5٢V VX=9Z3zQ Z>XX ^G٣\y^ m b> fNusing accuracyPremultiplier from config`f59b$硜?j5Ybj#H ibBhj]@jE@bDba:b;b5t v*Av?EZjFNOT Ignoring new targets: 599.60 m.Bj-ÔJj5Ô ProNav: ac range: 599.599976 m, nav range: 602.890930 m, bearing: 17.262758 deg, approach rate: 0.113604 m/s, LOS rate: -0.065029 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820559 deg. 2j2:jY@HeadingCmd: 2.056357 target range: 599.599976 and range: 599.60 m. jj!j!j!i!h!h)h)h1fYfYfarfabfeJ@ɛ{Br& ջI $ɚiI1@I=IixiC ;))*FE?2FA:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.831630G .A;Gq B O >b0w,?gAy {BcI IAjMb@Mb@Mb@ )Yn? rhy&1yV.?C`e`EA ,A)A4AI;Ayz8AIvIM5٢ 8=9Q > G٣9Gym m> uNusing accuracyPremultiplier from configq}59u:ۡ?}5YuH iuB}m.?:@E@uDu;uI;u 5 "*AZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 602.943298 m, bearing: 17.233474 deg, approach rate: 0.114580 m/s, LOS rate: -0.064066 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806713 deg. 2j/:jc@HeadingCmd: 2.056115 target range: 599.599976 and range: 599.60 m. jjjjihhhhzBfffrfbfJ@ɛ{B* !%I! %(%ɚ!i!I%0QI=I)i56i5;)1)1uWill construct direction to contact in vehicle frame from tetrahedron phase data.u% Will construct direction to contact in vehicle frame from tetrahedron phase data.- yBH`qݿ@o?@?`ݿv?`|?W;?z?ɨBq7?Bl ;@ybzBb\IIn~In5٢vg v\=9vN:Q z>xx zG٣xy~1 ~> Nusing accuracyPremultiplier from config 59ҡ? 5YWH iBP@E@D*:n:(5! %M*A!ZjFNOT Ignoring new targets: 599.60 m.BjߊJjߊ ProNav: ac range: 599.599976 m, nav range: 602.983215 m, bearing: 17.210670 deg, approach rate: 0.106269 m/s, LOS rate: -0.060706 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826149 deg. 2j&:j@HeadingCmd: 2.056454 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrf bf +K@ɛ= {B=z. 9EIA E%ɚAiAIEeI=IIiMbiMd|)I)QEaEesAHI III{BI&I.I6I@<:Iu F*F ?2F :F BF 0JF G G $?IJmlJmgJiJiJm<5:Jm9JiJiJmI?;JmL?;Jm>:Jm?:}Will construct direction to contact in vehicle frame from tetrahedron phase data.)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=lǡ?E5Y=H i=BIIME@=D=e:=.:=5UʒB U'*AYZjFNOT Ignoring new targets: 599.60 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1225>  BDAT read: Tx time:20:18:37.1353  $Ping request sent. +w,IgA6?Y6@696e>y6Hݿ {q?@fL?`ݿ@U?[??0??ɨ6?6ʆ;4yB {BBdIMb@Mb@Mb@ )Yw/?:vAA EG٣E9GyM M> UNusing accuracyPremultiplier from configQ]59U`?e5YU H iUïBm&?m:mc@mE@UDU];UU\;UN5zK}JK}9KyK} K}RK>JK? *A B*** querying acoustic contact ***j j Zj9EFNOT Ignoring new targets: 599.60 m.BjEӄJjEӄu ProNav: ac range: 599.599976 m, nav range: 603.073303 m, bearing: 17.159550 deg, approach rate: 0.102904 m/s, LOS rate: -0.058063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820065 deg. 2j}d:j}5@HeadingCmd: 2.056348 target range: 599.599976 and range: 599.60 m. jjjjihhhhwBfffrfbf,K@ɛ({Bik- !%׼I! %F%ɚ!i!I% I=IIiUeiU)e)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499374*F ?2F :F BF0JFH I  I II {BI  =&I .I 6I J<:I | FBIJIRIZIbIjIȜ4G= u4G B m $?Ii O} >J kJ eJ 1J J 2:J 9J 3J J 9;J 9;J :J :NTw,G!gA @&Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750393>?Y>@>$9>>y>H`ݿc?-J?ݿ?â?? ?ɨ>?>;a;\\ bG٣`yf: f> jNusing accuracyPremultiplier from confighn59j̳?n5YjH ijƯBprl@rE@jDj;j;j5t v\*AtZj%FNOT Ignoring new targets: 599.60 m.Bj-UJj5UM ProNav: ac range: 599.599976 m, nav range: 603.115479 m, bearing: 17.135903 deg, approach rate: 0.105519 m/s, LOS rate: -0.059159 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823620 deg. 2jMg":jM9@]HeadingCmd: 2.056410 target range: 599.599976 and range: 599.60 m. jYjYjYjYiYhYhahahafafifirfibfmK@ɛ,{B2  E>*F?2F:FBF0JF"G=Ga=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001786GOPG B O > G٣y > Nusing accuracyPremultiplier from configu59?u5YG i˯Bu4(?u:}@}E@D~<5<5ɒB )ABEZjFNOT Ignoring new targets: 599.60 m.Bj'Jj' ProNav: ac range: 599.599976 m, nav range: 603.165527 m, bearing: 17.108853 deg, approach rate: 0.117412 m/s, LOS rate: -0.063451 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813416 deg. 2j..:j N@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254242]HeadingCmd: 2.056232 target range: 599.599976 and range: 599.60 m. jYjYjajaiahahahihfffrfbfsL@ɛ1{B!, hȼI T%ɚiI"I=Iaielimn2)i)i*F?2F:FBF0JFzKiJK 9KK K"(%%  BK:KG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506123hw,gAR?YRÔ@R9R l>yRH ݿ>? I?`ݿݛ? ?`u??`;?ɨR?R;R!Cy^ {B^dIIniInk5٢~ Y=9 !9Q  >! %G٣%9Gy59 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=G i=ЯBIM@ME@=D=L:=:=5Q U*AYZjFNOT Ignoring new targets: 599.60 m.BjJje ProNav: ac range: 599.599976 m, nav range: 603.209045 m, bearing: 17.085385 deg, approach rate: 0.115887 m/s, LOS rate: -0.062492 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824155 deg. 2je+:jm`@Ht>I III{BI =&I.I6Ib<:I FHeadingCmd: 2.056419 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf2L@ɛU5{BUF1 QU!IQ ]Т%ɚYiYI]I=Iaieéie,)a)i I*F?2F!:F!BF%o5JF!JMlJIJM0JIJM<5:JIJMـ3JIJMI?;JML?;JIJI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757937~G 5Y1y5AGE *G! B9 O] >w,gA6r?Y6X@696H>y6HɞݿWt?)X?`ݿ ?@?H;?̸?ɨ6r?6ӆ;6"CyR{BRlIIZsIZ5٢bV = bN=9bs;Q f>dd fG٣dyj j> 5Nusing accuracyPremultiplier from configl=59nL?=5YnG inկB9E@EE@nDnZm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261842Pxw,ڍhA6$?Y61@6hr 96>y6HX|ݿ |?^a?@ݿ@H?k?`"O?@`?ɨ6$?6,;4yR&{BRtI5Mb@Mb@Mb@111 1)1Y5 rh?Mbp{Gz?y5C+?55#<1 5v*A)5A4AI11y57AIIII٢< ;=9:Q > G٣yѲ > Nusing accuracyPremultiplier from config59?5YG iܯBI+?:@E@D;j;5zKLK9KK KRK?JK? ʒB )A %B*** querying acoustic contact ***j!j!Zj1=FNOT Ignoring new targets: 599.60 m.Bj=Jj=M ProNav: ac range: 599.599976 m, nav range: 603.303284 m, bearing: 17.034035 deg, approach rate: 0.117877 m/s, LOS rate: -0.063848 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812536 deg. 2jME/:jM@]HeadingCmd: 2.056217 target range: 599.599976 and range: 599.60 m. jYjYjYjYiYhYhYhaheoBfafafirfibfm@L@ɛ>{B5u, 隥@ļI %ɚiIJ=Iii\"))*Fm?2Fq:FqBFu4JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514060GҸHu>I III&I.I6I<:I FG B O > I  w,dx(hAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766717F?YFP@F 9F*>yFH@ ^ݿ`'!`?`]i?@bcݿÝ?@Q? f?`?ɨF?Fh;F#CyV9{BVIIfZIf5٢rO= rY=9v:Q v>| G٣9Gy   > Nusing accuracyPremultiplier from config-59q?-5Y G iB)-@E@D{<<n5 k)AZj%FNOT Ignoring new targets: 599.60 m.BjMJjM] ProNav: ac range: 599.599976 m, nav range: 603.346802 m, bearing: 17.010281 deg, approach rate: 0.108183 m/s, LOS rate: -0.059047 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823299 deg. 2je":je"@mHeadingCmd: 2.056405 target range: 599.599976 and range: 599.60 m. jijijjihhhhfffrfbf`"L@ɛ C{B( p!I %ɚiI@J=Ii%橮i%/P)!))*F?2F:FBFe0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017909GG B Om >fw,HBhA  DIDJ'?YJX@J| 9J>yJHQݿ@#/?@l?Wݿ̝?5Y?t?@D?ɨJ'?JE;J"CyV8{BVI=Mb@Mb@Mb@999 9)9Y=Q?y&1|:v?y=\/?=`廹=T<=DA =,A)9I=;A9y=(8AIMnIM5٢]s eC=9eQ e>ii mG٣iym( u> }Nusing accuracyPremultiplier from configy59}u?5Y}WG i}Bf/?:3@E@}D}^;;}9;}5 r)AZjFNOT Ignoring new targets: 599.60 m.BjJjJoJbJ1JJ>:Jt9J3Ja%@a%@a%@a%@u ProNav: ac range: 599.599976 m, nav range: 603.393982 m, bearing: 16.983670 deg, approach rate: 0.120552 m/s, LOS rate: -0.067989 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814730 deg. 2j}::j}@HeadingCmd: 2.056255 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf;M@ɛH{B}*  (I 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270118 %ɚQiQIU8J=IYi]Mi]#)Y)aErAE*FE?2FA:FABFEo0JFA"GM=GM=zKmJKm9KiKm KmGe ZGa B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522357w,\hA2?Y2@2 92`>y2H@,Aݿ&?p?@Eݿhu?8? ??ɨ2?2/;0yBT{BBIIJcIJ5٢R= VW=9Vr+:Q V>TX ^G٣\y%< %> -Nusing accuracyPremultiplier from config)559-k?55Y-G i-B1= @=E@-D-d;-;-5EɒB E(AEEEZjimFNOT Ignoring new targets: 599.60 m.BjuJju ProNav: ac range: 599.599976 m, nav range: 603.438599 m, bearing: 16.958444 deg, approach rate: 0.113656 m/s, LOS rate: -0.064256 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818884 deg. 2jd0:jޚ@HeadingCmd: 2.056327 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfT/M@ɛM{B# ;I G%ɚ iIELJ=I!i% 8i%3)!))H9I9 I=II={BI9&I9.I96I=h<:I= F } $?Iy*F%?2F!:F!BF)JF)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.773920Gi G B O >w,uhA6T?Y6@6~ 96>y6HLݿ!>?m?@PݿZ?V?S?୳?ɨ6T?6[;6#CyRa{BRIIZ\IZ5٢b< bI=9bQ f>hh jG٣j9Gynw; r> vNusing accuracyPremultiplier from configtz59vja?z5YvG ivBxz,@zE@vDv@:v:v5 (AZj)-FNOT Ignoring new targets: 599.60 m.Bj5uJj5uE ProNav: ac range: 599.599976 m, nav range: 603.483704 m, bearing: 16.933105 deg, approach rate: 0.113971 m/s, LOS rate: -0.064022 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818545 deg. 2jE/:jEƚ@UHeadingCmd: 2.056322 target range: 599.599976 and range: 599.60 m. jQjQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025707jjihhhhfffrf bf dM@ɛS{BU" `[y#w,ՏhA6?Y6:@63@ 96>y6H?ݿ#U? 0q?@Bݿ?`/G?@ ? e?ɨ6?6K;6$CyBq{BBIMMb@Mb@Mb@III I)IYMgfffff? G٣y > Nusing accuracyPremultiplier from config59JV?5YG iB=3?:@E@D;;5ʒB (ACEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 603.532410 m, bearing: 16.905256 deg, approach rate: 0.113974 m/s, LOS rate: -0.065161 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811018 deg. 2j2:j@HeadingCmd: 2.056190 target range: 599.599976 and range: 599.60 m. jjjjih h h h BfffrfbfM@zKJK59KK K9EIHC=:9601-,+'$%$  ɛY{B (jGu -,GA BQ Om >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782880')w,yhAVG?YVg@V4 9V% >yVH@Nݿ`(U?,m?Qݿ H?t?B? ]?ɨVG?V%;V"Cy-{B-II=QI=5٢Mr= MK=9UV_Q U>QQ ]G٣Yy]*; ]> mNusing accuracyPremultiplier from configam59eK?u5YeG ieBqu@}E@eDe_3;ee;e/5 *(AEEZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 603.578918 m, bearing: 16.878932 deg, approach rate: 0.115944 m/s, LOS rate: -0.065619 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815592 deg. 2j"4:j@HeadingCmd: 2.056270 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf M@ɛ^{BXJ %,=I! %ޝ%ɚ!i!I%|J=I)i-tii- #)))1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034550GGBO > E $?IA %0w,hA>?Y>A@>[ 9>, >y>H@EݿdD?o?nGݿ@??r??ɨ>?>M;>%CyF{BJIMb@Mb@Mb@ )YbX9?~jt{Gz?yE6?D#<1FA v*A)I9Ay7AI5DI595٢E/ EL=9M,Q M>QQ UG٣U9GyU%޺ ]> eNusing accuracyPremultiplier from configYu59]%A?u5Y]4G i] BuP6?u:u@}E@]#D]^;]a];]5 <(AZjFNOT Ignoring new targets: 599.60 m.BjcJjc ProNav: ac range: 599.599976 m, nav range: 603.625000 m, bearing: 16.852195 deg, approach rate: 0.114817 m/s, LOS rate: -0.066613 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814351 deg. 2j6:j@J3K;(3 K;(.K3K3"K3JlJeJ0JJ<5:J9Jـ3JHeadingCmd: 2.056248 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf ~N@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286077ɛe{B} \=I x%ɚi!I%MJ=IIiMiMl0)I)I*F?2F:FBF~0JFG &f*zK] ijMK] h9KY K] K]         G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.5378007w,ghA:ٟ?Y:0@:M 9:  >y:H RAݿ: z?`p? }Dݿ`U?"?Ep??ɨ:ٟ?:;:$Cyr{BrIIzOIz5٢)= O=9CIQ  >    G٣ y;% > Nusing accuracyPremultiplier from config%596?%5YG iB)-@-E@,D::!51 5(A1ZjY]FNOT Ignoring new targets: 599.60 m.BjeJjeu ProNav: ac range: 599.599976 m, nav range: 603.670349 m, bearing: 16.825948 deg, approach rate: 0.115623 m/s, LOS rate: -0.066917 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815819 deg. 2ju7:ju@}HeadingCmd: 2.056274 target range: 599.599976 and range: 599.60 m. jyjyjyjihhhhfffrfbf 1N@HI III+|BI =&I.I6I4<:Im FBIJIRIZIbIjI4ɛ j{B |  "=I  b%ɚiIAJ=IiQig3))! I *F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790849G.-GBO>,=w,AhA:?Y:@:fE9:, >y:H-?ݿ \\ bG٣`yb޿ b> fNusing accuracyPremultiplier from configdj59fT,?j5YfG ifBln@nE@f5Df* ;f ;f5p r'AvFEZj FNOT Ignoring new targets: 599.60 m.Bj7Jj7% ProNav: ac range: 599.599976 m, nav range: 603.715820 m, bearing: 16.799700 deg, approach rate: 0.115280 m/s, LOS rate: -0.066540 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815819 deg. 2j-6:j)5HeadingCmd: 2.056274 target range: 599.599976 and range: 599.60 m. j1j9j9j9i9h9hAhAhAfAfIfIrfIbfM1dN@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042001ɛuq{B 隍0=I [?%ɚiIJ=IiWi5))*F?2F:FBFo5JF   $?I GU-,JnJcJJJ|;:Jx9JJG1B9O]>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293685Dw,iAy~{B~IMb@Mb@Mb@ )Yx?:vMb`?yK7?T;`EA )p3AIy\7AICI5٢-; 9=9Q > G٣9Gy > Nusing accuracyPremultiplier from config59 ?5YG i BS7?:@E@?D!;;j5 'A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 599.60 m.Bj=٘Jj=٘M ProNav: ac range: 599.599976 m, nav range: 603.767090 m, bearing: 16.770219 deg, approach rate: 0.116211 m/s, LOS rate: -0.066816 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806124 deg. 2jMk7:jM8@UHeadingCmd: 2.056105 target range: 599.599976 and range: 599.60 m. jQjQjYjYiYhYhYhaheBfafafarfibfmN@ɛx{BZ 隅(=IzKeLK9KK K %ɚiIFJ=Iiĺi ) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.545863*F?2F:FBF0JFHt>I I&III|BI&I.I6I<:I F I=jG G B O >) &= ]CE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799719?Jw,*iA~G$, ~Y|y~Ay{BIIYI5٢#= G=9Q >   G٣ y   > UNusing accuracyPremultiplier from configQ]59U?]5YUlG iU%BaaeE@UIDU;:U:U5i m'AiZjFNOT Ignoring new targets: 599.60 m.Bj}Jj} ProNav: ac range: 599.599976 m, nav range: 603.815979 m, bearing: 16.742190 deg, approach rate: 0.117036 m/s, LOS rate: -0.067095 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810475 deg. 2j/8:jw@HeadingCmd: 2.056181 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfN@ɛ{BZ; @=I $ɚ i I _J=IiǺio5))E%sAE%tA*F?2F:FBFc5JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050424G.-G B O > I 'Qw,DiA6?Y6@6c996 >y6H`,Wݿw?`j?`$]ݿd?.F?@xO? y?ɨ6?6bц;6"CyN{BNI-Mb@Mb@Mb@))) )))Y--?Mb~jthy-?5?--D) -)A)-2AI-&9A)y-6AImOIm5٢-; -H=JUmJUfJQJQJU\8:JU9JQJQ9eQ e>ii mG٣iy; > Nusing accuracyPremultiplier from config59Z ?5Y|G i*BB5?:Z@E@RD;;5ɒB 'AHEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301998Zj MFNOT Ignoring new targets: 599.60 m.BjUJjUm ProNav: ac range: 599.599976 m, nav range: 603.867004 m, bearing: 16.714650 deg, approach rate: 0.121972 m/s, LOS rate: -0.065826 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811944 deg. 2j4:j@HeadingCmd: 2.056206 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf@ O@ɛu{B}|L y}.=Iy }1$ɚiIJ=Iiޝɺi))*F2F:FBF2JFzK uKK s9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557677BK :K G9 G BI Om >[^Ww,^iA>?Y>@>9> >y>H bݿ@Kr?yg?oiݿ@? x?@D?@?ɨ>?>g;>#CyJ{BJIIRYIR5٢Z) Zc=9^+Q ^>\\ ^G٣`yb; b? fNusing accuracyPremultiplier from configdj59f?j5YfG if.Blnf@nE@fZDf*:f:f 5p r'AtZj  FNOT Ignoring new targets: 599.60 m.BjvJjv% ProNav: ac range: 599.599976 m, nav range: 603.909546 m, bearing: 16.691854 deg, approach rate: 0.124382 m/s, LOS rate: -0.066647 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.826173 deg. 2j-6:j-@=HeadingCmd: 2.056455 target range: 599.599976 and range: 599.60 m. jAjAjAjAiAhIhIhYHI I9IIh|BI =&I.I6I<:I FhYfffrf!bf%6O@ɛu{B $?Iz]w,xiAy%{B%II5OI55٢E͘; EC=9EQ M>II MG٣M9GyU U>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.057952 mNusing accuracyPremultiplier from configiu59m?u5YmG im2BqquE@mcDm;m;me 5ʒB 'AFEZjFNOT Ignoring new targets: 599.60 m.Bj}ۖJj}ۖ ProNav: ac range: 599.599976 m, nav range: 603.961548 m, bearing: 16.664061 deg, approach rate: 0.123395 m/s, LOS rate: -0.065944 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811185 deg. 2j5:j@HeadingCmd: 2.056193 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfumO@ɛ5{B= I \dw,iA6?Y6@6@966^ >y6H@jݿ  ю?#e?rݿ?t?@ [?ˮ?ɨ6?6\†;4y>{BBIMb@Mb@Mb@ )Y> ףp=?y&1|I +y1?`廹94DA v*A)p3AIV8AyI-\I-5٢; :=9Q > G٣y: > Nusing accuracyPremultiplier from config59;ꠜ?5YG i5B1?:@E@mD;;65ɒB t'AHEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 599.60 m.BjJj% ProNav: ac range: 599.599976 m, nav range: 604.015747 m, bearing: 16.635736 deg, approach rate: 0.123898 m/s, LOS rate: -0.064744 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809590 deg. 2j-1:j56@5HeadingCmd: 2.056165 target range: 599.599976 and range: 599.60 m. j9j9j9j9i9h9h9hAhEBfAfAfIrfIbfMcO@ɛ}{B}Y 隅Pu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=8.813734jw, iA65?Y6^ @6bK96 >y6H`[lݿ@=?d?`ztݿ ڞ?R?h?`=?ɨ65?68;6$Cyb{BfIInPIn5٢v< vX=9vMQ v>xx zG٣xyz/9 ~> Nusing accuracyPremultiplier from config 593ࠜ? 5YqG  tIi8B  @F@vD;;5 L'AZjAMFNOT Ignoring new targets: 599.60 m.BjMJjMe ProNav: ac range: 599.599976 m, nav range: 604.062805 m, bearing: 16.611217 deg, approach rate: 0.124801 m/s, LOS rate: -0.065021 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821005 deg. 2je~2:jez@mHeadingCmd: 2.056365 target range: 599.599976 and range: 599.60 m. jijijijiiihqhqhqhqfyfyfyrfybf O@ɛ{B 隭p - $?I) qw, fiA>?Y>'@>i9> >y>Hrݿ ? b?`a{ݿ@M?/?@#??ɨ>?>;>"CyF{BFI-Mb@Mb@Mb@))) )))Y-|?5^?MbP~jty--?--D-hEA -)A)-2AI-+9A)y)IE[IEQ5٢Mh< UD=9UQ U>YY ]G٣]9Gye: e> mNusing accuracyPremultiplier from configiu59m/ՠ?u5YmxG im;Bu-?}:}7@}F@mDmU";m ;m)5 ''AZj5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317802FNOT Ignoring new targets: 599.60 m.BjEJjE] ProNav: ac range: 599.599976 m, nav range: 604.116272 m, bearing: 16.584822 deg, approach rate: 0.127968 m/s, LOS rate: -0.063168 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815380 deg. 2j]g-:j]ޙ@eHeadingCmd: 2.056266 target range: 599.599976 and range: 599.60 m. jajajajaiahahihihmBfiffrfbf@P@ɛ{B\ PzKe BJKe h9Ka Ke Ke ww,EiA>%?Y>1@>X9> >y>H{ݿ| ?`^`?ބݿ@? i?? ?ɨ>%?>dž;>#CyF{BJIIRJIR5٢Z; ZU=9Z Q Z>Hbu>I` IbLIIb|BIb =&I`.I`6Ib<:Ib F9A EG٣AyEB: M> UNusing accuracyPremultiplier from configI}59Mʠ?}5YMtrG iM>By}A@}F@MDM;M;M5 'AKE I;jZj)MFNOT Ignoring new targets: 599.60 m.BjUJjUe ProNav: ac range: 599.599976 m, nav range: 604.167908 m, bearing: 16.559469 deg, approach rate: 0.122897 m/s, LOS rate: -0.060339 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818502 deg. 2je%:ješ@mHeadingCmd: 2.056321 target range: 599.599976 and range: 599.60 m. jijijijiiihihqhqhqfqfyfyrfybf} P@ɛ {BP (R~w,3iA6R?Y6l.@696>y6H@xݿ u? !a?́ݿf?q? ?`q?ɨ6R?6;6"CyB{BBIIJURWill construct direction to contact in vehicle frame from tetrahedron phase data.Rdd jG٣hyj j> rNusing accuracyPremultiplier from configlv59nM?z5YnGlG inABxz>@zF@nDn<;;nt.;n5ʒB &AIEZj!-FNOT Ignoring new targets: 599.60 m.Bj5 Jj5  ProNav: ac range: 599.599976 m, nav range: 604.218140 m, bearing: 16.534860 deg, approach rate: 0.135682 m/s, LOS rate: -0.066466 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820736 deg. 2ju6:jf@ HeadingCmd: 2.056360 target range: 599.599976 and range: 599.60 m. j j j j i h hh1h1f9f9f9rf9bf=7P@ɛ{Bg 隍`"=I $ɚiIKJ=Ii;ֺiG))*Fq2Fy:FyBFp0JF $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]tw,jA6:?Y6<@696` >y6H 'ݿ@ =?`]? ݿDɞ? Ē?@l?ͫ?ɨ6:?6;;6#CyB{BBIMb@Mb@Mb@ )YK7A`?{Gzty&1|y+?ף`DA (A)1AIZ8Ayp5AI]\I]5٢e; m@=9mQ m>iq uG٣u9Gy}; }> Nusing accuracyPremultiplier from config59c?5YeG iDB+?:@F@D#;;"5 &AUB*** querying acoustic contact ***jYjYZjaeFNOT Ignoring new targets: 599.60 m.Bjm Jjm  ProNav: ac range: 599.599976 m, nav range: 604.270447 m, bearing: 16.508405 deg, approach rate: 0.117595 m/s, LOS rate: -0.059470 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815199 deg. 2jA#:jљ@HeadingCmd: 2.056263 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf SP@ɛ-{Bm" im =Iq u#ɚqiqIuJ=Iyi}׺i}W)y)EEsAWill construct direction to contact in vehicle frame from tetrahedron phase data.I IRII|BI =&I.I6I<:I FBIJIRIZI =bI =jIT4 IG JG B O >JM nJM gJI JI JM |;:JM 9JI JI JM J;JM J;JM =:JM ?:] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Response Not Received e *response not receivedm ,DAT read: user:1226> m BDAT read: Tx time:20:18:48.0854 u $Ping request sent.} yfH &ݿ K?u_?+ݿ)?_?@d?@?ɨf*-?f羆;f"Cy={BEIIU]IUþ5٢ I=9z:Q > G٣y > Nusing accuracyPremultiplier from config59?5Y_G iHB @ F@D:P:q&55ɒB =&A=KEZjy}FNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 604.322083 m, bearing: 16.482317 deg, approach rate: 0.126900 m/s, LOS rate: -0.064107 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816301 deg. 2j/:j!@HeadingCmd: 2.056282 target range: 599.599976 and range: 599.60 m. jjjjihhhhff1f9rf9bf= mP@ɛ{B1 8!w,HjAv>?Yv>@vc9v, >yvH`ݿ& ؛? c]?kݿiݝ?s?T? ?ɨv>?v;v#Cy|BIMb@Mb@Mb@ )YQ?{GztMbpy(?BA (A)1AIyIZI5٢= B=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5015159Q >    G٣ y : > Nusing accuracyPremultiplier from config%590?%5YXG iMB%(?-:-@-F@D;I; *51 5C&A1ZjY]FNOT Ignoring new targets: 599.60 m.BjeJje} ProNav: ac range: 599.599976 m, nav range: 604.372314 m, bearing: 16.456988 deg, approach rate: 0.124445 m/s, LOS rate: -0.062747 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818574 deg. 2j}?,:j}Ț@HeadingCmd: 2.056322 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbfP@ɛ{B] ;=I #ɚiIJ=Iiںi))*Fm?2Fi:FiBFm1JFiG;3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753317G B O >zK% JMK% 9K! K% K%  ,O\do2sgd_\VD$ a >w,hbjAH>w>I< I>_II>|BI> =&I<.I<6I>԰<:I> F~I?Y~C@~9~#=y~H0ݿ ?@[?(ݿŕ? ?@H˾?;?ɨ~I?~N;~"Cy |BII%EI%q5٢5< 5X=9=2Q =>9A EG٣E9GyE\: E> MNusing accuracyPremultiplier from configIU59M?]5YMRG iMQBY]@]F@MDM ;MP ;MP-5a e%&Ai $?IZjFNOT Ignoring new targets: 599.60 m.Bj+Jj+ ProNav: ac range: 599.599976 m, nav range: 604.418091 m, bearing: 16.433978 deg, approach rate: 0.120173 m/s, LOS rate: -0.060399 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825534 deg. 2j%:jŜ@HeadingCmd: 2.056443 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf@ӞP@ɛ%{B%S !%<9=I! %Ӣ#ɚ)i)I-&J=Iiv2ܺiϔ))JkJjJJJ2:J9JJJ9;J9;J:J:ImvAy*F?2F:FBF+3JF YvAyA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006140GG B O >9ew,`|jABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257469Rf?YRR@Rhs!9RX=yRH?ݿ`Y?@\X?ݿv?-?o?ɺ?ɨRf?R;R CyZ"|BZIIfIf5٢Uh= UI=9]|Q ]>aa eG٣aye ; e> uNusing accuracyPremultiplier from configiu59m[?}5YmLG imUBy}@F@mDm;m<;m05ʒB %ALEZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 604.468201 m, bearing: 16.408957 deg, approach rate: 0.124977 m/s, LOS rate: -0.062399 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819499 deg. 2jK+:j @HeadingCmd: 2.056338 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf P@ɛ{B_ lt=I %p#ɚ!i!I%J=I)i-Zݺi-_ɻ)))1*F2F:FBFF5JFG G"GG I:j=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510285GqByO>Lw,G:jA:1?Y:8@:% 9:>y:Hݿ l?^?Cݿ?i?`AN??ɨ:1?:;:%CyFB|BF#IMb@Mb@Mb@ )YK7?:v~jtx?y)?Լ; (A)I6Ay4AI5/I55٢M= MK=9MmO:Q M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e˂?m5Ye%)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761612zKM OKM9KIKM KM*F?2F:FBFP5JFGBOE>Huv>Iq IuqIIu|BIq&Iq.Iq6Iug<:Iu F IE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013394ww,rjAf?YfL@fF79f>yfH`-Kݿ m?l?XݿqQ?e??n?ɨf?fπ;f$CyzO|Bz*I) I_I45٢-< -L=95D;Q 5>19 =G٣=9Gy=q E> MNusing accuracyPremultiplier from configAM59EXy?U5YE?G iEaBQUj@UF@EDE_gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265549 $?I ifw,jAJnlJnJlJlJn<5:Jn9JlJlav@av@av@av@y-r|B5@IMb@Mb@Mb@ )YQ?{Gz?y\/?L#<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517834 )I7Ay5AIUI5٢= <=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-o?55Y-8G i-gB=/?=:=v?=F@-D- ;- ;-;5EɒB E$AMNEZjquFNOT Ignoring new targets: 599.60 m.Bj}~Jj}~ ProNav: ac range: 599.599976 m, nav range: 604.583313 m, bearing: 16.330975 deg, approach rate: 0.083324 m/s, LOS rate: -0.067534 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810262 deg. 2jd9:jg@HeadingCmd: 2.056177 target range: 599.599976 and range: 599.60 m. jjjjihhhyhÄBfffrfbf Q@ɛ|B  y}=Iy }x"ɚiIJ=Iii x-))*Fm?2Fq:FqBFu5JFqGIBQOmy> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769445zK uJK ػ9K K K BK qA:K w,%jAHI III|BI&I.I6I<:I FzC?Yz@z$9z >yzHݿ-*?`z? ! ݿ~ ? ?H?{?ɨzC?zΗ;z"Cy|BUII%RI%S5٢5= 5[=95;Q => AIAII UG٣QyU U> eNusing accuracyPremultiplier from configYe59]g?m5Y]b2G i]mBim?mF@]D];];]>5q }#AyZjFNOT Ignoring new targets: 599.60 m.Bj'Jj' ProNav: ac range: 599.599976 m, nav range: 604.612427 m, bearing: 16.306696 deg, approach rate: 0.077662 m/s, LOS rate: -0.064763 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821722 deg. 2j1:j@HeadingCmd: 2.056377 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfQ@ɛ |B  >I "ɚiInJ=Ii Bi 0d) )*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021965GҸG B O >%w,jA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273331:J?Y:@:9:* >y:Hݿ@D(@r?`y?@"ݿ??i?f?ɨ:J?:u;:#CyF|BFbIINCIN5٢Z c= ZS=9^{9Q ^>99 EG٣E9GyE: E> MNusing accuracyPremultiplier from configIU59M^?}5YM+G iMrBy} ?}F@MDM;M;M|B5ʒB #ALEZjFNOT Ignoring new targets: 599.60 m.BjJj  ProNav: ac range: 599.599976 m, nav range: 604.643738 m, bearing: 16.280719 deg, approach rate: 0.076259 m/s, LOS rate: -0.063264 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816629 deg. 2j -:j 9@HeadingCmd: 2.056288 target range: 599.599976 and range: 599.60 m. jjjjihhh!h!f!f!f!rf)bf-S:Q@ɛ5|B5Z 9E>IA E]!ɚAiAIEpVJ=IQiUiUyY)Q)YErAE QIU9j*FM?2FI:FQBFQJFYG=KGErAGEtAJJdJJJJ|9JJGB!Omx>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525415w,kA61j?Y6[@6v96} >y6H(ݿ %@>?3v? 0ݿ?`?`^??ɨ61j?6;4y>|B>iIMb@Mb@Mb@ )Y +?i|?5 rh?y6?qC< (A)10AIy4AI--I- 5٢< ;=9[=8Q > G٣y; > Nusing accuracyPremultiplier from config59~T?5Y]$G izBu7?:?F@D#;";&F5 }#AZj  FNOT Ignoring new targets: 599.60 m.BjHJjH- ProNav: ac range: 599.599976 m, nav range: 604.675110 m, bearing: 16.252432 deg, approach rate: 0.076257 m/s, LOS rate: -0.068754 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809701 deg. 2j-<:j->@5HeadingCmd: 2.056167 target range: 599.599976 and range: 599.60 m. j1j1j1j9i9h9h9hAhE߄BfAfAfArfIbfM@sTQ@ɛu|Bu q}>Iy }!ɚyiyI}=J=IiM~i=K))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779205*FE?2FA:FIBFIJFI"GU4=GUp=zKJK]9KK KRK>JK?H!I! I%II%)}BI% =&I!.I!6I%<:I% F M$?IIGUGi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029348w,B`1kA22?Y2@2k92 >y2H e9ݿ _ ?q?.Aݿ?? h?`Y?ɨ22?2ԇ;0yn|BnIIv,Iv5٢= V=9 Q  >    G٣yA; > %Nusing accuracyPremultiplier from config%59K?%5YG iB)-?-F@D: :~I51 5"A5OEZjY]FNOT Ignoring new targets: 599.60 m.BjeJjeu ProNav: ac range: 599.599976 m, nav range: 604.704102 m, bearing: 16.226639 deg, approach rate: 0.075981 m/s, LOS rate: -0.067593 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817182 deg. 2j}9:j}b@HeadingCmd: 2.056298 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbflQ@ɛ'|B^ټ 3>I < ɚiIJ=Ii~if<))*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281363GGBO> Y IY aw,SKkAJ^nJ^hJ^1J\J^|;:J^Ȇ9J^3J\nT?Ynm@nn9nV >ynHHݿ`=? m?`Pݿ#ڞ?`Vڢ?y??ɨnT?n;n"Cyv|BzI|~AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534149Mb@Mb@Mb@ )YT㥛 ?Ky&1?yA?^`e<BA (A)0AI7Ay4AAAI I?5٢ ֆ=  :=9.Q > G٣9Gy; > %Nusing accuracyPremultiplier from config!-59%A?-5Y%uG i%B5uB?5:5`?5F@%D%);%;%SM59 =m"A9]B*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 599.60 m.Bj}eJj}e ProNav: ac range: 599.599976 m, nav range: 604.727722 m, bearing: 16.195152 deg, approach rate: 0.053583 m/s, LOS rate: -0.071426 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800098 deg. 2jD:j@HeadingCmd: 2.056000 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfff!rf!bf% Q@ɛm2|BuPVؼ quE>Iq uɚqiqI}I=IiiKy/))*FQ2FQ:FYBF]o0JFY} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785325G K7GY Ba O >zK &~JK h9K K K BK% rA:K! H I  I II f}BI  =&I .I 6I <:I FBIJIRIZI =bI =jI`4w,ekAR?YR@RC9R >yRHkݿ? d?@ttݿ@Ӟ?@Y'? ??ɨR?R+w;PyZ|B^IIz) IIz=5٢%Zp< %[=9%κQ ->)) -G٣)y5; 5> UNusing accuracyPremultiplier from configIe59M9?e5YMnG iMBim?mF@M DMo;MwX;MP5q u\"AuLEZjFNOT Ignoring new targets: 599.60 m.Bj裺Jj裺5 ProNav: ac range: 599.599976 m, nav range: 604.748779 m, bearing: 16.168250 deg, approach rate: 0.056085 m/s, LOS rate: -0.071649 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813855 deg. 2j=D:j=n@EHeadingCmd: 2.056240 target range: 599.599976 and range: 599.60 m. jAjIjIjIiIhQhqhhfffrfbf`Q@ɛU<|B]ήм Y]A>IY ]9ɚYiaIenI=Iaimjim )i)=PExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038432*F%?2F!:F!BF%0JF!G-sA G-sAGM Q~9G! B) OM >-w,A~kA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289413:m??Y:>@: 9:J)>y:H+ݿ@ ?H]?ݿ??`?/?ɨ:m??:;:#Cyz}BzII  I ?5٢e= %J=9%ۺQ %>!) -G٣)y-; -> =Nusing accuracyPremultiplier from config1E5950?E5Y5G i5BAE?MF@5D5j;5:5T5Q U"AQZjq}FNOT Ignoring new targets: 599.60 m.Bj}ͤJjͤ ProNav: ac range: 599.599976 m, nav range: 604.772034 m, bearing: 16.139494 deg, approach rate: 0.058258 m/s, LOS rate: -0.072041 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808289 deg. 2jE:jח@HeadingCmd: 2.056143 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf`Q@ɛF|Bü 0O>I ɚiII=IiiJ))*F?2F:FBF#3JF $?I8jJ#K+m3 K+S}-K#K#"K#J oJ fJ 0J J >:J 9J ـ3J G׹Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542065GQBYOu>w,̘kA2?Y2f@2d92:o>y2H@Eݿ?S?ݿ?'ӣ?`z?ன?ɨ2?2Wʆ;2"CyR(}BRI V=V==Mb@Mb@Mb@999 9)9Y=/$?B`"۹{Gz?y=L?=ν=#<=BA =3'A)9I=&9A9y=5AIU"IU5٢e^2= eF=9eɺQ m>ii mG٣m9Gyu ; u> Nusing accuracyPremultiplier from config 59&? 5YiF iB M? : ? F@"D1;$;W59 =!A=OEZjFNOT Ignoring new targets: 599.60 m.BjϩJjϩ ProNav: ac range: 599.599976 m, nav range: 604.797607 m, bearing: 16.106956 deg, approach rate: 0.058344 m/s, LOS rate: -0.074230 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796947 deg. 2jK:j@HeadingCmd: 2.055945 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf /Q@UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.793498ɛuR|Buʼ quU>Iq uɚyiyI}*nI=Iii>))*FE?2FA:FABFE1JFAzKeJKe9KaKe KeHI III}BI&I.I6I<:I F I)a a.~G `wA) ] iY] `wAy] AG U % nManaging dock network, ignoring radio surface power offG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048324~w,kAy}0}B}II#I5٢P< D=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YWF iB!%F@,D. ; ;i[5) -!A)ZjIUFNOT Ignoring new targets: 599.60 m.Bj]Jj]m ProNav: ac range: 599.599976 m, nav range: 604.822083 m, bearing: 16.076083 deg, approach rate: 0.061599 m/s, LOS rate: -0.077698 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801942 deg. 2juKU:ju@}HeadingCmd: 2.056032 target range: 599.599976 and range: 599.60 m. jyjyjyjyiyhhhhfffrfbf@!Q@ɛ\|B{ 隽S>I 1ɚiIk=I=Ii/i))*F?2F:FBF`5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301508Gu|GI BQ Om > I 7j@w,kA/?Y@{%9>yH ݿ"?@@?ݿ? ?'?଩?ɨ/?Ӈ;y;}BIMb@Mb@Mb@ )Yn?J +~jthyVN?ȽDDA (A)I7AyG5AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553547II٢< G=9qQ > G٣yyC< > Nusing accuracyPremultiplier from config59?5YJF iBO?:(?F@7D!; ;^5%˒B %k!A-LE B*** querying acoustic contact ***j j ZjAMFNOT Ignoring new targets: 599.60 m.BjMzJjUz] ProNav: ac range: 599.599976 m, nav range: 604.850708 m, bearing: 16.045181 deg, approach rate: 0.066201 m/s, LOS rate: -0.071462 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801856 deg. 2je,D:je@HeadingCmd: 2.056030 target range: 599.599976 and range: 599.60 m. jjjjihhhh-BfffrfbfI R@ɛ h|B ɼ  [R>I  rɚiIZI=Ii?i?}))!*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805306G TG B O >zK JK ]9K K K H w>I  I II }BI  =&I .I 6I <:I F%w,]kA 2$?I4Z?YZ6@Z)9Z>yZHU޿@/1?@6?T&޿?@9??J?ɨZ?ZS;Xyf/}BfIIn%InZ5٢v v]=9vxx zG٣z9Gy~; ~> Nusing accuracyPremultiplier from config 59 ? 5YF iB  ?F@@D::+b5ʒB %!A%OEZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 604.877991 m, bearing: 16.016853 deg, approach rate: 0.077770 m/s, LOS rate: -0.080746 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809576 deg. 2j]:j5@HeadingCmd: 2.056165 target range: 599.599976 and range: 599.60 m. jjjjihhhhfqfyfyrfybf#R@ɛs|Bɼ K<>I ɚiIH=Ii il|:))E%sAE!JmJeJJJ\8:J9JJJD;aJD;aJ:aJ:a*F?2F:FBF94JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058228GGyBO]> w,9lA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309493:?Y:@:,9:)>y:H 4޿`,??-?@D޿A?Ҝ?@>?֨?ɨ:?:x߆;:!Cy^8}B^IIjIj5٢r< rK=9rgQ v>tt vG٣tyz; z> Nusing accuracyPremultiplier from config| 59~? 5Y~F i~B  ? F@~KD~g;~A;~e5y r!AZjFNOT Ignoring new targets: 599.60 m.BjUJjU  ProNav: ac range: 599.599976 m, nav range: 604.908447 m, bearing: 15.986011 deg, approach rate: 0.073964 m/s, LOS rate: -0.074896 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802036 deg. 2j M:j  @5HeadingCmd: 2.056033 target range: 599.599976 and range: 599.60 m. j1j9j9j9i9h9h9hAhAfAfAfArfIbfM@$=R@ QIYɛe~|Beϼ ae:>Ia m_LɚiiiICH=Iiiz#;))*FM?2FI:FQBFUa0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563186G GRGa Bi O >7w,'lAZ ?YZ %@Zv\09Z>yZHP޿@8^? &?ab޿͒?` ?`6? ?ɨZ ?Z;Z#Cyr}BrIuMb@Mb@Mb@qqq q)qYui|?5?RQ{GzyuQ?u½u#uBA u3'A)u\/AIuV8AqyuQ4AI,I5٢t ?=9Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y>F iBS?:?F@VDa;;oi5 !AZjFNOT Ignoring new targets: 599.60 m.Bj GJj G ProNav: ac range: 599.599976 m, nav range: 604.944702 m, bearing: 15.952705 deg, approach rate: 0.088169 m/s, LOS rate: -0.080992 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794646 deg. 2j%V^:j%@%HeadingCmd: 2.055904 target range: 599.599976 and range: 599.60 m. j)j)j)j)i)h)h)h1h5Bf1f9f9rf9bf=`VR@ɛ|Be c>I ɚiI#bH=Iii ;)) ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.814557*F2F:FBFn0JFHqIq Iu3IIu}BIu =&Iq.Iq6Iuo<:Iu FzKJK 9KK KRK?JK? AIAG :J J fJ J J J 9J J J J J :J :G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066645a w,3lA6??Y6?@66396y>y6H ug޿ \?? z޿?@e?? ?ɨ6??6;6$Cyb }BbIIj"Ij5٢r vW=9v Q v>xx zG٣z9Gyz; ~> Nusing accuracyPremultiplier from config 59Ƛ? 5YF iB  ? F@`D:i:l5 /"AZjAMFNOT Ignoring new targets: 599.60 m.BjMJjUe ProNav: ac range: 599.599976 m, nav range: 604.977417 m, bearing: 15.923190 deg, approach rate: 0.086113 m/s, LOS rate: -0.077686 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806016 deg. 2jeCU:je0@mHeadingCmd: 2.056103 target range: 599.599976 and range: 599.60 m. jijijijiiihqhqhqhqfyfyfyrfbf@3oR@ɛ|B; 隭 =I }ɚiI6H=IiKi>;))EE>*Fu?2Fq:FqBFuo0JFqeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.317830G!j;GiByO> 5 $?I5 6jOw,`MlA5?Y54d@5M795>y5H޿`N [? ?޿0?? ?)?ɨ5?5ZH;5"CyM}BMIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569455Mb@Mb@Mb@ )YK7A`?DlZd;OyK?OjCA f&A)10AI6AyI=I=#5٢MT M5=9M Q M>QQ UG٣Qy]; ]> eNusing accuracyPremultiplier from configYm59]ޟ?m5Y]F iYmK?m:uM?uF@]kD];];]p5y }G"AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 605.026917 m, bearing: 15.889540 deg, approach rate: 0.109650 m/s, LOS rate: -0.074536 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793613 deg. 2jL:j@HeadingCmd: 2.055886 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbfR@ɛ|B 隽T=I ɚiIH=IiNi;))*F?2F:FBFJFm Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823606G= {/;G B! O= >HY IY  IY IY IY &IY .IY 6I] <:I] F  I zK BoJK +9K K K X'$.BK! :K! uw,glARz?YRi@R7<89RR >yRHF޿@Ϳ\1?(?ʢ޿>??[?@?ɨRz?R;Pyv|BvII *I v5٢-x -_=95"Q 5>99 EG٣AyEMf: M> ]Nusing accuracyPremultiplier from configQe59Uԟ?m5YUܾF iUBimU?mF@UuDUI;Uj[;Us5 "AZjFNOT Ignoring new targets: 599.60 m.Bj=了Jj=了M ProNav: ac range: 599.599976 m, nav range: 605.067688 m, bearing: 15.861981 deg, approach rate: 0.107966 m/s, LOS rate: -0.072973 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811886 deg. 2jMRH:jMޘ@uHeadingCmd: 2.056205 target range: 599.599976 and range: 599.60 m. jqjqjqjqiyhyhyhyhfffrfbfR@ɛ|B |=I *ɚiIbG=Iii2;) )IJlJJJJ<5:JJJJI?;JL?;JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074288*FA2FI:FIBFIJFIG ;GY Bi O >[ w,ЀlAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325418Zn?YZj@Z89Z.n >yZH@޿|? ?9޿"0??@v[?@?ɨZn?ZVˇ;Z Cyz|Bz~II +I 5٢S K=9%BQ %>!) -G٣-9Gy-l9 -> ]Nusing accuracyPremultiplier from config1]595ɟ?e5Y53F i5BimV?mF@5D5/;54<5gw5 "AREZjFNOT Ignoring new targets: 599.60 m.Bj>Jj>% ProNav: ac range: 599.599976 m, nav range: 605.111877 m, bearing: 15.832176 deg, approach rate: 0.109693 m/s, LOS rate: -0.073981 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805147 deg. 2j-K:j-@-HeadingCmd: 2.056088 target range: 599.599976 and range: 599.60 m. j1j1jQjYiYhYhYhYhafafafarfabfm೾R@ $?Iɛ|Bt p&w,^lAy|BmIMb@Mb@Mb@ )YS㥛?+lyD?SAA $A).AI5Ay2AI2I<5٢N ==9Q > G٣y   > Nusing accuracyPremultiplier from config59r?5YMF iB%XE?%:%@%F@D;';/{5-˒B -g#A-OEZjYeFNOT Ignoring new targets: 599.60 m.Bje0Jjm0} ProNav: ac range: 599.599976 m, nav range: 605.171143 m, bearing: 15.801095 deg, approach rate: 0.141040 m/s, LOS rate: -0.073958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801325 deg. 2j}K:jٕ@HeadingCmd: 2.056021 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf@R@ɛ|B® !I ɚiIzG=Iii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829437*FM?2FI:FIBFU0JFQHI I'II}BI&I.I6I<:I FBIJIRIZIbIjI|4 I5jzKΉNK]9KK K62*&|dQ@/~zvqnmjf`[\WUUUUQQNJRKM ?JKM"?GM;G) B1 OM >J nJ gJ J J |;:J 9J J J J;J J;J >:J ?: Will construct direction to contact in vehicle frame from tetrahedron phase data. y6H ޿+"??޿@k? ?`?@L?ɨ6?6;6$CyN|BR[II^;I^:5٢fʦ f`=9f9Q f>hh jG٣hyn) n> rNusing accuracyPremultiplier from configpv59r?v5YrF irBtz@zF@rDrz:rC:r_~5| ~#A|ZjFNOT Ignoring new targets: 599.60 m.Bj蝺Jj蝺 ProNav: ac range: 599.599976 m, nav range: 605.220886 m, bearing: 15.774901 deg, approach rate: 0.131093 m/s, LOS rate: -0.069027 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815979 deg. 2j}=:j @HeadingCmd: 2.056277 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrf!bf%R@ɛu|Bu( y}RIy } ɚyiyI}G=Iii8w;))*F-?2F):F)BF-1JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.e3w,!lA}{?Y}\@}R89}">y}H`!޿YA?-?}޿@5?Z?@??ɨ}{?}f;yyޕz|BޝEIWill construct direction to contact in vehicle frame from tetrahedron phase data.)) -G٣-9Gy-蒹 5> =Nusing accuracyPremultiplier from config1=595?E5Y5F i5BE:?M:M@MF@5D5a#;5";55UʒB Uh$AUREmB*** querying acoustic contact ***jqjqZjy}FNOT Ignoring new targets: 599.60 m.Bj2Jj2 ProNav: ac range: 599.599976 m, nav range: 605.296753 m, bearing: 15.742482 deg, approach rate: 0.162877 m/s, LOS rate: -0.069590 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797314 deg. 2j ?:j@HeadingCmd: 2.055951 target range: 599.599976 and range: 599.60 m. jjjjihhhhfBfffrfbfS@ɛM|BM15 IM˽II UgɚQiQIUG=IYi][iY)y)*F=?2F9:F9BF=0JF9u Will construct direction to contact in vehicle frame from tetrahedron phase data.} 9w,[lAzK@OKKK KFEBBAB4#    BK:KM~Gay YyAN?YF@b69>yH@m޿ ??ˈ޿0?`ڦ?`??ɨN?͆;#CyZ|B1II]RI]S5٢e mW=9m?o:Q m>q G٣yKh > Nusing accuracyPremultiplier from config59?5YF iB@F@D@;Q;5 $AZj)MFNOT Ignoring new targets: 599.60 m.BjU˖JjU˖e ProNav: ac range: 599.599976 m, nav range: 605.357117 m, bearing: 15.716591 deg, approach rate: 0.153701 m/s, LOS rate: -0.065918 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816891 deg. 2je4:jeM@HeadingCmd: 2.056293 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfV)S@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1227> BDAT read: Tx time:20:18:59.0355 $Ping request sent./@w,Q.mA6 0?Y6H7@6596kn=y6Hd`޿k?Q!?` {޿?`x?@п?a?ɨ6 0?6o;6 CyBV|BB/IIJ[IJQ5٢R R^=9Vf:Q f>hh jG٣hynw% n> rNusing accuracyPremultiplier from configpv59rF? 5Yr“F irB@F@rDr;rc;r&5 $AUEZja qIqFNOT Ignoring new targets: 599.60 m.Bj4Jj4 ProNav: ac range: 599.599976 m, nav range: 605.414795 m, bearing: 15.691782 deg, approach rate: 0.156728 m/s, LOS rate: -0.067408 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820136 deg. 2j 9:j:@HeadingCmd: 2.056349 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf@>@S@ɛM|BUsL QU"IQ U[ɚQiYI]G=IYieߺie ;))*F%?2F!:F!BF%@5JF!JmJeJJJ\8:J9JJa-@a-@a-@a5@MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823G]O;GQ BY O} >G!Gw,mA>C?Y>AA@>o79>$=y>Hi޿@j=?@?@ޅ޿??`?s?ɨ>C?>F;>"CyJD|BJ$I-Mb@Mb@Mb@))) )))Y- rh?~jt?Qy-C+?-<--?=A )))I-t3A)y-0AIEIIET5٢M|- UA=9U،Q U>YY ]G٣YyeR: e> mNusing accuracyPremultiplier from configiu59m,?u5YmfF imBu+?u:u@uF@mDm;m;mЌ5 C%AREZjFNOT Ignoring new targets: 599.60 m.BjᎺJjᎺ ProNav: ac range: 599.599976 m, nav range: 605.487793 m, bearing: 15.666117 deg, approach rate: 0.177665 m/s, LOS rate: -0.062457 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817570 deg. 2jt+:j~@HeadingCmd: 2.056304 target range: 599.599976 and range: 599.60 m. jjjjihhhh'Bfffrfbf@ZS@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757886ɛ}BZ>Q BI ɚiIG=IiݺiI;))H1I1 I5II5p}BI1&I1.I16I5<:I5 F u$?Iq*F?2F:FBF4JFzK:MK9KK KG@;G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006623ILMw,7mA2Z?Y2@2j592[&=y2HJ޿ 8?N'?vg޿@\Ɛ?@$?˽?2?ɨ2Z?2;2!CyR|BR II^I^5٢f̽ fS=9f5:Q f>hh jG٣j9Gyj n> rNusing accuracyPremultiplier from configpv59r x?v5YrF iptv@zF@rDr:r;r15 %AZjYeFNOT Ignoring new targets: 599.60 m.BjmJju ProNav: ac range: 599.599976 m, nav range: 605.554749 m, bearing: 15.642413 deg, approach rate: 0.169798 m/s, LOS rate: -0.060104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823455 deg. 2j$:j-@HeadingCmd: 2.056407 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfsS@ɛ}B^a 隭wI 6ɚiIEG=Ii~ܺiB];))*F?2F:FBFe0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261286 YI]4jGmO;G B O >J J J J J J J J %7Tw,CQmA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514798u?Yu@u59u=yuH@*@޿@ ?@)?\޿@ё??`b??ɨu?u,;u#Cyޅ'|BލIMb@Mb@Mb@ )YZd;?I +?I +y?94=9;=A $A),AI1Ay(0AII5٢(< /=97Q > G٣y > Nusing accuracyPremultiplier from config59j?5YF iBy?:@F@DY<;s:;F5ɒB %AUEB*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 605.639160 m, bearing: 15.616078 deg, approach rate: 0.183095 m/s, LOS rate: -0.057116 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815561 deg. 2j:j@HeadingCmd: 2.056269 target range: 599.599976 and range: 599.60 m. jjjjih h h h Bfffrfbf]S@ɛ$}B`_ 隥|I 5ɚiIH=IipۺiG;))*F?2F:FBF14JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766521H x>I  I II 3}BI  =&I .I 6I <:I F I II G g;GY Bi O >_Zw,=kmAzKrKK9KK KN^Q?YN@NA09N=yNHݿd%?` rn=9r*;Q r?tt vG٣tyvAY v? ~Nusing accuracyPremultiplier from configx59z>a?5YzH|F izB@F@zDz;ze:zG5  %AZj1=FNOT Ignoring new targets: 599.60 m.BjEJjE񁺝U ProNav: ac range: 599.599976 m, nav range: 605.700500 m, bearing: 15.596663 deg, approach rate: 0.179478 m/s, LOS rate: -0.056802 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.836317 deg. 2jU:jU۟@]HeadingCmd: 2.056632 target range: 599.599976 and range: 599.60 m. jYjYjYjaiahahahihifififirfqbfu`S@ɛ.}BJw 隝ڋI qɚiI0?H=IiںiP))E*Fu?2Fq:FyBF}o0JFyUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019735GU']?;G)B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270675Eaw,VmA6?Y6@6+96=y6Hݿ`B?F?ݿ?7r? ??ɨ6?6g;4yJ|BN IIVXIV5٢^Up< bM=9b/;Q b>`d fG٣f9GyfB޻ f> nNusing accuracyPremultiplier from configh pIpE59jV?E5YjvF ijBIM_@MF@jDjuIq CoɚiIyH=IiKۺiuF))*F}?2Fy:FyBFyJFyJJdJJJJ|9JJ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522521Gi"Gi Bq O >pgw,4mA2?Y2o@2&92Ӹ=y2H`ݿ @[[?`JQ?`ݿ@ڕ?|ܤ?@{??ɨ2?2, ;2"Cy>'|BBIMb@Mb@Mb@ )Yd;O?S㥫?{Gzy?/]=#:A #A),AIp3Ay\/AI-_I-45٢=X< =C=9=n2;Q =>AA EG٣AyMѻ M> UNusing accuracyPremultiplier from configQ59UJ?5YURqF iUBf?:u @F@UDU)I III|BI =&I.I6Ig<:I F $?I*F?2F:FBFJFzK] KK]9KYK] K]GE V'Su Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029272G B) OE >mw, mA:m?Y:@V@:Ԕ$9:=y:H`-ݿCm?PW?@ݿ?/?`? XX ZG٣Xy^2 ^> bNusing accuracyPremultiplier from config`f59b@?f5YbYlF ibBdj\ @jF@bDb:b:bΡ5p r|%ArUEZj  FNOT Ignoring new targets: 599.60 m.Bj }Jj}% ProNav: ac range: 599.599976 m, nav range: 605.912170 m, bearing: 15.531718 deg, approach rate: 0.183941 m/s, LOS rate: -0.055432 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.833693 deg. 2j%+:j%@-HeadingCmd: 2.056586 target range: 599.599976 and range: 599.60 m. j)j)j)j)i)h1h1h1h1f9f9f9rfAbfE@S@ɛmX}Buv qu͑Iq u=?!ɚyiyI}H=IiܺiZ8λ))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278491 IGPGBO>J lJ iJ J J <5:J ڈ9J J نtw,mAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5304991"?YZ0@x"9>yHyݿ ?-`?`.ݿlח?\?,?ʷ?ɨ1"?T;%CyE|B$IIMVIM65٢]= ]1=9ed:Q e>aa mG٣m9Gyu1 u> }Nusing accuracyPremultiplier from configy59};4?5Y}dfF i}B6 @F@}D};};}֥5 9%A-B*** querying acoustic contact ***j)j)Zj9eFNOT Ignoring new targets: 599.60 m.BjmhJjmh} ProNav: ac range: 599.599976 m, nav range: 605.992310 m, bearing: 15.507427 deg, approach rate: 0.167994 m/s, LOS rate: -0.050914 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821694 deg. 2j} :j}@HeadingCmd: 2.056376 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfT@ɛ%i}B%Wl )-"I) -rd"ɚ)i)I->I=I1i5%ߺi=)9)*FU?2FQ:FYBF]p0JFYGa GaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782825 $?I 3jH I  I II |BI &I .I 6I <:I FBIiJIiRIiZIibIijImk4G 4λGq B O >5zw,mAzK"KK"ػ9K K" K"OweUF:2) yr|B@II-jI-5٢e= e\=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configy59}Z*?5Y}aF i}BF@}D}:}X:}5 $AXEZjFNOT Ignoring new targets: 599.60 m.Bj{Jj{ ProNav: ac range: 599.599976 m, nav range: 606.056763 m, bearing: 15.487916 deg, approach rate: 0.181619 m/s, LOS rate: -0.054974 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.836029 deg. 2j:j Ɵ@ HeadingCmd: 2.056627 target range: 599.599976 and range: 599.60 m. jjjjihhhhff!f!rf)bf-p)T@ɛv}BJ1J5@A]p 끾I R!#ɚiIvI=I i ti ))=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.037236*F?2F:FBF0JFG >uG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286620rw,nA IZ#?YZ@ZB9ZY>yZH`)Mݿ " ?l?]ݿu?Aܣ?;|??ɨZ#?Z 2;Z&Cyv|BvMII~NI~p5٢ I=  N=9!;Q > G٣yk > %Nusing accuracyPremultiplier from config!-59%?-5Y%y\F i%ŰB15 @5F@%D%:% ;%59 =0$AAZjFNOT Ignoring new targets: 599.60 m.BjjJjj ProNav: ac range: 599.599976 m, nav range: 606.125183 m, bearing: 15.467007 deg, approach rate: 0.168017 m/s, LOS rate: -0.051338 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.831838 deg. 2j :j@HeadingCmd: 2.056554 target range: 599.599976 and range: 599.60 m. jjjjihhhhf f f rf bf5`CT@ɛ}}B}7j y隅~I  #ɚiII=Ii&i1))*Fe?2Fa:FaBFm3JFiJnJhJ1J%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541242J|;:JȆ9J3JGmGqGusAGA BQ Om >#w,y nA2?Y2@2.92H>y2HFݿ@"@?m? VݿA?ģ? ?ॴ?ɨ2?2̽;2"Cy>|BBcI @ @ @  @ IMI75٢*= A=99Q > G٣9Gy_ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YWF iʰB+::@F@DLZ;P>5 #AZj!-FNOT Ignoring new targets: 599.60 m.Bj-BvJj-BvE ProNav: ac range: 599.599976 m, nav range: 606.197998 m, bearing: 15.444753 deg, approach rate: 0.176127 m/s, LOS rate: -0.053824 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827800 deg. 2jE:jEk@MHeadingCmd: 2.056483 target range: 599.599976 and range: 599.60 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbfe@]T@ɛ}BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790657e 隥hI $ɚiII=Iiii2)) 5$?I9HYIY I]II]}BIY&IY.IY6I]<:I] F*FQ2FQ:FQBFU_5JFQ"Ge=Ge=) vA YvAyAm@mBzKUMKU]9KQKU KU RKe?JKe ?Gm-,Ga Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0425621w,T:nAV?YV@Vq9VSm>yVHB=ݿ#=?Gp?`8Kݿ ???v?ɨV?VXx;Tyf|BfIInGIn5٢vf= vY=9v9Q z>xx zG٣|y  > -bBottom track data is 0.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)559- ?=5Y-RF i-ͰBE :IMn:M@MF@-D-;-N?-5UȒB U"AU[EZjy}FNOT Ignoring new targets: 599.60 m.BjpJjp ProNav: ac range: 599.599976 m, nav range: 606.263733 m, bearing: 15.424653 deg, approach rate: 0.172002 m/s, LOS rate: -0.052587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834264 deg. 2j\:jD@HeadingCmd: 2.056596 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf`uT@ɛ}B^ sHI ZQ%ɚiI#J=Ii*~iu;)q)y*F ?2F :F BF 4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294717 !I%2jG#)GBO>ڔw,]TnA~Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549679ye}BeIquA           Mb@Mb@Mb@ )YT㥛 ?{GztMb?y!?ף=j G٣y > Nusing accuracyPremultiplier from config59 ?5YJF i۰BT:w,nnAVBe?YV@V9VE >yVHT&ݿ0'l?`Ov?2ݿ ?`u?@p??ɨVBe?V9Ƈ;Ty^E}B^IIj:Ij5٢r-> r=9r:Q v ?tt vG٣v9Gyzv z ? Nusing accuracyPremultiplier from config| 59~? 5Y~-FF i~B@F@~D~mG;~G;~5 6!A!zK=&KK= 9K9K= K=ZjQ]FNOT Ignoring new targets: 599.60 m.BjeJjeu ProNav: ac range: 599.599976 m, nav range: 606.359192 m, bearing: 15.377943 deg, approach rate: 0.120678 m/s, LOS rate: -0.059279 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.839781 deg. 2ju":juؠ@}HeadingCmd: 2.056692 target range: 599.599976 and range: 599.60 m. jyjyjjihhhhfffrfbf yT@ɛ}B(M LI H&ɚiIvJ=IiinS))qJJAAJsKs KsKsKs"KsJ-mJ-eJ-0J)J-\8:J-9J-ـ3J)J-D;auJ-D;auJ-:auJ-:a} Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050808*F?2F:FBFh0JFG--,G B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302637 I nw,unAfFw?Yf@f39f'I >yfHF.ݿ% p?1t?,;ݿ?͓???ɨfFw?f7,;dyrj}BvII~3I~u5٢ =  H=9 $Q  > G٣yd: > %Nusing accuracyPremultiplier from config!-59%?-5Y%@F i%B)-@5G@%&D%:%:%M5MȒB U AU[EZjyFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 606.407776 m, bearing: 15.354164 deg, approach rate: 0.118777 m/s, LOS rate: -0.058129 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823226 deg. 2j:j@HeadingCmd: 2.056403 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfT@ɛ}}BqzB 隅ͽI E&ɚiIJ=IiNiG))*FI2FI:FIBFMn0JFI%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557268GLGI BQ Ou >Yw,OΡnAy}BIMb@Mb@Mb@ )YʡE?lMb?y/? #A),AIp3Ay/AII5٢ >  ;=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%㞜?-5Y%8F i%B50?5:5?5G@%0D%;%B;% 59 =AAuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.806723 $?IHI III}BI&I.I6I<:I FZjAmFNOT Ignoring new targets: 599.60 m.BjuJju ProNav: ac range: 599.599976 m, nav range: 606.451599 m, bearing: 15.326108 deg, approach rate: 0.094672 m/s, LOS rate: -0.060607 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810393 deg. 2j_&:jq@HeadingCmd: 2.056179 target range: 599.599976 and range: 599.60 m. jjjjihhh h Bf ffrfbf T@ɛ}BP4 XI &ɚiIaJ=IiiDI))EE*F?2F:FBFk0JF"G=G=zKu/KKu9KqKu Ku J9 J9 J= 1J9 J9 J9 J= 3J9 J9 J9 J9 J9 % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058621G KG B O% >R6w,9nA2??Y2a@2?92? >y2He8ݿ@!?{q?@Eݿ@}? 罣?'??ɨ2??2N;0yr}BrII%I%y5٢== =Y=9E_Q E>AA MG٣M9GyM: M> UNusing accuracyPremultiplier from configQ]59U-۞?]5YU2F iUBae&?eG@U8DU" ;U ;Uk5i mAiZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 606.489502 m, bearing: 15.301983 deg, approach rate: 0.109036 m/s, LOS rate: -0.069397 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822186 deg. 2j>:jЛ@HeadingCmd: 2.056385 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf@T@ɛ}B~2 0I &ɚiI J=I ii>))Q*F?2F:FBFo0JF I1jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312290G)G B OE >#w,nArWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566108y}B0IMb@Mb@Mb@ )YV-? G٣y > Nusing accuracyPremultiplier from config59 О?5Y)F iB=?:?G@DD;@;5ɒB fAXEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 599.60 m.BjJj񞺝- ProNav: ac range: 599.599976 m, nav range: 606.527771 m, bearing: 15.268199 deg, approach rate: 0.078710 m/s, LOS rate: -0.069480 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793212 deg. 2j->:j5@5HeadingCmd: 2.055879 target range: 599.599976 and range: 599.60 m. j1j9j9j9i9h9h9hAhEɄBfAfIfIrfIbfM U@ɛu~Bu) y}'I9 =6&ɚ9i9I=J=IAiEPiE@)A)I*F ?2F:FBFJF m$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814527HI I@II~BI =&I.I6I<:I FGU KG1 B9 O] >Ow,pnA6?Y6@696iQ >y6H`^ݿ`?@g?jݿ_?,ݣ? q??ɨ6?6GE;4y>/~B>RIIJIJ5٢R:2> R=9V MQ V?XX ZG٣XyZv < Z? bNusing accuracyPremultiplier from config\b59^#ɞ?f5Y^K$F i^Bdf,?fG@^KD^: ;^ ;^S5h nAr[EZjFNOT Ignoring new targets: 599.60 m.zKKKKK K +HPRONE@==<965552.)%"" BjJj򖺝 ProNav: ac range: 599.599976 m, nav range: 606.552429 m, bearing: 15.246984 deg, approach rate: 0.076696 m/s, LOS rate: -0.065983 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830915 deg. 2j"5:jO@HeadingCmd: 2.056537 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf+U@ɛE~BE im Q IY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3191900w,, oAJ?YJ+/@J| 9J5W>yJH@xݿp #?`?Oݿ ?`>?k??ɨJ?Je!;HyRN~BVeII^I^5٢j8= jI=9jGQ j>ll nG٣n9Gyr ; r> vNusing accuracyPremultiplier from configtz59v?z5YvF iv!Bxze?~G@vTDv7:v:,;v5  A Zj)5FNOT Ignoring new targets: 599.60 m.Bj5Jj5E ProNav: ac range: 599.599976 m, nav range: 606.586121 m, bearing: 15.218641 deg, approach rate: 0.086112 m/s, LOS rate: -0.072437 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809533 deg. 2jMF:jM2@UHeadingCmd: 2.056164 target range: 599.599976 and range: 599.60 m. jQjQjYjYiYhYhahahafafafirfibfmEDU@ɛ!~B5 1= 7=I9 =?&ɚ9i9I=-J=IAiETiEI)A)I*F-?2F1:F1BF50JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574068G5G9 BA O] >[Zw,#oA6sV?Y6zJ@6 #96=s>y6Hܐݿ@ .?%Z?bݿ@S?2`??R?ɨ6sV?6k;4yBi~BBvIMMb@Mb@Mb@III I)IYMw/?Zd;OQ?yMF?MjMuA MQ"A)MK+AIMt3AIyM/AIeIe5٢uA|= u@=9uQ }>yy }G٣y; > Nusing accuracyPremultiplier from config59޵?5YF i(BVH?:I?G@_D;c;5 AZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 606.617920 m, bearing: 15.187423 deg, approach rate: 0.074699 m/s, LOS rate: -0.073329 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800908 deg. 2jMI:j@ IHeadingCmd: 2.056014 target range: 599.599976 and range: 599.60 m. j j j j i h h hhBfffrfbf%`_U@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822745ɛe2~Be8 ae^=Ii m:&ɚiiiIm/J=Hx>I III~BI =&I.I6I<:I FBIYJIYRIYZIYbIYjI]¦4I1i= i=l ܻ)9)AEa*F ?2F :F BF @1JF "G=G=zKUɟMKUػ9KQKU KU -O1" J J J J J J J J J J J J GM GU sAGQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076821G) B9 OU >w,y6H@9ݿR@dd fG٣dyf; j> vNusing accuracyPremultiplier from configpz59r묞?~5Yr[ F ir/B? G@riDrR;r;r5ȒB % A!ZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 606.647278 m, bearing: 15.159329 deg, approach rate: 0.072688 m/s, LOS rate: -0.069555 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810279 deg. 2j >:j i@HeadingCmd: 2.056177 target range: 599.599976 and range: 599.60 m. jjjjihhh!h!f!f!f!rf)bf-yU@ɛUB~BU Y]P=IY ]9S&ɚYiYI]J=Iaie ie:h)a)i*F?2F:FBF`5JF $?I0jeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.326562GҸGBO >3nw,VoAfWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.5816225O?Y5@5.(95e>y5H ݿ.H? #M? ݿ[????ɨ5O?5;5#Cyޅ~BޅI5Mb@Mb@Mb@111 1)1Y5-?)\(y5?U?5Gό55>A 5M"A)5v*AI5p3A1y1IIII٢]W= ]'=9]UQ e>aa eG٣e9GymI+; m> }Nusing accuracyPremultiplier from configy59}ꠞ?5Y}2F i}4BW?|:]?G@}vD}H!;};}75 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.Bj`Jj` ProNav: ac range: 599.599976 m, nav range: 606.684082 m, bearing: 15.120668 deg, approach rate: 0.078810 m/s, LOS rate: -0.082782 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.778579 deg. 2j@c:jX@HeadingCmd: 2.055624 target range: 599.599976 and range: 599.60 m. jjjjihhhh5BfffrfbfDU@ɛ-V~B-k )-:=I1 5)&ɚ1i1I5J=I9i=Dyi=)9)A*F?2F:FBFh5JF ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.830611HI III~BI&I.I6Iu<:I FM ~Ga Gu Ty yY y %AG B O >uw,9poAy~BII-I-C5٢=< Et=9EQ E?II MG٣IyM U? eNusing accuracyPremultiplier from configYe59]?m5Y]@E i]7BiimG@]D]T:]:]#5q }~AyZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 606.709412 m, bearing: 15.094234 deg, approach rate: 0.075820 m/s, LOS rate: -0.079123 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815257 deg. 2j4Y:jՙ@HeadingCmd: 2.056264 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf`U@zKمMK9KK Kɛe~BC 隍>=I %ɚiI }J=Iiiitꋻ))EErAWill construct direction to contact in vehicle frame from tetrahedron phase data. I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ  yRHݿZt?=? ޿@??:? ?ɨRA?R;R Cyn~BrIIzIzy5٢-d= -L=95Q 5>9A EG٣AyE< E> MNusing accuracyPremultiplier from configIU59M?U5YME iM;BY]?]G@MDM;MD;M5a e:Am^EZjFNOT Ignoring new targets: 599.60 m.BjyJjy ProNav: ac range: 599.599976 m, nav range: 606.741272 m, bearing: 15.062511 deg, approach rate: 0.077043 m/s, LOS rate: -0.076705 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799395 deg. 2jR:jL@%HeadingCmd: 2.055987 target range: 599.599976 and range: 599.60 m. j!j!j!j!i!h)h)h)h)f1f1f9rf9bfEHU@ɛmv~BmA im$=Ii u%ɚqiqIucJ=Iyi}i}Y8))*F-?2F):F)BF-g0JF)JlJjJJJ<5:J9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.w,PoA6B?Y6@6296h>y6H޿<g? 5?+޿qh?V??஧?ɨ6B?6/;6$CyN~BRI aIamMb@Mb@Mb@iii i)iYm5^I ?A`"y&1|ymX?mٽm`m >A m|!A)iIm0Aiym.AI} I}Ь5٢ D=9xQ > G٣9Gy~; > Nusing accuracyPremultiplier from config59?5Y6E i>BY?y:?G@D;;I5 AA[EZjFNOT Ignoring new targets: 599.60 m.BjJj  ProNav: ac range: 599.599976 m, nav range: 606.778381 m, bearing: 15.029232 deg, approach rate: 0.091675 m/s, LOS rate: -0.082209 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794725 deg. 2j a:j @HeadingCmd: 2.055906 target range: 599.599976 and range: 599.60 m. jjjji!h!h!h!h%Bf)f)f)rf)bf5U@=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Response Not Received E*response not receivedE,DAT read: user:1228> MBDAT read: Tx time:20:19:09.9856 M$Ping request sent.MD6I<:I F*F?2F:FBF`0JFzKmJKm9KiKm KmRK}>JK}> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:20:19:09.9848  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250663G yG B O >w,+oAF8?YF]@Fk49FV,>yFH,޿;BB? O/?`A޿i?+??`B?ɨF8?F;F"CyR~BPIZIZ5٢b  bX=9bQ b>dd fG٣dyfy; j> nNusing accuracyPremultiplier from confighr59jKz?r5YjXE ijABprG?rG@jDj ;j ;j5x zDAxZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 606.812500 m, bearing: 14.999186 deg, approach rate: 0.090716 m/s, LOS rate: -0.079882 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804424 deg. 2jJ[:j@HeadingCmd: 2.056075 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfU@ɛm~Bm qu=Iq u=%ɚqiyI}o5J=Ii.i ;))Ep>E> ]$?I]/j*F?2F:FBFm0JF"G=Gp=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502598G7:GGrAG B O >J nJ dJ J J |;:J |9J J -w,/oANWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756839y ~B III,5٢mOݺ u1=9}Q > G٣y > Nusing accuracyPremultiplier from config59@n?5YE iEBG@D":q:5 CA^E=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 599.60 m.BjUʱJj}ʱ ProNav: ac range: 599.599976 m, nav range: 606.854980 m, bearing: 14.961983 deg, approach rate: 0.088749 m/s, LOS rate: -0.077717 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782956 deg. 2jXU:j@HeadingCmd: 2.055700 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbf@V@ɛ=~B=_ AEXI  I 3II BI &I .I 6I װ<:I FG :Gi By O >=w,oABHt?YBeY@B?b>9BU >yBH}޿`Y?`?V޿ ܗ?`ʧ?@?ભ?ɨBHt?BWއ;B CyN~BNI-Mb@Mb@Mb@))) )))Y-"~?A`"Qy-S?)-u-;=A -M"A))I-1A)y-.AIMIM5٢e e^=9eaϻQ e>ii mG٣m9Gyu< u> }Nusing accuracyPremultiplier from configy59}d?5Y}*E i}GBU?~:?G@}D};};}5 uAZjFNOT Ignoring new targets: 599.60 m.Bj Jj  ProNav: ac range: 599.599976 m, nav range: 606.889038 m, bearing: 14.933534 deg, approach rate: 0.096838 m/s, LOS rate: -0.080887 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809214 deg. 2j ^:j@HeadingCmd: 2.056159 target range: 599.599976 and range: 599.60 m. jjjjihhhqhuBfqfqfqrfybf}6/V@zKiJKػ9KK KBK:KnAJJ@Aɛ~B( I 3%ɚiIJ=Iih!iN;))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259106*F2F:FBFJFGG B O > - $?I) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510457w,E pAb?Yb@bA9b{J>ybH޿@[?n ?@޿?@4? ?`?ɨb?b;bCy-~B-II=I=J5٢M ML=9UQQ U>QQ ]G٣Yy]e; ]> mNusing accuracyPremultiplier from configam59eZ?u5YeE ieIBqu4?uG@eDe7:e:eS5y A[EZjFNOT Ignoring new targets: 599.60 m.BjJj ProNav: ac range: 599.599976 m, nav range: 606.927734 m, bearing: 14.902144 deg, approach rate: 0.096448 m/s, LOS rate: -0.078232 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800393 deg. 2jV:j@HeadingCmd: 2.056005 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfGV@ɛ~B/ I O%ɚi!I%J=I)i-߇i-\<)))1*F?2F:FBF0JFGO;G?G?GBJJgJJJJ9JJOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764836;w,%pA @ `I`y~BIMb@Mb@Mb@ )Y G٣y > Nusing accuracyPremultiplier from config%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.01501459CO?5YrE iJBT?:i?G@D<w<5HI I'IIBI =&I.I=D6I<:I F  -A5^EZjquFNOT Ignoring new targets: 599.60 m.Bj}Jj} ProNav: ac range: 599.599976 m, nav range: 606.974304 m, bearing: 14.869404 deg, approach rate: 0.100773 m/s, LOS rate: -0.070841 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.796344 deg. 2jxB:jl@HeadingCmd: 2.055934 target range: 599.599976 and range: 599.60 m. jjjjihhhhBfffrfbf fV@ɛE~BEc87 AmzIi m%ɚiiiImLI=IqiuA?iu <)q)y*F]?2FY:FYBF]x0JFYzKKK]9KK K #blM<-# Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265640G ;Gy B O >p/w,?pA2 ?Y2Ec@2a=92 >y2H[޿@[?;?޿@` ??`ʌ?`h?ɨ2 ?2܆;2 Cy>{~B>IIR IR 5٢^a ^[=9^:;Q b>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr59nLE?v5YnE inKBtv?vG@nDn^;n :nC5x zRA|ZjFNOT Ignoring new targets: 599.60 m.Bj%ȺJj%Ⱥ5 ProNav: ac range: 599.599976 m, nav range: 607.015076 m, bearing: 14.840380 deg, approach rate: 0.123290 m/s, LOS rate: -0.087760 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807491 deg. 2j5p:j5@=HeadingCmd: 2.056129 target range: 599.599976 and range: 599.60 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU`zV@ɛ~BK  I  P%ɚiI5J=I9i=Ti=&;)A)I I.j*F ?2F :FBF2JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517803G51X<G) B O >J mJ J 1J J \8:J J 3J w,0LYpABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769723Ns?YNY@Nk<9NV>yNH}޿=? ?޿@A?U?@in?|?ɨNs?Nj;N$Cy z~BIII@5٢ Cֺ  ,=95l9Q 5>11 =G٣=9Gy= => MNusing accuracyPremultiplier from configAu59E8?u5YE1E iELBqu ?}G@EDE;E;Er5 VAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 599.60 m.BjJj% ProNav: ac range: 599.599976 m, nav range: 607.067383 m, bearing: 14.803126 deg, approach rate: 0.106145 m/s, LOS rate: -0.075592 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.782804 deg. 2j%O:j%@MHeadingCmd: 2.055698 target range: 599.599976 and range: 599.60 m. jQjQjQjQiQhQhYhYhYfYfafarfabfeV@ɛ B8I 隕aI zr&ɚiI.J=Iii;)) $?I-j*Fu?2Fq:FyBF}0JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022411ZHIRHIH I  I II bBI &I .I 6I <:I FBI1JI1RI1ZI1bI1jI5V5G #N;G rAG sAGy B O >[w,spA2II?Y2C@2D'<92>y2Hj޿@R? ? I޿?ʂ? Y? ?ɨ2II?2b;2"Cy>P~BBfIMb@Mb@Mb@ )Y rh?Zd;Zd;OyL?yj9A !A))AI10AyG-AI%I%\5٢5z 5g=9=DC9Q =>9A EG٣Ay]r > Nusing accuracyPremultiplier from config59G.?5YE iNB9M?:V?G@DH%;#;5 AZj%FNOT Ignoring new targets: 599.60 m.Bj-)Jj-)= ProNav: ac range: 599.599976 m, nav range: 607.116211 m, bearing: 14.775615 deg, approach rate: 0.137459 m/s, LOS rate: -0.077443 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812029 deg. 2j=T:j=@MHeadingCmd: 2.056208 target range: 599.599976 and range: 599.60 m. jIjIjIjIiIhIhQhYheBfafafarfibfmV@ɛB*c 隕8II 'ɚizK23MK9KK K I,J=Iii=;))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274607*F?2F!:F!BF%\5JF!G~q;GBO > 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5259419#w,+pA69/?Y66@6g;96~j>y6H_޿ pq,? ? |޿bc?@j?c]? ?ɨ69/?6p ;4yV9~BZXIII5٢ b  N=9\9Q > G٣y_ %> -Nusing accuracyPremultiplier from config!559%#?55Y%ϡE i%OB15;?5G@%D%\:% ;%5A MYAIZjquFNOT Ignoring new targets: 599.60 m.Bj}CJj}C ProNav: ac range: 599.599976 m, nav range: 607.166199 m, bearing: 14.747390 deg, approach rate: 0.131827 m/s, LOS rate: -0.074428 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809889 deg. 2jQL:jL@HeadingCmd: 2.056170 target range: 599.599976 and range: 599.60 m. jjjjihhhhfffrfbfV@ɛ+B,8m NqI л'ɚiIRJ=Iisi<;))*F]?2FY:FYBF]0JFYuWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:19:13.1167 TRx dataTimestamp_ set to:1736367554.425570checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787182G}{/;GABO= > 9 IA 9d)w, dpAB ?YB9%@B`?:9Bh>yBHP޿?@;%? l޿?@E?? E?ɨB ?B,ʆ;B!CyN)~BNNImMb@Mb@Mb@iii i)iYm-?Zd;Oy&1ym5>?mjI III/BI&I.I6I<:I F~G `wA٢[! %.=9]D:Q ]>YY ]G٣e9Gye e> mGYm`wAymk B Nusing accuracyPremultiplier from config59?5Y'E i>?:@G@D;;:5 AZjiuFNOT Ignoring new targets: 599.60 m.BjujJjuj ProNav: ac range: 599.599976 m, nav range: 607.231201 m, bearing: 14.713730 deg, approach rate: 0.129524 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793589 deg. 2j8:j@HeadingCmd: 2.055886 target range: 599.599976 and range: 599.60 m. jjj!j!i)h1h1hihuBfyffrfbftV@ɛEBk } Iy })ɚiI:J=IiAiOx;))J}nJ}fJyJyJ}|;:J}9JyJyJyaJyaJ}:aJ}:a*F ?2F :F BF o1JF G  G zK% [4LK% 9K! K% K%  !!!"$&%%&$"#" K9Ide`c-513+m Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:19:13.1167 LVL= 30896, 28513, 17474, 31699, AGC= 70, IDX= 464, 0.20,-0.178,-1.314, 0.519,-0.290, PHS= 0.199,-0.977, 0.806, RAW= 169.5, -0.4, CAL= 170.9, -8.5, ROT= 339.1, 8.5  Ygot valid direction response: 20:19:13.1167 LVL= 30896, 28513, 17474, 31699, AGC= 70, IDX= 464, 0.20,-0.178,-1.314, 0.519,-0.290, PHS= 0.199,-0.977, 0.806, RAW= 169.5, -0.4, CAL= 170.9, -8.5, ROT= 339.1, 8.5  PDAT read: Bearing 339.1, 8.5 (Local)  ~Local bearing/azimuth received: Bearing 339.1, 8.5 (Local)  DAT read: Range 10 to 50 : 545.2 m (Round-trip 727.0 ms) speed 0.5 m/s  ,DAT read: user:1229>  BDAT read: Tx time:20:19:14.2357  $Ping request sent. m zm VN?m TU=@m m >@)m Im c@im >i i m m?3͙Z?Dy)m ?p]?Im ;im տm @hi i  :publishing transmit ping time  Fpublishing direction and range infoi 9m n |%a\ 1w,cpA ]$?IYy] ~Be<IimAqqIu&Iu5٢钽 K=9Q > G٣y > Nusing accuracyPremultiplier from config59w ?5Y8E iIIMG@ D=<Y< 5]ǒB ] A]aEkA?kQ0 k k)!pA:kLDBkbDZkdN>"!2m JN !^@n |%a\S@'.i@8beJ@Z]k?&֛g?ʸ?"kOC*kCkS C?kqy,0 2kBk-]?k\2 kkDk> addTargetRange:: Added new target pos. range: 545.200012 m, deltaT: 91.801162 s, deltaX: -54.399963 m, approachRate: -0.592585 m/s, rangeRepo size: 4  Added new target pos. range: 545.200012 m, bearing: 22.527337 deg, lat: 36.910481 deg, lon: -122.122791 deg, deltaT: 91.801162 s, deltaX: -54.399963 m, approachRate: -0.592585 m/s, posRepo size: 4 Zj5FNOT Ignoring new targets: 545.20 m.Bj=Jj9MWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:20:19:14.2349  ProNav: ac range: 545.200012 m, nav range: 607.931274 m, bearing: 17.337082 deg, approach rate: 0.000000 m/s, LOS rate: -0.067063 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814295 deg. 2j:j@HeadingCmd: 2.056247 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrf @bfxD?ɛ}WB}< 隅I )ɚiIJ=Iii悀;))*FQ2FQ:FQBFU@5JFYG} ; Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >657w,`;pA?Y@%a79=yHZ=޿v?*?`Y޿@e?.?g?ܹ?ɨ?LJ;騕$Cyޭ}Bޭ1IeMb@Mb@Mb@aaa a)aYe"~?:vI +ye3?eԼe9e&9A e A)e(AIe.Aaye(,AI}I}զ5٢y$ ;=9:Q > G٣9GyxG > Nusing accuracyPremultiplier from config59?5YE iPB-4?:@G@D;;k5 VA^EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 545.20 m.BjJj5 ProNav: ac range: 545.200012 m, nav range: 607.979065 m, bearing: 17.308710 deg, approach rate: 0.116854 m/s, LOS rate: -0.069367 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809449 deg. 2j=l>:j=,@UHeadingCmd: 2.056163 target range: 545.200012 and range: 545.20 m. jYjYjYjYiYhahahihmhBfqfyfyrfbf% 3? IIM,jɛ]kB] Y]vI 3+ɚiI5K=Ii\i2;))*F=?2F9:F9BFEp4JFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.Hy>I III~BI&I.I>D6I<:I FG g;Gq B O >m\=w,N pA6?Y6=-@6:96c=y6H`W޿%"? J#? =v޿J?V?@a??ɨ6?6_0;6 CyB}BB$IIJIJJ5٢RPy Rp=9RQ V?TT VG٣TyZ ; Z?J\J\JbpJbiJb0J`JbA:Jbڈ9Jbـ3J`JbT;JbT;Jbh:Jbi: rNusing accuracyPremultiplier from configpv59r?v5Yr`E irRBtz@zG@rDr:r:rd5| ~A|Zj!%FNOT Ignoring new targets: 545.20 m.Bj-Jj-= ProNav: ac range: 545.200012 m, nav range: 608.017151 m, bearing: 17.286437 deg, approach rate: 0.110615 m/s, LOS rate: -0.064685 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.827741 deg. 2j=1:j=g@EHeadingCmd: 2.056482 target range: 545.200012 and range: 545.20 m. jAjAjAjIiIhIhIhIhQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991337zKBOK9KK K_lu_?   PBK:KqAfQf f rf bf qK?ɛU{B]t Y]$˾IY ]H,ɚYiYIeb_K=Iaim}_im;)i)iEy*F?2F:FBFo0JF =$?I9GM$;G) B1 OM >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243318uCDw,qA6?Y6'@6h<96=y6H@>޿ zO?)?@+^޿?K? hh jG٣hyj n> rNusing accuracyPremultiplier from configlr59nT흜?v5Yn~E inSBtv@vG@n%Dn;:n:n5x ~A~aEZj%FNOT Ignoring new targets: 545.20 m.Bj%Jj-= ProNav: ac range: 545.200012 m, nav range: 608.062500 m, bearing: 17.259685 deg, approach rate: 0.112373 m/s, LOS rate: -0.066285 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814307 deg. 2j=5:j=@EHeadingCmd: 2.056247 target range: 545.200012 and range: 545.20 m. jAjAjAjIiIhIhIhIhQfQfQfQrfQbf5?ɛ%B%f !%۾I! -}-ɚ)i)I->K=I1i5 i54;)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498845*F?2F:FBFn0JF G- @;G B ) I) O5 >mJw,+qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747336H I  I"II"~BI &I .I 6I"հ<:I" F?Y@}P:9=yHK&޿@w?r0?D޿ ?`H?C#??ɨ?.;騅!Cy}BImMb@Mb@Mb@iii i)iYmsh|??Mb`Zd;Oym)?mmjm5A mA)m3'AIm,Aiymf*AI@IV5٢j 0=9I:Q > G٣yTl > Nusing accuracyPremultiplier from config59 ᝜?5YlwE iUB*?: @G@/D;{;5 AZjFNOT Ignoring new targets: 545.20 m.BjJj ProNav: ac range: 545.200012 m, nav range: 608.121155 m, bearing: 17.231139 deg, approach rate: 0.126226 m/s, LOS rate: -0.061425 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808928 deg. 2j(:j@EHeadingCmd: 2.056154 target range: 545.200012 and range: 545.20 m. jAjAjIjIiIhh hhBfffrfbf`M?ɛBו 隕*I ,{/ɚiI"L=Ii iuE:))*F]?2FY:FaBFaJFaJK(3 K(.KK"KJmJdJ1JJ\8:J|9J3JJD;JD;J~:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999288zKFOKػ9KK KRK?JK>GE $;G B) OE >YQw,ҩEqA2?Y2ͫ@2G292L=y2H@ݿ@`?@jB?޿EH? -G?.?1?ɨ2?2B3;0y:}B>IIF,IF5 dId٢i f=9% ;Q ->)) -G٣-9Gy5#O 5> =Nusing accuracyPremultiplier from config9E59=ם?E5Y=qE i=VBIM@MG@=6D=:=7:="5Q UAYZjFNOT Ignoring new targets: 545.20 m.Bj}Jj} ProNav: ac range: 545.200012 m, nav range: 608.165283 m, bearing: 17.209210 deg, approach rate: 0.123591 m/s, LOS rate: -0.061413 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.828774 deg. 2j(:j@HeadingCmd: 2.056500 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbfb@ɛB I 0ɚiIL=Iiiu*))ErAEsA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252530*Fm?2Fi:FiBFu0JFqG}rA G}rAGe/:GB)OE0> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503452HWw,i_qA??Y|@x-9=yH@ݿ M?M?ݿr?f? &??ɨ??v ;騝$Cy}B IAAMb@Mb@Mb@ )YX9v?y&1|?Mby?`;6A AA)7'AI,Ay=*AI#I5٢6( /=9w$;Q > G٣y ʻ  > Nusing accuracyPremultiplier from config59$̝?5YFkE iYB?:i@%G@?D;y;1 5) -RA)MB*** querying acoustic contact ***jIjIZjQeFNOT Ignoring new targets: 545.20 m.BjeaJjeau ProNav: ac range: 545.200012 m, nav range: 608.221619 m, bearing: 17.182737 deg, approach rate: 0.121296 m/s, LOS rate: -0.056994 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815144 deg. 2juu:j}͙@HeadingCmd: 2.056262 target range: 545.200012 and range: 545.20 m. jjjjihhhh Bfffrfbf@w~@ $?I+jɛB, 隅cI 2ɚiIM=IiFi))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755525H9I9 I=II=~BI9&I9.I96I=6<:I=*F*FQ2FQ:FYBF]p0JFYGu ;GI BY Ou ><]w,wLyqA>L?Y>E@> (9>9=y>H #ݿm@#h?Z?1ݿpf??ˋ?@?ɨ>L?>Y;>"CyF}BJIJPJRAAJVnJVjJTJTJV|;:JV9JTJTJVJ;JVJ;JV:JV:Ij2Ij<5٢r= ru=9v;Q v?tt vG٣xyz% z? }Nusing accuracyPremultiplier from configy59}Ý?5Y}CfE i}ZB2@G@}FD}:}.:}@#5 "AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007339zKKK9KK K+3X( R 4BK:KsAZjIFNOT Ignoring new targets: 545.20 m.BjxJjx ProNav: ac range: 545.200012 m, nav range: 608.263489 m, bearing: 17.162771 deg, approach rate: 0.114006 m/s, LOS rate: -0.054361 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.834663 deg. 2j::jb@HeadingCmd: 2.056603 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbf@|@ɛUB]؁ ]$y=]IY ]gc4ɚYiaIeM=Iaim"&imH6)i)*F2F:FBF0JF IGxGyBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259257dw,_)qA:8 ?Y:#@:$9:(>y:H|nݿw@? b?ݿ㾖?`p??ظ?ɨ:8 ?:q;:#CyF}BDIR6IR5٢ZK ZN=9Z:Q Z>\\ bG٣b9Gyb> b> jNusing accuracyPremultiplier from configdj59f?n5Yf`E if\Bln@rG@fNDfA;f;f&5t v&AtZj FNOT Ignoring new targets: 545.20 m.Bj؈Jj؈- ProNav: ac range: 545.200012 m, nav range: 608.308838 m, bearing: 17.140973 deg, approach rate: 0.124461 m/s, LOS rate: -0.059820 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.829167 deg. 2j-7$:j5ϝ@5HeadingCmd: 2.056507 target range: 545.200012 and range: 545.20 m. j1j9j9j9i9h9hAhAhAfAfIfIrfIbfM _W @ɛuBu\ۮ y} Iy }5ɚyiIN=Iii))*F?2F:FBF`5JF"G=GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511934G%XGGGBO-> I H I  I II ~BI  =&I .I 6I ̰<:I FBIJIRIZI =bI =jIN4] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7633870jw,$qA2?Y2@20!92>y2H:Eݿ h&ǭ?m?`NWݿ? $? ,?`?ɨ2?2H;2"Cy>}B>IMb@Mb@Mb@ )YzG?Q?Mb`y ?u<5A )%AI,AyG)AI--I- 5٢=[= =A=9EJ ;Q E>AA EG٣IyԻ > Nusing accuracyPremultiplier from config59?5YZE iaB?:@%G@VDK(<(<n*5-ƒB 5A5dEZjQ]FNOT Ignoring new targets: 545.20 m.Bj]ytJj]yt ProNav: ac range: 545.200012 m, nav range: 608.360901 m, bearing: 17.117043 deg, approach rate: 0.116263 m/s, LOS rate: -0.053434 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822773 deg. 2j:j@HeadingCmd: 2.056395 target range: 545.200012 and range: 545.20 m. jjjjihhhhBfffrfbf@@ɛB% !% I! -7ɚ)i)I-fN=I1i5si58)1)1*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017840zK~OKKK K} h +:_D,G} GY By O >qw,jqA $?IR6v?YR[@Rb9R^>yRH-ݿ *`? !t?`6>ݿ@b֘?? vl?`?ɨR6v?Rɴ;R!CyZ}B^&IIfIf5٢n= nR=9r:Q z>II MG٣Iy, > Nusing accuracyPremultiplier from config59T?5YTE igB~@G@^D7::3.5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267250ZjFNOT Ignoring new targets: 545.20 m.BjsJjs ProNav: ac range: 545.200012 m, nav range: 608.411682 m, bearing: 17.093565 deg, approach rate: 0.115311 m/s, LOS rate: -0.053308 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824129 deg. 2jV:j^@HeadingCmd: 2.056419 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbf`@ɛB(ɢ TI p:ɚ!i!I%iO=I!i-i-ՉL))))J mJ fJ 0J J \8:J 9J ـ3J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519338E= lT=*F ?2F :F BF o0JF iIiG]-,Gm ?Gm ?HI III~BI&I.I6I<:I FM.~Ga}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771940GBO?zw,+qA BY@yB Byޝ~Bޝ8IMMb@Mb@Mb@III I)IYM7A`?Mbp?~jtx?yM?M;M;M6A I)M$AIMK+AIyIIe)Ie=5٢uj(= u<9}Q }>yy G٣9Gy > Nusing accuracyPremultiplier from config594?5YjLE ipB?:3@G@jDY;;35 "A bE%B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 545.20 m.Bj=tJj=tU ProNav: ac range: 545.200012 m, nav range: 608.477173 m, bearing: 17.059900 deg, approach rate: 0.108629 m/s, LOS rate: -0.055834 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793572 deg. 2j]F:j]@eHeadingCmd: 2.055886 target range: 545.200012 and range: 545.20 m. jajajajaiahahahihmBfqfqfqrfqbf}@ɛ B륽 隭I <ɚiIFP=Ii^i3I))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023269EJz=zK^OK9KK K*FU ?2FY :FY BF] g0JFY I G- KG BO->Ђw,[ rA6?Y6B@6796>y6H pܿ3V??Iݿ?%? ?@k?ɨ6?6v;6"CyB.~BBQIIN+IN5٢V= VI=9Vs;Q Z>XX ^G٣\y^z ^> bNusing accuracyPremultiplier from config`f59bH?f5YbFE ibvBhj@jG@bqDb ;b ;b 75l nwArdE~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275592ZjFNOT Ignoring new targets: 545.20 m.Bj%wJj%w ProNav: ac range: 545.200012 m, nav range: 608.518127 m, bearing: 17.038469 deg, approach rate: 0.103515 m/s, LOS rate: -0.054163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.830269 deg. 2j:j @HeadingCmd: 2.056526 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbf K@ɛ}+B}9 y隅 I >ɚiIP=Ii@iC))EE*E"EJnJiJJJ|;:Jڈ9JJ*F ?2F :F BF o0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528234G% hAG B  $?I *jO >'`w,R'rAF,?YFV@FC9Fz >yFH ܿ@N7hf?a?@Wܿ?e???ɨF,?FZև;F!CyRM~BRdIUMb@Mb@Mb@QQQ Q)QYUrh|?MbPQ?yU?UUuAA EG٣E9GyMm M> UNusing accuracyPremultiplier from configQHaIa IeIIe~BIe =&Ia.Ia6Ie<:Ie F}59UA?}5YU@E iUB?:;@G@U{DUN;U;U?;5 AZjFNOT Ignoring new targets: 545.20 m.BjJj ProNav: ac range: 545.200012 m, nav range: 608.566711 m, bearing: 17.011330 deg, approach rate: 0.100619 m/s, LOS rate: -0.056203 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813144 deg. 2jI:j:@HeadingCmd: 2.056227 target range: 545.200012 and range: 545.20 m. jjjjihhhh6Bfffrfbfb&@ɛ%7B%+8 !%pI) -e@ɚ)i)I-hQ=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.783754IiQxiq))EsAE*Fm?2Fi:FiBFm|0JFiGMZsGB O-p> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035346y:HܿS5 |?@6?ܿ@???h5? ?ɨ:?:B;: Cyf~BfI hj%=In*Inv5٢v> vW=9z#Q z>xx zG٣|y~]: ~>  Nusing accuracyPremultiplier from config 59{? 5Y:E iB@@G@DL::a>5 2AZjFNOT Ignoring new targets: 545.20 m.BjXhJjXh I  ProNav: ac range: 545.200012 m, nav range: 608.603088 m, bearing: 16.991096 deg, approach rate: 0.091304 m/s, LOS rate: -0.050783 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.833858 deg. 2j h :j '@]HeadingCmd: 2.056589 target range: 545.200012 and range: 545.20 m. jYjajajiihhhhfffrfbf}@ɛ%CB%D 隭I aBɚiIw R=Iiic))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288703*F?2F:FBFp0JFG sG B O >gw,ZrA>?Y>%@>h9> >y>Hjܿl5Ԙ?M?Yܿ՜?!?RP? ?ɨ>?>hˆ;:Jb9J`J`I'I̲5٢-d= -F=9-~,Q ->11 5G٣1y=H => ENusing accuracyPremultiplier from configAM59Eq?M5YE5E iEBIU:@UG@EDE7:E:EA5Y ]AYZjFNOT Ignoring new targets: 545.20 m.BjJj ProNav: ac range: 545.200012 m, nav range: 608.644897 m, bearing: 16.967829 deg, approach rate: 0.113674 m/s, LOS rate: -0.063255 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824761 deg. 2j-:j@HeadingCmd: 2.056430 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbf`6@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539579ɛLBHV +I YCɚiIR=IiHJiOK))*F?2F:FBF`5JF I)jGm{HyIy I}II}9BIy&Iy.Iy6I} <:I}FGa Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791435O >w,ܻtrA:?Y: @:9:$u >y:HܿL/X?`݀?3 ݿ^? B?@]?`0?ɨ:?:M ;:#CyB~BBIMb@Mb@Mb@ )Y(\?Mb?y'?<7A A)b&AIG+Ayp)AI-I-\5٢== EI=9EQ E>II MG٣M9GyM.a; U> ]Nusing accuracyPremultiplier from configYe59]h?e5Y].E i]Bm'?m:m@mG@]D]Q:;]8;]E5}ŒB }A}eEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 545.20 m.Bj-Jj-M ProNav: ac range: 545.200012 m, nav range: 608.683411 m, bearing: 16.943044 deg, approach rate: 0.090827 m/s, LOS rate: -0.058447 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820207 deg. 2jMr :j?@HeadingCmd: 2.056350 target range: 545.200012 and range: 545.20 m. jjjjihhhh~Bfffrfbf  W@ɛ5XB5 9=I9 =+dEɚ9i9I=&S=IAiEK4iOu))Ei>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044270*F%?2F!:F!BF%i5JF!zKN KK]9KK K $?IGe k}GA BQ Om >Byw,ёrA &Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296168:!?Y:ͯ@: 9:U= >y:Hݿ +|?}?@ݿ?`+?`4v? ?ɨ:!?:;:!Cyr~BrItvAIzIz5٢= N=9ZQ  >    G٣ y; > Nusing accuracyPremultiplier from config%59^?%5Y(E iB!-@-G@DL:L:H51 5CA1ZjYeFNOT Ignoring new targets: 545.20 m.BjeJje} ProNav: ac range: 545.200012 m, nav range: 608.721069 m, bearing: 16.918949 deg, approach rate: 0.099425 m/s, LOS rate: -0.063611 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822276 deg. 2j}.:j}כ@HeadingCmd: 2.056387 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbf;l@ɛbB7: I FɚiIS=Iiil))*F?2F:FBFS2JFJnJgJJJ|;:J9JJGwWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549086GBO> I ߢw,jrA2'g?Y2@2Xy'92[ >y2HR&ݿ"?`Eu?7ݿE?? y?b?ɨ2'g?2u;2#Cyb)BbIMb@Mb@Mb@ )Y(\?X9v?yz4?6A lA)%AI,AyI I5٢= ==9cwQ > G٣y1; > Nusing accuracyPremultiplier from config59T?5YC!E iB4?:q?G@Da;;L5  AHuz>Iq Iu:IIuBIq&Iq.Iq6Iu<:IuFZjFNOT Ignoring new targets: 545.20 m.BjJj ProNav: ac range: 545.200012 m, nav range: 608.760498 m, bearing: 16.890550 deg, approach rate: 0.087471 m/s, LOS rate: -0.062999 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809363 deg. 2j ,:j %@5HeadingCmd: 2.056161 target range: 545.200012 and range: 545.20 m. j9j9j9j9i9h9h9hAhEBfAfAfIUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.799446rfIbfmMG@ɛoB wھI THɚiI1T=I i [iN))*F?2F:FBF5JFG JiG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051287w,KrA2?Y2@2-92 >y2H:ݿ= ?to?6Oݿ@b,?]??@-?ɨ2?2;2!Cy>YB> IzKNJKNs9KLKN KNIJIJԨ5٢Z> Z_=9^}rQ ^>`` bG٣b9Gyb>; f> jNusing accuracyPremultiplier from configdj59fK?E5YfE ifBAM?MG@fDf෶w,-rA6?Y6@6'496 >y6H@]ݿ`E?e?uݿ4?d?@??ɨ6?6k;6#Cy>vBBI Fp=Fp=IHIH٢^= ^J=9bQ f>ll nG٣pyv; z> Nusing accuracyPremultiplier from config-59@?-5YE iB)5?5G@D;U;S5A ERAIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559755ZjFNOT Ignoring new targets: 545.20 m.BjPJjP- ProNav: ac range: 545.200012 m, nav range: 608.833374 m, bearing: 16.839348 deg, approach rate: 0.091990 m/s, LOS rate: -0.063958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813206 deg. 2jM/:jU?@UHeadingCmd: 2.056228 target range: 545.200012 and range: 545.20 m. jQjYjYjYiYhYhYhahafafafrfbfP3!@ɛB ɾI JɚiIU=IiiNS))*F?2F:FBFe0JF e$?Ie(jHaIa IexIIeBIa&Ia.Ia6Ie<:Ie FBIJIRIZIbIjIӗ4Gf A Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812431G B O >!޼w,rA:,?Y:5@:<9:!>y:Hm|ݿ@s?\?ݿ$V?@L?{? |?ɨ:,?:;:"CyVBV7I=Mb@Mb@Mb@999 9)9Y=Zd;?X9vS㥛?y=>?=}=/<=7A ==A)=$AI=-A9y=*AIUIU5٢u= }@=9.Q > G٣y; > Nusing accuracyPremultiplier from config596?5Yk E i̱B??:>?G@D;;EW5 AeEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 545.20 m.BjqJjq  ProNav: ac range: 545.200012 m, nav range: 608.864380 m, bearing: 16.809799 deg, approach rate: 0.077724 m/s, LOS rate: -0.074069 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805913 deg. 2j UK:j )@HeadingCmd: 2.056101 target range: 545.200012 and range: 545.20 m. jjjjihhhhBfffrfbf"@ɛB @I %Lɚ!i!I%uU=I)i-Ti-/)))QJJBAJrJJJJG:JJJJ_;aJ_;aJ=:aJ?:aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063595*F?2F:FBFn0JFzK5iJK5 9K1K5 K5BKA:KErA YIYG- G B O= >fw,sA&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317208V?YVc@VE9VhL>yVHߣݿ`&?@Q?ݿ??@O??ɨV?ViՈ;V!CybBbGIIjIj5٢rm= rS=9vQ v>tt zG٣xyz; z> eNusing accuracyPremultiplier from configam59e1-?m5Ye;E ieױBim?uG@eDe:eT:eZ5 .AhEZjFNOT Ignoring new targets: 545.20 m.Bj Jj  ProNav: ac range: 545.200012 m, nav range: 608.894348 m, bearing: 16.782136 deg, approach rate: 0.074376 m/s, LOS rate: -0.068650 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.811574 deg. 2j%t<:j%ǘ@%HeadingCmd: 2.056200 target range: 545.200012 and range: 545.20 m. j)j)j)j)i)hQhQhQhQfYfYfYrfYbf]j"@ɛ-B-Ĉ 15I1 =mNMɚ9i9I=U=IAiEiEu)A)I*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567232G G- ?G- >G B1 O} > I Cw,̷)sAN?YN͏@N*N9NT>yNHݿ`.?@F?*ݿ?@y©?>??ɨN?N;N$CyfBf\I) m-GHI III:BI&I.I6Iذ<:I F %FY!y%?AMb@Mb@Mb@ )YK7?333333 rh?yI?C<6A lA)#AI.Ay)AII٢= 0=9՜Q > G٣9Gy; > Nusing accuracyPremultiplier from config59!?5YD iBJ?:?G@D;;^5 AMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.819379ZjFNOT Ignoring new targets: 545.20 m.BjJj ProNav: ac range: 545.200012 m, nav range: 608.928284 m, bearing: 16.748692 deg, approach rate: 0.073945 m/s, LOS rate: -0.072872 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794228 deg. 2j H:jғ@HeadingCmd: 2.055897 target range: 545.200012 and range: 545.20 m. jjjjihhhh Bfffrfbf#@ɛEBe imIi mNɚiiiIm[-V=IqiuW iuau^)y)y%PExceeded connect timeout, disconnecting.*F]?2FY:FYBFYJFYJ nJ iJ J J |;:J ڈ9J J J J;J J;J h:J i:G  Will construct direction to contact in vehicle frame from tetrahedron phase data. w,΍CsAyrBraIII5٢< j=9Q >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)559-?zK=&(KK=]9K9K= K= 5]5Y-D i-BYY]G@-D-;-;-a5a mAiZjFNOT Ignoring new targets: 545.20 m.BjQJjQ ProNav: ac range: 545.200012 m, nav range: 608.954651 m, bearing: 16.722833 deg, approach rate: 0.077256 m/s, LOS rate: -0.075764 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816983 deg. 2jO:jS@HeadingCmd: 2.056294 target range: 545.200012 and range: 545.20 m. jjjjihhhhfff!rf!bf%f$@ =$?I9ɛmBm?_ im]I OɚiIXV=Ii? ivq))*F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uw,g]sAyeBerIIuIu5٢{= C=9Q > G٣y > Nusing accuracyPremultiplier from config59y?5YD iBH@DP:;:be5Will construct direction to contact in vehicle frame from tetrahedron phase data.m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Response Not Received u *response not received} ,DAT read: user:1230> - y6Hw޿/?? ޿e G٣9Gy< > Nusing accuracyPremultiplier from config59m?5YeD iBR?:i?H@D;};i5 AB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 545.20 m.Bj5bJj5bM ProNav: ac range: 545.200012 m, nav range: 609.021362 m, bearing: 16.659837 deg, approach rate: 0.084123 m/s, LOS rate: -0.077104 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798559 deg. 2jMS:jM@UHeadingCmd: 2.055973 target range: 545.200012 and range: 545.20 m. jQjQjQjQiQhQhYhYh]"BfYfafarfabfm &@ɛʀBX_ 隝I 1RɚiIW=IiVia;))JurJuhJqJqJuG:JuȆ9JqJqJu_;Ju_;JuӬ:JuԬ:*F]?2FY:FYBF]`5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:19:25.1857 $Ping request sent.LKM9KIKM KMWgf]VSRPPOLIC@>@=9543.++'$"  I GxGa B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250584*w,zsA~?Y~v@~5{9~lr >y~H޿`ٳ 1? ? ޿V։?_[?s?@?ɨ~?~ ;~ Cy B~II-I-5٢=6< =T=9=㒻Q =>AA EG٣AyE; M> UNusing accuracyPremultiplier from configQ]59U+?]5YUD iUBY]?eH@UDU :U:Ufl5i mAqZjFNOT Ignoring new targets: 545.20 m.Bj Jj  ProNav: ac range: 545.200012 m, nav range: 609.054382 m, bearing: 16.630251 deg, approach rate: 0.085931 m/s, LOS rate: -0.076991 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805802 deg. 2jZS:j!@HeadingCmd: 2.056099 target range: 545.200012 and range: 545.20 m. jjjjihhhhfff)rf)bf-&@ɛ}րB} y}"˾Iy ~SɚiIWSW=Iii<))*F%?2F!:F!BF%C5JF!G;GBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502628  $?I HOw,=sAy= B=IHI III|BI =&I.I6Ḭ<:I F- only read 2 of 4 data items for bottom velocity. Device response is::BS, 835, -4,A   @   @   @   @ II45٢%; -==9-Q ->11 5G٣1y= => EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from configAM59E휜?M5YED iEBU+:QUQ:QUH@E DEs:;Ex>Ewo5a eAmkEZjFNOT Ignoring new targets: 545.20 m.BjJj ProNav: ac range: 545.200012 m, nav range: 609.091614 m, bearing: 16.597046 deg, approach rate: 0.085564 m/s, LOS rate: -0.076306 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794947 deg. 2jyQ:j@HeadingCmd: 2.055910 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbfg'@ɛB  ־I TɚiI2W=I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754672i5iLN;))!E)*F2F:FBF5JFGsA GsAG-;G J oJ fJ 1J J >:J 9J 3J J |O;J ~O;J :J :B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0066266w,sA: ?Y:~@:-39:=y:HA޿? ?޿k?#?`U?Ѳ?ɨ: ?:ّ;:!CyF BF~IJAJALN@AIRIRW5٢V Vf=9Z4Q ^>`` bG٣b9Gyb: f> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f,䜜?n5YfD ifBr :pr):r?rH@fDf7;fJ?fq5t vAzhEZjFNOT Ignoring new targets: 545.20 m.BjJj- ProNav: ac range: 545.200012 m, nav range: 609.122559 m, bearing: 16.569723 deg, approach rate: 0.087200 m/s, LOS rate: -0.076989 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812593 deg. 2j-XS:j5@=HeadingCmd: 2.056218 target range: 545.200012 and range: 545.20 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfUe(@zK} NK} 9KyK} K}ɛB0 隕I 6VɚiIW=Iiiq<)) I*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258686G51X<GBO5>"dw,.sA6إ?Y6+r@696=y6H޿?g ?j޿\b?*?@)5?@?ɨ6إ?6>;6"CyB BB}IININq5٢V\ VJ=9Z+eQ Z>XX ^G٣\y^ ^> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59bvٜ?j5YbD ib!Bj9ln :n?nH@bDb:;b?bbs5p rApZj  FNOT Ignoring new targets: 545.20 m.Bj3Jj3% ProNav: ac range: 545.200012 m, nav range: 609.157471 m, bearing: 16.538818 deg, approach rate: 0.086520 m/s, LOS rate: -0.076587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801845 deg. 2j->R:j-@-HeadingCmd: 2.056030 target range: 545.200012 and range: 545.20 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfE 4)@ɛmBmގuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510687 I TWɚiIX=I!i%Ci%";)!))*F2F:FBFJF $?I&jHI IIIBI =&I.I6I<:I FG GB% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762716O] >=w,sAy~B~zI        Mb@Mb@Mb@ )YGz?sh|? rhyP?C A)Q"AI,Ayz(AII5٢= :=9Q > G٣y > Nusing accuracyPremultiplier from config59͜?5Y.D i&BT:Q?:R?H@(DM;}K;= Will construct direction to contact in vehicle frame from tetrahedron phase data.= Ai= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267273rw,tAj݊?Yjd@jڊ9j=yjH}޿? ?@޿ W? v??ɨj݊?j'N;j%Cy B vI ==I%I%M5٢5i 5U=95 Q =>99 =G٣E9GyE E> MNusing accuracyPremultiplier from configIU59MMÜ?U5YMD iM,BY]8?eH@M2DM;;M<;Mz5i mAiZjFNOT Ignoring new targets: 545.20 m.BjJj ProNav: ac range: 545.200012 m, nav range: 609.232910 m, bearing: 16.475724 deg, approach rate: 0.091739 m/s, LOS rate: -0.076758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806464 deg. 2jR:jQ@HeadingCmd: 2.056111 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfbf*@ɛB 隥I N[ɚiI»X=Iii_;)))*FE?2FA:FABFEp0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518801Ge ;GI Bq I O >ҡ w,$,tAB`?YBog@Bց9Bu=yBHp޿b0? ?@޿Ṯ? ?߬?ɨB`?B֐;B"CyNBNcIH={>I9 I=II=BI= =&I9.I96I=<:I= FBIJIRIZIbIjI54Mb@Mb@Mb@ )YuV?x&~jtyrH?72A )AIy&AIIe5٢d B=9Q > G٣y@9 > Nusing accuracyPremultiplier from config59?5YD i2B=I?:Y?H@=D;;F~5ĒB mAhEZjFNOT Ignoring new targets: 545.20 m.BjJj- ProNav: ac range: 545.200012 m, nav range: 609.275574 m, bearing: 16.444806 deg, approach rate: 0.101174 m/s, LOS rate: -0.073314 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801810 deg. 2j-BI:j5@=HeadingCmd: 2.056030 target range: 545.200012 and range: 545.20 m. j9j9j9jAiAhAhAhhBfffrfbf@+@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865ɛ- B-^M )-+I) 52N]ɚ1i1I5'Y=I9iEiea;)a)i*F?2F:FBFo0JFG] &;G9 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022554w,t_FtAb'u?YbY@b9b>ybHr޿ g?`%?v޿P]?s?ܪ?ɨb'u?be;b CyvBzbIII٢=Ż MR=9MaKQ M>QQ UG٣Q $?IzKJK+9KK Ky > Nusing accuracyPremultiplier from config590?5YD i8B??H@GDL::ρ5ÒB rAkEZjYeFNOT Ignoring new targets: 545.20 m.Bjm<Jjm< ProNav: ac range: 545.200012 m, nav range: 609.316406 m, bearing: 16.415151 deg, approach rate: 0.098861 m/s, LOS rate: -0.071793 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805599 deg. 2jE:j@HeadingCmd: 2.056096 target range: 545.200012 and range: 545.20 m. jjjjihhhhfffrfibfuT,@ɛ-BĽ HI o_ɚi)I-kY=I1i=Pi=5;)9)aEuV>Eu>*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279376G ;GY Ba O >Ѯw,m9`tAJpJiJJJA:Jڈ9JJa@a@a@a@ >Ds?Y>X@>4B9>p>y>Hdq޿@l? ?`޿zh@7d? x?@?ɨ>Ds?>WQ;>"CyJBJVILLIRIR5٢ZB ZT=9^=Q ^>`` bG٣b9Gyb f> jNusing accuracyPremultiplier from configdj59fS?n5YfD ]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:20:19:28.2830 eTRx dataTimestamp_ set to:1736367569.548589mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527628if=Biu=?uH@fPDfw,EztA68?Y6;@6˓96N=y6HW޿2 c?@? ޿\n@^u?ѿ??ɨ68?6;4yBBBQIIJ IJ5٢R% VK=9V+Q V>XX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\j59^?n5Y^JD i^CBtv?vH@^ZD^;^;^5 AeB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 545.20 m.Bj6Jj6 ProNav: ac range: 545.200012 m, nav range: 609.394043 m, bearing: 16.358663 deg, approach rate: 0.091033 m/s, LOS rate: -0.066537 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806227 deg. 2j6:j@@HeadingCmd: 2.056107 target range: 545.200012 and range: 545.20 m. jjj!j!i!h!h!h)h)f)J1J5AAfIfQrfQbfU/.@ɛFB"ν /I vcɚiIL5Z=Iii;))mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 20:19:28.2830 LVL= 32752, 26017, 22450, 32755, AGC= 71, IDX= 69, 0.06,-1.744,-2.623,-0.931,-1.722, PHS= 0.065,-0.854, 0.788, RAW= 176.0, 0.0, CAL= 176.8, -8.0, ROT= 333.2, 8.0 Ygot valid direction response: 20:19:28.2830 LVL= 32752, 26017, 22450, 32755, AGC= 71, IDX= 69, 0.06,-1.744,-2.623,-0.931,-1.722, PHS= 0.065,-0.854, 0.788, RAW= 176.0, 0.0, CAL= 176.8, -8.0, ROT= 333.2, 8.0 PDAT read: Bearing 333.2, 8.0 (Local) ~Local bearing/azimuth received: Bearing 333.2, 8.0 (Local) DAT read: Range 10 to 50 : 519.7 m (Round-trip 693.0 ms) speed 0.4 m/s ,DAT read: user:1231> BDAT read: Tx time:20:19:29.3858 $Ping request sent.qqu @?_)?'yq%mA0?)uwz?Iui iu+տu2,qq:publishing transmit ping timeFpublishing direction and range infoq9u<^ wg6?yqqqq q)qIqiqqqqq q)qIqiqqqu @?_)?'yq%mA0?)qIqiqqqq*F2F:FBF0JF I$jzKVBJK 9KK KBK:KG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:20:19:29.3850 $w,gtAb-?Yb06@b㔽9b=ybHR޿`U@P??`׬޿ZsE?8??ɨb-?b;b#CyjBnNIIvIv)5٢~H =E=9MQ M>Qy G٣y}I > Nusing accuracyPremultiplier from config59㌜?5YD iJB?H@eD;/;h5! %A!k*n8?kl/ k kOZtA:kDBkDZk>"^\cHݐ$M@<^ wg6?Jk+տRk2,*Љ|}@Tji@dʭ"CАq?/_* ?X$K"kTKC*kCkZ9?k/>/ 2kZBkC3Z?kF1 kkDk_> addTargetRange:: Added new target pos. range: 519.700012 m, deltaT: 15.128488 s, deltaX: -25.500000 m, approachRate: -1.685562 m/s, rangeRepo size: 4  Added new target pos. range: 519.700012 m, bearing: 23.035904 deg, lat: 36.910402 deg, lon: -122.122661 deg, deltaT: 15.128488 s, deltaX: -25.500000 m, approachRate: -1.685562 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 519.70 m.BjJj] ProNav: ac range: 519.700012 m, nav range: 604.478516 m, bearing: 17.611003 deg, approach rate: 0.000000 m/s, LOS rate: -0.066537 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813921 deg. 2jY:j]s@eHeadingCmd: 2.056241 target range: 519.700012 and range: 519.70 m. jajajajiiihhhhfffrf=@bf@?ɛMRBUNMؽ Y]6IY ezEfɚaiaIeZ=Ii i*ޖ;))JAJEgJE0JAJAJE9JEـ3JA*FQ2FQ:FQBFU1JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data. } $?Iy G CQ;G! G! G B9 O >+w,䠮tAHBz>I@ IBIIBgBI@&I@.I@6IB<:IB FV{6?YV|:@V薽9V(=yVHU޿`h???޿ȃز?@_??ɨV{6?V;V$CybBb@I @ @ @  @ II5٢e? 5=9 ,Q  > G٣9Gy: > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59?-5YD iQB5+:15Z:5?5H@pD6;>i59 =JA9mWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjyFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 604.513855 m, bearing: 17.579586 deg, approach rate: 0.087100 m/s, LOS rate: -0.077427 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800312 deg. 2jT:j@HeadingCmd: 2.056003 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf|?ɛ^B 隕dBI hɚiI [=IiZii;))*F}?2Fy:FyBF}`5JFyG @; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >X2w,itA6?Y6@6nٗ96 =y6H 5޿`'Z? ?`R޿)c@?\?x?ɨ6?6$;6#C TITyZBZ>IIfIf5٢je n`=9n&Q n>pp rG٣pyvʻ v> zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configxu59zw?u5YzD izWB} :y}1:}?}H@zyDz1J rJ jJ 1J J G:J 9J 3J -8w,JtAJv?YJz@J4ϙ9Jd=yJH E.޿`,`}??޿P`F5?6??ɨJv?JA;HyVBVBII^I^5٢f^< fK=9jQ j>hhnWill construct direction to contact in vehicle frame from tetrahedron phase data. rG٣pyr v> zbBottom track data is 1.2 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~59vKm?~5YvLxD iv]B9:?H@vDvl;v?v`5’B =AnEZj9EFNOT Ignoring new targets: 519.70 m.BjEǯJjEǯ] ProNav: ac range: 519.700012 m, nav range: 604.576843 m, bearing: 17.522699 deg, approach rate: 0.085258 m/s, LOS rate: -0.076838 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804784 deg. 2j]R:j]֖@eHeadingCmd: 2.056081 target range: 519.700012 and range: 519.70 m. jajajajaiahahihihififqfqrfqbf} ?ɛtBSg 隭LI  mɚiI\=Iii/;))*Fq2Fq:FqBFu`0JFq $?IHI IIIXBI&I.I6I<:I FG$;G?G>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.V>w,$tA23?Y2%@2|䗽92=y2HݿP?@2?`%B޿f ?Z??ɨ23?29B;2 CyBBBCI        Mb@Mb@Mb@ )Y#~j?~jty&1y%?D`e,A -A)AI(Ay3#AI-I-5٢]; <=9: ;Q > G٣9Gy E > Nusing accuracyPremultiplier from config59b?5YqD idBT:%?:@H@D{!;Y;(5 5AB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 519.70 m.Bj%Jj%= ProNav: ac range: 519.700012 m, nav range: 604.623108 m, bearing: 17.496509 deg, approach rate: 0.106975 m/s, LOS rate: -0.060554 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815991 deg. 2j=;&:j= @EHeadingCmd: 2.056277 target range: 519.700012 and range: 519.70 m. jAjAjAjAiAhIhIhIhM(BfQfQfQrfYbf]k?ɛB= 隍RI pɚiI\=Iii@>))*F 2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. I#jG- M5;zKOK 9KK K52/-("!""    G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258785=Ew,uAbi?Yb@b͖9br=ybHݿn?`??D޿[ղ?ž?=?ɨbi?bg;b"CynBnMIIv Iv5٢(= W=9r:Q >    G٣ y  > %Nusing accuracyPremultiplier from config559/Y?=5YkD ikBAM}@MH@Ḏ;;|5Y eAekEZjFNOT Ignoring new targets: 519.70 m.BjNJjN ProNav: ac range: 519.700012 m, nav range: 604.663147 m, bearing: 17.473445 deg, approach rate: 0.103450 m/s, LOS rate: -0.059585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.825372 deg. 2j#:j@HeadingCmd: 2.056441 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf@@ɛBm  HTI  +sɚ i I <@]=IiiѠ))*F-?2F):F)BF-j0JF)JsJJ0JJK:JJـ3J=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510291GupGI BY I O >jKw,/uAH"y>I  I I I &I .I 6I"<:I" F@?Y?@&9=yH`Fyݿ@ ?@O?@ݿ傁`?`P??ɨ@?q;yMBMPI%Mb@Mb@Mb@!!! !)!Y%?MbpMbpy% ?%%%.A %A)!I%)A!y%\#AI=I=(5٢M+< M7=9U:Q U>QY ]G٣Yy] ]> eNusing accuracyPremultiplier from configam59exN?u5YefeD ietBu ?u:u@uH@eDe;e;ec5B AnEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762289ZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 604.710144 m, bearing: 17.447447 deg, approach rate: 0.106429 m/s, LOS rate: -0.058871 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816568 deg. 2j!:j5@HeadingCmd: 2.056287 target range: 519.700012 and range: 519.70 m. jjjjihhhh8Bfffrfbf@V@ɛB AEYIA EYbvɚIiIIM]=IIiU`Ee>*F?2F:FBFn0JF"G=G=G ԑG% rAG! M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016493G B! O= >>PRw, IuA I: ?Y:@:j9:|=y:HYݿK?W?ݿn.?@?5?ɨ: ?:z ;8yJBJ^IIRIRy5٢Z= Zi=9Z:Q ^>\` bG٣b9Gyb̻ b> jNusing accuracyPremultiplier from configdj59fF?n5YfB`D if{Bln@nH@fDf(;f;ft5t v}AtZjFNOT Ignoring new targets: 519.70 m.BjJj%5 ProNav: ac range: 519.700012 m, nav range: 604.746704 m, bearing: 17.426981 deg, approach rate: 0.104693 m/s, LOS rate: -0.058602 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.833163 deg. 2j5 :j5@HeadingCmd: 2.056577 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbfWK @zK5iMK59K1K5 K5 ɛ]B] YeXIa e*xɚaiaIe}^=IiimaimZ)i)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266275G ;3G B O >yXw,cuA:?Y:@:9:ab=y:H A2ݿ@@?`b?ȍݿ~o?@HC? B?ɨ:?:B ;:%CyBBFnIININҪ5٢V = VK=9Vˁ:Q V>XX ZG٣Xy^2޻ ^> bNusing accuracyPremultiplier from config`f59bIQ IUIIUgBIU =&IQ.IQ6IQ:IU FBIJIRIZIbIjI;5Gu׹G1B9O]>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:19:32.4890 TRx dataTimestamp_ set to:1736367573.840787checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771459^w,j}uA6i?Y6@6|֒96x=y6H2ݿ`}#3?kh?uݿ@z~ V?@F?o?ɨ6i?6;6"Cy^B^IMb@Mb@Mb@ )YMb?Mb`{Gz?y ?#<-A )AI(Ay"AIIզ5٢= ;=9"_:Q > G٣yy > Nusing accuracyPremultiplier from config592?5YSD iB ?:@H@D4X;W;ʨ5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.70 m.BjمJjم- ProNav: ac range: 519.700012 m, nav range: 604.832886 m, bearing: 17.378007 deg, approach rate: 0.102719 m/s, LOS rate: -0.058511 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818000 deg. 2j- :j-@5HeadingCmd: 2.056312 target range: 519.700012 and range: 519.70 m. j1j9j9j9i9h9h9hAhEGBfAfAfIrfIbfM@ɛ}Bs 隅UI q~ɚiIn_=JrJkJJJG:J9JJJ_;aJ_;aJ:aJ:aIiEiCS))EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023709*FM?2FI:FIBFM0JFIGQ GUrA 1I1GmI6zKKK]9KK K  @GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:19:32.4890 LVL= 31168, 32753, 19314, 32755, AGC= 71, IDX= 499,-0.27,-1.277,-2.133,-0.492,-1.292, PHS= 0.102,-0.794, 0.796, RAW= 175.8, -1.5, CAL= 176.8, -9.2, ROT= 333.2, 9.2  Ygot valid direction response: 20:19:32.4890 LVL= 31168, 32753, 19314, 32755, AGC= 71, IDX= 499,-0.27,-1.277,-2.133,-0.492,-1.292, PHS= 0.102,-0.794, 0.796, RAW= 175.8, -1.5, CAL= 176.8, -9.2, ROT= 333.2, 9.2  8DAT read: $Error in header  *Received a bad headerU X#Rx 1: Read direction message, but no range.] `direction in FSK: [-0.064763,-0.990831,0.118574]ع 9ؽ NN xP_)~Z?ع ؽ yؽ  ٽ rK)ٹ Iٹ iٽ `=ٽ CKٽ K?ٽ ^D@ٽ Pwּ ڹ )ڽ l$Iڹ iڽ l$>ڹ ۽ ϤJ_?;6Mpu?B)۽ Vy?I۽  G٣9Gyκ > Nusing accuracyPremultiplier from config59'?5YmMD iBs@H@D;;5 AZjaeFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 604.878174 m, bearing: 17.352138 deg, approach rate: 0.100347 m/s, LOS rate: -0.057314 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816957 deg. 2jV:jQ@HeadingCmd: 2.056294 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf`@ɛUǁBUL QUQIQ ]%ʀɚYiYI]s`=IaietieZ))*F?2F!:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse  $?I "j) = XC} ~G vA Y vAy FBG KH I  I II BI =&I .I 6I <:I FGQ Ba O} >Zlw,ҳuAB_-?YB@Bᒽ9B>yBHܿ`&@o?-o?=[ݿz@8X?`?`h?ɨB_-?B;@yN;BRI-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseEMb@Mb@Mb@AAA A)AYEQ? G٣y5 > Nusing accuracyPremultiplier from config59!?5Y'GD iB)?:@H@D;'!;)5 -AZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 604.914490 m, bearing: 17.327433 deg, approach rate: 0.092558 m/s, LOS rate: -0.062961 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.820447 deg. 2j,:jQ@HeadingCmd: 2.056355 target range: 519.700012 and range: 519.70 m. jjjjihhhhPBf!f!f!rf!bf%p@ɛӁB`8 隝KI $ɚiIua=Iii k))*Fq2Fq:FqBF}1JFyJyJ}jJyJyJyJ}9JyJyJyJyJ}:J}:Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG SG B O > I 9sw,juA:,?Y:@::S9:N*>y:H?ܿ$?&o?[ݿIqvVf?N?ߧ?ɨ:,?:';:"CyFJBFIININF5٢V= VZ=9VQ V>XX ZG٣XyZ ^> jNusing accuracyPremultiplier from configdj59f<?n5YfBAD ifBln@nH@fDf;f;fs5t vAtZj FNOT Ignoring new targets: 519.70 m.BjJj- ProNav: ac range: 519.700012 m, nav range: 604.948669 m, bearing: 17.304230 deg, approach rate: 0.091119 m/s, LOS rate: -0.061855 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824949 deg. 2j-):j-@5HeadingCmd: 2.056433 target range: 519.700012 and range: 519.70 m. j1j1j1j1i1h9h9h9hAfIfIfQrfQbf]c@zK}.LMKyKyK} K},9c^[^a`VI:!bP:'y B  t"c)fuLl@ɛ܁BZ. 2II )GɚiI a=I iiÍi))1*F?2F:FBFM5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseGiGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsedyw, cuA:S?Y:g@:Ƌ9:>y:H ,ܿ!`"? dq?`Sݿe;p`cm?`U??ɨ:S?:;: CyF]BFIININ+5٢ZE= ZI=9^dQ ^>`` bG٣b9GybǺ f> jNusing accuracyPremultiplier from configdj59f ?n5Yf:D if²Bln@nH@fDf ;f ;f5vB vAvqE IZj FNOT Ignoring new targets: 519.70 m.Bj]Jj]m ProNav: ac range: 519.700012 m, nav range: 604.985352 m, bearing: 17.279288 deg, approach rate: 0.084020 m/s, LOS rate: -0.057125 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819736 deg. 2jm:jm@HeadingCmd: 2.056342 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf`@ɛBB} tEI OɚiI\Nb=I i5i5Ts)9)9*F?2F:FBF65JFHy>I ILIIBI =&I.I6I<:I F]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseGM שhG! B9 Ou >xOw,QMvAynxBnIJ9J=nJ9J9J9J=99J9J9J9J9J=R:J=S:Mb@Mb@Mb@ )YS?QS㥛?y/?/<.A A)I(Ayf"AIIM5٢= 9=9Q > G٣y > Nusing accuracyPremultiplier from config59S?5Y3D iӲBh/?:?H@D#;!;պ5 EA %B*** querying acoustic contact ***j!j!Zj1=FNOT Ignoring new targets: 519.70 m.Bj=nJj=nU ProNav: ac range: 519.700012 m, nav range: 605.021545 m, bearing: 17.251070 deg, approach rate: 0.088275 m/s, LOS rate: -0.068818 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809908 deg. 2jU<:jUM@]HeadingCmd: 2.056171 target range: 519.700012 and range: 519.70 m. jYjYjYjYiYhYhahaheBfafifirfibfme0@ɛB 隥=IWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse MمɚQiQI]b=Iiԃi\r)) m$?Iq*F=?2FA:FABFE4JFAzK ?PK  9K K  K dSD4$zvskjd_ZXSPOJJHHFC@<95543100-+(()&&& BK:KGe iGQ ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseBq O >5vw,?vA6Q0?Y6f@6􁖽96| >y6H ݿ `?`m?`ݿ`m˲? .6?I?ɨ6Q0?6<;6#CyNBRII^I^5٢n= r\=9r2~Q v>x| ~G٣|y:  > %Nusing accuracyPremultiplier from config559n?E5Y-D iBIM)?MH@D;;!5Q UA]nEZjFNOT Ignoring new targets: 519.70 m.Bj?Jj? ProNav: ac range: 519.700012 m, nav range: 605.052795 m, bearing: 17.226886 deg, approach rate: 0.082049 m/s, LOS rate: -0.063493 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822009 deg. 2jL.:jÛ@HeadingCmd: 2.056382 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf@ɛeBe im|:Iq ɚiIuc=Iiiֱg))*FM?2FQ:FQBFU`0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse aIaG1G=?G=>G B) OE >H I  I II BI &I .I 6I O<:I | Fw,4vA6)?Y6@6d96 >y6Hܿg?Un?_ݿLi`[??d?ɨ6)?6 ;4y>B>4I Mb@Mb@Mb@    ) Y v?/$S㥛?y 8? ,Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse  -A A) -AI 7'A y G!AI5I5j5٢E= ED=9MQ M>QQ UG٣U9Gy] ]> eNusing accuracyPremultiplier from configam59e{?m5YeV&D ieBmF9?m:mX?uH@eDew;e;e5y }A}qEZjYeFNOT Ignoring new targets: 519.70 m.Bje!Jjm!} ProNav: ac range: 519.700012 m, nav range: 605.084839 m, bearing: 17.198900 deg, approach rate: 0.074144 m/s, LOS rate: -0.064754 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810601 deg. 2j1:j@HeadingCmd: 2.056183 target range: 519.700012 and range: 519.70 m. jjjjihhhhBfffrfbf}@ɛ] B]*w Ye5Ia eJɚaiaIed=Ii il))*F!2F!:F!BF!JF!J]tJYJ]/JYJ];N:JYJ](N3JYJ]zj;J]}j;JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG Ji I IM !jG B O >ew,NNvA6M?Y6@6,B96j >y6H ݿ.E?i?aqݿ^nC?1?`?ɨ6M?6^F;6"CyBBBCIIJIJm5٢b= bS=9fPQ f>dd jG٣hyj:; j> ~Nusing accuracyPremultiplier from config|59~ 囜?5Y~D i~B  {? H@~D~C:~:~'5 AzK>NKh9KK K   RK ?JK?Zj)-FNOT Ignoring new targets: 519.70 m.Bj5Jj5 ProNav: ac range: 519.700012 m, nav range: 605.115601 m, bearing: 17.172434 deg, approach rate: 0.077563 m/s, LOS rate: -0.066728 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815162 deg. 2j.7:jΙ@HeadingCmd: 2.056262 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf@@ɛB ,4I  P}ɚ iId=Ii[ i\))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse*F?2F:FBFJFG iG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse™w,thvA dId_?Y@9v >yH Fݿas?g?zݿq~?? #?ɨ_?yш;!Cy=ĀBEaII]I]35٢mG= u>=9u7 Q }> G٣yޜ: > =Nusing accuracyPremultiplier from config9E59=3ڛ?E5Y=D i=BAE?EH@=D=.:=.:=5Q }AyZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 605.151245 m, bearing: 17.142054 deg, approach rate: 0.083423 m/s, LOS rate: -0.071098 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803422 deg. 2j,C:js@ HeadingCmd: 2.056058 target range: 519.700012 and range: 519.70 m. j j j j i)h)h1h1h1f1f9f9rf9bf=@Hx>I IIIBI&I.I6I<:I Fɛ=B=^ 9=-I9 EʫɚAiAIE|e=Ii ikV))E)Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse*F?2F:FBFJF"G=G=G KG sAG G B O >w,vA6?Y6I@6sО96c>y6H`,ݿ K?_?bݿzsԳ?C?L?ɨ6?6;6#CyBҀBBsImMb@Mb@Mb@iii i)iYm%C?ʡE/$?ymZD?mm G٣9Gy<; > Nusing accuracyPremultiplier from config59Л?5Y"D iBiE?:?H@Dr;;5 lAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 519.70 m.BjsJjsE ProNav: ac range: 519.700012 m, nav range: 605.173706 m, bearing: 17.112798 deg, approach rate: 0.056535 m/s, LOS rate: -0.073636 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.806792 deg. 2jE$J:jUi@eHeadingCmd: 2.056116 target range: 519.700012 and range: 519.70 m. jajajajaihhhhBfffrf bf 7 @ -$?I1ɛ]*Be< 隅+I 俋ɚiIe=Iii<))*F?2F:FBFo0JF!zK~MKػ9KK KGE _ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG9 BA O >1w,~vA2?Y2@2925>y2HU7ݿwk?$\?࿤ݿ,u?@??ɨ2?2>;2$CyRBRIIjIj75٢~= V=9r8Q > %G٣!y%; %> -Nusing accuracyPremultiplier from config)59-Ǜ?5Y-D i--B?H@-D-n<- o<-5B AZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 605.195618 m, bearing: 17.084812 deg, approach rate: 0.055337 m/s, LOS rate: -0.070675 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810602 deg. 2jB:j@HeadingCmd: 2.056183 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf G @ɛ53B5 1=`)I9 EȼɚAiAIE f=IIiM *iMd4)I)IJxJsJ0JJZ:J9Jـ3Ja@a@a@a@*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse )I- jG0,.GBO>H v>I  I II LBI =&I .I 6I <:I FBIiJIiRIiZIm =bIm =jIm#4h?Y>@>9>T>y>HRݿX ?4T?@ݿFuyy? ??ɨ>?>*; G٣yȈ; > Nusing accuracyPremultiplier from config59A?5YD i=BJ?:p?H@$D<;w;5 }AZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 605.227112 m, bearing: 17.050986 deg, approach rate: 0.071202 m/s, LOS rate: -0.076469 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793085 deg. 2jQ:j%~@5HeadingCmd: 2.055877 target range: 519.700012 and range: 519.70 m. j1j1j1j1i1h1h9h9h=Bf9fAfArfAbfE@!@ɛu?Bu  qu'Iq }ɚyiyI}4f=Ii`?ip))EsAEsA*FE?2FA:FABFE0JFIGI GMsAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse  $?I Gm -,GA BQ Ou >)w,TsvAyUBUIYYIeIe5٢L= ]=9Q >zKKK]9KK K!.:u5<qg:rKoZ G٣9Gy > Nusing accuracyPremultiplier from config59ز?5YC iJBH@.D];;;5  AZjFNOT Ignoring new targets: 519.70 m.Bj%/Jj%/5 ProNav: ac range: 519.700012 m, nav range: 605.253296 m, bearing: 17.022997 deg, approach rate: 0.069598 m/s, LOS rate: -0.074393 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810592 deg. 2j58L:j5@=HeadingCmd: 2.056183 target range: 519.700012 and range: 519.70 m. j9j9j9j9i9hAhAhAhAfIfIfIrfQbfU`l"@ɛ}IB} y}#Iy 鎽ɚiIPf=Ii(i#:))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse*F?2F :F BF h5JFGEjG! B) OE >JKm3 KL.KK"KJ vJ tJ J J {T:J 9J J % Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse I JPw,-BvA.~G%`wA9 m5Ym`wAyukA]?YN@9A>yHݿS?E?ݿ!X? =? ;?ɨ]?];騅!CyBIII5٢A< C=9Q >    G٣ yU< U> eNusing accuracyPremultiplier from configam59e=?m5YeC ieYB?H@e8De;e;e5  AtEZj FNOT Ignoring new targets: 519.70 m.BjuJju- ProNav: ac range: 519.700012 m, nav range: 605.283875 m, bearing: 16.991729 deg, approach rate: 0.070311 m/s, LOS rate: -0.071891 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800759 deg. H5s>I5C I54II5pBI5 =&I1.I5=D6I5<:I5 F2jZE:j@HeadingCmd: 2.056011 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbfJ#@ɛ]WB] ae(Ia eTɚaiaIeipg=Iq}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiiTٻ))*F-?2F):F1BF50JF1"G==G==GU sG) B9 O] >.w,>wA:?Y:/r@:9:;>y:H ݿ`%?AI MG٣IyM<; U> ]Nusing accuracyPremultiplier from configQ]59U,?e5YU8C iUgBeON?m:mF?mH@UDDU(;U&;U5q u AurEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.70 m.Bj+Jj + ProNav: ac range: 519.700012 m, nav range: 605.314697 m, bearing: 16.958721 deg, approach rate: 0.071507 m/s, LOS rate: -0.076573 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795537 deg. 2j4R:j1@EHeadingCmd: 2.055920 target range: 519.700012 and range: 519.70 m. jAjIjIjIiIhIhQhQhUBfYfYfYrfYbfeW$@ɛaBe 5-I aTɚ i I g=I icZi&))*F?2F:FBF4JFzK%OK!K!K% K%J7" xqhb_^XRNMLUh Wo]I8&Will construct direction to contact in vehicle frame from tetrahedron phase data.w,q wAf?Yf9@f_9f>>yfHݿ`9x?5? 4޿2?@?~?ɨf?f˓;f Cyn BnI va=va=IzIz5٢< a=9@(Q >    G٣ 9Gy; > Nusing accuracyPremultiplier from config%59?-5Y!C isB)5|?5H@MD2I;I;59 = A9ZjaeFNOT Ignoring new targets: 519.70 m.Bjm'Jjm' ProNav: ac range: 519.700012 m, nav range: 605.340942 m, bearing: 16.931335 deg, approach rate: 0.074216 m/s, LOS rate: -0.077440 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812400 deg. 2jT:j@HeadingCmd: 2.056214 target range: 519.700012 and range: 519.70 m. jjjjih h h h fffrfbf;%@JyJ}wJ}1JyJyJ}9J}3JyɛkBp_  Z0I  MRcɚIiIIUVMh=IQiUi]t)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.I9 I=SII=BI9&I9.I96I=<:I= FGi Ga B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1233> - yRH9ݿ`Y?|2?@@޿9???ɨR.?R;PyMb@Mb@Mb@ )Y?333333{GzyL?#-A )I7'AyIIS595&wQ 5>19 =G٣9y=: => MNusing accuracyPremultiplier from configAM59Et?M5YE~C iE~BUM?U:U?UH@EXDE;Et;E5]B e AeuEZjFNOT Ignoring new targets: 519.70 m.Bj?Jj? ProNav: ac range: 519.700012 m, nav range: 605.376160 m, bearing: 16.897898 deg, approach rate: 0.079770 m/s, LOS rate: -0.075732 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794253 deg. 2jO:jӓ@5HeadingCmd: 2.055897 target range: 519.700012 and range: 519.70 m. j1j1j1j1i9h9h9h9h=BfAfAfArfAbfM`%@ɛvB 隽5I ɚiIh=IiiS))*F?2F:FBF 4JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:20:19:40.3359 $Ping request sent.w,TwA2)?Y2 @2FM92>y2H Fݿ`m ?+?X޿b@tB???ɨ2)?2;2#Cy> BRIIZIZ5٢b; b<9f%'Q f>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlv59n!?v5YnC inBxz?zH@naDn a;zK~WOK~+9K|K~ K~sle^WSQLFB><:60+%$%# "   n`a;n5  AZj9EFNOT Ignoring new targets: 519.70 m.BjEJjEU ProNav: ac range: 519.700012 m, nav range: 605.405151 m, bearing: 16.870898 deg, approach rate: 0.080145 m/s, LOS rate: -0.074635 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813561 deg. 2jUL:j]Y@eHeadingCmd: 2.056235 target range: 519.700012 and range: 519.70 m. jajajajaiahahahihifififqrfqbfu`&@ɛB 隥I9I ɚiIM:i=IiAi))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252115*FM?2FI:FIBFMg0JFQGuHNGIBYO>JyJxJJJ]:J9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508289 i Iu jw,*nwA6?Y6@6ഽ96>y6H ݿ`B? ?޿J|?`? ?ɨ6?6;6 CyN BRITVAIZIZ5٢b| bJ=9fKQ f>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv59rt?v5YrC irBtz?zH@rlDr:r :rg5|  ArEHr>I I`IIBI&I.I6Iݰ<:I FZjFNOT Ignoring new targets: 519.70 m.BjDJjD ProNav: ac range: 519.700012 m, nav range: 605.439087 m, bearing: 16.840348 deg, approach rate: 0.079281 m/s, LOS rate: -0.071369 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.802910 deg. 2jC:jM@HeadingCmd: 2.056049 target range: 519.700012 and range: 519.70 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5'~'@ɛeBe ae?Ii mɚiiiImw,jwA6?Y6@6{196]>y6H@*޿??޿U^޶?@r?i?ɨ6?6 6;6"CyNBRIbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007475 $?IUMb@Mb@Mb@QQQ Q)QYU!rh?Q뱿I +yUlG?U\U94Uz*A UA)UAIU%AQyUfAImIm<5٢ 6=9%Q >!! %G٣%9Gy-; -> ]Nusing accuracyPremultiplier from configQ]59Uh?e5YUC iUBe?H?e:e ?eH@UwDUQ;U;UY5i m AuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.70 m.Bj3Jj3 ProNav: ac range: 519.700012 m, nav range: 605.478638 m, bearing: 16.807195 deg, approach rate: 0.091373 m/s, LOS rate: -0.076587 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795105 deg. 2j>R:j@HeadingCmd: 2.055912 target range: 519.700012 and range: 519.70 m. jjj!j!i!h!h!h)h-Bf)fifqrfqbfu "b(@ɛBe $II -bɚiI1Cj=Ii9i uG;))*F?2F:FBFh0JF"G=G=zKoNK 9KK K   uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259457G ,6G G tAG B O >o+w,DwA>,?Y>@>Ҹ9> >y>H e(޿k??`Y޿*Q?v?@K?ɨ>,?>;>$CyfBfIInInt5٢v< v`=9vQ v>xx zG٣xy~տ ~> Nusing accuracyPremultiplier from config 59i_? 5YLC iB?H@D5;R6;5! % A!ZjAMFNOT Ignoring new targets: 519.70 m.BjMJjUe ProNav: ac range: 519.700012 m, nav range: 605.510315 m, bearing: 16.780746 deg, approach rate: 0.089909 m/s, LOS rate: -0.075065 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815214 deg. 2jeN:jeҙ@mHeadingCmd: 2.056263 target range: 519.700012 and range: 519.70 m. jijijijiiihqhqhqhqfyfyfyrfybf?)@ɛB/O 隵iKI zɚiIj=Iii4L(;))*FU?2FQ:FQBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513330 IGu:Ho>I III&I.I6I<:I FGQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764836Uw, wA2|?Y2@2ൽ92n >y2H ݿ?!!?`޿⺋@m?`Z?@˓?ɨ2|?2S;2!CyrBrI ~=~=Mb@Mb@Mb@ )YV-?&1~jty|??PD)A 3A)AI$AypAII5٢ؼ ?=9\;Q > G٣y > Nusing accuracyPremultiplier from config59IT?5YC iB??:\?H@D;<;>5  AZj FNOT Ignoring new targets: 519.70 m.Bj Jj ProNav: ac range: 519.700012 m, nav range: 605.552368 m, bearing: 16.750662 deg, approach rate: 0.098108 m/s, LOS rate: -0.070180 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804311 deg. 2j@:j@HeadingCmd: 2.056073 target range: 519.700012 and range: 519.70 m. jjjjihhhhBfffrfbf@[)@ɛ5B5, 1=SI9 =ɚ9i9I=\k=IAiEiEg͹)A)IJm{Jm{Jm0JiJmd:Jm-9Jmـ3JiJm";aJm#;aJm:aJm:a*F?2F:FBFo0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017671G ;G B O >=w,wA:X'?Y:@:M9:[? >y:Hݿ ?+?Y޿/?H? ?ɨ:X'?:L;:"CyFBFIIRIR5٢V V\=9Z;Q Z>X\ ^G٣^9Gy^ b> fNusing accuracyPremultiplier from config`n59bJ?r5YbC ibBpr?rH@bDb;by;b~5vB zAxZjFNOT Ignoring new targets: 519.70 m.Bj%Jj%5 ProNav: ac range: 519.700012 m, nav range: 605.588318 m, bearing: 16.724546 deg, approach rate: 0.096353 m/s, LOS rate: -0.069992 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816214 deg. 2j5#@:j5@=HeadingCmd: 2.056281 target range: 519.700012 and range: 519.70 m. j9j9j9j9iAhAhAhAhAfIfIfQrfYbfe@*@zKMLKh9KK K  0;HsRRK?JK!?ɛ B W kʏ= ZI  LɚiIk=Iiyi))!]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.272030*F?2F:FBF1JFG9GIBQOm5> $?I j Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523878gw,wA:?Y:@:˲9:s >y:H Zݿs??@7?+޿o.R? Vb??ɨ:?:e؆;:!CyRBRIIjIjP5٢8< D=9:Q %>!! %G٣!y5Hl>IC ISIIBI =&I.I ENusing accuracyPremultiplier from configAM59E??M5YEC iEijBqu?uH@EDEF;Eh;Es5y } AZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 605.631226 m, bearing: 16.692744 deg, approach rate: 0.093182 m/s, LOS rate: -0.069060 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799156 deg. 2j=:j:@HeadingCmd: 2.055983 target range: 519.700012 and range: 519.70 m. jj j j i h h hhfffrfbfҗ+@ɛuBux q}_Iy }4朽ɚyiyI}Tl=IiiT!))*F-?2F1:F1BF=y1uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781070JF9G >G B O >J |J xJ J J ;g:J 9J J J Պ;J ֊;J %:J ':;Pw, xA 0I4>a?Y>h@>>29> >y>H@ݿ|@3s? e=?`޿??P???ɨ>a?>Pӆ;>CyNBRITVAbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027504Mb@Mb@Mb@ )YI +?Qy94?Lu(A )GAI"#AyAI I ٢%Z< %:=9-.:Q ->)) -G٣1y5S => ENusing accuracyPremultiplier from config9E 59=k5?M 5Y=C i=̳BM4?M:M/?MH@=D=;=};= 5Y ] AYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 519.70 m.BjߚJjߚ ProNav: ac range: 519.700012 m, nav range: 605.666382 m, bearing: 16.666052 deg, approach rate: 0.089176 m/s, LOS rate: -0.067700 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.814488 deg. 2j9:j@ HeadingCmd: 2.056251 target range: 519.700012 and range: 519.70 m. jjjjihhh!h%}Bf!f)fIrfIbfU0j,@ɛȂB! bI dɚiIYm=IiMiΠ))*F2F:FBF4JFG}XGQBaO|>zK[\OK 9KK K,Wg1}eN;${qie`^[UTQMIGDC@<885310-+BK1:K1uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279396yw,#xA2%?Y22@292: >y2HeݿRxo? {J?[ݿ:?I?0?ɨ2%?2;2!CyNBRIIZIZJ5٢nB rb=9r.;Q v>x| ~G٣9Gy  > -Nusing accuracyPremultiplier from config)E 59-,?E 5Y-C i-ӳBIU?UH@-D-٬;-;-0 5Y ]AexEZj -FNOT Ignoring new targets: 519.70 m.Bj-(Jj5(E ProNav: ac range: 519.700012 m, nav range: 605.697693 m, bearing: 16.641693 deg, approach rate: 0.080442 m/s, LOS rate: -0.062579 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821482 deg. 2jE+:jM@MHeadingCmd: 2.056373 target range: 519.700012 and range: 519.70 m. jIjQjQjQiQhQhYhYhYfYfafarfabfe )-@ɛтBh 隝kI ɟɚiI(n=IiViD)) ]$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532962)q y~G ! UYQyUBE(z=EHi>IC IMIIBI =&I.I6I<:I F*Fu?2Fq:FyBF}0JFy"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786135G I젻G rAG rAGq By O >w, @xA6?Y6@6|296T >y6H`KݿaQ? PQ? 9ݿ)[?,?@X?ɨ6?62;6 CyBBBIMb@Mb@Mb@ )YK7A`?~jtMby+?7'A A)vAI!Ay3AI-I-۞5٢=f< =2=9EA:Q E>AI MG٣IyM > Nusing accuracyPremultiplier from config 59;!? 5Y=C i޳B+?:`@H@Dw;;F 5  AuEZj1=FNOT Ignoring new targets: 519.70 m.Bj=ғJjEғu ProNav: ac range: 519.700012 m, nav range: 605.747498 m, bearing: 16.612593 deg, approach rate: 0.110603 m/s, LOS rate: -0.064618 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807264 deg. 2juc1:ju@}HeadingCmd: 2.056125 target range: 519.700012 and range: 519.70 m. jyjyjyjyiyhyhhhMBfffrfbf.@ɛ܂B !%mI! -lɚ)i)I-7n=I1i5R}i5 |$)1)9JJJJJs:J9JJJ;J;J2;J2;E{= IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.037322*FE?2FA:FIBFUa5JFQG ׹Gq By O >(w,cYxA2j?Y2@2qd92@>y2H X(ݿ+ ?Z?ݿ`??@?ɨ2j?2p;2#Cy:B>I F=Fa=IJIJ5zKnImOKn9KlKn Kn(%#    ٢z; zP=~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2875609 J:Q  >   G٣yʻ > %Nusing accuracyPremultiplier from config% 59?% 5YIA  IA IA IE  =&IA .IA 6IE ˰<:IE FBa O} >Yfw,.txA6V?Y6@696>y6H ݿ`D?b?@nݿ# ۵???ɨ6V?6H;6"Cy>B>IIDID٢N@ RM=9R~9Q R>TT VG٣V9GyV Z> nNusing accuracyPremultiplier from confighr 59jL?r 5YjC ijBpr@rI@jDj:j:j 5vB z AzxEZjFNOT Ignoring new targets: 519.70 m.Bj%EJj%E ProNav: ac range: 519.700012 m, nav range: 605.829102 m, bearing: 16.564058 deg, approach rate: 0.104055 m/s, LOS rate: -0.062191 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819812 deg. 2j*:j"@HeadingCmd: 2.056344 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf /@ɛuBuf quwIy }ɚyiyI}dwp=Ii^2i@a))Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798816*FU?2FY:FaBFe`0JFaG]K7Ge?Ge>G1B9O]T>J ~J J J J {m:J J J J ;;J <;J J I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0434503J#w,q̍xA6 ?Y6@6쯽96< >y6Hܿ@G@.?`sh?qݿ5?U ??ɨ6 ?6 ;4y>BBIEMb@Mb@Mb@AAA A)AYEJ +?y&1Mb`yE(?E`eEEf&A EA)EAIAAyEfAI]I]5٢m'= m>=9m"|Q u>qq }G٣yy}{ }> Nusing accuracyPremultiplier from config 59 ? 5YD|C iB(?:\@I@D;; 5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 605.874023 m, bearing: 16.537975 deg, approach rate: 0.105399 m/s, LOS rate: -0.061193 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816313 deg. 2j':j"@HeadingCmd: 2.056283 target range: 519.700012 and range: 519.70 m. jjjjihhhh;Bfffrf bf :0@ɛ=B= AExIA E"7ɚAiAIMKq=IIiMBiUv)Q)Q*F ?2F :F BF i0JF zK23MK 9KK KWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296803GMhAG B! O= >v)w,xAFJ?YF@F9F >yFH`ܿh?@ o?qXݿ>鎿 ?wC? B?ɨFJ?Fב;F!CyRBRIXZAI^I^5٢jO= jT=9n`ºQ n>pp rG٣tyvt z> Nusing accuracyPremultiplier from config|  59~?  5Y~;vC i~B=@I@~D~M;~I;~. 5! -S A) e$?IaZjyFNOT Ignoring new targets: 519.70 m.BjʼnJjʼn ProNav: ac range: 519.700012 m, nav range: 605.914612 m, bearing: 16.514236 deg, approach rate: 0.102978 m/s, LOS rate: -0.060224 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.823346 deg. 2jR%:j%@HeadingCmd: 2.056405 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf@$0@UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.547381ɛB| 隽wI ⧽ɚiI$r=I i iC))*F?2F:FBFn0JFHf>I ISIIBI =&I.I;D6Iհ<:I FGJiG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802409O} >[0w,ˀxA6?Y69@696w >y6H@8ܿj@{?`To?`WݿUڏi?o??ɨ6?6o;6$CyRBRI]Mb@Mb@Mb@YYY Y)YY]p= ף?MbMb?y]%?]]<](A Y)YIYYy]AI}I}5٢q< ?=96Q > G٣9Gy. > Nusing accuracyPremultiplier from config 59? 5YoC iB.%?:@I@D";H!; 5 # AuEZjFNOT Ignoring new targets: 519.70 m.BjꋺJjꋺ  ProNav: ac range: 519.700012 m, nav range: 605.956604 m, bearing: 16.488746 deg, approach rate: 0.100764 m/s, LOS rate: -0.061163 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818090 deg. 2j ':j @HeadingCmd: 2.056314 target range: 519.700012 and range: 519.70 m. jjjjihhh!h%UBf!f!f)rf)bf-@ 1@ɛU B]b Y]\yIY ]qɚaiaIer=Iaim\imŢ)q)y*F2F:FBFo0JF aIieWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.051516GU^G]sAG]sAG) B1 OU >6w,ZxA6?Y6{@6C96 >y6HHܿw ?r?Iݿ @ ?? K?ɨ6?6ظ;4yR&BRIIZIZÙ5bWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.304289٢MW= MN=9U>Q U>QzK]2KK]]9KYK] K]   i mG٣iym% u> }Nusing accuracyPremultiplier from configy 59}皜? 5Y}iC i}!B@I@}D}:}C:}_ 5  AxEZjFNOT Ignoring new targets: 519.70 m.BjqJjq ProNav: ac range: 519.700012 m, nav range: 605.995850 m, bearing: 16.464855 deg, approach rate: 0.098704 m/s, LOS rate: -0.060080 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822891 deg. 2j$:j@HeadingCmd: 2.056397 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbfp1@ɛB vI ɚ!i!I%As=I!i-ڊi-X6))))*F2F:FBF0JFJJJJJs:J9JJa@a@a@a@ e$?IiGuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555788GBO>H c>I  I lII BI &I .I 6I <:I F:yy G٣y > Nusing accuracyPremultiplier from config 59Jޚ? 5YmcC i.BI@D ;;! 5 [ AZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 606.036011 m, bearing: 16.440477 deg, approach rate: 0.098651 m/s, LOS rate: -0.059877 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.821427 deg. 2j_$:j@HeadingCmd: 2.056372 target range: 519.700012 and range: 519.70 m. jjqjqjqiqhyhyhyhyfffrfbfv1@ɛB vI ɚiIt=I iEWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813675iMr)Q)a*F%?2F!:F!BF%~0JF!J J I IM jGU ňG! B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063413Cw,yA>?Y>2@>l9>O>y>H`ܿ9` ?`cp?$RݿZY%?`D??ɨ>?>⇇;>"Cyn?BrIMb@Mb@Mb@ )Y|?5^?{Gzy&1?y-?#`e<$A  A)bAI AyAIeIe5٢u8= u;=9uXQ }>yy }G٣}9Gyr9 > Nusing accuracyPremultiplier from config 59vӚ? 5Yn\C i?B-?:_@I@D55;l,;% 5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 606.084167 m, bearing: 16.412962 deg, approach rate: 0.109960 m/s, LOS rate: -0.062824 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812015 deg. 2jv,:j@HeadingCmd: 2.056208 target range: 519.700012 and range: 519.70 m. jjjjihhhhDBfff rf bfH2@ɛE'BES AEsII iTɚiIvu=Ii!i ')))1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315583zKuLKu+9KqKu Ku BK:KG 3}G ?G ?G B O >OIw,(yAJVJVJTJTJV}:JVľ9JTJT tIxQ?Ye@i9 >yH@ܿ"B?@Ym?[]ݿGࢄ?`S?@?ɨQ?O;#Cy%KB%IIEIE5٢]ӆ= ]^=9]́Q e>aa eG٣aym: m> }Nusing accuracyPremultiplier from configy 59}Oʚ? 5Y}VC i}MBh@I@}D};};}( 5B { A{EZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 606.125061 m, bearing: 16.389733 deg, approach rate: 0.111262 m/s, LOS rate: -0.063194 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.824877 deg. 2jz-UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567514:ju@}HeadingCmd: 2.056432 target range: 519.700012 and range: 519.70 m. jyjyjyjyiyhhhhfffrfbf`2@ɛ/B qI ֯ɚiI =v=IQiUY#iUlD)Q)Y*F?2F:FBF`5JFHu^>IuC IuIIuBIu =&Iq.Iq6Iu:<:IuFBI-ŦCJI-ŦCRI)ZI- =bI- =jI-e5G͍G  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821976BA O >Pw,ByA6?Y6@6 96G>y6H`ܿK?k?@ecݿ=? ??ɨ6?6$ ;6"CyBZBBIMb@Mb@Mb@ )Y?:vMb?y,?T<%A  A)IAyAI%I%ޚ5٢5a= 5M=9EƑQ E>AA MG٣IyU"9 U> ]Nusing accuracyPremultiplier from configYe 59]?e 5Y]%PC i]]Bm,?m:m@mI@]D];];]u, 5q u AZj%FNOT Ignoring new targets: 519.70 m.Bj%Jj%E ProNav: ac range: 519.700012 m, nav range: 606.167969 m, bearing: 16.364691 deg, approach rate: 0.103002 m/s, LOS rate: -0.060111 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.819436 deg. 2jE%:jE@MHeadingCmd: 2.056337 target range: 519.700012 and range: 519.70 m. jIjIjjihhhhZBfffrfbf3@ɛ8Bl 隵oI  mɚiIw=Ii%i)) $?Ij*Fe?2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076995G +XGa Bi O Vw,\yA:?Y:@:ý9:҈>y:H@ܿ@ '?g?qݿ1> s?+?1?ɨ:?:ۈ;:!CyFoBF4IININƕ5٢Z= ZS=9ZQ ^>\\ bG٣b9Gyb: b> fNusing accuracyPremultiplier from configdj 59f ?j 5YfJC iflBln#@rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.327503vI@fDfw;fw;f/ 5x z_ AzxEZjFNOT Ignoring new targets: 519.70 m.Bj%ΔJj%Δ= ProNav: ac range: 519.700012 m, nav range: 606.209595 m, bearing: 16.340568 deg, approach rate: 0.112252 m/s, LOS rate: -0.065048 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.822192 deg. 2jE2:jEћ@EHeadingCmd: 2.056385 target range: 519.700012 and range: 519.70 m. jIjIjIjIiIhIhIhQhQfQfQzK]ĂKK] 9KYK] K] RKe ?JKe?firfibfu q3@ɛ@Bc 隥hI ɚiIw=Ii'i!))*F%?2F):F)BF-`0JF) IJJJ1JJ}:J9J3JGu(m~GGqByWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579439vAO >  Y vAy AZHa RHe @AHm \>Im C Im IIm ߁BIm  =&Im GD.Im :D6Im <:Im F\w,}vyA2?Y2@2ǽ92>y2H ܿl?e? yݿ ָ?dP?@?ɨ2?2Kt;2CyryBr@IIzIz5٢H= E=9qpQ  >  G٣yRA: > %Nusing accuracyPremultiplier from config!- 59%?- 5Y%cCC i%}B15(@5I@% D%2:%u:%t3 5=B = AE{EZjy}FNOT Ignoring new targets: 519.70 m.BjɎJjɎ ProNav: ac range: 519.700012 m, nav range: 606.254578 m, bearing: 16.314601 deg, approach rate: 0.108132 m/s, LOS rate: -0.062417 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816660 deg. 2jX+:j<@HeadingCmd: 2.056289 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf3@ɛIBJ gI FEɚiI lx=Ii(iʃ))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835020Gm'GI BQ Ou > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083341@cw,yAJ'?YJƲ@Jm˽9JP>>yJHYܿx ?^?`ݿ疿 c?`l@? ~?ɨJ'?Jv;J#CyVBV`I Z=Z==Mb@Mb@Mb@999 9)9Y=ʡE?Qqq uG٣qy|Y; > Nusing accuracyPremultiplier from config 59?  5Y$jw,vyA (I(J#K+3 K+.K#K#"K#JNJNJN0JLJN=:JNm9JNـ3JLE+F?YEQ@EjϽ9E``>yEH ܿ /?Y?Ƥݿ'`?C? ?ɨE+F?EƉ;E!Cy]B]oIImIm5٢}o= I=9UQ > G٣9Gy; > Nusing accuracyPremultiplier from config 59? 5Y5C iB?I@2D::: 5 AZjFNOT Ignoring new targets: 519.70 m.Bj2Jj2 ProNav: ac range: 519.700012 m, nav range: 606.334900 m, bearing: 16.261062 deg, approach rate: 0.097693 m/s, LOS rate: -0.064781 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818669 deg. 2j1:jϚ@HeadingCmd: 2.056324 target range: 519.700012 and range: 519.70 m. jjjjihhh)h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.588346fIfIfIrfIbfM4@ɛ[B7 ]I :ɚiIԽy=I!i%fI,i-kg)))IHW>I IIIBI =&I.I6I!<:I F*F?2F:FBFg0JF G5 s Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842795G B O >Zqw,PyA:q?Y:)@:Խ9:1>y:H ݿ2?R?:ݿ`? G??ɨ:q?:M;8yFBFI%Mb@Mb@Mb@!!! !)!Y%5^I ?X9vy&1?y%8?%%`e<%#A %| A)%AI!!y%AI5I55٢E= EN=9MxQ M>IQ UG٣QyUU\; U> eNusing accuracyPremultiplier from configam 59e+?m 5Ye.C ieBmE8?m:m?uI@e;Dew;e;e&> 5y }GAyZjFNOT Ignoring new targets: 519.70 m.BjJjE ProNav: ac range: 519.700012 m, nav range: 606.375732 m, bearing: 16.234542 deg, approach rate: 0.102754 m/s, LOS rate: -0.066732 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815002 deg. 2jE07:jE™@MHeadingCmd: 2.056260 target range: 519.700012 and range: 519.70 m. jIjIjIjIiIhIhQhQh]BfYfYfYrfabfe5@ɛcBW GYI ΨɚiIXz=Ii-iмU)) =$?I=j*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIU2ww,b.yA6?Y6@6ؽ96{>y6H ݿ >?MM?ݿ4 ?@??ɨ6?6%;6"CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Raa mG٣iym>-; m>zKJK9KK K Nusing accuracyPremultiplier from config 59愚? 5Y'C iôB?I@DDZ;;A 5 AZjFNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 606.418335 m, bearing: 16.207153 deg, approach rate: 0.103191 m/s, LOS rate: -0.066338 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812394 deg. 2j6:j @ HeadingCmd: 2.056214 target range: 519.700012 and range: 519.70 m. j jjjQiQhQhQhYhYfYfYfarfabfe`75@ɛlB 隽WI ɚiI?z=Ii*.iH))*F2F:FBFu0JF )I)JJJJJ:J9JJUWill construct direction to contact in vehicle frame from tetrahedron phase data.UH P>I C I ( II 6BI  =&I .I 9D6I ۰<:I F`}w,ayABu?YBv@BU!ݽ9BZ>yBH$ݿY?G?eݿžl?@?a~?ɨBu?Be;B CyNρBNIIVIVv5٢^= ^U=9bnQ b>`` bG٣b9Gyf-; j> nNusing accuracyPremultiplier from configlr 59nO{?r 5YnL!C inԴBpv @vI@nMDn":n:nE 5x zTAxZjFNOT Ignoring new targets: 519.70 m.Bj5TJj=T] ProNav: ac range: 519.700012 m, nav range: 606.458374 m, bearing: 16.181643 deg, approach rate: 0.105895 m/s, LOS rate: -0.067462 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.818034 deg. 2j]19:je@eHeadingCmd: 2.056313 target range: 519.700012 and range: 519.70 m. jajijijiiihihqhqhqfqfyfyrfybf}Z5@ɛsB RI  PɚiIs{=Iim0imx;)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1234> BDAT read: Tx time:20:19:51.2860 $Ping request sent.U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:20:19:51.2852 e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2423599Dw,zAV?YV@V+o9V>yVH`,ݿz ?C? ݿ,*@V?@ ?|?ɨV?V;V!Cy=ށB=IMb@Mb@Mb@ )YK?v/!! %G٣!y%: %> 5Nusing accuracyPremultiplier from config)= 59-p?E 5Y-mC i-BE:?E:E?EI@-WD-QU;-S;-H 5Q UAQmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 519.70 m.BjJj ProNav: ac range: 519.700012 m, nav range: 606.494873 m, bearing: 16.151262 deg, approach rate: 0.081445 m/s, LOS rate: -0.067790 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.803418 deg. 2j::jr@HeadingCmd: 2.056057 target range: 519.700012 and range: 519.70 m. jjjjihhhhBfffrfbfP6@ɛ|B* iOI ƼɚiIK{=Ii81iX3))*Fi2Fq:FqBFui1JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493421zK-2KK-]9K)K- K-G[D=G B O >  I pw,+zA6 ?Y6B@696>y6H D9ݿl?C>?W޿@E@P? ? 2z?ɨ6 ?6;6CybBbI f=f=In]In 5٢W>  ]=9HQ >!! -G٣)y5N-; => ]Nusing accuracyPremultiplier from configIe 59Mg?e 5YMC iMBae?eI@M`DM.+;M;MAL 5uB uAu~EZjFNOT Ignoring new targets: 519.70 m.BjYJjY ProNav: ac range: 519.700012 m, nav range: 606.525940 m, bearing: 16.125691 deg, approach rate: 0.082506 m/s, LOS rate: -0.067908 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.817846 deg. 2jk::j@HeadingCmd: 2.056309 target range: 519.700012 and range: 519.70 m. jjjjihhhhfffrfbf@6@ɛB  EI %Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747403 -ɚiI l|=Ii/2i%))*FE?2FI:FIBFM`5JFIHJ>IC I` IIdBI =&I.I8D6IȰ<:I FG4n/Ga B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004967O- >Uw,EzAR+U?YRI@R9R+>yRHbݿ@9?@.?@8޿AW˽?~? x?ɨR+U?RΌ;R Cy^B^IeMb@Mb@Mb@aaa a)aYe~jt?Zd;Mb?ye;?eye G٣9Gy; > Nusing accuracyPremultiplier from config 59%^? 5Yp C iBWw,}_zANWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505471Z?YZ`@Zs9ZN>yZHtݿ~?L'?!Q޿0?uo? ?v?ɨZ?Z;Z"CybBf IInQInb5٢v.= vU=9vֻQ z>xx ~G٣|y~m; ~> Nusing accuracyPremultiplier from config  59 U?  5YC i!B?I@sD:;:S 5 %A!ZjAMFNOT Ignoring new targets: 519.70 m.BjMJjMe ProNav: ac range: 519.700012 m, nav range: 606.592407 m, bearing: 16.071019 deg, approach rate: 0.083857 m/s, LOS rate: -0.068434 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815807 deg. 2je;:jm@mHeadingCmd: 2.056274 target range: 519.700012 and range: 519.70 m. jijijqjqiqhyhyhyhyfffrfbf?}7@ɛB| 隵O>I ]qɚiI-}=IiVY3iӻ))zKKK 9KK KUg*F?2F:FBF_0JF $?IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757529GmUGY By O >H F>I C I II BI  =&I .I 6I װ<:I FBIUʣCJIUʣCRIUʔCZIU =bIU =jIUa6|w,UyzA6p?Y6W@6[96>y6Hkݿ ?`'?M޿޾?`?r?ɨ6p?6;6 CyB%BB IDDIJIJ5٢RӉ= RO=9VQ V>TT VG٣XyZ\ Z> nNusing accuracyPremultiplier from confighr 59jK?v 5YjB ij4Bxz?~I@j|Dj>;j;jV 5 A ~EZjamFNOT Ignoring new targets: 519.70 m.BjuJju5 ProNav: ac range: 519.700012 m, nav range: 606.625671 m, bearing: 16.043836 deg, approach rate: 0.081675 m/s, LOS rate: -0.066741 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813011 deg. 2j577:j50@=HeadingCmd: 2.056225 target range: 519.700012 and range: 519.70 m. j9j9j9jAiAhAhIhIhIfiffrfbf`x7@ɛBv  ;I  MɚQiQI]}=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009655Ii4ii))*F ?2F :F BF g1JF  IJ J J J J J J :J 9J J J 8;J 9;J !;J !;G% ߻G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261434w,|'zAbT?Yba@bo9b>ybH@srݿ7`2?#?|Z޿aY?,?p?ɨbT?bf;b!Cyj1Bj" ImMb@Mb@Mb@iii i)iYm+?ʡE~jt?ymv>?mmD G٣9Gy: > Nusing accuracyPremultiplier from config 59A? 5YB iHB??:M?I@D;(;yZ 5 >AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.70 m.BjQJjQ ProNav: ac range: 519.700012 m, nav range: 606.656799 m, bearing: 16.013699 deg, approach rate: 0.073743 m/s, LOS rate: -0.071392 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804151 deg. 2jC:j@HeadingCmd: 2.056070 target range: 519.700012 and range: 519.70 m. jjjjihhhhBfffrfbf`W8@ɛ]Be ae9Ia eýɚaiaIm}=Iih4ioջ))*F%?2F!:F)BF-`0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514087zKg%LK9KK K  BK:KrAG G G rAG B O > I w,zA) CP^`wAd zY~`wAy~BUm?YUV@Ud9UI>yUHfݿM?s%?R޿@? ? bo?ɨUm?UVL;U"CyޕKBޕB IIyI?5٢= G=9HQ > G٣yd > Nusing accuracyPremultiplier from config 59E8? 5YFB i\B5?I@D::^ 5 nA|EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765565Zj15FNOT Ignoring new targets: 519.70 m.Bj=ڞJj=ڞM ProNav: ac range: 519.700012 m, nav range: 606.686279 m, bearing: 15.985064 deg, approach rate: 0.071490 m/s, LOS rate: -0.069439 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808654 deg. 2jM>:jM@UHeadingCmd: 2.056149 target range: 519.700012 and range: 519.70 m. jQjYjYjYiYhYhYhahafafafirfibfmк8@ɛBP 0I ĽɚiI~=Ii5i;))H=A>I=C I= II=ĂBI= =&I9.I=7D6I=<:I= F*F2F:FBFd0JFG̻ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019814G B) Ou >棱w,/zAy\BW IMb@Mb@Mb@ )Y+?/$y&1|?y??`;A 5A) AIyAIqIy5٢= I=9Q > G٣y > 9I9 mNusing accuracyPremultiplier from configiu 59m.?u 5YmB imoB}@?}:}@?}I@mDm9;m;ma 5B A~EZjFNOT Ignoring new targets: 519.70 m.BjޡJjޡ ProNav: ac range: 519.700012 m, nav range: 606.714661 m, bearing: 15.955362 deg, approach rate: 0.067616 m/s, LOS rate: -0.070758 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805456 deg. 2j>B:j@HeadingCmd: 2.056093 target range: 519.700012 and range: 519.70 m. jjjjihhhhBfffrfbfF&9@ɛBu +I ?Žɚ!i!I%ES~=I!i-5i-)))1JuJuJqJqJu:Ju9JqJqJu;Ju;Ju;Ju;*F?2F:FBFo0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269589G >uG B O >'ͷw,zA6T?Y6I@696b>y6H=Yݿ`?`%?ZN޿D`02??@k?ɨ6T?6 ;6Cy>gB>d IBWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Rx Time:20:19:54.3593 FTRx dataTimestamp_ set to:1736367595.528695Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.522568IRuIR\5٢Zb= Z_=9^Q ^>`` fG٣dyf f> jNusing accuracyPremultiplier from configh% 59j&?- 5Yj B ijB)-'?-I@jDj8H- =>I- C I- !II- BI- " =&I) .I) 6I- <:I- Fw,zA6A?Y6%@@6(960>y6HOݿ? &?H޿@ȧ@Y?`?@uB>v IIboIb5٢j2= jH=9j CQ n>ll nG٣r9Gyr r> vNusing accuracyPremultiplier from configtz 59v|?z 5YvB ivB|~?~I@vDv),;vl,;v_h 5  A Zj1=FNOT Ignoring new targets: 519.70 m.BjEPJjEPU ProNav: ac range: 519.700012 m, nav range: 606.765442 m, bearing: 15.901959 deg, approach rate: 0.070335 m/s, LOS rate: -0.074013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808621 deg. 2jU-K:jU@]HeadingCmd: 2.056148 target range: 519.700012 and range: 519.70 m. jYjYjajaiahahahihifififirfqbfu9@ɛƒB 隭V&I JǽɚiIr~=Ii6i))=PExceeded connect timeout, disconnecting.*F=?2F9:FABFEO1JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028588G 9I9G B O5 >J J J J J -:J 9J J J ;J ;J !;J !;E Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 20:19:54.3593 LVL= 29936, 26545, 15826, 32755, AGC= 71, IDX= 113, 0.08, 2.140, 1.362, 2.913, 2.195, PHS= 0.034,-0.786, 0.715, RAW= 177.0, 0.6, CAL= 177.6, -7.5, ROT= 332.4, 7.5  Ygot valid direction response: 20:19:54.3593 LVL= 29936, 26545, 15826, 32755, AGC= 71, IDX= 113, 0.08, 2.140, 1.362, 2.913, 2.195, PHS= 0.034,-0.786, 0.715, RAW= 177.0, 0.6, CAL= 177.6, -7.5, ROT= 332.4, 7.5  PDAT read: Bearing 332.4, 7.5 (Local)  ~Local bearing/azimuth received: Bearing 332.4, 7.5 (Local)  DAT read: Range 10 to 50 : 501.9 m (Round-trip 669.2 ms) speed 0.7 m/s  ,DAT read: user:1235>  BDAT read: Tx time:20:19:55.4860  $Ping request sent. A A 4w,{{Am3t?fo8U?KV?)mh~?Imh$im8]ֿmŽii2:publishing transmit ping time2Fpublishing direction and range infoi9m(z 6o&BnS [?yiiii i)iIiiiiiii i)iIiiiiim3t?fo8U?KV?)iIiiiiiiyuBu IMb@Mb@Mb@ )YMb?Mb{Gz?y@?#<=A dA)dAIyAI`I5٢|= !=9Q > G٣y% -> 5Nusing accuracyPremultiplier from config)5 59-=?= 5Y- B i-B=B?=:=b?=I@-D-Q;-;-l 5i mAm|Ekm1?km{}/ ki km){A:kmCBkm:CZkm'>"m˷Ir9H DB'H@m(z 6o&BnS [?Jkm8]ֿRkmŽ*mG0{u }@#Vig@je=mG1??e"kmJ;C*km[Ckm\ 3?kmZ6/ 2kmxBkmS C?kmqy,0 kmZBkmDkm%> addTargetRange:: Added new target pos. range: 501.899994 m, deltaT: 26.231415 s, deltaX: -17.800018 m, approachRate: -0.678576 m/s, rangeRepo size: 4 M Added new target pos. range: 501.899994 m, bearing: 21.950617 deg, lat: 36.909770 deg, lon: -122.122490 deg, deltaT: 26.231415 s, deltaX: -17.800018 m, approachRate: -0.678576 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 501.90 m.BjUJjY ProNav: ac range: 501.899994 m, nav range: 544.309448 m, bearing: 19.427525 deg, approach rate: 0.000000 m/s, LOS rate: -0.074013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777559 deg. 2j:j @HeadingCmd: 2.055606 target range: 501.899994 and range: 501.90 m. jjjjihhhhʄBfffrf`f^@bft?ɛ=̃BEN AEE"IA E ȽɚAiIIM~=IIiU7iUF)QWill construct direction to contact in vehicle frame from tetrahedron phase data.)*FM?2FI:FIBFUo0JFQzKKKKK K   BK:K ! I! Gu ׹G} sAG} sAGI BQ Ou >w,0{A2V?Y2J@292>y2HrVݿl$?!?`X޿@ʁͭ?)??e?ɨ2V?2\;0y>B> InWill construct direction to contact in vehicle frame from tetrahedron phase data.IFCIFH5٢= n=9 Q  ?   G٣59Gy5: 5? ENusing accuracyPremultiplier from config9E 59= ?M 5Y=B i=BY]v?]I@=D=oq;='r;=o 5y }A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 501.90 m.BjsJjs ProNav: ac range: 501.899994 m, nav range: 544.313538 m, bearing: 19.400291 deg, approach rate: 0.012173 m/s, LOS rate: -0.081067 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.812855 deg. 2j^:j%@HeadingCmd: 2.056222 target range: 501.899994 and range: 501.90 m. jj j j i)h)h)h1h1f1f1f9rf9bf=a?ɛ҃BH9>I IA!IIBI# =&I.I6D6Iİ<:I F( JI lɽɚiI =Ii8iF$))*F?2F:FBF1JF nManaging dock network, ignoring radio surface power offGmJWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gq B Om >Z~w,quJ{A>ˁ?Y> `@>;9>>y>Hhݿ@߿ ?`Q?p޿p&??^?ɨ>ˁ?>2R;>!C R$?IPyVBV IEMb@Mb@Mb@AAA A)AYE-?1Zdy&1?yE5>?E"۽E`eqq uG٣qy}P; }> Nusing accuracyPremultiplier from config 59#? 5YB iϵB4@?:$?I@D;<;rs 5 KAZjFNOT Ignoring new targets: 501.90 m.BjJj ProNav: ac range: 501.899994 m, nav range: 544.313049 m, bearing: 19.368027 deg, approach rate: -0.001210 m/s, LOS rate: -0.079975 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797764 deg. 2j[:jԔ@HeadingCmd: 2.055959 target range: 501.899994 and range: 501.90 m. jjjjihhhhȄBfffrfbf`?ɛكB[ I ʽɚiI@%=Ii< 9i׻))!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994674*F?2F:FBFI5JFG 3G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246607Ew,Od{AB?YB@B\9B>yBHݿĸ.9?@?ڝ޿@@?hf?[b?ɨB?B;@yNBN IIVCIVH5٢^Y= ^V=9b>=Q b>`` fG٣dyf < f> jNusing accuracyPremultiplier from confighn 59j(?r 5YjB ijBpr?rI@jDj;j;jv 5t z@xZj%FNOT Ignoring new targets: 501.90 m.Bj%<Jj%<5 ProNav: ac range: 501.899994 m, nav range: 544.313599 m, bearing: 19.338113 deg, approach rate: 0.001439 m/s, LOS rate: -0.078351 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804817 deg. 2j5W:j5ٖ@EHeadingCmd: 2.056082 target range: 501.899994 and range: 501.90 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbfU :?zKLKKK KɛB{ !%I! %(h˽ɚ!i!I%8@=I)i--39i5mu)1)1 Ij*F?2F:FBF)4JFGrA GoAJ]J]JYJYJ]:J]9JYJYam@am@am@au@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500795GDػG ?G  ?H8>I Is!IICBI$ =&I.I6I԰<:I FGBO>w,,~{A6?Y60@6b96B>y6Hoݿt?@o ?b޿ͩ?@?@d?ɨ6?69ˋ;6 CyFȂBF IINWIN5٢V.= VK=9ZLQ Z>XX ^G٣\ybR=; b> fNusing accuracyPremultiplier from configdj 59f?j 5YfB ifBln?nI@fDf6;f;fMz 5p v@tZjFNOT Ignoring new targets: 501.90 m.Bj5Jj5- ProNav: ac range: 501.899994 m, nav range: 544.314697 m, bearing: 19.306525 deg, approach rate: 0.002725 m/s, LOS rate: -0.078338 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799793 deg. 2j- W:j-i@5HeadingCmd: 2.055994 target range: 501.899994 and range: 501.90 m. j1j1j1j9i9h9h9hAhAfAfAfIrfIbfM`?ɛuB} y}_Iy AK̽ɚiIDS=Ii<@9ihJ))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751611*F ?2F :F BF _0JF  IjG5xGB!OE> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002519Jw,B {A:?Y:@:&G 9: >y:H`ݿ 7??ٴ޿xЪ@u;?j?e?ɨ:?:;:CyRقBR I5Mb@Mb@Mb@111 1)1Y5{Gz?Zd;OQ?y5C?5j5u<5A 5A)5AI5A1y5AI`I5٢= <=9 BQ > G٣9Gyj: > Nusing accuracyPremultiplier from config 59癜? 5YbB i BIE?:?I@DC;C;~ 5B @ZjI]FNOT Ignoring new targets: 501.90 m.BjeJjm ProNav: ac range: 501.899994 m, nav range: 544.323853 m, bearing: 19.271760 deg, approach rate: 0.020603 m/s, LOS rate: -0.078233 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.790262 deg. 2jV:j@HeadingCmd: 2.055828 target range: 501.899994 and range: 501.90 m. jjjjihhhhԄBfffrfbf@s@ɛBă 隭 I WͽɚiI.T=IiD9i<))eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255071*Fu?2Fq:FqBFu`0JFqzK-N KK)K)K- K-Jm\J>6-'   BK=qA:K=pAGe OP $?I GI Ba O} >Je Je Ja Ja Je :Je 9Ja Ja \w,[{ABs?YBt@B_ 9B >yBHޥݿ+?`b?@ò޿>3^??cf?ɨBs?B8 ;B CyJBJ!IIROIR5٢Zס= ZZ=^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5066279f9Q f>hh jG٣hyj => UNusing accuracyPremultiplier from configI 59Mޙ? 5YMB iM"B?I@MDM!I]C I]!II]lBIY&IY.IY6I]<:I] FBIŸCJIŸCRI“CZI# =bI# =jI5 ProNav: ac range: 501.899994 m, nav range: 544.332214 m, bearing: 19.240306 deg, approach rate: 0.020783 m/s, LOS rate: -0.078176 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.800198 deg. 2jV:j@HeadingCmd: 2.056001 target range: 501.899994 and range: 501.90 m. jjjjihhhhfffrfbfྵ@ɛ%B%A> !%I! -0νɚIiIIM,Z=IQiU+L9iU2K)Q)YEa*F%?2F!:F!BF!JF!"G-=G-=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758651GM HNGe rAGe rAGI B O >w,b{A I: ?Y:'@:׌ 9:G >y:H`ݿ?`z?Z޿* ?i^?uf?ɨ: ?:w;:!CyVBV!IEMb@Mb@Mb@AAA A)AYEMb?Mb:v?yEC?EETqq uG٣yy}G }> Nusing accuracyPremultiplier from config 59}ՙ? 5YPB i8BD?:J?I@DK;; 5 [@ZjFNOT Ignoring new targets: 501.90 m.BjJj ProNav: ac range: 501.899994 m, nav range: 544.340271 m, bearing: 19.207386 deg, approach rate: 0.020709 m/s, LOS rate: -0.084618 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.795797 deg. 2jJh:jD@HeadingCmd: 2.055924 target range: 501.899994 and range: 501.90 m. jjjjihhhḧ́Bfffrfbf `ʹ@ɛB4. _I ϽɚiI4\=Ii\9iY\))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012048*FQ2FQ:FQBFUo0JFQGm@KGI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263855Dw,{A:'?Y:N@: 9:' >y:Hגݿ @~??޿tz%?`,?@g?ɨ:'?:5;8ynBn!IIvQIvb5٢-2= -N=9-B&Q ->11 =G٣=9Gy= => ENusing accuracyPremultiplier from configAM 59E̙?M 5YEB iENBQ]-?]I@EDE-;E.;E 5eB ey@eEZjFNOT Ignoring new targets: 501.90 m.Bj궺Jj궺 ProNav: ac range: 501.899994 m, nav range: 544.347900 m, bearing: 19.175650 deg, approach rate: 0.019222 m/s, LOS rate: -0.079958 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.799348 deg. 2j[:jH@HeadingCmd: 2.055986 target range: 501.899994 and range: 501.90 m. jjjjihhhhfffrfbf`d @ɛBg* !%I! %UϽɚ)zKUVMKUh9KQKU KUi)IZ=Ii9i)) Iq*F2F:FBFJF q Y y BJmJmJiJiJmM:Jm9JiJiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:19:58.5652 TRx dataTimestamp_ set to:1736367599.814361checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517438HU3>IQ IU!IIUBIU% =&IQ.IQ6IU<:IU FGOPG B O >$!w,!u{A:?Y:@:.9: >y:HBݿ k??J޿]wB?? f?ɨ:?::~;: CyB BB0!IIJHIJd5٢Rێ= VS=9Vn{Q V>XX ZG٣XyZ"l: Z> bNusing accuracyPremultiplier from config`f 59bÙ?f 5YbB ibcBdf8?fI@bDb:bX:b 5h n@nEZjamFNOT Ignoring new targets: 501.90 m.Bjm|Jju| ProNav: ac range: 501.899994 m, nav range: 544.355591 m, bearing: 19.144754 deg, approach rate: 0.019312 m/s, LOS rate: -0.077585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801870 deg. 2jT:j@HeadingCmd: 2.056031 target range: 501.899994 and range: 501.90 m. jjjjihhhhfffrfbf'@ɛ- B5oc =Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766625 z=隕I нɚiIN=Ii9iq))*Fu?2Fy:FyBF}0JF $?I jGԑG?G?G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 20:19:58.5652 LVL= 32752, 32753, 19554, 32755, AGC= 65, IDX= 508, 0.22, 2.189, 1.315, 2.979, 2.172, PHS= 0.105,-0.811, 0.803, RAW= 175.6, -1.4, CAL= 176.6, -9.1, ROT= 333.4, 9.1 - Ygot valid direction response: 20:19:58.5652 LVL= 32752, 32753, 19554, 32755, AGC= 65, IDX= 508, 0.22, 2.189, 1.315, 2.979, 2.172, PHS= 0.105,-0.811, 0.803, RAW= 175.6, -1.4, CAL= 176.6, -9.1, ROT= 333.4, 9.1 5 PDAT read: Bearing 333.4, 9.1 (Local) 5 ~Local bearing/azimuth received: Bearing 333.4, 9.1 (Local) E DAT read: Range 10 to 50 : 506.2 m (Round-trip 675.0 ms) speed 0.7 m/s M ,DAT read: user:1236> M BDAT read: Tx time:20:19:59.6861 U $Ping request sent.U 8?Fw`?Χ9j ) (x?I nX w,vP|Aj ?Yj@jL9jJ >yjH`ݿn?@?^޿??@4f?ɨj ?j;j"Cy B !! -G٣)yMں m> }Nusing accuracyPremultiplier from configq} 59u? 5YuGB iuB\H?:?I@uDu;u{;u> 5  @k 0?k8r- k k8|A:kCBk\CZk>";W}@A_ SSZ2!O@?CbI=₩'}?Jk3ѿRkT** 0|@Si@!2$)Z8?-ra?䱸L"kNC*kCk1?kL- 2k ^BkZ9?k/>/ k ^Bk Dk>- addTargetRange:: Added new target pos. range: 506.200012 m, deltaT: 4.032155 s, deltaX: 4.300018 m, approachRate: 1.066432 m/s, rangeRepo size: 4 = Added new target pos. range: 506.200012 m, bearing: 24.033383 deg, lat: 36.909521 deg, lon: -122.122431 deg, deltaT: 4.032155 s, deltaX: 4.300018 m, approachRate: 1.066432 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 506.20 m.BjmJji} ProNav: ac range: 506.200012 m, nav range: 520.204712 m, bearing: 20.648782 deg, approach rate: 0.000000 m/s, LOS rate: -0.077585 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.780709 deg. 2jy:j}@HeadingCmd: 2.055661 target range: 506.200012 and range: 506.20 m. jjjjihhhhĄBfffrf@3@bfy?ɛ%B-\ )-/I) -lѽɚ1i1I5.=I1i=Q9i=~)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:20:19:59.6853 )9*F?2F:FBFn0JFzKuV$KKu]9KqKu KuBKrA:KqA  I G= g{J J J /J J :J 9J (N3J G B! O= >}( w,2|AVP?YVc@bWill construct direction to contact in vehicle frame from tetrahedron phase data.Ve9V>yVHݿ |`??@S޿}߯?\? f?ɨVP?Vʼn;Tyr#BrL!II5I5`5٢E= Ep=9E0oQ M?II UG٣U:Gyu : u? Nusing accuracyPremultiplier from configy 59}? 5Y}|B i}B?I@H2>I I!IIBI& =&I.I5D6Ið<:I F}#D}?<}t<}/ 51 =*@=EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 506.20 m.BjJj ProNav: ac range: 506.200012 m, nav range: 520.208618 m, bearing: 20.620073 deg, approach rate: 0.010806 m/s, LOS rate: -0.079419 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.808429 deg. 2jZ:j@ HeadingCmd: 2.056145 target range: 506.200012 and range: 506.20 m. j j j j i hhhhfffrfbf`L?ɛB 隍I %QҽɚiId$=Ii':iG))*F=?2F9:F9BF=z1JF9mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.Ge xG1 BY O >  I w,L|A6n?Y6@6kw96a( >y6H@*ݿ`? ?`޿`>?*?a?ɨ6n?6B;4y>'B>Q!I Mb@Mb@Mb@    ) Y Pn?lMb?y D?  < /A A) lAI A y G AI-*I-|u5٢=G< =K=9E*Q E>AA MG٣IyMd: M> UNusing accuracyPremultiplier from configQ] 59U_?e 5YUuB iUBe E?e:e?eI@U-DU;U;U 5i u@qZj9=FNOT Ignoring new targets: 506.20 m.BjE ƺJjE ƺ} ProNav: ac range: 506.200012 m, nav range: 520.216797 m, bearing: 20.586782 deg, approach rate: 0.021269 m/s, LOS rate: -0.086573 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.794685 deg. 2j}m:j}@HeadingCmd: 2.055905 target range: 506.200012 and range: 506.20 m. jjjjihhhhBfffrfbff?ɛB Q  NI  uӽɚqiqIu=Iyi}:i}kkc)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995951E=EE>*FM ?2FI :FI BFM 0JFI } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247118Gm PGIBaO>JSw,Nk|AzK*J3KK* 9K(K* K*RK2?JK2? >$?IyRH``ݿʹ@?`?޿ @,m?`?a?ɨRg`?R:;R!CyZ.B^Z!IIfIfHo5٢n < n0=9nHQ r>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~ 59z?~ 5YzlB izƶB|?I@z8Dz:z:z 5  x@ EZjFNOT Ignoring new targets: 506.20 m.BjJj ProNav: ac range: 506.200012 m, nav range: 520.227539 m, bearing: 20.547845 deg, approach rate: 0.023369 m/s, LOS rate: -0.084704 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.777747 deg. 2jh:j@HeadingCmd: 2.055609 target range: 506.200012 and range: 506.20 m. jjjjihhhhfffrfbf ?ɛ$BR 隵rI ӽɚiI~=Iiu9iM()Q)YE}(z=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504209H0>IC I""IIуBI&I.I*F?2F:FBF/1JF6I<:I FG= V'SG B! O= >6!w,|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755268FȎ?YF@FU9F >yFH@ݿ­`&?@?-޿`O`-?E?@^?ɨFȎ?F2v;FCyR;BRj!IIZIIZ5٢fQ= fL=9jQ j>hh jG٣n:Gynf; r> vNusing accuracyPremultiplier from configpv 59rA?z 5YrreB ir޶Bxz?zI@rBDr:r:r9 5 @ZjFNOT Ignoring new targets: 506.20 m.Bj罺Jj罺= ProNav: ac range: 506.200012 m, nav range: 520.237427 m, bearing: 20.514234 deg, approach rate: 0.024421 m/s, LOS rate: -0.083013 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.793726 deg. 2jEc:jM@HeadingCmd: 2.055888 target range: 506.200012 and range: 506.20 m. jjjjihhhhf)f1f9rfA Ijbf?ɛ+B^ 隕I ԽɚiI~=Ii}9iJ))EE*E!"E!JsK{|3 K{S}-KsKs"KsJEJEJE0JAJE :JE9JEـ3JAJEQ;aeJES;aeJE{;aeJE{;aeWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007845*F ?2F :F BF o0JF Gb\GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259894BO?)w, |AZ?YZ@Z~9Z8>yZH@ݿ@-??޿@c`؞??@a?ɨZ?ZL;Z"Cyj=Bjk!IuMb@Mb@Mb@qqq q)qYux&1?Q rh?yuA@?uuuCIY~5٢E; =98Q > G٣yӻ > -Nusing accuracyPremultiplier from config!5 59%?5 5Y%m[B i%Be@?e:e?eI@%OD%~<%L<% 5uB u@}EZjFNOT Ignoring new targets: 506.20 m.Bj5Jj5 ProNav: ac range: 506.200012 m, nav range: 520.256409 m, bearing: 20.468742 deg, approach rate: 0.034331 m/s, LOS rate: -0.082273 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.758088 deg. 2ja:j|@ HeadingCmd: 2.055266 target range: 506.200012 and range: 506.20 m. j j jjih !IIhhYh]BfYfafarfabfe`*@zKuJKu+9KqKu KuBKqA:KrAɛ3B I xսɚiI!~=Iit9i]Y))!*F 2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511188H->I I;"IIBI' =&I.I6Ḭ<:I FG >G B O >B0/w,|A6?Y6(@6A(966>y6Hݿ d? ?δ޿'+??c?ɨ6?6;6!CybKBb}!IIjJIjՁ5٢vq= vX=9vd:Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59z? 5YTB iB!%?%I@XD ;* ;F 5) -@)UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 506.20 m.BjeúJjeúu ProNav: ac range: 506.200012 m, nav range: 520.268921 m, bearing: 20.438783 deg, approach rate: 0.035737 m/s, LOS rate: -0.085566 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804681 deg. 2j}j:j}ϖ@HeadingCmd: 2.056080 target range: 506.200012 and range: 506.20 m. jjjjihhhhfffrfbf`@ɛ7B  gI {ֽɚiI,~=IiQ9iq))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764287*Fu?2Fq:FqBFu5JFqGMj-G1BaO>> m$?IiJ J J J J :J 9J J J ;J ;J p#;J p#; Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0154046w,|Ay-SB-!IMb@Mb@Mb@ )Yףp= ?kt~jtx?y>? 0;A QA)v@I+Ay AII٢$= ;=9Q > G٣:Gy > Nusing accuracyPremultiplier from config 59do? 5Y%MB i.B  ?? : ? I@bD; ; 5 @ZjFNOT Ignoring new targets: 506.20 m.Bj Jj  ProNav: ac range: 506.200012 m, nav range: 520.291565 m, bearing: 20.403600 deg, approach rate: 0.050372 m/s, LOS rate: -0.078263 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789011 deg. 2jV:jT@HeadingCmd: 2.055806 target range: 506.200012 and range: 506.20 m. jjjji hhhhBfffrfbf{ @ɛ>Bj 隕VI Y׽ɚiIV~=Iil9ilj))ErAE*Fe?2Fa:FaBFeA5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268017 Q IQ G g{zKE KKE ]9KA KE  KE '-  RKU >JKU ?Ga Bi O >J?Y>8@>9>>y>H`ݿ ^J??p޿ hBl??fe?ɨ>?>$;>"CyJIBJz!IIR=IR}5٢ZY Z_=9Z[;Q Z>\\ ^G٣\yb- b> fNusing accuracyPremultiplier from configdj 59fe?j 5YfFB ifBBhn?nI@fkDf;f;fE 5p r@pMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519273ZjaeFNOT Ignoring new targets: 506.20 m.BjmJjm} ProNav: ac range: 506.200012 m, nav range: 520.310547 m, bearing: 20.373851 deg, approach rate: 0.052579 m/s, LOS rate: -0.082399 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805314 deg. 2j}3b:j}@HeadingCmd: 2.056091 target range: 506.200012 and range: 506.20 m. jjjjihhhhfffrfbfU @ɛCBo lIH=+>I9 I=N"II=BI9&I9.I96I=<:I= FBICJICRIZI& =bI& =jIa5 < ؽɚiIO~=Iio9iMZ))*F]?2FY:FYBF]_0JFYG}V'S Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:20:20:02.7621  TRx dataTimestamp_ set to:1736367604.102609% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775037G B O >{,Cw,O }A Ijy5OB5!IJJJJJJJJ=9JJJJJ*;J*;Mb@Mb@Mb@ )YzG?+Mbp?y 7?;A @)3@IAyAI .I Bw5٢y< *=9%Q %>!! -G٣-:Gy5 5> =Nusing accuracyPremultiplier from config9E 59=Y?E 5Y=u>B i=[BEP7?M:M@MI@=vD=4;= ;=| 5Q US@YZjyFNOT Ignoring new targets: 506.20 m.BjJj ProNav: ac range: 506.200012 m, nav range: 520.335999 m, bearing: 20.336292 deg, approach rate: 0.053951 m/s, LOS rate: -0.079611 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781885 deg. 2jZ:jJ@HeadingCmd: 2.055682 target range: 506.200012 and range: 506.20 m. jjjjihhhh+Bfffrfbf@ɛJB I ؽɚiI$4~=Ii:i)eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.024019)*F=?2FA:FABFAJFIG ̌Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 20:20:02.7621 LVL= 24944, 32753, 14706, 32755, AGC= 69, IDX= 410,-0.04, 0.628,-0.184, 1.251, 0.498, PHS= 0.218,-0.635, 0.750, RAW= 172.4, -5.6, CAL= 174.4, -12.5, ROT= 335.6, 12.5 TIw,. '}AYgot valid direction response: 20:20:02.7621 LVL= 24944, 32753, 14706, 32755, AGC= 69, IDX= 410,-0.04, 0.628,-0.184, 1.251, 0.498, PHS= 0.218,-0.635, 0.750, RAW= 172.4, -5.6, CAL= 174.4, -12.5, ROT= 335.6, 12.5 PDAT read: Bearing 335.6, 12.5 (Local) ~Local bearing/azimuth received: Bearing 335.6, 12.5 (Local) DAT read: Range 10 to 50 : 503.8 m (Round-trip 671.8 ms) speed 0.4 m/s &,DAT read: user:1237> *BDAT read: Tx time:20:20:03.8861 *$Ping request sent.*M\"M@?M@@M+Ƚ MB@)Mf_IM5o@iMf_>IIM,S@q?:? @ɸ)Mnj?IM=iM2ǿM?yH@vݿ L? ??޿@ɰ@D?`C?` i?ɨ?;騥!Cy޽XB޽!I $?II1Ix5)9 A٢-)= eJ=9A;.~GQ >vA GzK 9LK K K  K BKrA:K٣y-80 -> 5Nusing accuracyPremultiplier from config1= 595'O?= 5Y57B =tIi5rB9E?EJ@5D5U;5;5I 5 MYMvAyMb BB @EkM*?kMcI* kI kM&}A:kMCBkM)CZkM>"MB2@Cv~)3W@Mnv$?/YuD f?JkM2ǿRkM?<*MRSb{@Cm@N]!<@E@E@BM;SG?nc'?x˩?"kMjC*kMCkM4+?kM/{* 2kMuBkM\ 3?kMZ6/ kIkMCkMwʽ> addTargetRange:: Added new target pos. range: 503.799988 m, deltaT: 4.288045 s, deltaX: -2.400024 m, approachRate: -0.559701 m/s, rangeRepo size: 4 E Added new target pos. range: 503.799988 m, bearing: 27.738566 deg, lat: 36.909333 deg, lon: -122.122420 deg, deltaT: 4.288045 s, deltaX: -2.400024 m, approachRate: -0.559701 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 503.80 m.BjMJjI} ProNav: ac range: 503.799988 m, nav range: 501.065948 m, bearing: 21.238704 deg, approach rate: 0.000000 m/s, LOS rate: -0.079611 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.781946 deg. 2jy:jN@HeadingCmd: 2.055683 target range: 503.799988 and range: 503.80 m. jjjjihhhh!f!f!f!rf-|@bf-?}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:20:20:03.8853 ɛQB3K I ڽɚiI ~=Ii:if))HU*>IQ IU`"IIUBIQ&IQ.IQ6IU<:IUs F*F ?2F :F BF 35JF G )G ?G >GiByO>G[Qw,E}AJWill construct direction to contact in vehicle frame from tetrahedron phase data.j_?Yji@jPH9j->yjHݿO`? ?޿`"9?N?i?ɨj_?j`d;j"Cyr]Bv!IIId5٢-< -F=95[d:Q 5>99 =G٣9yE: E> MNusing accuracyPremultiplier from configIu 59ME?} 5YM0B iMBy}?}J@MDMy;M;M 5 q@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 503.80 m.BjKźJjKź5 ProNav: ac range: 503.799988 m, nav range: 501.081818 m, bearing: 21.207789 deg, approach rate: 0.044271 m/s, LOS rate: -0.086243 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801813 deg. 2j5l:j5@=HeadingCmd: 2.056030 target range: 503.799988 and range: 503.80 m. j9j9j9j9i9h9hAhAhAfifqfyrfybf} ?ɛVB` !-I) 5ڽɚ9i9Ie~=Ii:iԚ) Ij) *F?2F:FBF`0JFJJJJJ:J*9JJJk;Jl;J(;J(;MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G XG B O >Ww,s_}A63?Y6u@6Qi96 5=y6Hoݿ@9?` ?t޿7=?;?@o?ɨ63?6VȊ;4yBnBB!I=Mb@Mb@Mb@999 9)9Y=ʡE?~jtMbpy=-2?=D==A =@)=@I99y=3AIU+IUu5٢m>= uG=9uˠQ u>yy }G٣yy5 > Nusing accuracyPremultiplier from config 59:? 5Y)B iB42?:f@J@D;$;/#;6 5 _@EZjFNOT Ignoring new targets: 503.80 m.BjJj ProNav: ac range: 503.799988 m, nav range: 501.109222 m, bearing: 21.175549 deg, approach rate: 0.068943 m/s, LOS rate: -0.081102 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.797842 deg. 2j^:jڔ@HeadingCmd: 2.055960 target range: 503.799988 and range: 503.80 m. jjjjihhhh;Bfff rf bf ?ɛ5[B= 9=I9 =Pi۽ɚ9i9IE~=IAiE];iM)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991750*F?2F:FBFn0JF $?IG-[6zKe&~JKaKaKe Ke RKu ?JKu>G B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242676H )>I C I m"II BI ( =&I .I 4D6I o<:I H F3]w,Ty}A~-?Y~t@~7o9~=y~Hnݿ@|? ?@;޿H=? 2x?m?ɨ~-?~8Š;~Cy-lB-!IIIb5٢ @=9%]Q %>)) -G٣-:GyU U> ]Nusing accuracyPremultiplier from configYe 59]/?e 5Y]"B i]Bime@mJ@]D]L:]:] 5B s@EZjFNOT Ignoring new targets: 503.80 m.Bj kJj k= ProNav: ac range: 503.799988 m, nav range: 501.138153 m, bearing: 21.141683 deg, approach rate: 0.065137 m/s, LOS rate: -0.076245 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.792964 deg. 2j=MQ:j=u@EHeadingCmd: 2.055875 target range: 503.799988 and range: 503.80 m. jijijijiiihihqhqhqfqfyfyrfybf}}?ɛEaBM0I QUIQ UMܽɚQiQIUH~=IYi];i]\)a)*F=?2F9:F9BF=`0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495312 I G ^G G sAG B O >@dw,0}A6k?Y6T@6/96>y6H SݿB4??f޿Yΰ`V? ?@l?ɨ6k?6r;6 CybxBb!IMb@Mb@Mb@ )Y?Mb{Gzyf&?#A )@IAyAI=I}5٢ p= L=93H;Q > G٣ y e  >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746723 -Nusing accuracyPremultiplier from config!- 59%%? 5Y%B i%Bn&?:@J@%D%G<%<%s 5 @Zj-FNOT Ignoring new targets: 503.80 m.Bj5Jj5E ProNav: ac range: 503.799988 m, nav range: 501.164276 m, bearing: 21.112561 deg, approach rate: 0.064533 m/s, LOS rate: -0.071937 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807196 deg. 2jEzE:jE@uHeadingCmd: 2.056123 target range: 503.799988 and range: 503.80 m. jqjqjqjqiqhqhyhyh}!Bfyffrfbf@?ɛgB I #ݽɚiI}=Ii,Njw,:}A6 ?Y6+&@6t96>y6H:-ݿ?|!? ;޿2E ?=?cm?ɨ6 ?6,<;6$C DIDyFBF!IIR,IR_v5٢Z= Zb=9Z;Q Z>\\ ^G٣`yb b> fNusing accuracyPremultiplier from configdj 59f?j 5YfqB ifͷBln}@nJ@fDf ;fX;f 5p r@tZjFNOT Ignoring new targets: 503.80 m.BjJj ProNav: ac range: 503.799988 m, nav range: 501.187408 m, bearing: 21.086169 deg, approach rate: 0.068016 m/s, LOS rate: -0.077597 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.815384 deg. 2jU:jޙ@HeadingCmd: 2.056266 target range: 503.799988 and range: 503.80 m. j!j!j!j!i!h!h!h)h)f)f)zKuXKKu9KqKu Ku:wBKy:K}tAf1rfbft@ɛmkBu\ quIq uݽɚqiqI}V}=IyiLuG! B1 OM >٣qw,}A:?Y:y@:`O 9:>y:H#!ݿ%`?&?n+޿ ү`?G?n?ɨ:?BWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502610:͉;:"CyJBJ!IIVHIVd5٢^< ^J=9b;Q b>`d fG٣f:Gyf f> jNusing accuracyPremultiplier from confighr 59j?r 5YjKB ijݷBtvm@vJ@jDj/>;j>;j" 5x z@@xZjFNOT Ignoring new targets: 503.80 m.Bj%)Jj%)5 ProNav: ac range: 503.799988 m, nav range: 501.213348 m, bearing: 21.056433 deg, approach rate: 0.064128 m/s, LOS rate: -0.073509 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805354 deg. 2j5I:j5@=HeadingCmd: 2.056091 target range: 503.799988 and range: 503.80 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfU^@ɛpB(  隍I Rg޽ɚiI~=Iix=i/,))EE*F]?2FY:FaBFe`5JFa $?IjG GsAG.-5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755125GBO>uww,#}A:?Y:@: 9:)W>y:Hݿ@D?0?  ޿@#@md?W?Wp?ɨ:?:L};:#CyNBR!I5Mb@Mb@Mb@111 1)1Y5V-?:vii mG٣iym u> }Nusing accuracyPremultiplier from configy 59}S ? 5Y} B i}B?:@J@}D};}I;} 5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 503.80 m.Bj=Jj= ProNav: ac range: 503.799988 m, nav range: 501.236786 m, bearing: 21.026466 deg, approach rate: 0.055129 m/s, LOS rate: -0.070484 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.804659 deg. 2j}A:j͖@HeadingCmd: 2.056079 target range: 503.799988 and range: 503.80 m. jjjjihhhqhuBfqfyfyrfybf}@ɛuB ӾI (߽ɚiI~=Ii*?i*J)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007971*F?2F :F BF JF  IzKkLK9KK K@ 10&#$  RK?JK>G-,J J J J J J *9J J G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258670H (>I  I "II 7BI &I .I 6I <:I F}w,Ȗ}A2?Y2@2v 92x>y2H-ݿ@ 3?02?`޿ sM`WA? 4?@o?ɨ2?29N;2!CyJBJ"IIZEIZ5٢bV= bU=9b8;Q f>dd fG٣dyj9 j> nNusing accuracyPremultiplier from configlr 59n?r 5YnuB inBtv@vJ@nDn;n:n2 5x z@xZjQ]FNOT Ignoring new targets: 503.80 m.BjeJje ProNav: ac range: 503.799988 m, nav range: 501.257965 m, bearing: 20.999469 deg, approach rate: 0.054211 m/s, LOS rate: -0.069100 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813568 deg. 2j=:jY@HeadingCmd: 2.056235 target range: 503.799988 and range: 503.80 m. jjjjihhhhfffrfbf@A @ɛ=zB= AE¾IA EC߽ɚAiAIM ~=IIiMV@iUJ)Q)q*F?2F:FBFh4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:20:06.9588 TRx dataTimestamp_ set to:1736367608.132654checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511711GmyJGI BY y Iy O >4w,Xs~A6f?Y6@696>y6H`ܿ?`7?ݿs? ?op?ɨ6f?6s;6CyRÃBR"I-Mb@Mb@Mb@))) )))Y-X9v?Zd;Oy&1|y-?-j-`- A -@)-p@I- A)y-3AIECIEH5٢U%P= UA=9]o;Q ]>aa eG٣e:Gye#" m> uNusing accuracyPremultiplier from configiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762653 59m=? 5YmDA im B?:@J@mDm Y Ia w,h.~ARf?YR@RUi9RG>yRH.ܿ ?`;?ݿ ?t?`\q?ɨRf?R;R"CyjBn?"II1Ix5٢%O?> %M=9->k;Q ->II UG٣QyU U> mNusing accuracyPremultiplier from configa 59ee? 5Ye\A ieB@J@eDe;e;el 5B @EzKLK9KK KW_!Y_^~m>3ZjFNOT Ignoring new targets: 503.80 m.BjSJjS ProNav: ac range: 503.799988 m, nav range: 501.294464 m, bearing: 20.941659 deg, approach rate: 0.043080 m/s, LOS rate: -0.068334 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.809893 deg. 2j;:jL@ HeadingCmd: 2.056170 target range: 503.799988 and range: 503.80 m. j j j j i hhhhfffrfbf%l@JaJeJaJaJaJe9JaJaɛB 隍I ɚiI~=IiFCic))%Will construct direction to contact in vehicle frame from tetrahedron phase data.H='>I9 I="II=`BI9&I=HD.I96I=ް<:I= FBI ŜCJI ŜCRI ZI ( =bI ( =jI {4DAT read: 20:20:06.9588 LVL= 32752, 32753, 21058, 32755, AGC= 68, IDX= 411, 0.11,-2.790, 2.616,-1.985,-2.829, PHS= 0.126,-0.792, 0.840, RAW= 175.9, -2.5, CAL= 177.1, -9.9, ROT= 332.9, 9.9 Ygot valid direction response: 20:20:06.9588 LVL= 32752, 32753, 21058, 32755, AGC= 68, IDX= 411, 0.11,-2.790, 2.616,-1.985,-2.829, PHS= 0.126,-0.792, 0.840, RAW= 175.9, -2.5, CAL= 177.1, -9.9, ROT= 332.9, 9.9 PDAT read: Bearing 332.9, 9.9 (Local) ~Local bearing/azimuth received: Bearing 332.9, 9.9 (Local) DAT read: Range 10 to 50 : 501.4 m (Round-trip 668.6 ms) speed 0.8 m/s ,DAT read: user:1238> BDAT read: Tx time:20:20:08.0861 $Ping request sent.%J%= W?%p{D@%¸2 %E@)%;0I%+@i%;0>!!%?nMv?+4)%y?I%ڵ1=i%Ͽ%!!:publishing transmit ping timeعFpublishing direction and range info!*F?2F:FBF`0JF9%[]vV￉]?y!!!! !)!I!i!!!!! !)!I!i!!!%?nMv?+4)!I!i!!!!GBOm>8w,)H~ABWill construct direction to contact in vehicle frame from tetrahedron phase data.FP?YF~@F19F>yFH@ܿɖ? {??ݿ= D?? r?ɨFP?FΈ;F!Cy^Bb]"IIn7In?{5٢v1= vO=9vR;Q v>xx zG٣xyz ~> eNusing accuracyPremultiplier from configam 59e嘜?m 5YexA ie)Bim@mJ@eDe7:e:e 5y }@yke-?keF`, ka ke#.9~A:keCBkeCZkef>"e_6!.7} M@e[]vV￉]?JkeϿRke*e2|@[9ֽ j@yV#e?,)?Ty"keMPC*keCkeR.?ke, 2keTaBke1?keL- kakeCke> addTargetRange:: Added new target pos. range: 501.399994 m, deltaT: 4.289439 s, deltaX: -2.399994 m, approachRate: -0.559512 m/s, rangeRepo size: 4 E Added new target pos. range: 501.399994 m, bearing: 24.552248 deg, lat: 36.909301 deg, lon: -122.122176 deg, deltaT: 4.289439 s, deltaX: -2.399994 m, approachRate: -0.559512 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 501.40 m.BjMJjQ ProNav: ac range: 501.399994 m, nav range: 506.191650 m, bearing: 23.352723 deg, approach rate: 0.000000 m/s, LOS rate: -0.068334 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.816263 deg. 2j:j@HeadingCmd: 2.056282 target range: 501.399994 and range: 501.40 m. jjjjihhhhfffrf`fV@bf ? $?I ɛeBe_ aelIa m^ɚiiIM~=I1i=Di=v m)9)*F?2F:FBFJFGB5Will construct direction to contact in vehicle frame from tetrahedron phase data.OE>w, b~A6i?Y6m@6=961 >y6H ܿ`@ ?#8?`Bݿ3k?@i ]C=9e Q e>ai mG٣m:Gymm; m> Nusing accuracyPremultiplier from configq 59uܘ? 5YuhA iu9B ? : ? J@uDu˞G BO5-> I%j~GvA 7YvAy_BzK- TOK- ]9K) K-  K- .w.4W&S($(&#""#%"!J J J 1J J :J 9J 3J E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987457HU %>IQ  IU #IIU BIU ) =&IQ .IQ 6IU <:IU FFw,r{~AB?YB@B9B >yBH,ݿ? 1?޿`@?`7?o?ɨB?B;B"CyDB"IIIj5٢-1> -N=95Z:Q 5>11 5G٣1y=; => ENusing accuracyPremultiplier from configAM 59EbԘ?M 5YE|A iEJBQU0?UJ@EDEC:E:E 5Y ]@aZjFNOT Ignoring new targets: 501.40 m.BjwJjw ProNav: ac range: 501.399994 m, nav range: 506.199097 m, bearing: 23.296296 deg, approach rate: 0.010469 m/s, LOS rate: -0.073642 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.810834 deg. 2j(J:j@HeadingCmd: 2.056187 target range: 501.399994 and range: 501.40 m. jjjjihhhhfffrfbf?ɛB6E  hI  ɚiI%}=I)i5?Gi5,8)1)A*F=?2F9:FABFMp0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239335GMJ  I G) Ba O} >1w,%ɕ~AF?YF@F19F >yFH&ݿE?`-?#޿`? )?`$o?ɨF?F ;DyNiBR"I5Mb@Mb@Mb@111 1)1Y5"~j?Mb:v?y5S#?5@5T<5 A 5C@)5@I5 A1y5QAIMIMZ5٢] 1> ]G=9e6Q e>ii mG٣qyu!; }> Nusing accuracyPremultiplier from configy 59}˘? 5Y}&A i}]B#?:c?J@}D};};} 5 @EZjFNOT Ignoring new targets: 501.40 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491737} ProNav: ac range: 501.399994 m, nav range: 506.197693 m, bearing: 23.266733 deg, approach rate: -0.003404 m/s, LOS rate: -0.071687 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.805868 deg. 2j}D:j}&@HeadingCmd: 2.056100 target range: 501.399994 and range: 501.40 m. jjjjihhhhYBfffrfbf L?ɛ-B-k )-̸I) 5ɚ1i1I5}=I9i=&Hi=Q,)9)9*F?2F:FBF0JFGE I6 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744210G1 B O > $?I Xw,l~A6h?Y6@696N >y6H` ݿ?7? 2޿{Yw??q?ɨ6h?6#;6#CyBBB #IIJ3IJyy5٢RM> RX=9R9;Q R>TT VG٣V:GyZ\ Z> ^Nusing accuracyPremultiplier from config\b 59^Ø?b 5Y^VA i^nB`f ?fJ@^D^5;^C;^ 5l n"@YZjFNOT Ignoring new targets: 501.40 m.Bj1Jj1 ProNav: ac range: 501.399994 m, nav range: 506.196045 m, bearing: 23.239646 deg, approach rate: -0.004127 m/s, LOS rate: -0.067841 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.813298 deg. 2j;::jF@HeadingCmd: 2.056230 target range: 501.399994 and range: 501.40 m. jjjjihhhhfffrfbf?ɛ B f ೼I 6"ɚiIe}=I!i%DIi%pN)!)!E5sAE5rAzK5-AOK59K1K5 K5 BKeqA:KeqA*F?2F:FBF"2JFJ J J 0J J J 9J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997358H$>I Is#IIBI&I.I6Iϰ<:I FG0,.GGqAGBO>?w, o~A 2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247394:x?Y::@:g9:~ >y:HPܿA?<>?ݿ 穿@H?@ ?+s?ɨ:x?:万;:"CyFBF7#IIN.INBw5٢ZQ+> ZI=9^j;Q ^>\` bG٣`yb+i b> fNusing accuracyPremultiplier from configdj 59f?j 5YfA ifBln?nJ@fDf;f;fk 5t v@tZj FNOT Ignoring new targets: 501.40 m.BjEJjE% ProNav: ac range: 501.399994 m, nav range: 506.194031 m, bearing: 23.210480 deg, approach rate: -0.005231 m/s, LOS rate: -0.075743 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.807057 deg. 2j-O:j-}@5HeadingCmd: 2.056121 target range: 501.399994 and range: 501.40 m. j1j9j9j9i9h9hAhAhAfAfIfIrfIbfM`^@ɛB+ܽ (=I gɚiIO#}=I!i%mJi%3`)))) I*F?2F:FBF`5JFG%rA G%sA%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502102GKGi Bq O >iw,EJ~Ay~لBg#IMb@Mb@Mb@ )YV-? :=9Q > G٣y > Nusing accuracyPremultiplier from config 59i? 5YA iBw2?:?J@ D;w;D 5 @E5B*** querying acoustic contact ***j1j1ZjFNOT Ignoring new targets: 501.40 m.BjJj5 ProNav: ac range: 501.399994 m, nav range: 506.182098 m, bearing: 23.176146 deg, approach rate: -0.025979 m/s, LOS rate: -0.074752 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.791553 deg. 2j55M:j5@=HeadingCmd: 2.055851 target range: 501.399994 and range: 501.40 m. j9jAjAjAiAhAhIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752330hhBfffrfbf<@ɛ5B=:Խ 9==I9 =8ɚAiAIEU|=IiCLi])) I*F?2F!:F!BF%4JF!zK )LK 9K K  K 5! 4unN*qGRK ?JK ?G :_H ">I  I #II :BI &I .I 6I <:I F% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004340G B O >w,#~Ay B#IIIp5٢uo> H=9Q > G٣ :Gy   > Nusing accuracyPremultiplier from config 59꩘? 5YA iB%J@D ;u ; 5-B -n@-EZji}FNOT Ignoring new targets: 501.40 m.BjJj ProNav: ac range: 501.399994 m, nav range: 506.171173 m, bearing: 23.144241 deg, approach rate: -0.027788 m/s, LOS rate: -0.081150 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.798840 deg. 2j^:j#@HeadingCmd: 2.055978 target range: 501.399994 and range: 501.40 m. jjjjihhhhf ffrfbf~m @ɛBŽ D>I TɚiIs]|=I)i- Mi-^)))1*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255967 u$?I}jG G ?G ?G B Ou >w,,AJJJJJ-:JJJJ;a6J;a6J!;a6J!;a6y=/B=#IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:20:20:11.1544 TRx dataTimestamp_ set to:1736367612.421348checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509185Mb@Mb@Mb@ )YPn?I +L7A`?yD?9+=zA @)@IAyp@I If5٢#4> H=9Q > G٣!y! %> -Nusing accuracyPremultiplier from config)5 59-Ҡ?5 5Y-A i-ŸB=E?=:=K?=J@- D-;-;-i 5A E!@AZjq}FNOT Ignoring new targets: 501.40 m.Bj}oJj}o ProNav: ac range: 501.399994 m, nav range: 506.155487 m, bearing: 23.109000 deg, approach rate: -0.035690 m/s, LOS rate: -0.080186 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.788830 deg. 2j\:jF@HeadingCmd: 2.055803 target range: 501.399994 and range: 501.40 m. jjjjihhhhBfffrfbf @ɛ=BePE aeڂ>Ii maɚiiiImY{=Iqiu. Oiub^)q)y*F?2F:FBF4JF"G%=G%= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759949G] _G1 BA Y IY Oa w,0AF!?YF@F9F!r>yFH@ݿ Oi?6??޿`{f??5w?ɨF!?F};F#CyRVBR$IIZIZ^5٢f8X> fc=9f;Q j>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv 59r?v 5Yr*A ir۸Bxz?zJ@r)Dr:r:r 5| @Zj!5FNOT Ignoring new targets: 501.40 m.BjEٺJjMٺ ProNav: ac range: 501.399994 m, nav range: 506.142548 m, bearing: 23.077873 deg, approach rate: -0.039569 m/s, LOS rate: -0.095188 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.801175 deg. 2j:jΕ@HeadingCmd: 2.056018 target range: 501.399994 and range: 501.40 m. jjjjiYhYhahqhfffrfbf ê@ɛeBe eS=e)>Ia eɚiiiIme{=zK PK+9KK KK4P|*5X2{ngaZVWTUUPMGBC@<<;546433/0/,)('&BKrA:KrAIioPi8))H!>IC I[$IIBI* =&I.I6I%<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 20:20:11.1544 LVL= 26448, 32753, 18354, 32755, AGC= 70, IDX= 397, 0.03,-2.613, 2.767,-1.938,-2.735, PHS= 0.210,-0.734, 0.794, RAW= 172.3, -4.1, CAL= 174.1, -11.4, ROT= 335.9, 11.4 EYgot valid direction response: 20:20:11.1544 LVL= 26448, 32753, 18354, 32755, AGC= 70, IDX= 397, 0.03,-2.613, 2.767,-1.938,-2.735, PHS= 0.210,-0.734, 0.794, RAW= 172.3, -4.1, CAL= 174.1, -11.4, ROT= 335.9, 11.4 UPDAT read: Bearing 335.9, 11.4 (Local) U~Local bearing/azimuth received: Bearing 335.9, 11.4 (Local) *Fm?2Fi:FqBFu`0JFqDAT read: Range 10 to 50 : 498.0 m (Round-trip 664.1 ms) speed 0.8 m/s ,DAT read: user:1239> BDAT read: Tx time:20:20:12.2362 $Ping request sent.m;CK?v@@C xB@)%KI@i%K>3ύ? /=?B&@)xi?If$=i@˿x<E:publishing transmit ping timeرEFpublishing direction and range info99ȱ(MMas￴S3x?y )Ii )Ii3ύ? /=?B&@)IiG :_G B O >yw,JA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:20:20:12.2354 y~yB~+$II I a5٢-2%> -D=9-Q 5>11 5G٣5 :Gy] ]> eNusing accuracyPremultiplier from configam 59eR?m 5Ye>A ieBqquJ@e3DeX:ee:e= 5B @E I k%R0*?k%jK+ k! k%1;A:k%CBk%GCZk%/F>"%dW-$}0$4:~jE+pV@%9ȱ(MMas￴S3x?Jk%@˿Rk%x<*%]`C{@hk@-KM8@%?V?LQ%?"k%@XC*k%Ck%;Lz,?k%^n+ 2k%Bk%R.?k%, k%TaBk%Ck%> addTargetRange:: Added new target pos. range: 498.000000 m, deltaT: 4.031456 s, deltaX: -3.399994 m, approachRate: -0.843366 m/s, rangeRepo size: 4  Added new target pos. range: 498.000000 m, bearing: 25.769018 deg, lat: 36.909222 deg, lon: -122.122090 deg, deltaT: 4.031456 s, deltaX: -3.399994 m, approachRate: -0.843366 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 498.00 m.BjJj ProNav: ac range: 498.000000 m, nav range: 501.183014 m, bearing: 24.237010 deg, approach rate: 0.000000 m/s, LOS rate: -0.095188 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.767140 deg. 2j:j@ HeadingCmd: 2.055424 target range: 498.000000 and range: 498.00 m. j jjjihhh!h!f)f)firfm @bfu?ɛBP@ >I ߽ɚiIz=I i ) )E*FA2FI:FIBFIJFIJKm3 KKK"KJuJuJqJqJu:Ju9JqJqJu;Ju;Ju';Ju';Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge K7G9 BQ Om >gw,`dA2T?Y2y2HGYݿQС?`-&?0G޿ $?` ?u?ɨ2T?2;2CyBBBN$IHJAMb@Mb@Mb@ )Y/$?ʡE{Gz?y&Q?ケ#=A @)@Iy@I5I5N5٢Er > EI=9McѺQ M>IQ UG٣QyUC,< U> Nusing accuracyPremultiplier from config  59҅?  5YA iB S?:|?J@>D;-; 5=B =@=EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 498.00 m.Bj~ٺJj~ٺ5 ProNav: ac range: 498.000000 m, nav range: 501.151428 m, bearing: 24.197571 deg, approach rate: -0.076138 m/s, LOS rate: -0.095074 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.776232 deg. 2j=:j=@EHeadingCmd: 2.055583 target range: 498.000000 and range: 498.00 m. jAjAjIjIiIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.hqhyhyh}3Bfffrfbf 1?ɛB V >I <߽ɚi!I%,z=Iaim Qimp)i)i $?I j*F!2F!:F!BF!JF!zK fqOK K K  K %%$"!    RK ?JK >GE ei@H >I  I $II BI &I .I 6I <:I FBIQJIQRIQZIU) =bIU) =jIU05 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982805G B1 OU >gw,z~A2m?Y2os@292b>y2H`}ݿ``qX?B?k޿(@O?` ?Vw?ɨ2m?2ډ;2"CyNBN}$IIVIV-I5٢nDC> nQ=9v\Q z> G٣y%; %> -Nusing accuracyPremultiplier from config)5 59-R}?U 5Y-A i-(Bam?uJ@-HD-_<-L_<-< 5 ^@ZjFNOT Ignoring new targets: 498.00 m.BjӺJj Ӻ= ProNav: ac range: 498.000000 m, nav range: 501.124420 m, bearing: 24.162547 deg, approach rate: -0.071122 m/s, LOS rate: -0.092237 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.789478 deg. 2j=4}:j=v@EHeadingCmd: 2.055814 target range: 498.000000 and range: 498.00 m. jAjAjAjAiAhIhIhhfffrfbf,?ɛB• >I ks޽ɚiI{y=IiKRiC))]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234693 IEMY=E]rAEY*F 2F :F BF JF Jm Jm Ji Ji Jm -:Jm 9Ji Ji Jm ;Jm ;Jm !;Jm !;G >uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488201GBO>kw,8AN/?YNP@NA9N-E >yNH@zݿ`??`޿@r,?@?p?ɨN/?N?;N!Cy̅B$IMb@Mb@Mb@ )Yx&1?rh|+?yA`?= @)Iy@II65٢= =9ђQ >   G٣  :Gy|< > Nusing accuracyPremultiplier from config% 59]p?% 5YA iLB%b?%o:-B?-J@WD;; 59 =K@AZjaeFNOT Ignoring new targets: 498.00 m.BjutJjut캝 ProNav: ac range: 498.000000 m, nav range: 501.089935 m, bearing: 24.110757 deg, approach rate: -0.068821 m/s, LOS rate: -0.103363 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.739178 deg. 2jߍ:j@HeadingCmd: 2.054936 target range: 498.000000 and range: 498.00 m. jjjjihhhh\Bfffrfbfp?ɛB' ?I sݽɚiIx=IiQir:))E@W=*FY2FY:FYBFYJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738810)  AIU jm~GvA YvAy#BG} GY Ba O >Jy:H޿`_??޿4p?`2? p?ɨ:?:;:"CyFBF$IIRIRaO5٢Z4> Zc=9^-:Q ^>\` bG٣`yb; b> jNusing accuracyPremultiplier from configdj 59fRg?n 5YfA ifeBln?rJ@faDf;fj;f 5vB v;@tZjFNOT Ignoring new targets: 498.00 m.Bj%Jj%亝5 ProNav: ac range: 498.000000 m, nav range: 501.066833 m, bearing: 24.074792 deg, approach rate: -0.064270 m/s, LOS rate: -0.100062 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.786655 deg. 2j5W:j5@zK=^mMK=h9K9K= K=aC$ MHeadingCmd: 2.055765 target range: 498.000000 and range: 498.00 m. jQjQjQjQiQhQhQhYhYfYfafarfabfe@?ɛńB- 隕?I SܽɚH>I I5%IIRBI+ =&I.I6Iư<:Iz FiIw=Iir3Qi!:))EE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990797*F?2F:FBFg0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242631G }: Q IQ G B O >#w,\A6]A?Y6?@6w96c >y6H .޿@;U?`?%$߿Hި? d$?p?ɨ6]A?6;6!CyBBB$IIJIJV5٢R|= RL=9R 9Q R>TT VG٣TyZ]; Z> ^Nusing accuracyPremultiplier from config\- 59^0]?- 5Y^1A i^B15?5J@^lD^<^<^m 5i m.@qZjFNOT Ignoring new targets: 498.00 m.BjغJjغ ProNav: ac range: 498.000000 m, nav range: 501.042267 m, bearing: 24.034759 deg, approach rate: -0.058174 m/s, LOS rate: -0.094805 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.774451 deg. 2j :j*@HeadingCmd: 2.055552 target range: 498.000000 and range: 498.00 m. jjjjihhhhfffrfbf@@ɛɄBJJJJJ:J9JJJj;Jk;J1;J1; )- ?I) 5Zw۽ɚ1i1I5gv=I9i=lPi=4;)9)AEM]>EM>UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496518*F?2F:FBF~0JFG G:G B O > [w,HoA>9?Y>l@>9> >y>H`]U޿p? 9?J߿@è@n? ?q?FWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746876ɨ>9?>;ii mG٣m :Gyu; u> }Nusing accuracyPremultiplier from configy $?I 59}3R?% 5Y}czA i}B%k?%f:%0?%J@}yD}(<}<}3 5) 5@1UB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 498.00 m.BjJj뺝 ProNav: ac range: 498.000000 m, nav range: 501.009888 m, bearing: 23.989818 deg, approach rate: -0.074232 m/s, LOS rate: -0.103037 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.759727 deg. 2jm:j@HeadingCmd: 2.055295 target range: 498.000000 and range: 498.00 m. jjjjihhhhqBfffrfbf m@ɛu΄Bu y}?Iy }qڽɚyiyI}v=IiNi^A;))*FM?2FI:FIBFM1JFIH>I I%IIBI&I.I6Iְ<:I FzKfMK+9KK! KRK?JK>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998616G !j;G B O >5w,A6?Y6@6U96q>y6HA޿ ?M? x߿ ?`?@s?ɨ6?6I1;6"Cy>B>$IIVIV^S5٢+= %P=9%9Q %>)) -G٣)y- < 5> ENusing accuracyPremultiplier from config1E 595!H?M 5Y5qA i5BIM?MJ@5D5@;5;5 5Q ]@]EZjyFNOT Ignoring new targets: 498.00 m.Bj!Jj! ProNav: ac range: 498.000000 m, nav range: 500.981964 m, bearing: 23.948992 deg, approach rate: -0.075976 m/s, LOS rate: -0.111088 deg/s, cmd heading: 117.894557 deg, new cmd heading: 117.772071 deg. 2jz:j|@HeadingCmd: 2.055511 target range: 498.000000 and range: 498.00 m.